CN103659841A - Automatic aligning system and method for patrol robot device - Google Patents
Automatic aligning system and method for patrol robot device Download PDFInfo
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- CN103659841A CN103659841A CN201310741669.1A CN201310741669A CN103659841A CN 103659841 A CN103659841 A CN 103659841A CN 201310741669 A CN201310741669 A CN 201310741669A CN 103659841 A CN103659841 A CN 103659841A
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Abstract
The invention discloses an automatic aligning system and method for a patrol robot device. The automatic aligning system comprises a patrol robot, a multi-freedom-degree cradle head, an orientation detecting device, a driving unit, an infrared transmitter, a collimating mirror and a multi-quadrant space infrared sensor, wherein the multi-freedom-degree cradle head is installed on the patrol robot, the orientation detecting device is installed on the multi-freedom-degree cradle head, the infrared transmitter is installed at the specific position of a device to be detected, and the multi-quadrant space infrared sensor is installed on the patrol robot. The collimating mirror is installed on the multi-freedom-degree cradle head and is kept in parallel with the collecting direction of the orientation detecting device; the multi-quadrant space infrared sensor comprises a plurality of infrared receiving heads distributed in different quadrant spaces, the output ends of all the infrared receiving heads are respectively connected to a driving unit, the driving unit is connected with the multi-freedom-degree cradle head to drive the multi-freedom-degree cradle head to scan in the quadrant spaces where the multi-quadrant space infrared sensor receives signals sent by the infrared transmitter until the collimating mirror also receives the signals sent by the infrared transmitter. The automatic aligning system and method have the advantages of being high in aligning accuracy and the automation degree and the like.
Description
Technical field
The present invention relates to a kind of alignment system, particularly relate to a kind of crusing robot equipment Automatic Alignment System and alignment methods thereof.
Background technology
At present crusing robot adopts Artificial Control mode substantially, after arriving near monitoring objective, needs manual intervention: parkings, telemonitoring equipment The Cloud Terrace, aim at target to be monitored, collection measured signal.Particularly, in special environment such as transformer stations, many times require to measure the voice signal of particular device ad-hoc location (sensitive position).The robot having come into operation at present adopts remote manual control scheme, and this this scheme have automaticity low, equipment operator's specialty is required to the shortcomings such as high, be not easy to apply in inspection device.This scheme is a kind of robot scheme, not equal to be that a kind of remote tool is properer.
The actual cost performance of crusing robot of using own has determined that it can not adopt point-device Position Fixing Navigation System (Centimeter Level), and this has just directly affected the carrying out of follow-up equipment alignment actions of carrying out for oriented acquisition audio signal.
Summary of the invention
The object of the invention is to overcome the deficiency of prior art, a kind of crusing robot equipment Automatic Alignment System and alignment methods thereof are provided.
The technical solution adopted for the present invention to solve the technical problems is: a kind of crusing robot equipment Automatic Alignment System, comprises crusing robot, is installed on the multiple degrees of freedom The Cloud Terrace of this crusing robot, the oriented detection device that is installed on this multiple degrees of freedom The Cloud Terrace and the driver element for driving multiple degrees of freedom The Cloud Terrace to scan, also comprise RF transmitter, the collimating mirror of the ad-hoc location that is installed on equipment to be detected and be installed on many quadrants space infrared sensor of crusing robot, collimating mirror is installed on multiple degrees of freedom The Cloud Terrace, and with the collection direction keeping parallelism of oriented detection device, many quadrants space infrared sensor comprises a plurality of infrared receiving terminals that are distributed in different quadrants space, be respectively used to the signal that receiving infrared-ray transmitter sends, the output of each infrared receiving terminal of many quadrants space infrared sensor is connected to respectively driver element, driver element is connected with many free ends The Cloud Terrace, while receiving the signal of RF transmitter transmission with all or part of infrared receiving terminal at many quadrants space infrared sensor, drive multiple degrees of freedom The Cloud Terrace to scan in receiving the quadrant space of RF transmitter transmitted signal, until collimating mirror also receives the signal that RF transmitter sends.
Further, described RF transmitter comprises for generation of the controller of the square wave with modulation signal, switching tube, infrarede emitting diode, resistance and electric supply installation, the output of controller is connected to the base stage of switching tube, the grounded emitter of switching tube, the colelctor electrode of switching tube connects the negative pole of infrarede emitting diode, and the positive pole of infrarede emitting diode is connected to the positive pole of electric supply installation by resistance.
