CN110293548A - A kind of locomotive inspection and repair intelligent robot passes through the barrier-avoiding method and control system of kissing gate - Google Patents
A kind of locomotive inspection and repair intelligent robot passes through the barrier-avoiding method and control system of kissing gate Download PDFInfo
- Publication number
- CN110293548A CN110293548A CN201810235101.5A CN201810235101A CN110293548A CN 110293548 A CN110293548 A CN 110293548A CN 201810235101 A CN201810235101 A CN 201810235101A CN 110293548 A CN110293548 A CN 110293548A
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- China
- Prior art keywords
- locomotive
- motor car
- car door
- passes
- converter
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Abstract
The invention discloses the barrier-avoiding methods that a kind of locomotive inspection and repair intelligent robot passes through kissing gate, the first location information between the locomotive converter and motor car door of the acquisition of acquisition station acquisition module；Judge whether location information matches with predeterminated position；If it is, control rotatable platform rotates so that locomotive converter passes through motor car door；Wherein, locomotive converter is located at rotatable platform.It can be seen that, when rotatable platform, which carries locomotive converter, to be reached near motor car door, the barrier-avoiding method, it can be according to the relationship between the location information and predeterminated position between the station acquisition module locomotive converter acquired and motor car door, rotatable platform is controlled to rotate so that locomotive converter passes through motor car door, problem that can be time-consuming and laborious to avoid traditional manual handling mode, and then improve locomotive inspection and repair efficiency.In addition, the invention also discloses the control system that a kind of locomotive inspection and repair intelligent robot passes through kissing gate, effect is as above.
Description
Technical field
The present invention relates to intelligent locomotive inspection and repair field, in particular to a kind of locomotive inspection and repair intelligent robot passes through keeping away for kissing gate
Barrier method and control system.
Background technique
Since current locomotive converter module is than motor car gate-width, when the original converter module of locomotive breaks down
When needing replacing, the target device because being responsible for transporting converter module can not be main at present logical directly through motor car kissing gate
The mode for crossing manual handling makes locomotive converter pass through motor car kissing gate, and the handling process is time-consuming and laborious, influences locomotive inspection and repair
Efficiency.
It can be seen that how to overcome the target device because being responsible for transporting converter module can not be narrow directly through motor car
The problem of door and then caused locomotive inspection and repair low efficiency is those skilled in the art's urgent problem to be solved.
Summary of the invention
The embodiment of the present application provides the barrier-avoiding method and control system that a kind of locomotive inspection and repair intelligent robot passes through kissing gate,
To solve in the prior art because the target device for being responsible for transporting converter module can not be led in turn directly through motor car kissing gate
The problem of locomotive inspection and repair low efficiency of cause.
In order to solve the above technical problems, the present invention provides the avoidance sides that a kind of locomotive inspection and repair intelligent robot passes through kissing gate
Method, comprising:
Obtain the location information between the locomotive converter and motor car door of station acquisition module acquisition；
Judge whether the location information matches with predeterminated position；
If it is, control rotatable platform rotates so that the locomotive converter passes through the motor car door；
Wherein, the locomotive converter is located at the rotatable platform.
Preferably, the location information between the locomotive converter and motor car door for obtaining the acquisition of station acquisition module
Specifically:
Obtain the locomotive converter of station acquisition module acquisition projecting part and the motor car door it
Between location information.
Preferably, the control rotatable platform rotates so that the locomotive converter is specific across the motor car door
Include:
It controls the rotatable platform and is rotated in a first direction the first predetermined angle so that described in projecting part entrance
Motor car door；
Judge according to the parameter of the motor car door and the parameter of the locomotive converter in first predetermined angle
Under the locomotive converter success pass through the motor car door；
The motor car door is passed through with first predetermined angle if it can, then controlling the locomotive converter；
If it is not, then it is default along second direction rotation second opposite to the first direction to control the rotatable platform
Angle is so that the locomotive converter passes through the motor car door.
Preferably, after the locomotive converter successfully passes through the motor car door, further includes:
Display reminding information.
