CN111399521A - Intelligent robot control system for substation inspection - Google Patents
Intelligent robot control system for substation inspection Download PDFInfo
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
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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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/0248—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 in combination with a laser
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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Abstract
The invention relates to an intelligent robot control system for substation inspection, which comprises an intelligent robot and a management terminal in communication connection with the intelligent robot, wherein the intelligent robot comprises a motion module, a target confirmation module, a shooting module and a main control module which is respectively in control connection with the motion module, the target confirmation module and the shooting module; the management terminal can acquire the running information of the intelligent robot through the main control module or send a control command to control the intelligent robot to run; the motion module comprises a walking chassis, wherein the walking chassis comprises a first probe for detecting the track line, and a first wheel and a second wheel which are arranged symmetrically left and right relative to the first probe; the target confirming module is used for confirming the position of the patrol point, and the shooting module is used for shooting the position after the target confirming module confirms the patrol point position.
Description
Technical Field
The invention relates to the field of power equipment, in particular to an intelligent robot control system for substation inspection.
Background
The transformer substation area is great, and artifical check out test set in the transformer substation is very wasted time and energy, especially at night, because artifical the detection, also has the condition of lou examining simultaneously. The intelligent robot is used for inspection, and the tracking control of automatic walking of the robot is one of the methods for controlling the robot to run, but the speed regulation mode in the existing tracking control method probably causes great shaking of a wheel motor of the robot, so that the running balance and stability of the robot are influenced, and in addition, the existing speed regulation mode cannot realize rapid large-angle steering easily.
Disclosure of Invention
In order to solve the technical problem, the invention provides an intelligent robot control system for substation inspection.
The technical scheme adopted by the invention is as follows: the intelligent robot control system for substation inspection comprises an intelligent robot and a management terminal in communication connection with the intelligent robot, wherein the intelligent robot comprises a motion module, a target confirmation module, a shooting module and a main control module which is respectively in control connection with the motion module, the target confirmation module and the shooting module; the management terminal can acquire the running information of the intelligent robot through the main control module or send a control command to control the intelligent robot to run; the motion module comprises a walking chassis, wherein the walking chassis comprises a first probe for detecting the track line, and a first wheel and a second wheel which are arranged symmetrically left and right relative to the first probe; the first probe is arranged at one end of the intelligent robot facing the traveling direction of the intelligent robot; the first probe, the first wheel and the second wheel are positioned on three vertexes of a same triangle; the main control module controls a first wheel and a second wheel which are bilaterally symmetrical about the first probe according to a detection signal of the first probe, so that a driving mode of two wheels is switched between a left-turning mode and a right-turning mode, wherein the rotating speed difference value of the two wheels in the driving mode is a preset initial difference value, and the initial difference value is smaller than the maximum difference value of the rotating speed difference values of the two wheels; the target confirming module is used for confirming the position of the patrol point, and the shooting module is used for shooting the position after the target confirming module confirms the patrol point position.
In the intelligent robot control system, the first probe comprises an infrared transmitting end and an infrared receiving end, and the trajectory line is made of a material capable of absorbing infrared rays; when the infrared ray emitted by the infrared emitting end of the first probe irradiates the trajectory, the infrared receiving end cannot receive the reflected infrared ray; when the infrared ray emitted by the infrared emitting end of the first probe irradiates the area outside the track line, the infrared ray is reflected by the area outside the track line, and the infrared receiving end can receive the reflected infrared ray.
In the intelligent robot control system of the present invention, the same triangle formed by the first probe, the first wheel and the second wheel is an isosceles triangle, the first probe is located at the vertex of the vertex angle of the isosceles triangle, the first wheel is located at the vertex of one base angle of the isosceles triangle, and the second wheel is located at the vertex of the other base angle of the isosceles triangle.
