CN109828572A - Cable tunnel inspection robot and its positioning system based on mark location - Google Patents
Cable tunnel inspection robot and its positioning system based on mark location Download PDFInfo
- Publication number
- CN109828572A CN109828572A CN201910125379.1A CN201910125379A CN109828572A CN 109828572 A CN109828572 A CN 109828572A CN 201910125379 A CN201910125379 A CN 201910125379A CN 109828572 A CN109828572 A CN 109828572A
- Authority
- CN
- China
- Prior art keywords
- cable tunnel
- inspection robot
- tunnel inspection
- location information
- mark
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 137
- 238000004891 communication Methods 0.000 claims abstract description 81
- 239000003550 marker Substances 0.000 claims description 18
- 230000010365 information processing Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 22
- 238000013461 design Methods 0.000 description 10
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 8
- 230000004807 localization Effects 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000009529 body temperature measurement Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Abstract
This application involves a kind of cable tunnel inspection robot and its positioning system based on mark location；In cable tunnel inspection robot, mileage wheel, mark acquisition module, communication module, processor and memory are all set on cable tunnel inspection robot ontology；Processor is used for the mileage location information of the location information by communication module transmission cable tunnel crusing robot and the mark location Information revision mileage wheel according to mark acquisition module.On the one hand mileage location information is determined with can be convenient by mileage wheel, on the other hand accumulated error caused by eliminating mileage wheel in long distance running by mark location information, current position is accurately identified when crusing robot being enable to work in tunnel, and it can be accurately positioned the position that cable fault occurs in tunnel, make the clear cable fault position of staff, to reduce the cost of manufacture of positioning system to a certain extent, so that program cost is very low, it is readily applied to reality.
Description
Technical field
This application involves cable tunnel inspection fields, more particularly to the cable tunnel inspection robot based on mark location
And its positioning system.
Background technique
With the development of society, electric power, at essential a part in our lives, cable is main as transmission of electricity
Mode is protected most important.Electric power tunnel is for accommodating the cable being largely laid on cable bearer, and cable tunnel is deposited
Cable is not only being protected, the convenience of cable maintenance and repairing is also improved.In order to guarantee cable tunnel cable safety
Stable operation needs periodically to carry out inspection work to cable tunnel.Cable tunnel inspection at present work by manual inspection by
Mobile robot inspection is faded to, crusing robot routine inspection mode requires robot that can accurately identify current position, ability
Independent navigation is realized during inspection and is accurately positioned the position that cable fault occurs in tunnel, and staff is facilitated to enter dimension
It repairs.
Traditional approach has using cable tunnel inspection robot positioning system and method based on wireless network, the system by
Servo-actuated network node, crusing robot, wireless sensor network and wireless sensor network base station composition.Initially set up radio signal
Intensity with the attenuation model of distance change, be laid with wireless sensor network base station and multiple wireless sensors be set in base station
Locating module is realized the positioning of crusing robot by the Strength Changes of wireless signal, and passes through wireless network and monitoring meter
Calculation machine is communicated.But this method needs the number of the base station and wireless network sensor that are laid with to be determined by the length of cable tunnel
Fixed, when cable tunnel is very long, the number of the wireless network sensor of the wireless network base station and setting that need to be laid with can be very big,
The cost of whole system can be costly, is difficult practical application.The environment of cable tunnel also can be to the transmission of radio signal simultaneously
It affects.
Traditional approach also uses vision positioning method, by acquiring the image information of robot place environment in real time,
Image characteristic point is extracted, and is matched with the image characteristic point in pre-stored ambient image library, is matched and is tied by image
Fruit determines the current position of robot.But since cable tunnel environment is made of tunnel wall and the cable of laying, environment has very
The image characteristic point of big similitude, extraction is very low to the identifiability of environment.And tunnel environment insufficient light, camera are difficult
Enough characteristic points are extracted, the positioning of crusing robot is difficult to realize.
Summary of the invention
Based on this, it is necessary to provide a kind of cable tunnel inspection robot and its positioning system based on mark location.
A kind of cable tunnel inspection robot based on mark location comprising: it is cable tunnel inspection robot ontology, inner
Journey wheel, processor, memory, communication module and mark acquisition module；The mileage wheel is set to the cable tunnel survey monitor
Device human body is upper and is at least partially disposed at the outside of the cable tunnel inspection robot ontology；The cable tunnel inspection machine
Human body offers accommodating chamber, and the processor and the memory are all set on the cable tunnel inspection robot ontology
And it is respectively positioned in the accommodating chamber；The communication module is set on the cable tunnel inspection robot ontology；The mark
Acquisition module is set on the cable tunnel inspection robot ontology and at least partly exposes to the cable tunnel survey monitor
The outside of device human body；The processor is separately connected the mileage wheel, the memory, the communication module and the mark
Acquisition module, the processor be used for by the communication module transmit the cable tunnel inspection robot location information and
According to the mileage location information of mileage wheel described in the mark location Information revision of the mark acquisition module.
