CN106272434A - One key of a kind of crusing robot makes a return voyage control method and system - Google Patents
One key of a kind of crusing robot makes a return voyage control method and system Download PDFInfo
- Publication number
- CN106272434A CN106272434A CN201610868066.1A CN201610868066A CN106272434A CN 106272434 A CN106272434 A CN 106272434A CN 201610868066 A CN201610868066 A CN 201610868066A CN 106272434 A CN106272434 A CN 106272434A
- Authority
- CN
- China
- Prior art keywords
- key
- label
- return voyage
- robot
- distance
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a key of a kind of crusing robot to make a return voyage control method and system, method includes: write FRID label information；Distance between the RFID label tag that record is measured；Instruction is sent with mobile to effective RFID label tag to robot；Send the optimal path instruction returning initial point.Crusing robot one key of the present invention makes a return voyage control method and system, it is achieved robot quickly returns task starting point when the fortuitous events such as parts damages or battery electric quantity are on the low side occur, it is ensured that patrol and examine that everything goes well with your work is carried out.
Description
Technical field
The present invention relates to crusing robot autonomous navigation system, particularly relate to a key of crusing robot and make a return voyage control method
And system.
Background technology
Crusing robot can replace patrolling and examining work, reliably patrols and examines, recharging, Real-time Collection, store, the figure at the scene of transmitting
The data such as picture, sound, temperature, smog.By the analysis to data, it may be judged whether there is equipment fault and abort situation,
Patrol and examine work to free from severe working environment, reduce labor intensity, reduce Labor Risk, it is to avoid fault spread, greatly
The big disorderly closedown time reduced in production process, and there is the functions such as terminal automatic reverse, spacing stopping, fixed point correction.
Crusing robot platform is mainly by inspection machine human body, control chamber, wireless telecommunication system, charging device and rail system group
Become, it is adaptable to city integrated piping lane, cable piping lane, mine pump house, electric substation, large-scale rubber conveyer roadway moving are patrolled and examined.
In transformer station's strong electromagnetic environment, Intelligent Mobile Robot typically uses road surface magnetic stripe guiding to add RF identification
(RFID) method of label.Intelligent Mobile Robot performs in task process at tracking road surface magnetic stripe, occasional generation part
Damage or battery electric quantity is too low waits fortuitous event, cause it cannot continue executing with patrol task, the most merely dependence transformer station work
Implement rescue as personnel, both expend the time, again labor intensive.Especially at some narrow zones, difficulty is given and being sued and laboured.
Summary of the invention
For deficiencies of the prior art, the present invention provides a key of a kind of crusing robot to make a return voyage control method
And system, it is an object of the invention to realize by the following technical solutions:
One key of the crusing robot of the present invention makes a return voyage control method, and it thes improvement is that, described method includes:
A writes FRID label information；
Distance between the RFID label tag that B record is measured；
C sends instruction with mobile to effective RFID label tag to robot；
D sends the optimal path instruction returning initial point.
Preferably, in described step A, described label information by with letter ' S ', ' D ', ' L ' or ' R ' packet header of representing and from
4 bytes that 000 numeral starting arrangement collectively constitutes.
Preferably, described ' S ' label is fixed on each anchor point, ' L ' or ' R ' label is fixed on each turning,
' D ' label is fixed on the anchor point in narrow dead end highway region.
Preferably, in described step B, described RFID label tag is located in closed loop path, according to the number of described label information
The distance value of measurement is recorded in distance.txt text document by word sequence number, starts industrial computer, by described
The distance value of distance.txt text document is read in one-dimension array distance；Wherein by between L or R label to D label
Distance be designated as 0.
Preferably, in described step C, travel to described RFID label tag after sending, to robot, instruction of making a return voyage, if having ' S ',
Effective label of ' L ' or ' R ', then read sign i；If the invalid tag that head of packet is ' D ', then perform setback until
Described effective RFID label tag is had to sense.
