CN104133476A - Self-adaption path tracking method of inspection robot - Google Patents
Self-adaption path tracking method of inspection robot Download PDFInfo
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- CN104133476A CN104133476A CN201410374196.0A CN201410374196A CN104133476A CN 104133476 A CN104133476 A CN 104133476A CN 201410374196 A CN201410374196 A CN 201410374196A CN 104133476 A CN104133476 A CN 104133476A
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Abstract
The invention discloses a self-adaption path tracking method of an inspection robot. The method comprises the steps that a plurality of magnetic guide rails used for enabling a navigation robot to walk are laid in a working place, the magnetic guide rails form a plurality of actual operating paths of the robot, and magnetic strips are arranged at the monitoring point positions of the operating paths and between the adjacent operating paths; according to the actual operating paths of the working place, an electronic map of the corresponding robot operating path is set up; according to the electronic maps, running original points and stopping points of the robot are set according to the electronic maps, the turning angle from the current inspection operating path to the next inspection operating path is calculated, and an inspection task list is generated; the inspection task list is issued to the robot, and the robot operates on the actual operation paths according to the inspection task list. The method can visually determine the current running path of the robot, and the operating paths of the robot can be reliably tracked.
Description
Technical field
The present invention relates to crusing robot field, relate in particular to crusing robot Adaptive Path tracking.
Background technology
Along with the fast development of Robotics, crusing robot finds broad application in fields such as industry, agricultural, medical treatment, military affairs and community service industry, particularly with the artificial carrier of inspection machine, lift-launch infrared thermography, the first-class equipment of visible image capturing complete the task relevant to malfunction monitoring, monitoring of tools etc., have broad application prospects and practical value.
In the research of mobile robot's correlation technique, mobile Robot must have high reliability, and adapts to the particular surroundingss such as strong magnetic, intense radiation, high and cold, high pressure.Electromagnetic induction line walking is at present for the most reliable navigation scheme of crusing robot.It is to utilize the electromagnetic induction sensor being arranged in robot constantly to respond to the magnetic stripe being laid on polling path that electromagnetic induction is patrolled and examined, to ensure that robot travels all the time on set polling path, magnetic stripe is permanent magnet, is not subject to the impact on ambient light, temperature, humidity, weather condition, road surface, place.
But in prior art, robot moves automatically, and in operational process, operating personnel can not determine the current section of patrolling and examining of robot soon intuitively, and for example robot operational process may exist the situation that departs from operating path, operating personnel are not easy timely discovery, and operating path is followed the tracks of poor reliability.
Summary of the invention
The object of the invention is to solve the problems of the technologies described above, a kind of crusing robot Adaptive Path tracking is provided, the method can intuitively be determined the current operating path of robot, follows the tracks of robot operating path, and reliability is high.
For achieving the above object, the present invention adopts following technical scheme: a kind of crusing robot Adaptive Path tracking, comprises the steps:
A: lay the multiple magnetic conductance rails for navigating robot walking in workplace, described multiple magnetic conductance rails form multiple actual motions path of robot, between the position, monitoring point of described operating path and adjacent described operating path, position arranges magnetic stripe; B: the electronic chart of setting up corresponding robot operating path according to the actual motion path of described workplace: C: initial point and anchor point that robot operation is set according to described electronic chart, calculate the current angle of turn that operating path is patrolled and examined operating path to next of patrolling and examining, generate patrol task list; D: issue described patrol task list to robot, robot singly moves according to described patrol task on actual motion path.
In said method, in the time that robot moves on actual motion path, if out of service when the field signal of magnetic stripe detected, now judge whether current anchor point is monitoring point, if gather monitoring point information, continue if not operation.
In said method, described step C is specially: initial point and anchor point that robot operation is set on described electronic chart, magnetic stripe position on described operating path is anchor point, then calculates the current operating path of patrolling and examining according to the above origin of electronic chart and each anchor point coordinate and patrols and examines the angle of turn of operating path to next; Wherein, the section between described initial point and the first anchor point forms the first operating path; In the first anchor point and all anchor point except the first anchor point, the section between adjacent two anchor point forms an operating path.
