CN111015681A - Communication machine room inspection robot system - Google Patents
Communication machine room inspection robot system Download PDFInfo
- Publication number
- CN111015681A CN111015681A CN201911311173.4A CN201911311173A CN111015681A CN 111015681 A CN111015681 A CN 111015681A CN 201911311173 A CN201911311173 A CN 201911311173A CN 111015681 A CN111015681 A CN 111015681A
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- Prior art keywords
- inspection robot
- mechanical arm
- acquisition unit
- charging
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses an inspection robot system for a telecommunication room, which comprises an inspection robot body, wherein the inspection robot body comprises: the system comprises a mobile platform, a data acquisition unit and an image acquisition unit, wherein the mobile platform is provided with a six-degree-of-freedom mechanical arm; the control unit is configured to receive the data acquired by the data acquisition unit and the image acquisition unit and transmit the data to the monitoring background; and the automatic navigation unit is configured to drive the mobile platform to run along the set guide path. The invention adopts the AGV trolley and the color tape laid on the ground to carry out automatic navigation, utilizes the six-degree-of-freedom mechanical arm instead of a direct-acting type and cradle head structure to install various sensors, avoids the problem that certain corners cannot be detected due to insufficient flexibility of the cradle head, and ensures that the inspection robot can monitor the equipment state without dead angles.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an inspection robot system for a communication machine room.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In the information-oriented society, the automation degree of production and life is continuously improved, and the information machine room increasingly shows the function of the information machine room. In order to ensure the normal and stable operation of various devices in an information machine room, so as to keep a communication system smooth, the machine room environment is required to meet the requirements of temperature and humidity, cleanliness, leakage prevention, power quality, lightning protection, electromagnetic field intensity, shielding, grounding, safety protection and the like. At present, the number of communication equipment of an information machine room is continuously increased, and the requirement of the machine room inspection work is greatly improved.
At present, many information rooms still adopt a manual inspection mode, but general information rooms all work for 24 hours without interruption, and many systems cannot arrange all-day attendance of a specially-assigned person in each room, so that the defects of dispersed inspection quality, untimely hidden danger discovery and the like exist. In order to avoid these problems, it is urgently needed to deploy a fully functional monitoring system to ensure the safe and reliable operation of the machine room.
The inspection robot system in the machine room disclosed by the prior art adopts a direct-acting and holder structure to install various sensors, and the structure can only realize inspection of information machine room equipment through the lifting and rotating of the holder, possibly causes the problem that certain corners can not be detected, and cannot realize monitoring of the equipment state without dead angles.
Disclosure of Invention
In order to solve the problems, the invention provides an inspection robot system for a communication machine room, which utilizes a six-degree-of-freedom mechanical arm to install various sensors so that the inspection robot can monitor the equipment state without dead angles.
In some embodiments, the following technical scheme is adopted:
the utility model provides a robot system is patrolled and examined to communication computer lab, includes patrols and examines the robot body, it includes to patrol and examine the robot body:
the system comprises a mobile platform, a data acquisition unit and an image acquisition unit, wherein the mobile platform is provided with a six-degree-of-freedom mechanical arm;
the control unit is configured to receive the data acquired by the data acquisition unit and the image acquisition unit and transmit the data to the monitoring background;
and the automatic navigation unit is configured to drive the mobile platform to run along the set guide path.
As a further improvement, the method further comprises the following steps: the charging unit is used for charging the inspection robot body; the charging unit comprises a wireless communication subunit, the wireless communication subunit communicates with the inspection robot body, and when the robot returns to the charging room, the controller enables the whole charging system to be ready for charging to perform charging operation.
As a further improvement, the six-degree-of-freedom mechanical arm provides a set joint driving angle for the six-degree-of-freedom mechanical arm through a driving motor arranged at each joint, so that a tail end working point of the mechanical arm reaches a preset position; the joint driving angle is obtained through reverse kinematics analysis and solution.
As a further improvement, the data acquisition unit comprises: the gas sensor, the noise sensor, the temperature and humidity sensor and the water leakage monitor are arranged on the six-degree-of-freedom mechanical arm.
As a further improvement, the image acquisition unit comprises a binocular camera arranged at the tail end of the six-degree-of-freedom mechanical arm.
As a further improvement, the moving platform is moved by adopting a four-wheel differential driving mode.
As a further improvement, the automatic navigation unit is an electromagnetic navigation device or an optical navigation device, and a track matched with the electromagnetic navigation device or the optical navigation device is arranged on the guide path.
Compared with the prior art, the invention has the beneficial effects that:
the AGV has the advantages that automatic navigation is carried out by adopting the AGV trolley and the color tape laid on the ground, various sensors are installed by utilizing the six-degree-of-freedom mechanical arm instead of a direct-acting type and cradle head structure, the problem that certain corners cannot be detected due to insufficient flexibility of the cradle head is avoided, and the inspection robot can monitor the state of equipment without dead angles.
