CN104881027B - Wheel-track combined Intelligent Mobile Robot active obstacle system and control method - Google Patents

Wheel-track combined Intelligent Mobile Robot active obstacle system and control method Download PDF

Info

Publication number
CN104881027B
CN104881027B CN201510220735.XA CN201510220735A CN104881027B CN 104881027 B CN104881027 B CN 104881027B CN 201510220735 A CN201510220735 A CN 201510220735A CN 104881027 B CN104881027 B CN 104881027B
Authority
CN
China
Prior art keywords
robot
control
support arm
arm
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201510220735.XA
Other languages
Chinese (zh)
Other versions
CN104881027A (en
Inventor
栾贻青
郝永鑫
李丽
王海鹏
肖鹏
慕世友
任杰
傅孟潮
王滨海
李建祥
赵金龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Intelligent Technology Co Ltd
Original Assignee
State Grid Corp of China SGCC
Shandong Electric Power Research Institute
Shandong Luneng Intelligence Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by State Grid Corp of China SGCC, Shandong Electric Power Research Institute, Shandong Luneng Intelligence Technology Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201510220735.XA priority Critical patent/CN104881027B/en
Publication of CN104881027A publication Critical patent/CN104881027A/en
Application granted granted Critical
Publication of CN104881027B publication Critical patent/CN104881027B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention discloses a kind of wheel-track combined Intelligent Mobile Robot active obstacle system and control methods, system includes chassis and control system, wherein, chassis includes robot and controls babinet, crawler travel unit, running on wheels unit, obstacle detouring branch arm unit and driving motor group, crawler travel unit includes left and right traveling crawler, left and right traveling crawler is fixed on control babinet both sides, left and right traveling crawler each connects a driving motor, running on wheels unit includes left and right sides traveling wheel, traveling wheel passes through obstacle detouring branch arm unit connecting support arm driving motor, left and right sides traveling wheel is separately fixed at control babinet both sides, control system includes industrial personal computer and the sensor group being attached thereto, industrial personal computer connects multiple motor drivers, each motor driver connects corresponding driving motor respectively.The present invention can meet the demand of inspection under substation's difference road conditions to automatically switch as needed in a manner of wheeled or crawler travel.

