CN109855631A - Rail mounted crusing robot re-positioning method - Google Patents
Rail mounted crusing robot re-positioning method Download PDFInfo
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- CN109855631A CN109855631A CN201910233854.7A CN201910233854A CN109855631A CN 109855631 A CN109855631 A CN 109855631A CN 201910233854 A CN201910233854 A CN 201910233854A CN 109855631 A CN109855631 A CN 109855631A
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Abstract
The present invention relates to a kind of rail mounted crusing robot re-positioning methods, including crusing robot to carry out Initialize installation to locating point data, obtains the range data being sequentially recorded between whole anchor points；When crusing robot, which is lost, to be positioned, to away from or approaching two anchor points of track starting point direction walking, the distance between two anchor points are calculated, and find immediate record in the distance record in Initialize installation；If record only unique one, initialization distance record in two anchor points, the anchor point that crusing robot is finally passed through by direction of travel, anchor point serial number be crusing robot current location anchor point serial number；If record has two or more, crusing robot walks on by next anchor point, until record only unique one.The present invention can solve crusing robot because a variety of causes lose position when, without return trajectory starting point, the problem of its position can be accurately positioned again.
Description
Technical field
The present invention relates to robotic technology field, especially a kind of rail mounted crusing robot re-positioning method.
Background technique
Interior distribution station is as power grid end, and large number of, inspection pressure is huge, and the appearance of rail mounted crusing robot is big
The inspection problem at interior distribution station is alleviated greatly.In order to carry out inspection to indoor electric equipment, it usually needs preset inspection
Target formulates inspection route, setting patrol task.When crusing robot executes patrol task, runs to and patrol according to inspection route
Target position is examined, by included shooting unit photographic subjects object after stopping, is then proceeded to next inspection target position
It moves, in motion process, robot carries out automatic identification to the Target Photo shot before, reads and backs up meter number therein
Value or position of the switch information.
However, crusing robot position location caused by due to power failure or trouble light etc. is lost, crusing robot is needed
It returns to origin and starts walking positioning, this will be significantly increased monitoring time and increases the workload of operation maintenance personnel.
Meanwhile mechanical grinding, abrasion or movement cumulative errors, offset can be generated to position location, and then influence to clap
Effect is taken the photograph, or even influences the normal inspection of crusing robot.
Summary of the invention
The technical problem to be solved by the present invention is proposing a kind of rail mounted crusing robot re-positioning method, Neng Gou
When crusing robot loses positioning because of a variety of causes, it can be accurately positioned again without return trajectory starting point.
The technical scheme adopted by the invention is as follows: a kind of rail mounted crusing robot re-positioning method, including band positioning
Point and the not exactly the same track of positioning space, the rail polling robot with orientation detection sensors, and including such as
Lower step:
1) crusing robot carries out location data Initialize installation to crusing robot before inspection, comprising:
A) crusing robot starts to walk in track starting point；
B walking sequence) is pressed, when the orientation detection sensors of crusing robot detect an anchor point, then crusing robot is given
Anchor point serial number is arranged in anchor point, and starts distance and count；
C) crusing robot walks on by walking sequence, when the orientation detection sensors of crusing robot detect it is next fixed
Site, then crusing robot continues that anchor point serial number is arranged to the anchor point, and records an anchor point to the anchor point
The distance between；
D) continue repeat step B), C), until crusing robot pass through all anchor points, and by walking all positioning of journal
The distance between dot sequency number and each anchor point being arranged in order value；
2) it when crusing robot loses position location, walks to away from or approaching track starting point direction, comprising the following steps:
A) walking sequence is pressed, when the orientation detection sensors of crusing robot detect an anchor point, then crusing robot is opened
The distance that begins counts；
B) by former walking sequence, crusing robot walks on, when the orientation detection sensors of crusing robot detect it is next
When a anchor point, crusing robot obtains the distance between two anchor points；
C) between the anchor point recorded during Initialize installation in data record, find closest to current anchor point
Between distance record；
If d) two anchor point distances that current crusing robot passes through, with two positioning recorded during Initialize installation
Between point in distance record, when immediate record only has only one matching:
If i) current crusing robot is walked to far from track starting point direction, two of journal in range data record
In anchor point, posterior anchor point serial number is recorded, is the anchor point serial number of current crusing robot, which is to work as
The anchor point of preceding crusing robot；
If ii) current crusing robot is walked to close to track starting point direction, the two of journal in range data record
In a anchor point, record preceding anchor point serial number, be current crusing robot just through anchor point serial number, the positioning
Point is the anchor point of current crusing robot；
If e) two anchor point distances that current crusing robot passes through, with two positioning recorded during Initialize installation
Between point in distance record, immediate record is there are two when the above matching record, and crusing robot is along original direction after continuing
Walk, until next anchor point, and the distance between calculate this two neighboring anchor point, then original matching record it is adjacent and
In range data record in the same direction, the record closest to distance between current anchor point is found；If immediate record only has
When only one matching record:
I) if current crusing robot is walked to far from track starting point direction, two of journal in range data record
In anchor point, posterior anchor point serial number is recorded, is the anchor point serial number of current crusing robot, which is to work as
The anchor point of preceding crusing robot；
II) if current crusing robot is walked to close to track starting point direction, the two of journal in range data record
In a anchor point, record preceding anchor point serial number, be current crusing robot just through anchor point serial number, the positioning
Point is the anchor point of current crusing robot；
If repeating step e) there are two when the above matching record in record, until only one matching record；
F) it when crusing robot loses position location, walks to away from or approaching track starting point direction, without positioning
When point or by one or more anchor points, i.e. arrival track starting point or track terminal, then the current location of crusing robot
In track starting point or track terminal.