The robot is driven by four independent mecanum wheels to achieve flexible turns.
The track planning and control of the mechanical arm can be accurately realized, and the positioning precision can meet the requirement of +/-1 cm.
Drawings
Fig. 1 is a block diagram of a system structure of an inspection robot according to a first embodiment of the present invention.
Detailed Description
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 application 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 application. 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.
Example one
In one or more embodiments, the system discloses a communication machine room inspection robot system, which comprises an inspection robot body, a wireless transmission unit, a monitoring background and a charging unit, wherein the inspection robot body is connected with the wireless transmission unit; the inspection robot body is communicated with the monitoring background through the wireless transmission unit, and the acquired detection signal is transmitted to the monitoring background; the inspection robot body is communicated with the charging unit, and the charging unit can timely acquire the charging state of the inspection robot.
The inspection robot body comprises a wheel type moving platform and a six-degree-of-freedom mechanical arm arranged on the wheel type moving platform; various sensors are arranged on the six-degree-of-freedom mechanical arm, including: sensors such as a gas sensor, a noise sensor, a temperature and humidity sensor, a water leakage monitor and the like; the tail end of the mechanical arm is provided with a visible light camera and a thermal infrared imager; respectively used for collecting images and temperature information; the mobile chassis is respectively provided with a SICK laser radar, an ultrasonic obstacle avoidance module, an acousto-optic alarm and a 3D display screen.
The routing inspection of the communication machine room has requirements on the size and the steering flexibility of the vehicle body, and simultaneously requires that the moving mechanism can bear larger load to bear the main structure of the robot. In the embodiment, a four-wheel differential driving mode is selected as a driving mode of the wheel type moving platform.
The friction between the wheels and the ground is sliding friction when the common rubber wheel is steered in place, so that the steering precision and flexibility of the mobile platform are influenced, the Mecanum wheel mainly comprises a hub and rollers with special profile curves, the axes of the rollers and the axis of the hub form an angle of 45 degrees, and the rollers can freely rotate along the respective axes, so that the omni-directional movement of the wheel type mobile platform can be realized, and the friction between the wheels and the ground is rolling friction, so that the steering is more flexible. In the present embodiment, mecanum wheels are selected as wheels of the wheeled mobile platform.
The wheel type moving platform is provided with an automatic navigation unit which is an electromagnetic navigation device or an optical navigation device arranged on the wheel type moving platform, and a guide path is provided with a track matched with the electromagnetic navigation device or the optical navigation device, so that the wheel type moving platform can automatically move along the guide path to form the structural form of the AGV trolley.
The inspection robot body further comprises a control unit, the control unit is connected with various sensors and the binocular camera, and received inspection data are transmitted to the monitoring background.
In addition, the control unit can also apply a certain driving angle to the joint by controlling a motor at the joint of the mechanical arm so as to enable the tail end working point of the mechanical arm to reach a preset position. The determination of the driving angle can be obtained by inverse kinematics analysis solution.
A charging unit of the communication machine room inspection robot system is a charging room and comprises a charging seat, a wireless communication system and the like. When the electric quantity of the inspection robot is insufficient or the inspection task is completed, the robot automatically returns to the charging room to be charged. The charging unit can communicate with the inspection robot and the monitoring background through the wireless communication system, and when the robot returns to the charging room, the control unit enables the whole charging system to be ready for charging to perform charging operation.
1. Mechanical arm forward kinematics analysis
The six-degree-of-freedom mechanical arm is a multi-joint mechanical arm, each joint is driven by a servo motor, and in order to realize control over the mechanical arm, kinematic modeling is firstly carried out on the mechanical arm, and the current commonly used mechanical arm motion model construction method is a D-H method.
Modeling the mechanical arm by using a D-H method, and firstly, constructing a coordinate system at each joint;
Hi-1，Hi，Hi+1each representing the axes of three adjacent joints, diIs xiAnd xi+1Distance of two axes in the direction of axis, thetaiIndicating the angle of rotation of the link i +1 about joint i, αiThe joint torsion angle represents the included angle between the axes of two adjacent joints.
The motion of the next joint is calculated by the motion of one joint, a conversion matrix between two adjacent joint coordinate systems needs to be constructed, and a joint coordinate system B is used in a D-H methodiTransformation to joint coordinate system Bi-1The transformation matrix of (a) is as follows:
the use of the D-H method to calculate the trajectory of the end of the robot arm also requires knowledge of the D-H parameters of the robot arm. The mechanical arm joint D-H parameters are shown in Table 1.
