CN106227220A - Independent navigation crusing robot based on Distributed Architecture - Google Patents
Independent navigation crusing robot based on Distributed Architecture Download PDFInfo
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- CN106227220A CN106227220A CN201610858238.7A CN201610858238A CN106227220A CN 106227220 A CN106227220 A CN 106227220A CN 201610858238 A CN201610858238 A CN 201610858238A CN 106227220 A CN106227220 A CN 106227220A
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- 230000001133 acceleration Effects 0.000 claims abstract description 14
- 230000004927 fusion Effects 0.000 claims abstract description 10
- 238000013480 data collection Methods 0.000 claims abstract description 4
- 238000012800 visualization Methods 0.000 claims abstract description 4
- 230000005389 magnetism Effects 0.000 claims description 19
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical group C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 17
- 238000005286 illumination Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 4
- 230000008447 perception Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000001931 thermography Methods 0.000 claims description 3
- 238000002844 melting Methods 0.000 claims description 2
- 230000008018 melting Effects 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000007689 inspection Methods 0.000 description 3
- 206010019233 Headaches Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
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- 230000003068 static effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of independent navigation crusing robot based on Distributed Architecture, including: GPS/ Beidou navigation module, laser radar and binocular stereo vision module, distance sensor module, angular-rate sensor module, acceleration sensor module；Data collection module, is used for collecting above-mentioned information；Data conversion and Fusion Module, for carrying out the information after changing and merge and input fusion by various information；SLAM module, for according to the information after merging, the cartographic information building robot local environment realizes the location of robot and the navigation in path and planning；Motor control module controls crusing robot motion for the information according to SLAM；Visualization interface, for showing the image information of robot local environment, cartographic information and the data message gathered.
Description
Technical field
The present invention relates to a kind of independent navigation crusing robot based on Distributed Architecture.
Background technology
Develop towards informationization, digitized, automatization, interactive direction recently as intelligent grid, intelligent machine
People in high-altitude, tunnel power circuit polling, unattended operation transformer station patrol and examine the application of aspect and increasingly obtain power system department
Attention.China's power scheduling at different levels and control centre, as power grid security, the core link of reliability service, are regarded by installation
Frequently, power equipment safety is run and is monitored by the different types of sensor such as temperature detector.It is provided with special messenger couple at present except provincial department
Outside the data remotely collected are supervised, each place department uses staff's timing patrol mode, is broadly divided into routine and patrols
Inspection is patrolled and examined with special.Routine patrols and examines every day at least 2 times；Special patrol and examine general at hot weather, large load operation, new used device
Carry out before running and after strong wind, greasy weather, ice and snow, hail, thunderstorm.Additionally, maintainer is also by hand-held thermal infrared imager, one
As every two weeks once substation equipment is carried out infrared measurement of temperature, existing routine inspection mode is mainly manual patrol, manual or hand-held
Palm PC record, the time of every time making an inspection tour is at more than 2h.Therefore, in Mobile Intelligent Robot being applied to power scheduling and controlling
The equipment running monitoring of the heart can increase the Safety Redundancy of power system undoubtedly, in unmanned or the transformer station pair of few man on duty
Outdoor high pressure equipment is patrolled and examined, and can find the abnormal phenomena such as the thermal defect of power equipment, foreign body suspension in time, automatic alarm or
Carrying out the troubleshooting pre-set, the safe operation for intelligent grid has great importance.
The location navigation modes such as track, magnetic stripe navigation, differential GPS, dead reckoning, inertia and visual cues are had at present
It is introduced into crusing robot and is tested at substation field, but owing to, in the extensive environment of outside transformer substation, electric power sets
For standing in great numbers and there is strong electromagnetic, above-mentioned positioning navigation method, have relates to a large amount of site operation, cost and maintenance cost,
The easy impact by factors such as sleet block by electromagnetic interference, error accumulation and visual cues having is difficult in transformer station reliable work
Make.
Summary of the invention
The present invention provides a kind of independent navigation crusing robot based on Distributed Architecture, can effectively solve the problems referred to above.
A kind of independent navigation crusing robot based on Distributed Architecture, including: GPS/ Beidou navigation module, laser radar
With binocular stereo vision module, distance sensor module, angular-rate sensor module, acceleration sensor module；Data collection
Module, is used for collecting above-mentioned information；Data conversion and Fusion Module, for carrying out changing and merging and input melting by various information
Information after conjunction；SLAM module, for according to the information after merging, the cartographic information building robot local environment realizes machine
The location of people and the navigation in path and planning；Motor control module controls crusing robot motion for the information according to SLAM；
Visualization interface, for showing the image information of robot local environment, cartographic information and the data message gathered.
