CN106272434B

CN106272434B - One-key return control method and system for inspection robot

Info

Publication number: CN106272434B
Application number: CN201610868066.1A
Authority: CN
Inventors: 张浩杰; 苏波; 宋海平; 陶进; 杨景槐; 满艺; 苏治宝; 金宇春; 朱林
Original assignee: China North Vehicle Research Institute
Current assignee: China North Vehicle Research Institute
Priority date: 2016-09-29
Filing date: 2016-09-29
Publication date: 2021-07-13
Anticipated expiration: 2036-09-29
Also published as: CN106272434A

Abstract

The invention discloses a one-key return control method and a one-key return control system for an inspection robot, wherein the method comprises the following steps: writing RFID label information; recording the measured distance between the RFID tags; sending instructions to the robot to move to a valid RFID tag; and sending an optimal path instruction for returning to the origin. The inspection robot one-key return control method and system provided by the invention can realize that the robot quickly returns to the task starting point when unexpected conditions such as component damage or low battery power occur, and ensure that inspection work is smoothly carried out.

Description

One-key return control method and system for inspection robot

Technical Field

The invention relates to an autonomous navigation system of an inspection robot, in particular to a one-key return control method and a one-key return control system of the inspection robot.

Background

The inspection robot can replace an inspector, reliably inspect, automatically charge, and acquire, store and transmit data such as images, sounds, temperatures, smoke and the like of a site in real time. Whether equipment failure and fault positions exist or not is judged through data analysis, a patroller is released from a severe working environment, labor intensity is reduced, labor risk is reduced, accident expansion is avoided, abnormal downtime in the production process is greatly reduced, and the system has the functions of automatic reversing of a terminal point, limiting stop, fixed-point correction and the like. Patrol and examine robot platform mainly comprises robot body, control box, wireless communication system, charging device and track system patrols and examines, is applicable to city utility tunnel, cable management corridor, mine water pump room, electric substation, large-scale rubber belt conveyor tunnel and removes and patrol and examine.

In a strong electromagnetic environment of a transformer substation, a method of applying a Radio Frequency Identification (RFID) tag to the transformer substation inspection robot by guiding a road surface magnetic stripe is generally adopted. In the process of tracking a magnetic stripe of a road surface to execute a task, the transformer substation inspection robot occasionally has the unexpected situations of component damage or low battery power and the like, so that the transformer substation inspection robot cannot continuously execute the inspection task, and at the moment, the transformer substation inspection robot only depends on transformer substation workers to carry out rescue, thereby consuming time and labor. Particularly in some narrow areas, it is difficult to rescue.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a one-key return control method and a one-key return control system for an inspection robot, and the purpose of the invention is realized by adopting the following technical scheme:

the invention discloses a one-key return control method of an inspection robot, which is improved in that the method comprises the following steps:

writing RFID label information;

b, recording the measured distance between the RFID labels;

c, sending an instruction to the robot to move to the effective RFID label;

d sends an optimal path instruction to return to the origin.

Preferably, in the step a, the tag information includes 4 bytes consisting of a packet header represented by letters 'S', 'D', 'L', or 'R', and numbers arranged from 000.

Preferably, the 'S' tag is affixed to each docking point, the 'L' or 'R' tag is affixed to each turn, and the 'D' tag is affixed to the docking point of the narrow road segment region.

Preferably, in the step B, the RFID tag is arranged in a closed-loop path, the measured distance value is recorded in a distance.txt text document according to the digital sequence number of the tag information, and an industrial personal computer is started to read the distance value of the distance.txt text document into a one-dimensional array distance; wherein the distance between the L or R tag and the D tag is noted as 0.

Preferably, in the step C, the robot is driven to the RFID tag after sending a return command, and if there is an effective tag of 'S', 'L', or 'R', the signature i is read; and if the information packet header is an invalid label with 'D', executing backward movement until the valid RFID label senses.

Preferably, in the step D, the robot receiving the instruction calculates an accumulated sum Lb of distance [0] to distance [ i ] and an accumulated sum Lf of the remaining path according to the current sign number i, and compares the two accumulated sums, and if Lb > Lf, sends a forward instruction to the robot, otherwise sends a backward instruction until the robot moves to the tag S000.

