CN109048846A - A kind of smog crusing robot and its control method - Google Patents
A kind of smog crusing robot and its control method Download PDFInfo
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- CN109048846A CN109048846A CN201811113681.7A CN201811113681A CN109048846A CN 109048846 A CN109048846 A CN 109048846A CN 201811113681 A CN201811113681 A CN 201811113681A CN 109048846 A CN109048846 A CN 109048846A
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- 230000033001 locomotion Effects 0.000 claims abstract description 51
- 230000004044 response Effects 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 17
- 230000004888 barrier function Effects 0.000 claims description 10
- 239000000779 smoke Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims 1
- 238000007689 inspection Methods 0.000 abstract description 6
- 230000010365 information processing Effects 0.000 abstract 1
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- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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Abstract
The invention discloses a kind of smog crusing robot and its control methods.Setting information acquisition module is used for the acquisition of external information and smog image in robot body, setting information processing module is for handling data collected, grid map is obtained according to acquired data, and the motion control information output mobile information of control module response message processing module is set.It is mobile for receiving mobile message and controlling Mecanum wheel that it is provided with the mobile module with Mecanum wheel simultaneously.Mobile inspection is realized, the range of inspection is effectively expanded.
Description
Technical field
The present invention relates to crusing robot field, especially a kind of smog crusing robot and its control method.
Background technique
Currently, fire has sudden strong as a kind of disaster, involve range extensively and the difficult problem of processing.Therefore to fire
Progress occurs, and timely early warning is extremely important, and flame is smaller in fire detection field, when just occurring due to fire, but cigarette
Clearly, and smog has the characteristics of non-contact and a wide range of detection to mist, therefore detecting to smog can be more quickly and effectively
It was found that place and the preliminary situation of fire generation.Most of sides for relying on area of fire protection setting smoke sensor device in the prior art
Formula is detected, although this method can detect smog using sensor and alarm that sensor, which generally requires, to be set
It sets in fixed place, and the range of single sensor detection is smaller, when range of preventing fires is big to need to be arranged a large amount of pass
Sensor, cost are very high.
Summary of the invention
To solve the above problems, the purpose of the present invention is to provide a kind of smog crusing robot and its control methods.It is logical
The acquisition that the information acquisition module being arranged in crusing robot carries out environmental data is crossed, by ring in message processing module
The building of condition figure and the detection of smog set out inspection route, expand the range of Smoke Detection, realize robot automatic detecting.
Technical solution used by the present invention solves the problems, such as it is: a kind of smog crusing robot, comprising: robot body
And motion module；The robot body is connected with motion module by Mecanum wheel connector；
The robot body includes information acquisition module for acquiring external information and adopts for handling the information
Collect the message processing module of module information collected；
The information acquisition module includes the laser radar for obtaining building Scaned map value；It further include for obtaining view
The range information of Yezhong and the binocular camera of Smoke Detection image；
The message processing module includes the first main control chip for handling information acquisition module data collected, institute
The input terminal for stating the first main control chip is connected with the output end of laser radar and binocular camera；
The robot body further includes control module, and the control module includes the second main control chip, and described second is main
The input terminal of control chip is connected with the output end of the first main control chip, and first main control chip is in response to information acquisition module
Data collected send motion control information to the second main control chip；
The motion module includes Mecanum wheel and the motor for driving Mecanum wheel movement speed and direction, institute
It states motor to be connected with the second main control chip, second main control chip is sent out in response to the motion control information to the motor
Mobile message is sent, the motor is mobile in response to mobile message control Mecanum wheel.
Further, the robot body further include the first support plate from top to bottom set gradually, the second support plate and
Third support plate；It is connected between first support plate, the second support plate and third support plate by connecting rod；First support
Plate, the second support plate and third support plate are carbon fiber board.
Further, the information acquisition module is set to the first support plate surface, and the message processing module is set to
Two support plate surfaces, the control module are set to third support plate surface.
Further, the motion module further includes the motor contact being connected with the shell of the motor；The Mike
Na Mu wheel connector two sides are connected by hinge between motor contact and robot body；The Mecanum wheel connector
Including upper junction plate and U-shaped connector.
Further, part is connected to motor by hinge in the upper junction plate two sides and the second support plate is connected；It is described U-shaped
Connector two sides are connected to motor part by hinge and are connected with third support plate；The motion module further includes anti-vibration structure,
The anti-vibration structure is connected between the second support plate and motor contact.
It further, further include power supply, the quantity of the power supply is 4；It further include turning die block for power supply, the power supply turns
Die block is connected with power supply and motor respectively.