Preferably, in described step D, receive the robot of instruction according to current sign i, calculate distance [0]～
Cumulative and the Lb of distance [i] is with the cumulative of residual paths and Lf and this is two cumulative and compare, if Lb > Lf, then to machine
People sends advancement commands, otherwise sends and retreats instruction, until moving at label S000.
One key of a kind of crusing robot based on said method makes a return voyage control system, including industrial computer, motion controller,
Front end magnetic induction sensor, rear end magnetic induction sensor, RFID sensor；It thes improvement is that, described industrial computer respectively with
Described front end magnetic induction sensor, rear end magnetic induction sensor, RFID sensor and motion controller connect.
Preferably, described RFID sensor is located at robot chassis geometric center, and described RFID label tag is located at robot
Complete in the closed loop path of task.
Preferably, described front end magnetic induction sensor and rear end magnetic induction sensor are made up of 16 array magnetic induction points.
Preferably, described RFID sensor uses and detects pattern in real time.
Compared with immediate prior art, there is advantages that
Industrial computer receiving front-end magnetic induction sensor, rear end magnetic induction sensor and the RFID of the crusing robot of the present invention
The data of sensor transmissions, send a command to motion controller, and the robot receiving instruction senses effective label, determines shortest path
Footpath also finally returns that initial point.One key of the present invention method flow that makes a return voyage is simple, and time used time is extremely short, it is ensured that robot is in portion
Part damage or battery electric quantity on the low side wait fortuitous event occur time quickly return task starting point, it is not necessary to dependence work of transformer substation personnel execute
Rescue, it is ensured that patrol and examine being smoothed out of work.
Accompanying drawing explanation
Fig. 1 is that the key of the present invention makes a return voyage control method flow chart
Fig. 2 is polling path schematic diagram of the present invention
Fig. 3 is that the key of the present invention makes a return voyage control system schematic diagram
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in embodiment is clearly and completely described, following example are used for illustrating the present invention, but
It is not limited to the scope of the present invention.
The key of crusing robot that the present invention provides makes a return voyage control method, makes robot occur when performing patrol task
Can autonomous return to origin when parts damages or the fortuitous event such as battery electric quantity is too low.After a key makes a return voyage command triggers, robot
Can quickly calculate the shortest return path, the fastest and with minimum energy expenditure return to origin.
As it is shown in figure 1, concretely comprise the following steps:
(1) write FRID label information, label information is made up of totally data packet head and numeral four bytes, such as S001.
Packet header uses letter ' S ', ' D ', ' L ' and ' R ' to represent, head of packet is that the label of ' S ' is fixed on each anchor point, and packet header is
The label of ' L ' and ' R ' is fixed on each turning, and packet header is that the label then order of ' D ' is fixed on narrow dead end highway region
At anchor point；Numeral is by three byte representations, from 000 (starting point) beginning order arrangement.
(2) range information between each RFID label tag of manual measurement, will survey according to the digital number of FRID label information
The distance value record of amount is in distance.txt text document, and wherein L or R label is designated as 0 to the distance of D label；
Start industrial computer, the distance value in distance.txt text document is read in one-dimension array distance.
(3), after robot reception staff one key during execution patrol task makes a return voyage instruction, normal traveling is continued
Stop to RFID label tag point, if current time RFID label tag is ' S ', ' L ' or ' R ', then stop moving ahead, if current time RFID
Label is ' D ', then perform setback, until sensing that ' L ', ' R ' or ' S ' label stops moving ahead, reads tag number i.
(4) according to current RFID tag number i, the cumulative of distance [0]～distance [i] and Lb are calculated with residue
Adding up and Lf in path, the two compares；If wherein Lb < Lf, then robot performs setback, otherwise performs forward travel；Front
Ignore other label information during row or setback, until moving to label S000 at stopping, i.e. completing a key and making a return voyage behaviour
Make.