A one-key return control system of an inspection robot based on the method comprises an industrial personal computer, a motion controller, a front-end magnetic induction sensor, a rear-end magnetic induction sensor and an RFID sensor; the improved structure is characterized in that the industrial personal computer is respectively connected with the front-end magnetic induction sensor, the rear-end magnetic induction sensor, the RFID sensor and the motion controller.

Preferably, the RFID sensor is arranged at the geometric center of the robot chassis, and the RFID tag is arranged in a closed-loop path of the robot for completing tasks.

Preferably, the front and back magnetic induction sensors consist of 16 arrays of magnetic induction points.

Preferably, the RFID sensor employs a real-time detection mode.

Compared with the closest prior art, the invention has the following beneficial effects:

the industrial personal computer of the inspection robot receives data transmitted by the front-end magnetic induction sensor, the rear-end magnetic induction sensor and the RFID sensor, sends an instruction to the motion controller, and the robot receiving the instruction senses the effective label, determines the shortest path and finally returns to the original point. The one-key return method disclosed by the invention is simple in flow and extremely short in time consumption, ensures that the robot quickly returns to a task starting point when accidents such as part damage or low battery power occur, does not need to depend on rescue of transformer substation workers, and ensures that the routing inspection work is smoothly carried out.

Drawings

FIG. 1 is a flow chart of a one-key return control method of the present invention

FIG. 2 is a schematic diagram of a routing inspection path according to the present invention

FIG. 3 is a schematic diagram of a one-key return control system according to the present invention

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.

The one-key return control method of the inspection robot provided by the invention enables the robot to automatically return to the starting point when the robot has accidents of component damage, low battery power and the like when executing an inspection task. After the one-key return command is triggered, the robot can quickly calculate the shortest return path, and return to the starting point at the fastest speed and with the least energy consumption.

As shown in fig. 1, the specific steps are as follows:

(1) and writing RFID label information, wherein the label information consists of four bytes including a data packet header and a number, such as S001. The packet head is represented by letters 'S', 'D', 'L' and 'R', the tags of which the packet head is 'S' are fixed at each stop point, the tags of which the packet head is 'L' and 'R' are fixed at each turning point, and the tags of which the packet head is 'D' are sequentially fixed at the stop points of the narrow broken end path region; the numbers are represented by three bytes, arranged sequentially starting from 000 (start).

(2) Manually measuring distance information among the RFID tags, and recording a measured distance value in a distance text document according to the digital sequence number of the RFID tag information, wherein the distance from the L or R tag to the D tag is marked as 0;

and starting the industrial personal computer, and reading the distance value in the distance.

(3) After receiving a one-key return flight instruction of a worker in the process of executing the inspection task, the robot continues to normally drive to an RFID label point and stops, if the RFID label at the current moment is 'S', 'L' or 'R', the robot stops moving forwards, and if the RFID label at the current moment is 'D', the robot executes backward movement until the 'L', 'R' or 'S' label is sensed to stop moving forwards, and reads the label number i.

(4) Calculating the accumulated sum Lb of distance [0] to distance [ i ] and the accumulated sum Lf of the residual path according to the current RFID tag number i, and comparing the accumulated sum Lb with the accumulated sum Lf of the residual path; if Lb < Lf, the robot executes backward movement, otherwise, the robot executes forward movement; and ignoring other label information in the forward or backward movement process until the label S000 is moved to stop, namely finishing the one-key return operation.

As shown in fig. 2, the rectangular frame established on the coordinate system is a magnetic stripe, tags whose packet headers are 'S' are fixed at each stop point, tags whose packet headers are 'L' and 'R' are fixed at each turn, and tags whose packet headers are 'D' are sequentially fixed at stop points of the narrow head break area; the number is represented by three bytes and S000 represents the starting point.

And if the robot runs to the position D005 after receiving the one-key return flight instruction, executing the backward movement to move to the position L004, judging that the distance between distance [0] and distance [4] is less than the distance of the residual path, and moving along the distance until the distance reaches the original point.

