CN106054883A - Robot patrol path control system - Google Patents
Robot patrol path control system Download PDFInfo
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- CN106054883A CN106054883A CN201610419193.3A CN201610419193A CN106054883A CN 106054883 A CN106054883 A CN 106054883A CN 201610419193 A CN201610419193 A CN 201610419193A CN 106054883 A CN106054883 A CN 106054883A
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- robot
- polling path
- control system
- walking
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- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- 238000007689 inspection Methods 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract 1
- 238000012806 monitoring device Methods 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot patrol path control system. Through accurate positioning of current position of a walking robot, the current position of the robot can be known accurately; a remote monitoring device receives a monitoring instruction input externally in real time, and a robot patrol path adjustment module enables the monitoring instruction to be combined with the current accurate position of the robot to form a patrol path adjustment instruction; the patrol path adjustment instruction is sent to a storage module in a master control device of the robot; and the storage module generates a new patrol path with a three-dimensional map being combined, and the robot carries out patrol detection based on the new patrol path. The system is simple and convenient to operate and accurate in positioning; and the patrol path of the robot can be adjusted through simple operation of monitoring personnel.
Description
Technical field
The invention belongs to substation inspection apparatus field, be specifically related to a kind of robot polling path control system.
Background technology
At present, transformer substation robot is all to carry out according to path set in advance and inspection point provided during actual patrolling and examining
Make an inspection tour, if patrol route to be changed and increase inspection point provided, generally require and be added inside background program and revise, non-specially
Industry personnel cannot operate.
Summary of the invention
It is an object of the invention to overcome the defect of prior art, it is provided that a kind of robot polling path control system, behaviour
Make simple and convenient, layman's equally simple operations, regulation and control robot Iterim Change polling path.
To achieve these goals, the technical scheme that the present invention takes is as follows:
A kind of robot polling path control system, including: long-distance monitorng device and robot, described robot is provided with electric power storage
Pond, driving means, walking perform device, the filming apparatus of shooting 3-D view, carry out the laser scanning device of two-dimensional scan, meter
The mileage counting device of amount robot range ability and master control set；
Described long-distance monitorng device include main frame-, the display screen-of display robot current state and input outside monitoring instruction
Input equipment-, described main frame-in be provided with robot polling path adjusting module；
Described master control set performs device with described long-distance monitorng device, driving means, walking, filming apparatus is connected, described master
Control device includes:
Counting module-, the robot obtaining the metering of described mileage counting device runs to the walking of current location from initial position
Distance；
Memory module-, the 3 D stereo map of storage set path；Receive described travel distance；True according to described travel distance
Determine robot regional location currently in described 3 D stereo map；Obtain the two-dimensional coordinate of described laser scanning device scanning
Data and the 3-D view of described filming apparatus shooting；In described regional location, by described two-dimensional coordinate data with described
3 D stereo map comparison or by described 3-D view and described 3 D stereo map comparison, is accurately positioned the current of machine people
Position；
Data receiver and delivery module-, it is accurately positioned the current location of machine people described in reception, and is sent to described robot and patrols
Inspection path adjusting module；
Described robot polling path adjusting module, receives described current location and combines the monitoring instruction of outside input and patrol
Inspection path adjusts, and forms polling path and adjusts instruction, and described polling path adjusts instruction by described data receiver and biography
Send module be sent to described memory module-；
Described memory module-combine the polling path that the generation of described 3 D stereo map is new according to polling path adjustment instruction, and
Send walking information to described driving means；
Described driving means, drives walking actuator according to new polling path walking.
Further, described driving means is servomotor.
Further, described walking actuator includes head and for driving two road wheels of robot ambulation；
Said two road wheel is located at the bottom of robot, and described head is located at the top of robot, described head and two row
Driving wheel is all connected with robot body by rotating shaft.
Further, described filming apparatus is binocular solid camera, and described laser scanning device is laser scanner, described
Binocular solid camera and described laser scanner are each provided at the head of robot.
Further, the scanning angle of described laser scanner is to the maximum °, and scanning accuracy is ± mm, the maximum of scanning away from
From for rice.
Further, described mileage counting device is code-disc.
Compared with prior art, having the beneficial effect that acquired by the present invention:
A kind of robot polling path control system that the present invention provides, by determining the accurate of current location in walking robot
Position, accurately grasps the present position of robot, and long-distance monitorng device receives the monitoring instruction of outside instant input, and passes through
This monitoring instruction is combined formation polling path and adjusts by robot polling path adjusting module with the current accurate location of robot
Instruction, and this instruction is sent to the memory module in robot master control set, memory module combines 3 D stereo map and generates
New polling path, robot patrols and examines according to new polling path.