Further, describedly calculate the current angle of turn that operating path is patrolled and examined operating path to next of patrolling and examining according to the above origin of electronic chart and each anchor point coordinate, be specially:
Initial point is set on electronic chart
, initial point is the starting point that robot starts to patrol and examine, and then chooses first anchor point
with the second anchor point
, determine the first operating path and the second operating path;
1) if initial point
with the first anchor point
's
coordinate is identical, now judges the second anchor point
with the first anchor point
's
coordinate:
When
when coordinate is identical, now can judge two sections of operating paths linearly, continue judgement, if
, robot keep straight on, otherwise robot turn 180 ° turn around;
When
when coordinate is not identical, if
, robot turns left 90 °, otherwise turns right 90 °;
2) if initial point
with the first anchor point
's
coordinate is identical, now judges the second anchor point point
with the first anchor point
's
coordinate:
When
when coordinate is identical, now can judge two sections of operating paths linearly, continue judgement, if
, robot keep straight on, otherwise robot turn 180 ° turn around;
When
when coordinate is not identical, robot needs to turn: if
, robot turns left 90 °, otherwise turns right 90 °;
On each operating path afterwards, choose two anchor point coordinates on current operating path
with
and the 3rd anchor point on next operating path
, adopt with above-mentioned steps 1), 2) same procedure, judge the angle of turn between adjacent two operating paths, wherein i is greater than 2 positive integer.
Preferably, whether described patrol task list comprises angle of turn, the path attribute between the path number of every section of operating path, adjacent operation road strength and is monitoring point information.
Preferably, the method also comprises step display, in real time the current running status of display device people.
Preferably, described magnetic stripe is vertical with magnetic conductance rail and be " ten " font.
compared with prior art, the invention has the beneficial effects as follows:
1, the present invention adopts patrol task list, coordinate the use of electronic chart, can be fast, determine intuitively the current section of patrolling and examining of robot, electronic chart is set up according to actual motion path, the patrol task list corresponding according to digital map, then by the operation of patrol task list control, facilitate operations staff to carry out the setting of patrol mode and the check of monitoring equipment, robot is according to the operation of patrol task list, and path trace reliability is high, and the important safety guarantee of robot operation is provided.
2, the invention provides the path following method of high reliability, utilize magnetic stripe location, walking positioning precision is high, and error is less than 2mm, and anti-electromagnetic interference capability is strong.
3, robot polling path each time can arrange foundation, ensures path optimum, and monitoring of equipment efficiency is high, and routine inspection mode is flexible.
4, robot of the present invention follows the trail of path and adopts electronic chart demonstration, display device people current tracking section and duty intuitively, and reliability is high.
Brief description of the drawings
Fig. 1 is crusing robot Adaptive Path tracking process flow diagram of the present invention;
Fig. 2 is the schematic diagram of electronic chart in crusing robot Adaptive Path tracking of the present invention;
Fig. 3 is another schematic diagram of electronic chart in crusing robot Adaptive Path tracking of the present invention;
Fig. 4 is the patrol task list schematic diagram in crusing robot Adaptive Path tracking of the present invention;
Fig. 5 is that the background interface in crusing robot Adaptive Path tracking of the present invention shows current section schematic diagram.
Embodiment
Below in conjunction with embodiment, the present invention is described in further detail.But this should be interpreted as to the scope of the above-mentioned theme of the present invention only limits to following embodiment, all technology realizing based on content of the present invention all belong to scope of the present invention.
The present invention, in order to determine intuitively the current operating path of robot, reliably follows the tracks of robot run location, has proposed a kind of crusing robot Adaptive Path tracking, illustrates below in conjunction with accompanying drawing.
Please refer to Fig. 1, first the inventive method lays the multiple magnetic conductance rails for navigating robot walking in workplace, multiple actual motions path that described multiple magnetic conductance rail forms robot (or claims to patrol and examine section, lower with), between the position, monitoring point of described operating path and adjacent described operating path, position arranges magnetic stripe.
