CN105446341A - Routing inspection robot chassis for transformer station based on ROS - Google Patents
Routing inspection robot chassis for transformer station based on ROS Download PDFInfo
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- CN105446341A CN105446341A CN201511031661.1A CN201511031661A CN105446341A CN 105446341 A CN105446341 A CN 105446341A CN 201511031661 A CN201511031661 A CN 201511031661A CN 105446341 A CN105446341 A CN 105446341A
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- mobile robot
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- 238000007689 inspection Methods 0.000 title abstract description 6
- 238000013461 design Methods 0.000 claims description 7
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention discloses a routing inspection robot chassis for a transformer station based on an ROS, and the chassis comprises a bottom plate. Two sides of the front end of the bottom plate are symmetrically provided with a left drive front wheel and a right drive front wheel, and two sides of the rear end of the bottom plate are symmetrically provided with two rear wheels. The left drive front wheel is provided with a left photoelectric coder and a left drive motor, and the right drive front wheel is provided with a right photoelectric coder and a right drive motor. The bottom plate is also provided with a chassis controller and an electronic compass. The left drive motor is connected with a left motor driver, and the right drive motor is connected with a right motor driver. The chassis controller is connected with the left motor driver, the right motor driver, the left photoelectric coder, the right photoelectric coder, and the electronic compass. The chassis is simple in structure, is high in operation efficiency, is high in speed and direction measurement precision, is suitable to serve as the chassis for an routing inspection robot, and is suitable for long-time online automatic unattended operation.
Description
Technical field
The present invention relates to the Intelligent Mobile Robot technology of industrial technical field, be specifically related to a kind of Intelligent Mobile Robot chassis based on ROS.
Background technology
Along with the development of society, economic prosperity, computer automation technology obtains applying more and more widely.In transformer station, Robotics, by manually completing, applies in the Daily Round Check work of transformer station by traditional work of patrolling and examining, and can overcome manual inspection workload large, and it is not high to patrol and examine reliability, and data accuracy is not high, patrols and examines the shortcomings such as data record difficulty.In automatic detecting process, when crusing robot arrives the check point preset, stop and control camera pan-tilt and rotate, by camera alignment measured target equipment, gather simultaneously and store high clear video image and the infrared thermal imaging image of target, computing machine is according to these view data subsequently, intelligent decision is carried out to equipment failure, can the working temperature of automatic checkout equipment, to apparatus overheat fault can and alarm, improve the reliability of substation inspection work, transformer station's unmanned can be realized.
But, robot is a lot of from carrying device, need at substantial electric energy, the path of substation inspection is complicated, patrol and examine distance also long, and the electric energy of robot is all from the rechargeable battery that it carries, therefore, design that a kind of operational efficiency is high, power consumption is low, go slick, robot chassis simple and reliable for structure just becomes a major issue that must solve.
Summary of the invention
For solving the problem, the invention provides a kind of Intelligent Mobile Robot chassis based on ROS, structure be simple, operational efficiency is high, speed and orientation measurement precision high, be suitable as the chassis of power transformation crusing robot.
For achieving the above object, the technical scheme that the present invention takes is
A kind of Intelligent Mobile Robot chassis based on ROS, base plate, base plate front end symmetria bilateralis is provided with left driving front-wheel and right driving front-wheel, rear end symmetria bilateralis is provided with two trailing wheels, left driving front-wheel is provided with left photoelectric encoder and left drive motor, right driving front-wheel is provided with right photoelectric encoder and right drive motor, base plate is also provided with chassis controller and electronic compass, left drive motor is connected with left motor driver, right drive motor is connected with right motor driver, chassis controller and left motor driver, right motor driver, left photoelectric encoder, right photoelectric encoder, electronic compass is connected.
Preferably, described chassis controller is also connected with RS485 interface.
Preferably, described chassis controller adopts ARM Embedded System Design, and cpu chip model is that Hi3520D, frequency of operation 660MHZ are thought, instruction and data 1 grade of buffer memory of built-in 32KB, the level 2 cache memory of 128KB, built-in A9ARM kernel, UART interface and I2C interface in sea.
Preferably, described chassis controller runs the ROS robot operating system based on (SuSE) Linux OS, self becomes a ROS node.
Preferably, described left driving front-wheel and right driving front-wheel all adopt integrated design, be connected formed by non-inflatable tyre, aluminium alloy wheel hub, DC brushless motor.
Preferably, described two trailing wheels adopt universal supporting roller, and model is J07-04-100-222; Wheel footpath 100MM; Carrying 200KG; Setting height(from bottom) 143MM; Two ball bearing.
Preferably, described left drive motor and right drive motor are single side axis DC brushless motor, built-in Hall element, and rated voltage is 48V, and rated power is 180W ~ 250W, and top speed is 15KM/H, and brake type is electric brake.
Preferably, described left motor driver and right motor driver model are DBLS-02; Standard input voltage is 24VDC ~ 48VDC; Maximum voltage is no more than 60VDC; Maximum input overload protection electric current is 30A; Continuous output current is 15A.