As improve further, described binocular vision sensor and described accelerometer and gyroscope and earth magnetism compass
The composition that cooperates visual odometry, for detecting the degree of depth of object in frontal scene, produces depth map and carries out obstacle perception.
As improve further, described linear acceleration transducer module includes that two earth magnetism compass are to realize dual redundant
Backup, when the earth magnetism compass in work is heavily disturbed when, can automatically carry out backup and be switched to another and do not work
Earth magnetism compass.
As improve further, including two accelerometers and two gyroscopes, when the accelerometer in work or top
When spiral shell instrument is heavily disturbed, can automatically carry out backing up being switched to another accelerometer not worked or gyroscope.
As improve further, described machine man-hour is being main to carry out speed and position by GPS/ Big Dipper unit
Measurement, other modules provide the measured value of extra speed and position to improve the precision of GPS/ Big Dipper unit.
As improve further, when the signal of GPS/ Big Dipper unit is weak, system switches from GPS/ Big Dipper unit automatically
Stable observation is provided for whole system to other modules.
As improve further, when illumination out of doors is strong or illumination is not enough, system is automatically from described binocular vision
Sensor is switched to described laser sensor.
As improve further, described motor control module uses has the ARM series that network connects.
Described based on Distributed Architecture the independent navigation crusing robot that the present invention provides, has the advantage that
1, break through autonomous map building and the location technology structure of outdoor open environment by doing sensor fusion techniques more
Build robot used for intelligent substation patrol principle prototype, replace operator to perform timing patrol task, run different at the equipment that runs into
Chang Shineng and alarm, it is possible to make technical staff obtain the field data wanted according to demand, make rationally, science emergent certainly
Plan；
2, system has three kinds determine height sensors: ultrasound wave, laser, binocular stereo vision, these three sensor
Almost can cover all scenes allowing tradition crusing robot headache: above grove, indoor, the position near building, strong wind
Environment etc..
Accompanying drawing explanation
The system framework of the independent navigation crusing robot based on Distributed Architecture that Fig. 1 provides for the embodiment of the present invention
Figure.
The control method of the independent navigation crusing robot based on Distributed Architecture that Fig. 2 provides for the embodiment of the present invention
Flow chart.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is only used for explaining the present invention, rather than limitation of the invention.It also should be noted that, for the ease of
Describe, accompanying drawing illustrate only part related to the present invention rather than entire infrastructure.
The present invention breaks through outdoor open environment independently based on Distributed Architecture by doing sensor fusion techniques more
Scheming to create and build robot used for intelligent substation patrol principle prototype with location technology, replacement operator perform regularly to patrol and examine to appoint
Business, energy and alarm when running into equipment operation exception, it is possible to make technical staff obtain the field data wanted according to demand, do
Go out reasonable, the Emergency decision of science.Above-mentioned key technology break through by solve outdoor open lower map building, position with
And independent navigation, provide important theoretical basis and technology to prop up for Intelligent Mobile Robot in the popularization and application of power system
Support.Distributed Architecture crusing robot platform uses embedded system as master control, it is achieved inter-module communication mode and intermodule
Full decoupled, so for navigation programming layer, localization method, static state or dynamic map, for navigation layers inside
Almost without difference.
Refer to Fig. 1, the embodiment of the present invention provides a kind of independent navigation crusing robot based on Distributed Architecture, bag
Include: image and temperature sensor module, for obtaining image and the temperature information of environment described in robot, pass including binocular vision
Sensor, infrared thermal imaging sensor and laser sensor；Distance sensor module, for obtaining the range information of robot,
Including ultrasonic sensor, GPS/ Big Dipper unit；Angular-rate sensor module, for obtaining the angular velocity information of robot, bag
Include accelerometer；Linear acceleration transducer module, for obtaining the linear acceleration information of robot, refers to including gyroscope and earth magnetism
Compass；Linear velocity trans module, for obtaining the linear velocity information of robot, including speedometer；Data collection module, is used for
Collect described image and temperature information, range information, angular velocity information, linear acceleration information and linear velocity information；Data turn
Change and Fusion Module, for various information are carried out the information after changing and merge and input fusion；SLAM module, for basis
Information after fusion, the cartographic information building robot local environment realizes the location of robot and the navigation in path and planning；
Motor control module controls crusing robot motion for the information according to SLAM；Visualization interface, is used for showing institute of robot
Place's image information of environment, cartographic information and the data message gathered.
