CN109405823A

CN109405823A - Piping lane rail mounted crusing robot charge point quick positioning system and localization method

Info

Publication number: CN109405823A
Application number: CN201811127631.4A
Authority: CN
Inventors: 赵阳; 耿芳; 陈志刚; 翟德红; 王莹; 张海鹏; 魏旭东
Original assignee: State Grid Corp of China SGCC; Zhengzhou Power Supply Co of Henan Electric Power Co; Zhengzhou Huali Information Technology Co Ltd
Current assignee: Zhengzhou Xianghe Group Co ltd; State Grid Corp of China SGCC; Zhengzhou Power Supply Co of Henan Electric Power Co
Priority date: 2018-09-27
Filing date: 2018-09-27
Publication date: 2019-03-01
Anticipated expiration: 2038-09-27
Also published as: CN109405823B

Abstract

The invention discloses a rapid positioning system and a positioning method for a charging point of a pipe gallery track-type inspection robot. The positioning system includes a positioning marking device and a positioning detection device, and the positioning detection device includes a position sensor arranged inside the inspection robot. and a rotary encoder, the positioning marking device adopts a magnetic marking block, the magnetic marking block is arranged at the mark to be positioned on the upper surface of the track, the side of the track is provided with a plurality of charging points, which are respectively set from left to right For charging point a, charging point b, charging point n-1 and charging point n, the distance between all two adjacent charging points is the same, and the position sensor and the rotary encoder are connected to the cruiser. On the internal circuit of the inspection robot, the position sensor adopts a magnetic induction sensor, and the rotary encoder adopts a magnetoelectric rotary encoder.

Description

Piping lane rail mounted crusing robot charge point quick positioning system and localization method

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

1. A rapid positioning system for the charging point of a pipe gallery track-type inspection robot, comprising a positioning marking device and a positioning detection device, characterized in that: the positioning detection device is composed of a position sensor (2) arranged inside the inspection robot (1). ) and a rotary encoder (3), the position sensor (2) and the rotary encoder (3) are connected to the internal circuit of the inspection robot (1), and the positioning marking device adopts a magnetic marking block , the magnetic marking block is arranged at the mark to be positioned on the upper surface of the track (5), the side of the track (5) is provided with a plurality of charging points (4), which are respectively set as charging points a, For charging point b, charging point n-1 and charging point n, the distance between all two adjacent charging points (4) is the same.

2. The rapid positioning system for the charging point of a pipe gallery track-type inspection robot according to claim 1, characterized in that: the position sensor (2) adopts a magnetic induction sensor, and the rotary encoder (3) adopts a magnetoelectric type rotary encoder.

3. utilize the positioning system described in claim 1 to complete the positioning method of fast positioning, and its steps are as follows:

1) Determine the original parameters: the inspection robot starts running from the starting point of the inspection position and ends at the end point of the inspection position. The position sensor (2) and the rotary encoder (3) record each detection position and charging point the distance between the positions, as the original parameter;

2) Fast positioning: the inspection robot detects the current position, the position sensor (2) obtains the position information at the mark by sensing the magnetic mark block, and the rotary encoder (3) obtains the track distance data through the encoder pulse number ;

3) Accurate docking: The inspection robot takes the original parameters as the reference point, and uses the position information judged by the position sensor (2) and the distance data and speed information calculated by the rotary encoder (3) to quickly locate the closest one. The charging point (4) is correctly docked to start charging.