CN102990640B - Intelligent transportation robot of electric power storehouse - Google Patents

Intelligent transportation robot of electric power storehouse Download PDF

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Publication number
CN102990640B
CN102990640B CN201210500740.2A CN201210500740A CN102990640B CN 102990640 B CN102990640 B CN 102990640B CN 201210500740 A CN201210500740 A CN 201210500740A CN 102990640 B CN102990640 B CN 102990640B
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China
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robot
article
electric power
car
power storehouse
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CN201210500740.2A
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CN102990640A (en
Inventor
何守印
邓甲昊
胡秀娟
张立燕
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Abstract

The invention discloses an intelligent transportation robot of an electric power storehouse, comprising a chassis and a car body, wherein the chassis is provided with two driving wheels and at least one guide wheel; a retracting mechanism is arranged at the front part of the car body; the retracting mechanism is provided with a hoisting mechanism; the hoisting mechanism is provided with a three-degree-of-freedom paw; the car body is further provided with a robot control platform; and the robot control platform is wirelessly connected with a remote computer wireless control platform. The intelligent transportation robot of the electric power storehouse is simple in structure and flexible to move, and is applicable to cargo transportation work of the electric power storehouse with an intelligent power grid.

Description

Intelligent transportation robot of electric power storehouse
Technical field
The present invention relates to a kind of transfer robot, particularly relate to a kind of Intelligent transportation robot of electric power storehouse.
Background technology
Intelligent grid is the key of new forms of energy revolution, and intelligent power grid technology contributes to administration of power networks large number of intermittently regenerative resource; Intelligent grid is the basis of low-carbon economy, not only can support energy-conserving and emission-cutting technology large-scale application, itself is also energy-conserving and emission-cutting technology large-scale application theme.In May, 2009, China proposes intelligent grid developing goal first.This is the reality decision of China: development clean energy resource improves China's energy resource structure, National energy distribution and supply characteristic and economic society sustained and rapid development all requires the strong intelligent grid of Accelerating The Construction.
Although every country to build intelligent grid emphasis need not, compared with traditional electrical network, its characteristic mainly comprises 6 aspects: autonomous and self-healing ability; Defence capability; Electrical network is compatible, high efficiency operation and management, high-quality and friendly, electricity transaction convenience.From the function performed, the function link of intelligent grid should at least comprise 5: intelligent control center, intelligent substation, intelligent line, intelligent protection system, intelligent dsm.
In prior art, emerge in large numbers the research topic of a series of robot, as: transmission line polling robot, unattended operation transformer station, robot used for intelligent substation patrol, power circuit intelligent operation robot etc.The shortcoming of these robots is complex structure, heaviness, very flexible.
Summary of the invention
The object of this invention is to provide that a kind of structure is simple, the Intelligent transportation robot of electric power storehouse of flexible movements.
The object of the invention is to be achieved through the following technical solutions:
Intelligent transportation robot of electric power storehouse of the present invention, comprise chassis, car body, described chassis is provided with two driving wheels and at least one directive wheel, the front portion of described car body is provided with telescoping mechanism, described telescoping mechanism is provided with elevating mechanism, described elevating mechanism is provided with Three Degree Of Freedom paw, and described car body is also provided with robot controlling platform, described robot controlling platform and the wireless connections of remote computer wireless control platform.
As seen from the above technical solution provided by the invention, the Intelligent transportation robot of electric power storehouse that the embodiment of the present invention provides, comprise chassis, car body, described chassis is provided with two driving wheels and at least one directive wheel, the front portion of described car body is provided with telescoping mechanism, and described telescoping mechanism is provided with elevating mechanism, and described elevating mechanism is provided with Three Degree Of Freedom paw, described car body is also provided with robot controlling platform, described robot controlling platform and the wireless connections of remote computer wireless control platform.Structure is simple, flexible movements, is applicable to the freight handling work of the electric power storehouse of intelligent grid.