Described binocular vision sensor and described accelerometer and gyroscope and earth magnetism compass cooperate composition vision
Speedometer, for detecting the degree of depth of object in frontal scene, produces depth map and carries out obstacle perception.Depth map can be also used for weight
Build the local map around a crusing robot, to carry out fine motion planning.
Preferably, described linear acceleration transducer module includes that two earth magnetism compass, to realize Double redundancy backup, work as work
The when that earth magnetism compass in work being heavily disturbed, can automatically carry out backing up being switched to another earth magnetism guide not worked
Pin.Described angular-rate sensor module include two accelerometers to realize Double redundancy backup, when work in accelerometer be subject to
During to severe jamming, can automatically carry out backing up being switched to another accelerometer not worked.Described linear acceleration transducer mould
Block includes that two gyroscopes, to realize Double redundancy backup, when the gyroscope in work is heavily disturbed, can carry out standby automatically
Part is switched to another gyroscope not worked.
As improve further, described machine man-hour is being main to carry out speed and position by GPS/ Big Dipper unit
Measurement, other modules provide the measured value of extra speed and position to improve the precision of GPS/ Big Dipper unit.When GPS/ north
When the signal of bucket unit is weak, system is automatically switched to other modules from GPS/ Big Dipper unit and provides stable sight for whole system
Survey.
As improve further, when the ambient light residing for robot is suitable for, system mainly senses with binocular vision
Device is main being observed；When illumination is strong out of doors, system is switched to described laser from described binocular vision sensor automatically
Sensor；When illumination deficiency out of doors, system is automatically switched to described infrared thermal imaging from described binocular vision sensor and passes
Sensor.
As improve further, described motor control module can use has the ARM series that network connects, it is thus possible to
Enough ensure system long-time steady operation.
Refer to Fig. 2, the embodiment of the present invention also provides for a kind of independent navigation crusing robot based on Distributed Architecture
Control method, including:
S1, is the main measurement carrying out speed and position by GPS/ Big Dipper unit, other modules provide extra speed and
The measured value of position is to improve the precision of GPS/ Big Dipper unit；
S2, when the signal of GPS/ Big Dipper unit is weak, it is whole that system is switched to other modules from GPS/ Big Dipper unit automatically
Individual system provides stable observation.
In step s 2, described the step of stable observation is provided to include by other modules for whole system: by institute
State binocular vision sensor, described accelerometer, described gyroscope and described earth magnetism compass cooperate composition vision mileage
Meter, the degree of depth of object in detection frontal scene, carry out obstacle perception producing depth map.
As improve further, described linear acceleration transducer module includes two earth magnetism compass, described by ground
In magnetic compass detection frontal scene, the step of the degree of depth of object includes: carry out in frontal scene with one of them earth magnetism compass
The detection of Object Depth；When the earth magnetism compass in work is heavily disturbed when, automatically carry out backup and be switched to another
The individual earth magnetism compass not worked carries out the detection of Object Depth in frontal scene.
As improve further, described linear acceleration transducer module includes two gyroscopes, described in pass through gyroscope
In detection frontal scene, the step of the degree of depth of object includes: carry out the spy of Object Depth in frontal scene with one of them gyroscope
Survey；When the gyroscope in work is heavily disturbed when, automatically carry out backing up being switched to another gyroscope not worked
Carry out the detection of Object Depth in frontal scene.
As improve further, described angular-rate sensor module includes two accelerometers, described in pass through acceleration
In meter detection frontal scene, the step of the degree of depth of object includes: carry out Object Depth in frontal scene with one of them accelerometer
Detection；When the accelerometer in work is heavily disturbed when, automatically carry out backing up being switched to what another did not worked
Accelerometer carries out the detection of Object Depth in frontal scene.