Concrete, the magnetic stripe that pre-buried 5cm is wide in transformer station, 1mm is thick forms the magnetic conductance rail of navigating robot walking, and pre-buried path covers all devices that transformer station need to detect.Position, monitoring point (needing checkout equipment place) on the operating path forming at magnetic conductance rail and turning position (i.e. two magnetic conductance rail joints) are laid magnetic stripe.In the time that the Magnetic Sensor arranging in robot detects the field signal of magnetic stripe, each sampled point Hui You mono-road signal output of Magnetic Sensor, if sampled point number is greater than a certain preset value, controls and makes crusing robot out of service.In the time that robot moves on actual motion path, if out of service when the field signal of magnetic stripe detected, now judge whether current anchor point is monitoring point, if gather monitoring point information, continue if not operation.In a preferred version, magnetic stripe is vertical with magnetic conductance rail and be " ten " font, (magnetic stripe position is anchor point, lower same).Robot navigates and walks on magnetic conductance rail is to rely on the Magnetic Sensor detection magnetic conductance rail signal controlling being arranged in robot to make robot operate in magnetic conductance rail centre position to realize navigation walking; it is the signal realization by detecting the horizontal magnetic stripe vertical with magnetic conductance rail that location stops; both are vertical and be " ten " font; can guarantee that the Magnetic Sensor that install on robot chassis is all covered by magnetic stripe; if now detect to count and be greater than preset value; control realization location and stop, reliability of positioning is high.Vertical range between the Magnetic Sensor of wherein installing on magnetic conductance rail and robot chassis is 25-40mm, and this distance range can ensure effective magnetic field detection, improves robot operational reliability.
B: the electronic chart of setting up corresponding robot operating path according to the actual motion path of described workplace.
Concrete, electronic chart corresponding to actual motion path, transformer station workplace set up in the actual motion path forming according to magnetic conductance rail pre-buried in abovementioned steps on background computer.Between every adjacent two halts, be one and patrol and examine section, do not draw accuracy requirement, only need to draw the polling path of relative orientation and the position of rest of equal number.For example utilize mapping software to draw 24 bitmaps of 640*480 pixel, then utilize VC++ 6.0 to edit electronic chart, determine in interface x axle positive dirction be level to the right, y axle positive dirction, for vertically downward, realizes the foundation of electronic chart.
C: initial point and the anchor point of robot operation are set according to described electronic chart, calculate the current angle of turn that operating path is patrolled and examined operating path to next of patrolling and examining, generate patrol task list.
Concrete, initial point and the anchor point of robot operation are set on described electronic chart, magnetic stripe position on described operating path is anchor point, then calculates the current operating path of patrolling and examining according to the above origin of electronic chart and each anchor point coordinate and patrols and examines the angle of turn of operating path to next; Wherein, the section between described initial point and the first anchor point forms the first operating path; In the first anchor point and all anchor point except the first anchor point, the section between adjacent two anchor point forms an operating path.Describedly calculate the current angle of turn that operating path is patrolled and examined operating path to next of patrolling and examining according to the above origin of electronic chart and each anchor point coordinate, be specially: initial point is set on electronic chart
, initial point is the starting point that robot starts to patrol and examine, and then chooses first anchor point
with the second anchor point
, determine the first operating path and the second operating path;
1) if initial point
with the first anchor point
's
coordinate is identical, now judges the second anchor point
with the first anchor point
's
coordinate:
When
when coordinate is identical, now can judge two sections of operating paths linearly, continue judgement, if
, robot keep straight on, otherwise robot turn 180 ° turn around;
When
when coordinate is not identical, if
, robot turns left 90 °, otherwise turns right 90 °;
2) if initial point
with the first anchor point
's
coordinate is identical, now judges the second anchor point point
with the first anchor point
's
coordinate:
When
when coordinate is identical, now can judge two sections of operating paths linearly, continue judgement, if
, robot keep straight on, otherwise robot turn 180 ° turn around;
When
when coordinate is not identical, robot needs to turn: if
, robot turns left 90 °, otherwise turns right 90 °;
On each operating path afterwards, choose two anchor point coordinates on current operating path
with
and the 3rd anchor point on next operating path
, adopt with above-mentioned steps 1), 2) same procedure, judge the angle of turn between adjacent two operating paths, wherein i is greater than 2 positive integer.
