CN104165636A - Transformer substation patrol robot positioning and navigation system - Google Patents
Transformer substation patrol robot positioning and navigation system Download PDFInfo
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- CN104165636A CN104165636A CN201410401942.0A CN201410401942A CN104165636A CN 104165636 A CN104165636 A CN 104165636A CN 201410401942 A CN201410401942 A CN 201410401942A CN 104165636 A CN104165636 A CN 104165636A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
The invention discloses a transformer substation patrol robot positioning and navigation system which comprises a main control computer, a first gear motor, a second gear motor, a laser radar, a first coder, a second coder, a motion control module, a data acquisition card, a wireless data communication module and a power supply module, wherein the laser radar is connected to the main control computer to transmit information of a surrounding environment to the main control computer, thus finishing map establishment and positioning, route planning, local obstacle avoidance and completing map information. According to the positioning and navigation system, artificial surveying and mapping as well as map establishment in advance are avoided, and autonomy is high; an environment map of a transformer substation can be automatically established and be updated in a patrolling process.
Description
Technical field
The invention belongs to power system transformer substation operation maintenance technical field, particularly a kind of Intelligent Mobile Robot Position Fixing Navigation System.
Background technology
Be applied to that crusing robot system under substation is current can partly replace manual inspection means, exactly power transformation station equipment is carried out to walkaround inspection, find in time fault and generate report, effectively safeguard the stable operation of electric system, reduced error and the working strength of manual inspection.
The prerequisite that robot system completes its patrol task is to realize rapid in complex environment, the accurate autonomous location of robot, navigation and path planning.Currently there is the multiple mode that realizes Intelligent Mobile Robot location and navigation, such as laying trapped orbit air navigation aid, machine vision localization method, GPS positioning navigation method, artificial target's localization method etc.Chinese utility model patent 201020562979.9 discloses a kind of crusing robot with guider, positioning navigation method adopts the sensor senses road environments such as ultrasonic sensor, Magnetic Sensor and rfid interrogator, this system need to be laid a large amount of signs in advance equally in substation, then by robot, detected and advance along sign, lacking dirigibility.Chinese utility model patent 201020697884.8 discloses a kind of navigational system of substation inspection robot, first positioning navigation method utilizes GPS coarse positioning, secondly, three reference location posts in searching machine people the place ahead the distance between robot measurement and three reference location posts, determine the coordinate of robot in environment according to geometric relationship.The method needs in advance electronic chart to be drawn to by transformer station, and reference location post needs to lay in advance and definite coordinate, remains a kind of method based on artificial target, very strong to artificial dependence.
Summary of the invention
The object of the present invention is to provide the Intelligent Mobile Robot Position Fixing Navigation System that a kind of precision is high, system formation complexity is low, human assistance dependence is little, commissioning test is easy.
The technical solution that realizes the object of the invention is: a kind of Intelligent Mobile Robot Position Fixing Navigation System, comprise main control computer, the first reducing motor, the second reducing motor, laser radar, the first scrambler, the second scrambler, motion-control module, data collecting card, wireless data communication module and power module, the output terminal of laser radar is connected with main control computer, ambient condition information is sent to main control computer, main control computer is connected with the input end of motion-control module, output terminal while and first reducing motor of motion-control module, the input end of the second reducing motor is connected, drive the first reducing motor and the second reducing motor to rotate, the first reducing motor, the output terminal of the second reducing motor respectively with the first scrambler, the input end of the second scrambler is connected, the first scrambler, the output terminal of the second scrambler and motion-control module is connected with the input end of data collecting card simultaneously, the output terminal of data collecting card is connected with main control computer, and main control computer is also connected with wireless data communication module, realizes the radio communication of crusing robot and transformer station dispatching center, power module is main control computer, the first reducing motor, the second reducing motor, laser radar, the first scrambler, the second scrambler, motion-control module and data collecting card power supply.
