CN109405823B - Rapid positioning system and positioning method for charging point of pipe gallery track type inspection robot - Google Patents
Rapid positioning system and positioning method for charging point of pipe gallery track type inspection robot Download PDFInfo
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- CN109405823B CN109405823B CN201811127631.4A CN201811127631A CN109405823B CN 109405823 B CN109405823 B CN 109405823B CN 201811127631 A CN201811127631 A CN 201811127631A CN 109405823 B CN109405823 B CN 109405823B
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- 238000007689 inspection Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000006698 induction Effects 0.000 claims abstract description 6
- 210000001503 joint Anatomy 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 description 6
- 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
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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- 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)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
The invention discloses a quick positioning system and a quick positioning method for charging points of a pipe gallery track type inspection robot, wherein the positioning system comprises a positioning marking device and a positioning detection device, the positioning detection device comprises a position sensor and a rotary encoder which are arranged in the inspection robot, the positioning marking device adopts a magnetic marking block, the magnetic marking block is arranged at a position to be positioned on the upper surface of a track, a plurality of charging points are arranged on the side edge of the track, the charging points are respectively arranged from left to right as a charging point a, a charging point b, a charging point n-1 and a charging point n, the distances between every two adjacent charging points are the same, the position sensor and the rotary encoder are connected to an internal circuit of the inspection robot, the position sensor adopts a magnetic induction type sensor, and the rotary encoder adopts a magneto-electric rotary encoder.
Description
Technical Field
The invention relates to a positioning method of a charging point of a routing inspection robot, in particular to a quick positioning system and a quick positioning method of the charging point of a pipe gallery track type routing inspection robot.
Background
Along with the continuous expansion of the power grid scale, the length of the power cable laid is longer and longer, the underground comprehensive pipe gallery bears information and energy transmission is repeated, meanwhile, an underground high-speed network of a future city is formed, and the severe working environment in the pipe gallery is provided with miscellaneous facilities, so that the traditional manual inspection cannot meet the requirements of safe transportation and disaster emergency work. The traditional pipeline monitoring is finished by installing cameras with multiple purposes, but the monitoring belongs to point range monitoring, and along with the continuous development of a novel comprehensive gallery track type inspection robot, the monitoring points are continuously enlarged to form a certain area monitoring; however, the inspection robot often cannot timely, accurately and effectively charge, so that no electricity is generated and the inspection robot cannot work.
The existing automatic charging modes mainly comprise two types: 1) The automatic charging of the sweeping robot is that a signal is continuously sent out through a charging base, then a receiver at the top of the robot receives the signal, and finally the position is found, but in some cases, the situation that navigation is impossible, the robot cannot return to the base and is stranded on a 'half way' occurs; 2) In the automatic contact type charging technology, the connecting contact is positioned above the robot body, when the robot reaches the charging seat, the contact point connected with the ground automatically completes the butt joint, and after the charging is finished, the contact point is automatically separated, and the separation positioning method has higher requirement on the butt joint error.
The comprehensive corridor track type inspection robot has various positioning modes, such as ultrasonic waves, bluetooth, infrared rays, lasers and the like, and the positioning modes all rely on transmitting light and wave signals to receive and position, so that the problems of positioning deviation or incapability of navigation can occur due to unstable signals.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the utility model provides a quick positioning system of pipe gallery track inspection robot charge point and positioning method, the quick judgement inspection robot positional information and accurate butt joint through magnetic induction type sensor and magneto-electric rotary encoder exist among the overcoming the defect in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a quick positioning system of robot charge spot is patrolled and examined to piping lane track formula, includes location mark device and location detection device, location detection device comprises position sensor and the rotary encoder of setting inside the robot of patrolling and examining, position sensor with the rotary encoder hookup is in on the internal circuit of robot is patrolled and examined, location mark device adopts the magnetic mark piece, the magnetic mark piece sets up in the needs location mark department of track upper surface, orbital side is provided with a plurality of charge spots, sets up into charge spot a, charge spot b, charge spot n-1 and charge spot n respectively from a left side to the right side, all adjacent two interval between the charge spot is the same, position sensor adopts magnetic induction type sensor, rotary encoder adopts magnetoelectric rotary encoder.