Illustrate further step C below in conjunction with Fig. 2 and Fig. 3.Fig. 2 is the electronic chart of the transformer station workplace of foundation, and in figure, each cross point of crossing is an anchor point.Anchor point comprises all monitoring locations.Robot, from charging house, taking charging house as initial point, starts path trace.Be that the 8th article of ordering to B from A point patrolled and examined section when robot patrols and examines direction shown in Fig. 3, now A point and B are ordered
coordinate equates (owing to selecting anchor point to have error of coordinate, therefore to set absolute value and be less than 10
coordinate or
coordinate is equal coordinate in the time judging turning).
1) if it is BC section that next section is patrolled and examined section, C is ordered
coordinate and B are ordered
coordinate is unequal, and
, meeting the 90 ° of Rule of judgment of turning right, robot can stop and starting turning right 90 ° at anchor point B, starts the 9th section of (BC section) path trace after having turned;
2) if next section of polling path is BD section, D is ordered
coordinate and B are ordered
coordinate is unequal, and
, meeting the 90 ° of Rule of judgment that turn left, robot can stop and starting turning left 90 ° at anchor point B, starts the path trace of BD section after having turned;
3) if it is BE section that next section is patrolled and examined section, E is ordered
coordinate and B are ordered
coordinate is equal, and
, meeting craspedodrome condition, robot can be after anchor point B, moves on and starts the path trace of BE section.
4) if it is BA section that next section is patrolled and examined section, A is ordered
coordinate and B are ordered
coordinate is equal, and
, meeting the condition that turns around, robot can start to turn around after halt B, continues the path trace of BA section after having turned around.
Fig. 4 is that its path number is successively 8,9,10,11,12 and 13 according to the patrol task list of AB section-BC section-CB section-BD section-DB section-BE section of the path following method making of Fig. 3.Robot is according to patrol task list, and order is carried out, and completes path trace.
D: issue described patrol task list to robot, robot singly moves according to described patrol task on actual motion path.
Concrete, the robot in the present invention is provided with industrial computer, and the chassis of robot is provided with Magnetic Sensor, and Magnetic Sensor for detecting the field signal of the described magnetic conductance rail of output and magnetic stripe in the time that robot walks above described magnetic conductance rail; The described field signal that industrial computer is exported for receiving described Magnetic Sensor, thereby according to the walking states navigation of described field signal and patrol task list control positioning robot's operation.Whether described patrol task list comprises angle of turn, the path attribute between the path number of every section of operating path, adjacent operation road strength and is monitoring point information.In a preferred version, the inventive method also comprises step display, by the current running status of the real-time display device people of background computer.Industrial computer radio communication in described background computer and robot, is specifically as follows existing any communication, as infrared, GPRS, 3G etc.Described patrol task single-pass is crossed background computer and sends to the industrial computer of robot, and the motor driver of industrial computer and robot is electrically connected, thereby by controlling the walking states of described motor driver control.
Fig. 5 is the schematic diagram in the time that the real-time display device people in background computer interface is patrolling and examining in the BC section of section, robot advances according to the direction of arrow indication, demonstrate three anchor point that judgement is turned simultaneously, and can glimmer by the anchor point C arriving, to intuitively show.
Advantage of the present invention is as follows: 1, adopt patrol task list, coordinate the use of electronic chart, can be fast, determine intuitively the current section of patrolling and examining of robot, electronic chart is set up according to actual motion path, the patrol task list corresponding according to digital map, again by the operation of patrol task list control, facilitate operations staff to carry out the setting of patrol mode and the check of monitoring equipment, robot moves according to patrol task list, path trace reliability is high, and the important safety guarantee of robot operation is provided.2, the invention provides the path following method of high reliability, utilize magnetic stripe location, walking positioning precision is high, and error is less than 2mm, and anti-electromagnetic interference capability is strong.3, robot polling path each time can arrange foundation, ensures path optimum, and monitoring of equipment efficiency is high, and routine inspection mode is flexible.4, robot of the present invention follows the trail of path and adopts electronic chart demonstration, display device people current tracking section and duty intuitively, and reliability is high.