Description

Wheel-track combined Intelligent Mobile Robot active obstacle system and control method
Technical field
The present invention relates to a kind of wheel-track combined Intelligent Mobile Robot active obstacle system and control methods.
Background technology
In recent years, patrolled with the development of science and technology, being automatically performed substation's everyday devices using Intelligent Mobile Robot Depending on work such as, infrared measurement of temperature, equipment state inspections, have become the important supplementary means of inspecting substation equipment.But at present Intelligent Mobile Robot have the following problems:
1st, Intelligent Mobile Robot is mainly in roadway area inspection, it is difficult to comprehensive inspection is carried out to power transformation station equipment It surveys;
2nd, in general substation, battery limits are with road usually not on a horizontal plane, and battery limits are usually non- Structuring road surface, such as meadow, stone road surface, robot will enter battery limits operation inspection from main roads, then need machine People can independently cross kerb, be run into battery limits, for wheeled robot platform, the characteristics of due to its own, and machine People cannot be introduced into battery limits operation.
Some existing caterpillar robots, the caterpillar robot including carrying two swing arms, such as Publication No. A kind of patent of invention " mobile robot and its obstacle surmounting method " of CN101492072A and the crawler belt with four swing arms Robot, such as utility model patent " the compound moving machine of independent barrier-surpassing robot of Patent No. ZL200520075351.5 Structure " although robot has certain obstacle climbing ability, does not refer to active obstacle system and active obstacle method It realizes, thus active obstacle can not be carried out, and since individual caterpillar type robot operational efficiency is low, it is difficult to meet robot In substation to the requirement of the efficient inspection in roadway area.Due to particular/special requirement of the substation to power equipment safety and power transformation It stands requirement of the crusing robot to autonomous operation, positioning accuracy and operational reliability, the existing equal nothing of caterpillar robot system Method is directly applied on Intelligent Mobile Robot.
The content of the invention
The present invention is to solve the above-mentioned problems, it is proposed that a kind of wheel-track combined Intelligent Mobile Robot active obstacle system System and control method, the system globe area laser sensor, GPS sensor, binocular vision sensor, attitude transducer etc. to be passed Sensor information accurately detects crusing robot ontology information and ambient condition information, and is proposed based on above- mentioned information A kind of control method of serializing, realizes the active obstacle of Intelligent Mobile Robot and realizes substation inspection The automatic switchover of robot running on wheels mode and crawler-type traveling mode solves robot region-wide inspection in substation Problem.
To achieve these goals, the present invention adopts the following technical scheme that:
A kind of wheel-track combined Intelligent Mobile Robot active obstacle system, including chassis and control system, wherein, bottom Disk includes robot control babinet, crawler travel unit, running on wheels unit, obstacle detouring branch arm unit and driving motor group, carries out Band walking unit includes left and right traveling crawler, and left and right traveling crawler is fixed on control babinet both sides, and left and right traveling crawler each connects A driving motor is connect, running on wheels unit includes left and right sides traveling wheel, and traveling wheel is driven by obstacle detouring branch arm unit connecting support arm Dynamic motor, left and right sides traveling wheel are separately fixed at control babinet both sides, and control system includes industrial personal computer and the sensing being attached thereto Device group, industrial personal computer connect multiple motor drivers, and each motor driver connects corresponding driving motor respectively.
The obstacle detouring branch arm unit includes two front arms for being mounted on control babinet front end and after control babinet Two back arms at end.
The driving motor group includes left and right two travel driving motors and forward and backward support arm driving motor, wherein, it is left Travel driving motor drives left traveling crawler, and right travel driving motor drives right traveling crawler, front arm driving motor driving two A front arm, back arm driving motor drive two back arms.
The forward and backward support arm driving motor output shaft drives axis connection, forward and backward branch with forward and backward support arm respectively by gear Arm drive shaft is pierced by from crawler driving whell center.
The length of the front and rear support arm is slightly less than the half of robot body total length, the robot front and rear support arm difference Using support arm bull wheel axle center as 360 degree of continuous rotations of axis.
The sensor group, including GPS positioning sensor, laser navigation sensor, binocular vision sensor, Distance-sensing Device and obliquity sensor, wherein, the laser navigation sensor is mounted on robot front-end bracket, passes through detection and ambient The distance of body determines position of the robot currently in substation, and the binocular vision sensor is mounted on robot front-end bracket On, by the road environment modeling method based on region normal vector, extraction machine people's road ahead Edge Distance, height and wait to sail Enter the level and area information in region;The range sensor is mounted on robot control babinet front end, accurate measuring machine Distance of the device people apart from front obstacle;The obliquity sensor be mounted on robot interior bottom, robot measurement roll and Inclination angle in pitching both direction.
The GPS positioning sensor, laser navigation sensor, range sensor, obliquity sensor and four motor drivings Device is connected by CAN bus.
The binocular vision sensor connects industrial personal computer by IEEE1394 buses.
The control system further includes two support arm zero position switchs, and the zero position switch is mounted in support arm drive shaft, with Motor driver connects, for demarcating the back to zero position of support arm.