The present invention compared with prior art, its remarkable advantage is: the laser radar sensor that (1) the present invention carries out environment sensing is integrated in crusing robot and moves on body, therefore do not need substation transform or construct, can complete map building, navigator fix, the path planning of expection and keep away the tasks such as barrier; (2) hardware complexity of the present invention is low, create the required sensors such as map, navigator fix and detection of obstacles and completed by laser radar one, do not need to configure in a large number other as other sensors such as ultrasonic sensor, infrared distance sensor, rfid interrogator, Magnetic Sensors; (3) the present invention does not need manually to survey and draw and set up in advance map, and independence is high, and error is little, can automatically create the environmental map of transformer station and be upgraded in the process of patrolling and examining, and corresponding debugging work load is less, and the generalization between different substation is better; (4) the invention provides the Man Machine Interface of map, can show map details and crusing robot current location, and allow to manage and operate creating map, enrich and improve cartographic information, make systemic-function more perfect.
Below in conjunction with accompanying drawing, the present invention will be further described.
Accompanying drawing explanation
Fig. 1 is the structural representation of Intelligent Mobile Robot Position Fixing Navigation System of the present invention.
Fig. 2 is the motion-control module schematic diagram of Intelligent Mobile Robot Position Fixing Navigation System of the present invention.
Fig. 3 is the circuit diagram of the driving circuit of Intelligent Mobile Robot Position Fixing Navigation System of the present invention.
Fig. 4 is the workflow diagram of Intelligent Mobile Robot Position Fixing Navigation System of the present invention.
Embodiment
In conjunction with Fig. 1, Fig. 2, a kind of Intelligent Mobile Robot Position Fixing Navigation System, comprise main control computer 1, the first reducing motor 2, the second reducing motor 3, laser radar 4, the first scrambler 5, the second scrambler 6, motion-control module 7, data collecting card 8, wireless data communication module 9 and power module 10, the output terminal of laser radar 4 is connected with main control computer 1, ambient condition information is sent to main control computer 1, main control computer 1 is connected with the input end of motion-control module 7, output terminal while and first reducing motor 2 of motion-control module 7, the input end of the second reducing motor 3 is connected, drive the first reducing motor 2 and the second reducing motor 3 to rotate, the first reducing motor 2, the output terminal of the second reducing motor 3 respectively with the first scrambler 5, the input end of the second scrambler 6 is connected, the first scrambler 5, the output terminal of the second scrambler 6 and motion-control module 7 is connected with the input end of data collecting card 8 simultaneously, the output terminal of data collecting card 8 is connected with main control computer 1, and main control computer 1 is also connected with wireless data communication module 9, realizes the radio communication of crusing robot and transformer station dispatching center, power module 10 is main control computer 1, the first reducing motor 2, the second reducing motor 3, laser radar 4, the first scrambler 5, the second scrambler 6, motion-control module 7 and data collecting card 8 power supplies.
Described motion-control module 7 current sampling circuits, power-switching circuit, holding circuit and driving circuit; the input end of power-switching circuit is connected with power module 10; the output terminal of power-switching circuit is connected with the input end of holding circuit; the output terminal of holding circuit is connected with the input end of driving circuit; the input end of driving circuit is also connected with main control computer 1; the output terminal of driving circuit is connected with the input end of the second reducing motor 3 with circuit sampling circuit, the first reducing motor 2 simultaneously, and the output terminal of current sampling circuit is connected with data collecting card 8.