On the one hand the design of above-mentioned cable tunnel inspection robot determines mileage positioning letter in which can be convenient by mileage wheel
Breath, accumulated error caused by the other hand eliminating mileage wheel in long distance running by mark location information make survey monitor
Device people can accurately identify current position when working in tunnel, so that crusing robot can be by certainly during inspection
Autonomous positioning navigation is realized in the position of body, and can be accurately positioned the position that cable fault occurs in tunnel, makes staff
Cable fault position is specified, and enters maintenance, and the program only needs mileage wheel localization method and ID positioning method, thus
The cost of manufacture of positioning system is reduced to a certain extent, so that program cost is very low, is readily applied to reality.
The processor is equipped with location information processing module in one of the embodiments, and the location information handles mould
Block is for there are positions when mark location information using the mark location information as the cable tunnel inspection robot
The mileage location information of information and the mileage wheel according to the mark location Information revision of the mark acquisition module, there is no marks
Location information when knowing location information using the mileage location information as the cable tunnel inspection robot.
The mark acquisition module is equipped with photographic device in one of the embodiments, described in photographic device connection
Processor.
The mark acquisition module is additionally provided with auxiliary lighting apparatus, the floor light dress in one of the embodiments,
Set the connection processor.
The mark acquisition module is equipped with sensing device in one of the embodiments, described in sensing device connection
Processor.
The sensing device includes non-contact type inductor in one of the embodiments,.
A kind of cable tunnel inspection robot positioning system based on mark location comprising any one cable tunnel
Crusing robot further includes the location marker for being arranged at intervals at cable tunnel.
On the one hand the design of above-mentioned cable tunnel inspection robot determines mileage positioning letter in which can be convenient by mileage wheel
Breath, accumulated error caused by the other hand eliminating mileage wheel in long distance running by mark location information make survey monitor
Device people can accurately identify current position when working in tunnel, so that crusing robot can be by certainly during inspection
Autonomous positioning navigation is realized in the position of body, and can be accurately positioned the position that cable fault occurs in tunnel, makes staff
Cable fault position is specified, and enters maintenance, and the program only needs mileage wheel localization method and ID positioning method, cable
It is also easily accomplished that location marker is set, to reduce being fabricated to for positioning system to a certain extent in tunnel
This, so that program cost is very low, is readily applied to reality.
The cable tunnel inspection robot positioning system further includes the cable tunnel in one of the embodiments,.
The quantity of the location marker is multiple and arranged side by side in one of the embodiments,.
Multiple rows of location marker is set in one of the embodiments,.
Detailed description of the invention
Fig. 1 is the structural framing schematic diagram of one embodiment of the application.
Fig. 2 is the cable tunnel schematic diagram of another embodiment of the application.
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing to the application
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this Shen
Please.But the application can be implemented with being much different from other way described herein, those skilled in the art can be not
Similar improvement is done in the case where violating the application intension, therefore the application is not limited by the specific embodiments disclosed below.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be with
It is directly to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " level
", "left", "right" and similar statement for illustrative purposes only, be not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
In the application one embodiment, a kind of cable tunnel inspection robot based on mark location comprising: cable
Tunnel inspection machine human body, mileage wheel, processor, memory, communication module and mark acquisition module；The mileage wheel setting
In on the cable tunnel inspection robot ontology and being at least partially disposed at the outside of the cable tunnel inspection robot ontology；
The cable tunnel inspection robot ontology offers accommodating chamber, and the processor and the memory are all set in the cable
Tunnel inspection machine human body is upper and is respectively positioned in the accommodating chamber；The communication module is set to the cable tunnel survey monitor
On device human body；The mark acquisition module is set on the cable tunnel inspection robot ontology and at least partly exposes to
The outside of the cable tunnel inspection robot ontology；The processor is separately connected the mileage wheel, memory, described
Communication module and the mark acquisition module, the processor are used to transmit the cable tunnel inspection by the communication module
The mileage positioning of the location information of robot and the mileage wheel according to the mark location Information revision of the mark acquisition module
Information.On the one hand the design of above-mentioned cable tunnel inspection robot determines mileage location information with can be convenient by mileage wheel,
On the other hand accumulated error caused by eliminating mileage wheel in long distance running by mark location information, makes crusing robot
Current position can be accurately identified when working in tunnel, so as to crusing robot during inspection can by itself
Autonomous positioning navigation is realized in position, and can be accurately positioned the position that cable fault occurs in tunnel, defines staff
Cable fault position, and enter maintenance, and the program only needs mileage wheel localization method and ID positioning method, thus one
The cost of manufacture for determining to reduce positioning system in degree is readily applied to reality so that program cost is very low.
A kind of cable tunnel inspection robot in one of the embodiments, comprising the part-structure of following embodiment
Or entire infrastructure；That is, the cable tunnel inspection robot includes some technical characteristics or all technical features below.At it
In middle one embodiment, the cable tunnel inspection robot includes: cable tunnel inspection robot ontology, mileage wheel, processing
Device, memory, communication module and mark acquisition module.In one of the embodiments, the mark acquisition module be or including
Two dimensional code acquisition module.The cable tunnel inspection robot includes: cable tunnel inspection machine in one of the embodiments,
Human body, mileage wheel, processor, memory, communication module and two dimensional code acquisition module；Remaining embodiment and so on.It can be with
Understand, the cable tunnel inspection robot is additionally provided with the traditional structures such as camera, battery pack and/or control circuit.