A kind of control method of smog crusing robot, comprising:
Information acquisition module scanning information collected is obtained, the scanning information includes range information and detection picture；
It sends the scanning information in the first main control chip, when detecting detection picture is non-smog picture, root
Grid map is obtained according to the range information that binocular camera acquires, and calculates avoidance information；
Motion control information is obtained according to the avoidance information, and is sent in the second main control chip of control module；
Second main control chip reads movement speed and the mobile letter of moving direction generation in the motion control information
Breath, and the mobile message is sent in motion module；
Control motor is after the motion module detects mobile message to drive Mecanum wheel mobile.
Further, the range information includes Laser emission angle, obstacle distance and shot information；The shot information
Including laser head and distance of camera lens, focal length.
Further, the avoidance information includes barrier region, estimated collision area and moving area.
Further, when detecting detection picture is smog picture, warning message is sent to server by wireless network.
The beneficial effects of the present invention are: present invention employs a kind of smog crusing robot and its control methods.In machine
Setting information acquisition module, message processing module and control module in human body are additionally provided with the control mould with robot body
The motion module that block is connected.Information acquisition module information collected, which is handled, by message processing module obtains control information,
Control module drives robot body mobile in response to control motion module after control information.It is static to being arranged compared with the prior art
The technical solution of sensor, technical solution of the present invention, which is realized, carries out mobile inspection according to the automatic programme path of information of acquisition
It surveys, broader range can be detected, and mobility is stronger.
Detailed description of the invention
The invention will be further described with example with reference to the accompanying drawing.
Fig. 1 is the structural schematic diagram of a kind of smog crusing robot of the invention and its control method；
Fig. 2 is the overhaul flow chart of a kind of smog crusing robot of the invention and its control method；
Fig. 3 is the module connection diagram of a kind of smog crusing robot of the invention and its control method；
Fig. 4 is the component connection schematic diagram of a kind of smog crusing robot of the invention and its control method；
Fig. 5 is a kind of smog crusing robot of invention and its actual distance calculation schematic diagram of control method.
Drawing reference numeral explanation:
1. laser radar；2. binocular camera；3. the first main control chip；4. power supply；5. the second main control chip；6. Mike receives
Nurse wheel；7. anti-vibration structure；8. motor contact；9. motor；10. power supply turns die block；11. upper junction plate；12.U type connector；
13. the first support plate；14. the second support plate；15. third support plate；16. barrier.
Specific embodiment
- Fig. 2 referring to Fig.1, technical solution used by the present invention of the invention solves the problems, such as it is: a kind of smog survey monitor
Device people, comprising: robot body and motion module；The robot body passes through Mecanum wheel connector phase with motion module
Connection；
The robot body includes information acquisition module for acquiring external information and adopts for handling the information
Collect the message processing module of module information collected；
The information acquisition module includes the laser radar 1 for obtaining building Scaned map value；It further include for obtaining
The binocular camera 2 of range information and Smoke Detection image in the visual field；
The message processing module includes the first main control chip 3 for handling information acquisition module data collected,
The input terminal of first main control chip 3 is connected with the output end of laser radar 1 and binocular camera 2；
The robot body further includes control module, and the control module includes the second main control chip 5, and described second is main
The input terminal of control chip 5 is connected with the output end of the first main control chip 3, and first main control chip 3 is in response to information collection
Module data collected send motion control information to the second main control chip 5；
The motion module includes Mecanum wheel 6 and the motor for driving Mecanum wheel 6 movement speed and direction
9, the motor 9 is connected with the second main control chip 5, and second main control chip 5 is in response to the motion control information to institute
It states motor 9 and sends mobile message, the motor 9 is mobile in response to mobile message control Mecanum wheel 6.
Wherein, the laser radar 1 is arranged on bracket as shown in the figure, and the laser radar 1 is the thunder of rotatable scanning
It reaches, and the laser radar 1 and horizontal plane are angled, in order to collect scan values by transmitting laser, thus realization pair
The scanning of ambient enviroment and the reading of data, the collected data of institute, which are sent in the first main control chip 3, to be handled.
Wherein, the binocular camera 2 setting is in robot body front end, between detection and barrier it is practical away from
From while for acquiring real-time detection picture, picture being sent to, whether analyzed and identified in the first main control chip 3 be smog
Picture, when detecting picture is smog picture, first main control chip 3 sends alarm signal to server by wireless network
Breath.