Described driving circuit is H bridge circuit, left and right half-bridge is symmetrical, wherein left half-bridge comprises the first resistance R 1, the second resistance R 2, the 3rd resistance R 3, the 4th resistance R 4, the 5th resistance R 5, the 6th resistance R 6, the first diode D1, the first operational amplifier A 1, the first triode Q1, the second triode Q2, the one P channel MOS tube Q3 and the first N-channel MOS pipe Q4, main control computer 1 is connected with the in-phase input end of the first operational amplifier A 1, one end of the first resistance R 1 is connected with the positive pole of power module 10, the other end of the first resistance R 1 is connected with the anode of the first diode D1, the anode of the first diode D1 is connected with the inverting input of the first operational amplifier A 1 simultaneously, the negative electrode of the first diode D1 is connected with the negative pole of power module 10, one end of the second resistance R 2 is connected with the positive pole of power module 10, the other end of the second resistance R 2 is connected with the base stage of the first triode Q1, also be connected with one end of the 3rd resistance R 3 simultaneously, the other end of the 3rd resistance R 3 is connected with the output terminal of the first operational amplifier A 1, also be connected with one end of the 4th resistance R 4 simultaneously, the other end of the 4th resistance R 4 is connected with the base stage of the second triode Q2, also be connected with one end of the 5th resistance R 5 simultaneously, the other end of the 5th resistance R 5 is connected with the negative pole of power module 10, the emitter-base bandgap grading of the first triode Q1 is connected with the positive pole of power module 10, the collector of the first triode Q1 is connected with the grid of a P channel MOS tube Q3, also be connected with one end of the 6th resistance R 6 simultaneously, the other end of the 6th resistance R 6 is connected with the grid of the first N-channel MOS pipe Q4, also be connected with the collector of the second triode Q2 simultaneously, the source electrode of the emitter-base bandgap grading of the second triode Q2 and the first N-channel MOS pipe Q4 is all connected with the negative pole of power module 10, the source electrode of the one P channel MOS tube Q3 is connected with the positive pole of power module 10, the drain electrode of the one P channel MOS tube Q3 is connected with the drain electrode of the first N-channel MOS pipe Q4, also be connected with the first reducing motor 2 simultaneously, right half-bridge comprises the 7th resistance R 7, the 8th resistance R 8, the 9th resistance R 9, the tenth resistance R 10, the 11 resistance R 11, the 12 resistance R 12, the second diode D2, the second operational amplifier A 2, the 3rd triode Q7, the 4th triode Q8, the 2nd P channel MOS tube Q5, the second N-channel MOS pipe Q6, main control computer 1 is connected with the in-phase input end of the second operational amplifier A 2, the 12 one end of resistance R 12 and the positive pole of power module are connected, the other end of the 12 resistance R 12 is connected with the anode of the second diode D2, the anode of the second diode D2 is connected with the inverting input of the second operational amplifier A 2 simultaneously, the second negative electrode of diode D2 and the negative pole of power module are connected, one end of the 8th resistance R 8 is connected with positive source, the other end of the 8th resistance R 8 is connected with the base stage of the 3rd triode Q7, also be connected with one end of the 9th resistance R 9 simultaneously, the other end of the 9th resistance R 9 is connected with the output terminal of the second operational amplifier A 2, also be connected with one end of the tenth resistance R 10 simultaneously, the other end of the tenth resistance R 10 is connected with the base stage of the 4th triode Q8, also be connected with one end of the 11 resistance R 11 simultaneously, the 11 other end of resistance R 11 and the negative pole of power module are connected, the 3rd emitter-base bandgap grading of triode Q7 and the positive pole of power module are connected, the collector of the 3rd triode Q7 is connected with the grid of the 2nd P channel MOS tube Q5, also be connected with one end of the 7th resistance R 7 simultaneously, the other end of the 7th resistance R 7 is connected with the grid of the second N-channel MOS pipe Q6, also be connected with the collector of the 4th triode Q8 simultaneously, the source electrode of the emitter-base bandgap grading of the 4th triode Q8 and the second N-channel MOS pipe Q6 is all connected with the negative pole of power module, the source electrode of the 2nd P channel MOS tube Q5 is connected with the positive pole of power module, the drain electrode of the 2nd P channel MOS tube Q5 is connected with the drain electrode of the second N-channel MOS pipe Q6, also be connected with the second reducing motor 3 simultaneously.
System also comprises automatic charge device, and described automatic charge device is connected with power module 10.
Described main control computer 1 is eBox high frequency embedded computer.
Described laser radar 4 is SICK series laser radar, and laser radar 4 is connected with main control computer 1 by RS-232 serial ports.
Described the first reducing motor 2 and the second reducing motor 3 are the electrographite brush direct current generator of Maxon series.
Described the first scrambler 5 and the second scrambler 6 are 512 line two-phase photoelectric encoders.
Described power module 10 is 24V lithium battery.
Below in conjunction with specific embodiment, the present invention will be further described.