In the intelligent robot control system of the present invention, when detecting that the detection signal of the first probe is switched between a first signal and a second signal, the main control module switches a left-turn mode or a right-turn mode, where the first signal is an output signal corresponding to the first probe when the trajectory line is not detected, and the second signal is an output signal corresponding to the first probe when the trajectory line is detected.
In the intelligent robot control system, a walking chassis of the intelligent robot is also provided with a second probe and a third probe; the second probe is arranged on a connecting line of the first probe and the first wheel; the third probe is arranged on a connecting line of the first probe and the second wheel, and the second probe and the third probe both comprise an infrared transmitting end and an infrared receiving end.
In the intelligent robot control system, if the detection signal of the first probe is a first signal and the detection signal of the second probe is a second signal, the two wheels are controlled to run in a left-turn mode until the detection signal of the first probe is converted into the second signal; and/or if the detection signal of the first probe is a first signal and the detection signal of the third probe is a second signal, controlling the two wheels to run in a right-turn mode until the detection signal of the first probe is converted into the second signal; wherein the difference between the rotational speeds of the two wheels in the left-turn mode or the right-turn mode is the maximum difference.
In the intelligent robot control system, a magnet is arranged on a track line near the inspection point, an electromagnetic inductor connected with the main control module is arranged at the bottom of the walking chassis, and when the electromagnetic inductor induces the magnet, the main control module controls the first wheel and the second wheel to stop walking
According to the intelligent robot control system provided by the invention, the left-turn mode and the right-turn mode are switched according to the detection result of the first probe, so that the driving route of the intelligent robot is more consistent with the track line, and the initial difference value of the rotating speed difference values of two wheels is smaller than the maximum difference value by controlling the first wheel and the second wheel which are bilaterally symmetrical relative to the first probe, so that the intelligent robot can stably drive, and the problem of shaking in the driving process of the intelligent robot at present is solved. The laser is adopted to guide the photographing, so that the position guidance is quicker, and the photographing position is more accurate; need not artifical guide walking and shoot the position, can realize full-automatic intelligent tour.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of a wire structure according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the arrangement of the probes of the intelligent robot in the embodiment of the invention;
fig. 3 is a schematic structural diagram of an intelligent robot in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to fig. 3, an embodiment of the present invention provides an intelligent robot control system for substation patrol, including an intelligent robot and a management terminal 15 connected to the intelligent robot in a communication manner. The intelligent robot comprises a motion module 11, a target confirmation module 12, a shooting module 13 and a main control module 14 which is respectively connected with the motion module 11, the target confirmation module 12 and the shooting module 13 in a control mode; the management terminal 15 may obtain operation information of the intelligent robot through the main control module or send a control command to control the operation of the intelligent robot. The motion module 11 comprises a walking chassis 65, the walking chassis 65 comprises a first probe 3 for detecting a track line, and a first wheel 1 and a second wheel 2 which are arranged symmetrically left and right with respect to the first probe 3, the first probe 3 is arranged at one end of the intelligent robot facing to the traveling direction of the intelligent robot; the first probe 3, the first wheel 1 and the second wheel 2 are positioned on three vertexes of the same triangle; the main control module is used for controlling a first wheel 1 and a second wheel 2 which are bilaterally symmetrical about the first probe 3 according to a detection signal of the first probe 3, so that a driving mode of the two wheels is switched between a left-turning mode and a right-turning mode, wherein the rotating speed difference value of the two wheels in the driving mode is a preset initial difference value, and the initial difference value is smaller than the maximum difference value of the rotating speed difference values of the two wheels. The object confirming module 12 is configured to confirm a position of the patrol point, and the shooting module 13 is configured to shoot the position after the object confirming module 23 confirms the patrol point position.
