CN109405823A - Piping lane rail mounted crusing robot charge point quick positioning system and localization method - Google Patents
Piping lane rail mounted crusing robot charge point quick positioning system and localization method Download PDFInfo
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- CN109405823A CN109405823A CN201811127631.4A CN201811127631A CN109405823A CN 109405823 A CN109405823 A CN 109405823A CN 201811127631 A CN201811127631 A CN 201811127631A CN 109405823 A CN109405823 A CN 109405823A
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- crusing robot
- charge
- charge point
- rotary encoder
- point
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000004807 localization Effects 0.000 title claims abstract description 10
- 238000003032 molecular docking Methods 0.000 claims abstract description 9
- 230000006698 induction Effects 0.000 claims abstract description 6
- 238000007689 inspection Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of piping lane rail mounted crusing robot charge point quick positioning system and localization methods, the positioning system includes marking apparatus and locating and detecting device, the locating and detecting device includes the position sensor and rotary encoder being arranged in inside crusing robot, the marking apparatus uses magnetic mark block, the needing at telltale mark of surface in orbit is arranged in the magnetic mark block, the side of the track is provided with multiple charge points, it is respectively set to charge point a from left to right, charge point b, charge point n-1 and charge point n, spacing between all two neighboring charge points is all the same, the position sensor and the rotary encoder are connected on the internal wiring of the crusing robot, the position sensor uses magnetic induction sensor, the rotary encoder is revolved using magneto-electric Turn encoder, the configuration of the present invention is simple, system stabilization, registration can quickly judge current location and accurate docking charging.
Description
Technical field
The present invention relates to a kind of localization methods of crusing robot charge point, and in particular to a kind of piping lane rail mounted survey monitor
Device people's charge point quick positioning system and localization method.
Background technique
As power grid scale constantly expands, the length that power cable is laid with is also increasingly longer, underground pipe gallery carrying letter
The transmission important task of breath and the energy, while following urban underground high speed network is also formed, harsh working environment is numerous and disorderly in piping lane
Facility, make traditional manual inspection be unable to satisfy safe O&M and calamity emergency work.Conventional pipelines monitoring is all made of peace
The video camera of multiple use is filled to complete to monitor, but this monitoring is to belong to point range monitoring, with novel synthesis gallery
Rail mounted crusing robot continues to develop, and constantly expands monitoring point, forms certain area surface monitoring；But crusing robot
Often because of the phenomenon that promptly and accurately cannot effectively charging, cause no electricity that can not work.
There are mainly two types of existing automatic charging modes: 1) automatic charging of sweeping robot is continuous by recharging base
Signal is issued, then the receiver at the top of robot receives signal, eventually finds position, but will appear in some cases
It can not navigate, pedestal can not be returned to and stranded occur in the case where " the way "；2) automatic contacting charging technique, connecting terminal
Above robot body, when robot reaches cradle, it connect contact point with ground and is automatically performed docking, charging finishes
After automatically disengage, it is more demanding to butting error that this method is detached from positioning.
There are many positioning methods for comprehensive gallery rail mounted crusing robot, such as ultrasonic wave, bluetooth, infrared ray and laser
Deng, relied in these positioning methods transmitting light, wave signal receive positioning, can occur because of jitter deviations or
The problem of can not navigating.
Summary of the invention
The technical problems to be solved by the present invention are: overcoming the deficiencies in the prior art, a kind of piping lane track is provided
Formula crusing robot charge point quick positioning system and localization method, pass through magnetic induction sensor and magneto-electric rotary encoder
Quickly judge crusing robot location information and accurate docking.
The present invention is adopted the technical scheme that in order to solve the technical problem: a kind of piping lane rail mounted crusing robot charge point
Quick positioning system, including marking apparatus and locating and detecting device, the locating and detecting device is by being arranged in inspection machine
Position sensor and rotary encoder composition inside people, the position sensor and the rotary encoder are connected in described patrol
On the internal wiring for examining robot, the marking apparatus uses magnetic mark block, and the magnetic mark block is arranged in track
Upper surface needs at telltale mark, and the side of the track is provided with multiple charge points, is respectively set to charge point from left to right
A, charge point b, charge point n-1 and charge point n, the spacing between all two neighboring charge points is all the same, the position
Sensor uses magnetic induction sensor, and the rotary encoder uses magneto-electric rotary encoder.
The localization method quickly positioned is completed using the positioning system, its step are as follows:
1) determine initial parameter: crusing robot brings into operation from inspection position starting point, terminates to inspection position end point, institute
It states position sensor and the rotary encoder records the distance between each detection position and charge point position, as original
Parameter；
2) quickly positioning: crusing robot detects current location, and the position sensor is obtained by incuding the magnetic mark block
The location information of mark is obtained, the rotary encoder obtains orbital distance data by encoder pulse number；
3) accurate docking: crusing robot is using initial parameter as reference point, the location information that is judged by the position sensor
And range data and velocity information that the rotary encoder calculates, quickly navigate to the nearest charge point of distance and accurate
Docking starts to charge.
The beneficial effects of the present invention are: the present invention is using magneto-electric rotary encoder measurement revolving speed and realizes quickly speed regulation,
It is small in size, precision is high, monitoring of tools is used for using magnetic induction sensor, long service life, measurement accuracy are high, highly reliable；
The configuration of the present invention is simple, system stabilization, registration can quickly judge current location and accurate docking charging.
Detailed description of the invention
Fig. 1 is logical schematic of the invention.
Specific embodiment
The present invention will be further explained in the following with reference to the drawings and specific embodiments:
Referring to Fig. 1, in figure, 1- crusing robot, 2- position sensor, 3- rotary encoder, 4- charge point, 5- track.