There is provided monitoring system according to this programme, it is not necessary to professional is added in background program or revises, only need
Operator is wanted to use mouse to carry out selecting to add or mobile in set 3 D stereo map, say, that the most defeated
Entering new path and adjust instruction, long-distance monitorng device then can be automatically processed amended polling path data, and be connect by data
Receiving and transport module is sent to robot master control set, the memory module in robot master control set generates new polling path,
Instruction robot patrols and examines according to new polling path.This system is simple to operate, accurate positioning, it is possible to generate more easily
New polling path, decreases maloperation and unnecessary equipment fault.
Accompanying drawing explanation
Accompanying drawing 1 is one robot of the present invention polling path Control system architecture figure；
1. robot, 2. head, 3. road wheel, 4. driving means, 5. accumulator, 6. filming apparatus, 7. laser scanning device, 8.
Mileage counting device, 9. master control set, 9-1. counting module, 9-2. data receiver and delivery module, 9-3. memory module；
10. long-distance monitorng device, 10-1. main frame, 10-2. display screen, 10-3. input equipment.
Detailed description of the invention
Below in conjunction with accompanying drawing 1, the present invention is carried out further details of narration.
As shown in Figure 1, a kind of robot polling path control system, including: long-distance monitorng device 10 and robot 1,
Robot 1 is provided with accumulator 5, driving means 4, walking execution device, the filming apparatus 6 of shooting 3-D view, carries out two dimension
The laser scanning device 7 of scanning, the mileage counting device 8 of metering robot 1 range ability and master control set 9；
Described long-distance monitorng device 10 includes that main frame 10-1, the display screen 10-2 of display robot 1 current state and input are outside
The input equipment 10-3 of monitoring instruction, described main frame 10-1, display screen 10-2 and input equipment 10-3 are connected with each other, therein defeated
Enter equipment 10-3 to be realized by mouse and keyboard.Described main frame 10-1 is provided with robot 1 polling path adjusting module.
Described master control set 9 performs device, filming apparatus 6 phase with described long-distance monitorng device 10, driving means 4, walking
Even, described master control set 9 includes:
Counting module 9-1, the robot 1 obtaining the metering of described mileage counting device 8 runs to current location from initial position
Travel distance；
Memory module 9-3, the 3 D stereo map of storage set path；Receive described travel distance；According to described travel distance
Determine the current regional location in described 3 D stereo map of robot 1；Obtain the two dimension of described laser scanning device 7 scanning
Coordinate data and the 3-D view of described filming apparatus 6 shooting；In described regional location, by described two-dimensional coordinate data with
Described 3 D stereo map comparison or by described 3-D view and described 3 D stereo map comparison, is accurately positioned machine people 1
Current location；
Data receiver and delivery module 9-2, be accurately positioned the current location of machine people 1 described in reception, and be sent to described machine
People 1 polling path adjusting module；
Described robot 1 polling path adjusting module, receives described current location and combines the monitoring instruction of outside input and carry out
Polling path adjusts, and forms polling path and adjusts instruction, and described polling path is adjusted instruction by described data receiver and
Delivery module 9-2 is sent to described memory module 9-3；
Described memory module 9-3 adjusts instruction according to polling path and combines the polling path that the generation of described 3 D stereo map is new,
Concurrently the information of seeing off away is to described driving means 4；
Described driving means 4, drives walking actuator according to new polling path walking.
Driving means 4 therein is servomotor.Servomotor can make control speed, positional precision very accurate, permissible
Voltage signal is converted into torque and rotating speed to drive control object.Servo motor rotor rotating speed is by input signal control, and energy
Fast reaction, in automatic control system, as executive component, and has that electromechanical time constant is little, the linearity is high, pickup voltage
Etc. characteristic, the angular displacement signal of telecommunication received can being converted on motor reel or angular velocity output.
Walking actuator includes head 2 and walks two road wheels 3 for band mobile robot 1；Two road wheels 3 are located at
The bottom of robot 1, it is all main with robot 1 by rotating shaft that head 2 is located at the top of robot 1, head 2 and two road wheels 3
Body connect, in running, can rotate in the range of performing arbitrarily angled.
Described filming apparatus 6 is binocular solid camera, and described laser scanning device 7 is laser scanner, and described binocular stands
Body camera and described laser scanner are each provided at the head 2 of robot 1.The scanning angle of laser scanner is 190 ° to the maximum, sweeps
Retouching precision is ± 15mm, and the ultimate range of scanning is 80 meters, it may be preferred to Germany's imported L MS511 SICK laser radar.
Mileage counting device 8 is preferably code-disc (encoding disk), is also speedometer, measures the numeral volume of angular displacement
Code device.It has that resolution capability is strong, certainty of measurement is high and the advantage such as reliable operation, is that the one of measurement axis angle position is the most frequently used
Displacement transducer.In this programme, code-disc mainly uses how many step-by-step countings, each pulse vehicle wheel rotation determine robot 1 row
The distance walked, feeds back to the counting module 9-1 in master control set 9 by umber of pulse, counting module 9-1 calculate robot 1 row
Walk distance.