Accompanying drawing explanation
Fig. 1 is the structural representation of whole Intelligent transportation robot of electric power storehouse system in the embodiment of the present invention;
Fig. 2 a is the laying for goods floor map of electric power storehouse in the embodiment of the present invention;
Fig. 2 b is the object shelf schematic diagram of electric power storehouse in the embodiment of the present invention;
The structural representation of the Intelligent transportation robot of electric power storehouse that Fig. 3 provides for the embodiment of the present invention;
The chassis design schematic diagram of the Intelligent transportation robot of electric power storehouse that Fig. 4 a provides for the embodiment of the present invention;
The car body design schematic diagram of the Intelligent transportation robot of electric power storehouse that Fig. 4 b provides for the embodiment of the present invention;
Fig. 5 is the schematic diagram of control system in the embodiment of the present invention;
Fig. 6 is the schematic diagram of robot controlling platform in the embodiment of the present invention.
In figure: 1, chassis, 2, car body, 3, directive wheel, 4, driving wheel, 5, contracting mechanism, 6, elevating mechanism, 7, Three Degree Of Freedom paw, 8, promote directional wheel, 9, sensor.
Detailed description of the invention
To be described in further detail the embodiment of the present invention below.
Intelligent transportation robot of electric power storehouse of the present invention, its preferably detailed description of the invention be:
Comprise chassis, car body, described chassis is provided with two driving wheels and at least one directive wheel, the front portion of described car body is provided with telescoping mechanism, described telescoping mechanism is provided with elevating mechanism, described elevating mechanism is provided with Three Degree Of Freedom paw, described car body is also provided with robot controlling platform, described robot controlling platform and the wireless connections of remote computer wireless control platform.
Described remote computer wireless control platform comprises computer system, product data base management system, wireless sending module, the article storage shelf of described electric power storehouse and article object shelf are equipped with article acquisition sensor array, described article acquisition sensor array and the wireless connections of described remote computer wireless control platform.
Described Intelligent transportation robot of electric power storehouse is provided with autonomous navigation system, and the ground of described electric power storehouse is provided with the tracking line of robot autonomous navigation, described autonomous navigation system and the wireless connections of described remote computer wireless control platform.
Described Intelligent transportation robot of electric power storehouse is provided with infrared sensor, sonac, alignment sensor, each movable joint motor of described Intelligent transportation robot of electric power storehouse is equipped with motor code-disc, described infrared sensor, sonac, alignment sensor motor code-disc and the wireless connections of described remote computer wireless control platform.
Intelligent transportation robot of electric power storehouse of the present invention, with existing electric power storehouse and storehouse thereof, facility layout, electric power tool for basic object, with interrelated datas such as electric power storehouse work apparatus producers for design considerations, system realizes Intelligent transfer robot in electric power storehouse and independently moves to take article, as: insulating cord, felt pad, insulated target, insulation clothing, insulating glove, safety cap, insulating bar etc.
Specific embodiment:
1, as shown in Figure 1, whole Intelligent transportation robot of electric power storehouse System's composition comprises:
Robot car body and parametric controller, remote computer wireless control platform, article storage shelf and article object shelf are formed.Wherein robot car body is with can the Three Degree Of Freedom paw of automatic capturing and placing articles, and remote computer wireless control platform comprises department of computer science unifies item database management system and wireless sending module.And article storage shelf and article object shelf all have article acquisition sensor array to arrange, independently move to take type of goods more, as: insulating cord, felt pad, insulated target, insulation clothing, insulating glove, safety cap, insulating bar etc.Ground can also be arranged and be provided with the tracking line of robot car body for independent navigation.The function of robot will be set out according to the actual conditions in on-the-spot place, carries out planning and designing, carried by the electric power multiplexer apparatus of difformity, size, weight, material, disposing way by robot autonomous.Mainly comprise two processes: namely carrying grabbing and carrying are placed.
Carrying grabbing is the positive process being transported to article object shelf from article storage shelf, whole process is the product data base management system on remote computer wireless control platform, control command is sent by wireless module, robot controlling platform on robot car body nearby receives control instruction, at infrared sensor, sonac, alignment sensor, article acquisition sensor array, under the feedback information of the multiple sensors such as motor code-disc, the independent navigation of robot car body is realized by intelligent control algorithm, turn and realize the bar-code identification of article under cooperation by paw sensor and accurately capture, finally by robot car body by article carrying to the article object shelf of specifying.
