CN103995534B - The mobile route control system of crusing robot and control method - Google Patents
The mobile route control system of crusing robot and control method Download PDFInfo
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- CN103995534B CN103995534B CN201410203143.2A CN201410203143A CN103995534B CN 103995534 B CN103995534 B CN 103995534B CN 201410203143 A CN201410203143 A CN 201410203143A CN 103995534 B CN103995534 B CN 103995534B
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Abstract
The invention discloses the mobile route control system of a kind of crusing robot and control method, including the first range cells, second range cells, control unit, for controlling the first range cells and the second range cells, the first group of distance signal received and second group of distance signal are carried out calculation process, controls robot and turn to or keep straight on.The mobile route of crusing robot is controlled by said system, eliminate the expense laying track, reduce crusing robot and move the difficulty of construction of route control method, achieve the real-time monitoring of the survival condition of plant's ambient condition and poultry, what improve plant patrols and examines work efficiency, improve the safety and reliability of inspection machine human and environment, reduce the monitoring cost of livestock-raising simultaneously.
Description
Technical field
The present invention relates to robot control field, particularly relate to mobile control system and the control method of a kind of crusing robot.
Background technology
In the dietary requirements meaty texture of China, maximum with Carnis Sus domestica, Fowl meat proportion, beef, Carnis caprae seu ovis, other meat accountings are sequentially reduced.Along with the reach of science and the modern promotion of cultivation, it is achieved " people manages equipment-equipment and supports poultry-poultry ' supporting ' people ", promoting the cultivation of poultry class is inexorable trend to standardization, scale, automation direction development.
At present, the report but without plant's crusing robot occurs, but the application example that existing intelligent inspection robot is patrolled and examined at electric power tunnel.The crusing robot in this electric power tunnel motion track in tunnel realizes being accurately positioned by Intelligent positioning module.Intelligent positioning module adopts based on hi-Fix module and DC low-voltage Intelligent servo motor, pre-buried RFID (RF identification) non-contact card in aluminum alloy rail, robot is installed ultrahigh speed near field RFID read write line, the information being accurately positioned between read write line by RFID non-contact card and RFID is mutual, cable connector can be identified, the position such as emphasis patrols and examines position, track switch, wellhead traversing point, turning point, it is achieved each patrol and examine being accurately positioned of position.This, algorithm complexity difficult by laying track and the motion track control method construction arranging RFID tag navigation, is not suitable for the relatively simple occasion of environmental condition.
Summary of the invention
It is an object of the invention to provide the mobile route control system of a kind of crusing robot and method, this system and method is without using RFID, simplify robot path planning's control flow, improve the safety and reliability of crusing robot, reduce monitoring cost simultaneously.
For achieving the above object, the present invention provides the mobile route control system of a kind of crusing robot, including: the first range cells, at least include two distance measuring sensors that homonymy is arranged, for detecting first group of distance signal, and first group of distance signal is transferred to control unit；
Second range cells, at least includes two distance measuring sensors that homonymy is arranged, is used for detecting second group of distance signal, and second group of distance signal is transferred to control unit；
Control unit, for setting the first predetermined value and the second predetermined value, control the first range cells and the second range cells, first group of distance signal and second group of distance signal to receiving carry out calculation process, if at least one distance signal is equal to the first predetermined value in first group of distance signal, then Robot first passage moves forward, if first group of distance signal is all higher than the first predetermined value or equal no signal, then robot starts the second range cells, detect second group of distance signal, if second group of distance signal is respectively less than or is equal to the second predetermined value, then robot turns to；If at least one distance signal is more than the second predetermined value in second group of distance signal, then robot continues first group of distance signal of detection.
Preferably, in described first range cells, it is respectively provided with at least two distance measuring sensors in the both sides of robot；In described second range cells, it is respectively provided with at least two distance measuring sensors in the both sides of robot.
Preferably, distance measuring sensor described in described first range cells is radar range finding sensor, and the described distance measuring sensor in described second range cells is infrared distance sensor.
Preferably, described first predetermined value is the mobile route of the described robot set distance in the first direction and between the first mark；Described second predetermined value is the distance between described Robot second direction and the second mark；Described first direction and described second direction are horizontal direction, and both angles are more than 0 degree.