Further, described many quadrants space infrared sensor also comprises anti-dazzling screen, for the residing quadrant of each infrared receiving terminal space to described many quadrants space infrared sensor, separates and blocks.
Further, described many quadrants space infrared sensor is eight quadrant space infrared sensors, and this eight quadrants space infrared sensor comprises eight infrared receiving terminals, and these eight infrared receiving terminals are distributed in respectively eight quadrant spaces of free space.
Further, described multiple degrees of freedom The Cloud Terrace is cradle head of two degrees of freedom, this cradle head of two degrees of freedom comprises base and The Cloud Terrace support, base can horizontally rotate and be installed on described crusing robot, The Cloud Terrace support is installed on base, described oriented detection device can rotate and be installed on The Cloud Terrace support at vertical plane, and described collimating mirror is installed on described oriented detection device; Described driver element is in transmission connection mutually with base and described oriented detection device respectively.
Further, described driver element comprises crusing robot local computer and at least two drive motors; The output of each infrared receiving terminal of described many quadrants space infrared sensor is connected to respectively crusing robot local computer, crusing robot local computer is connected with the electrical input of drive motors, and the rotating shaft of drive motors directly or be in transmission connection mutually by a transmission mechanism and described multiple degrees of freedom The Cloud Terrace
Further, the visual angle of described collimating mirror is 10 °～30 °.
Further, described controller is single-chip microcomputer or FPGA circuit.
An alignment methods for crusing robot equipment Automatic Alignment System described in above-mentioned any one, comprises the steps:
Be installed on crusing robot many quadrants infrared sensor each infrared receiving terminal respectively Real-time Collection be installed on the signal that the RF transmitter of the ad-hoc location of equipment to be detected sends;
The all or part of infrared receiving terminal of many quadrants infrared sensor receives the signal that RF transmitter sends, and the signal that this is received is exported to driver element;
Driver element starts, and drives multiple degrees of freedom The Cloud Terrace to scan in many quadrants infrared sensor receives the quadrant space of RF transmitter transmitted signal;
The collimating mirror that is installed on multiple degrees of freedom The Cloud Terrace receives the signal of infrared transmitter, and driver element stops driving multiple degrees of freedom The Cloud Terrace to carry out scanning motion.
Further, the signal that described RF transmitter sends is the infrared signal with modulation signal.
The invention has the beneficial effects as follows:
1, owing to also comprising RF transmitter, the collimating mirror of the ad-hoc location that is installed on equipment to be detected and being installed on many quadrants space infrared sensor of crusing robot, collimating mirror is installed on multiple degrees of freedom The Cloud Terrace, and with the collection direction keeping parallelism of oriented detection device, many quadrants space infrared sensor comprises a plurality of infrared receiving terminals that are distributed in different quadrants space, be respectively used to the signal that receiving infrared-ray transmitter sends, the output of each infrared receiving terminal of many quadrants space infrared sensor is connected to respectively driver element, the signal that makes the present invention can first utilize the infrared receiving terminal receiving infrared-ray transmitter of many quadrants space infrared sensor to send, therefrom determine the general orientation of equipment to be detected, recycling drive unit drives multiple degrees of freedom The Cloud Terrace scans in many quadrants space infrared sensor receives the quadrant space of RF transmitter transmitted signal, until collimating mirror also receives the signal that RF transmitter sends, therefrom determine the concrete orientation of the ad-hoc location of equipment to be detected, realize the accurate location between oriented detection device and the ad-hoc location of equipment to be detected.Obviously, the present invention has that alignment precision is high, automaticity high compared to existing technology.
2, because its RF transmitter comprises the controller for generation of the square wave with modulation signal, switching tube, infrarede emitting diode, resistance and electric supply installation, the output of controller is connected to the base stage of switching tube, the grounded emitter of switching tube, the colelctor electrode of switching tube connects the negative pole of infrarede emitting diode, the positive pole of infrarede emitting diode is connected to the positive pole of electric supply installation by resistance, make infrared signal that its RF transmitter sends with modulation signal, can be for each equipment to be detected and different parts thereof be encoded, thereby while making to carry out data acquisition, there is individual physical tag at every turn, the data that gather are like this not easy to obscure, further, can also, using this modulation signal to carry out the transmission of some baseband signals, make independently sensor to be installed at emphasis equipment to be detected, as long as crusing robot reads the data that its sensor records at ordinary times near driving to it.