Described method farther includes step S3, is the main measurement carrying out image with binocular vision sensor；When out of doors
When illumination is strong or illumination is not enough, automatically it is switched to described laser sensor or described infra-red heat from described binocular vision sensor
Imaging sensor carries out the measurement of image.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although by above example, the present invention is carried out
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other Equivalent embodiments more can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (8)
1. an independent navigation crusing robot based on Distributed Architecture, it is characterised in that including: image and temperature sensor
Module, for obtaining the image of environment described in robot, temperature and map coordinate information, including binocular vision sensor, infrared
Thermal imaging sensor and laser sensor；Distance sensor module, for obtaining the range information of robot, including ultrasound wave
Sensor, GPS/ Big Dipper unit；Angular-rate sensor module, for obtaining the angular velocity information of robot, including accelerometer；
Linear acceleration transducer module, for obtaining the linear acceleration information of robot, including gyroscope and earth magnetism compass；Linear velocity
Sensor assembly, for obtaining the linear velocity information of robot, including speedometer；Data collection module, is used for collecting described figure
Picture, temperature and map coordinate information, range information, angular velocity information, linear acceleration information and linear velocity information；Data are changed
With Fusion Module, it is used for various information are carried out the information after changing and merge and input fusion；SLAM module, for according to melting
Information after conjunction, the cartographic information building robot local environment realizes the location of robot and the navigation in path and planning；Electricity
Machine control module controls crusing robot motion for the information according to SLAM；Visualization interface, is used for showing residing for robot
The image information of environment, cartographic information and the data message gathered.
Independent navigation crusing robot based on Distributed Architecture the most according to claim 1, it is characterised in that described double
Visually sense sensor and described accelerometer and gyroscope and earth magnetism compass cooperate composition visual odometry, are used for detecting
The degree of depth of object in frontal scene, produces depth map and carries out obstacle perception.
Independent navigation crusing robot based on Distributed Architecture the most according to claim 1, it is characterised in that include two
Individual earth magnetism compass, to realize Double redundancy backup, when the earth magnetism compass in work is heavily disturbed when, can enter automatically
Row backup is switched to another earth magnetism compass not worked.
Independent navigation crusing robot based on Distributed Architecture the most according to claim 1, it is characterised in that include two
Individual accelerometer and two gyroscopes, when the accelerometer in work or gyroscope are heavily disturbed, can carry out standby automatically
Part is switched to another accelerometer not worked or gyroscope.
Independent navigation crusing robot based on Distributed Architecture the most according to claim 1, it is characterised in that described machine
Device man-hour being the main measurement carrying out speed and position by GPS/ Big Dipper unit, other modules provide extra speed and
The measured value of position is to improve the precision of GPS/ Big Dipper unit.
Independent navigation crusing robot based on Distributed Architecture the most according to claim 5, it is characterised in that work as GPS/
When the signal of Big Dipper unit is weak, system is automatically switched to other modules from GPS/ Big Dipper unit and provides stable sight for whole system
Survey.
Independent navigation crusing robot based on Distributed Architecture the most according to claim 1, it is characterised in that when at family
When outer illumination is strong or illumination is not enough, system is switched to described laser sensor from described binocular vision sensor automatically.
Independent navigation crusing robot based on Distributed Architecture the most according to claim 1, it is characterised in that described electricity
Machine control module uses has the ARM series that network connects.
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| CN106871889A (en) * | 2017-03-29 | 2017-06-20 | 科大智能电气技术有限公司 | A kind of control method of changeable navigation pattern |
| CN107065874A (en) * | 2017-04-13 | 2017-08-18 | 常州大学怀德学院 | A kind of fire patrol intelligent vehicle based on laser SLAM technologies |
| CN107065875A (en) * | 2017-04-21 | 2017-08-18 | 南京工业职业技术学院 | A kind of intelligent path searching system |
| CN107180285A (en) * | 2017-07-13 | 2017-09-19 | 深圳市普渡科技有限公司 | A kind of whole process automatic dining hall service system |
| CN107450561A (en) * | 2017-09-18 | 2017-12-08 | 河南科技学院 | The autonomous path planning of mobile robot and obstacle avoidance system and its application method |
| CN107478214A (en) * | 2017-07-24 | 2017-12-15 | 杨华军 | A kind of indoor orientation method and system based on Multi-sensor Fusion |
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| CN108413965A (en) * | 2018-03-12 | 2018-08-17 | 中国矿业大学 | A kind of indoor and outdoor crusing robot integrated system and crusing robot air navigation aid |
| CN108608399A (en) * | 2018-04-24 | 2018-10-02 | 南京理工大学 | A kind of crusing robot of Master-Slave Distributive Control |
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| CN112113565A (en) * | 2020-09-22 | 2020-12-22 | 温州科技职业学院 | Robot positioning system for agricultural greenhouse environment |
| WO2021016749A1 (en) * | 2019-07-26 | 2021-02-04 | 深圳市大疆创新科技有限公司 | Multi-data fusion-based positioning method, movable platform and storage medium |
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