Preferably, described first mark is the pouity dwelling place that poultry cultivation factory arranges, the second mark is the peripheral wall of pouity dwelling place.
Preferably, described first pouity dwelling place and described peripheral wall are vertically arranged, and described first direction and described second direction angle are 90 degree.
The present invention also provides for the mobile route control method of a kind of crusing robot, for controlling the mobile route of crusing robot, comprises the following steps:
Step 1): set the first predetermined value and the second predetermined value；
Step 2): detect first group of distance signal, and first group of distance signal is transferred to control unit；
Step 3): compare first group of distance signal and the first predetermined value, if at least one distance signal is equal to the first predetermined value in first group of distance signal, then Robot first passage moves forward, if first group of distance signal is all higher than the first predetermined value or equal no signal, then proceeds to step 4)；
Step 4): starting the second range cells, detect second group of distance signal, if second group of distance signal is respectively less than or is equal to the second predetermined value, then robot turns to；If at least one distance signal is more than the second predetermined value in second group of distance signal, then proceed to step 3).
Preferably, described first predetermined value is the mobile route of the described robot set distance in the first direction and between the first mark；Described second predetermined value is the distance between described Robot second direction and the second mark set；Described first direction and described second direction are horizontal direction, and both angles are more than 0 degree.
Preferably, further comprising the steps of: to set the 3rd predetermined value, control to return again to after described robot moves the 3rd predetermined value, move forward along second channel.
A kind of crusing robot provided by the present invention moves the control system of route, including range cells and control unit.Unlike the prior art, range cells provided by the invention includes the first range cells and the second range cells.And each range cells includes the distance measuring sensor that at least two homonymy is arranged, when a distance measuring sensor in each range cells breaks down, another distance measuring sensor still can normal operation.Meanwhile, the data detected when two distance measuring sensors are inconsistent, can determine whether out crusing robot deviation predetermined paths, and robot can send signal of rectifying a deviation, and controls the driver element of crusing robot, it is achieved correction, and is continuously advanced.First range cells controls the mobile route of robot by detecting first group of distance signal, when the public outer time delay that robot is moved fully between the first mark passage, first group of distance signal that first range cells detects is all higher than the first predetermined value or equal no signal, then control unit starts the second range cells；Second range cells detects second group of distance signal, if second group of distance signal no more than the second predetermined value, then confirms the public extension that robot has been moved fully between the first mark passage, now, control unit controls robot and turns to.With the horizontal range on the first mark first direction when the first above-mentioned predetermined value can be the advance of Robot first passage, with the second mark horizontal range in a second direction when the second predetermined value is the advance of Robot first passage.Therefore, in crusing robot control system provided by the present invention, first range cells and the second range cells have cooperated the course changing control of robot, when the first range cells break down or detect make mistakes time, the second range cells can verify this mistake.Make crusing robot can under the control of two groups of range cells normal operation, and failure rate is low, improve the suitability of robot.And, the mobile route of crusing robot is controlled by said system, eliminate the expense laying track, reduce crusing robot and move the difficulty of construction of route control method, by this robot application in plant, it may be achieved the real-time monitoring of the survival condition of plant's ambient condition and poultry, what improve plant patrols and examines work efficiency, improve the safety and reliability of inspection machine human and environment, reduce the monitoring cost of livestock-raising simultaneously.
In a preferred embodiment, in described first range cells, it is respectively provided with at least two distance measuring sensors in the both sides of robot；In described second range cells, it is respectively provided with at least two distance measuring sensors in the both sides of robot.Making patrolling and examining route and can realizing circulation bidirectional patrol mode of robot, so arrange each column pouity dwelling place all in the scope of patrolling and examining, both can guarantee that not missing inspection, be avoided that again many inspections, that improves crusing robot patrols and examines efficiency.
In another preferred embodiment, described first predetermined value is the mobile route of the described robot set distance in the first direction and between the first mark；Described second predetermined value is the distance between described Robot second direction and the second mark；Described first direction and described second direction are horizontal direction, and both angles are more than 0 degree.Namely limit the mobile route of crusing robot by arranging robot in two horizontal directions distance respectively and between two fixed signal things, make crusing robot turn in time when this turning.If robot performs to patrol and examine to collide with mark; meeting tamper-indicating thing and robot; by controlling the mobile route of machine, it is ensured that robot and mark keep will not colliding between certain distance and mark, improve reliability and the safety of patrolling and examining work.
