CN108594820A - A kind of crawler type Intelligent Mobile Robot active obstacle system and its control method - Google Patents
A kind of crawler type Intelligent Mobile Robot active obstacle system and its control method 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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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- G—PHYSICS
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- 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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a kind of crawler type Intelligent Mobile Robot active obstacle system and its control method, which includes mobile robot main body, sensory perceptual system, communication system, control system, clouds terrace system, illumination system, automatic charging system, alarm system；Wherein, sensory perceptual system, control system, communication system, illumination system and alarm system are installed on robot body；Clouds terrace system is placed in mobile robot main body, and sensory perceptual system, kinetic control system are transmitted with industrial personal computer into row information.The present invention can utilize automatic charging system to charge for robot, the signal transmission that sensory perceptual system obtains carries out analyzing processing to industrial personal computer, identify peripheral obstacle information, carry out analyzing processing, then control system and other each auxiliary systems are issued a signal to by industrial personal computer, it can realize Intelligent Mobile Robot active obstacle, while can monitoring substation status of equipment.
Description
Technical field
The present invention relates to autonomous under robot and its control field more particularly to crawler type crusing robot non-structure environment
Obstacle detouring system and its control method.
Background technology
With being constantly progressive for intellectualized technology, robot is applied in every field, the intelligent skill of robot
The development of art by all trades and professions extensive concern.It is either indoor or outdoor, intelligent robot just gradually some very
Danger is not suitable for replacing the mankind to complete work in the environment of mankind's activity.
Currently, being maked an inspection tour under some particular surroundings using crusing robot, equipment condition monitoring and the other letters of detection
Number work, have become particular job environment carry out inspection important way, will also become a kind of dominant form.However at this stage
For crusing robot there is also many problems, crusing robot belongs to ground mobile robot, and navigator fix technology is not also
It is very ripe, it is that current crusing robot realizes really intelligent and complete autonomous critical issue.It is most of simultaneously
Crusing robot also cannot achieve human-computer interaction, and the ability of human-computer interaction need to be improved, the safety of some crusing robots
It can not can also be ensured at present, it is also necessary to further research and development and improvement.And it is residing in some special working environments
Road surface be generally not horizontal, usually non-structured road conditions, such as stair, meadow, mudstone ground, wide gap, survey monitor
Device people will shuttle in these unstructured moving grids, then need certain active obstacle ability, wheeled crusing robot root
According to its design feature for the operating environments such as non-structural landform and stair climbing then can not normal operation, cannot achieve quickly more
If desired barrier realizes that active obstacle also needs to certain obstacle detouring system and assisted.In addition to this, existing crusing robot electricity
Tankage is limited, can only generally maintain several hours, it is necessary to which charging in time, if artificial charging, crusing robot just can not be complete
Full autonomous operation.How to allow robot in the case of unmanned intervene, completely reliably, quickly and efficiently realizes that crusing robot is long
Time value is kept, Complete autonomy needs key problems-solving.
Invention content
Crawler type survey monitor under a kind of adaptation non-structure environment in order to overcome the deficiencies in the prior art, the present invention provides
Device people's active obstacle system and its control system, system globe area laser radar sensor, infrared are kept away binocular vision sensor
Hinder the multi-sensor informations such as sensor, crusing robot ambient enviroment perceived, realizes the map structuring to circumstances not known,
It realizes the autonomous positioning and path planning of robot, and a kind of control method of active obstacle is proposed based on above- mentioned information,
The active obstacle of crusing robot under non-structure environment is realized, and realizes crusing robot in an outdoor environment automatic
Charging, solves limited battery capacity, cruise duration short problem.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of crawler type Intelligent Mobile Robot active obstacle system, including：
Robot body is used as carrier, meets the obstacle performance of crusing robot；
Sensory perceptual system is mounted on the robot body, and is transmitted into row information with industrial personal computer, to environment-identification
In obstacle information and mobile robot precise positioning；
Communication system is mounted on the robot body, and is transmitted into row information with industrial personal computer, and data information is passed through
Transmitting-receiving communicated with host computer；
Control system is mounted on the robot body, and is transmitted into row information with industrial personal computer；
Automatic charging system is mounted on the robot body, and is transmitted into row information with the control system, real
Existing automatic charging, improves sustainable cruising ability；And
Alarm system is mounted on the robot body, and is transmitted into row information with the control system, and police is played
The function of showing.