The control system, further includes four encoders, and the encoder is separately mounted to travel driving motor and support arm On driving motor, encoder is connected with motor driver by RS422;Connect the encoder calculating robot of travel driving motor Displacement distance and translational speed;The encoder of connecting support arm driving motor is used to calculate the rotation angle of support arm and rotation speed Degree.
Based on the control method of above-mentioned obstacle detouring system, including following control mode:
(1) under substation's roadway area hard surface environment during inspection, control support arm rotates to the support arm of downside for robot Crawler belt is parallel with road surface so that the traveling wheel at left and right sides of robot is contacted with road surface, so as to which robot is switched to wheeled row Walk mode;
(2) when substation equipment area sandstone, meadow are when inspection under road environments, control support arm closes at control cabinet for robot Body both sides, and the support arm crawler belt that support arm is controlled to rotate to upside is parallel with road surface so that the traveling crawler at left and right sides of robot It is contacted with road surface, so as to which robot is switched to crawler travel mode;
(3) robot climb when, control support arm be unfolded forwards, backwards, make Robot arm crawler belt and traveling crawler with ground Face contact lengthens robot length to prevent robot from inclining during climbing to increase the driving force of robot climbing It covers;
(4) when robot enters battery limits progress inspection from conventional road area of substation, if necessary to throwing over barrier, adopt It is derived from main obstacle detouring control method.
The control method, comprises the following steps:
Step 1: according to the information that GPS positioning sensor, laser navigation sensor gather, by global path planning side Method, control robot is moved in the action setting range of barrier, and face barrier;
Step 2: by binocular vision sensor, ambient image is gathered, based on 3 D stereo reconfiguration technique, extraction machine The area information of the distance of people and barrier, the height of barrier and plane to be driven into, judges whether robot can bypass The barrier, if it is possible to around then robot cut-through object;Otherwise, judge whether robot can cross the barrier, Three are entered step if it can cross;Otherwise, robot parking alarm waits staff's processing;
Step 3: by the horizontal distance of the accurate robot measurement of range sensor to barrier, control robot and barrier Hinder the distance of object in safe range;
Step 4: control front arm rotates forward, downside support arm crawler belt and new planar horizontal until front arm, together When control back arm back rotation, until back arm crawler belt downside and ground level, in the process, robot body and ground The angle in face gradually increases;
Step 5: obtaining the level inclination of robot and lateral inclination angle by obliquity sensor, control robot is carried out both sides The speed of belt wheel makes to travel forward, while controls robot that lateral tilt does not occur;
Step 6: control robot back arm back rotation, until robot both sides traveling crawler is parallel to the ground;
Step 7: control robot travels forward, until robot center of gravity is all fallen on new plane of movement;Pack up machine The forward and backward support arm of device people selects running on wheels mode or crawler travel mode according to surface conditions.
The specific method of the step 2 is:By binocular vision sensor, based on 3 D stereo reconfiguration technique, extractor The area information of the distance of device people and barrier, the height of barrier and plane to be driven into, and combine the mould of robot itself Type judges that can robot cross this barrier.
In the step 1, action setting range maximum is 1m.
In the step 3, safe range maximum is 5cm.
In the step 5, specific method is:The level inclination of robot is obtained by obliquity sensor and is laterally inclined Angle, the speed of control robot both sides Athey wheel makes to travel forward, while controls robot that lateral tilt does not occur;Control machine People's back arm rotates forward, to ensure that back arm crawler belt downside always with ground level, prevents robot from sliding backward;Herein In the process, robot body is gradually increased with ground level inclination angle, and when level inclination reaches critical value, control robot stops Movement;The angle is codetermined by the height of robot position of centre of gravity and barrier, should ensure that robot during advancing not Generation is toppled forward or backward.
In the step 6, specific method is:Robot back arm back rotation is controlled, until robot both sides walking Crawler belt is parallel to the ground, if obstacle height is more than back arm length, robot both sides traveling crawler can not be reached with ground To parallel, then back arm is controlled to rotate to maximum position;Robot front arm back rotation is controlled simultaneously, on the downside of front arm Face is parallel to the ground.
Beneficial effects of the present invention are:
It (1) can be to automatically switch in a manner of wheeled or crawler travel, to meet substation's difference road conditions as needed The demand of lower inspection;
(2) robot can independently cross the barriers such as substation's kerb, cable duct, it is achieved thereby that robot is becoming The region-wide autonomous operation of electricity;
(3) using GPS positioning sensor, laser navigation sensor combined positioning and navigating mode, machine can accurately be obtained Coordinate position of the device people in substation solves the problems, such as that single navigation mode fails in certain circumstances;
(4) feedback signal is used as by encoder by the use of support arm rotation angle, the control for making support arm rotation angle is more smart Really, support arm can close at robot body both sides completely, compact-sized;
(5) each sensor in sensor group is linked together by CAN bus, convenient for the extension of system.
Description of the drawings
Fig. 1 is robot chassis structure schematic diagram;
Fig. 2 is robot sensor schematic view of the mounting position;
Fig. 3 is robot control system architecture schematic diagram;
Fig. 4 (a) is robot running on wheels mode athletic posture schematic diagram;
Fig. 4 (b) is robot crawler travel mode athletic posture schematic diagram;
Fig. 4 (c) is robot climbing walking manner athletic posture schematic diagram;
Fig. 5 is robot autonomous obstacle detouring flow chart;
Fig. 6 (a) is robot autonomous 1 schematic diagram of obstacle detouring process steps;
Fig. 6 (b) is robot autonomous 4 schematic diagram of obstacle detouring process steps;