The mileage wheel is set on the cable tunnel inspection robot ontology and at least in one of the embodiments,
Part is located at the outside of the cable tunnel inspection robot ontology；Mileage wheel is at least partially disposed at the cable tunnel survey monitor
The outside of device human body when rolling so as to drive the cable tunnel inspection robot to advance.One embodiment wherein
In, the quantity of the mileage wheel is multiple.Such design can determine the cable tunnel using the mean value of multiple mileage wheels
The travel distance of road inspection machine human body allows to easily determine mileage location information, to more accurately position tunnel
The position that cable fault occurs in road, but it is understood that, mileage wheel and its mileage calculation can be realized according to its specification,
The application and its each embodiment are only to directly adopt and do not make additional designs to this.It is described in one of the embodiments,
Mileage wheel for realizing cable tunnel inspection robot Primary Location.Mileage wheel localization method is that mileage wheel is fixed on cable
On tunnel crusing robot, mileage wheel can be rolled as cable tunnel inspection robot is run, and when rolling, mileage wheel can be produced
Raw pulse, can measure moving distance of the cable tunnel inspection robot in tunnel by pulse count, thus real
Existing cable tunnel inspection robot positioning.But due to mileage wheel will appear skidding etc. in the process of running, when it is mobile away from
From it is very long when, the accumulated error of mileage wheel can be very big.The quantity of the mileage wheel is one and institute in one of the embodiments,
It states cable tunnel inspection robot and is additionally provided at least two auxiliary wheels.The auxiliary wheel is driving wheel or driven wheel, for playing branch
Support auxiliary traveling effect.The cable tunnel inspection robot is additionally provided with driving device, the drive in one of the embodiments,
Dynamic device is separately connected the mileage wheel and the processor.The cable tunnel inspection machine in one of the embodiments,
People is additionally provided with auxiliary wheel, and the driving device is also connected with the auxiliary wheel.The driving device is used in one of the embodiments,
In the driving mileage wheel and/or the auxiliary wheel.The processor is for controlling the driving in one of the embodiments,
Device drives the mileage wheel and/or the auxiliary wheel.In this way, being accurately identified when crusing robot being enable to work in tunnel
Current position, so that crusing robot can realize autonomous positioning navigation during inspection by the position of itself, and
It can be accurately positioned the position that cable fault occurs in tunnel, make the clear cable fault position of staff, and enter maintenance, and
And the cost of manufacture of positioning system is reduced to a certain extent.
The cable tunnel inspection robot ontology offers accommodating chamber, the processor in one of the embodiments,
And the memory is all set on the cable tunnel inspection robot ontology and is respectively positioned in the accommodating chamber；Wherein one
In a embodiment, the accommodating chamber is opened on outside；Or the accommodating chamber is sealed relative to outside in one of the embodiments,
Close setting.Memory, that is, the information-storing device in one of the embodiments, for storing cable tunnel inspection robot institute
The range information measured.The memory is nonvolatile memory in one of the embodiments,.Further, wherein
In one embodiment, the processor and the communication device are all set in the accommodating chamber.Institute in one of the embodiments,
It states cable tunnel inspection robot and offers inner cavity chamber and exocoel, the inner cavity chamber is connected with the exocoel, and described
Exocoel is connected with external environment, and the processor is fixedly installed in the inner cavity chamber, and the communication device is set to described
In exocoel and the processor is connect with the communication device；Such design is easy to dismount, adjusts and replace the communication
Machine.Further, the inner cavity chamber is connected with the exocoel by cable tubing in one of the embodiments, described
Ethernet line is equipped in cable tubing, the processor and the communication device are respectively equipped with Ethernet interface, the ethernet line
The Ethernet interface of processor and the Ethernet interface of the communication device described in grafting are distinguished in both ends, connect with can be convenient so described
Processor and the communication device, and the structural stability of the cable tunnel inspection robot is preferable, is adapted to higher intensity
Inspection work.
The communication module is set on the cable tunnel inspection robot ontology in one of the embodiments,；?
In one embodiment, the communication module at least partly exposes to the outside of the cable tunnel inspection robot ontology.