Preferably, the robot body includes main crawler travel unit, obstacle detouring branch arm unit；The main crawler travel
Cell distribution realizes the walking function of robot in robot body both sides；The obstacle detouring support arm cell distribution is in main crawler belt row
Unit both sides are walked to be mainly used in the case of robot obstacle detouring.
Preferably, the sensory perceptual system include laser radar sensor, it is binocular vision sensor, obliquity sensor, red
Outer avoidance sensor；The laser radar sensor is fixed on the robot body, by obtain with surrounding objects away from
The self-position of crusing robot is determined from information；The rotation and bow that the binocular vision sensor is mounted in clouds terrace system
It faces upward on platform, detects ambient condition information, identify the size and location information, road edge range information of objects in front；It is described
Obliquity sensor is mounted on above robot body, the inclined angle of robot measurement；The IR evading obstacle sensors are fixed on
On holder pedestal in clouds terrace system, whether the front for accurately measuring crusing robot has obstructing objects.
Preferably, the sensory perceptual system further includes sound pick-up, Temperature Humidity Sensor and air quality sensor；It is described to pick up
Sound device is fixed on robot body, to extract the voice data of ambient enviroment；The Temperature Humidity Sensor and air quality
Sensor is fixed on the holder pan frontward end in clouds terrace system side by side, Temperature Humidity Sensor to measure the temperature in air with it is wet
Information is spent, air quality sensor is measuring the content of each ingredient in air.
Preferably, the automatic charging system include solar panel, four directly push away motor；The solar cell
Plate is fixed on by four straight motors that push away above the robot body, and using four, directly push away motor adjusts solar cell in real time
The gradient of plate reaches the optimum efficiency of charging.
Preferably, the alarm system includes tri coloured lantern, warning horn；The tri coloured lantern includes red, yellow, blue lamp,
It is fixed on the front end of robot body, to encounter the lamp that special circumstances flicker different colours in crusing robot, plays warning
Function；The warning horn is fixed on robot body front end, can have the function that whistle warning.
Preferably, further include illumination system；The illumination system includes lighting lamp device and lighting base, the photograph
Bright lamp device is fixed on robot body front end by lighting base, and benefit is provided in low light situations for crusing robot
Light.
A kind of control method of crawler type Intelligent Mobile Robot active obstacle system above-mentioned, includes the following steps：
Step 1: crusing robot when carrying out inspection work, using the environment around sensory perceptual system detection, passes through detection
The self-position of crusing robot, wherein binocular vision sensor gathers ambient image are determined with the range informations of surrounding objects
Afterwards based on 3 D stereo reconstruct identification robot around environmental information, extraction machine people's road ahead Edge Distance, height and
The level and area information in region to be driven into；
Step 2: the information that processing crusing robot sensory perceptual system (21) obtains, judges whether crusing robot can be got over
Cross preceding object, if it is possible to it crosses, enters step three, judge whether that front obstacle can be bypassed if it cannot bypass,
If front obstacle can not be bypassed, industrial personal computer sends out control signal to alarm system, and staff is reminded to come to handle；
Step 3: by binocular vision sensor and IR evading obstacle sensors detect barrier and robot body away from
From control robot is run to immediately ahead of barrier in safe range；
Step 4: control obstacle detouring branch arm unit rotates up, preset height is progressivelyed reach, main crawler travel unit work is controlled
Make, in the process, the angle of obstacle detouring support arm unit rotation is gradually increased to be matched with the position of setting and angular relationship, by inclining
Angle transducer obtains the level inclination of robot and lateral inclination angle, controls the speed that travels forward of robot both sides Athey wheel, together
When control robot lateral tilt does not occur；
Step 5: control obstacle detouring branch arm unit and bar contact, main crawler travel unit and obstacle detouring branch arm unit all with
Bar contact increases the driving force of advance, the final function of realizing throwing over barrier.