Fig. 6 (c) is robot autonomous 5 schematic diagram of obstacle detouring process steps;
Fig. 6 (d) is robot autonomous 6 schematic diagram of obstacle detouring process steps;
Fig. 6 (e) is robot autonomous 7 schematic diagram of obstacle detouring process steps.
Wherein, 1. left side traveling wheel, 2. back arm driving motors, 3. back arm motor drivers, 4. left side traveling crawlers, 5. obliquity sensor, 6. left side movable motor drivers, 7. left side travel driving motors, 8. front arms, 9. encoders, before 10. Support arm driving motor, 11. back to zeros switch, 12. right side travel driving motors, 13. back arms, 14. front arm motor drivers, 15. right side movable motor driver, 16. right side traveling crawlers, 17. control babinets, 18. right side traveling wheels, 19. laser sensings Device, 20. binocular vision sensors, 21. industrial personal computers, 22. range sensors, 23.GPS alignment sensors, 24.CAN buses.
Specific embodiment:
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
A kind of wheel-track combined robot chassis of four support arms, it includes robot control babinet, crawler travel unit, wheeled Walking unit, obstacle detouring branch arm unit and driving motor.
Wherein, the crawler travel unit includes the left side traveling crawler for being mounted on the both sides of control babinet and right side walking Crawler belt.The running on wheels unit includes two left side traveling wheels and two right side traveling wheels.The obstacle detouring branch arm unit includes Two front arms mounted on control babinet front end and two back arms mounted on control box back.The driving motor bag Include left and right two travel driving motors and forward and backward support arm driving motor.
Wherein, the left side traveling wheel and right side traveling wheel are separately mounted on four support arms, and pass through synchronous belt and a left side The driving wheel connection of right both sides traveling crawler, thus when travel driving motor driving traveling crawler rotation, the row of the left and right sides It walks wheel and follows traveling crawler synchronous rotary.
Wherein, the robot front and rear support arm is respectively driven by two motors for being mounted on control tank ends, and support arm drives Dynamic motor output shaft drives axis connection by gear and support arm, and support arm drive shaft is pierced by from main crawler driving whell center.Before described The length of back arm is slightly less than the half of robot body total length, so as to which the forward and backward support arm of robot can close at machine completely Human body both sides.The robot front and rear support arm can be respectively using support arm bull wheel axle center as 360 degree of continuous rotations of axis.
A kind of wheel-track combined robot autonomous obstacle detouring control system of four support arms, it includes industrial personal computer, GPS positioning senses Device, laser navigation sensor, binocular vision sensor, range sensor, obliquity sensor and four motor drivers, four Encoder and two support arm zero position switchs.
Wherein, the industrial personal computer, GPS positioning sensor, laser navigation sensor, range sensor, obliquity sensor and Four motor drivers are connected by CAN bus.The industrial personal computer is connected with binocular vision sensor by IEEE1394 buses.
Wherein, the laser navigation sensor is mounted on robot front-end bracket, can pass through detection and surrounding objects Distance determine position of the robot currently in substation.The binocular vision sensor is mounted on robot front-end bracket On, can by the road environment modeling method based on region normal vector, extraction machine people's road ahead Edge Distance, height and The information such as the level and area in region to be driven into.The range sensor is mounted on robot control babinet front end, can be with Accurate distance of the robot measurement apart from front obstacle, so as to which robot be controlled accurately to rest in specifying in front of barrier Position.The obliquity sensor is mounted on robot interior bottom, can be in robot measurement roll and pitching both direction Inclination angle.
Wherein, the zero position switch is mounted in support arm drive shaft, is connected with motor driver, for demarcating returning for support arm Zero position.The encoder is separately mounted in travel driving motor and support arm driving motor, and encoder leads to motor driver Cross RS422 connections.It can be with the displacement distance of precision computer device people and mobile speed by the encoder for connecting travel driving motor Degree, so as to accurately control the stop position of the travel speed of robot and accurate control robot.It is driven by connecting support arm The encoder of motor can accurately calculate the rotation angle and rotary speed of support arm, so as to accurately control the rotation position of support arm. The motor driver be mounted on robot interior bottom, be respectively used to driving robot at left and right sides of travel driving motor and Support arm rotary drive motor.
A kind of control method of crawler type Intelligent Mobile Robot, it includes:
1st, under substation's roadway area hard surface environment during inspection, control support arm rotates to the support arm of downside for robot Crawler belt is parallel with road surface so that the traveling wheel at left and right sides of robot is contacted with road surface, so as to which robot is switched to wheeled row Walk mode.
2nd, when substation equipment area sandstone, meadow are when inspection under road environments, control support arm closes at control cabinet for robot Body both sides, and the support arm crawler belt that support arm is controlled to rotate to upside is parallel with road surface so that the traveling crawler at left and right sides of robot It is contacted with road surface, so as to which robot is switched to crawler travel mode.
3rd, robot climb when, control support arm be unfolded forwards, backwards, make Robot arm crawler belt and traveling crawler with ground Face contact lengthens robot length to prevent robot from inclining during climbing to increase the driving force of robot climbing It covers.
4th, when robot enters battery limits progress inspection from conventional road area of substation, kerb, electricity are crossed if necessary The barriers such as cable ditch then realize active obstacle using following steps:
Step 1:Robot passes through laser and GPS integrated navigations, knot during substation's normal inspection in conventional road area Global path planning method is closed, control robot is automatically moved in front of distance barrier to be crossed in the range of 1 meter, and is made Robot face barrier.