During concrete operation, robot 1 during normally patrolling and examining, can constantly carry out current environment position scanning and
Shooting, and the two-dimensional coordinate data of scanning and the 3-D view of shooting are fed back to long-distance monitorng device 10, the monitor on backstage
Member can see current being accurately positioned of robot 1 on the display screen 10-2 of long-distance monitorng device 10.Now, the monitoring on backstage
The robot 1 that personnel's temporary needs is being patrolled and examined goes to patrol and examine a certain appointment position at once, and these personnel can be by remotely monitoring dress
Putting 10 input monitoring instructions, main frame 10-1 instructs according to accurate location and the monitoring received of current robot 1, and formation is patrolled and examined
Path adjusts instruction, and by this adjustment instruction feedback to robot 1, the memory module 9-3 root in the master control set 9 of robot 1
The set 3 D stereo map adjusting instruction combination storage according to this polling path forms new polling path, and instructs robot 1
Patrol and examine according to new polling path.
And in practical operation, the display screen 10-2 of long-distance monitorng device 10 will reveal whether the whole plane patrolling and examining place
Figure, simultaneously, it is also possible to demonstrate the position that robot 1 is current, monitor the operation of personnel for convenience, can be at plane graph
Upper use different colours indicates the region that robot 1 can walk, the most walking region, needs the equipment region patrolled and examined, it
Rear monitoring personnel can select different regions as patrolling and examining place, afterwards machine temporarily by dragging mouse on plane graph
People 1 will patrol and examine according to the instruction of monitoring personnel.
So, the robot 1 polling path control system that this programme provides, the most simple to operate, and accurate positioning, energy
Enough it is readily formed new polling path, meets the demand of remotely monitoring.
The above embodiment is only the preferred embodiments of the present invention, and and the feasible enforcement of non-invention exhaustive.Right
For persons skilled in the art, to its done any showing on the premise of without departing substantially from the principle of the invention and spirit
The change being clear to, within all should being contemplated as falling with the claims of the present invention.
Claims (6)
1. a robot polling path control system, it is characterised in that comprising: long-distance monitorng device (10) and robot
(1), described robot (1) is provided with accumulator (5), driving means (4), walking execution device, the shooting of shooting 3-D view
Device (6), carry out the laser scanning device (7) of two-dimensional scan, the mileage counting device (8) of metering robot range ability and main
Control device (9)；
Described long-distance monitorng device (10) includes main frame (10-1), the display screen (10-2) of display robot current state and input
The input equipment (10-3) of outside monitoring instruction, is provided with robot polling path adjusting module in described main frame (10-1)；
Described master control set (9) performs device, filming apparatus with described long-distance monitorng device (10), driving means (4), walking
(6) being connected, described master control set (9) including:
Counting module (9-1), the robot obtaining the metering of described mileage counting device runs to current location from initial position
Travel distance；
Memory module (9-3), the 3 D stereo map of storage set path；Receive described travel distance；According to described walking away from
From determining robot regional location currently in described 3 D stereo map；Obtain the two dimension of described laser scanning device scanning
Coordinate data and the 3-D view of described filming apparatus shooting；In described regional location, by described two-dimensional coordinate data with
Described 3 D stereo map comparison or by described 3-D view and described 3 D stereo map comparison, is accurately positioned machine people's
Current location；
Data receiver and delivery module (9-2), be accurately positioned the current location of machine people described in reception, and be sent to described machine
People's polling path adjusting module；
Described robot polling path adjusting module, receives described current location and combines the monitoring instruction of outside input and patrol
Inspection path adjusts, and forms polling path and adjusts instruction, and described polling path adjusts instruction by described data receiver and biography
Module is sent to be sent to described memory module (9-3)；
Described memory module (9-3) adjusts instruction according to polling path and combines described 3 D stereo map and generate and new patrol and examine road
Footpath, concurrently the information of seeing off away is to described driving means；
Described driving means (4), drives walking actuator according to new polling path walking.
A kind of robot the most according to claim 1 polling path control system, it is characterised in that described driving means
(4) it is servomotor.
A kind of robot the most according to claim 1 polling path control system, it is characterised in that described walking performs machine
Structure includes head (2) and is used for driving two road wheels (3) of robot ambulation；
Said two road wheel (3) is located at the bottom of robot, and described head (2) is located at the top of robot (1), described head
(2) and two road wheels (3) are all connected with robot (1) main body by rotating shaft.
A kind of robot the most according to claim 1 polling path control system, it is characterised in that described filming apparatus
(6) being binocular solid camera, described laser scanning device (7) is laser scanner, described binocular solid camera and described laser
Scanner is each provided at the head (2) of robot (1).