Preferably, the location information between the locomotive converter and motor car door for obtaining the acquisition of station acquisition module
Specifically:
Obtain the location information between the locomotive converter and the motor car door of visual sensor acquisition.
In order to solve the above technical problems, passing through keeping away for kissing gate with locomotive inspection and repair intelligent robot the present invention also provides a kind of
The corresponding control system of barrier method, including station acquisition module, controller and target device is set to for carrying locomotive unsteady flow
The rotatable platform of device；The station acquisition module is used to acquire the position between the locomotive converter and the motor car door
Confidence breath；
The controller is connect with the station acquisition module and the rotatable platform respectively, for believing when the position
When breath matches with predeterminated position, controls the rotatable platform and rotate so that the locomotive converter passes through the motor car
Door；
Wherein, the target device is moveable equipment.
Preferably, the locomotive converter is removably mounted to the rotatable platform.
Preferably, the station acquisition module is specially visual sensor.
Preferably, the visual sensing implement body is installed on the motor car Men Chu.
Preferably, the rotatable platform is specially that width can less than the rectangular of locomotive converter body part width
Rotating platform or diameter are less than the round rotatable platform of the body part width.
Compared with the prior art, the present invention provides the barrier-avoiding method that a kind of locomotive inspection and repair intelligent robot passes through kissing gate,
The location information between the locomotive converter and motor car door of station acquisition module acquisition is obtained first；Judging location information is
It is no to match with predeterminated position；If it is, control rotatable platform rotates so that locomotive converter passes through motor car door；Its
In, locomotive converter is located at rotatable platform.It can be seen that reaching motor car door when rotatable platform carries locomotive converter
When neighbouring, which can be according to the position between the station acquisition module locomotive converter acquired and motor car door
Relationship between information and predeterminated position, control rotatable platform rotates so that locomotive converter passes through motor car door, can be with
The problem for avoiding traditional manual handling mode time-consuming and laborious, and then improve locomotive inspection and repair efficiency.In addition, the present invention also provides
A kind of locomotive inspection and repair intelligent robot passes through the control system of kissing gate, and effect is as above.
Detailed description of the invention
Fig. 1 passes through the barrier-avoiding method process of kissing gate for a kind of locomotive inspection and repair intelligent robot provided by the embodiment of the present invention
Figure；
Fig. 2 is the locomotive converter when rotatable platform rotates the first predetermined angle of one kind provided by the embodiment of the present invention
With the positional diagram of motor car door；
Fig. 3 is one kind provided by the embodiment of the present invention after rotatable platform advances a distance with the first predetermined angle
Position view；
Fig. 4 is the locomotive converter when rotatable platform rotates the second predetermined angle of one kind provided by the embodiment of the present invention
With the positional diagram of motor car door；
Fig. 5 passes through the control system composition of kissing gate for a kind of locomotive inspection and repair intelligent robot provided by the embodiment of the present invention
Schematic diagram.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
Its embodiment, shall fall within the protection scope of the present invention.
Core of the invention is to provide the barrier-avoiding method and control system that a kind of locomotive inspection and repair intelligent robot passes through kissing gate,
Can solve because be responsible for transport converter module target device can not directly through motor car kissing gate so that caused by locomotive
The low problem of overhaul efficiency.
Scheme in order to enable those skilled in the art to better understand the present invention, with reference to the accompanying drawing and specific embodiment party
The present invention is described in further detail for formula.
Fig. 1 passes through the barrier-avoiding method process of kissing gate for a kind of locomotive inspection and repair intelligent robot provided by the embodiment of the present invention
Figure, as shown in Figure 1, the barrier-avoiding method the following steps are included:
S101: the location information between the locomotive converter and motor car door of station acquisition module acquisition is obtained.
S102: judging whether location information matches with predeterminated position, if it is, entering step S103.
S103: control rotatable platform rotates so that locomotive converter passes through motor car door.
Wherein, locomotive converter is located at rotatable platform.