Preferably, described photoelectric encoder is hollow spindle-type rotary encoder, and be arranged on and drive on wheel, for measuring the rotating speed of wheel, model is E40H8-1024-3-T; External diameter φ 40mm; Internal diameter φ 8MM; Supply voltage DC5V; Resolution 1024 line.
Preferably, described electronics sieve is for measuring the direction on chassis, and model is HEC365, and course precision is 0.3 degree; Heeling condition is pitching 90 degree, roll 360 degree; Interface shape is RS485.
Preferably, described RS485 interface is for connecting robot main frame, and model is I-7520, and transmission range is the longest by 1,200m/9.6Kbps; The longest 400m/115.2Kbps; Built-in Self-TunerAsic function; Transfer rate is 300 ~ 115200bps; Esd protection isolation voltage: 3000VDC; Power supply :+10 ~+30VDC (non-voltage stabilizing).
The present invention has following beneficial effect:
Structure is simple, operational efficiency is high, speed and the high advantage of orientation measurement precision, is suitable as the chassis of power transformation crusing robot, is applicable to long-term on-line automatic unmanned work.
Accompanying drawing explanation
Fig. 1 is the structural representation on a kind of Intelligent Mobile Robot chassis based on ROS of the embodiment of the present invention.
Fig. 2 is the control system block diagram on a kind of Intelligent Mobile Robot chassis based on ROS of the embodiment of the present invention.
Embodiment
In order to make objects and advantages of the present invention clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1-2, embodiments provide a kind of Intelligent Mobile Robot chassis based on ROS, base plate 1, base plate 1 front end symmetria bilateralis is provided with left driving front-wheel 2 and right driving front-wheel 3, rear end symmetria bilateralis is provided with two trailing wheels 4, left driving front-wheel 2 is provided with left photoelectric encoder 5 and left drive motor, right driving front-wheel 3 is provided with right photoelectric encoder 6 and right drive motor, base plate 1 is also provided with chassis controller 7 and electronic compass 8, left drive motor is connected with left motor driver, right drive motor is connected with right motor driver, chassis controller 7 and left motor driver, right motor driver, left photoelectric encoder, right photoelectric encoder, electronic compass 8 is connected.
Described chassis controller 7 is also connected with RS485 interface.
Described chassis controller 7 adopts ARM Embedded System Design, and cpu chip model is that Hi3520D, frequency of operation 660MHZ are thought, instruction and data 1 grade of buffer memory of built-in 32KB, the level 2 cache memory of 128KB, built-in A9ARM kernel, UART interface and I2C interface in sea.
Described chassis controller 7 runs the ROS robot operating system based on (SuSE) Linux OS, self becomes a ROS node.
Described left driving front-wheel 2 and right driving front-wheel 3 all adopt integrated design, be connected formed by non-inflatable tyre, aluminium alloy wheel hub, DC brushless motor.
Described two trailing wheels 4 adopt universal supporting roller, and model is J07-04-100-222; Wheel footpath 100MM; Carrying 200KG; Setting height(from bottom) 143MM; Two ball bearing.
Described left drive motor and right drive motor are single side axis DC brushless motor, built-in Hall element, and rated voltage is 48V, and rated power is 180W ~ 250W, and top speed is 15KM/H, and brake type is electric brake.
Described left motor driver and right motor driver model are DBLS-02; Standard input voltage is 24VDC ~ 48VDC; Maximum voltage is no more than 60VDC; Maximum input overload protection electric current is 30A; Continuous output current is 15A.
Described photoelectric encoder is hollow spindle-type rotary encoder, and be arranged on and drive on wheel, for measuring the rotating speed of wheel, model is E40H8-1024-3-T; External diameter φ 40mm; Internal diameter φ 8MM; Supply voltage DC5V; Resolution 1024 line.
Described electronics sieve is for measuring the direction on chassis, and model is HEC365, and course precision is 0.3 degree; Heeling condition is pitching 90 degree, roll 360 degree; Interface shape is RS485.
Described RS485 interface is for connecting robot main frame, and model is I-7520, and transmission range is the longest by 1,200m/9.6Kbps; The built-in Self-TunerAsic function of the longest 400m/115.2Kbps; Transfer rate is 300 ~ 115200bps; Esd protection isolation voltage: 3000VDC; Power supply :+10 ~+30VDC (non-voltage stabilizing).