As shown in fig. 3, the one-key return control system of the inspection robot comprises an industrial personal computer, a motion controller, a front-end magnetic induction sensor, a rear-end magnetic induction sensor, an RFID sensor and an RFID tag; the industrial personal computer receives the information of the front-end magnetic induction sensor, the rear-end magnetic induction sensor and the RFID sensor, calculates the motion control quantity and sends the motion control quantity to the motion controller.

The RFID sensor is arranged at the geometric center of the robot chassis, the RFID tag is arranged in a closed-loop path where the robot can complete tasks, and a real-time detection mode is adopted. The front-end magnetic induction sensor and the back-end magnetic induction sensor are composed of 16 arrays of magnetic induction points.

When the robot moves according to the magnetic stripe, the autonomous navigation system runs on the industrial personal computer, the data of the magnetic sensor is collected, and the yaw velocity w and the driving velocity v of the robot are calculated according to the following formula:

v＝const

wherein l and r are respectively the sum of the number of magnetic induction points which are sensed by the magnetic induction sensor to the magnetic strip left and right, n is the sum of the number of the magnetic induction points, w_maxThe const is a constant value, which is the maximum yaw rate of the robot.

The industrial personal computer sends the motion control quantity of the yaw angular velocity and the driving velocity of the robot to the motion controller to drive the robot to move along the magnetic track; and switching the tracking control mode according to the data packet header information received at the current moment and the previous moment, and setting a forward mode, a backward mode, a left-turn mode and a right-turn mode. In the backward mode control process, the control quantity resolver collects data of a rear-end magnetic sensor to calculate the motion control quantity of the robot, and collects data of a front-end magnetic sensor in other modes to calculate the motion control quantity. Aiming at the transformer substation inspection environment, a forward mode, a backward mode, a left turn mode and a right turn mode are designed to be switched, a control quantity resolver is adopted in each mode to calculate the motion control quantity of the robot for adjusting the posture in real time and send the motion control quantity to a motion controller, so that the robot is accurately controlled at a stop point, the original turning motion of the robot is avoided, the energy consumption is effectively reduced, and the operation efficiency of a robot system is improved.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A one-key return control method of an inspection robot is characterized by comprising the following steps:

step A, writing in RFID label information;

b, recording the distance between the measured RFID labels;

step C, sending an instruction to the robot to move to the effective RFID label;

step D, sending an optimal path instruction for returning to the origin;

in the step a, the tag information includes 4 bytes consisting of a packet header represented by letters 'S', 'D', 'L' or 'R' and numbers arranged from 000;

in the step B, the RFID tag is arranged in a closed loop path, the measured distance value is recorded in a distance.txt text document according to the digital sequence number of the tag information, and an industrial personal computer is started to read the distance value of the distance.txt text document into a one-dimensional array distance; wherein the distance between the L or R tag and the D tag is marked as 0;

in the step C, the robot is driven to the RFID tag after sending a return command, and if the effective tag of 'S', 'L' or 'R' exists, the signature number i is read; if the information packet header is an invalid label of 'D', executing backward movement until the valid RFID label senses;

in the step D, the robot receiving the instruction calculates distance [0] according to the current signature i]～distance[i]The accumulated sum Lb of the two paths is compared with the accumulated sum Lf of the remaining paths, if L is less than L_b>L_fAnd sending a forward instruction to the robot, otherwise, sending a backward instruction until the robot moves to the position of the tag S000.

2. The one-touch return travel control method according to claim 1, wherein the S tag is fixed to each stop point, the L or R tag is fixed to each turn, and the D tag is fixed to a stop point in a narrow head-off area.

3. A system for the one-key return control method of the inspection robot according to any one of claims 1-2, comprising an industrial personal computer, a motion controller, a front-end magnetic induction sensor, a rear-end magnetic induction sensor and an RFID sensor; the industrial personal computer is respectively connected with the front-end magnetic induction sensor, the rear-end magnetic induction sensor, the RFID sensor and the motion controller.

4. The system of claim 3, wherein the RFID sensor is located at a geometric center of a chassis of the robot, and the RFID tag is located in a closed-loop path of the robot to complete the task.

5. The system of claim 3, wherein the front-end and back-end magnetic induction sensors are comprised of 16 arrays of magnetic induction points.

6. The system of claim 4, wherein the RFID sensor employs a real-time detection mode.