As in figure 2 it is shown, the rectangle frame built in coordinate system is magnetic stripe, head of packet is that the label of ' S ' is fixed on each
Anchor point, packet header is that the label of ' L ' and ' R ' is fixed on each turning, and packet header is that the label then order of ' D ' is fixed on narrow
At the anchor point in dead end highway region；Numeral is by three byte representations, and S000 represents starting point.
If robot receive a key make a return voyage instruction after travel to D005 at, then execution setback move to L004, it is judged that
The distance of distance [0]～distance [4] is less than residual paths distance, then move until initial point along the former.
A control system as it is shown on figure 3, key of crusing robot makes a return voyage, including industrial computer, motion controller, front end magnetic strength
Induction sensor, rear end magnetic induction sensor, RFID sensor, RFID label tag；Industrial computer receiving front-end magnetic induction sensor, rear end
Magnetic induction sensor, the information of RFID sensor, calculate motor control amount and be sent to motion controller.
RFID sensor is installed at robot chassis geometric center, and RFID label tag is located at robot can complete closing of task
In endless path, use and detect pattern in real time.Front end magnetic induction sensor and rear end magnetic induction sensor are by 16 array magnetic induction points
Composition.
When robot moves according to magnetic stripe, on industrial computer run autonomous navigation system, gather magnetic sensor data, according under
Formula calculating robot yaw velocity w and travel speed v:
V=const
Wherein, l and r is to sense about magnetic induction sensor that the magnetic induction of magnetic stripe is counted out summation respectively, and n is magnetic induction
Count out summation, wmaxFor the maximum yaw velocity of robot, const is constant value.
Robot yaw velocity and travel speed motor control amount are sent to motion controller, driven machine by industrial computer
People moves along magnetic tracks；The data packet header information switching tracing control pattern received according to current time and a upper moment,
Set forward mode, " fall back " mode", left-hand rotation pattern and right-hand rotation pattern.During " fall back " mode" control, controlled quentity controlled variable solver is adopted
Collection rear end magnetic sensor data calculating robot's motor control amount, and calculate fortune at other type collection front end magnetic sensor data
Dynamic controlled quentity controlled variable.For substation inspection environment, devise forward mode, " fall back " mode", left-hand rotation pattern and right-hand rotation pattern and cut
Change, use controlled quentity controlled variable solver real time machine device people to adjust the motor control amount of attitude in each pattern, and be handed down to fortune
Movement controller, it is achieved that robot is in the accurate control of anchor point, it is to avoid its pivot stud motion, effectively reduces energy and disappears
Consumption, improves the operational efficiency of robot system.
Although above it has been shown and described that embodiments of the invention, it is to be understood that above-described embodiment is example
Property, it is impossible to being interpreted as limitation of the present invention, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, revises, replaces and modification.
Claims (10)
1. a key of a crusing robot makes a return voyage control method, it is characterised in that described method includes:
A writes FRID label information；
Distance between the RFID label tag that B record is measured；
It is mobile to effective RFID label tag that C sends instruction to robot；
D sends the optimal path instruction returning initial point.
A key the most as claimed in claim 1 makes a return voyage control method, it is characterised in that in described step A, described label information bag
Include by with letter ' S ', ' D ', ' L ' or ' R ' packet header of representing and from 000 4 bytes collectively constituting of the numeral of arrangement.
A key the most as claimed in claim 2 makes a return voyage control method, it is characterised in that described ' S ' label is fixed on each and stops
By point, ' L ' or ' R ' label is fixed on each turning, ' D ' label is fixed on the anchor point in narrow dead end highway region.
A key the most as claimed in claim 1 makes a return voyage control method, it is characterised in that in described step B, by described RFID label tag
It is located in closed loop path, according to the digital number of described label information, the distance value of measurement is recorded in distance.txt text
In document, start industrial computer, the distance value of described distance.txt text document is read in one-dimension array distance；
Wherein the distance between L or R label to D label is designated as 0.
A key the most as claimed in claim 1 makes a return voyage control method, it is characterised in that in described step C, sends to robot and returns
Travelling to described RFID label tag after boat instruction, if there being effective label of ' S ', ' L ' or ' R ', then reading sign i；If information bag
Head is the invalid tag of ' D ', then perform setback until there being described effective RFID label tag to sense.