Embodiment 1
In conjunction with Fig. 1, a kind of Intelligent Mobile Robot Position Fixing Navigation System, comprise main control computer 1, the first reducing motor 2, the second reducing motor 3, laser radar 4, the first scrambler 5, the second scrambler 6, motion-control module 7, data collecting card 8, wireless data communication module 9 and power module 10, the output terminal of laser radar 4 is connected with main control computer 1, ambient condition information is sent to main control computer 1, main control computer 1 is connected with the input end of motion-control module 7, output terminal while and first reducing motor 2 of motion-control module 7, the input end of the second reducing motor 3 is connected, drive the first reducing motor 2 and the second reducing motor 3 to rotate, the first reducing motor 2, the output terminal of the second reducing motor 3 respectively with the first scrambler 5, the input end of the second scrambler 6 is connected, the first scrambler 5, the output terminal of the second scrambler 6 and motion-control module 7 is connected with the input end of data collecting card 8 simultaneously, the output terminal of data collecting card 8 is connected with main control computer 1, and main control computer 1 is also connected with wireless data communication module 9, realizes the radio communication of crusing robot and transformer station dispatching center, power module 10 is main control computer 1, the first reducing motor 2, the second reducing motor 3, laser radar 4, the first scrambler 5, the second scrambler 6, motion-control module 7 and data collecting card 8 power supplies.
Main control computer 1 adopts eBox high frequency embedded computer, for generating the control signal of crusing robot and the computing of each algorithm; Main control computer 1 frequency of operation is 1GHz, supports serial data transmission; Adopt solid-state memory card as system storage medium, be applicable to the application scenario that vibrations are larger.
DC speed-reducing 2 and DC speed-reducing 3 drive the vehicle wheel rotation of crusing robot, crusing robot is taken action in transformer station, DC speed-reducing 2 and DC speed-reducing 3 adopt the electrographite brush direct current generator of Maxon series, and configure reducer casing, strengthen the driving moment of direct current generator.
Laser radar 4 imports data into crusing robot main control computer with RS-232 serial mode; Adopt SICK series laser radar, can spend interior environmental information in perception dead ahead 180, can will on environment sensing and obstacle detection set to sensor, realize; More than its effective detection range can reach 20-50 rice, be applicable to the so outdoor open environment of transformer station.
The first scrambler 5 and the second scrambler 6 are separately positioned on the first reducing motor 2 and the second reducing motor 3 main shafts, for measuring the amount of travel of wheel in the sampling period, and are converted into pace.The first scrambler 5 and the second scrambler 6 all adopt 512 line two-phase photoelectric encoders, have guaranteed higher accuracy of detection, and can judge motor sense of rotation by two phase signals.
In conjunction with Fig. 2, motion-control module 7 comprises current sampling circuit, power-switching circuit, holding circuit and driving circuit, the input end of power-switching circuit is connected with power module 10, the output terminal of power-switching circuit is connected with the input end of holding circuit, the output terminal of holding circuit is connected with the input end of driving circuit, the input end of driving circuit is also connected with main control computer 1, output terminal while and the circuit sampling circuit of driving circuit, the first reducing motor 2 is connected with the input end of the second reducing motor 3, the output terminal of current sampling circuit is connected with data collecting card 8.Power module output voltage is after power-switching circuit is processed, for motor provides stable 24V rated voltage; Main control computer sends motion control signal to driving circuit, drives two reducing motors to rotate; The situations such as holding circuit is blocked at motor, overload can be protected motor; Current sampling circuit is sampled to armature electric current, and transfers to data collecting card 8.Motion-control module 7 employing speed-current double closed-loop pid algorithms are controlled the rotating speed of the first reducing motor 2 and the second reducing motor 3, make crusing robot motion steadily, crusing robot motion structure is two-wheeled differential driving structure, realizes the motion control of crusing robot by controlling both sides wheel.