It is real-time using station acquisition module when the target device for being loaded with locomotive converter advances near motor car door
Acquire the location information between locomotive converter and motor car door；When the location information for getting the acquisition of station acquisition module
When, judge whether the location information of acquisition matches with predeterminated position, if the location information is matched with predeterminated position, at this moment just controls
The rotatable platform that system carries locomotive converter rotates so that locomotive converter passes through motor car door；If station acquisition mould
The location information and predeterminated position of block acquisition mismatch, then control target device and move on.In the embodiment of the present application
Station acquisition module is preferably visual sensor, and the profile information of locomotive converter can be acquired using visual sensor
To know the concrete shape of locomotive converter.Certainly, station acquisition module be other than it can select visual sensor, can be with
Select other qualified station acquisition modules, the present invention and without limitation.Predeterminated position is set in advance, predeterminated position
It can be set multiple, when target device carries locomotive converter and reaches different predeterminated positions, can control rotatable platform rotation
For different angles so that locomotive converter passes through motor car door, the how many degree of specific rotation properly can be determines according to actual conditions.
Target device is preferably locomotive inspection and repair robot in the embodiment of the present application, and being equipped in locomotive inspection and repair robot can
Rotating platform is placed with locomotive converter on rotatable platform.Certainly, target device is other than being locomotive inspection and repair robot,
It can also be other satisfactory target devices, the type of target device will not influence the realization of the embodiment of the present application.
Barrier-avoiding method provided by the embodiment of the present application, is preferably applied in motor car, motor car door and locomotive
Current transformer can make locomotive converter successfully pass through motor car kissing gate compared to narrow using the barrier-avoiding method.Certainly, this is kept away
Barrier method can also be applied in the kissing gate in aircraft corridor and the kissing gate in submarine corridor, and details are not described herein.
The present invention provides the barrier-avoiding methods that a kind of locomotive inspection and repair intelligent robot passes through kissing gate, first acquisition station acquisition
Location information between the locomotive converter and motor car door of module acquisition；Judge location information whether with predeterminated position phase
Match；If it is, control rotatable platform rotates so that locomotive converter passes through motor car door；Wherein, locomotive converter position
In rotatable platform.It can be seen that when rotatable platform carries locomotive converter and reaches near motor car door, the avoidance side
Method, can according to station acquisition module acquire locomotive converter and motor car door between location information and predeterminated position it
Between relationship, control rotatable platform rotates so that locomotive converter passes through motor car door, can manually remove to avoid traditional
The time-consuming and laborious problem of fortune mode, and then improve locomotive inspection and repair efficiency.
On the basis of the above embodiments, preferably embodiment, the locomotive for obtaining the acquisition of station acquisition module become
Flow the location information between device and motor car door specifically:
Obtain the location information between the projecting part and motor car door of the locomotive converter of station acquisition module acquisition.
On the basis of the above embodiments, preferably embodiment, control rotatable platform rotates so that locomotive becomes
Stream device passes through motor car door and specifically includes:
Control rotatable platform is rotated in a first direction the first predetermined angle so that projecting part enters motor car door；
The locomotive converter under the first predetermined angle is judged according to the parameter of motor car door and the parameter of locomotive converter
Success passes through motor car door；
Motor car door is passed through with the first predetermined angle if it can, then controlling locomotive converter；
If it is not, then control rotatable platform rotate in the second direction opposite to the first direction the second predetermined angle so that
Locomotive converter passes through motor car door.