Preferably, two cameras are Synchronous camera head in the binocular camera 2, i.e. two camera synchronizing movings,
It is consistent that data, the range of acquisition data are obtained simultaneously；It is additionally provided with infrared equipment in the binocular camera 2, to meet night
The demand of work.
Preferably, first main control chip 3 is the central processing unit for data processing, second main control chip 5
For the hardware driven processor for translatory movement data and feed back motion result；First main control chip 3 and the second master control
It is connected between chip 5 by serial port data line.
Wherein, it is independently connected between each Mecanum wheel 6 and motor 9, advantageously ensures that each Mecanum wheel 6 is expert at
There is sufficient power during.
For example, a Mecanum wheel 6 is respectively arranged in the surrounding of robot body in the present embodiment, therefore it is provided with correspondence
4 motors 9, each motor 9 connect with the second main control chip 5 for receive control signal, second main control chip 5
Independent mobile message is sent to each motor 9 according to the information that the first main control chip 3 is sent, the motor 9 receives the movement
Operating is after information to drive Mecanum wheel 6 mobile.
Wherein, Mecanum wheel can satisfy the demand all around moved, to realize robot during inspection
It multi-direction can be moved.
Preferably, the wheel of Mecanum 6 uses O- rectangle mounting means, to can produce y-axis when wheel rotation
Rotating torque, and the arm of force of the rotating torque is long, improves the passability of wheel.
Further, the robot body further includes the first support plate 13, the second support plate from top to bottom set gradually
14 and third support plate 15；It is connected between first support plate 13, the second support plate 14 and third support plate 15 by connecting rod；
First support plate 13, the second support plate 14 and third support plate 15 are carbon fiber board.
Preferably, for the ease of installation Mecanum wheel 6, first support plate 13, the second support plate 14 and third branch
Fagging 15 is square plate, and 4 corners are provided with the groove of installation Mecanum wheel.
Further, the information acquisition module is set to 13 surface of the first support plate, and the message processing module is set to
Second support plate, 14 surface, the control module are set to 15 surface of third support plate.
Further, the motion module further includes the motor contact 8 being connected with the shell of the motor 9；The wheat
Ke Namu wheel connector two sides are connected by hinge between motor contact 8 and robot body；The Mecanum wheel connects
Fitting includes upper junction plate 11 and U-shaped connector 12.
Wherein, since the function of each component is different, so the position of required setting is different, signal is adopted in the present embodiment
Collect environment measuring of the module needs to surrounding, it is therefore desirable to which setting is in higher place to obtain the preferable visual field, therefore information
Acquisition module is arranged on 13 surface of the first support plate.
Preferably due to which control module needs to control motion module, therefore control module setting is supported in third
It include multiple interfaces in the control module, for adapting to the demand of multiple types motor in plate 15.
Wherein, the message processing module is used to handle the data of information acquisition module transmission and sends to control module and transports
Dynamic control information, therefore message processing module is arranged in the second intermediate support plate 14.
Wherein, it due to the small volume of motor 9, is not easy to be connected in robot body, therefore motor contact 8 is set
The mode and soundness of connection can effectively be extended.
Wherein, 12 hollow space of U-shaped connector avoids the ruler of U-shaped connector Yu motor 9 for placing motor 9
Very little mismatch.
Further, 11 two sides of upper junction plate are connected to motor part 8 by hinge and are connected with the second support plate 14；Institute
It states U-shaped 12 two sides of connector part 8 is connected to motor by hinge and be connected with third support plate 15；The motion module further includes
Anti-vibration structure 7, the anti-vibration structure 7 are connected between the second support plate 14 and motor contact 8.
Wherein, upper junction plate 11 and U-shaped connector 12 are connected to the second support plate 14 and third support plate 15, and
It is attached by hinge, can guarantee certain mobility.
Wherein, the anti-vibration structure 7 is elastic construction, and is each side arranged one in motor contact 8, to guarantee
Mecanum wheel 6 passes through stationarity when complex landform.
It further, further include power supply 4, the quantity of the power supply 4 is 4；It further include turning die block 10, the electricity for power supply
Source turns die block 10 and is connected respectively with power supply 4 and motor 9.
Wherein, the power supply 4 turns die block 10 with power supply by power supply line and connect, and it includes letter that the power supply, which turns die block 10,
Number isolation circuit, main circuit current-limiting protection circuit, feedback compensation circuit and overvoltage crowbar.