In conjunction with Fig. 3, driving circuit is H bridge circuit, left and right half-bridge is symmetrical, wherein left half-bridge comprises the first resistance R 1, the second resistance R 2, the 3rd resistance R 3, the 4th resistance R 4, the 5th resistance R 5, the 6th resistance R 6, the first diode D1, the first operational amplifier A 1, the first triode Q1, the second triode Q2, the one P channel MOS tube Q3 and the first N-channel MOS pipe Q4, main control computer 1 is connected with the in-phase input end of the first operational amplifier A 1, one end of the first resistance R 1 is connected with the positive pole of power module 10, the other end of the first resistance R 1 is connected with the anode of the first diode D1, the anode of the first diode D1 is connected with the inverting input of the first operational amplifier A 1 simultaneously, the negative electrode of the first diode D1 is connected with the negative pole of power module 10, one end of the second resistance R 2 is connected with the positive pole of power module 10, the other end of the second resistance R 2 is connected with the base stage of the first triode Q1, also be connected with one end of the 3rd resistance R 3 simultaneously, the other end of the 3rd resistance R 3 is connected with the output terminal of the first operational amplifier A 1, also be connected with one end of the 4th resistance R 4 simultaneously, the other end of the 4th resistance R 4 is connected with the base stage of the second triode Q2, also be connected with one end of the 5th resistance R 5 simultaneously, the other end of the 5th resistance R 5 is connected with the negative pole of power module 10, the emitter-base bandgap grading of the first triode Q1 is connected with the positive pole of power module 10, the collector of the first triode Q1 is connected with the grid of a P channel MOS tube Q3, also be connected with one end of the 6th resistance R 6 simultaneously, the other end of the 6th resistance R 6 is connected with the grid of the first N-channel MOS pipe Q4, also be connected with the collector of the second triode Q2 simultaneously, the source electrode of the emitter-base bandgap grading of the second triode Q2 and the first N-channel MOS pipe Q4 is all connected with the negative pole of power module 10, the source electrode of the one P channel MOS tube Q3 is connected with the positive pole of power module 10, the drain electrode of the one P channel MOS tube Q3 is connected with the drain electrode of the first N-channel MOS pipe Q4, also be connected with the first reducing motor 2 simultaneously, right half-bridge comprises the 7th resistance R 7, the 8th resistance R 8, the 9th resistance R 9, the tenth resistance R 10, the 11 resistance R 11, the 12 resistance R 12, the second diode D2, the second operational amplifier A 2, the 3rd triode Q7, the 4th triode Q8, the 2nd P channel MOS tube Q5, the second N-channel MOS pipe Q6, main control computer 1 is connected with the in-phase input end of the second operational amplifier A 2, the 12 one end of resistance R 12 and the positive pole of power module are connected, the other end of the 12 resistance R 12 is connected with the anode of the second diode D2, the anode of the second diode D2 is connected with the inverting input of the second operational amplifier A 2 simultaneously, the second negative electrode of diode D2 and the negative pole of power module are connected, one end of the 8th resistance R 8 is connected with positive source, the other end of the 8th resistance R 8 is connected with the base stage of the 3rd triode Q7, also be connected with one end of the 9th resistance R 9 simultaneously, the other end of the 9th resistance R 9 is connected with the output terminal of the second operational amplifier A 2, also be connected with one end of the tenth resistance R 10 simultaneously, the other end of the tenth resistance R 10 is connected with the base stage of the 4th triode Q8, also be connected with one end of the 11 resistance R 11 simultaneously, the 11 other end of resistance R 11 and the negative pole of power module are connected, the 3rd emitter-base bandgap grading of triode Q7 and the positive pole of power module are connected, the collector of the 3rd triode Q7 is connected with the grid of the 2nd P channel MOS tube Q5, also be connected with one end of the 7th resistance R 7 simultaneously, the other end of the 7th resistance R 7 is connected with the grid of the second N-channel MOS pipe Q6, also be connected with the collector of the 4th triode Q8 simultaneously, the source electrode of the emitter-base bandgap grading of the 4th triode Q8 and the second N-channel MOS pipe Q6 is all connected with the negative pole of power module, the source electrode of the 2nd P channel MOS tube Q5 is connected with the positive pole of power module, the drain electrode of the 2nd P channel MOS tube Q5 is connected with the drain electrode of the second N-channel MOS pipe Q6, also be connected with the second reducing motor 3 simultaneously.
Data collecting card 8 is realized the collection of data, and data collecting card 8 accesses main control computer 1 by USB interface.
Wireless data communication module 9 is realized the radio communication of crusing robot and substation operation dispatching center, and the map datum of establishment and locating information are sent on substation operation dispatching center computing machine by wireless transport module, is convenient to management and running.Wireless data communication module 9 adopts 2.4G wireless communication module, has guaranteed the fast transport of data.
Power module 10 is 24V high-capacity lithium battery, comprises power management and change-over circuit.Power module 10 provides corresponding power supply interface for main control computer 1, the first reducing motor 2, the second reducing motor 3, laser radar 4, motion-control module 7, the first scrambler 5, the second scrambler 6, data collecting card 8; comprise 24V, 12V, 5V and 3.3V mu balanced circuit; power module 10 is also provided with monitoring circuit in addition; power supply running status is monitored; can play the effect of protection battery, and assign charging instruction in the too low Shi Xiang of electric weight robot.This Position Fixing Navigation System is also provided with automatic charge device, and automatic charge device is connected with power module 10, is power module 10 chargings.
In conjunction with Fig. 4, the method for inspecting of Intelligent Mobile Robot Position Fixing Navigation System comprises the following steps:
Step 1, map building and location: the kinematics model of model crusing robot and observation model, set environment map is grating map, crusing robot attitude is mapped to environmental map, and extract the environmental characteristic of laser radar perception, set up the differential motion model of crusing robot, the data of laser radar and scrambler collection are inputted as algorithm, robot is positioned, and map making;
Step 2, path planning: according to obtaining transformer station's map, crusing robot is independently analyzed trafficability, and trafficability is quantized; According to the analysis of self current location, destination locations and trafficability, and in conjunction with the demand of patrol task, path is planned, select path efficiently to patrol and examine, and generate the driving instruction that crusing robot advances, robot starts to patrol and examine;
Barrier is kept away in step 3, part: crusing robot is patrolled and examined and advanced along path planning, laser radar real-time perception environment, by with the mating of map, find barrier, laser radar is described barrier profile information, according to current locating information, determine the position distribution situation of barrier in environmental map, routing information is fed back to main control computer, main control computer control is evaded obstacle;
Step 4, map upgrade: map datum and locating information that crusing robot creates will be sent to substation operation dispatching center by wireless data communication module, by map operation, can observe and create map with management Man Machine Interface, and know that robot patrols and examines situation and position thereof, map is managed simultaneously, improve cartographic information.
The present invention is integrated in crusing robot by the laser radar sensor that carries out environment sensing and moves on body, therefore does not need substation transform or construct, and can complete map building, navigator fix, the path planning of expection and keep away the tasks such as barrier; And do not need manually to survey and draw and set up in advance map, independence is high, can automatically create the environmental map of transformer station and be upgraded in the process of patrolling and examining, corresponding debugging work load is less, and the generalization between different substation is better; The invention provides the Man Machine Interface of map, can show map details and crusing robot current location, and allow to manage and operate creating map, enrich and improve cartographic information, make systemic-function more perfect.
Claims (9)
1. an Intelligent Mobile Robot Position Fixing Navigation System, is characterized in that, comprises main control computer [1], the first reducing motor [2], the second reducing motor [3], laser radar [4], the first scrambler [5], the second scrambler [6], motion-control module [7], data collecting card [8], wireless data communication module [9] and power module [10], the output terminal of laser radar [4] is connected with main control computer [1], ambient condition information is sent to main control computer [1], main control computer [1] is connected with the input end of motion-control module [7], output terminal while and the first reducing motor [2] of motion-control module [7], the input end of the second reducing motor [3] is connected, and drives the first reducing motor [2] and the second reducing motor [3] to rotate, the first reducing motor [2], the output terminal of the second reducing motor [3] respectively with the first scrambler [5], the input end of the second scrambler [6] is connected, the first scrambler [5], the output terminal of the second scrambler [6] and motion-control module [7] is connected with the input end of data collecting card [8] simultaneously, the output terminal of data collecting card [8] is connected with main control computer [1], and main control computer [1] is also connected with wireless data communication module [9], realizes the radio communication of crusing robot and substation operation dispatching center, power module [10] is main control computer [1], the first reducing motor [2], the second reducing motor [3], laser radar [4], the first scrambler [5], the second scrambler [6], motion-control module [7] and data collecting card [8] power supply.
2. Intelligent Mobile Robot Position Fixing Navigation System according to claim 1, it is characterized in that, described motion-control module [7] comprises current sampling circuit, power-switching circuit, holding circuit and driving circuit, the input end of power-switching circuit is connected with power module [10], the output terminal of power-switching circuit is connected with the input end of holding circuit, the output terminal of holding circuit is connected with the input end of driving circuit, the input end of driving circuit is also connected with main control computer [1], output terminal while and the circuit sampling circuit of driving circuit, the first reducing motor [2] is connected with the input end of the second reducing motor [3], the output terminal of current sampling circuit is connected with data collecting card [8].