Preferably, in the step 2, the mode of robot throwing over barrier is visited according to using binocular vision sensor
The geomery and robot ambulation wheel radius of barrier are surveyed, the radius of a height of H of obstacle, the traveling wheel of robot are R, obstacle
The height of object is K=H/R with the related coefficient of robot ambulation wheel；Carry out the height and robot ambulation wheel of disturbance in judgement object
Related coefficient be K=H/R size, as K ＜ 1, robot can direct throwing over barrier then need swing arm as 1≤K
The auxiliary and traveling crawler collective effect of crawler belt can just cross.
Preferably, in step 4, control obstacle detouring branch arm unit be rotated upwardly to preset height, this preset height be by
Barrier is determined with robot and distance；Robot is set as O points, and A points are arranged in the upper end of barrier, with robot water
Prosposition, which installs, is set to B points, if robot upward angle of visibilityRobot downwards angle of visibilityDownwards angle of visibility and upward angle of visibility it
Between subtense angle ∠ AOB=μ, barrier inclination angle is ∠ ABC=ψ, and the distance of Robot Binocular Vision sensor to ground is
h0, barrier highest point to ground distance be h, then in △ Α BC, ∠ ACB=90 °, robot obstacle detouring support arm swing angle with barrier
The relationship between object gradient is hindered to be：So obstacle detouring support arm swing angle is：
The present invention has the beneficial effect that：
Robot body can utilize crawler type walking mechanism feature, meet the obstacle performance demand of crusing robot.And
And crusing robot under non-structure environment using laser radar sensor, binocular vision sensor, IR evading obstacle sensors
The information of sensory perceptual systems acquisition, the precise positioning of obstacle information and mobile robot in environment-identification are waited, while can be supervised
The working condition for surveying mobile robot surrounding devices, active obstacle is carried out when encountering obstacle, to which robot intervenes unmanned
In the case of, completely reliably, quickly and efficiently realize Complete autonomy；
Crusing robot utilizes automatic charge device, carries out automatic charging during inspection outdoors, improves sustainable continuous
Boat ability, and crusing robot is equipped with light-illuminating device, carries out light filling in the lower place of some illuminance, is other biographies
Sensor provides good test environment, and crusing robot encounters special circumstances during inspection, such as encounters impassable barrier
Hinder, equipment fault, not enough power supply situations such as can carry out automatic alarm prompting, so that staff is handled.Crusing robot
It, can be by independently operating artificial manipulation during inspection, realization human-computer interaction is convenient and reliable.
Description of the drawings
Fig. 1 is the mobile robot overall structure diagram of the present invention；
Fig. 2 is the mobile robot obstacle detouring support arm pivot angle schematic diagram of the present invention；
Fig. 3 is the mobile robot control block schematic illustration of the present invention.
In figure：1- robot bodies, 2- laser radar sensors, 3- sound pick-ups, 4- IR evading obstacle sensors, 5- holders bottom
Seat, 6- rotations and pitching platform, 7- binocular vision sensors, 8- solar panels, the main crawler travel units of 9-, the inclination angles 10-
Sensor, 11- Temperature Humidity Sensors, 12- air quality sensors, 13- industrial personal computers, 14- obstacle detouring branch arm units, 15- headlamps
Device, 17- tri coloured lanterns, 18- directly push away motor, 19- lighting bases, 20- wireless routers, 21- sensory perceptual systems, 22- communications system
System, 23- control systems, 24- illumination systems, 25- automatic charging systems, 26- driving motors, 27- alarm systems, 28- holders system
System.
Specific implementation mode
Below in conjunction with the accompanying drawings to further description of the present invention.
As shown in Figure 1, Figure 3, a kind of crawler type Intelligent Mobile Robot active obstacle system, which includes moving machine
Device human agent 1, sensory perceptual system 21, communication system 22, control system 23, illumination system 25, automatic charging system 26, alarm system
27 and clouds terrace system 28；Wherein：Sensory perceptual system 21, communication system 22, control system 23, illumination system 24, alarm system 27 are pacified
Loaded on robot body upper 1；Sensory perceptual system 21, kinetic control system 23 and communication system 22 are passed with industrial personal computer 13 into row information
It is defeated.