Step 2:By binocular vision sensor, based on 3 D stereo reconfiguration technique, extraction machine people and barrier away from The information such as the area from d, the height h of barrier and plane to be driven into, and the model for combining robot itself judges robot This barrier can be crossed.
Step 3:If barrier can be crossed, by the accurate robot measurement of range sensor to barrier it is horizontal away from From controlling robot, the distance can reliably take after ensureing front arm rotation in the position stopping that obstacle distance is d≤5cm On the edge of barrier.
Step 4:Control front arm rotates forward, until downside support arm crawler belt and the new planar horizontal of front arm.Simultaneously Back arm back rotation is controlled, until back arm crawler belt downside and ground level.In the process, robot body and ground Angle gradually increase.
Step 5:The level inclination of robot and lateral inclination angle, control robot both sides crawler belt are obtained by obliquity sensor The speed of wheel makes to travel forward, while controls robot that lateral tilt does not occur.Control robot back arm rotates forward, to protect Back arm crawler belt downside is demonstrate,proved always with ground level, prevents robot from sliding backward.In the process, robot body and ground Face level inclination gradually increases, and when level inclination reaches critical value, controls robot stop motion.The angle is by robot weight The height of heart position and barrier codetermines, and ensure that robot does not occur to topple forward or backward during advancing.
Step 6:Robot back arm back rotation is controlled, until robot both sides traveling crawler is parallel to the ground.If When obstacle height is more than back arm length, robot both sides traveling crawler can not reach parallel with ground, then control back arm Rotate to maximum position.Robot front arm back rotation is controlled simultaneously, until front arm downside is parallel to the ground.
Step 7:Control robot travels forward, until robot center of gravity is all fallen on new plane of movement.Pack up machine The forward and backward support arm of device people selects running on wheels mode or crawler travel mode according to surface conditions.
Embodiment one:
A kind of wheel-track combined robot chassis of four support arms, it include robot control babinet (17), crawler travel unit, Running on wheels unit, obstacle detouring branch arm unit and driving motor.Wherein crawler travel unit includes being mounted on the two of control babinet The left side traveling crawler (4) of side and right side traveling crawler (16).Running on wheels unit includes two left side traveling wheels (1) and two Right side traveling wheel (18).Obstacle detouring branch arm unit includes being mounted on two front arms (8) of control babinet front end and mounted on control Two back arms (13) of box back.Driving motor includes left side travel driving motor (7), right side travel driving motor (12), front arm driving motor (10) and back arm driving motor (2).
Wherein, traveling wheel is separately mounted on front arm (8) and back arm (13).Two on front arm (8) Traveling wheel is connected respectively by synchronous belt with the driving wheel of left and right sides traveling crawler, thus when travel driving motor driving walking When crawler belt rotates, the traveling wheel of the left and right sides follows traveling crawler synchronous rotary.Two walkings on back arm (13) It takes turns as driven wheel.In this example, travel driving motor uses the DC brushless motor of MAXON companies 250W, the motor highest Rotating speed is 9090rpm, and transmission system reduction ratio is 56:1, a diameter of 180mm of Athey wheel, a diameter of 120mm of traveling wheel, thus take turns Robot maximum speed is 1m/s under formula walking manner, and maximum speed is 1.5m/s. under crawler travel mode
Wherein, robot front arm (8) and back arm (13) are separately mounted on the outside of control babinet (17) both ends, and by pacifying Front arm driving motor (10) and back arm driving motor (2) mounted in the internal both ends of control babinet (17) respectively drive.Support arm Driving motor output shaft drives axis connection by gear and support arm, and support arm drive shaft is pierced by from traveling crawler driving wheel center, preceding, Back arm can be synchronous with 360 degree of continuous rotations respectively.The length of support arm is slightly less than the half of robot body total length, so as to The forward and backward support arm of robot can close at robot body both sides completely so that during robot normally travel, structure is compacter. In this example, support arm driving motor uses the brush direct current motor of MAXON companies 150W, which is 7580rpm, Transmission system reduction ratio is 1040:1, thus the maximum rotative speed of support arm is 43 °/s.
As depicted in figs. 1 and 2, the present invention also provides a kind of wheel-track combined robot autonomous obstacle detouring control systems of four support arms System, it includes being mounted on the industrial personal computer (21) above control babinet (17), and the GPS positioning on robot front-end bracket passes Sensor (23), laser navigation sensor (19), binocular vision sensor (20), the distance mounted on control babinet (17) front end Sensor (22), mounted on the internal obliquity sensor (5) of control babinet (17), left side movable motor driver (6), right side row Motor driver (15), front arm motor driver (14), back arm motor driver (3) are walked, mounted on the four of motor rear end A encoder (9) and the back to zero switch (11) in support arm drive shaft.