This concrete chassis controller of implementing passes through motor driver, drive left and right drive motor to run, when the direction of left and right drive motor is consistent but speed is different, realize the differential steering on chassis, when the direction of left and right drive motor is contrary, the pivot stud on chassis can be realized.Driving wheels is all provided with photoelectric encoder, and chassis controller, by reading the output umber of pulse of photoelectric encoder within the unit interval, can calculate the rotating speed of left and right wheels, and then calculate the travelling speed on chassis.Chassis controller, by reading electronic compass data, can calculate the traffic direction on chassis.Chassis controller runs ROS system, self become a ROS node, be connected with robot main frame by RS485 interface, main frame is to the operation control command on robot chassis by passing to chassis controller under RS485 interface, and the travelling speed simultaneously measured by chassis controller and directional data upload to main frame.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. the Intelligent Mobile Robot chassis based on ROS, base plate (1), it is characterized in that, base plate (1) front end symmetria bilateralis is provided with left driving front-wheel (2) and right driving front-wheel (3), rear end symmetria bilateralis is provided with two trailing wheels (4), left driving front-wheel (2) is provided with left photoelectric encoder (5) and left drive motor, right driving front-wheel (3) is provided with right photoelectric encoder (6) and right drive motor, base plate (1) is also provided with chassis controller (7) and electronic compass (8), left drive motor is connected with left motor driver, right drive motor is connected with right motor driver, chassis controller (7) and left motor driver, right motor driver, left photoelectric encoder, right photoelectric encoder, electronic compass (8) is connected, described chassis controller (7) is also connected with RS485 interface.
2. a kind of Intelligent Mobile Robot chassis based on ROS according to claim 1, it is characterized in that, described chassis controller (7) adopts ARM Embedded System Design, cpu chip model is that Hi3520D is thought in sea, instruction and data 1 grade of buffer memory of frequency of operation 660MHZ, built-in 32KB, the level 2 cache memory of 128KB, built-in A9ARM kernel, UART interface and I2C interface.
3. a kind of Intelligent Mobile Robot chassis based on ROS according to claim 1, is characterized in that, described chassis controller (7) runs the ROS robot operating system based on (SuSE) Linux OS, self becomes a ROS node.
4. a kind of Intelligent Mobile Robot chassis based on ROS according to claim 1, it is characterized in that, described left driving front-wheel (2) and right driving front-wheel (3) all adopt integrated design, be connected formed by non-inflatable tyre, aluminium alloy wheel hub, DC brushless motor.
5. a kind of Intelligent Mobile Robot chassis based on ROS according to claim 1, is characterized in that, described two trailing wheels (4) adopt universal supporting roller, and model is J07-04-100-222; Wheel footpath 100MM; Carrying 200KG; Setting height(from bottom) 143MM; Two ball bearing.
6. a kind of Intelligent Mobile Robot chassis based on ROS according to claim 1, it is characterized in that, described left drive motor and right drive motor are single side axis DC brushless motor, built-in Hall element, rated voltage is 48V, rated power is 180W ~ 250W, and top speed is 15KM/H, and brake type is electric brake.
7. a kind of Intelligent Mobile Robot chassis based on ROS according to claim 1, is characterized in that, described left motor driver and right motor driver model are DBLS-02; Standard input voltage is 24VDC ~ 48VDC; Maximum voltage is no more than 60VDC; Maximum input overload protection electric current is 30A; Continuous output current is 15A.
8. a kind of Intelligent Mobile Robot chassis based on ROS according to claim 1, it is characterized in that, described photoelectric encoder is hollow spindle-type rotary encoder, and be arranged on and drive on wheel, for measuring the rotating speed of wheel, model is E40H8-1024-3-T; External diameter φ 40mm; Internal diameter φ 8MM; Supply voltage DC5V; Resolution 1024 line.
9. a kind of Intelligent Mobile Robot chassis based on ROS according to claim 1, is characterized in that, described electronics sieve is for measuring the direction on chassis, and model is HEC365, and course precision is 0.3 degree; Heeling condition is pitching 90 degree, roll 360 degree; Interface shape is RS485.
10. a kind of Intelligent Mobile Robot chassis based on ROS according to claim 1, is characterized in that, described RS485 interface is for connecting robot main frame, and model is I-7520, and transmission range is the longest by 1,200m/9.6Kbps; The longest 400m/115.2Kbps; Built-in Self-TunerAsic function; Transfer rate is 300 ~ 115200bps; Esd protection isolation voltage: 3000VDC; Power supply :+10 ~+30VDC.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511031661.1A CN105446341A (en) | 2015-12-28 | 2015-12-28 | Routing inspection robot chassis for transformer station based on ROS |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511031661.1A CN105446341A (en) | 2015-12-28 | 2015-12-28 | Routing inspection robot chassis for transformer station based on ROS |
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| CN105446341A true CN105446341A (en) | 2016-03-30 |
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| CN201511031661.1A Pending CN105446341A (en) | 2015-12-28 | 2015-12-28 | Routing inspection robot chassis for transformer station based on ROS |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105720657A (en) * | 2016-04-13 | 2016-06-29 | 四川理工学院 | Wireless charging device for patrol robot |
| CN109620067A (en) * | 2018-12-21 | 2019-04-16 | 安徽信息工程学院 | The base apparatus of floor-cleaning machine |
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| CN109620067A (en) * | 2018-12-21 | 2019-04-16 | 安徽信息工程学院 | The base apparatus of floor-cleaning machine |
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Application publication date: 20160330 |