A key the most as claimed in claim 1 makes a return voyage control method, it is characterised in that in described step D, receives the machine of instruction
People, according to current sign i, calculates the cumulative of distance [0]～distance [i] and Lb adding up and Lf with residual paths,
And this is two cumulative and compare, if Lb>Lf, then send the instruction of advance to robot, otherwise send and retreat instruction, until motion
At label S000.
7. a key of crusing robot makes a return voyage a control system, including industrial computer, motion controller, front end magnetic induction sensing
Device, rear end magnetic induction sensor, RFID sensor；It is characterized in that, described industrial computer senses with the magnetic induction of described front end respectively
Device, rear end magnetic induction sensor, RFID sensor and motion controller connect.
A key the most as claimed in claim 7 makes a return voyage control system, it is characterised in that described RFID sensor is located at the bottom of robot
Pan Jihezhongxinchu, described RFID label tag is located in the closed loop path that robot completes task.
A key the most as claimed in claim 7 makes a return voyage control system, it is characterised in that described front end magnetic induction sensor and rear end
Magnetic induction sensor is made up of 16 array magnetic induction points.
A key the most as claimed in claim 8 makes a return voyage control system, it is characterised in that described RFID sensor uses inspection in real time
Survey pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610868066.1A CN106272434B (en) | 2016-09-29 | 2016-09-29 | One-key return control method and system for inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610868066.1A CN106272434B (en) | 2016-09-29 | 2016-09-29 | One-key return control method and system for inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272434A true CN106272434A (en) | 2017-01-04 |
| CN106272434B CN106272434B (en) | 2021-07-13 |
Family
ID=57716664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610868066.1A Active CN106272434B (en) | 2016-09-29 | 2016-09-29 | One-key return control method and system for inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272434B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414837A (en) * | 2017-09-13 | 2017-12-01 | 上海伟世通汽车电子系统有限公司 | Safety automation returns method and its system in situ after industrial robot disorderly closedown |
| CN109240290A (en) * | 2018-09-04 | 2019-01-18 | 南京理工大学 | A kind of electric inspection process robot makes a return voyage determining method of path |
| CN111122779A (en) * | 2019-12-23 | 2020-05-08 | 北京海益同展信息科技有限公司 | Method and device for detecting gas by inspection equipment and detection system |
| CN111629338A (en) * | 2020-05-25 | 2020-09-04 | 北京海益同展信息科技有限公司 | Positioning method, positioning device, robot, beacon, positioning system, positioning apparatus, and positioning medium |
| CN112008732A (en) * | 2020-09-09 | 2020-12-01 | 中科新松有限公司 | Robot reverse running method, device, terminal and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6049745A (en) * | 1997-02-10 | 2000-04-11 | Fmc Corporation | Navigation system for automatic guided vehicle |
| CN202058039U (en) * | 2011-04-23 | 2011-11-30 | 山东电力研究院 | Combined positioning system for substation intelligent inspection robot with integrated multi-sensors |
| CN102420392A (en) * | 2011-07-30 | 2012-04-18 | 山东鲁能智能技术有限公司 | Transformer substation inspection robot global path planning method based on magnetic navigation |
| CN104089616A (en) * | 2014-07-31 | 2014-10-08 | 四川阿泰因机器人智能装备有限公司 | Mobile robot positioning system |
-
2016
- 2016-09-29 CN CN201610868066.1A patent/CN106272434B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6049745A (en) * | 1997-02-10 | 2000-04-11 | Fmc Corporation | Navigation system for automatic guided vehicle |
| CN202058039U (en) * | 2011-04-23 | 2011-11-30 | 山东电力研究院 | Combined positioning system for substation intelligent inspection robot with integrated multi-sensors |