As shown in figure 3, industrial personal computer (21), GPS positioning sensor (23), laser navigation sensor (19), range sensor (22), obliquity sensor (5) and four motor drivers are connected by CAN bus (24), convenient for the extension of system.Wherein pass through Positioning and navigation of the robot in substation are realized in GPS positioning sensor (23) and laser navigation sensor (19) combination, and GPS is fixed Level sensor (23) is used to provide the initial position of robot and carries out school to robot location in robot operational process Just.Machine is obtained by laser navigation sensor (19) scanning machine people and the distance of surrounding objects, and with laser map match Position coordinates of the people in substation.Binocular vision sensor (20) is connected with industrial personal computer by IEEE1394 buses.By double Mesh visual sensor (20) obtains the binocular image of robot front obstacle, is built using the road environment based on region normal vector Mould method, extraction machine people's road ahead Edge Distance, height and the information such as the level in region to be driven into and area, according to Above- mentioned information robot can need to take obstacle detouring strategy still around barrier strategy with comprehensive descision.Two range sensor (22) peaces Mounted in the front end of control babinet (17), can accurate distance of the robot measurement apart from barrier, so as to control robot accurate Rest in designated position in front of barrier.The DT35 of SICK companies is used in this example as range sensor, the sensor Range is up to 0.05m~12m, measurement accuracy 0.5mm.Obliquity sensor (5) is mounted on control babinet (17) bottom, can be with Inclination angle in robot measurement roll and pitching both direction.Inclined in this example using the SCA126T-60 twin shafts of RION companies Angle transducer, the sensor resolution are 0.01 °, 0.08 ° of absolute precision.
Wherein, four encoders (9) are separately mounted to the afterbody of four driving motors, pass through RS422 buses and four electricity Machine driver connects.The rotating speed of motor can be calculated by encoder (9), speed closed loop is formed on movable motor driver, So as to control the speed of robot ambulation.The forming position closed loop on support arm motor driver, so as to control the anglec of rotation of support arm Degree.The encoder used in this example is the HEDL9140 of MAXON companies, which is 500 lines, in the drive 4 frequency multiplication Afterwards, motor often rotates a circle available 2000 pulses, since the reduction ratio of support arm transmission system is 1040, so support arm rotates The resolution ratio of angle is up to 0.0002 °.
The invention also provides a kind of control methods of wheel-track combined robot.As shown in Fig. 4 (a), robot is becoming Under the hard surface environment of power station roadway area during inspection, the support arm crawler belt that control support arm rotates to downside is parallel with road surface so that machine Traveling wheel at left and right sides of device people is contacted with road surface, so as to which robot is switched to running on wheels mode.As shown in Fig. 4 (b), machine For device people when substation equipment area sandstone, meadow are when inspection under road environments, control support arm closes at control babinet both sides, and controls The support arm crawler belt that support arm rotates to upside is parallel with road surface so that and the traveling crawler at left and right sides of robot is contacted with road surface, from And robot is switched to crawler travel mode.As shown in Fig. 4 (c), when robot climbs, control support arm is unfolded forwards, backwards, makes Robot arm crawler belt and traveling crawler contact to increase the driving force of robot climbing with ground, while lengthen robot Length with prevent robot climbing during topple.
When robot enters battery limits progress inspection from conventional road area of substation, kerb, cable are crossed if necessary The barriers such as ditch then realize active obstacle using step as shown in Figure 5:
Step 1:Robot during substation's normal inspection in conventional road area, by GPS positioning sensor (23) and Laser navigation sensor (19) integrated navigation, with reference to global path planning method, control robot is automatically moved to distance and waits to turn over In front of barrier more in the range of 1 meter, and make robot face barrier.As shown in Fig. 6 (a).
Step 2:Pass through binocular vision sensor (20), based on 3 D stereo reconfiguration technique, extraction machine people and barrier Distance d, the height h of barrier and the information such as area of plane to be driven into, and the model for combining robot itself judges machine Can device people cross this barrier.If barrier can bypass, start around barrier strategy, else if barrier can turn over More, then crossing obstacle automatically strategy is started, otherwise, robot will stop alarm latency human intervention.As shown in Fig. 6 (a).
Step 3:If it is determined that barrier can be crossed, by range sensor (22) robot measurement to barrier away from From, robot is controlled to stop in the position that obstacle distance is d≤5cm, it can be reliable after distance guarantee front arm (8) rotation It rides on the edge of barrier.
Step 4:Front arm (8) processed rotates forward, until support arm crawler belt and the new planar horizontal of front arm (8).Simultaneously Back arm (13) back rotation is controlled, until back arm (13) crawler belt downside and ground level.Front arm (8) rotates at this time Angle be aboutAnd the angle of back arm rotation is aboutWherein, L is robot crawler belt The centre-to-centre spacing of traveling wheel, h are the height of barrier, and θ is the angle of both sides crawler belt above and below support arm, in this example, above and below support arm The angle theta of both sides crawler belt is 26 °.In the process, robot body and the angle on ground gradually increase.
Step 5:, travel driving motor (6) and right side travel driving motor (12) speed on the left of robot is controlled to make machine People travels forward, while obtains the level inclination of robot and lateral inclination angle by obliquity sensor (5), and control robot is not sent out Raw lateral tilt.Control robot back arm (13) rotate forward, with ensure back arm (13) crawler belt downside always with ground Level prevents robot from sliding backward.In the process, robot body is gradually increased with ground level inclination angle, when level is inclined When angle reaches critical value, robot stop motion is controlled.The angle is determined jointly by the height of robot position of centre of gravity and barrier It is fixed, ensure that robot does not occur to fall forward or topple backward in forward movement.As shown in Fig. 6 (c).
Step 6:Robot back arm (13) back rotation is controlled, until robot both sides traveling crawler is parallel to the ground. If obstacle height is more than back arm (13) length, robot both sides traveling crawler can not reach parallel with ground, then control Back arm (13) processed rotates to maximum position.Simultaneously control robot front arm (8) back rotation, until front arm downside with Ground is parallel.As shown in Fig. 6 (d).
Step 7:Control robot travels forward, until robot center of gravity is all fallen on new plane of movement.Pack up machine Device people front arm (8) and back arm (13) select running on wheels mode or crawler travel mode according to surface conditions.Such as Fig. 6 (e) shown in.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.