The positioning method for completing the quick positioning by using the positioning system comprises the following steps:
1) Determining original parameters: the inspection robot starts to run from the inspection position starting point to the inspection position ending point, and the position sensor and the rotary encoder record the distance between each detection position and the charging point position as original parameters;
2) And (3) quick positioning: the inspection robot detects the current position, the position sensor obtains the position information of the mark position by sensing the magnetic mark block, and the rotary encoder obtains the track distance data by the pulse number of the encoder;
3) Accurate butt joint: and the inspection robot takes the original parameters as reference points, rapidly positions the nearest charging point and accurately connects the charging point by the position information judged by the position sensor and the distance data and the speed information calculated by the rotary encoder.
The beneficial effects of the invention are as follows: the invention adopts the magneto-electric rotary encoder to measure the rotating speed and realize quick speed regulation, has small volume and high precision, adopts the magnetic induction type sensor for equipment monitoring, and has long service life, high measurement precision and strong reliability; the invention has simple structure, stable system and accurate positioning, and can rapidly judge the current position and accurately carry out docking charging.
Drawings
FIG. 1 is a schematic diagram of the logic of the present invention.
Detailed Description
The invention is further illustrated and described below with reference to the accompanying drawings and specific examples:
Referring to fig. 1, a 1-inspection robot, a 2-position sensor, a 3-rotary encoder, a 4-charging point, and a 5-track.
Examples: the utility model provides a quick positioning system of robot charge spot is patrolled and examined to piping lane track formula, including location mark device and location detection device, location detection device comprises position sensor 2 and rotary encoder 3 that set up inside inspection robot 1, position sensor 2 and rotary encoder 3 link on the inside circuit of inspection robot 1, location mark device adopts the magnetic mark piece, the magnetic mark piece sets up in the needs location mark department of track 5 upper surface, the side of track 5 is provided with a plurality of charge spots 4, set up into charge spot a respectively from left to right, charge spot b, charge spot n-1 and charge spot n, the interval between all adjacent two charge spots 4 is the same, position sensor 2 adopts magnetic induction type sensor, rotary encoder 3 adopts magnetoelectric rotary encoder.
The positioning method for completing quick positioning by using the positioning system comprises the following steps:
1) Determining original parameters: the inspection robot starts to run from the inspection position starting point to the inspection position ending point, and the position sensor 2 and the rotary encoder 3 record the distance between each detection position and the charging point position as original parameters;
2) And (3) quick positioning: the inspection robot detects the current position, the position sensor 2 obtains the position information of the mark position through sensing the magnetic mark block, and the rotary encoder 3 obtains the track distance data through the pulse number of the encoder;
3) Accurate butt joint: the inspection robot takes the original parameters as reference points, and rapidly positions the nearest charging point 4 and accurately connects to start charging through the position information judged by the position sensor 2 and the distance data and the speed information calculated by the rotary encoder 3.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical principles of the present invention still fall within the scope of the technical solutions of the present invention.
Claims (1)
1. The utility model provides a quick positioning system of robot charge spot is patrolled and examined to piping lane track formula, includes location mark device and location detection device, its characterized in that: the positioning detection device consists of a position sensor (2) and a rotary encoder (3) which are arranged in the inspection robot (1), the position sensor (2) and the rotary encoder (3) are connected to an internal circuit of the inspection robot (1), the positioning marking device adopts a magnetic marking block, the magnetic marking block is arranged at a position, needing to be positioned, of the upper surface of the track (5), a plurality of charging points (4) are arranged on the side edge of the track (5), and are respectively arranged as a charging point a, a charging point b, a charging point n-1 and a charging point n from left to right, and the intervals between every two adjacent charging points (4) are the same; the position sensor (2) adopts a magnetic induction type sensor, and the rotary encoder (3) adopts a magneto-electric rotary encoder;
The positioning method comprises the following steps:
1) Determining original parameters: the inspection robot starts to run from the starting point of the inspection position to the ending point of the inspection position, and the position sensor (2) and the rotary encoder (3) record the distance between each detection position and the charging point position as original parameters;
2) And (3) quick positioning: the inspection robot detects the current position, the position sensor (2) obtains the position information of the marked position by sensing the magnetic mark block, and the rotary encoder (3) obtains track distance data by the pulse number of the encoder;
3) Accurate butt joint: the inspection robot takes the original parameters as reference points, and rapidly positions the nearest charging point (4) and accurately connects the charging point by the position information judged by the position sensor (2) and the distance data and the speed information calculated by the rotary encoder (3).
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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN109405823A CN109405823A (en) | 2019-03-01 |
| CN109405823B true CN109405823B (en) | 2024-05-24 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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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| JP2004283956A (en) * | 2003-03-20 | 2004-10-14 | Sony Corp | Charging system, robot device, charging device, and charging method |
| 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 |
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| CN109405823A (en) | 2019-03-01 |
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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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