Further, the present invention is found closest to when the record of distance including crusing robot between current anchor point
Walking error.
It further says, positioning space of the present invention is different between two.
It further says, positioning space of the present invention has one or more constant spacings.
It further says, it is exactly crusing robot travelling control component by two points that distance of the present invention, which counts,
Between step-by-step counting.
It is patrolled in lasting shooting process of the camera shooting without pause the beneficial effects of the present invention are: carrying out inspection using the present invention
When examining robot because of a variety of causes loss positioning, it can be accurately positioned again without return trajectory starting point, reduce operation maintenance personnel
Workload, shorten monitoring time on the whole.
Detailed description of the invention
Fig. 1 is inspection process schematic of the invention.
Specific embodiment
Presently in connection with attached drawing and preferred embodiment, the present invention is described in further detail.These attached drawings are simplified
Schematic diagram, the basic structure of the invention will be illustrated schematically only, therefore it only shows the composition relevant to the invention.
As shown in Figure 1, a kind of rail mounted crusing robot re-positioning method, comprising: between band anchor point and anchor point
Away from not exactly the same track；Rail polling robot with orientation detection sensors, anchor point be respectively A1, A2, A3,
A4, A5, A6, A7, loss position are M1, and the distance of two neighboring anchor point is different between two in diagram.
Crusing robot carries out location data Initialize installation before inspection, to crusing robot, and crusing robot is in-orbit
Road starting point starts to walk, and when the orientation detection sensors of crusing robot detect anchor point A1, crusing robot is given
It is 1 that anchor point serial number, which is arranged, in site A1, and starts distance and count；Crusing robot walks on by walking sequence, works as inspection
When the orientation detection sensors of robot detect anchor point A2, anchor point serial number 2 is arranged to anchor point A2 in crusing robot,
And the 499.8mm that the distance between records A1, A2；When crusing robot by all anchor points and records two neighboring anchor point
After distance, then location data initialization terminates.
Position location is lost when crusing robot runs to the position M1, crusing robot is to far from track starting point at this time
Direction walking starts distance and counts, work as inspection machine when the orientation detection sensors of crusing robot detect A4 anchor point
The orientation detection sensors of people obtain point-to-point transmission distance when detecting A5 anchor point is 500.1mm, with Initialize installation process
The distance between the two neighboring anchor point of middle record data comparison searches out two anchor points that anchor point serial number is 4 and 5
Apart from closest, it is inferred that crusing robot current anchor point serial number is 5 out；If it is considered that walking error ± 0.1mm,
So the distance between A4 and A5 are 500.0mm or 500.2mm, with the two neighboring anchor point recorded during Initialize installation
The distance between the closest anchor point serial number of data be 3 and 4 or anchor point serial number is 6 and 7, crusing robot at this time
It can not infer the serial number of oneself locating anchor point；Crusing robot walks in order, when the positioning of crusing robot is examined
Surveying and obtaining the distance of point-to-point transmission when sensor detects A6 anchor point is 500.5mm, walking error ± 0.1mm is considered, then A5
The distance between A6 500.4mm or 500.6mm, with Initialize installation during between the two neighboring anchor point that records away from
The anchor point serial number closest from data is 5 and 6, it is inferred that crusing robot current anchor point serial number is 6 out.
Position location is lost when crusing robot runs to the position M1, crusing robot is to close to track starting point at this time
Direction walking starts distance and counts, work as inspection machine when the orientation detection sensors of crusing robot detect A3 anchor point
The orientation detection sensors of people obtain point-to-point transmission distance when detecting A2 anchor point is 499.2mm, with Initialize installation process
The distance between the two neighboring anchor point of middle record data comparison search out serial number be 2 and 3 two anchor points distance most
It is close, it is inferred that crusing robot current location is No. 2 anchor points out.
It is a specific embodiment of the invention described in above instructions, various illustrations are not to reality of the invention
The limitation of matter Composition of contents, person of an ordinary skill in the technical field can be to described in the past specific after having read specification
Embodiment is made an amendment or is deformed, without departing from the spirit and scope of the invention.