The communication module for sending cable tunnel inspection robot and cable to host computer in real time in one of the embodiments,
Location of fault information.The communication module is at least partially disposed in the accommodating chamber in one of the embodiments,.Further
Ground, the quantity of the communication module is at least two in one of the embodiments, i.e., the described cable tunnel inspection robot is set
Set at least two communication modules；Further, in one of the embodiments, the cable tunnel inspection robot in described
Cable tunnel inspection robot ontology is equipped with communication device, and the communication device is equipped with master controller and at least two communication modules,
In, the processor is connect with the master controller；The master controller is separately connected at least two communication module,
At least two communication modules include an at least wireless communication module and an at least wire communication module.One embodiment wherein
In, the processor is connect using Ethernet interface with the communication device.In one of the embodiments, the processor with it is described
Master controller passes through network interface connection；The network interface is Ethernet interface in one of the embodiments,.In this way, cable tunnel inspection
Robot has highly integrated communication device, cooperates network system connection communication different in actual field, can be quick, stable
Offer inspection business.The processor of cable tunnel inspection robot is attached using Ethernet interface with communication device, communication device
The data routing for realizing each communication channel, completes system communication traffic.Further, it can also run in the processor embedded
Service routine has good gateway features, using stringent as the interface equipment of robot and all external network systems
Security mechanism manages the access net service of robot.Service routine controls the netsurfing function of double frequency module, and control connects
Robot interior data forwarding when data network is connect, selection is communicated from the communication link confirmed the validity.It is understood that
The embedded program of operation in the processor mentioned in the application controls the working condition of each communication module, and completes robot
The method switched between this base station of communication signal, not to the limitation of the application and its each embodiment.One wherein
In embodiment, the wireless communication module includes 2.4/5.8GHz double frequency WiFi module.The nothing in one of the embodiments,
Line communication module includes 2.4GHzWiFi module.The wireless communication module includes 4G-LTE mould in one of the embodiments,
Block.The wireless communication module includes LORA Internet of Things module in one of the embodiments,.In one of the embodiments,
The wireless communication module includes 5G module.The wireless communication module includes 2.4/5.8GHz in one of the embodiments,
At least one of double frequency WiFi module, 2.4GHzWiFi module, 4G-LTE module, LORA Internet of Things module and 5G module, extremely
Few two or whole.Further, the communication device is integrated in as independent communication unit in one of the embodiments,
Inside the cable tunnel inspection robot, have a variety of communication modules, including 2.4/5.8GHz double frequency WiFi module,
2.4GHzWiFi module, 4G-LTE module, LORA Internet of Things module, RS485 interface module, common ethernet interface module.
2.4/5.8GHz double frequency WiFi module is connected using PCIe interface with processor, has two WiFi frequency ranges of 2.4GHz, 5.8GHz,
WLAN communication meets IEEE802.11b/g/n/ac standard.Controller can manage the use in two channels 2.4/5.8G, can basis
WiFi system frequency range in tunnel is configured as corresponding communications band.2.4GHzWiFi module and processor use
PCIe, that is, PCI-E is attached, and as the AccessPoint on the cable tunnel inspection robot, can allow the hand at scene
Operating terminal is held to be attached by the way of 2.4GWiFi.The WiFi power of handheld terminal is smaller, and operator is on hand
When operating the cable tunnel inspection robot, wireless data is by the Wi-Fi hotspot on the cable tunnel inspection robot
It can carry out data transmission, it is simple and convenient.When the cable tunnel inspection robot individually or together with operator in the shifting in tunnel
During dynamic, do not need to cause control instruction to be lost because of the switching of base station radio signal.Operating terminal directly with the electricity
The controller of cable tunnel crusing robot carries out data interaction, is done directly with shortest transmission path, the video counts of big flow
It does not need to be linked to long-range data center according to, thermal imaging temperature measurement data and be forwarded, there is more efficient transmission performance, application
Experience effectively improves.4G-LTE module is attached with processor using PCIe, is the cable tunnel inspection robot
The mobile capaciated flow network service of 4G is provided and has built the 4G network coverage, the cable tunnel inspection in conditional tunnel
4G network communication is supported in robot, robot can be directly accessed to network system, realizes that the stable communication data of high speed passes
It is defeated.4G-LTE module leads to module using the whole network, supports movement, connection, the business of telecom operators, can directly utilize mobile network
Network characteristic realizes quickly seamless data roaming, reduces the loss of data.LORA module, using RS232 communication interface and processor
It is connected, using 433MHz carrier frequency module, the longer-distance transmission in tunnel may be implemented.Wherein, LORA is a kind of
It is that a kind of overlength distance based on spread spectrum that Semtech company, the U.S. uses and promotes wirelessly passes in the LPWAN communication technology
Transmission scheme；LORA module can carry out linkage communication with the Local Controller with LORA receiver at tunnel scene, control on the spot
Device processed can connect the data acquisition device or executive device at scene, realize that remote system passes through the cable tunnel inspection machine
People flexibly realizes information-based integral tube as moveable signal transfer base station, measurement and control network of the rapid deployment based on Internet of Things
Control.The method installed LORA wireless module in communication device and carry out internet of things equipment access on the spot mentioned in the application, it is unlimited
Its fixed specific communication form.Such design enables the cable tunnel inspection robot using various wireless communications
Pattern completion system communication traffic, it is low to environmental requirement in tunnel, the roaming function of network system is required low, it is not easy to cause
Loss of data, stability are good.It is understood that mentions in the application installs AP (Access in the communication device of robot
Point provides wirelessly access) method that module is communicated with hand-held controlling terminal, the biography of communication system is not limited yet
Defeated agreement, as long as carrying out data transmission by the way that robot itself is direct-connected, the method without being communicated in whole process.Wherein
In one embodiment, the wire communication module includes ethernet interface module.The cable modem in one of the embodiments,
Believe that module includes RS485 interface module.The wire communication module includes RS232 interface module in one of the embodiments,.