In order to facilitate the detection accuracy for detecting and improving locomotive converter location information, it is preferable that can use position
The location information between the projecting part and motor car door of acquisition module acquisition locomotive converter is set, when the locomotive unsteady flow of acquisition
When location information and preset standard position between the projecting part and motor car door of device match, control first rotatable flat
Platform is rotated in a first direction the first predetermined angle so that projecting part enters motor car door；That is, when target device carries
Locomotive converter when driving to specified rotation position, control rotatable platform first rotates the first preset angle in one direction
Degree allows the projecting part of locomotive converter to enter motor car door, and acquires locomotive car door in real time using station acquisition module
Parameter and locomotive converter parameter, according to motor car door parameter and locomotive converter parameter judge first preset
Locomotive converter success passes through motor car door under angle；If rotating the premise of the first predetermined angle in rotatable platform
Under, locomotive converter can pass through motor car door, control rotatable platform just at this moment with the first predetermined angle and carry locomotive unsteady flow
Device passes through motor car door；If locomotive converter cannot be worn completely under the premise of rotatable platform rotates the first predetermined angle
Motor car door is crossed, at this moment just control rotatable platform rotates in mutually opposite directions the second predetermined angle so that locomotive converter passes through
Motor car door.Fig. 2 is that the locomotive when rotatable platform rotates the first predetermined angle of one kind provided by the embodiment of the present invention becomes
Flow the positional diagram of device and motor car door, Fig. 3 for one kind provided by the embodiment of the present invention rotatable platform with
First predetermined angle is advanced the position view after a distance, and Fig. 4 is one kind provided by the embodiment of the present invention rotatable
The positional diagram of locomotive converter and motor car door when platform rotates the second predetermined angle.Above procedure can be found in figure
2, shown in Fig. 3 and Fig. 4,1 is motor car wall in figure, and 2 be motor car door, and 3 be the body part of locomotive converter, and 4 be machine
The projecting part of vehicle current transformer, 5 be rotatable platform, and 6 be target device, and 7 be track of passing through.Station acquisition module is actually being answered
It is mounted at motor car door 2, is not drawn into figs. 2,3 and 4.If default in rotatable platform rotation first
Under the premise of angle, locomotive converter can pass through motor car door 2, at this moment just be directly controlled with the positional relationship shown in Fig. 3
Locomotive converter passes through motor car door 2；The condition of (rotating platform rotates the first predetermined angle) if shown in Fig. 3
Under, locomotive converter cannot pass completely through motor car door 2, at this moment just control rotatable platform 5 along with the direction of rotation in Fig. 3
Opposite direction rotates the second predetermined angle so that locomotive converter passes through motor car door 2, as shown in figure 4, rotatable in Fig. 4
After platform 5 rotates in mutually opposite directions the second predetermined angle, locomotive converter in a state of nature, i.e. the second predetermined angle and the
One predetermined angle is equal, and in practical applications, the second predetermined angle can be unequal with the first predetermined angle, as long as guaranteeing to revolve
Motor car door 2 can be passed through by turning locomotive converter after platform 5 rotates the second predetermined angle.
The parameter of motor car door 2 includes doorframe thickness and width of motor car door 2 of motor car door 2 etc., machine
The parameter of vehicle current transformer includes the shape of locomotive converter projecting part 4 and length, the width of projecting part 4, current transformer
Length, width of body part 3 etc.；First predetermined angle and the second predetermined angle are set in advance, and are specifically set as more
It is few suitable, can determines according to actual conditions, the first predetermined angle can be equal with the size of the second predetermined angle, can not also phase
Size relation Deng, the first predetermined angle and the second predetermined angle specifically can be according to the parameter and locomotive unsteady flow of motor car door 2
The parameter of device determines；The name of first predetermined angle and the second predetermined angle is intended merely to distinguish different predetermined angles according to habit
Used and hobby name, there is no other Special Significances；The size relation of certain first predetermined angle and the second predetermined angle with
And naming method will not influence the realization of the embodiment of the present application.
On the basis of the above embodiments, preferably embodiment, when locomotive converter successfully passes through motor car
After door 2, further includes:
Display reminding information.
In order to allow the operating condition of relevant personnel's timely learning locomotive converter, when locomotive converter successfully passes through locomotive
After compartment door 2, the prompt information of " locomotive converter successfully passes through motor car door 2 " can be shown in the display interface.
It has been carried out in detail above for the embodiment that a kind of locomotive inspection and repair intelligent robot passes through the barrier-avoiding method of kissing gate
Description, a kind of locomotive inspection and repair intelligent robot described based on the above embodiment pass through the barrier-avoiding method of kissing gate, and the present invention is implemented
Example additionally provides a kind of control system corresponding with this method.Due to the embodiment and the embodiment phase of method part of components of system as directed
It is mutually corresponding, therefore the embodiment of components of system as directed please refers to the embodiment description of method part, which is not described herein again.
Fig. 5 passes through the control system composition of kissing gate for a kind of locomotive inspection and repair intelligent robot provided by the embodiment of the present invention
Schematic diagram, as shown in figure 5, the control system includes station acquisition module 501, controller 502 and is set to target device 6 and is used for
Carry the rotatable platform 5 of locomotive converter；(body part 3+ is prominent for acquiring locomotive converter for station acquisition module 501
Component 4) and motor car door 2 between location information；
Controller 502 is connect with station acquisition module 501 and rotatable platform 5 respectively, for working as location information and presetting
When position matches, control rotatable platform 5 rotates so that locomotive converter passes through motor car door 2；Wherein, target device 6
For moveable equipment.
In the control system, target device 6 is preferably locomotive inspection and repair robot, and certainly, target device 6 is in addition to can be
Except locomotive inspection and repair robot, it can also be other satisfactory target devices, the present invention and without limitation.
The present invention provides the control systems that a kind of locomotive inspection and repair intelligent robot passes through kissing gate, including station acquisition mould
Block, controller and target device is set to for carrying the rotatable platform of locomotive converter；Station acquisition module is for acquiring
Location information between locomotive converter and motor car door；Controller connects with station acquisition module and rotatable platform respectively
It connects, for when location information matches with predeterminated position, control rotatable platform rotates so that locomotive converter passes through locomotive
Car door；Wherein, target device is moveable equipment.It can be seen that reaching machine when rotatable platform carries locomotive converter
When near vehicle car door, the control system, controller can be according to the locomotive converter and locomotive that station acquisition module acquires
The relationship between location information and predeterminated position between the door of compartment, control rotatable platform rotates so that locomotive converter passes through machine
Vehicle car door, problem that can be time-consuming and laborious to avoid traditional manual handling mode, and then improve locomotive inspection and repair efficiency.
On the basis of the above embodiments, preferably embodiment, locomotive converter are removably mounted to rotatable
Platform 5.
On the basis of the above embodiments, preferably embodiment, station acquisition module 501 are specially visual sensing
Device.
On the basis of the above embodiments, preferably embodiment, visual sensing implement body are installed on motor car
At door 2.
In order to improve accuracy, visual sensing implement body is mountable at motor car door 2.
On the basis of the above embodiments, preferably embodiment, rotatable platform 5 are specially that width is less than locomotive
The rectangular rotatable platform or diameter of 4 width of body part of current transformer are less than the round rotatable platform of 3 width of body part.
In order to increase the contact area of rotatable platform 5 Yu locomotive converter, the mounting stability of locomotive converter is improved,
Rotatable platform 5 is specially that the rectangular rotatable platform for 3 width of body part that width is less than locomotive converter or diameter are less than
The round rotatable platform of 3 width of body part.
The barrier-avoiding method of kissing gate is passed through to a kind of locomotive inspection and repair intelligent robot provided by the present invention above and control is
System is described in detail.With several examples, principle and implementation of the present invention are described herein, the above reality
The explanation for applying example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology of this field
Personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this theory
Bright book content should not be construed as limiting the invention, those skilled in the art, under the premise of no creative work, to this
Made modification, equivalent replacement, improvement etc. are invented, should be included in the application.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One operation is distinguished with another operation, without necessarily requiring or implying there are any between these entities or operation
This actual relationship or sequence.Moreover, the similar word such as term " includes ", so that including the unit of a series of elements, equipment
Or system not only includes those elements, but also including other elements that are not explicitly listed, or further includes for this list
Member, equipment or the intrinsic element of system.