Thering is provided on the basis of mobile route control system of above-mentioned crusing robot, the present invention also provides for the control method of a kind of mobile route control system based on above-mentioned crusing robot；Owing to the mobile route control system of crusing robot has above-mentioned technique effect, the control method based on the mobile route control system of crusing robot also has corresponding technique effect.
Accompanying drawing explanation
Fig. 1 is the structural representation of the mobile route control system of crusing robot provided by the present invention；
Fig. 2 is the mobile route map of crusing robot provided by the present invention；
Fig. 3 is the flow chart of the mobile route control method of crusing robot provided by the present invention.
Detailed description of the invention
The core of the present invention is to provide the mobile route control system of a kind of robot for patrolling and examining, and improves the suitability of crusing robot, is conducive to raising to patrol and examine work efficiency, reduces routing inspection cost.
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with accompanying drawing, the present invention is described in further detail with detailed description of the invention.
The mobile route control system of crusing robot provided by the present invention, including the first range cells, the second range cells and control unit.Wherein, the first range cells 1, at least include two distance measuring sensors that homonymy is arranged, be used for detecting first group of distance signal, and first group of distance signal is transferred to control unit 3；Second range cells 2, at least includes two distance measuring sensors that homonymy is arranged, is used for detecting second group of distance signal, and second group of distance signal is transferred to control unit 3；Control unit 3, sets the first predetermined value and the second predetermined value, first group of distance signal and the first predetermined value is compared, and its comparative result is as follows:
1, in first group of distance signal, at least one distance signal is equal to the first predetermined value, then Robot first passage moves forward.
2, first group of distance signal is respectively less than the first predetermined value, then start avoidance pattern, it may be judged whether have barrier obstruction, and if so, then the former route of cut-through thing continuation moves forward；If it is not, the hypotelorism of then robot and the first mark, robot by projected route walking, starts correction pattern, makes robot return to the walking of former route.
3, first group of distance signal is all higher than the first predetermined value, it is possible to robot has been moved off the position that the first mark is corresponding, it is necessary to turn to, and now starts the second range cells, the distance between measuring robots and the second mark, examines machine the need of turning to；Or robot and the first mark hypertelorism, now still start correction pattern, make robot return to the walking of former route.
4, first group of distance signal is all without useful signal, it is possible to robot has been moved off the position that the first mark is corresponding, it is necessary to turn to, and now starts the second range cells, the distance between measuring robots and the second mark, examines machine the need of turning to；Or first group of distance signal all breaks down, now needing startup separator detection pattern, this pattern is referred to prior art.
Each range cells includes the distance measuring sensor that at least two homonymy is arranged, and when a distance measuring sensor in each range cells breaks down, another distance measuring sensor still can normal operation.Meanwhile, the data detected when two distance measuring sensors are inconsistent, can determine whether out crusing robot deviation predetermined paths, and robot can send signal of rectifying a deviation, and controls the driver element of crusing robot, it is achieved correction, and is continuously advanced.If first group of distance signal is all higher than the first predetermined value or equal no signal, then robot starts the second range cells, detects second group of distance signal, if second group of distance signal is respectively less than or is equal to the second predetermined value, then robot turns to first direction.
With the horizontal range on the first mark first direction when the first above-mentioned predetermined value can be the advance of Robot first passage, with the second mark horizontal range in a second direction when second predetermined value is the advance of Robot first passage, first direction and second direction are horizontal direction, and both angles are more than 0 degree.As in pouity dwelling place, (as shown in Figure 2) the first predetermined value is the horizontal range between robot 33 and the first mark pouity dwelling place 11, second predetermined value is the distance between robot and the second mark wall 44 of passage extension, and first direction shown in figure and second direction angle are 90 degree.