Claims (5)
1. a kind of rail mounted crusing robot re-positioning method, it is characterised in that: including band anchor point and positioning space
Not exactly the same track, the rail polling robot with orientation detection sensors, and include the following steps:
1) crusing robot carries out location data Initialize installation to crusing robot before inspection, comprising:
A) crusing robot starts to walk in track starting point；
B walking sequence) is pressed, when the orientation detection sensors of crusing robot detect an anchor point, then crusing robot is given
Anchor point serial number is arranged in anchor point, and starts distance and count；
C) crusing robot walks on by walking sequence, when the orientation detection sensors of crusing robot detect it is next fixed
Site, then crusing robot continues that anchor point serial number is arranged to the anchor point, and records an anchor point to the anchor point
The distance between；
D) continue repeat step B), C), until crusing robot pass through all anchor points, and by walking all positioning of journal
The distance between dot sequency number and each anchor point being arranged in order value；
2) it when crusing robot loses position location, walks to away from or approaching track starting point direction, comprising the following steps:
A) walking sequence is pressed, when the orientation detection sensors of crusing robot detect an anchor point, then crusing robot is opened
The distance that begins counts；
B) by former walking sequence, crusing robot walks on, when the orientation detection sensors of crusing robot detect it is next
When a anchor point, crusing robot obtains the distance between two anchor points；
C) between the anchor point recorded during Initialize installation in data record, find closest to current anchor point
Between distance record；
If d) two anchor point distances that current crusing robot passes through, with two positioning recorded during Initialize installation
Between point in distance record, when immediate record only has only one matching:
If i) current crusing robot is walked to far from track starting point direction, two of journal in range data record
In anchor point, posterior anchor point serial number is recorded, is the anchor point serial number of current crusing robot, which is to work as
The anchor point of preceding crusing robot；
If ii) current crusing robot is walked to close to track starting point direction, the two of journal in range data record
In a anchor point, record preceding anchor point serial number, be current crusing robot just through anchor point serial number, the positioning
Point is the anchor point of current crusing robot；
If e) two anchor point distances that current crusing robot passes through, with two positioning recorded during Initialize installation
Between point in distance record, immediate record is there are two when the above matching record, and crusing robot is along original direction after continuing
Walk, until next anchor point, and the distance between calculate this two neighboring anchor point, then original matching record it is adjacent and
In range data record in the same direction, the record closest to distance between current anchor point is found；If immediate record only has
When only one matching record:
I) if current crusing robot is walked to far from track starting point direction, two of journal in range data record
In anchor point, posterior anchor point serial number is recorded, is the anchor point serial number of current crusing robot, which is to work as
The anchor point of preceding crusing robot；
II) if current crusing robot is walked to close to track starting point direction, the two of journal in range data record
In a anchor point, record preceding anchor point serial number, be current crusing robot just through anchor point serial number, the positioning
Point is the anchor point of current crusing robot；
If repeating step e) there are two when the above matching record in record, until only one matching record；
F) it when crusing robot loses position location, walks to away from or approaching track starting point direction, without positioning
When point or by one or more anchor points, i.e. arrival track starting point or track terminal, then the current location of crusing robot
In track starting point or track terminal.
2. rail mounted crusing robot re-positioning method as described in claim 1, it is characterised in that: find closest to current
It include the walking error of crusing robot when the record of distance between anchor point.
3. rail mounted crusing robot re-positioning method as described in claim 1, it is characterised in that: between the anchor point
Away from different between two.
4. rail mounted crusing robot re-positioning method as described in claim 1, it is characterised in that: between the anchor point
Away from there is one or more constant spacings.
5. rail mounted crusing robot re-positioning method as described in claim 1, it is characterised in that: the distance counts
It is crusing robot travelling control component by the step-by-step counting between two points.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910233854.7A CN109855631A (en) | 2019-03-26 | 2019-03-26 | Rail mounted crusing robot re-positioning method |
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| CN201910233854.7A CN109855631A (en) | 2019-03-26 | 2019-03-26 | Rail mounted crusing robot re-positioning method |
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Cited By (3)
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| CN110434831A (en) * | 2019-08-16 | 2019-11-12 | 苏州光格设备有限公司 | A kind of positioning of rail mounted crusing robot and position calibration system and method |
| CN116224226A (en) * | 2023-03-08 | 2023-06-06 | 北京航天众信科技有限公司 | Rail-mounted robot positioning method and device and computer equipment |
| CN116682191A (en) * | 2023-08-02 | 2023-09-01 | 北京城建智控科技股份有限公司 | Subway tunnel inspection configuration method and system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110434831A (en) * | 2019-08-16 | 2019-11-12 | 苏州光格设备有限公司 | A kind of positioning of rail mounted crusing robot and position calibration system and method |
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| CN116224226A (en) * | 2023-03-08 | 2023-06-06 | 北京航天众信科技有限公司 | Rail-mounted robot positioning method and device and computer equipment |
| CN116682191A (en) * | 2023-08-02 | 2023-09-01 | 北京城建智控科技股份有限公司 | Subway tunnel inspection configuration method and system |
| CN116682191B (en) * | 2023-08-02 | 2023-11-28 | 北京城建智控科技股份有限公司 | Subway tunnel inspection configuration method and system |
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Application publication date: 20190607 |