CN106325277A - Distributed framework based autonomous navigation and inspection robot control method - Google Patents
Distributed framework based autonomous navigation and inspection robot control method Download PDFInfo
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- CN106325277A CN106325277A CN201610858249.5A CN201610858249A CN106325277A CN 106325277 A CN106325277 A CN 106325277A CN 201610858249 A CN201610858249 A CN 201610858249A CN 106325277 A CN106325277 A CN 106325277A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000007689 inspection Methods 0.000 title abstract description 5
- 230000001133 acceleration Effects 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 238000013480 data collection Methods 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 28
- 230000005389 magnetism Effects 0.000 claims description 22
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical group C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 18
- 238000005286 illumination Methods 0.000 claims description 8
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- 230000008447 perception Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 3
- 238000001931 thermography Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 6
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- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003068 static effect Effects 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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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
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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
- G05D1/0255—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
- G05D1/0276—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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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a distributed framework based autonomous navigation and inspection robot control method. The robot comprises a GPS/Beidou navigation module, a laser radar and a binocular stereo vision module, an image and temperature sensor module, a distance sensor module, an angular velocity sensor module, a linear acceleration sensor module, a data collection module, a data conversion and integration module, a SLAM module, and a motor control module. The method comprises the following steps: 1) using the GPS/Beidou unit as the main source for speed and location measurement with the other modules providing additional speed and position measurements so as to improve the accuracy of the GPS/Beidou unit; 2) automatically switching the system from the GPS/Beidou unit to other modules when a GPS/Beidou unit signal weakens so as to provide stable observation to the entire system.
Description
Technical field
The present invention relates to the control method of 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 the control method of a kind of independent navigation crusing robot based on Distributed Architecture, can effectively solve
The problems referred to above.
The control method of a kind of independent navigation crusing robot based on Distributed Architecture, described robot includes: navigation
Module, including GPS/ Big Dipper unit and laser sensor, image and temperature sensor module, including binocular vision sensor, red
Exterior-heat imaging sensor；Distance sensor module, including ultrasonic sensor,；Angular-rate sensor module, including acceleration
Meter；Linear acceleration transducer module, including gyroscope and earth magnetism compass；Linear velocity trans module, including speedometer；Data
Collection module, is used for collecting described positional information, image and temperature information, range information, angular velocity information, linear acceleration information
And linear velocity information；Data conversion and Fusion Module, after carrying out changing and merging and input fusion by various information
Information；SLAM module, for according to the information after merging, the cartographic information building robot local environment realizes determining of robot
Position and the navigation in path and planning；Motor control module controls crusing robot motion for the information according to SLAM；Described side
Method includes:
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；And
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.
As improve further, in step s 2, described stable observation is provided by other modules for whole system
Step include: mutual by described binocular vision sensor, described accelerometer, described gyroscope and described earth magnetism compass
Coordinate and constitute visual odometry, 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.
As improve further, farther include step S3, be that master carries out cartographic information with binocular vision sensor
Measure；When illumination out of doors is strong or illumination is not enough, automatically it is switched to described laser sensing from described binocular vision sensor
Device carries out the measurement of cartographic information.
As improve further, described motor control module uses has the ARM series that network connects.
The control method of described based on Distributed Architecture the independent navigation crusing robot that the present invention provides, has following
Advantage:
1, described control method can switch flexibly according to outdoor information, such that it is able to use different uses
Environment, extends its range of application；
2, 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；
3, 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: navigation module, including GPS/ Big Dipper unit and laser sensor, image and temperature sensor module, pass including binocular vision
Sensor, infrared thermal imaging sensor；Distance sensor module, including ultrasonic sensor,；Angular-rate sensor module, including
Accelerometer；Linear acceleration transducer module, including gyroscope and earth magnetism compass；Linear velocity trans module, including mileage
Meter；Data collection module, is used for collecting described positional information, image adds with temperature information, range information, angular velocity information, line
Velocity information and linear velocity information；Data conversion and Fusion Module, for carrying out changing and merging and input by various information
Information after fusion；SLAM module, for according to the information after merging, the cartographic information building robot local environment realizes machine
The location of device people and the navigation in path and planning；Motor control module controls crusing robot fortune for the information according to SLAM
Dynamic；Visualization interface, for showing image information and the cartographic information of robot local environment.
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；And
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 cartographic information with binocular vision sensor；When
When outdoor illumination is strong or illumination is not enough, automatically it is switched to described laser sensor from described binocular vision sensor and carries out image
Measurement.
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 (7)
1. the control method of an independent navigation crusing robot based on Distributed Architecture, it is characterised in that described robot
Including: navigation module, including GPS/ Big Dipper unit and laser sensor, image and temperature sensor module, including binocular vision
Sensor, infrared thermal imaging sensor；Distance sensor module, including ultrasonic sensor,；Angular-rate sensor module, bag
Include accelerometer；Linear acceleration transducer module, including gyroscope and earth magnetism compass；Linear velocity trans module, including in
Journey meter；Data collection module, is used for collecting described positional information, image and temperature information, range information, angular velocity information, line
Acceleration information and linear velocity information；Data conversion and Fusion Module, for carrying out changing and merging and be defeated by various information
Enter the information after merging；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 fortune for the information according to SLAM
Dynamic；Described method includes:
S1, is the main measurement carrying out speed and position by GPS/ Big Dipper unit, and other modules provide extra speed and position
Measured value with improve GPS/ Big Dipper unit precision；And
S2, when the signal of GPS/ Big Dipper unit is weak, it is whole system that system is switched to other modules from GPS/ Big Dipper unit automatically
System provides stable observation.