3. Intelligent Mobile Robot Position Fixing Navigation System according to claim 2, it is characterized in that, described driving circuit is H bridge circuit, left and right half-bridge is symmetrical, wherein left half-bridge comprises the first resistance [R1], the second resistance [R2], the 3rd resistance [R3], the 4th resistance [R4], the 5th resistance [R5], the 6th resistance [R6], the first diode [D1], the first operational amplifier [A1], the first triode [Q1], the second triode [Q2], the one P channel MOS tube [Q3] and the first N-channel MOS pipe [Q4], main control computer [1] is connected with the in-phase input end of the first operational amplifier [A1], one end of the first resistance [R1] is connected with the positive pole of power module [10], the other end of the first resistance [R1] is connected with the anode of the first diode [D1], the anode of the first diode [D1] is connected with the inverting input of the first operational amplifier [A1] simultaneously, the negative electrode of the first diode [D1] is connected with the negative pole of power module [10], one end of the second resistance [R2] is connected with the positive pole of power module [10], the other end of the second resistance [R2] is connected with the base stage of the first triode [Q1], also be connected with one end of the 3rd resistance [R3] simultaneously, the other end of the 3rd resistance [R3] is connected with the output terminal of the first operational amplifier [A1], also be connected with one end of the 4th resistance [R4] simultaneously, the other end of the 4th resistance [R4] is connected with the base stage of the second triode [Q2], also be connected with one end of the 5th resistance [R5] simultaneously, the other end of the 5th resistance [R5] is connected with the negative pole of power module [10], the emitter-base bandgap grading of the first triode [Q1] is connected with the positive pole of power module [10], the collector of the first triode [Q1] is connected with the grid of a P channel MOS tube [Q3], also be connected with one end of the 6th resistance [R6] simultaneously, the other end of the 6th resistance [R6] is connected with the grid of the first N-channel MOS pipe [Q4], also be connected with the collector of the second triode [Q2] simultaneously, the source electrode of the emitter-base bandgap grading of the second triode [Q2] and the first N-channel MOS pipe [Q4] is all connected with the negative pole of power module [10], the source electrode of the one P channel MOS tube [Q3] is connected with the positive pole of power module [10], the drain electrode of the one P channel MOS tube [Q3] is connected with the drain electrode of the first N-channel MOS pipe [Q4], also be connected with the first reducing motor [2] simultaneously, right half-bridge comprises the 7th resistance [R7], the 8th resistance [R8], the 9th resistance [R9], the tenth resistance [R10], the 11 resistance [R11], the 12 resistance [R12], the second diode [D2], the second operational amplifier [A2], the 3rd triode [Q7], the 4th triode [Q8], the 2nd P channel MOS tube [Q5] and the second N-channel MOS pipe [Q6], main control computer [1] is connected with the in-phase input end of the second operational amplifier [A2], one end of the 12 resistance [R12] is connected with the positive pole of power module [10], the other end of the 12 resistance [R12] is connected with the anode of the second diode [D2], the anode of the second diode [D2] is connected with the inverting input of the second operational amplifier [A2] simultaneously, the negative electrode of the second diode [D2] is connected with the negative pole of power module [10], one end of the 8th resistance [R8] is connected with the positive pole of power module [10], the other end of the 8th resistance [R8] is connected with the base stage of the 3rd triode [Q7], also be connected with one end of the 9th resistance [R9] simultaneously, the other end of the 9th resistance [R9] is connected with the output terminal of the second operational amplifier [A2], also be connected with one end of the tenth resistance [R10] simultaneously, the other end of the tenth resistance [R10] is connected with the base stage of the 4th triode [Q8], also be connected with one end of the 11 resistance [R11] simultaneously, the other end of the 11 resistance [R11] is connected with the negative pole of power module [10], the emitter-base bandgap grading of the 3rd triode [Q7] is connected with the positive pole of power module [10], the collector of the 3rd triode [Q7] is connected with the grid of the 2nd P channel MOS tube [Q5], also be connected with one end of the 7th resistance [R7] simultaneously, the other end of the 7th resistance [R7] is connected with the grid of the second N-channel MOS pipe [Q6], also be connected with the collector of the 4th triode [Q8] simultaneously, the source electrode of the emitter-base bandgap grading of the 4th triode [Q8] and the second N-channel MOS pipe [Q6] is all connected with the negative pole of power module, the source electrode of the 2nd P channel MOS tube [Q5] is connected with the positive pole of power module [10], the drain electrode of the 2nd P channel MOS tube [Q5] is connected with the drain electrode of the second N-channel MOS pipe [Q6], also be connected with the second reducing motor [3] simultaneously.