Specifically, the target confirmation module 12 includes a rotating pan-tilt 64 mounted on the traveling chassis 65 and a laser receiver 63 mounted on the rotating pan-tilt 64, and both the rotating pan-tilt 64 and the laser receiver 63 are connected to the main control module 15; the patrol viewpoint is provided with a laser transmitter for guiding the intelligent robot to shoot and position; after the patrol viewpoint is reached, the main control module 15 controls the rotating holder 64 to rotate in all directions until the laser receiver 63 receives the signal emitted by the laser emitter, and controls the rotating holder 64 to stop operating. The shooting module 13 includes a visible light camera and a thermal infrared imager, and the shooting directions of the visible light camera and the thermal infrared imager are consistent with the receiving direction of the laser receiver 63, so that the shooting module 13 can accurately shoot the inspection point after the target confirmation module 12 confirms the position of the inspection point. By rotating the holder 61 and the laser butt joint system, the robot can quickly find the position and the angle which need to be patrolled. The rotating pan/tilt head 61 includes a platform, and a vertical motor and a horizontal motor for controlling the movement of the platform, and the photographing module 13 is mounted on the platform. Further, this embodiment is equipped with magnet on the track line near the tour point, and walking chassis 65 bottom is equipped with the electromagnetic induction ware that links to each other with host system, and when electromagnetic induction ware sensed magnet, host system controlled first wheel 1 and second wheel 2 stopped the walking to the realization makes the robot can go automatically to the tour point, can begin to tour this moment. The walking chassis 65 further comprises a collision switch support 66, a collision switch is arranged in the collision switch support, the collision switch is connected with a contact edge mounting plate, a safe contact edge is mounted on the contact edge mounting plate, and the collision switch is connected with the main control module. When the safety touch edge touches other objects, the action force is fed back to the collision switch, the collision switch starts a touch signal to the main control module, and the main control module controls the walking chassis 65 to stop advancing after receiving the signal, so that better collision avoidance is provided. Further, the shooting module 13 in this embodiment further includes a bin body, the visible light camera and the thermal infrared imager are both installed in the bin body, and a wiper mechanism is arranged on the outer side of the bin body. A visible light hole, an infrared hole and a light supplementing hole are formed in the front side wall of the bin body, transparent glass is mounted in the visible light hole, the infrared hole and the light supplementing hole, a lens of a visible light camera is over against the visible light hole, an infrared head of a thermal infrared imager is over against the infrared hole, and a light emitting end of a light supplementing lamp is over against the light supplementing hole; the windshield wiper of the windshield wiper mechanism is pressed on the light-transmitting glass of the visible light hole and can swing in a reciprocating mode, the windshield wiper driving part of the windshield wiper mechanism is installed in the bin body, and the torque output end of the windshield wiper driving part penetrates out of the bin body and is connected with the windshield wiper. The wiper driving part comprises a wiper motor and a control panel used for controlling the rotation of the wiper motor, and a torque output shaft of the wiper motor is connected with the wiper. The wiper mechanism can well clean water stains and dust in the working area of the visible light camera.