Control method the most according to claim 1, it is characterised in that in step s 2, described is whole by other modules
Individual system provides the step of stable observation to include: by described binocular vision sensor, described accelerometer, described gyroscope
Cooperating composition visual odometry with described earth magnetism compass, the degree of depth of object in detection frontal scene, to produce depth map
As carrying out obstacle perception.
Control method the most according to claim 2, it is characterised in that described linear acceleration transducer module includes two ground
Magnetic compass, described is included by the step of the degree of depth of object in earth magnetism compass detection frontal scene: with one of them earth magnetism
Compass carries out the detection of Object Depth in frontal scene；When the earth magnetism compass in work is heavily disturbed when, from
Dynamic carry out backing up be switched to another earth magnetism compass not worked and carry out the detection of Object Depth in frontal scene.
Control method the most according to claim 1, it is characterised in that described linear acceleration transducer module includes two tops
Spiral shell instrument, described is included by the step of the degree of depth of object in gyroscope detection frontal scene: before carrying out with one of them gyroscope
The detection of Object Depth in side's scene；When the gyroscope in work is heavily disturbed when, automatically carry out backup and be switched to
Another gyroscope not worked carries out the detection of Object Depth in frontal scene.
Control method the most according to claim 1, it is characterised in that described angular-rate sensor module includes two acceleration
Degree meter, described is included by the step of the degree of depth of object in accelerometer detection frontal scene: enter with one of them accelerometer
The detection of Object Depth in row frontal scene；When the accelerometer in work is heavily disturbed when, automatically back up
It is switched to another accelerometer not worked and carries out the detection of Object Depth in frontal scene.
Control method the most according to claim 1, it is characterised in that farther include step S3, senses with binocular vision
Device is the main measurement carrying out depth image；When illumination out of doors is strong or illumination is not enough, automatically sense from described binocular vision
Device is switched to described laser sensor and carries out measurement and the collection of map datum.
Control method the most according to claim 1, it is characterised in that described motor control module uses has network connection
ARM series.
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| CN201610858249.5A CN106325277A (en) | 2016-09-28 | 2016-09-28 | Distributed framework based autonomous navigation and inspection robot control method |
| CN202211207457.0A CN115657662A (en) | 2016-09-28 | 2016-09-28 | Autonomous navigation inspection robot based on distributed framework |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106873602A (en) * | 2017-04-14 | 2017-06-20 | 广西师范大学 | A kind of mobile robot of autonomous positioning in real time |
| CN107084716A (en) * | 2017-05-16 | 2017-08-22 | 苏州艾吉威机器人有限公司 | A kind of localization method of the areflexia plate laser navigation of use adminicle |
| CN108225302A (en) * | 2017-12-27 | 2018-06-29 | 中国矿业大学 | A kind of petrochemical factory's crusing robot alignment system and method |
| CN108801245A (en) * | 2018-05-29 | 2018-11-13 | 深圳市海梁科技有限公司 | A kind of navigation system |
| CN108958269A (en) * | 2018-10-09 | 2018-12-07 | 南京景曜智能科技有限公司 | A kind of inertial navigation magnetic stripe hybrid navigation AGV system |
| CN109029573A (en) * | 2018-07-25 | 2018-12-18 | 中煤航测遥感集团有限公司 | A kind of pipeline method for inspecting and system |
| CN109144058A (en) * | 2018-08-14 | 2019-01-04 | 上海常仁信息科技有限公司 | A kind of automated navigation system and method for robot |
| CN110488805A (en) * | 2018-05-15 | 2019-11-22 | 武汉小狮科技有限公司 | A kind of unmanned vehicle obstacle avoidance system and method based on 3D stereoscopic vision |
| CN111624641A (en) * | 2020-04-21 | 2020-09-04 | 上海东古智能科技有限公司 | Explosion-proof type intelligent inspection robot for oil depot area |
| CN111844054A (en) * | 2019-04-26 | 2020-10-30 | 鸿富锦精密电子(烟台)有限公司 | Inspection robot, inspection robot system and inspection method of inspection robot |
| CN112091961A (en) * | 2020-01-22 | 2020-12-18 | 苏州菲沃博新能源有限公司 | Automatic operation and maintenance system of large-scale photovoltaic power station based on integration of Beidou and SLAM |
| CN112924044A (en) * | 2021-01-26 | 2021-06-08 | 上海精普机电科技有限公司 | Lifting adjusting type bimetal thermometer |
| CN112987711A (en) * | 2019-11-30 | 2021-06-18 | 华为技术有限公司 | Optimization method of automatic driving regulation algorithm and simulation testing device |
| CN113533876A (en) * | 2020-04-15 | 2021-10-22 | 百度（美国）有限责任公司 | Method and system for performing electromagnetic compatibility testing of autonomously driven vehicles |
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