The wire communication module includes RJ45 interface module and/or fiber interface module in one of the embodiments,.Wherein one
In a embodiment, the wire communication module includes RS485 interface module, RS232 interface module, RJ45 interface module and optical fiber
At least one of interface module, at least two or whole.In this way, communication device reserve RS485 interface, can in robot
RS485 bus communication component is communicated, and more multi-functional expansion may be implemented in reserved Ethernet interface.Such design, makes
The network system that the cable tunnel inspection robot is adapted to current routine is obtained, it can be complete using various wired communication modes
Low to environmental requirement in tunnel at system communication traffic, low to the roaming function requirement of network system, stability is preferable, in this way
The connection that can flexibly realize the cable tunnel inspection robot Yu various field networks is adapted to the network of current routine
System greatly improves the adaptability of the cable tunnel inspection robot.
The mark acquisition module is equipped with sensing device in one of the embodiments, described in sensing device connection
Processor.The sensing device includes non-contact type inductor in one of the embodiments,.Further, wherein one
In a embodiment, the sensing device includes RFID inductor, infrared inductor or thermal sensing device etc..It can pass through in this way
Induction mode especially non-contact inductive mode realizes mark acquisition, to accurately provide mark location information, Yi Jiyou
Help correct the mileage location information of the mileage wheel.
The mark acquisition module is set on the cable tunnel inspection robot ontology in one of the embodiments,
And at least partly expose to the outside of the cable tunnel inspection robot ontology；The mark in one of the embodiments,
Acquisition module is at least partially disposed in the accommodating chamber.The mark acquisition module is equipped with camera shooting in one of the embodiments,
Device, the photographic device connect the processor.The mark acquisition module is additionally provided with auxiliary in one of the embodiments,
Lighting device, the auxiliary lighting apparatus connect the processor.In one of the embodiments, the auxiliary lighting apparatus with
The photographic device linkage setting, the auxiliary lighting apparatus, which is used to automatically provide auxiliary in photographic device work, to be shone
It is bright.The auxiliary lighting apparatus includes LED light in one of the embodiments, and/or it energizes structure.An implementation wherein
In example, the mark acquisition module is two dimensional code acquisition module, is positioned for acquiring two dimensional code.Further, wherein
In one embodiment, the photographic device and the camera on the cable tunnel inspection robot ontology are integrally disposed.In this way
Design, the positioning identifier of the location marker of specific position can be obtained, since crusing robot works in tunnel environment,
Therefore operating path is relatively fixed, therefore can be positioned using mileage wheel positioning mode to crusing robot.Due to mileage wheel
The error accumulated when moving distance is too long can be very big, so the application joined the skill of positioning identifier especially two dimensional code positioning
Art, such as two dimensional code is acquired to realize the accurate positioning of crusing robot by two dimensional code acquisition module, it is positioned using two dimensional code
Mode eliminates the accumulated error of mileage wheel positioning, realizes the accurate positioning of crusing robot.It is described in one of the embodiments,
Two dimensional code acquisition module is mainly made of auxiliary lighting apparatus and camera, and camera is used to acquire the two dimensional code of ground stickup, due to
Light is not very sufficient in cable tunnel, therefore increases auxiliary lighting apparatus, and the image for acquiring camera is more clear, convenient
Processor reads the information in two dimensional code.As shown in Fig. 2, multiple two dimensional code markers 700 are equipped in cable tunnel 600 side by side,
Can be in one row's two dimensional code of ground every a distance i.e. in cable tunnel, transversely arranged several identical two dimensional codes are to guarantee
When cable tunnel inspection robot is by position at this, no matter how much disalignment can collect image in 2 D code,
Wherein the spacing of adjacent two dimensional code is determined by the angular field of view of camera.Contain the location information of current location in two dimensional code, leads to
Overscanning two dimensional code can obtain current exact position, realize the positioning of robot.
The processor is separately connected the mileage wheel, the memory, the communication mould in one of the embodiments,
Block and the mark acquisition module, the processor are used to transmit the cable tunnel inspection robot by the communication module
Location information and according to it is described mark acquisition module mark location Information revision described in mileage wheel mileage location information.?