Robot body 1 includes main crawler travel unit 9, obstacle detouring branch arm unit 14；Main crawler travel unit 9 is distributed in machine
1 both sides of device human agent realize the walking function of robot by driving motor 26；Obstacle detouring branch arm unit 14 is distributed in main crawler belt row
9 both sides of unit are walked to be mainly used in the case of robot obstacle detouring.
Sensory perceptual system 21 includes laser radar sensor 2, binocular vision sensor 7, obliquity sensor 10, infrared obstacle avoidance biography
Sensor 4, sound pick-up 3, Temperature Humidity Sensor 11 and air quality sensor 12；
Laser radar sensor 2 is fixed on robot body 1, is determined by obtaining the range information with surrounding objects
The self-position of crusing robot；Binocular vision sensor 7 is mounted on the rotation in clouds terrace system 28 and pitching platform 6, is visited
Ambient condition information is surveyed, identifies the size and location information, road edge range information of objects in front；Obliquity sensor 10 is installed
Above robot body 1, the inclined angle of robot measurement；IR evading obstacle sensors 4 are fixed on the cloud in clouds terrace system 28
On platform pedestal 5, whether the front for accurately measuring crusing robot has obstructing objects.Sound pick-up 3 is fixed on robot body 1,
To extract the voice data of ambient enviroment；
Before Temperature Humidity Sensor 11 is fixed on the holder pedestal 5 in clouds terrace system 28 side by side with air quality sensor 12
End, Temperature Humidity Sensor 11 is to measure the temperature and humidity information in air, and air quality sensor 12 is measuring air
In each ingredient content.
Automatic charging system 25 directly pushes away motor 18 including solar panel 8, four；Solar panel 8 passes through four
The straight motor 18 that pushes away is fixed on 1 top of robot body, utilizes four straight inclinations for pushing away motor 18 and adjusting solar panel 8 in real time
Degree, reaches the optimum efficiency of charging.
Alarm system 27 includes tri coloured lantern 17, warning horn 16；Tri coloured lantern 17 includes red, yellow, blue lamp, is each attached to machine
The function of warning is played to encounter the lamp that special circumstances flicker different colours in crusing robot in the front end of human agent 1；It is alert
Show that loudspeaker 16 are fixed on 1 front end of robot body, can have the function that whistle warning.
Illumination system 24 includes lighting lamp device 15 and lighting base 19, and lighting lamp device 15 passes through lighting base 19
It is fixed on 1 front end of robot body, light filling is provided in low light situations for crusing robot.
Communication system 22 includes mainly wireless router device 20, and wireless router 20 is fixed on 1 top of robot body
It is communicated by the transmitting-receiving and host computer of data information.
A kind of above-mentioned crawler type Intelligent Mobile Robot active obstacle system includes following control mode：
Mode one, robot control the obstacle detouring support arm of robot when inspection on the road surface of substation's mean level works
Unit 14 moves so that 14 upper surfaces of obstacle detouring branch arm unit are parallel with road surface, fully rely on main crawler travel unit 9；
Mode two, robot control robot obstacle detouring branch when the inspection of the road surfaces such as substation's marsh, meadow, sandstone works
Arm unit 14 moves down so that 14 lower face of obstacle detouring branch arm unit is contacted with road surface, increases contact area, by main crawler belt row
Unit 9 is walked to move forward with obstacle detouring branch arm unit 14；
Mode three, robot when the inspection of substation abrupt slope road surface works, robot or so obstacle detouring branch arm unit 14 and
Main crawler travel unit 9 is contacted with ground, increases the driving force of robot climbing, while also increasing robot body and slope
The dimensions length of face contact, prevents climbing from toppling.
Mode four, robot encounter barrier during substation inspection, take the control method of active obstacle.