Below in conjunction with drawings and Examples, the present invention is described in further detail; But a kind of crusing robot equipment Automatic Alignment System of the present invention and alignment methods thereof are not limited to embodiment.
Accompanying drawing explanation
Fig. 1 is the circuit diagram of RF transmitter of the present invention;
Fig. 2 is the structural representation of many quadrants of the present invention space infrared sensor;
Fig. 3 is the structural representation of multiple degrees of freedom The Cloud Terrace of the present invention;
Fig. 4 is the visual angle schematic diagram of collimating mirror of the present invention.
The specific embodiment
Embodiment, a kind of crusing robot equipment Automatic Alignment System of the present invention, comprises crusing robot (not embodying in figure), is installed on the multiple degrees of freedom The Cloud Terrace of this crusing robot, the oriented detection device 6 that is installed on this multiple degrees of freedom The Cloud Terrace and the driver element (figure does not embody) for driving multiple degrees of freedom The Cloud Terrace to scan; The RF transmitter, collimating mirror 7 and the many quadrants space infrared sensor that also comprise the ad-hoc location that is installed on equipment to be detected, collimating mirror 7 is installed on multiple degrees of freedom The Cloud Terrace, and with the collection direction keeping parallelism of oriented detection device 6; Many quadrants space infrared sensor is installed on crusing robot, and this many quadrants space infrared sensor comprises a plurality of infrared receiving terminals 2 that are distributed in different quadrants space, is respectively used to the signal that receiving infrared-ray transmitter sends; The output of each infrared receiving terminal 2 of this many quadrants space infrared sensor is connected to respectively driver element, driver element is connected with multiple degrees of freedom The Cloud Terrace, while receiving the signal of RF transmitter transmission with all or part of infrared receiving terminal at many quadrants space infrared sensor, drive multiple degrees of freedom The Cloud Terrace to scan in receiving the quadrant space of RF transmitter transmitted signal, until collimating mirror 7 also receives the signal that RF transmitter sends.
As a kind of preferred, as shown in Figure 1, above-mentioned RF transmitter comprises controller 1, switch transistor T, infrarede emitting diode D, resistance R and the electric supply installation (not embodying in figure) for generation of the square wave with modulation signal, the single-chip microcomputer that controller 1 is prior art, FPGA circuit etc., its output is connected to the base stage of switch transistor T, the grounded emitter of switch transistor T, the colelctor electrode of switch transistor T connects the negative pole of infrarede emitting diode D, and the positive pole of infrarede emitting diode D is connected to the positive pole of electric supply installation by resistance R.Controller 1 output is with the 38KHz square wave of modulation signal, driving switch pipe T lights infrarede emitting diode D, the modulated infrared signal that infrarede emitting diode D sends, as registration signal, because this registration signal is in on-off state, thereby can not affect the functions such as normal IMAQ.
As a kind of preferred, above-mentioned many quadrants space infrared sensor also comprises anti-dazzling screen 3, for the residing quadrant of each infrared receiving terminal 2 space to many quadrants space infrared sensor, separates and blocks.Specifically, as shown in Figure 2, this many quadrants space infrared sensor is eight quadrant space infrared sensors, this eight quadrants space infrared sensor comprises eight infrared receiving terminals 2, these eight infrared receiving terminals 2 are distributed in respectively eight quadrant spaces (each four up and down) of free space, and the residing phenomenal space of these eight infrared receiving terminals 2 adopts the anti-dazzling screen 3 of being made by light screening material separate and block.
As a kind of preferred, as shown in Figure 3, above-mentioned multiple degrees of freedom The Cloud Terrace is cradle head of two degrees of freedom, this cradle head of two degrees of freedom comprises base 4 and The Cloud Terrace support 5, base 4 can horizontally rotate and be installed on crusing robot, The Cloud Terrace support 5 is installed on base 4, and oriented detection device 6 can rotate and be installed on The Cloud Terrace support 5 at vertical plane, and above-mentioned collimating mirror 7 is installed on oriented detection device 6.Above-mentioned driver element is in transmission connection mutually with base 4 and oriented detection device 6 respectively.Specifically, driver element comprises crusing robot local computer and two drive motors, the output of each infrared receiving terminal 2 of above-mentioned many quadrants space infrared sensor is connected to respectively crusing robot local computer, crusing robot local computer is connected with the electrical input of drive motors, and the rotating shaft of two drive motors directly or for example, be in transmission connection mutually by a transmission mechanism (gear drive) and base 4 and the oriented detection device 6 of multiple degrees of freedom The Cloud Terrace.