Claims (10)
1. the barrier-avoiding method that a kind of locomotive inspection and repair intelligent robot passes through kissing gate characterized by comprising
Obtain the location information between the locomotive converter and motor car door of station acquisition module acquisition；
Judge whether the location information matches with predeterminated position；
If it is, control rotatable platform rotates so that the locomotive converter passes through the motor car door；
Wherein, the locomotive converter is located at the rotatable platform.
2. the barrier-avoiding method that locomotive inspection and repair intelligent robot according to claim 1 passes through kissing gate, which is characterized in that described
Obtain the location information between the locomotive converter and motor car door of station acquisition module acquisition specifically:
Between the projecting part and the motor car door for obtaining the locomotive converter of the station acquisition module acquisition
Location information.
3. the barrier-avoiding method that locomotive inspection and repair intelligent robot according to claim 2 passes through kissing gate, which is characterized in that described
Control rotatable platform rotates so that the locomotive converter passes through the motor car door and specifically includes:
It controls the rotatable platform and is rotated in a first direction the first predetermined angle so that the projecting part enters the locomotive
Car door；
The institute under first predetermined angle is judged according to the parameter of the motor car door and the parameter of the locomotive converter
Locomotive converter success is stated across the motor car door；
The motor car door is passed through with first predetermined angle if it can, then controlling the locomotive converter；
The second predetermined angle is rotated along second direction opposite to the first direction if it is not, then controlling the rotatable platform
So that the locomotive converter passes through the motor car door.
4. the barrier-avoiding method that locomotive inspection and repair intelligent robot according to claim 3 passes through kissing gate, which is characterized in that work as institute
It states after locomotive converter successfully passes through the motor car door, further includes:
Display reminding information.
5. locomotive inspection and repair intelligent robot according to any one of claims 1 to 4 passes through the barrier-avoiding method of kissing gate, special
Sign is, the location information between the locomotive converter and motor car door for obtaining the acquisition of station acquisition module specifically:
Obtain the location information between the locomotive converter and the motor car door of visual sensor acquisition.
6. the control system that a kind of locomotive inspection and repair intelligent robot passes through kissing gate, which is characterized in that including station acquisition module, control
Device processed and target device is set to for carrying the rotatable platform of locomotive converter；The station acquisition module is for acquiring institute
State the location information between locomotive converter and the motor car door；
The controller is connect with the station acquisition module and the rotatable platform respectively, for when the location information with
When predeterminated position matches, controls the rotatable platform and rotate so that the locomotive converter passes through the motor car door；
Wherein, the target device is moveable equipment.
7. the control system that locomotive inspection and repair intelligent robot according to claim 6 passes through kissing gate, which is characterized in that described
Locomotive converter is removably mounted to the rotatable platform.
8. the control system that locomotive inspection and repair intelligent robot according to claim 6 passes through kissing gate, which is characterized in that described
Station acquisition module is specially visual sensor.
9. the control system that locomotive inspection and repair intelligent robot according to claim 8 passes through kissing gate, which is characterized in that described
Visual sensing implement body is installed on the motor car Men Chu.
10. the control system of kissing gate is passed through according to locomotive inspection and repair intelligent robot described in claim 6 to 9 any one,
It is characterized in that, the rotatable platform is specially that width is less than the rectangular rotatable flat of the locomotive converter body part width
Platform or diameter are less than the round rotatable platform of the body part width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810235101.5A CN110293548B (en) | 2018-03-21 | 2018-03-21 | Obstacle avoidance method and control system for intelligent narrow door crossing of locomotive inspection and repair robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810235101.5A CN110293548B (en) | 2018-03-21 | 2018-03-21 | Obstacle avoidance method and control system for intelligent narrow door crossing of locomotive inspection and repair robot |
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| CN110293548A true CN110293548A (en) | 2019-10-01 |
| CN110293548B CN110293548B (en) | 2022-06-10 |
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| CN201810235101.5A Active CN110293548B (en) | 2018-03-21 | 2018-03-21 | Obstacle avoidance method and control system for intelligent narrow door crossing of locomotive inspection and repair robot |
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