TABLE 1 mechanical arm D-H parameters
Then the transformation matrix for transforming the end tool coordinate system to the base coordinate system can be obtained from equation (1) as follows:
wherein n isx、ny、nz、ox、oy、oz、ax、ay、az、px、py、pzCan be obtained by substituting the joint variables into the above formula.
2. Mechanical arm inverse kinematics analysis
Inverse kinematic analysis of the robotic arm, i.e., solving for each joint variable given the tip position and orientation. This is the basis for motion control of the robotic arm.
Solving the inverse kinematics of the mechanical arm obtained by the formula (2) is to solve a forward motion coordinate transformation matrix
The number of independent variables in the analysis-aware transformation matrix is 6. In the solution, the comprehensive transformation matrix of the robot is decomposed into a translation matrix and a rotation matrix for convenience. Namely:
wherein, the translation matrix
The position information and the rotation matrix of the mechanical arm end effector in a base coordinate system are explained
Attitude information of the robot arm end effector in the substrate coordinate system is described.
The tail end position of the inspection robot is determined by the front three joints (recorded as arm joints), and the direction is determined by the rear three joints (recorded as wrist joints). Matrix array
The top-middle-left 3 × 3 matrix is a rotation matrix representing the direction of the end of the arm and is denoted as
The upper right 3 × 1 matrix is positionMatrix, representing the spatial position of the end points, denoted
Namely, the method comprises the following steps:
path planning of the end effector, i.e. the path of a robot arm end point from one point to another. The end effector of the robot is a binocular camera, the function of monitoring the target is achieved, no special requirements are required for the motion process of the end, and accurate pose control can be achieved only by ensuring.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (7)
1. The utility model provides a robot system is patrolled and examined to communication computer lab, includes patrols and examines the robot body, its characterized in that, it includes to patrol and examine the robot body:
the system comprises a mobile platform, a data acquisition unit and an image acquisition unit, wherein the mobile platform is provided with a six-degree-of-freedom mechanical arm;
the control unit is configured to receive the data acquired by the data acquisition unit and the image acquisition unit and transmit the data to the monitoring background;
and the automatic navigation unit is configured to drive the mobile platform to run along the set guide path.
2. The inspection robot system for the communication machine room according to claim 1, further comprising: the charging unit is used for charging the inspection robot body; the charging unit comprises a wireless communication subunit, the wireless communication subunit communicates with the inspection robot body, and when the robot returns to the charging room, the controller enables the whole charging system to be ready for charging to perform charging operation.
3. The inspection robot system for the communication machine room according to claim 1, wherein the six-degree-of-freedom mechanical arm provides a set joint driving angle for the six-degree-of-freedom mechanical arm through a driving motor installed at each joint, so that a tail end working point of the mechanical arm reaches a preset position; the joint driving angle is obtained through reverse kinematics analysis and solution.
4. The inspection robot system for the telecommunication room according to claim 1, wherein the data collecting unit comprises: the gas sensor, the noise sensor, the temperature and humidity sensor and the water leakage monitor are arranged on the six-degree-of-freedom mechanical arm.
5. The inspection robot system for the telecommunication room according to claim 1, wherein the image acquisition unit comprises a binocular camera disposed at an end of a six-degree-of-freedom robot arm.
6. The inspection robot system for the communication machine room according to claim 1, wherein the moving platform is moved by adopting a four-wheel differential driving mode.
7. The inspection robot system for the communication machine room according to claim 1, wherein the automatic navigation unit is an electromagnetic navigation device or an optical navigation device, and a track matched with the electromagnetic navigation device or the optical navigation device is arranged on the guide path.
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| CN201911311173.4A CN111015681A (en) | 2019-12-18 | 2019-12-18 | Communication machine room inspection robot system |
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Cited By (5)
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| CN111510674A (en) * | 2020-04-13 | 2020-08-07 | 广东电网有限责任公司电力科学研究院 | Electric power inspection device |
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
| CN113650038A (en) * | 2021-09-30 | 2021-11-16 | 中国华能集团清洁能源技术研究院有限公司 | Inspection robot |
| WO2022056800A1 (en) * | 2020-09-16 | 2022-03-24 | 苏州研科星智能科技有限公司 | Industrial robot-based intelligent monitoring apparatus |
| CN115488877A (en) * | 2022-07-05 | 2022-12-20 | 港珠澳大桥管理局 | Automatic inspection equipment and inspection method thereof |
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Effective date of registration: 20201030 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Applicant after: National Network Intelligent Technology Co.,Ltd. Address before: 250002 No.17, jingsan Road, Shizhong District, Jinan City, Shandong Province Applicant before: INFORMATION COMMUNICATION COMPANY OF STATE GRID SHANDONG ELECTRIC POWER Co. Applicant before: National Network Intelligent Technology Co.,Ltd. |
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