In one embodiment, the battery pack of the cable tunnel inspection robot or the cable tunnel inspection robot ontology or
Its power supply line is separately connected the processor, the memory, the communication module, the mark acquisition module and/or institute
Mileage wheel is stated, for powering.In one of the embodiments, as shown in Figure 1, processor 100 is separately connected memory 200, inner
Journey wheel 300, communication module 400 and two dimensional code acquisition module 500, two dimensional code acquisition module 500 are equipped with photographic device 510 and auxiliary
Lighting device 520.The processor is fixed for receiving and handling mileage wheel location information and mark in one of the embodiments,
Position information.The processor is for receiving and handling mileage wheel location information and two dimensional code positioning in one of the embodiments,
Information.Since tunnel is very long, it is unpractical for sticking two dimensional code in each position, therefore pastes a row every a distance
Two dimensional code is used for the accurate positioning of robot.Tunnel segment between two dimensional code and two dimensional code is positioned using mileage wheel, and will
The distance information transmission that mileage wheel is surveyed passes through two dimension when cable tunnel inspection robot reaches at two dimensional code to processor
Code acquisition module acquire image in 2 D code, be transferred to processor obtain precise position information, and with information measured by mileage wheel
Compare, calibrates the range information of mileage wheel.The processor by the communication module for being passed in one of the embodiments,
The location information of the defeated cable tunnel inspection robot and the two dimensional code location information that acquisition module is known according to the two dimensional code
Correct the mileage location information of the mileage wheel.Adjacent two rows of two dimensional code, that is, two dimensional code markers in one of the embodiments,
Spacing be fixed setting, the spacing of adjacent two rows of two dimensional code, that is, two dimensional code marker includes in one of the embodiments,
50 meters, 100 meters, 200 meters, 500 meters or 1000 meters etc..In this way, eliminating mileage wheel in long distance running by two dimensional code positioning
When caused by accumulated error, so that crusing robot is accurately identified current position, so that crusing robot is in inspection process
In autonomous positioning navigation can be realized by the position of itself, and can be accurately positioned the position that cable fault in tunnel occurs
It sets, makes the clear cable fault position of staff, and enter maintenance.The program only needs mileage wheel localization method and two dimension simultaneously
Code localization method, the two dimensional code pasted in tunnel also easily obtain, so that program cost is very low, are readily applied to reality
Border.
The processor is equipped with location information processing module in one of the embodiments, and the location information handles mould
Block is for there are positions when mark location information using the mark location information as the cable tunnel inspection robot
The mileage location information of information and the mileage wheel according to the mark location Information revision of the mark acquisition module, there is no marks
Location information when knowing location information using the mileage location information as the cable tunnel inspection robot.Further
Ground, the location information processing module is equipped with switching switch in one of the embodiments, and the switching switch is separately connected institute
Mileage wheel and the mark acquisition module are stated, the switching switch is for judging whether to receive described in the mark acquisition module
Mark location information is then using location information and root of the mark location information as the cable tunnel inspection robot
The mileage location information of mileage wheel described in mark location Information revision according to the mark acquisition module, otherwise uses the mileage
Location information of the location information as the cable tunnel inspection robot.
Further, the cable tunnel inspection robot is additionally provided with navigational structure in one of the embodiments, described
Independent navigation inspection of the navigational structure for realizing the cable tunnel inspection robot in cable tunnel；Further, exist
In one embodiment, the cable tunnel inspection robot is additionally provided with navigational structure, and the navigational structure includes Fuzzy Control
Device, laser sensor, ultrasonic sensor and velocity sensor processed；The navigational structure is used in one of the embodiments,
Realize autonomous navigation system.The navigational structure uses fuzzy controller for primary control in one of the embodiments, leads to
Crossing laser sensor, ultrasonic sensor and velocity sensor is fuzzy control to the detection information of ambient enviroment and itself speed
The input of device, fuzzy controller obtain the speed that the mileage wheel should have, output control signal by fuzzy rule inference
To the speed of stepper motor adjustment left and right wheels, independent navigation is completed.
A kind of cable tunnel inspection robot positioning system based on mark location in one of the embodiments, packet
Cable tunnel inspection robot described in any embodiment is included, further includes the location marker for being arranged at intervals at cable tunnel.It is above-mentioned
On the one hand the design of cable tunnel inspection robot determines mileage location information with can be convenient by mileage wheel, on the other hand
Accumulated error caused by eliminating mileage wheel in long distance running by mark location information, makes crusing robot in tunnel
Current position can be accurately identified when work, so that crusing robot can be realized during inspection by the position of itself
Autonomous positioning navigation, and can be accurately positioned the position that cable fault occurs in tunnel, make the clear cable fault of staff
Position, and enter maintenance, and the program only needs mileage wheel localization method and ID positioning method, setting is fixed in cable tunnel
Bit identification object is also easily accomplished, so that the cost of manufacture of positioning system is reduced to a certain extent, so that the program
Cost is very low, is readily applied to reality.
The cable tunnel inspection robot positioning system further includes the cable tunnel in one of the embodiments,.
The quantity of the location marker is multiple and arranged side by side in one of the embodiments,.It sets in one of the embodiments,
Set multiple rows of location marker.Each adjacent two rows of location markers spacing having the same in one of the embodiments,.
The location marker is used to be equipped with positioning identifier using as place marks in one of the embodiments,.A reality wherein
It applies in example, the location marker includes two dimensional code marker or sensor identification object etc..It is described in one of the embodiments,
Multiple two dimensional code markers are set in cable tunnel.The quantity of the two dimensional code marker in one of the embodiments,
It is multiple and arranged side by side.Multiple rows of two dimensional code marker is set in one of the embodiments,.One embodiment wherein
In, each adjacent two rows of two dimensional code marker spacing having the same.The two dimensional code marker in one of the embodiments,
For being equipped with two dimensional code label layer, that is, two dimensional code mark, for providing two dimensional code using as place marks.