A kind of above-mentioned crawler type Intelligent Mobile Robot active obstacle system control method, includes the following steps：
Step 1: crusing robot when carrying out inspection work, using the environment around the detection of sensory perceptual system 21, passes through spy
It surveys and determines that the self-position of crusing robot, wherein binocular vision sensor 7 acquire environment with the range information of surrounding objects
The environmental information around identification robot, extraction machine people's road ahead Edge Distance, height are reconstructed based on 3 D stereo after image
It spends and the level and area information in region to be driven into；
Step 2: the information that processing crusing robot sensory perceptual system (21) obtains, judges whether crusing robot can be got over
Cross preceding object, if it is possible to it crosses, enters step three, judge whether that front obstacle can be bypassed if it cannot bypass,
If front obstacle can not be bypassed, industrial personal computer 13 sends out control signal to alarm system 27, and staff is reminded to come
Processing；
Step 3: detecting barrier and robot body 1 by binocular vision sensor 7 and IR evading obstacle sensors 4
Distance, control robot runs to immediately ahead of barrier in safe range；
Step 4: control obstacle detouring branch arm unit 14 rotates up, preset height is progressivelyed reach, main crawler travel unit is controlled
9 work, in the process, the angle that obstacle detouring branch arm unit 14 rotates is gradually increased to be matched with the position of setting and angular relationship,
The level inclination of robot and lateral inclination angle are obtained by obliquity sensor 10, control robot both sides Athey wheel travels forward
Speed, while controlling robot and lateral tilt does not occur；
Step 5: control obstacle detouring branch arm unit 14 and bar contact, main crawler travel unit 9 and obstacle detouring branch arm unit 14
All with bar contact, the driving force of advance is increased, the final function of realizing throwing over barrier.
Further embodiment：In step 2, the mode foundation of robot throwing over barrier utilizes binocular vision sensor 7
The geomery and robot ambulation wheel radius of barrier are detected, the radius of a height of H of obstacle, the traveling wheel of robot are R, barrier
The related coefficient of the height for hindering object and robot ambulation wheel is K=H/R；
The size that the related coefficient of the height for carrying out disturbance in judgement object and robot ambulation wheel is K=H/R, as K ＜ 1,
Robot can direct throwing over barrier, as 1≤K, then need swing arm crawler belt auxiliary and traveling crawler collective effect
It can cross.
In step 4, as shown in Fig. 2, control obstacle detouring branch arm unit 14 is rotated upwardly to preset height, this preset height
It is to be determined by barrier and robot and distance；
Robot is set as O points, and the upper end of barrier is arranged A points, is installed with robot water prosposition and be set to B points, if robot
Upward angle of visibilityRobot downwards angle of visibilitySubtense angle ∠ AOB=μ between downwards angle of visibility and upward angle of visibility, obstacle
Object inclination angle is ∠ ABC=ψ, and the distance of Robot Binocular Vision sensor to ground is h0, barrier highest point to ground identity distance
From for h, then in △ Α BC, ∠ ACB=90 °, the relationship between robot obstacle detouring support arm swing angle and barrier gradient is：So obstacle detouring support arm swing angle is：
When robot, which moves front, finds barrier, it is mounted on OA and OB that the infrared sensor of robot front end is fed back
Length to control system 23, control system 23 analyzes the angle for calculating ψ, i.e., the size at the elevation angle that crawler belt needs.
In step 4, caterpillar type robot lifts the time of obstacle detouring branch arm unit 14 completely from barrier is driven towards at a distance
It is less than the time that robot drives to barrier low side, prevents robot from colliding with barrier.
Robot body in the present invention can utilize crawler type walking mechanism feature, meet the obstacle detouring of crusing robot
It can demand.And crusing robot under non-structure environment using laser radar sensor, binocular vision sensor, infrared keep away
Hinder the information that the sensory perceptual systems such as sensor obtain, the precise positioning of obstacle information and mobile robot in environment-identification, together
When can monitor the working conditions of mobile robot surrounding devices, active obstacle is carried out when encountering obstacle, to which robot exists
In the case of unmanned intervention, completely reliably, Complete autonomy is quickly and efficiently realized；
Crusing robot utilizes automatic charge device, carries out automatic charging during inspection outdoors, improves sustainable continuous
Boat ability, and crusing robot is equipped with light-illuminating device, carries out light filling in the lower place of some illuminance, is other biographies
Sensor provides good test environment, and crusing robot encounters special circumstances during inspection, such as encounters impassable barrier
Hinder, equipment fault, not enough power supply situations such as can carry out automatic alarm prompting, so that staff is handled.Crusing robot
It, can be by independently operating artificial manipulation during inspection, realization human-computer interaction is convenient and reliable.