Embodiment: a kind of piping lane rail mounted crusing robot charge point quick positioning system, including marking apparatus and
Locating and detecting device, locating and detecting device is by being arranged in the position sensor 2 inside crusing robot 1 and 3 groups of rotary encoder
At position sensor 2 and rotary encoder 3 are connected on the internal wiring of crusing robot 1, and marking apparatus is using magnetic
Tag block, the setting of magnetic mark block need at telltale mark on surface on the rail 5, and the side of track 5 is provided with multiple charge points
4, be respectively set to charge point a, charge point b, charge point n-1 and charge point n from left to right, all two neighboring charge points 4 it
Between spacing it is all the same, position sensor 2 use magnetic induction sensor, rotary encoder 3 use magneto-electric rotary encoder.
The localization method quickly positioned is completed using positioning system, its step are as follows:
1) determine initial parameter: crusing robot brings into operation from inspection position starting point, terminates to inspection position end point, position
It sets sensor 2 and rotary encoder 3 records the distance between each detection position and charge point position, as initial parameter；
2) quickly positioning: crusing robot detects current location, and position sensor 2 obtains mark by induced magnetism tag block
Location information, rotary encoder 3 by encoder pulse number obtain orbital distance data；
3) accurate docking: the location information and rotation that crusing robot is judged using initial parameter as reference point by position sensor 2
The range data and velocity information for turning the calculating of encoder 3, quickly navigate to apart from nearest charge point 4 and accurately docking starts to fill
Electricity.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, it is all
It is any simple modification, equivalent change and modification to the above embodiments according to the technical essence of the invention, still falls within
In the range of technical solution of the present invention.
Claims (3)
1. a kind of piping lane rail mounted crusing robot charge point quick positioning system, including marking apparatus and detection and localization dress
It sets, it is characterised in that: the locating and detecting device is by being arranged in the internal position sensor (2) of crusing robot (1) and rotation
Encoder (3) composition, the position sensor (2) and the rotary encoder (3) are connected in the interior of the crusing robot (1)
On portion's route, the marking apparatus uses magnetic mark block, need of the magnetic mark block setting in track (5) upper surface
At telltale mark, the side of the track (5) is provided with multiple charge points (4), is respectively set to charge point a from left to right, fills
Electric point b, charge point n-1 and charge point n, the spacing between all two neighboring charge points (4) are all the same.
2. being existed according to piping lane rail mounted crusing robot charge point quick positioning system, feature described in claims 1
In: the position sensor (2) uses magnetic induction sensor, and the rotary encoder (3) uses magneto-electric rotary encoder.
3. completing the localization method quickly positioned using positioning system described in claim 1, its step are as follows:
1) determine initial parameter: crusing robot brings into operation from inspection position starting point, terminates to inspection position end point, institute
It states position sensor (2) and the rotary encoder (3) records the distance between each detection position and charge point position, make
For initial parameter；
2) quickly positioning: crusing robot detects current location, and the position sensor (2) is by incuding the magnetic mark block
The location information of mark is obtained, the rotary encoder (3) obtains orbital distance data by encoder pulse number；
3) accurate docking: crusing robot is believed using initial parameter as reference point by the position that the position sensor (2) judge
The range data and velocity information that breath and the rotary encoder (3) calculate quickly navigate to the nearest charge point of distance
(4) it and accurately docks and starts to charge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811127631.4A CN109405823B (en) | 2018-09-27 | 2018-09-27 | Rapid positioning system and positioning method for charging point of pipe gallery track type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811127631.4A CN109405823B (en) | 2018-09-27 | 2018-09-27 | Rapid positioning system and positioning method for charging point of pipe gallery track type inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109405823A true CN109405823A (en) | 2019-03-01 |
| CN109405823B CN109405823B (en) | 2024-05-24 |
Family
ID=65465398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811127631.4A Active CN109405823B (en) | 2018-09-27 | 2018-09-27 | Rapid positioning system and positioning method for charging point of pipe gallery track type inspection robot |
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| CN (1) | CN109405823B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621777A (en) * | 2020-12-14 | 2021-04-09 | 国网山东省电力公司栖霞市供电公司 | Rail mounted intelligent power distribution live working warehouse management robot |
| CN113964915A (en) * | 2021-11-08 | 2022-01-21 | 北京华能新锐控制技术有限公司 | Control method for cooperative work of multi-working-part track robot |
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| CN113964915A (en) * | 2021-11-08 | 2022-01-21 | 北京华能新锐控制技术有限公司 | Control method for cooperative work of multi-working-part track robot |
| CN113964915B (en) * | 2021-11-08 | 2023-11-07 | 北京华能新锐控制技术有限公司 | Control method for cooperative work of multi-working-section track robot |
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| CN109405823B (en) | 2024-05-24 |
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Effective date of registration: 20240411 Address after: 450000 9 Huaihe Road, Zhengzhou, Henan Applicant after: ZHENGZHOU XIANGHE GROUP Co.,Ltd. Country or region after: China Applicant after: STATE GRID HENAN ELECTRIC POWER COMPANY ZHENGZHOU POWER SUPPLY Co. Applicant after: STATE GRID CORPORATION OF CHINA Address before: Room 62, 12th Floor, Building 9, East Zone, University Science and Technology Park, No. 289 West Third Ring Road, High tech Zone, Zhengzhou City, Henan Province, 450001 Applicant before: ZHENGZHOU HUALI INFORMATION TECHNOLOGY Co.,Ltd. Country or region before: China Applicant before: STATE GRID HENAN ELECTRIC POWER COMPANY ZHENGZHOU POWER SUPPLY Co. Applicant before: STATE GRID CORPORATION OF CHINA |
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