It continues with the one embodiment for providing concrete application: being identified not reaching next i.e. two dimensional code of two dimensional code mark
When object, the range information as measured by mileage wheel positioning mode realizes the positioning to cable tunnel inspection robot, and will measurement
Range information real-time Transmission to processor handled.When cable tunnel inspection robot reaches two dimensional code mark, two dimension
The image in 2 D code of code acquisition module acquisition two dimensional code mark, and it is transmitted to processor, processor is obtained from two dimensional code
The precise position information of current location, and the location information surveyed by mileage wheel before the location information calibration in two dimensional code,
Eliminate the accumulated error generated.The range information that mileage wheel is surveyed just is calibrated every a distance in this way, in the operation of long range
The measured range error of Shi Licheng wheel also can very little, guarantee the accuracy of cable tunnel inspection robot positioning.
It should be noted that the other embodiments of the application further include, the mutually group of the technical characteristic in the various embodiments described above
Close the cable tunnel inspection robot and its positioning system based on mark location that is formed by, can implement.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to claim therefore cannot be interpreted as.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of patent protection of the application should be determined by the appended claims.
Claims (10)
1. a kind of cable tunnel inspection robot based on mark location characterized by comprising cable tunnel inspection robot
Ontology, mileage wheel, processor, memory, communication module and mark acquisition module；
The mileage wheel is set on the cable tunnel inspection robot ontology and is at least partially disposed at the cable tunnel and patrols
Examine the outside of robot body；
The cable tunnel inspection robot ontology offers accommodating chamber, and the processor and the memory are all set in described
On cable tunnel inspection robot ontology and it is respectively positioned in the accommodating chamber；
The communication module is set on the cable tunnel inspection robot ontology；
The mark acquisition module is set on the cable tunnel inspection robot ontology and at least partly exposes to the electricity
The outside of cable tunnel inspection machine human body；
The processor is separately connected the mileage wheel, the memory, the communication module and the mark acquisition module, institute
Processor is stated for transmitting the location information of the cable tunnel inspection robot by the communication module and according to the mark
Know the mileage location information of mileage wheel described in the mark location Information revision of acquisition module.
2. cable tunnel inspection robot according to claim 1, which is characterized in that the processor is equipped at location information
Module is managed, the location information processing module is for there are used described in the mark location information conduct when mark location information
The location information of cable tunnel inspection robot and the mileage according to the mark location Information revision of the mark acquisition module
The mileage location information of wheel, using the mileage location information as the cable tunnel inspection when mark location information is not present
The location information of robot.
3. cable tunnel inspection robot according to claim 1, which is characterized in that the mark acquisition module is equipped with camera shooting
Device, the photographic device connect the processor.
4. cable tunnel inspection robot according to claim 3, which is characterized in that the mark acquisition module is additionally provided with auxiliary
Lighting device is helped, the auxiliary lighting apparatus connects the processor.
5. cable tunnel inspection robot according to claim 1, which is characterized in that the mark acquisition module is equipped with induction
Device, the sensing device connect the processor.
6. cable tunnel inspection robot according to claim 5, which is characterized in that the sensing device includes contactless
Sensing device.
7. a kind of cable tunnel inspection robot positioning system based on mark location, which is characterized in that it includes that right such as is wanted
Cable tunnel inspection robot described in asking any one of 1 to 6 further includes the location marker for being arranged at intervals at cable tunnel.
8. cable tunnel inspection robot positioning system according to claim 7, which is characterized in that the cable tunnel inspection
Robot positioning system further includes the cable tunnel.
9. cable tunnel inspection robot positioning system according to claim 7, which is characterized in that the location marker
Quantity is multiple and arranged side by side.
10. cable tunnel inspection robot positioning system according to claim 9, which is characterized in that setting is multiple rows of described fixed
Bit identification object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910125379.1A CN109828572A (en) | 2019-02-20 | 2019-02-20 | Cable tunnel inspection robot and its positioning system based on mark location |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910125379.1A CN109828572A (en) | 2019-02-20 | 2019-02-20 | Cable tunnel inspection robot and its positioning system based on mark location |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109828572A true CN109828572A (en) | 2019-05-31 |
Family
ID=66863822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910125379.1A Pending CN109828572A (en) | 2019-02-20 | 2019-02-20 | Cable tunnel inspection robot and its positioning system based on mark location |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109828572A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262546A (en) * | 2019-06-18 | 2019-09-20 | 武汉大学 | A kind of tunnel intelligent unmanned plane cruising inspection system and method |