A kind of control method of smog crusing robot, comprising:
Information acquisition module scanning information collected is obtained, the scanning information includes range information and detection picture；
It sends the scanning information in the first main control chip 3, when detecting detection picture is non-smog picture, root
Grid map is obtained according to the range information that binocular camera 2 acquires, and calculates avoidance information；
Motion control information is obtained according to the avoidance information, and is sent in the second main control chip 5 of control module；
Second main control chip 5 reads movement speed and the mobile letter of moving direction generation in the motion control information
Breath, and the mobile message is sent in motion module；
Control motor 9 is after the motion module detects mobile message to drive Mecanum wheel 6 mobile.
Wherein, information acquisition module is made of laser radar 1 and binocular camera 2.The laser radar 1 is for obtaining structure
Scaned map value is built, i.e., the environmental parameter around scanning machine people is for constructing grid map.
Wherein, the message processing module reads laser distance data therein and odometer after obtaining scanning information,
Two-dimensional map is generated using the map structuring open source treasured GMapping in the SLAM technology based on ROS system, and passes through edge
Change linear variable to reduce the dimension of state space, to improve the precision of the map of production.
Wherein, after generating grid map in step B, after the selected mobile terminal of robot, it will create one from current location
The track for the target point specified on to map, and based on the feasible path and obstacle location progress global path in grid map
Planning, and local paths planning is carried out centered on robot, using the automatic obstacle-avoiding algorithm DWA based on ROS system
(Dynamic Window Approach) copes with the barrier encountered in robot traveling process, message processing module is obtained
Obstacle information out and robot location as SLAM map result and the grid map that obtains calculates barrier region,
It obtains moving area, generates the control motion information controlled robot.
Wherein, control module is while receiving the control motion information that message processing module is sent, in order to guarantee machine
Motion stabilization during people's inspection, control module adjust algorithm using PID, and control law meets:
Wherein, Kp is proportionality coefficient, and TI is integration time constant, and TD is derivative time constant, and error (t) is deviation letter
Number.
Error (t)=yd(t)-y(t)；
Yd (t) is given value, and y (t) is output valve, and the two makes the difference as error amount, i.e. deviation signal；Obtain deviation signal
Afterwards, control module can be adjusted mobile message, and then control the motion state of motor and Mecanum wheel, improve movement
Efficiency.
Further, the range information includes Laser emission angle, obstacle distance and shot information；The shot information
Including laser head and distance of camera lens, focal length.
Wherein, it will do it reflection since the light beam that laser radar 1 emits encounters barrier 16, according to similar triangle theory
The actual distance between robot and barrier 16 can be calculated.
For example, the angle of departure is known β, q is actual range, and s is laser head at a distance from camera lens, and f is the focal length of camera lens,
X is corresponding with s in imager, then calculation formula is as follows:
(1)
(2)
(3)
Wherein, in above-mentioned formula, obtained by similar triangles theorem, formula (2) is obtained sharp formula (1) by trigonometric function
The distance between optical radar head and barrier d obtain formula (1) progress derivation formula (3), simultaneous formula (1) and formula (3)
The value of actual range q can be acquired.
Further, the avoidance information includes barrier region, estimated collision area and moving area.
Further, when detecting detection picture is smog picture, warning message is sent to server by wireless network.
Wherein, affiliated information acquisition module constantly acquires real time picture and is detected, when detect picture be smog picture
When, identification has fire risk, sends warning message to server.
Preferably, the GPS information being presently in is read when sending warning message to send together, helps quickly to position fire alarm
Position.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all should belong to protection scope of the present invention.
Claims (10)
1. a kind of smog crusing robot characterized by comprising robot body and motion module；The robot body
It is connected with motion module by Mecanum wheel connector；
The robot body includes information acquisition module for acquiring external information and for handling the information collection mould
The message processing module of block information collected；
The information acquisition module includes the laser radar (1) for obtaining building Scaned map value；It further include for obtaining view
The range information of Yezhong and the binocular camera (2) of Smoke Detection image；
The message processing module includes the first main control chip (3) for handling information acquisition module data collected, institute
The input terminal for stating the first main control chip (3) is connected with the output end of laser radar (1) and binocular camera (2)；
The robot body further includes control module, and the control module includes the second main control chip (5), second master control
The input terminal of chip (5) is connected with the output end of the first main control chip (3), and first main control chip (3) is in response to information
Acquisition module data collected send motion control information to the second main control chip (5)；
The motion module includes Mecanum wheel (6) and the motor for driving Mecanum wheel (6) movement speed and direction
(9), the motor (9) is connected with the second main control chip (5), and second main control chip (5) is in response to the motion control
Information sends mobile message to the motor (9), and the motor (9) is mobile in response to mobile message control Mecanum wheel (6).