As shown in Figure 4, the visual angle α of above-mentioned collimating mirror 7 is 10 °～30 °, and optimum value is 15 °, specifically can utilize mechanical lens combination to adjust.
The alignment methods of a kind of crusing robot equipment Automatic Alignment System of the present invention, comprises the steps:
Crusing robot travels near equipment to be detected, be installed on crusing robot many quadrants infrared sensor each infrared receiving terminal 2 respectively Real-time Collection be installed on the signal that the RF transmitter of the ad-hoc location of equipment to be detected sends;
The all or part of infrared receiving terminal 2 of many quadrants infrared sensor receives the signal that RF transmitter sends, and the signal that this is received is exported to the crusing robot local computer of driver element; The most extreme in the situation that, in eight infrared receiving terminals 2 of many quadrants infrared sensor, there are four meetings to receive the signal that RF transmitter sends simultaneously, at this moment show that equipment to be detected needs the parts of oriented detection to be positioned at a side of these four infrared receiving terminals, and the position of the plane normal direction forming at their; Generally, due to the straightline propagation characteristic of light and eight quadrant segmented in space, in eight infrared receiving terminals 2 of many quadrants infrared sensor, only have 1,2 infrared receiving terminal and receive the signal that RF transmitter sends;
Crusing robot local computer receives after the signal of infrared receiving terminal, start drive motors, make drive motors drive multiple degrees of freedom The Cloud Terrace to scan in many quadrants infrared sensor receives the quadrant space of RF transmitter transmitted signal, even if the base 4 of multiple degrees of freedom The Cloud Terrace horizontally rotates, oriented detection device 6 is rotated on vertical plane;
When multiple degrees of freedom The Cloud Terrace is scanned up to the signal that makes collimating mirror 7 receive infrared transmitter, crusing robot local computer is controlled drive motors and is stopped driving multiple degrees of freedom The Cloud Terrace to carry out scanning motion, now, also just aim at the ad-hoc location of equipment to be detected with the oriented detection device 6 of collimating mirror 7 parallel installations, thereby complete auto-alignment process.
A kind of crusing robot equipment Automatic Alignment System of the present invention, the modulation signal carrying on its RF transmitter can be for encoding to each equipment to be detected and different parts thereof, thereby while making to carry out data acquisition, have individual physical tag, the data that gather are like this not easy to obscure at every turn; Further, can also use this modulation signal to carry out the transmission of some baseband signals, make independently sensor to be installed at emphasis equipment to be detected, as long as crusing robot reads the data that its sensor records at ordinary times near driving to.
Above-described embodiment is only used for further illustrating a kind of crusing robot equipment Automatic Alignment System of the present invention and alignment methods thereof; but the present invention is not limited to embodiment; any simple modification, equivalent variations and modification that every foundation technical spirit of the present invention is done above embodiment, all fall in the protection domain of technical solution of the present invention.
Claims (10)
1. a crusing robot equipment Automatic Alignment System, comprises crusing robot, is installed on the multiple degrees of freedom The Cloud Terrace of this crusing robot, the oriented detection device that is installed on this multiple degrees of freedom The Cloud Terrace and the driver element for driving multiple degrees of freedom The Cloud Terrace to scan; It is characterized in that: also comprise RF transmitter, the collimating mirror of the ad-hoc location that is installed on equipment to be detected and be installed on many quadrants space infrared sensor of crusing robot, collimating mirror is installed on multiple degrees of freedom The Cloud Terrace, and with the collection direction keeping parallelism of oriented detection device; Many quadrants space infrared sensor comprises a plurality of infrared receiving terminals that are distributed in different quadrants space, is respectively used to the signal that receiving infrared-ray transmitter sends; The output of each infrared receiving terminal of many quadrants space infrared sensor is connected to respectively driver element, driver element is connected with many free ends The Cloud Terrace, while receiving the signal of RF transmitter transmission with all or part of infrared receiving terminal at many quadrants space infrared sensor, drive multiple degrees of freedom The Cloud Terrace to scan in receiving the quadrant space of RF transmitter transmitted signal, until collimating mirror also receives the signal that RF transmitter sends.