Therefore, in crusing robot control system provided by the present invention, first range cells 1 and the second range cells 2 have cooperated the course changing control of robot, when the first range cells 1 break down or detect make mistakes time, the second range cells 2 can verify this mistake.This crusing robot can under the control of two groups of range cells normal operation, and failure rate is low, improve the suitability of robot.This system structure is simple, processor requirement is low, by using two range cells to control the mobile route of crusing robot, overcome prior art and lay track, the shortcoming complicated, costly, processor requirement is high of constructing, improve and patrol and examine efficiency, reduce routing inspection cost.
Refer to the structural representation of the mobile route control system that Fig. 1, Fig. 1 are crusing robot provided by the present invention.In a kind of specific embodiment, the mobile route control system of crusing robot provided by the present invention, including the first range cells the 1, second range cells 2 and control unit 3.Wherein, the first range cells 1, at least include two distance measuring sensors that homonymy is arranged, be used for detecting first group of distance signal, and first group of distance signal is transferred to control unit 3；Second range cells 2, at least includes two distance measuring sensors that homonymy is arranged, is used for detecting second group of distance signal, and second group of distance signal is transferred to control unit 3；Control unit 3, sets the first predetermined value, first group of distance signal and the first predetermined value is compared, if at least one distance signal is equal to the first predetermined value in first group of distance signal, then Robot first passage moves forward；If first group of distance signal is all higher than the first predetermined value or equal no signal, then robot starts the second range cells 2, detects second group of distance signal, if second group of distance signal is respectively less than or is equal to the second predetermined value, then robot turns to first direction.This system structure is simple, processor requirement is low, by using two range cells to control the mobile route of crusing robot, overcome prior art and lay track, the shortcoming complicated, costly, processor requirement is high of constructing, improve and patrol and examine efficiency, reduce routing inspection cost.
In order to realize robot, to patrol and examine route be circulation bidirectional patrol mode, further, first range cells and the second range cells are set to both sides and are respectively provided with at least two distance measuring sensors, and the relative position of two distance measuring sensors of homonymy setting is for one in front and one in back to arrange, front and back herein specify for moving route direction relative to robot, so arrange each column pouity dwelling place all in the scope of patrolling and examining, both can guarantee that not missing inspection, being avoided that again many inspections, that improves crusing robot patrols and examines efficiency.
Further, the distance measuring sensor in the first range cells 1 is radar range finding sensor, and it is low that radar range finding sensor has price, feature applied widely；Distance measuring sensor in second range cells 2 is infrared distance sensor, due to radar range finding sensor easily by the interference of external electromagnetic ripple, arrange infrared distance sensor can the detection mistake that radar range finding sensor occurs effectively be revised herein, thus turning to confirm opportunity in robot, it is achieved robot correctly turns to.
Specifically, the first above-mentioned predetermined value is the mobile route of the described robot set distance in the first direction and between the first mark；Second predetermined value is the distance between described Robot second direction and the second mark；First direction and described second direction are horizontal direction, and both angles are more than 0 degree.Such steering direction is suitable in the multiple rows of mark (specific embodiment, mark can be the pouity dwelling place that poultry cultivation factory arranges) be arrangeding in parallel, and wherein, the first predetermined value is the distance between mobile route and the mark of the robot set.As in figure 2 it is shown, the mobile route map that Fig. 2 is crusing robot provided by the present invention.In the pouity dwelling place be arrangeding in parallel, crusing robot provided by the present invention can along pouity dwelling place 11 as shown in Figure 2, and the track route 22 of robot is the direction shown in arrow in figure.
Specifically, the pouity dwelling place that the first mark can be arranged for poultry cultivation factory, the second mark can be the peripheral wall of pouity dwelling place.First pouity dwelling place and peripheral wall are vertically arranged, and described first direction and described second direction angle are 90 degree.Namely crusing robot moves ahead along the mode parallel with pouity dwelling place, ideal distance between mobile route and the sidewall of pouity dwelling place is set to the first predetermined value, ideal distance between robot front end and peripheral wall is set to the second predetermined value, judge whether robot arrives the position needing to turn by predeterminable range in two horizontal directions, it is determined that whether robot turns to.This control method is simple and convenient, and reliable and stable.