It the above is only the preferred embodiment of the present invention, it should be pointed out that：Those skilled in the art are come
It says, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (10)
1. a kind of crawler type Intelligent Mobile Robot active obstacle system, which is characterized in that including：
Robot body (1) is used as carrier, meets the obstacle performance of crusing robot；
Sensory perceptual system (21) is mounted on the robot body (1), and is transmitted into row information with industrial personal computer (13), to
The precise positioning of obstacle information and mobile robot in environment-identification；
Communication system (22) is mounted on the robot body (1), and is transmitted into row information with industrial personal computer (13), is passed through
The transmitting-receiving of data information is communicated with host computer；
Control system (23) is mounted on the robot body (1), and is transmitted into row information with industrial personal computer (13)；
Automatic charging system (25) is mounted on the robot body (1), and with the control system (23) into row information
Transmission realizes automatic charging, improves sustainable cruising ability；And
Alarm system (27) is mounted on the robot body (1), and is passed into row information with the control system (23)
It is defeated, play the function of warning.
2. a kind of crawler type Intelligent Mobile Robot active obstacle system according to claim 1, it is characterised in that：Institute
It includes main crawler travel unit (9), obstacle detouring branch arm unit (14) to state robot body (1)；
The main crawler travel unit (9) is distributed in robot body (1) both sides, realizes the walking function of robot；
The obstacle detouring branch arm unit (14) is distributed in main crawler travel unit (9) both sides and is mainly used in robot obstacle detouring situation
Under.
3. a kind of crawler type Intelligent Mobile Robot active obstacle system according to claim 1, it is characterised in that：Institute
It includes laser radar sensor (2), binocular vision sensor (7), obliquity sensor (10), infrared obstacle avoidance to state sensory perceptual system (21)
Sensor (4)；
The laser radar sensor (2) is fixed on the robot body (1), is believed at a distance from surrounding objects by obtaining
It ceases to determine the self-position of crusing robot；
The binocular vision sensor (7) is mounted on the rotation in clouds terrace system (28) and pitching platform (6), detects surrounding ring
Border information identifies the size and location information, road edge range information of objects in front；
The obliquity sensor (10) is mounted on above robot body (1), the inclined angle of robot measurement；
The IR evading obstacle sensors (4) are fixed on the holder pedestal (5) in clouds terrace system (28), accurately measure inspection machine
Whether the front of people has obstructing objects.
4. a kind of crawler type Intelligent Mobile Robot active obstacle system according to claim 3, it is characterised in that：Institute
It further includes sound pick-up (3), Temperature Humidity Sensor (11) and air quality sensor (12) to state sensory perceptual system (21)；
The sound pick-up (3) is fixed on robot body (1), to extract the voice data of ambient enviroment；
The Temperature Humidity Sensor (11) is fixed on the holder bottom in clouds terrace system (28) side by side with air quality sensor (12)
Seat (5) front end, Temperature Humidity Sensor (11) to measure the temperature and humidity information in air, use by air quality sensor (12)
To measure the content of each ingredient in air.
5. a kind of crawler type Intelligent Mobile Robot active obstacle system according to claim 1, it is characterised in that：Institute
State automatic charging system (25) include solar panel (8), four directly push away motor (18)；The solar panel (8) is logical
It crosses four straight motors (18) that push away to be fixed on above the robot body (1), be adjusted in real time too using four straight motors (18) that push away
The gradient of positive energy solar panel (8), reaches the optimum efficiency of charging.
6. a kind of crawler type Intelligent Mobile Robot active obstacle system according to claim 1, it is characterised in that：Institute
It includes tri coloured lantern (17), warning horn (16) to state alarm system (27)；
The tri coloured lantern (17) includes red, yellow, blue lamp, the front end of robot body (1) is each attached to, in crusing robot
The lamp for encountering special circumstances flicker different colours, plays the function of warning；
The warning horn (16) is fixed on robot body (1) front end, can have the function that whistle warning.
7. a kind of crawler type Intelligent Mobile Robot active obstacle system according to claim 1, it is characterised in that：Also
Including illumination system (24)；
The illumination system (24) includes lighting lamp device (15) and lighting base (19), and the lighting lamp device (15) passes through
Lighting base (19) is fixed on robot body (1) front end, and light filling is provided in low light situations for crusing robot.