Furthermore, the same triangle formed by the first probe 3, the first wheel 1 and the second wheel 2 in this embodiment is an isosceles triangle, the first probe 3 is located at the vertex angle of the isosceles triangle, the first wheel 1 is located at one base angle vertex of the isosceles triangle, and the second wheel 2 is located at the other base angle vertex of the isosceles triangle, so that the first probe 3, the first wheel 1 and the second wheel 2 can have symmetry, and thus, there is no need to make adaptive adjustment on a control signal during driving. The relationship between the distance h from the first probe 3 to the base of the isosceles triangle and the distance d between the first wheel 1 and the second wheel 2 is: d is 2h to make the overall arrangement of three probes have higher symmetry, need not carry out the difference adjustment in the in-process of going control to intelligent robot according to the signal of three probes, improved the treatment effeciency. The first probe 3 comprises an infrared transmitting end and an infrared receiving end, and the track line is made of a material capable of absorbing infrared rays; when the infrared ray emitted by the infrared emitting end of the first probe 3 irradiates on the trajectory, the infrared receiving end cannot receive the reflected infrared ray; when the infrared ray emitted from the infrared emitting end of the first probe 3 irradiates the region outside the trajectory line, the infrared ray is reflected by the region outside the trajectory line, and the infrared receiving end can receive the reflected infrared ray. When detecting that the detection signal of the first probe 3 is switched between a first signal and a second signal, the main control module switches the left-turn mode or the right-turn mode, wherein the first signal is an output signal corresponding to the first probe when the track line is not detected, and the second signal is an output signal corresponding to the first probe when the track line is detected. If the infrared ray emitted from the infrared emitting end of the first probe 3 irradiates the trajectory, the infrared ray is absorbed by the trajectory, so that the infrared receiving end of the first probe 3 cannot receive the infrared ray, and the output signal of the first probe 3 is 1; when the infrared ray emitted from the infrared emitting end of the first probe 3 is irradiated to the region other than the trace line, the infrared ray is reflected by the region other than the trace line, so that the infrared receiving end of the first probe 3 can receive the infrared ray, and the output signal of the first probe 3 is 0 at this time. The first probe is arranged at one end of the intelligent robot facing the advancing direction of the intelligent robot; the first wheel and the second wheel of the intelligent robot are bilaterally symmetrical about the first probe, and the first probe, the first wheel and the second wheel are positioned on three vertexes of the same triangle, so that the problem of hysteresis of track detection of the existing intelligent robot in the driving process can be solved, real-time control can be realized through advanced detection, and the driving stability of the intelligent robot is realized.
Further, the walking chassis 65 of the intelligent robot is also provided with a second probe 4 and a third probe 5; the second probe 4 is arranged on the connecting line of the first probe 3 and the first wheel 1; the third probe 5 is arranged on a connecting line of the first probe 3 and the second wheel 2. The second probe 4 and the third probe 5 both comprise an infrared emitting end and an infrared receiving end. If the detection signal of the first probe is a first signal and the detection signal of the second probe is a second signal, controlling the two wheels to run in a left-turn mode until the detection signal of the first probe is converted into the second signal; and/or if the detection signal of the first probe is a first signal and the detection signal of the third probe is a second signal, controlling the two wheels to run in a right-turn mode until the detection signal of the first probe is converted into the second signal; and the difference value of the rotating speeds of two wheels in the left-turning mode or the right-turning mode is the maximum difference value. The second probe 4 and the third probe 5 can assist the first probe 3 in detecting the track line, so that when the vehicle needs to turn or the signal of the first probe 3 is always in a 0 state, the second probe 4 and the third probe 5 can control the tracking running. The bottom of the intelligent robot 6 can also be provided with at least one probe, which is arranged on the connection line of the first probe 3 and the first wheel 1 or the connection line of the first probe 3 and the second wheel 2. By arranging a plurality of probes, the accuracy of tracking driving detection is further improved. The main control module controls a first wheel and a second wheel which are bilaterally symmetrical about the first probe according to a detection result of the first probe, so that a driving mode of two wheels is switched between a left-turning mode and a right-turning mode, wherein the rotating speed difference value of the two wheels in the driving mode is a preset initial difference value, and the initial difference value is smaller than the maximum difference value of the rotating speed difference values of the two wheels. The detection result is that the first probe detects the track line or does not detect the track line. When the driving mode is a left-turn mode, the wheel speed of the first wheel (left wheel) is smaller than that of the second wheel (right wheel), and when the driving mode is a right-turn mode, the wheel speed of the first wheel (left wheel) is larger than that of the second wheel (right wheel). The initial difference is the rotation speed difference of two wheels set by a technician according to actual conditions, and the initial difference can be any value smaller than the maximum difference of the rotation speed differences of the two wheels. Optionally, in the embodiment of the present invention, the rotation speed difference is adjusted by a pulse width modulation technique, and the preset initial difference may be set to 10% to ensure stability and balance of tracking driving. And converting the driving mode according to the detection result, thereby realizing the adjustment of the driving route according to the track line. Controlling a first wheel and a second wheel which are