Mobile route control system except above-mentioned crusing robot, the present invention also provides for the control method of a kind of mobile route control system based on above-mentioned crusing robot, utilize the method, can be effectively improved and patrol and examine work efficiency, monitor the ambient condition of plant and the survival condition of poultry in real time, improve plant's work efficiency and reliability, it is ensured that the safety of breeding environment and controllability.
Refer to the flow chart of mobile a kind of detailed description of the invention of route control method that Fig. 3, Fig. 3 are crusing robot provided by the present invention.
In the first specific embodiment, control method provided by the present invention comprises the following steps:
Step S11, control unit sets the first predetermined value and the second predetermined value, and control unit controls the direction that extends to passage with the first predetermined value of robot and moves forward；
Step S12, detect first group of distance signal, relatively first predetermined value (distance value between mobile route and the pouity dwelling place of robot) of first group of distance signal and setting, if being equal to, then keep advance, if at least one signal less than, then proceed to step S13, if being all higher than or no signal, then proceed to step S14；
Step S13, controls robot and enters avoidance pattern, it may be judged whether have barrier obstruction, and if so, then the former route of cut-through thing continuation moves forward, if it is not, then send signal of rectifying a deviation, controls the driver element of crusing robot, it is achieved correction, and moves on；
Step S14, detect second group of distance signal, relatively second predetermined value (pouity dwelling place of robot and described passage extension distance between the walls) of second group of distance signal and setting, if more than, illustrate that robot is from needing the position turned to also have certain distance, but without arriving the position needing to turn to, then proceed to step S12, again first group of distance signal is detected；If less than or equal to, illustrate that robot reaches the position needing to turn to, then control robot and turn to.
In the control method for movement of crusing robot provided by the present invention, two marks are set, and according to the track route of robot distance respectively and between two marks in two horizontal directions, first predetermined value and the second predetermined value are set, the need of the reference turned to during as robot ambulation.Compare by first group of distance signal and the first predetermined value, if first group of distance signal is more than the first predetermined value, or no signal, then illustrate that robot deviates normal track route or arrives the position needing to turn to, now compare second group of distance signal and the second predetermined value, if second group of distance signal is less than or equal to the second predetermined value, has then examined robot and arrived the position that can turn to, after control unit knows this signal, then control robot and turn to.This control method gathers the positional information of robot from the both direction horizontal plane, confirms that the errorless rear robot that controls turns to, and control method is simple and convenient, can improve accuracy and adaptability that robot controls.
In the second specific embodiment, control method provided by the present invention comprises the following steps:
Step S21, control unit sets the first predetermined value, the second predetermined value, the 3rd predetermined value, and control unit controls the direction that extends to passage with the first predetermined value of robot and moves forward；
Step S22, detect first group of distance signal, relatively first predetermined value (distance value between mobile route and the pouity dwelling place of robot) of first group of distance signal and setting, if being equal to, then proceed to step S23, if at least one signal less than, then proceed to step S24, if being all higher than or no signal, then proceed to step S25；
Step S23, controls Robot channel direction and continues to move to forward；
Step S24, controls robot and enters avoidance pattern, it may be judged whether have barrier obstruction, and if so, then the former route of cut-through thing continuation moves forward, if it is not, then send signal of rectifying a deviation, controls the driver element of crusing robot, it is achieved correction, and moves on；
Step S25, detects second group of distance signal, compares second predetermined value (pouity dwelling place of robot and described passage extension distance between the walls) of second group of distance signal and setting, if being all higher than, then proceed to step S22, if no more than, then proceed to step S27；
Step S26, controls robot and extends vertical directional steering to passage, it is achieved the correction to first group of range cells, it is ensured that robot can accurately judge to turn to opportunity, it is to avoid owing to erroneous judgement turns to mistake, bump against with pouity dwelling place.
Step S27, controls robot and moves forward the 3rd predetermined value (channel width angle value), it is ensured that robot turns to safety, it is to avoid collide with pouity dwelling place；
Step S28, controls robot and turns to next passage bearing of trend and move forward.
Owing to infrared distance sensor is not subject to the influence of electromagnetic waves, it is possible to avoiding the detection mistake that radar range finding sensor produces due to extraneous interference signal, this control system algorithm is simple, and processor requirement is low, improves inspection machine human reriability.