| CN110850233A (en) * | 2019-11-19 | 2020-02-28 | 湖南国奥电力设备有限公司 | Cable fault positioning method and device |
| CN110852461A (en) * | 2019-11-19 | 2020-02-28 | 湖南国奥电力设备有限公司 | Method and device for positioning fault underground cable |
| CN111310504A (en) * | 2020-02-06 | 2020-06-19 | 北京海益同展信息科技有限公司 | Position calibration system and method, computer-readable storage medium |
| CN112198883A (en) * | 2020-12-09 | 2021-01-08 | 苏州光格设备有限公司 | Track section calibration method for inspection robot system |
| CN112985459A (en) * | 2021-02-08 | 2021-06-18 | 京东数科海益信息科技有限公司 | Mileage data calibration method and device, electronic equipment and storage medium |
| CN113126025A (en) * | 2021-04-23 | 2021-07-16 | 刘自禄 | Vehicle positioning method and positioning system |
| CN114266326A (en) * | 2022-01-21 | 2022-04-01 | 北京微链道爱科技有限公司 | Object identification method based on robot binocular three-dimensional vision |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012071796A1 (en) * | 2010-11-29 | 2012-06-07 | 嘉兴亚特园林机械研究所 | Mobile robot positioning system and positioning method thereof |
| CN102880179A (en) * | 2012-09-19 | 2013-01-16 | 山东康威通信技术股份有限公司 | Multifunctional intelligent routing inspection robot used in power tunnel |
| CN109281711A (en) * | 2018-09-30 | 2019-01-29 | 中国安全生产科学研究院 | A kind of subterranean tunnel safety patrol inspection robot |
-
2019
- 2019-02-20 CN CN201910125379.1A patent/CN109828572A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012071796A1 (en) * | 2010-11-29 | 2012-06-07 | 嘉兴亚特园林机械研究所 | Mobile robot positioning system and positioning method thereof |
| CN102880179A (en) * | 2012-09-19 | 2013-01-16 | 山东康威通信技术股份有限公司 | Multifunctional intelligent routing inspection robot used in power tunnel |
| CN109281711A (en) * | 2018-09-30 | 2019-01-29 | 中国安全生产科学研究院 | A kind of subterranean tunnel safety patrol inspection robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262546A (en) * | 2019-06-18 | 2019-09-20 | 武汉大学 | A kind of tunnel intelligent unmanned plane cruising inspection system and method |
| CN110262546B (en) * | 2019-06-18 | 2021-07-20 | 武汉大学 | Tunnel intelligent unmanned aerial vehicle inspection method |
| CN110850233A (en) * | 2019-11-19 | 2020-02-28 | 湖南国奥电力设备有限公司 | Cable fault positioning method and device |
| CN110852461A (en) * | 2019-11-19 | 2020-02-28 | 湖南国奥电力设备有限公司 | Method and device for positioning fault underground cable |
| CN111310504A (en) * | 2020-02-06 | 2020-06-19 | 北京海益同展信息科技有限公司 | Position calibration system and method, computer-readable storage medium |
| CN111310504B (en) * | 2020-02-06 | 2023-09-01 | 京东科技信息技术有限公司 | Position calibration system and method, and computer-readable storage medium |
| CN112198883A (en) * | 2020-12-09 | 2021-01-08 | 苏州光格设备有限公司 | Track section calibration method for inspection robot system |
| CN112985459A (en) * | 2021-02-08 | 2021-06-18 | 京东数科海益信息科技有限公司 | Mileage data calibration method and device, electronic equipment and storage medium |
| CN113126025A (en) * | 2021-04-23 | 2021-07-16 | 刘自禄 | Vehicle positioning method and positioning system |
| CN114266326A (en) * | 2022-01-21 | 2022-04-01 | 北京微链道爱科技有限公司 | Object identification method based on robot binocular three-dimensional vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109828572A (en) | Cable tunnel inspection robot and its positioning system based on mark location | |
| CN108898880B (en) | Vehicle control method and system | |
| CN111639505B (en) | Hybrid positioning navigation system and method for indoor inspection robot | |
| CN109640256A (en) | Layered stereoscopic monitoring method and system based on UWB positioning | |
| CN107450540A (en) | Indoor mobile robot navigation system and method based on infrared road sign | |
| CN207983362U (en) | The robot of rail vehicle bottom inspection is used for by railway guidance and laser positioning | |
| CN111096138A (en) | UWB-based mowing robot working boundary establishing and identifying system and method | |
| CN103957508A (en) | Accurate underground wireless positioning system and method based on combination of WiFi and gyroscope | |
| CN112511808A (en) | Intelligent inspection system and method for power transmission line | |
| CN107454945A (en) | The navigation system of unmanned plane | |
| CN106604236A (en) | Indoor positioning system | |
| CN102642776A (en) | System and method for positioning overhead crane | |
| CN109041107A (en) | A kind of WIFI roaming automated testing method and system | |
| CN104809893B (en) | Traffic lights optimization system and optimization method based on ultra-wideband wireless location technology | |
| CN105841713A (en) | Parking place navigation method, terminal equipment and parking place navigation system | |
| CN110095799A (en) | A kind of integrated satellite navigation and super-broadband tech positioning system and its method | |
| KR101812999B1 (en) | Field equipment inspection system using mobile inspector terminal | |
| CN206877184U (en) | Warmhouse booth environmental data remote monitoring system | |
| CN109240232A (en) | Machinery equipment positioning and state monitoring method and system based on sensor perception | |
| CN108344970A (en) | A kind of wireless location automatic calibrating method using mobile robot | |
| CN108235245A (en) | A kind of method of WiFi positioning | |
| CN111583695A (en) | Intelligent environmental sanitation system based on Beidou navigation | |
| CN209250894U (en) | Layered stereoscopic based on UWB positioning monitors system | |
| CN108769113B (en) | A kind of robot device and its management system for Internet of Things running maintenance | |
| CN109719731A (en) | Tunnel robot combined communications system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200921 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Applicant after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Applicant before: GUANGZHOU POWER SUPPLY Co.,Ltd. |