By reference to the accompanying drawings the specific embodiment of the present invention is had been described in detail above, but the present invention is not restricted to above-mentioned embodiment, in the spirit and scope situation of claim that does not depart from the application, those skilled in the art can make various amendments or remodeling.
Claims (7)
1. a crusing robot Adaptive Path tracking, is characterized in that, comprises the steps:
A: lay the multiple magnetic conductance rails for navigating robot walking in workplace, described multiple magnetic conductance rails form multiple actual motions path of robot, between the position, monitoring point of described operating path and adjacent described operating path, position arranges magnetic stripe;
B: the electronic chart of setting up corresponding robot operating path according to the actual motion path of described workplace:
C: initial point and the anchor point of robot operation are set according to described electronic chart, calculate the current angle of turn that operating path is patrolled and examined operating path to next of patrolling and examining, generate patrol task list;
D: issue described patrol task list to robot, robot singly moves according to described patrol task on actual motion path.
2. crusing robot Adaptive Path tracking according to claim 1, it is characterized in that, in the time that robot moves on actual motion path, out of service when if the field signal of magnetic stripe detected, now judge whether current anchor point is monitoring point, if gather monitoring point information, continue if not operation.
3. crusing robot Adaptive Path tracking according to claim 1 and 2, it is characterized in that, described step C is specially: initial point and anchor point that robot operation is set on described electronic chart, magnetic stripe position on described operating path is anchor point, then calculates the current operating path of patrolling and examining according to the above origin of electronic chart and each anchor point coordinate and patrols and examines the angle of turn of operating path to next; Wherein, the section between described initial point and the first anchor point forms the first operating path; In the first anchor point and all anchor point except the first anchor point, the section between adjacent two anchor point forms an operating path.
4. crusing robot Adaptive Path tracking according to claim 3, it is characterized in that, describedly calculate the current angle of turn that operating path is patrolled and examined operating path to next of patrolling and examining according to the above origin of electronic chart and each anchor point coordinate, be specially:
Initial point is set on electronic chart
, initial point is the starting point that robot starts to patrol and examine, and then chooses first anchor point
with the second anchor point
, determine the first operating path and the second operating path;
1) if initial point
with the first anchor point
's
coordinate is identical, now judges the second anchor point
with the first anchor point
's
coordinate:
When
when coordinate is identical, now can judge two sections of operating paths linearly, continue judgement, if
, robot keep straight on, otherwise robot turn 180 ° turn around;
When
when coordinate is not identical, if
, robot turns left 90 °, otherwise turns right 90 °;
2) if initial point
with the first anchor point
's
coordinate is identical, now judges the second anchor point point
with the first anchor point
's
coordinate:
When
when coordinate is identical, now can judge two sections of operating paths linearly, continue judgement, if
, robot keep straight on, otherwise robot turn 180 ° turn around;
When
when coordinate is not identical, robot needs to turn: if
, robot turns left 90 °, otherwise turns right 90 °;
On each operating path afterwards, choose two anchor point coordinates on current operating path
with
and the 3rd anchor point on next operating path
, adopt above-mentioned steps 1), 2) same procedure, judge the angle of turn between adjacent two operating paths, wherein i is greater than 2 positive integer.
5. crusing robot Adaptive Path tracking according to claim 4, is characterized in that, whether described patrol task list comprises angle of turn, the path attribute between path number, the adjacent operating path of every section of operating path and be monitoring point information.
6. crusing robot Adaptive Path tracking according to claim 4, is characterized in that, the method also comprises step display, in real time the current running status of display device people.
7. crusing robot Adaptive Path tracking according to claim 4, is characterized in that, described magnetic stripe is vertical with magnetic conductance rail and be " ten " font.
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| Publication number | Publication date |
|---|---|
| CN104133476B (en) | 2017-01-18 |
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