In the second detailed description of the invention, the mobile route of crusing robot turns to rule control by two, and first turns to rule identical with the first detailed description of the invention, utilize the foundation that on horizontal plane, whether the predeterminable range of both direction turns to as robot；Second turns to rule is preset travel distance, when Robot given line walks three predetermined values, namely starts to turn to.This method increase motility when robot patrols and examines course changing control.
Mobile route control method and control system to crusing robot provided by the present invention are described in detail above.Principles of the invention and embodiment are set forth by specific case used herein, and the explanation of above example is only intended to help to understand method and the core concept thereof of the present invention.It should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to the present invention carries out some improvement and modification, these improve and modify in the protection domain also falling into the claims in the present invention.
Claims (9)
1. the mobile route control system of a crusing robot, it is characterised in that including:
First range cells, on left side or the right side of crusing robot, at least includes two distance measuring sensors that homonymy is arranged, is used for detecting first group of distance signal, and first group of distance signal is transferred to control unit；
Second range cells, at front side or the rear side of crusing robot, at least includes two distance measuring sensors that homonymy is arranged, is used for detecting second group of distance signal, and second group of distance signal is transferred to control unit；
Control unit, for setting the first predetermined value and the second predetermined value, control the first range cells and the second range cells, first group of distance signal and second group of distance signal to receiving carry out calculation process, if at least one distance signal is equal to the first predetermined value in first group of distance signal, then Robot first passage moves forward, if first group of distance signal is all higher than the first predetermined value or equal no signal, then robot starts the second range cells, detect second group of distance signal, if second group of distance signal is respectively less than or is equal to the second predetermined value, then robot turns to；If at least one distance signal is more than the second predetermined value in second group of distance signal, then robot continues first group of distance signal of detection.
2. the mobile route control system of crusing robot as claimed in claim 1, it is characterised in that in described first range cells, is respectively provided to few two distance measuring sensors in every side of the left and right sides of crusing robot；In described second range cells, it is respectively provided to few two distance measuring sensors in every side of the both sides, front and back of crusing robot.
3. the mobile route control system of crusing robot as claimed in claim 2, it is characterised in that distance measuring sensor described in described first range cells is radar range finding sensor, and the described distance measuring sensor in described second range cells is infrared distance sensor.
4. the mobile route control system of the crusing robot as described in any one of claim 1-3, it is characterised in that described first predetermined value is the mobile route of the described robot set distance in the first direction and between the first mark；Described second predetermined value is the distance between described Robot second direction and the second mark；Described first direction and described second direction are horizontal direction, and both angles are more than 0 degree.
5. the mobile route control system of crusing robot as claimed in claim 4, it is characterised in that described first mark is the pouity dwelling place that poultry cultivation factory arranges, the second mark is the peripheral wall of pouity dwelling place.
6. the mobile route control system of crusing robot as claimed in claim 5, it is characterised in that described pouity dwelling place and described peripheral wall are vertically arranged, and described first direction and described second direction angle are 90 degree.
7. a mobile route control method for crusing robot, for controlling the mobile route of crusing robot, it is characterised in that comprise the following steps:
Step 1): set the first predetermined value and the second predetermined value；
Step 2): detect first group of distance signal, and first group of distance signal is transferred to control unit；
Step 3): compare first group of distance signal and the first predetermined value, if at least one distance signal is equal to the first predetermined value in first group of distance signal, then Robot first passage moves forward, if first group of distance signal is all higher than the first predetermined value or equal no signal, then proceeds to step 4)；
Step 4): starting the second range cells, detect second group of distance signal, if second group of distance signal is respectively less than or is equal to the second predetermined value, then robot turns to；If at least one distance signal is more than the second predetermined value in second group of distance signal, then proceed to step 2).
8. the mobile route control method of crusing robot as claimed in claim 7, it is characterised in that described first predetermined value is the mobile route of the described robot set distance in the first direction and between the first mark；Described second predetermined value is the distance between described Robot second direction and the second mark set；Described first direction and described second direction are horizontal direction, and both angles are more than 0 degree.
9. the mobile route control method of crusing robot as claimed in claim 7, it is characterised in that further comprising the steps of: to set the 3rd predetermined value, control to return again to after described robot moves the 3rd predetermined value, move forward along second channel.
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