Claims (15)

1. based on the control method of wheel-track combined Intelligent Mobile Robot active obstacle system, the wheel-track combined power transformation It stands crusing robot active obstacle system, including chassis and control system, wherein, chassis includes robot control babinet, crawler belt Walking unit, running on wheels unit, obstacle detouring branch arm unit and driving motor group, crawler travel unit include left and right walking and carry out Band, left and right traveling crawler are fixed on control babinet both sides, and left and right traveling crawler each connects a driving motor, running on wheels list Member includes left and right sides traveling wheel, and traveling wheel is consolidated respectively by obstacle detouring branch arm unit connecting support arm driving motor, left and right sides traveling wheel Control babinet both sides are scheduled on, control system includes industrial personal computer and the sensor group being attached thereto, and industrial personal computer connects multiple motors and drives Dynamic device, each motor driver connect corresponding driving motor respectively;
Automatically switch wheeled or crawler travel mode as needed, meet the needs of inspection under substation's difference road conditions, Feedback signal is used as by encoder by the use of support arm rotation angle, controls support arm rotation angle, support arm closes at robot sheet completely Body both sides;
It is characterized in that:Including following control mode:
(1) under substation's roadway area hard surface environment during inspection, control support arm rotates to the support arm crawler belt of downside for robot It is parallel with road surface so that the traveling wheel at left and right sides of robot is contacted with road surface, so as to which robot is switched to running on wheels side Formula;
(2) under substation equipment area sandstone or meadow road environment during inspection, control support arm closes at control babinet two for robot Side, and the support arm crawler belt that support arm is controlled to rotate to upside is parallel with road surface so that traveling crawler and road at left and right sides of robot Face contacts, so as to which robot is switched to crawler travel mode;
(3) when robot climbs, control support arm is unfolded forwards, backwards, and Robot arm crawler belt and traveling crawler is made to be connect with ground It touches to increase the driving force that robot climbs, while lengthens robot length to prevent robot from toppling during climbing;
(4) when robot enters battery limits progress inspection from conventional road area of substation, if necessary to throwing over barrier, take certainly Main obstacle detouring control method.
2. control method as described in claim 1, it is characterized in that:The obstacle detouring branch arm unit includes being mounted on control babinet Two front arms of front end and two back arms mounted on control box back.
3. control method as described in claim 1, it is characterized in that:The driving motor group includes left and right two walkings and drives Dynamic motor and forward and backward support arm driving motor, wherein, left travel driving motor drives left traveling crawler, right travel driving motor Right traveling crawler is driven, front arm driving motor drives two front arms, and back arm driving motor drives two back arms.
4. control method as claimed in claim 3, it is characterized in that:The forward and backward support arm driving motor output shaft passes through gear Axis connection is driven with forward and backward support arm respectively, forward and backward support arm drive shaft is pierced by from crawler driving whell center.
5. control method as claimed in claim 2, it is characterized in that:It is total that the length of the forward and backward support arm is less than robot body The half of length, the robot front and rear support arm is respectively using support arm bull wheel axle center as 360 degree of continuous rotations of axis.
6. control method as described in claim 1, it is characterized in that:The sensor group including GPS positioning sensor, swashs Light guide sensor, binocular vision sensor, range sensor and obliquity sensor, wherein, the laser navigation sensor peace On robot front-end bracket, position of the robot currently in substation is determined by the distance detected with surrounding objects, The binocular vision sensor is mounted on robot front-end bracket, passes through the road environment modeling side based on region normal vector Method, the level and area information of extraction machine people's road ahead Edge Distance, height and region to be driven into;The distance passes Sensor is mounted on robot control babinet front end, distance of the accurate robot measurement apart from front obstacle;The inclination angle sensing Inclination angle of the device on robot interior bottom, robot measurement roll and pitching both direction.
7. control method as claimed in claim 6, it is characterized in that:The GPS positioning sensor, laser navigation sensor, away from It is connected from sensor, obliquity sensor and four motor drivers by CAN bus.
8. control method as claimed in claim 6, it is characterized in that:The binocular vision sensor is connected by IEEE1394 buses Connect industrial personal computer.
9. control method as described in claim 1, it is characterized in that:The control system further includes two support arm zero-bits and opens It closes, the zero position switch is mounted in support arm drive shaft, is connected with motor driver, for demarcating the back to zero position of support arm.
10. control method as described in claim 1, the control system further include four encoders, the encoder point An Zhuan not be in travel driving motor and support arm driving motor, encoder is connected with motor driver by RS422;Connection walking The displacement distance and translational speed of the encoder calculating robot of driving motor;The encoder of connecting support arm driving motor is based on Calculate the rotation angle and rotary speed of support arm.
11. control method as described in claim 1, it is characterized in that:The control mode (4) comprises the following steps:
Step 1: according to the information that GPS positioning sensor, laser navigation sensor gather, pass through global path planning method, control Robot motion processed is in the action setting range of barrier, and face barrier;
Step 2: by binocular vision sensor, gather ambient image, based on 3 D stereo reconfiguration technique, extraction machine people with The area information of the distance of barrier, the height of barrier and plane to be driven into, judges whether robot can bypass the barrier Hinder object, if it is possible to around then robot cut-through object;Otherwise, judge whether robot can cross the barrier, if It can cross, enter step three;Otherwise, robot parking alarm waits staff's processing;
Step 3: by the horizontal distance of the accurate robot measurement of range sensor to barrier, robot and barrier are controlled Distance in safe range;
Step 4: control front arm rotates forward, until downside support arm crawler belt and the new planar horizontal of front arm, control simultaneously Back arm back rotation, until back arm crawler belt downside and ground level, in the process, the folder on robot body and ground Angle gradually increases;
Step 5: the level inclination of robot and lateral inclination angle, control robot both sides Athey wheel are obtained by obliquity sensor Speed make to travel forward, while control robot that lateral tilt does not occur;
Step 6: control robot back arm back rotation, until robot both sides traveling crawler is parallel to the ground;
Step 7: control robot travels forward, until robot center of gravity is all fallen on new plane of movement;Pack up robot Forward and backward support arm selects running on wheels mode or crawler travel mode according to surface conditions.
12. control method as described in claim 11, it is characterized in that:In the step 1, setting range maximum of taking action For 1m.
13. control method as described in claim 11, it is characterized in that:In the step 3, safe range maximum is 5cm。
14. control method as described in claim 11, it is characterized in that:In the step 5, specific method is:By inclining Angle transducer obtains the level inclination of robot and lateral inclination angle, and the speed of control robot both sides Athey wheel makes to travel forward, Control robot that lateral tilt does not occur simultaneously;Control robot back arm rotates forward, to ensure back arm crawler belt downside Always with ground level, prevent robot from sliding backward;In the process, robot body gradually increases with ground level inclination angle Add, when level inclination reaches critical value, control robot stop motion;The angle is by robot position of centre of gravity and barrier It highly codetermines, should ensure that robot does not occur to topple forward or backward during advancing.
15. control method as described in claim 11, it is characterized in that:In the step 6, specific method is:Control machine Device people's back arm back rotation, until robot both sides traveling crawler is parallel to the ground, if obstacle height is more than back arm During length, robot both sides traveling crawler can not reach parallel with ground, then back arm is controlled to rotate to maximum position;Same time control Robot front arm back rotation processed, until front arm downside is parallel to the ground.
CN201510220735.XA 2015-05-04 2015-05-04 Wheel-track combined Intelligent Mobile Robot active obstacle system and control method Active CN104881027B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510220735.XA CN104881027B (en) 2015-05-04 2015-05-04 Wheel-track combined Intelligent Mobile Robot active obstacle system and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510220735.XA CN104881027B (en) 2015-05-04 2015-05-04 Wheel-track combined Intelligent Mobile Robot active obstacle system and control method