4. according to the Intelligent Mobile Robot Position Fixing Navigation System described in claim 1-3, it is characterized in that, also comprise automatic charge device, described automatic charge device is connected with power module [10].
5. according to the Intelligent Mobile Robot Position Fixing Navigation System described in claim 1-3 any one, it is characterized in that, described main control computer [1] is eBox high frequency embedded computer.
6. according to the Intelligent Mobile Robot Position Fixing Navigation System described in claim 1-3 any one, it is characterized in that, described laser radar [4] is SICK series laser radar, and laser radar [4] is connected with main control computer [1] by RS-232 serial ports.
7. according to the Intelligent Mobile Robot Position Fixing Navigation System described in claim 1-3 any one, it is characterized in that, described the first reducing motor [2] and the second reducing motor [3] are the electrographite brush direct current generator of Maxon series.
8. according to the Intelligent Mobile Robot Position Fixing Navigation System described in claim 1-3 any one, it is characterized in that, described the first scrambler [5] and the second scrambler [6] are 512 line two-phase photoelectric encoders.
9. according to the Intelligent Mobile Robot Position Fixing Navigation System described in claim 1-3 any one, it is characterized in that, described power module [10] is 24V lithium battery.
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| CN104570771A (en) * | 2015-01-06 | 2015-04-29 | 哈尔滨理工大学 | Inspection robot based on scene-topology self-localization method |
| CN105652870A (en) * | 2016-01-19 | 2016-06-08 | 中国人民解放军国防科学技术大学 | Autonomous patrol control system and method of intelligent security service robot |
| CN106445782A (en) * | 2016-09-27 | 2017-02-22 | 广东电网有限责任公司电力科学研究院 | Data center computer room operation and maintenance method and mobile terminal |
| CN107139184A (en) * | 2017-06-10 | 2017-09-08 | 唐建芳 | A kind of intelligent robot of accompanying and attending to |
| CN107390676A (en) * | 2016-05-17 | 2017-11-24 | 深圳市朗驰欣创科技股份有限公司 | Tunnel crusing robot and tunnel cruising inspection system |
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| CN104570771A (en) * | 2015-01-06 | 2015-04-29 | 哈尔滨理工大学 | Inspection robot based on scene-topology self-localization method |
| CN105652870A (en) * | 2016-01-19 | 2016-06-08 | 中国人民解放军国防科学技术大学 | Autonomous patrol control system and method of intelligent security service robot |
| CN107390676A (en) * | 2016-05-17 | 2017-11-24 | 深圳市朗驰欣创科技股份有限公司 | Tunnel crusing robot and tunnel cruising inspection system |
| CN106445782A (en) * | 2016-09-27 | 2017-02-22 | 广东电网有限责任公司电力科学研究院 | Data center computer room operation and maintenance method and mobile terminal |
| CN107139184A (en) * | 2017-06-10 | 2017-09-08 | 唐建芳 | A kind of intelligent robot of accompanying and attending to |
| CN107443383A (en) * | 2017-09-15 | 2017-12-08 | 国家电网公司 | Robot used for intelligent substation patrol environmental map laser positioning guider and method |
| CN108830965A (en) * | 2018-05-31 | 2018-11-16 | 中国舰船研究设计中心 | A kind of novel cabin inspection monitoring system |
| CN109613567A (en) * | 2018-07-24 | 2019-04-12 | 国家电网公司 | A kind of grounding net of transformer substation test electrode position indicator based on Global Satellite Navigation System |
| CN109613567B (en) * | 2018-07-24 | 2024-01-16 | 国家电网公司 | Substation grounding grid test electrode positioning instrument based on global satellite navigation system |
| CN109240290A (en) * | 2018-09-04 | 2019-01-18 | 南京理工大学 | A kind of electric inspection process robot makes a return voyage determining method of path |
| CN111355280A (en) * | 2020-03-25 | 2020-06-30 | 中国石化销售股份有限公司华南分公司 | Explosion-proof type inspection robot charging system and charging method thereof |
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
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