Carrying is placed and is carried out the identification detection process same with carrying grabbing, is negative process article carrying being placed into carrying grabbing in process on the shelf location of specifying.Robot hand is very important part structures, realize three degree of freedom.Car body needs owing to turning to realize turning by differential rotating speed, and therefore robot car body adopts the four wheel mechanism motion mode to directive wheel after forward direction Dual Drive.And whole car body will realize the even running of climb and fall, in order to ensure that car body front-wheel and driving wheel are not stuck at the bottom of slope when going up a slope, do not cause side to be faced upward with driving wheel when pushing up on slope unsettled simultaneously, need to adopt quadric chain to carry out centre of gravity adjustment at the driving wheel place of vehicle body hanger, enable the driving wheel of robot car body not dieback at the bottom of slope, top, slope is not unsettled, always keeps and earth surface, thus provides the power of the reverse friction needed for driving.And the driving torque of expanded motor is wanted when going up a slope, descending will carry out self-actuating brake according to actual grade size, thus guarantee robot all can stable operation in carrying grabbing and carrying placement two processes.
The control method that positive and negative two processes are placed in carrying grabbing and carrying comprises navigation, multisensor identification, motor closed-loop control etc.The tracking navigation navigating through graticule on the ground of robot and hyperacoustic detection navigate mode combine, and so both ensure that the accuracy of robot crawl and placement two processes also ensure that the independence of robot.Robot autonomous navigation sensor and shelf acquisition sensor array junctions to be carried out altogether autonomous carrying grabbing and carrying placement, wherein the layout and putting of shelf acquisition sensor array also will combine with the digital bar code on paw acquisition sensor, article, only have and these sensors are organically combined, utilize appropriate control logic method, autonomous crawl accurately and the placement of robot could be realized.Whole robot realizes control command and Condition Monitoring Data transmission by wireless.Robot car body power supply is powered by chargeable battery pack.
In embodiments of the invention, in order to realize above said robot function, in design following technical requirement is proposed to robot:
Robot can receive the instruction that existing upper computer software moves to take article and accurately responds and carry;
By wireless transmission control instruction, robot is controlled and data transmission;
Robot can under the guide of navigation system autonomous;
Robot can the carrying article of autonomous classification upper computer software instruction indication; And article are transported to smoothly the storehouse destination of specifying;
Robot is by rechargeable battery powered, and continuous working period is no less than 6-8 hour;
Robot has autonomous climbing capacity and crosses over step ability, and ramp angle is not less than 15 degree;
Robot has voice broadcast ability and fault alarm ability;
Robot can even running, carries out single access to each article;
Robot has the paw Grasping skill adapting to various article difformity, size, weight;
Robot has handling preferably, and volume weight adapts to the space requirement of existing storehouse.
2, as shown in Fig. 2 a, Fig. 2 b, the design of storehouse part comprises:
The specifically pattern of putting of the interior layout of storehouse and shelf location and article work apparatus is the important component part of whole robot development, only have rational layout and laying for goods pattern, article are sorted out, correct accurately crawl that can realize robot hand identifies and carrying, the more convenient navigation of ability and robot obstacle-avoiding, sorted out by concrete work apparatus simultaneously and measure the specific design parameter foundation that just can provide mechanical paw.
Particular content comprises: storehouse layout, shelf and put, article instrument measure, navigation tracking planning, acquisition sensor arranged in arrays.
1) storehouse layout:
As shown in Figure 2 a, be the laying for goods ground distributor Butut of robot running space.Wherein whole service space comprises two rooms, all there are multiple article storage shelf in each room, shelf is deposited the electric power multiplexer apparatus that kind, shape, weight, appearance and size, disposing way are different.Wherein have step between two rooms, need be transformed into slope body structure, this is the frame for movement difficulty in order to simplify robot, and robot transport is more easily realized, and brings too many trouble also can not to transformation space simultaneously.