2. a kind of smog crusing robot according to claim 1, it is characterised in that: the robot body further include by
The first support plate (13), the second support plate (14) and the third support plate (15) set gradually under；First support plate (13),
It is connected between second support plate (14) and third support plate (15) by connecting rod；First support plate (13), second
Fagging (14) and third support plate (15) are carbon fiber board.
3. a kind of smog crusing robot according to claim 2, it is characterised in that: the information acquisition module is set to
First support plate (13) surface, the message processing module are set to the second support plate (14) surface, the control module setting
In third support plate (15) surface.
4. a kind of smog crusing robot according to claim 3, it is characterised in that: the motion module further includes and institute
State the motor contact (8) that the shell of motor (9) is connected；Mecanum wheel connector two sides are connected by hinge in electricity
Between machine connector (8) and robot body；The Mecanum wheel connector includes upper junction plate (11) and U-shaped connector
(12)。
5. a kind of smog crusing robot according to claim 4, it is characterised in that: upper junction plate (11) two sides are logical
It crosses hinge part (8) is connected to motor and be connected with the second support plate (14)；U-shaped connector (12) two sides pass through hinge and electricity
Machine connector (8) is connected with third support plate (15)；The motion module further includes anti-vibration structure (7), the anti-vibration structure
(7) it is connected between the second support plate (14) and motor contact (8).
6. a kind of smog crusing robot according to claim 1, it is characterised in that: further include power supply (4), the power supply
(4) quantity is 4；Further include turning die block (10) for power supply, the power supply turn die block (10) respectively with power supply (4) and electricity
Machine (9) is connected.
7. a kind of control method of smog crusing robot characterized by comprising
Information acquisition module scanning information collected is obtained, the scanning information includes range information and detection picture；
It sends the scanning information in the first main control chip (3), when detecting detection picture is non-smog picture, according to
The range information of binocular camera (2) acquisition obtains grid map, calculates avoidance information；
Motion control information is obtained according to the avoidance information, and is sent in the second main control chip (5) of control module；
Second main control chip (5) reads movement speed and the mobile letter of moving direction generation in the motion control information
Breath, and the mobile message is sent in motion module；
Control motor (9) is after the motion module detects mobile message to drive Mecanum wheel (6) mobile.
8. a kind of control method of smog crusing robot according to claim 7, it is characterised in that: the range information
Including Laser emission angle, obstacle distance and shot information；The shot information includes laser head and distance of camera lens, focal length.
9. a kind of control method of smog crusing robot according to claim 7, it is characterised in that: the avoidance information
Including barrier region, estimated collision area and moving area.
10. a kind of control method of smog crusing robot according to claim 7, it is characterised in that: when detecting
When mapping piece is smog picture, warning message is sent to server by wireless network.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811113681.7A CN109048846A (en) | 2018-09-25 | 2018-09-25 | A kind of smog crusing robot and its control method |
| PCT/CN2018/113462 WO2020062427A1 (en) | 2018-09-25 | 2018-11-01 | Smoke inspection robot and control method therefor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811113681.7A CN109048846A (en) | 2018-09-25 | 2018-09-25 | A kind of smog crusing robot and its control method |
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| CN201811113681.7A Pending CN109048846A (en) | 2018-09-25 | 2018-09-25 | A kind of smog crusing robot and its control method |
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| CN109760018A (en) * | 2019-01-03 | 2019-05-17 | 中建地下空间有限公司 | A kind of power cabin device |
| CN109822572A (en) * | 2019-02-22 | 2019-05-31 | 广州高新兴机器人有限公司 | A kind of computer room inspection monitoring method and system based on robot |
| CN110082781A (en) * | 2019-05-20 | 2019-08-02 | 东北大学秦皇岛分校 | Fire source localization method and system based on SLAM technology and image recognition |
| CN110471409A (en) * | 2019-07-11 | 2019-11-19 | 深圳市优必选科技股份有限公司 | Robot method for inspecting, device, computer readable storage medium and robot |
| CN110658813A (en) * | 2019-09-17 | 2020-01-07 | 五邑大学 | Intelligent medical material supply robot based on Internet of things and SLAM technology |
| CN110696003A (en) * | 2019-09-17 | 2020-01-17 | 五邑大学 | Water side rescue robot based on SLAM technology and deep learning |
| CN112356946A (en) * | 2020-12-08 | 2021-02-12 | 南昌大学 | Mecanum wheel moving platform carrying seven-degree-of-freedom mechanical arm and control system thereof |
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