Publications (2)

Publication Number Publication Date
CN104881027A CN104881027A (en) 2015-09-02
CN104881027B true CN104881027B (en) 2018-05-29

Family

ID=53948557

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510220735.XA Active CN104881027B (en) 2015-05-04 2015-05-04 Wheel-track combined Intelligent Mobile Robot active obstacle system and control method

Country Status (1)

Country Link
CN (1) CN104881027B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105204509A (en) * 2015-10-09 2015-12-30 南京采薇且歌信息科技有限公司 Tracked mobile robot system achieving garden polling and field reconnaissance through remote control
CN107390676B (en) * 2016-05-17 2020-11-20 深圳市朗驰欣创科技股份有限公司 Tunnel inspection robot and tunnel inspection system
CN107765680B (en) * 2016-08-15 2021-01-05 深圳市朗驰欣创科技股份有限公司 Robot and transferring method thereof
CN108873900B (en) * 2018-06-27 2020-11-20 北京航空航天大学 Method for crossing obstacle when robot walks
CN111366158A (en) * 2018-12-26 2020-07-03 珠海市一微半导体有限公司 Planning method and device for operation route of sweeping robot and chip

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101200067A (en) * 2007-12-20 2008-06-18 北京理工大学 Platform of microminiature three pair robotic
CN102280826A (en) * 2011-07-30 2011-12-14 山东鲁能智能技术有限公司 Intelligent robot inspection system and intelligent robot inspection method for transformer station
JP5561719B2 (en) * 2009-11-17 2014-07-30 学校法人千葉工業大学 Crawler type traveling device
CN104002880A (en) * 2014-06-03 2014-08-27 东南大学 Control method for crawler type mobile robot with guiding arms automatically going upstairs and downstairs

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0567398B2 (en) * 1986-11-17 1993-09-24 Mitsubishi Electric Corp
CN2841272Y (en) * 2005-09-12 2006-11-29 中国科学技术大学 Composite moving mechanism of autonomous obstacle-surmounting robot
CN102582706B (en) * 2012-02-27 2013-05-08 太原理工大学 Coal mine underground search-and-rescue detection robot moving device
JP5978422B2 (en) * 2012-07-13 2016-08-24 国立研究開発法人産業技術総合研究所 Crawler travel device
CN104443085B (en) * 2014-11-18 2017-03-15 上海大学 Crawler type six degree of freedom mobile robot
CN204557216U (en) * 2015-05-04 2015-08-12 国家电网公司 Wheel-track combined Intelligent Mobile Robot active obstacle system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101200067A (en) * 2007-12-20 2008-06-18 北京理工大学 Platform of microminiature three pair robotic
JP5561719B2 (en) * 2009-11-17 2014-07-30 学校法人千葉工業大学 Crawler type traveling device
CN102280826A (en) * 2011-07-30 2011-12-14 山东鲁能智能技术有限公司 Intelligent robot inspection system and intelligent robot inspection method for transformer station
CN104002880A (en) * 2014-06-03 2014-08-27 东南大学 Control method for crawler type mobile robot with guiding arms automatically going upstairs and downstairs

Also Published As

Publication number Publication date
CN104881027A (en) 2015-09-02

Similar Documents

Publication Publication Date Title
CN104881027B (en) Wheel-track combined Intelligent Mobile Robot active obstacle system and control method
US10226870B1 (en) Yaw slip handling in a robotic device
CN204557216U (en) Wheel-track combined Intelligent Mobile Robot active obstacle system
CN101486360B (en) Stairs climbing control method for crawler moving robot with guide arm
CN107065870A (en) Mobile robot autonomous navigation system and method
US10105850B2 (en) Natural pitch and roll
US20110046784A1 (en) Asymmetric stereo vision system
Nagatani et al. Improvement of the odometry accuracy of a crawler vehicle with consideration of slippage
CN109917786A (en) A kind of robot tracking control and system operation method towards complex environment operation
CN106325287A (en) Intelligent mower straight line walking control system based on inertial/magnetic sensor MARG attitude detection
Lamon et al. The SmartTer-a vehicle for fully autonomous navigation and mapping in outdoor environments
CN206039291U (en) Have self -contained navigation and remote control's six -legged robot concurrently
CN107817319A (en) It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect
CN106382916A (en) System and method for three-dimensional surveying and mapping of complex terrain with double hexapod robots for establishing reference system by self
CN203217374U (en) Four-supporting arm six-track joint-type robot control system
CN106078735A (en) A kind of three core six axle caterpillar type high-speed natural gas line robot control systems
CN206573942U (en) A kind of robot based on multisensor
WO2019164602A1 (en) Reaching mobile robots
CN105945951B (en) A kind of quick natural gas line robot control system of three core, eight axis crawler type
CN103754214A (en) Air cushion off-road robot
CN105856239A (en) Three-core eight-axle tracked high-speed natural gas pipeline robot control system
CN105116892A (en) Double-core high-speed six-wheeled picomouse sprint controller and control method thereof
CN203444334U (en) Autonomous navigation system of tour guide robot
JP2008023700A (en) Force sensor installation structure of leg-type robot
CN207273234U (en) A kind of guidance robot

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
EXSB Decision made by sipo to initiate substantive examination
GR01 Patent grant
GR01 Patent grant
CP01 Change in the name or title of a patent holder

Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing

Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company

Patentee after: State Grid Corporation of China

Co-patentee after: National Network Intelligent Technology Co., Ltd.

Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing

Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company

Patentee before: State Grid Corporation of China

Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd.

Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing

Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company

Patentee after: State Grid Corporation of China

Co-patentee after: National Network Intelligent Technology Co., Ltd.

Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing

Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company

Patentee before: State Grid Corporation of China

Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd.

CP01 Change in the name or title of a patent holder
TR01 Transfer of patent right

Effective date of registration: 20201029

Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park)

Patentee after: National Network Intelligent Technology Co.,Ltd.

Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing

Patentee before: STATE GRID CORPORATION OF CHINA

Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co.

Patentee before: National Network Intelligent Technology Co.,Ltd.

TR01 Transfer of patent right