2) shelf and putting:
As shown in Figure 2 b, being article object shelf figure, is wherein three layers, and deposit various different electric power instrument articles for use, article storage shelf are identical with article object shelf structure, and just article object shelf are position shown in information desk in fig. 2 a.Because type of goods is different, therefore need classification to put, need the kind to article, shape, weight, appearance and size, disposing way to carry out classification process, thus be conducive to compatibility and the design processing of robot hand.
3) tracking that navigates is planned:
Capture to realize independently moving to take of robot and move to take placement, need to navigate to robot, namely robot can carry out autonomous operation according to the order of far-end computer wireless control platform, finds the position that will capture and place, and then carries out detecting and identifying and accurately captures.The method of navigation has tracking synthesis and inertial navigation method.Wherein tracking synthesis adopts infrared sensor to carry out real-time detection by the tracking line arranged ground, in addition with supersonic sounding, destination and barrier are detected, thus carry out the control actions such as walking turning according to robot control algorithm, this method comparatively easily realizes, and also substantially can meet the needs of this project simultaneously; And inertial navigation method guides owing to adopting gyro, control algolithm is existing to comparatively complicated, and higher to the requirement of real-time of system, therefore adopts tracking synthesis in the embodiment of the present invention.
4) acquisition sensor arranged in arrays:
Acquisition sensor arranged in arrays is on article storage shelf and article object shelf, it is very part and parcel in whole robot autonomous handling process, it is arranged on the sidewall up and down of each grid of shelf by the mode of column array, by being combined with paw acquisition sensor whether the putting position determining article is the article position needing to capture or place.Meanwhile, to be combined with paw acquisition sensor by digital bar code on article and article are identified, and then realize independently capturing and placing.
3, robot architecture designs part:
For robot autonomous mobile platform, its specific design depends on specific works environment.Because robot is mainly used in indoor environment, so the driving mechanism impact of working environment on autonomous mobile platform is little, the homing guidance device of working environment major effect autonomous mobile platform and appearance and size.Robot wants to realize climbing function according to the step of concrete storehouse, will ensure the stationarity of climbing, and paw grasps the fastness of article work apparatus simultaneously.
As shown in Figure 3, be robot car body three-view diagram.Robot architecture designs and mainly comprises following a few part: robot motion's body construction designs, robot three freedom degree manipulator pawl design, and robot climbing Structural dynamic design, robot car body balanced design even running designs.
1) design of robot motion's body construction realizes:
As shown in Fig. 4 a, 4b, robot car body is the carrier of whole carrying work, must ensure the power of car body, steadily, climb and the relevant paw load capacity run, namely ensure effectively successfully capturing and effectively delivery of different electric power work apparatus.Because the basic layout of storehouse is fixed, car body is needed to have certain climbing capacity, the successful transporting capacity of especially heavier work apparatus.Body construction design mainly comprises:
Four wheel construction chassis designs;
Car body double leval jib chassis design;
Dan Shuan drives different drive system;
Car body motor load designs;
Car body mechanical paw binding site designs;
2) design of robot three freedom degree manipulator pawl realizes:
Mechanical paw is one of key components of whole Intelligent transportation robot of electric power storehouse, only has effective multiple degrees of freedom paw could realize capturing the successful carrying of article work apparatus.And the paw design of whole robot according to the kind of work apparatus article in storehouse, outer shape, parameters of structural dimension, weight parameter and will put the number of plies of shelf and classification situation designs realization, ensure that paw can adapt to the article work apparatus of most of kind, mainly comprise following a few partial content:
Multiple degrees of freedom paw mechanism is selected;
Paw and car body hand over Interface design;
Paw configuration design
Paw chucking power designing and calculating;
The anti-skidding design of paw;
Paw multifreedom motion bulk designing and calculating;
The each free degree movement load of paw calculates;
3) robot climbing Structural dynamic design realizes:
Owing to having step in the working environment of robot, after transformation, require that robot car body will possess certain climbing capacity, here not only ensure in climbing process that robot car body can be with and carry climbing, there is enough climbing power, also to ensure at the bottom of the slope of robot car body simultaneously and slope top not stuck and side do not face upward.Mainly comprise following a few part:
Double leval jib travel(l)ing rest designs;
The measuring and calculating of climbing body powered;
The measuring and calculating of climbing motor power;
Dynamics simulation at the bottom of Po Ding slope calculates;
4) robot car body balanced design even running design realizes)
Whole robot all will ensure steadily in handling process, no matter band carries or zero load, all to ensure robot even running, even running is the important ring in robot transport process, due to the structure of storehouse inside and the height of shelf, result in the special type structure of robot hand and car body, also for the stationarity of robot brings difficulty, specifically will solve following a few subproblem:
The Dynamic Stability Analysis of paw, car body, crawl thing;
Load weight physical dimension is analyzed;
The static dynamically riding Quality Analysis in paw car body profile ground;
The dynamic riding Quality Analysis of the domatic static state of paw car body profile;
4, Control System Design part:
As shown in Figure 5, Figure 6, the control system more complicated of whole robot, the design comprising whole control algolithm realizes, many motors multisensor syste wherein, and the independent navigation implementation algorithm of robot, the identification of article work apparatus and accurately grasping means, all require the control program of comparatively system, mainly comprise following a few part:
Many electromechanical transducers control algorithm design realizes;
The identification of article realizes with accurately capturing to design;
Control Navigation System Design realizes;
Wireless system design realizes;
5, upper computer software Interface design realizes:
Because robot needs to carry out interface with upper computer software, by upper computer software control instruction, robot is sent to realize the crawl of article work apparatus by wireless transmission path, therefore, need the upper computer software spare interface developed, realize the seamless connection with robot, thus ensure the accurate transmission of control instruction, mainly comprise following a few part:
Software protocol docks;
Upper computer software docks with wave point;
What upper computer software taxonomy of goods was classified with robot interior docks.
The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.

Claims (2)

1. an Intelligent transportation robot of electric power storehouse, comprise chassis, car body, it is characterized in that, described chassis is provided with two driving wheels and at least one directive wheel, the front portion of described car body is provided with telescoping mechanism, and described telescoping mechanism is provided with elevating mechanism, and described elevating mechanism is provided with Three Degree Of Freedom paw, described car body is also provided with robot controlling platform, described robot controlling platform and the wireless connections of remote computer wireless control platform;
Described remote computer wireless control platform comprises computer system, product data base management system and wireless sending module, the article storage shelf of described electric power storehouse and article object shelf are equipped with article acquisition sensor array, described article acquisition sensor array and the wireless connections of described remote computer wireless control platform, this article acquisition sensor arranged in arrays is on article storage shelf and article object shelf, it is arranged on the sidewall up and down of each grid of shelf by the mode of column array, by being combined with paw acquisition sensor whether the putting position determining article is the article position needing to capture or place, simultaneously, to be combined with paw acquisition sensor by digital bar code on article and article are identified, and then realize autonomous crawl and placement,
Described Intelligent transportation robot of electric power storehouse is provided with infrared sensor, sonac and alignment sensor, each movable joint motor of described Intelligent transportation robot of electric power storehouse is equipped with motor code-disc, described infrared sensor, sonac, alignment sensor and motor code-disc all with the wireless connections of described remote computer wireless control platform, at infrared sensor, sonac, alignment sensor, under the feedback information of article acquisition sensor array and motor code-disc, the independent navigation of robot car body is realized by intelligent control algorithm, turn and realize the bar-code identification of article under cooperation by paw acquisition sensor and accurately capture.
2. Intelligent transportation robot of electric power storehouse according to claim 1, it is characterized in that, described Intelligent transportation robot of electric power storehouse is provided with autonomous navigation system, the ground of described electric power storehouse is provided with the tracking line of robot autonomous navigation, described autonomous navigation system and the wireless connections of described remote computer wireless control platform.
CN201210500740.2A 2012-11-29 2012-11-29 Intelligent transportation robot of electric power storehouse Expired - Fee Related CN102990640B (en)

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