bilaterally symmetric with respect to a first probe to switch a driving mode of two wheels between a left-turn mode and a right-turn mode, comprising: and if the detection signal of the first probe is switched between the first signal and the second signal, controlling the running mode of the two wheels to be switched between a left-turning mode and a right-turning mode. Specifically, when the detection signal of the first probe is converted between the first signal and the second signal, it is described that the detection result of the first probe on the ground is: and when the track line is detected, converting the detected track line into an undetected track line, or converting the undetected track line into the detected track line, and at the moment, converting the left-turn mode or the right-turn mode to enable the probe to detect another detection result relative to the current detection result, so that the intelligent robot can walk according to the track line all the time, and the running track of the intelligent robot is prevented from deviating from the track line. When the intelligent robot is in a running process, the first probe may be in the first signal all the time, that is, the state of not detecting the trajectory line may exist, and at this time, the second probe or the third probe is needed to assist in running control. When the first probe is the first signal and the second probe is the second signal, it is indicated that the track line is not detected in the traveling direction of the intelligent robot at the moment, and the track line exists on the left side of the traveling direction, so that the two wheels are controlled to travel in a left-turn mode, and the left-turn travel is performed according to the maximum difference value of the rotation speed difference values of the two wheels, so as to realize large-angle left-turn until the track line is detected by the first probe. Similarly, when the first probe is the first signal and the third probe is the second signal, it indicates that the track line is not detected in the traveling direction of the intelligent robot at this time, and the track line exists on the right side of the traveling direction, so that the two wheels are controlled to travel in a right turn mode, and the left turn is performed by using the maximum difference value of the rotation speed difference values of the two wheels, so that a large-angle right turn is realized until the track line is detected by the first probe. Through the scheme, the intelligent robot realizes stable large-angle steering. If the acquired detection signal of the first probe is the first signal, before the first signal is converted into the second signal, on the basis of a preset initial difference value, the rotating speed difference value of two wheels is increased according to a preset time interval and a preset increment until the first signal is converted into the second signal or the rotating speed difference value of two wheels is the maximum difference value. When the first signal is the output signal corresponding to the first probe when the trajectory line is not detected, namely, the signal 0, and the second signal is the output signal corresponding to the first probe when the trajectory line is detected, namely, the signal 1, because the area of the trajectory line is smaller relative to the whole driving area, in the driving process of the intelligent robot, the time for searching the trajectory line in the area outside the trajectory line is longer, and the time for separating from the trajectory line when the intelligent robot drives on the trajectory line is shorter, therefore, when the acquired detection signal of the first probe is the first signal, namely, when the trajectory line is not detected currently, in order to accelerate the time for detecting the trajectory line, the rotation speed difference of two wheels needs to be increased. In order to ensure the driving stability of the intelligent robot, the rotating speed difference of two wheels is uniformly increased according to the preset time period and the preset increment, so that the balance and stability of the intelligent robot are kept. When the rotating speed difference value of the two wheels is increased to the maximum difference value, namely 100%, the rotating speed difference value adjustment is stopped, the two wheels run by the maximum difference value, or when the detection signal of the first probe is converted from the first signal to the second signal, the rotating speed difference value of the two wheels is adjusted to be the preset initial difference while the left-turning mode or the right-turning mode is converted.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. The intelligent robot control system for substation inspection is characterized by comprising an intelligent robot and a management terminal in communication connection with the intelligent robot, wherein the intelligent robot comprises a motion module, a target confirmation module, a shooting module and a main control module which is respectively in control connection with the motion module, the target confirmation module and the shooting module; the management terminal can acquire the running information of the intelligent robot through the main control module or send a control command to control the intelligent robot to run; the motion module comprises a walking chassis, wherein the walking chassis comprises a first probe for detecting the track line, and a first wheel and a second wheel which are arranged symmetrically left and right relative to the first probe; the first probe is arranged at one end of the intelligent robot facing the traveling direction of the intelligent robot; the first probe, the first wheel and the second wheel are positioned on three vertexes of a same triangle; the main control module controls a first wheel and a second wheel which are bilaterally symmetrical about the first probe according to a detection signal of the first probe, so that a driving mode of two wheels is switched between a left-turning mode and a right-turning mode, wherein the rotating speed difference value of the two wheels in the driving mode is a preset initial difference value, and the initial difference value is smaller than the maximum difference value of the rotating speed difference values of the two wheels; the target confirming module is used for confirming the position of the patrol point, and the shooting module is used for shooting the position after the target confirming module confirms the patrol point position.