| CN102420392A (en) * | 2011-07-30 | 2012-04-18 | 山东鲁能智能技术有限公司 | Transformer substation inspection robot global path planning method based on magnetic navigation |
| CN104089616A (en) * | 2014-07-31 | 2014-10-08 | 四川阿泰因机器人智能装备有限公司 | Mobile robot positioning system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414837A (en) * | 2017-09-13 | 2017-12-01 | 上海伟世通汽车电子系统有限公司 | Safety automation returns method and its system in situ after industrial robot disorderly closedown |
| CN107414837B (en) * | 2017-09-13 | 2020-09-25 | 上海伟世通汽车电子系统有限公司 | Method and system for safely and automatically returning to original position after abnormal shutdown of industrial robot |
| CN109240290A (en) * | 2018-09-04 | 2019-01-18 | 南京理工大学 | A kind of electric inspection process robot makes a return voyage determining method of path |
| CN111122779A (en) * | 2019-12-23 | 2020-05-08 | 北京海益同展信息科技有限公司 | Method and device for detecting gas by inspection equipment and detection system |
| CN111629338A (en) * | 2020-05-25 | 2020-09-04 | 北京海益同展信息科技有限公司 | Positioning method, positioning device, robot, beacon, positioning system, positioning apparatus, and positioning medium |
| CN111629338B (en) * | 2020-05-25 | 2022-11-08 | 京东科技信息技术有限公司 | Positioning method, positioning device, robot, beacon, positioning system, positioning apparatus, and positioning medium |
| CN112008732A (en) * | 2020-09-09 | 2020-12-01 | 中科新松有限公司 | Robot reverse running method, device, terminal and storage medium |
| CN112008732B (en) * | 2020-09-09 | 2021-12-10 | 中科新松有限公司 | Robot reverse running method, device, terminal and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106272434B (en) | 2021-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106272434A (en) | One key of a kind of crusing robot makes a return voyage control method and system | |
| CN103605365B (en) | The entire roboticized work method that substation equipment filth is patrolled and examined, judges and cleaned | |
| CN105045268B (en) | A kind of AGV laser tape hybrid navigation system | |
| CN107085938B (en) | The fault-tolerant planing method of intelligent driving local path followed based on lane line and GPS | |
| CN106680290B (en) | Multifunctional detection vehicle in narrow space | |
| CN205959069U (en) | AGV vision guidance system | |
| CN202058039U (en) | Combined positioning system for substation intelligent inspection robot with integrated multi-sensors | |
| CN109797691A (en) | Unmanned sweeper and its travelling-crane method | |
| CN113128473A (en) | Underground comprehensive pipe gallery-oriented inspection system, method, equipment and storage medium | |
| CN208700510U (en) | AGV fork truck automatic access goods control system | |
| CN103353758A (en) | Indoor robot navigation device and navigation technology thereof | |
| CN108459600A (en) | A kind of vision navigation system of AGV trolleies | |
| CN107089458A (en) | A kind of new intelligent environment protection rubbish automatic recovery system | |
| CN110220529A (en) | A kind of localization method of trackside automatic driving vehicle | |
| CN205081392U (en) | Robot is patrolled and examined to circuit intelligence | |
| CN105185118A (en) | Vehicle peccancy detection device and method based on video detection | |
| CN112477533B (en) | Dual-purpose transport robot of facility agriculture rail | |
| CN104102217A (en) | System and method for detecting running state of carrying vehicle | |
| CN108873882A (en) | Intelligent mobile equipment and its movement routine planing method, device, program, medium | |
| CN109987098A (en) | The method and device of safe driving control is carried out based on Pavement analysis | |
| CN112344945A (en) | Indoor distribution robot path planning method and system and indoor distribution robot | |
| CN113341978B (en) | Intelligent trolley path planning method based on ladder-shaped barrier | |
| CN109032125B (en) | Navigation method of visual AGV | |
| CN114290313B (en) | Inspection robot, automatic navigation inspection robot system and control method | |
| CN116466724A (en) | Mobile positioning method and device of robot and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |