CN110614639A - ROS-based transformer substation inspection robot system and method thereof - Google Patents
ROS-based transformer substation inspection robot system and method thereof Download PDFInfo
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- CN110614639A CN110614639A CN201910888460.5A CN201910888460A CN110614639A CN 110614639 A CN110614639 A CN 110614639A CN 201910888460 A CN201910888460 A CN 201910888460A CN 110614639 A CN110614639 A CN 110614639A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The disclosure provides a substation inspection robot system and method based on ROS. The transformer substation inspection robot system based on the ROS comprises a bottom hardware part and an upper control part; the bottom hardware part comprises a motion control module which is packaged into a motion control ROS node and used for collecting motion information of the robot and receiving a motion instruction of the upper control part to control the robot to move; the environment sensing module is packaged into an environment sensing ROS node and used for acquiring environment information in a transformer substation where the robot is located; the upper-layer control part comprises a map construction module which is packaged into a map construction ROS node, and the map construction ROS node is communicated with the motion control ROS node and the environment sensing ROS node respectively; and the map building ROS node is used for building an operation environment map in the robot transformer substation according to the motion information of the robot and the environment information in the transformer substation.
Description
Technical Field
The disclosure belongs to the field of transformer substation inspection robots, and particularly relates to a transformer substation inspection robot system based on ROS and a method thereof.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
At present, the transformer substation inspection robot is popularized and applied in a large scale domestically, the problems that the traditional manual inspection is high in labor intensity, dispersed in detection quality and difficult to implement inspection in partial areas are effectively solved, and the automation and intelligence levels of inspection operation and management are improved.
In recent years, technologies such as laser navigation and visual servo are successively applied to a substation inspection robot, so that the quality of equipment state data acquisition of the flexibility of the operation of the conventional substation inspection robot is effectively improved.
Disclosure of Invention
In order to solve the problems, the invention provides a substation inspection robot system based on ROS and a method thereof, wherein modules contained in a bottom hardware part and an upper control part are packaged into ROS nodes, and a network inter-process communication interaction mechanism provided by the ROS is utilized, so that modular packaging and plug-and-play of each function of a robot body are realized, and the function expansion and the enhancement of the robot system are facilitated.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
a first aspect of the present disclosure provides a transformer substation inspection robot system based on ROS.
The utility model provides a transformer substation patrols and examines robot system based on ROS, includes:
a bottom hardware part and an upper control part;
the bottom hardware part comprises a motion control module which is packaged into a motion control ROS node and used for collecting motion information of the robot and receiving a motion instruction of the upper control part to control the robot to move;
the environment sensing module is packaged into an environment sensing ROS node and used for acquiring environment information in a transformer substation where the robot is located;
the upper-layer control part comprises a map construction module which is packaged into a map construction ROS node, and the map construction ROS node is communicated with the motion control ROS node and the environment sensing ROS node respectively; and the map building ROS node is used for building an operation environment map in the robot transformer substation according to the motion information of the robot and the environment information in the transformer substation.
As an embodiment, the bottom hardware part further includes a power management module, which is packaged into a power management ROS node for managing the power of the robot power supply.
As an implementation manner, the bottom hardware part further includes a detection operation module, which is packaged into a detection operation ROS node, and is used for performing closed-loop control and running state monitoring on a pan-tilt connected to the robot.
As an embodiment, the bottom hardware part further includes a communication control module, which is packaged into a communication control ROS node, and is used for taking charge of communication between the robot system and the in-station background monitoring system.
As an embodiment, the upper control part further comprises a global positioning module, which is packaged into a global positioning ROS node, and the global positioning ROS node is communicated with the mapping ROS node, the motion control ROS node and the environment sensing ROS node respectively; and the global positioning ROS node is used for carrying out global positioning on the robot in the transformer substation according to the motion information of the robot and the environment information in the transformer substation on the basis of the running environment map in the transformer substation.
As an embodiment, the upper control part further comprises a navigation control module encapsulated into a navigation control ROS node, and the navigation control ROS node is in communication with the global positioning ROS node, the motion control ROS node and the environment sensing ROS node, respectively; and on the basis of the robot positioning information, issuing a control instruction to the motion control node according to the inspection task to realize the operation in the robot station.
A second aspect of the present disclosure provides a working method of a substation inspection robot system based on an ROS.
A working method of a substation inspection robot system based on ROS comprises the following steps:
the ROS node is used for controlling the movement of the robot by acquiring the movement information of the robot and receiving a movement instruction of the upper-layer control part;
the method comprises the steps that an environment sensing ROS node collects environment information in a transformer substation where a robot is located;
and the map building ROS node receives the motion information of the robot and the environment information in the transformer substation which are respectively uploaded by the motion control ROS node and the environment perception ROS node, and a running environment map in the transformer substation of the robot is built.
As an implementation mode, the working method of the substation inspection robot system based on the ROS further includes:
and the global positioning ROS node receives the running environment map in the transformer substation, the motion information of the robot and the environment information in the transformer substation which are respectively uploaded by the map construction ROS node, the motion control ROS node and the environment perception ROS node, and carries out global positioning on the robot in the transformer substation.
As an implementation mode, the working method of the substation inspection robot system based on the ROS further includes:
the navigation control ROS node receives global positioning information, a running environment map in the transformer substation, the motion information of the robot and the environment information in the transformer substation which are respectively uploaded by the global positioning ROS node, the motion control ROS node and the environment perception ROS node, and sends a control instruction to the motion control node according to the routing inspection task, so that the robot runs in the station.
The beneficial effects of this disclosure are:
(1) the modules contained in the bottom hardware part and the upper control part are all packaged into ROS nodes, and the network inter-process communication interaction mechanism provided by the ROS is utilized, so that the modular packaging and plug-and-play of each function of the robot body are realized, and the function expansion and the enhancement of the robot system are facilitated.
(2) Due to the open source characteristic of the ROS, in the research and development process of the follow-up transformer substation inspection robot technology, the support of the existing ROS open source resources can be fully used for reference and utilized, the test and the deployment of new functions in the robot system are facilitated, and the development and debugging difficulty of the robot system is effectively reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a connection relationship diagram of modules of a ROS-based substation inspection robot system according to an embodiment of the present disclosure;
fig. 2 is a connection relationship diagram of each node of the ROS-based substation inspection robot system according to the embodiment of the present disclosure;
FIG. 3 is a schematic illustration of an environment map construction flow of an embodiment of the disclosure;
FIG. 4 is a schematic diagram of a global positioning flow of an embodiment of the present disclosure;
fig. 5 is a navigation control flow diagram of an embodiment of the disclosure.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
Interpretation of terms:
the ROS, Robot Operating System, is a Robot software platform that can provide functions similar to Operating systems for heterogeneous computer clusters.
As shown in fig. 1 and 2, the ROS-based substation inspection robot system of the present embodiment includes:
a bottom hardware part and an upper control part;
the bottom hardware part comprises a motion control module which is packaged into a motion control ROS node and used for collecting motion information of the robot and receiving a motion instruction of the upper control part to control the robot to move;
the environment sensing module is packaged into an environment sensing ROS node and used for acquiring environment information in a transformer substation where the robot is located;
the upper-layer control part comprises a map construction module which is packaged into a map construction ROS node, and the map construction ROS node is communicated with the motion control ROS node and the environment sensing ROS node respectively; and the map building ROS node is used for building an operation environment map in the robot transformer substation according to the motion information of the robot and the environment information in the transformer substation.
In specific implementation, the motion control module comprises a chassis body, left and right wheel driving motors and corresponding motion controllers, wherein the left and right wheel driving motors are arranged on two sides of the chassis body, and encoders arranged on power input ends of the driving motors and a motor shaft are connected with the motion controllers.
The environment perception module comprises an environment perception sensor for robot positioning and navigation, such as laser, vision and the like;
and the map building module is used for obtaining environment perception data according to the feedback of the bottom layer motion control node feedback encoder and the environment perception module, and realizing the construction of the running environment map in the robot transformer substation.
In a specific implementation, as shown in fig. 3, the process of constructing the map by the map construction module is as follows:
step 11): the remote control robot runs in a station, a map building node collects the feedback of a motion control ROS node feedback encoder and obtains environment sensing data with an environment sensing node, and an environment map is incrementally built by utilizing an SLAM (simultaneous localization and mapping) algorithm, such as GMap, Cartograph, ORB-SLAM and the like;
step 12): and storing the currently established map in real time, and repeating the step 11) until an environment map required by the positioning and navigation of the robot is obtained.
As an embodiment, the bottom hardware part further includes a power management module, which is packaged into a power management ROS node for managing the power of the robot power supply.
And the power management module comprises a storage battery, a power management board and a charging mechanism, is connected with each hardware module of the robot, and supplies power to each module.
As an implementation manner, the bottom hardware part further includes a detection operation module, which is packaged into a detection operation ROS node, and is used for performing closed-loop control and running state monitoring on a pan-tilt connected to the robot.
And the detection operation module comprises a holder and non-contact detection sensors such as a visible light camera, a thermal infrared imager and the like arranged on the holder. Wherein, the holder can be a two-freedom-degree electric control holder structure.
As an embodiment, the bottom hardware part further includes a communication control module, which is packaged into a communication control ROS node, and is used for taking charge of communication between the robot system and the in-station background monitoring system.
And the communication control module comprises a wireless network bridge and a robot control machine, wherein the wireless network bridge is responsible for connecting the robot monitoring background and the robot control machine in the station, and the robot control machine is intensively connected with the motion controller, the power management board, the environment sensing sensor, the holder and the detection sensor.
Communication control ROS node: the system is responsible for data communication and system interaction between the robot system and the in-station robot background monitoring system, and mainly completes remote control (chassis motion, pan-tilt control and the like) of the robot, receiving, analyzing and issuing of a routing inspection task, collecting data of each node and transmitting the data back to the in-station robot background monitoring system.
As an embodiment, the upper control part further comprises a global positioning module, which is packaged into a global positioning ROS node, and the global positioning ROS node is communicated with the mapping ROS node, the motion control ROS node and the environment sensing ROS node respectively; and the global positioning ROS node is used for carrying out global positioning on the robot in the transformer substation according to the motion information of the robot and the environment information in the transformer substation on the basis of the running environment map in the transformer substation.
And (3) globally positioning ROS nodes: on the basis of an environment map constructed by constructing ROS nodes on the map, environment perception data are obtained according to feedback of a bottom layer motion control feedback encoder and the environment perception ROS nodes, and global positioning of the robot transformer substation is achieved.
As shown in fig. 4, the specific steps of globally positioning the ROS node to achieve global positioning of the robot substation are as follows:
step 21): reading environment map data output by a map construction node by a global positioning ROS node;
step 22): setting an initial pose (position and attitude, same below) of the robot in a map by using a communication control ROS node and starting a particle set used for global positioning;
step 23): the robot runs in the station under the control of a routing inspection task or a remote control instruction, and the iterative updating of the particle sets is realized by utilizing an AMCL (Adaptive Monte Carlo Localization) algorithm until the pose of the robot is converged, so that the global positioning in the robot station is realized.
As an embodiment, the upper control part further comprises a navigation control module encapsulated into a navigation control ROS node, and the navigation control ROS node is in communication with the global positioning ROS node, the motion control ROS node and the environment sensing ROS node, respectively; and on the basis of the robot positioning information, issuing a control instruction to the motion control node according to the inspection task to realize the operation in the robot station.
Navigation control ROS node: on the basis that the ROS node is globally positioned to obtain robot positioning information, the ROS node is combined with environment sensing to obtain data, and a control instruction is issued to the ROS node through motion control according to the routing inspection task, so that the robot operates in a station.
As shown in fig. 5, the specific working process of the navigation control ROS node of this embodiment is as follows:
step 31): the navigation control ROS node reads environment map data output by the map building node, and plans a robot running route by using a global path planning algorithm (Dijkstra, A, etc.) based on a patrol task issued by a background monitoring system acquired by the communication control ROS node;
step 32): the global positioning ROS node reads the environment map data output by the map building node to realize the global positioning of the robot;
step 33): the navigation control ROS node sends a motion control instruction to the motion control node, and collects environment perception data obtained by the environment perception ROS node to detect whether obstacles exist in the running direction of the robot or not, and if the obstacles exist, local path planning (a dynamic window, an artificial potential field and the like) is carried out to realize avoidance of the obstacles.
Step 34): and controlling the robot to run along the planned route by the navigation control ROS node until the whole routing inspection task route is completed.
The working method of the substation inspection robot system based on the ROS in the embodiment comprises the following steps:
the ROS node is used for controlling the movement of the robot by acquiring the movement information of the robot and receiving a movement instruction of the upper-layer control part;
the method comprises the steps that an environment sensing ROS node collects environment information in a transformer substation where a robot is located;
and the map building ROS node receives the motion information of the robot and the environment information in the transformer substation which are respectively uploaded by the motion control ROS node and the environment perception ROS node, and a running environment map in the transformer substation of the robot is built.
As another embodiment, the working method of the ROS-based substation inspection robot system further includes:
and the global positioning ROS node receives the running environment map in the transformer substation, the motion information of the robot and the environment information in the transformer substation which are respectively uploaded by the map construction ROS node, the motion control ROS node and the environment perception ROS node, and carries out global positioning on the robot in the transformer substation.
As another embodiment, the working method of the ROS-based substation inspection robot system further includes:
the navigation control ROS node receives global positioning information, a running environment map in the transformer substation, the motion information of the robot and the environment information in the transformer substation which are respectively uploaded by the global positioning ROS node, the motion control ROS node and the environment perception ROS node, and sends a control instruction to the motion control node according to the routing inspection task, so that the robot runs in the station.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (9)
1. The utility model provides a transformer substation patrols and examines robot system based on ROS which characterized in that includes:
a bottom hardware part and an upper control part;
the bottom hardware part comprises a motion control module which is packaged into a motion control ROS node and used for collecting motion information of the robot and receiving a motion instruction of the upper control part to control the robot to move;
the environment sensing module is packaged into an environment sensing ROS node and used for acquiring environment information in a transformer substation where the robot is located;
the upper-layer control part comprises a map construction module which is packaged into a map construction ROS node, and the map construction ROS node is communicated with the motion control ROS node and the environment sensing ROS node respectively; and the map building ROS node is used for building an operation environment map in the robot transformer substation according to the motion information of the robot and the environment information in the transformer substation.
2. The ROS-based substation inspection robot system according to claim 1, wherein the bottom hardware portion further comprises a power management module encapsulated into a power management ROS node for managing power of a robot power supply.
3. The ROS-based substation inspection robot system according to claim 1, wherein the bottom hardware portion further comprises a detection operation module encapsulated to detect operation ROS nodes for closed-loop control and operational status monitoring of a cloud deck coupled to the robot.
4. The ROS-based substation inspection robot system according to claim 1, wherein the bottom hardware section further comprises a communication control module encapsulated into a communication control ROS node for taking charge of communication between the robot system and the in-station background monitoring system.
5. The ROS-based substation inspection robot system according to claim 1, wherein the upper level control section further comprises a global positioning module encapsulated into a global positioning ROS node, the global positioning ROS node being in communication with the mapping ROS node, the motion control ROS node, and the environment sensing ROS node, respectively; and the global positioning ROS node is used for carrying out global positioning on the robot in the transformer substation according to the motion information of the robot and the environment information in the transformer substation on the basis of the running environment map in the transformer substation.
6. The ROS-based substation inspection robot system according to claim 5, wherein the upper level control section further comprises a navigation control module encapsulated into a navigation control ROS node, the navigation control ROS node being in communication with a globally located ROS node, a motion control ROS node, and an environment sensing ROS node, respectively; and on the basis of the robot positioning information, issuing a control instruction to the motion control node according to the inspection task to realize the operation in the robot station.
7. A method of operation of the ROS based substation inspection robot system of any of claims 1-6, comprising:
the ROS node is used for controlling the movement of the robot by acquiring the movement information of the robot and receiving a movement instruction of the upper-layer control part;
the method comprises the steps that an environment sensing ROS node collects environment information in a transformer substation where a robot is located;
and the map building ROS node receives the motion information of the robot and the environment information in the transformer substation which are respectively uploaded by the motion control ROS node and the environment perception ROS node, and a running environment map in the transformer substation of the robot is built.
8. The method of operating an ROS-based substation inspection robot system of claim 7, further comprising:
and the global positioning ROS node receives the running environment map in the transformer substation, the motion information of the robot and the environment information in the transformer substation which are respectively uploaded by the map construction ROS node, the motion control ROS node and the environment perception ROS node, and carries out global positioning on the robot in the transformer substation.
9. The method of operating an ROS-based substation inspection robot system of claim 7, further comprising:
the navigation control ROS node receives global positioning information, a running environment map in the transformer substation, the motion information of the robot and the environment information in the transformer substation which are respectively uploaded by the global positioning ROS node, the motion control ROS node and the environment perception ROS node, and sends a control instruction to the motion control node according to the routing inspection task, so that the robot runs in the station.
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