2. The intelligent robot control system of claim 1, wherein the first probe comprises an infrared emitting end and an infrared receiving end, and the trajectory line is made of an infrared absorptive material; when the infrared ray emitted by the infrared emitting end of the first probe irradiates the trajectory, the infrared receiving end cannot receive the reflected infrared ray; when the infrared ray emitted by the infrared emitting end of the first probe irradiates the area outside the track line, the infrared ray is reflected by the area outside the track line, and the infrared receiving end can receive the reflected infrared ray.
3. The intelligent robot control system of claim 1, wherein the same triangle formed by the first probe, the first wheel and the second wheel is an isosceles triangle, the first probe is located at a vertex angle of the isosceles triangle, the first wheel is located at one base angle vertex of the isosceles triangle, and the second wheel is located at the other base angle vertex of the isosceles triangle.
4. The intelligent robot control system according to claim 1, wherein the main control module switches between a left-turn mode and a right-turn mode when detecting that the detection signal of the first probe is switched between a first signal and a second signal, the first signal being an output signal corresponding to the first probe not detecting the trajectory line, the second signal being an output signal corresponding to the first probe detecting the trajectory line.
5. The intelligent robot control system according to claim 1, wherein the walking chassis of the intelligent robot is further provided with a second probe and a third probe; the second probe is arranged on a connecting line of the first probe and the first wheel; the third probe is arranged on a connecting line of the first probe and the second wheel, and the second probe and the third probe both comprise an infrared transmitting end and an infrared receiving end.
6. The intelligent robot control system according to claim 8, wherein if the detection signal of the first probe is a first signal and the detection signal of the second probe is a second signal, the two wheels are controlled to run in a left-turn mode until the detection signal of the first probe is converted into the second signal; and/or if the detection signal of the first probe is a first signal and the detection signal of the third probe is a second signal, controlling the two wheels to run in a right-turn mode until the detection signal of the first probe is converted into the second signal; wherein the difference between the rotational speeds of the two wheels in the left-turn mode or the right-turn mode is the maximum difference.
7. The intelligent robot control system according to claim 1, wherein a magnet is provided on a trajectory line near the patrol point, an electromagnetic sensor connected to the main control module is provided at a bottom of the walking chassis, and when the electromagnetic sensor senses the magnet, the main control module controls the first wheel and the second wheel to stop walking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010337911.9A CN111399521A (en) | 2020-04-26 | 2020-04-26 | Intelligent robot control system for substation inspection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112066987A (en) * | 2020-08-10 | 2020-12-11 | 国网上海市电力公司 | Laser voice guiding device for assisting indoor substation in inspection |
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| CN110091334A (en) * | 2019-05-31 | 2019-08-06 | 深圳市盛矽电子科技有限公司 | Tracking robot, tracking travel control method, system and medium |
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| CN109571403A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of track trace navigation intelligent inspection robot and its air navigation aid |
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| CN112066987A (en) * | 2020-08-10 | 2020-12-11 | 国网上海市电力公司 | Laser voice guiding device for assisting indoor substation in inspection |
| CN112066987B (en) * | 2020-08-10 | 2023-10-03 | 国网上海市电力公司 | Laser voice guiding device for assisting indoor substation inspection |
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