2. crusing robot equipment Automatic Alignment System according to claim 1, it is characterized in that: described RF transmitter comprises for generation of the controller of the square wave with modulation signal, switching tube, infrarede emitting diode, resistance and electric supply installation, the output of controller is connected to the base stage of switching tube, the grounded emitter of switching tube, the colelctor electrode of switching tube connects the negative pole of infrarede emitting diode, and the positive pole of infrarede emitting diode is connected to the positive pole of electric supply installation by resistance.
3. crusing robot equipment Automatic Alignment System according to claim 1, it is characterized in that: described many quadrants space infrared sensor also comprises anti-dazzling screen, for the residing quadrant of each infrared receiving terminal space to described many quadrants space infrared sensor, separate and block.
4. according to the crusing robot equipment Automatic Alignment System described in claim 1 or 3, it is characterized in that: described many quadrants space infrared sensor is eight quadrant space infrared sensors, this eight quadrants space infrared sensor comprises eight infrared receiving terminals, and these eight infrared receiving terminals are distributed in respectively eight quadrant spaces of free space.
5. crusing robot equipment Automatic Alignment System according to claim 1, it is characterized in that: described multiple degrees of freedom The Cloud Terrace is cradle head of two degrees of freedom, this cradle head of two degrees of freedom comprises base and The Cloud Terrace support, base can horizontally rotate and be installed on described crusing robot, The Cloud Terrace support is installed on base, described oriented detection device can rotate and be installed on The Cloud Terrace support at vertical plane, and described collimating mirror is installed on described oriented detection device; Described driver element is in transmission connection mutually with base and described oriented detection device respectively.
6. crusing robot equipment Automatic Alignment System according to claim 1, is characterized in that: described driver element comprises crusing robot local computer and at least two drive motors; The output of each infrared receiving terminal of described many quadrants space infrared sensor is connected to respectively crusing robot local computer, crusing robot local computer is connected with the electrical input of drive motors, and the rotating shaft of drive motors directly or be in transmission connection mutually by a transmission mechanism and described multiple degrees of freedom The Cloud Terrace.
7. crusing robot equipment Automatic Alignment System according to claim 1, is characterized in that: the visual angle of described collimating mirror is 10 °～30 °.
8. crusing robot equipment Automatic Alignment System according to claim 1, is characterized in that: described controller is single-chip microcomputer or FPGA circuit.
9. an alignment methods for the crusing robot equipment Automatic Alignment System as described in any one in claim 1-8, is characterized in that: comprise the steps:
Be installed on crusing robot many quadrants infrared sensor each infrared receiving terminal respectively Real-time Collection be installed on the signal that the RF transmitter of the ad-hoc location of equipment to be detected sends;
The all or part of infrared receiving terminal of many quadrants infrared sensor receives the signal that RF transmitter sends, and the signal that this is received is exported to driver element;
Driver element starts, and drives multiple degrees of freedom The Cloud Terrace to scan in many quadrants infrared sensor receives the quadrant space of RF transmitter transmitted signal;
The collimating mirror that is installed on multiple degrees of freedom The Cloud Terrace receives the signal of infrared transmitter, and driver element stops driving multiple degrees of freedom The Cloud Terrace to carry out scanning motion.
10. the alignment methods of crusing robot equipment Automatic Alignment System according to claim 9, is characterized in that: the signal that described RF transmitter sends is the infrared signal with modulation signal.
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Cited By (6)
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| CN105698807A (en) * | 2016-02-01 | 2016-06-22 | 郑州金惠计算机系统工程有限公司 | Laser navigation system applicable to intelligent inspection robot of transformer substation |
| CN106767927A (en) * | 2017-01-11 | 2017-05-31 | 长春理工大学 | Multiple degrees of freedom for star chart display device splices adjustment mechanism |
| CN109085827A (en) * | 2018-07-23 | 2018-12-25 | 郑哲楷 | The navigation system and air navigation aid of Indoor Robot |
| CN109375628A (en) * | 2018-11-28 | 2019-02-22 | 南京工程学院 | A kind of Intelligent Mobile Robot air navigation aid positioned using laser orientation and radio frequency |
| CN112000109A (en) * | 2020-09-10 | 2020-11-27 | 广西亚像科技有限责任公司 | Position correction method for power inspection robot, power inspection robot and medium |
| CN113664845A (en) * | 2021-08-19 | 2021-11-19 | 重庆七腾科技有限公司 | Water surface inspection robot and inspection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113664845A (en) * | 2021-08-19 | 2021-11-19 | 重庆七腾科技有限公司 | Water surface inspection robot and inspection method |
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