8. a kind of control based on claim 1 to 7 any one of them crawler type Intelligent Mobile Robot active obstacle system
Method processed, which is characterized in that include the following steps：
Step 1: crusing robot when carrying out inspection work, using the environment around sensory perceptual system (21) detection, passes through detection
Determine that the self-position of crusing robot, wherein binocular vision sensor (7) acquire environment with the range informations of surrounding objects
The environmental information around identification robot, extraction machine people's road ahead Edge Distance, height are reconstructed based on 3 D stereo after image
It spends and the level and area information in region to be driven into；
Step 2: the information that processing crusing robot sensory perceptual system (21) obtains, before judging whether crusing robot can be crossed
Square obstacle, if it is possible to it crosses, enters step three, judge whether that front obstacle can be bypassed if it cannot bypass, if
Front obstacle can not be bypassed, then industrial personal computer (13) sends out control signal and gives alarm system (27), and staff is reminded to come
Processing；
Step 3: detecting barrier and robot body by binocular vision sensor (7) and IR evading obstacle sensors (4)
(1) distance, control robot are run to immediately ahead of barrier in safe range；
Step 4: control obstacle detouring branch arm unit (14) rotates up, preset height is progressivelyed reach, main crawler travel unit is controlled
(9) it works, in the process, the angle of obstacle detouring branch arm unit (14) rotation gradually increases and the position of setting and angular relationship
Match, the level inclination of robot and lateral inclination angle obtained by obliquity sensor (10), control robot both sides Athey wheel to
Preceding movement velocity, while controlling robot and lateral tilt does not occur；
Step 5: control obstacle detouring branch arm unit (14) and bar contact, main crawler travel unit (9) and obstacle detouring branch arm unit
(14) driving force of advance all is increased with bar contact, the final function of realizing throwing over barrier.
9. crawler type Intelligent Mobile Robot active obstacle control method according to claim 8, it is characterized in that：It is described
In step 2, the mode of robot throwing over barrier is according to the geomery using binocular vision sensor (7) detection barrier
Radius with robot ambulation wheel radius, a height of H of obstacle, the traveling wheel of robot is R, height and the robot row of barrier
The related coefficient for walking wheel is K=H/R；
The size that the related coefficient of the height for carrying out disturbance in judgement object and robot ambulation wheel is K=H/R, as K ＜ 1, machine
People can direct throwing over barrier then need the auxiliary of swing arm crawler belt and traveling crawler collective effect that can just turn over as 1≤K
More.
10. crawler type Intelligent Mobile Robot active obstacle control method according to claim 8, it is characterized in that：
In step 4, control obstacle detouring branch arm unit (14) is rotated upwardly to preset height, this preset height is by barrier and robot
And distance decision；
Robot is set as O points, and the upper end of barrier is arranged A points, is installed with robot water prosposition and be set to B points, if being regarded in robot
AngleRobot downwards angle of visibilitySubtense angle ∠ AOB=μ between downwards angle of visibility and upward angle of visibility, barrier incline
Oblique angle is ∠ ABC=ψ, and the distance of Robot Binocular Vision sensor to ground is h0, barrier highest point is to ground distance
H, then in △ Α BC, ∠ ACB=90 °, the relationship between robot obstacle detouring support arm swing angle and barrier gradient is：So obstacle detouring support arm swing angle is：
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| CN110703784A (en) * | 2019-11-19 | 2020-01-17 | 国家电网有限公司 | Automatic tracking obstacle avoidance method suitable for transformer substation inspection robot |
| CN111325867B (en) * | 2020-03-14 | 2021-11-23 | 西南石油大学 | All-terrain amphibious intelligent inspection device based on V2X communication |
| CN111325867A (en) * | 2020-03-14 | 2020-06-23 | 西南石油大学 | All-terrain amphibious intelligent inspection device based on V2X communication |
| CN112269380A (en) * | 2020-10-15 | 2021-01-26 | 许继电源有限公司 | Obstacle meeting control method and system for substation inspection robot |
| CN112562280A (en) * | 2020-12-08 | 2021-03-26 | 广州赛特智能科技有限公司 | Robot alarm method and system |
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