CN110434831A - A kind of positioning of rail mounted crusing robot and position calibration system and method - Google Patents
A kind of positioning of rail mounted crusing robot and position calibration system and method Download PDFInfo
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- CN110434831A CN110434831A CN201910759627.8A CN201910759627A CN110434831A CN 110434831 A CN110434831 A CN 110434831A CN 201910759627 A CN201910759627 A CN 201910759627A CN 110434831 A CN110434831 A CN 110434831A
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- crusing robot
- baffle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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Abstract
The invention discloses a kind of positioning of rail mounted crusing robot and position calibration method and systems, this method comprises: the coordinate information for detecting multiple baffles being arranged at intervals on track is recorded in the local data base of crusing robot as orbital data before crusing robot life's work；In crusing robot inspection, real-time inspection positioning is carried out to the position of crusing robot and positioning is calibrated according to orbital data；When crusing robot positions failure, inspection again is carried out to the position of crusing robot and is positioned；When the present invention walks again after crusing robot positioning failure, whether it is equal to each other by the corresponding displacement difference of baffle more N number of after the N number of baffle of scanning and the coordinate difference of adjacent baffle N number of in local data base, and using the coordinate information of the last one baffle in the corresponding N number of baffle of the coordinate difference as the coordinate information of current crusing robot when equal with displacement difference there is only a coordinate difference, to realize autonomous positioning again.
Description
Technical field
The present invention relates to crusing robot technical field, especially a kind of rail mounted crusing robot positioning and position correction
System and method.
Background technique
Rail mounted crusing robot is widely used in the industry spot of the bad environments such as tunnel, piping lane, substation, is used to
Collection site environmental data.In these application scenarios, rail polling robot usually requires to be acted as follows: going in advance
The inspection place of setting acquires data；It needs to report abnormal data when encountering abnormal environment data in the process of running and generate different
The specific location of regular data, therefore, the accuracy and reliability of rail polling robot positioning system for whole system can
It is most important by running.
The localization method of existing rail polling robot mainly has: GPS positioning, swashs at incremental encoder ranging localization
Ligh-ranging positioning, RFID positioning, infrared positioning, localization by ultrasonic, touch sensor positioning etc.；The existing existing use of localization method
Single method positioning, also have using the comprehensive positioning of a variety of methods, such as: incremental encoder and contact voltage sensor are comprehensive fixed
Position etc..
Single method positioning is interfered vulnerable to environmental factor, as GPS positioning is not suitable for office work, infrared positioning and Laser Measuring
It is influenced away from positioning vulnerable to infrared light, grieshoch etc., RFID positioning accuracy is low, and incremental encoder ranging localization is vulnerable to inspection machine
The influence of the situations such as wheel slip, the abrasion of people, touch sensor position for crusing robot motion control require compared with
It is high；And the number that the existing comprehensive positioning of a variety of methods relies on sensor is more, needs to preset inspection point or anchor point, it is right
Auxiliary locating tool (such as baffle, lifting eye seat) installation requirement is high, increases cost, and can not break in crusing robot
After the unexpected situations such as electricity, autonomous positioning again, it is therefore desirable to find a kind of method for being able to solve problems.
Summary of the invention
In view of this, needing to overcome at least one of drawbacks described above in the prior art, the present invention provides a kind of rails
The positioning of road formula crusing robot and position calibration method, comprising the following steps: step 1, before crusing robot life's work, visit
The local of the crusing robot is recorded as orbital data for the coordinate information for surveying multiple baffles being arranged at intervals on track
Spacing in database, and between baffle is not completely equivalent；Step 2, it in the formal inspection of the crusing robot, is patrolled to described
The position of inspection robot carries out real-time inspection positioning and is calibrated according to the orbital data to the positioning；Step 3, work as institute
It states crusing robot to move to behind any position of the track when positioning failure, the position of the crusing robot is carried out
Again inspection positions, wherein the step 3 includes following sub-step: step 3-1, the crusing robot move to the rail
Restart to move when positioning failure behind any position in road；The increment on the crusing robot is arranged in step 3-2
Formula encoder feeds back the displacement information of the crusing robot real-time detected in the crusing robot walking process
To the position calculation unit being arranged on the crusing robot, the pulse counter on the crusing robot is set in institute
It states the umber of pulse for the signal that real-time detection issues in crusing robot walking process and the umber of pulse is fed back into the position
Computing unit；Step 3-3, the position calculation unit is according to the current detection cycle of umber of pulse real-time judge of Real-time Feedback
Under the umber of pulse whether be equal to the number of teeth of the baffle, when being judged as YES, determine Current Scan to the baffle simultaneously general
Institute's displacement information when scanning the baffle is recorded in the local data base, re-execute the steps when being judged as NO
3-2；Step 3-4 repeats step 3-2 to 3-3 extremely scanning to next baffle；Step 3-5, the baffle that will be scanned
Number be denoted as N, calculate the corresponding institute's displacement information of the adjacent baffle of any two in the N number of baffle scanned
Difference forms current shift differences group；Step 3-6 makees the coordinate information of baffle any one of in the local data base
Coordinate information for starting point, the N-1 baffles of postponing forms reference coordinate group, calculates each group of institute in the local data base
The difference for stating the adjacent coordinate information of any two in reference coordinate group forms one group of coordinate difference group, and by the present bit
Difference group is moved to be compared with the coordinate difference group all in the local data base；Step 3-7, when there is only one group of institutes
Coordinate difference group is stated and when the current shift differences group is equal to each other, by the corresponding reference coordinate group of the coordinate difference group
In the last one described coordinate information coordinate information current as the crusing robot, otherwise when repeat step 3-
4 to 3-6.
According in this patent background technique described in the prior art, can not after the unexpected situations such as powering off occurs in crusing robot
Realize autonomous positioning again；And rail mounted crusing robot positioning disclosed by the invention and position calibration method, in inspection machine
Multiple baffles are arranged at intervals on the track of people's walking, the spacing of two baffles of arbitrary neighborhood is not completely equivalent；Work as inspection
Positioning fails (such as the case where positioning termination such as crusing robot power-off) again after robot motion to any position of track
When moving again, by judge the umber of pulse in detection cycle it is consistent with the number of teeth of baffle come determine crusing robot be located at it is a certain
By baffle；After determining continuous scanning to N number of baffle, the coordinate consistent with current shift differences is found out from local data base
Alternate position spike because the spacing between baffle equal may may not wait, then judges whether there is only one in local data base
Group coordinate difference group and current displacement difference are consistent to organizing, and if the judgment is Yes, can confirm the current seat of the crusing robot
Information is marked, next baffle is otherwise scanned again and executes above-mentioned steps, to realize the autonomous positioning of crusing robot.
In addition, according to the present invention a kind of disclosed rail mounted crusing robot positioning and position calibration method also have it is as follows
Additional technical feature:
Further, the step 2 includes following sub-step: step 2-1, starting point of the crusing robot from the track
Setting in motion, and enable and judge number K=0；Step 2-2, crusing robot described in the incremental encoder real-time detection it is described
Institute's displacement information is simultaneously fed back to the position calculation unit by displacement information, and the position calculation unit is by institute's displacement information
The coordinate information current as the crusing robot；Step 2-3, the pulse that the pulse counter will real-time detect
Number feeds back to the position calculation unit, the position calculation unit judge the umber of pulse in current detection cycle whether etc.
In the number of teeth of the baffle, and when being judged as YES, the seat of institute's displacement information Yu all baffles is further calculated
The position difference for marking information, 2-2 is re-execute the steps when being judged as NO；Step 2-4, the position calculation unit judge whether
The position difference that there are absolute values in predictive error, and when being judged as YES, judgement number K=0 is enabled, and should
Current institute of coordinate information of the difference corresponding baffle in position in the local data as the crusing robot
Coordinate information is stated, when being judged as NO, enables K=K+1, re-execute the steps 2-2 to K=3, and be judged to positioning failure.
By the displacement information of incremental encoder real-time detection crusing robot, since incremental encoder is vulnerable to inspection
The influence of the situations such as wheel slip, the abrasion of robot and generate displacement detecting error, the arteries and veins in current detection cycle
It rushes when number is equal to the number of teeth of the baffle and determines that baffle is arrived in scanning, and retrieve coordinate information and current displacement in local data and believe
Cease baffle of the deviation in predictive error, and using the displacement information of the baffle as the current coordinate information of crusing robot,
To reduce the cumulative errors of incremental encoder.
Further, the predictive error is less than the half of the minimum value of the spacing of all baffles.
Predictive error is set smaller than to the half of the minimum value of the spacing of all baffles, to avoid the occurrence of presence
Situation of the coordinate information and current displacement information deviation of two baffles in predictive error.
Further, the step 1 includes following sub-step: step 1-1, the crusing robot is from the track
Initial point setting in motion；The institute's displacement information real-time detected is fed back to position and calculated by step 1-2, the incremental encoder
The umber of pulse real-time detected is fed back to the position calculation unit by unit, the pulse counter；Step 1-3, institute
It states position calculation unit and judges whether the umber of pulse in current detection cycle is equal to the number of teeth of the baffle, and be judged as
When being, it is recorded institute's displacement information as the coordinate information of the baffle in the local data base；Step 1-4 is repeated
Step 1-2 to step 1-3 is until the crusing robot covers the entire track.
Crusing robot obtains orbital data by detection before life's work, and is carried out using the orbital data as standard
The position correction of real-time inspection after life's work (step 1 does not need to carry out again after the normal inspection of crusing robot)；Because
Be not directly by the coordinate typing local data base of baffle to reduce requirement to baffle installation site precision.
Further, the step 1 further includes following sub-step: step 1-5, repeats step 1-1 to step 1-4 to pre-
Determine number, the coordinate information of each each baffle is corresponded to the local data base for recording the crusing robot
In；Step 1-6, by the corresponding multiple biggish values of coordinate information large deviations of each baffle from the local data base
Middle removal；Step 1-7, the coordinate information corresponding to each of the local data base baffle carry out average value meter
Calculation obtains mean value and using the mean value as the final coordinate information of the baffle.
Step 1-1 to step 1-4 is repeated several times, avoids the occurrence of the case where not scanning baffle；Each baffle is corresponding
The biggish value removal of multiple coordinate information large deviations after averaged to eliminate accumulative mistake when incremental encoder positioning
Difference.
It further, is to believe multiple coordinates by the method for the biggish value removal of deviation in the step 1-6
The maximum value and the minimum value in breath are removed from the local data base.
Further, the pre-determined number is at least three times.
According to another aspect of the present invention, additionally provide it is a kind of based on a kind of above-mentioned rail mounted crusing robot positioning and
A kind of rail mounted crusing robot of position calibration method positions and position calibration system, comprising: track；It is multiple to be arranged at intervals on
Baffle on the track, each baffle have multiple teeth, and the number of teeth of all baffles is equal；And setting is being slided
Detection and localization module on the crusing robot of installation on the track, the detection and localization module include that increment type is compiled
Code device, pulse counter and position calculation unit, the incremental encoder is for crusing robot described in real-time detection
Institute's displacement information is simultaneously fed back to the position calculation unit by displacement information；The pulse counter is issued for real-time detection
Signal infrared pulse umber of pulse and the umber of pulse is fed back into position calculation unit；The position calculation unit according to
Institute's displacement information and umber of pulse obtain the current coordinate information of the crusing robot.
Further, the track is mounted in industry spot by connector, and the number of teeth of the baffle is greater than the company
The quantity of the tie point of fitting and the track.
Further, the track is aluminum alloy rail；The baffle is metal baffle, and the pulse counter is infrared
Pulse counter or ultrasonic pulse counter.
Further, the spacing between the two neighboring baffle is 30-50m.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of rail mounted crusing robot provided by the invention positioning and position calibration system.
Wherein, 1 is track, and 2 be baffle, and 3 be crusing robot, and 4 be detection and localization module, and 41 be incremental encoder,
42 be pulse counter, and 43 be position calculation unit, and 5 be connector.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions；Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
In the description of the present invention, it is to be understood that, term " on ", "lower", "bottom", "top", "front", "rear",
The orientation or positional relationship of the instructions such as "inner", "outside", " cross ", " perpendicular " is to be based on the orientation or positional relationship shown in the drawings, and is only
For the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specific side
Position is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
Design of the invention is as follows, before crusing robot life's work, detects the coordinate information of all baffles as rail
Track data is to carry out orbital data initialization；It, will when every subnormal inspection walking is at a certain baffle after life's work
The displacement information that incremental encoder detects is calibrated to current coordinate information, to restart to position after positioning failure
When (such as power-off), after N number of baffle, by comparing in the corresponding displacement difference of N number of baffle and local data base scanned
The corresponding coordinate difference of any N number of adjacent baffle, when only finding one group of baffle in the local database, (one group is adjacent N number of
Baffle) corresponding coordinate difference it is equal with displacement difference when, using the last one coordinate information in the coordinate information of this group of baffle as
The current coordinate information of robot, to realize the autonomous positioning again of crusing robot.
Fig. 1 is the structural schematic diagram of rail mounted crusing robot provided by the invention positioning and position calibration system.
As shown, according to an embodiment of the invention, rail mounted crusing robot positioning and position calibration method include with
Lower step: step 1, before crusing robot life's work, the coordinate information of multiple baffles being arranged at intervals on track is detected
It is recorded as orbital data in the local data base of the crusing robot, and the spacing between baffle is not completely equivalent；Step
Rapid 2, in the formal inspection of the crusing robot, real-time inspection positioning is carried out to the position of the crusing robot and according to institute
Orbital data is stated to calibrate the positioning；Step 3, when the crusing robot moves to any position of the track
Afterwards when positioning failure, inspection again is carried out to the position of the crusing robot and is positioned, wherein the step 3 includes following son
Step: step 3-1, the crusing robot moves to behind any position of the track to restart to transport when positioning failure
It is dynamic；Step 3-2, the incremental encoder on the crusing robot is arranged in will in the crusing robot walking process
The displacement information of the crusing robot real-time detected feeds back to the position being arranged on the crusing robot and calculates list
Member is arranged in what the real-time detection in the crusing robot walking process of the pulse counter on the crusing robot issued
The umber of pulse is simultaneously fed back to the position calculation unit by the umber of pulse of signal；Step 3-3, the position calculation unit according to
Whether the umber of pulse under the current detection cycle of umber of pulse real-time judge of Real-time Feedback is equal to the number of teeth of the baffle,
When being judged as YES, determine that institute is recorded to the baffle and by institute's displacement information when scanning to the baffle in Current Scan
It states in local data base, 3-2 is re-execute the steps when being judged as NO；Step 3-4 repeats step 3-2 to 3-3 and arrives down to scanning
One baffle；The number of the baffle scanned is denoted as N, calculated in the N number of baffle scanned by step 3-5
The difference of the corresponding institute's displacement information of the adjacent baffle of any two forms current shift differences group；Step 3-6, will be described
The coordinate information of any one of baffle is as starting point, the coordinate information shape for the N-1 baffles of postponing in local data base
At reference coordinate group, the adjacent coordinate letter of any two in reference coordinate group described in each group is calculated in the local data base
The difference of breath forms one group of coordinate difference group, and will it is all in the current shift differences group and the local data base described in
Coordinate difference group is compared；Step 3-7, when that there is only coordinate difference groups described in one group is corresponding with the current shift differences group
When equal, using the last one described coordinate information in the corresponding reference coordinate group of the coordinate difference group as the inspection
The current coordinate information of robot, otherwise when repeat step 3-4 to 3-6.
According in this patent background technique described in the prior art, can not after the unexpected situations such as powering off occurs in crusing robot
Realize autonomous positioning again；And rail mounted crusing robot positioning disclosed by the invention and position calibration method, in inspection machine
Multiple baffles are arranged at intervals on the track of people's walking, the spacing of two baffles of arbitrary neighborhood is not completely equivalent；Work as inspection
Positioning fails (such as the case where positioning termination such as crusing robot power-off) again after robot motion to any position of track
When moving again, by judge the umber of pulse in detection cycle it is consistent with the number of teeth of baffle come determine crusing robot be located at it is a certain
By baffle；After determining continuous scanning to N number of baffle, the coordinate consistent with current shift differences is found out from local data base
Have baffle there are five being arranged in alternate position spike, such as track altogether, recording respectively in local data base has the coordinate of five baffles to believe
Breath is denoted as coordinate A, coordinate B, coordinate C, coordinate D and coordinate E respectively, and crusing robot scans in walking process again to three
A baffle and by scanning to three baffles when displacement information be denoted as displacement a, displacement b respectively and be displaced c, then have 3 at this time
A reference coordinate group, respectively reference coordinate group one (coordinate A, coordinate B, coordinate C), reference coordinate group two (coordinate B, coordinate C,
Coordinate D), reference coordinate group three (coordinate C, coordinate D, coordinate E), calculate separately current shift differences group (by displacement b and displacement a
Difference DELTA1With the difference DELTA of displacement c and displacement b2Formed) and three coordinate difference groups (such as the corresponding seat of reference coordinate group one
Difference group is marked by the difference DELTA of coordinate B and coordinate A3With the difference DELTA of coordinate C and coordinate B4Formed), because of the spacing between baffle
It equal may may not wait, therefore confirm whether there is only one group of coordinate difference groups and the current displacement in local data base again
Difference is consistent to organizing, if be equal to each other there is only the difference of difference and current shift differences in one group of coordinate difference group (for example,
The coordinate difference group of reference coordinate group one is equal to each other with current shift differences group, i.e. Δ1=Δ3And Δ2=Δ4), it can confirm institute
The current coordinate information of crusing robot is stated, otherwise scan next baffle again and executes above-mentioned steps, to realize
The autonomous positioning of crusing robot.
In addition, according to the present invention a kind of disclosed rail mounted crusing robot positioning and position calibration system also have it is as follows
Additional technical feature:
According to some embodiments of the present invention, the step 2 includes following sub-step: the step 2 includes following sub-step: step
Rapid 2-1, the crusing robot enable from the starting point setting in motion of the track and judge number K=0；Step 2-2, the increasing
Institute's displacement information is simultaneously fed back to the position by institute's displacement information of crusing robot described in amount formula encoder real-time detection
Computing unit, the position calculation unit coordinate information that institute's displacement information is current as the crusing robot；Step
The umber of pulse real-time detected is fed back to the position calculation unit by 2-3, the pulse counter, and the position calculates
Whether the umber of pulse in the current detection cycle of unit judges is equal to the number of teeth of the baffle, and when being judged as YES, into one
Step calculates the position difference of the coordinate information of institute's displacement information and all baffles, re-executes when being judged as NO
Step 2-2；Step 2-4, the position calculation unit judge whether there is the position difference of the absolute value in predictive error,
And when being judged as YES, judgement number K=0 is enabled, and by the corresponding baffle of the position difference in the local data
Coordinate information enable K=K+1 when being judged as NO as the current coordinate information of the crusing robot, hold again
Row step 2-2 is judged to positioning failure to K=3.Believed by the displacement of 41 real-time detection crusing robot 3 of incremental encoder
Breath, the influence of the situations such as wheel slip, abrasion due to incremental encoder 41 vulnerable to crusing robot 3 and generate displacement detect
Error, the umber of pulse in current detection cycle determines that baffle 2 is arrived in scanning when being equal to the number of teeth of baffle 2, and retrieves local number
According to the baffle 2 of middle coordinate information and current displacement information deviation in predictive error, using the displacement information of the baffle 2 as patrolling
The current coordinate information for examining robot 3, to reduce the cumulative errors of incremental encoder 41.
According to some embodiments of the present invention, the predictive error is less than the minimum value of the spacing of all baffles 2
Half.
Predictive error is set smaller than to the minimum value of the spacing of all baffles 2, there are two to avoid the occurrence of
The situation of the coordinate information of baffle 2 and current displacement information deviation in predictive error.
According to some embodiments of the present invention, the step 1 includes following sub-step: step 1-1, the crusing robot
3 from the starting point setting in motion of the track 1；Step 1-2, the displacement that the incremental encoder 41 will real-time detect
Information feeds back to position calculation unit 43, and the umber of pulse real-time detected is fed back to institute's rheme by the pulse counter 42
Set computing unit 43；Step 1-3, the position calculation unit 43 judge whether the umber of pulse in current detection cycle is equal to
The number of teeth of the baffle 2, and when being judged as YES, institute is recorded using institute's displacement information as the coordinate information of the baffle 2
It states in local data base, and enters step 1-2 when being judged as NO；Step 1-4 repeats step 1-2 to step 1-3 until described
Crusing robot 3 covers the entire track 1.
Crusing robot 3 obtains orbital data by detection before life's work, and using the orbital data as standard come into
The real-time inspection position correction that row works normally every time (step 1 does not need to carry out again after the normal inspection of crusing robot)；Cause
For be not directly by the coordinate typing local data base of baffle 2 to reduce requirement to 2 installation site precision of baffle.
According to some embodiments of the present invention, the step 1 further includes following sub-step: step 1-5, repeats step 1-1
To step 1-4 to pre-determined number, by the institute of crusing robot 3 described in the coordinate information corresponding record of each each baffle 2
It states in local data base；Step 1-6, by the corresponding multiple biggish values of coordinate information large deviations of each baffle 2 from
It is removed in the local data base；Step 1-7, to the corresponding coordinate of each of the local data base baffle 2
Information carries out mean value calculation and obtains mean value and using the mean value as the final coordinate information of the baffle 2.
Step 1-1 to step 1-4 is repeated several times, avoids the occurrence of the case where not scanning baffle 2；Each baffle 2 is right
Averaged is tired when incremental encoder 41 positions to eliminate after the biggish value removal of the multiple coordinate information large deviations answered
Count error.
According to one embodiment of present invention, being by the method for the biggish value removal of deviation in the step 1-6 will be more
The maximum value and the minimum value in a coordinate information are removed from the local data base.
According to one embodiment of present invention, the pre-determined number is at least three times.
According to another aspect of the present invention, additionally provide it is a kind of based on a kind of above-mentioned rail mounted crusing robot positioning and
A kind of rail mounted crusing robot of position calibration method positions and position calibration system, comprising: track 1；Multiple interval settings
The spacing of baffle 2 on the track 1, baffle 2 described in each adjacent two is not all equal, and each baffle 2 all has more
A tooth, the number of teeth that multiple baffles 2 have are identical；And the survey monitor being slidably mounted on the track 1 is set
Detection and localization module 4 on device people 3, the detection and localization module 4 include incremental encoder 41, pulse counter 42 and position
Computing unit 43 is set, the incremental encoder 41 is used for the displacement information of crusing robot 3 described in real-time detection and will be described
Displacement information feeds back to the position calculation unit 43；The pulse counter 42 is used for the infrared of the signal that real-time detection issues
The umber of pulse is simultaneously fed back to position calculation unit 43 by the umber of pulse of pulse；The position calculation unit 43 is according to the displacement
Information and umber of pulse obtain the current coordinate information of the crusing robot 3.
According to some embodiments of the present invention, the track 1 is mounted in industry spot by connector 5, the baffle 2
The number of teeth be greater than the connector and the track 1 tie point quantity.
By the quantity that the number of teeth of baffle 2 is set greater than to the tie point of connector and track 1；To avoid inspection machine
When people passes through connector, position calculation unit 43 is according to the arteries and veins in the current detection cycle of the feedback of pulse counter 42 received
It rushes number and connector is determined as baffle 2.
According to one embodiment of present invention, the connector 5 is sunpender, and the track 1 is existed by the hanger erection
On the ceiling of the industry spot.
According to one embodiment of present invention, the track 1 is aluminum alloy rail 1；The baffle 2 is metal baffle 2；Institute
Stating pulse counter 42 is infrared pulse counter or ultrasonic pulse counter.
According to one embodiment of present invention, the spacing between the two neighboring baffle is 30-50m.
Although having carried out detailed retouch to a specific embodiment of the invention referring to multiple illustrative examples of the invention
It states, it must be understood that those skilled in the art can be designed that various other improvement and embodiment, these improve and implement
Example will be fallen within spirit and scope；Specifically, in aforementioned disclosure, attached drawing and the scope of the claims
Within, reasonable variations and modifications can be made in terms of the arrangement that components and/or sub-combination are laid out, without departing from
Spirit of the invention；In addition to components and/or the variations and modifications of layout aspect, range is by appended claims and its is equal
Object limits.
Claims (10)
1. a kind of rail mounted crusing robot positioning and position calibration method, which comprises the following steps:
Step 1, before crusing robot life's work, the coordinate information conduct of multiple baffles being arranged at intervals on track is detected
Orbital data is recorded in the local data base of the crusing robot；
Step 2, in the formal inspection of the crusing robot, real-time inspection positioning is carried out simultaneously to the position of the crusing robot
The positioning is calibrated according to the orbital data；
Step 3, when positioning failure behind any position that the crusing robot moves to the track, to the survey monitor
The position of device people carries out inspection again and positions,
Wherein, the step 3 includes following sub-step:
Step 3-1, the crusing robot moves to behind any position of the track to restart to move when positioning failure；
Step 3-2, the incremental encoder on the crusing robot is arranged in will in the crusing robot walking process
The displacement information of the crusing robot real-time detected feeds back to the position being arranged on the crusing robot and calculates list
Member is arranged in what the real-time detection in the crusing robot walking process of the pulse counter on the crusing robot issued
The umber of pulse is simultaneously fed back to the position calculation unit by the umber of pulse of signal；
Step 3-3, described in the position calculation unit judges under current detection cycle according to the umber of pulse of Real-time Feedback
Whether umber of pulse is equal to the number of teeth of the baffle, when being judged as YES, determines that Current Scan arrives institute to the baffle and by scanning
Institute's displacement information when stating baffle is recorded in the local data base, and 3-2 is re-execute the steps when being judged as NO；
Step 3-4 repeats step 3-2 to step 3-3 extremely scanning to next baffle；
The number of the baffle scanned is denoted as N, calculates any two phase in the N number of baffle scanned by step 3-5
The difference of the corresponding institute's displacement information of neighbour's baffle forms current shift differences group；
Step 3-6, using the coordinate information of baffle any one of in the local data base as starting point, N-1 institute of postponing
The coordinate information for stating baffle forms reference coordinate group, calculates any in reference coordinate group described in each group in the local data base
The difference of two adjacent coordinate informations forms one group of coordinate difference group, and by the current shift differences group and the local
All coordinate difference groups are compared in database；
Step 3-7, when being equal to each other there is only coordinate difference group described in one group and the current shift differences group, by the coordinate
The last one described coordinate information in the corresponding reference coordinate group of difference group seat current as the crusing robot
Mark information, otherwise when repeat step 3-4 to 3-6.
2. a kind of rail mounted crusing robot positioning according to claim 1 and position calibration method, which is characterized in that institute
Stating step 2 includes following sub-step:
Step 2-1, the crusing robot enable from the starting point setting in motion of the track and judge number K=0；
Step 2-2, institute's displacement information of crusing robot described in the incremental encoder real-time detection and by the displacement
Information feeds back to the position calculation unit, and the position calculation unit is worked as institute's displacement information as the crusing robot
Preceding coordinate information；
Step 2-3, the umber of pulse real-time detected is fed back to the position calculation unit by the pulse counter, described
Position calculation unit judges whether the umber of pulse in current detection cycle is equal to the number of teeth of the baffle, and is being judged as YES
When, the position difference of the coordinate information of institute's displacement information and all baffles is further calculated, when being judged as NO
It re-execute the steps 2-2；
Step 2-4, the position calculation unit judge whether there is the position difference of the absolute value in predictive error, and
When being judged as YES, judgement number K=0, and the seat by the corresponding baffle of the position difference in the local data are enabled
Mark information enables K=K+1 when being judged as NO as the current coordinate information of the crusing robot, re-executes step
Rapid 2-2 is judged to positioning failure to K=3.
3. a kind of rail mounted crusing robot positioning according to claim 2 and position calibration method, which is characterized in that institute
State half of the predictive error less than the minimum value of the spacing of all baffles.
4. a kind of rail mounted crusing robot positioning according to claim 1 and position calibration method, which is characterized in that institute
Stating step 1 includes following sub-step:
Step 1-1, starting point setting in motion of the crusing robot from the track；
Step 1-2, the institute's displacement information real-time detected is fed back to position calculation unit by the incremental encoder, described
The umber of pulse real-time detected is fed back to the position calculation unit by pulse counter；
Step 1-3, the position calculation unit judge whether the umber of pulse in current detection cycle is equal to the baffle
The number of teeth, and when being judged as YES, the local data base is recorded using institute's displacement information as the coordinate information of the baffle
In；
Step 1-4 repeats step 1-2 to step 1-3 until the crusing robot covers the entire track.
5. a kind of rail mounted crusing robot positioning according to claim 4 and position calibration method, which is characterized in that
The step 1 further includes following sub-step:
Step 1-5 repeats step 1-1 to step 1-4 to pre-determined number, by the corresponding note of the coordinate information of each each baffle
It records in the local data base of the crusing robot；
Step 1-6, by the corresponding multiple biggish values of coordinate information large deviations of each baffle from the local data
It is removed in library；
Step 1-7, the coordinate information corresponding to each of the local data base baffle carry out mean value calculation
Obtain mean value and using the mean value as the final coordinate information of the baffle.
6. a kind of rail mounted crusing robot positioning according to claim 5 and position calibration method, which is characterized in that institute
Stating the method for deviation biggish value removal in step 1-6 is by the maximum value in multiple coordinate informations and described
Minimum value is removed from the local data base.
7. a kind of rail mounted crusing robot positioning according to claim 5 and position calibration method, which is characterized in that institute
Stating pre-determined number is at least three times.
8. one kind is based on a kind of positioning of rail mounted crusing robot and position calibration method described in any one of claim 1-7
A kind of rail mounted crusing robot positioning and position calibration system characterized by comprising
Track；
Multiple baffles being arranged at intervals on the track, each baffle have multiple teeth, the number of teeth of all baffles
It is equal；And
Detection and localization module on the crusing robot being slidably installed on the track, the detection and localization mould are set
Block includes incremental encoder, pulse counter and position calculation unit, and the incremental encoder is used for real-time detection institute
It states the displacement information of crusing robot and institute's displacement information is fed back into the position calculation unit；The pulse counter is used
In real-time detection issue signal infrared pulse umber of pulse and the umber of pulse is fed back into position calculation unit；Institute's rheme
It sets computing unit and the current coordinate information of the crusing robot is obtained according to institute's displacement information and umber of pulse.
9. a kind of rail mounted crusing robot positioning according to claim 8 and position calibration system, which is characterized in that phase
Spacing between adjacent two baffles is 30-50m.
10. a kind of rail mounted crusing robot positioning according to claim 8 and position calibration system, which is characterized in that
The track is mounted in industry spot by connector, and the number of teeth of the baffle is greater than the company of the connector and the track
The quantity of contact.
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