A kind of robot the most according to claim 4 polling path control system, it is characterised in that described laser scanner
Scanning angle be 190 ° to the maximum, scanning accuracy is ± 15mm, and the ultimate range of scanning is 80 meters.
A kind of robot the most according to claim 1 polling path control system, it is characterised in that described mileage counting dress
Putting (8) is code-disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610419193.3A CN106054883A (en) | 2016-06-13 | 2016-06-13 | Robot patrol path control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610419193.3A CN106054883A (en) | 2016-06-13 | 2016-06-13 | Robot patrol path control system |
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| CN106054883A true CN106054883A (en) | 2016-10-26 |
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| CN201610419193.3A Pending CN106054883A (en) | 2016-06-13 | 2016-06-13 | Robot patrol path control system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106570541A (en) * | 2016-11-07 | 2017-04-19 | 成都科曦科技有限公司 | Logic error proofing leakproof inspection system and method based on mobile hand-held equipment and label scanning |
| CN106774324A (en) * | 2016-12-22 | 2017-05-31 | 以恒激光科技（北京）有限公司 | A kind of three-dimensional identification patrol robot of dual camera |
| CN107092257A (en) * | 2017-06-03 | 2017-08-25 | 广东华创智能装备有限公司 | A kind of vehicle control syetem of AGV dollies |
| CN108694753A (en) * | 2017-04-10 | 2018-10-23 | 深圳市朗驰欣创科技股份有限公司 | Control method and control system for cabinet automatic detecting |
| CN109444170A (en) * | 2018-11-30 | 2019-03-08 | 四川安信科创科技有限公司 | A kind of novel pressure inner wall of the pipe visual defects detection system |
| CN111611855A (en) * | 2020-04-17 | 2020-09-01 | 广东电网有限责任公司 | Three-dimensional visual robot intelligence system of patrolling and examining of transformer substation |
| CN114217600A (en) * | 2020-09-04 | 2022-03-22 | 南京国电南思科技发展股份有限公司 | Robot-based intelligent inspection method and system for substation indoor protection screen cabinet |
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| CN104284151A (en) * | 2014-09-25 | 2015-01-14 | 国家电网公司 | Ground routing inspection method and system for transformer substation |
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| CN205540280U (en) * | 2016-04-27 | 2016-08-31 | 河北德普电器有限公司 | Robot patrols and examines path control system |
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| JP2013206237A (en) * | 2012-03-29 | 2013-10-07 | Denso It Laboratory Inc | Autonomous travel robot and travel control method of autonomous travel robot |
| JP2014203146A (en) * | 2013-04-02 | 2014-10-27 | 株式会社Ihi | Method and device for guiding robot |
| CN104284151A (en) * | 2014-09-25 | 2015-01-14 | 国家电网公司 | Ground routing inspection method and system for transformer substation |
| CN104977931A (en) * | 2014-12-04 | 2015-10-14 | 成都虹跃科技有限公司 | Inspection path tracking method for transformer station |
| CN205540280U (en) * | 2016-04-27 | 2016-08-31 | 河北德普电器有限公司 | Robot patrols and examines path control system |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106570541A (en) * | 2016-11-07 | 2017-04-19 | 成都科曦科技有限公司 | Logic error proofing leakproof inspection system and method based on mobile hand-held equipment and label scanning |
| CN106774324A (en) * | 2016-12-22 | 2017-05-31 | 以恒激光科技（北京）有限公司 | A kind of three-dimensional identification patrol robot of dual camera |
| CN106774324B (en) * | 2016-12-22 | 2020-06-09 | 以恒激光科技（北京）有限公司 | Two cameras three-dimensional identification patrol robot |
| CN108694753A (en) * | 2017-04-10 | 2018-10-23 | 深圳市朗驰欣创科技股份有限公司 | Control method and control system for cabinet automatic detecting |
| CN107092257A (en) * | 2017-06-03 | 2017-08-25 | 广东华创智能装备有限公司 | A kind of vehicle control syetem of AGV dollies |
| CN109444170A (en) * | 2018-11-30 | 2019-03-08 | 四川安信科创科技有限公司 | A kind of novel pressure inner wall of the pipe visual defects detection system |
| CN111611855A (en) * | 2020-04-17 | 2020-09-01 | 广东电网有限责任公司 | Three-dimensional visual robot intelligence system of patrolling and examining of transformer substation |
| CN111611855B (en) * | 2020-04-17 | 2023-08-04 | 广东电网有限责任公司 | Intelligent inspection system for three-dimensional visual robot of transformer substation |
| CN114217600A (en) * | 2020-09-04 | 2022-03-22 | 南京国电南思科技发展股份有限公司 | Robot-based intelligent inspection method and system for substation indoor protection screen cabinet |
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