CN111702809A

CN111702809A - Robot track self-checking device and method thereof

Info

Publication number: CN111702809A
Application number: CN202010595229.XA
Authority: CN
Inventors: 路永鑫; 魏云冰; 郭元战
Original assignee: Shanghai University of Engineering Science
Current assignee: Huahai Engineering Co Ltd of Shanghai Civil Engineering Co Ltd of CREC
Priority date: 2020-06-27
Filing date: 2020-06-27
Publication date: 2020-09-25
Anticipated expiration: 2040-06-27
Also published as: CN111702809B

Abstract

The invention relates to a robot track self-checking device and a method thereof, wherein the method comprises the following steps: acquiring a robot position signal according to a preset detection interval; comparing the robot position signal with the partition position RFID label information, judging whether the robot is in a curve or a slope section, if so, acquiring the robot position signal again, otherwise, completing signal acquisition of one partition according to a preset signal acquisition interval; and judging whether the track state in one partition is normal or not according to the signal acquisition data in the partition, and obtaining the track abnormal interval. Compared with the prior art, the method and the device have the advantages that the position signal of the inspection robot, the light beam signal acquired by the laser receiver at the current position and the walking speed of the robot are combined, the detection of the track state and the positioning of the track abnormal section can be automatically and accurately finished, the method and the device have the advantages of high judging accuracy, strong self-adaptive capacity and good reliability, and the reliability and the safety of the inspection of the robot can be effectively improved.

Description

Robot track self-checking device and method thereof

Technical Field

The invention relates to the technical field of robot inspection, in particular to a robot track self-checking device and a robot track self-checking method.

Background

With the deep advance of smart cities in China, robot routing inspection becomes an important component of intelligent operation and inspection of city utility tunnels and power cable tunnels, and plays a vital role in safe operation of equipment in the pipe corridors or the tunnels. For wheeled or tracked robot of ground walking, orbital robot has that walking control is simple, the field of vision is wide, the power consumption is few and can adapt to the relative narrow or the complicated condition of ground road conditions in underground pipe gallery or tunnel space, becomes the mainstream mode that pipe gallery or tunnel robot patrolled and examined.

Rail mounted robot's rail mounting is at the tunnel top, mostly through mechanical component hoist and mount, in actual engineering, because site operation quality management and control is not enough, the vibration of robot walking in-process, it is not hard up to cause a nut that hangs easily, in addition, the track bears the influence of factors such as robot weight for a long time, these all can make the track produce and warp, on the one hand, track deformation can lead to the robot walking in-process to patrol and examine the image shake, the effect is patrolled and examined in the influence, on the other hand, the serious deformation of track drops even and can bring the hidden danger for facility and personnel's in the tunnel safety. Therefore, it is necessary to detect the robot track to improve the reliability and safety of the robot inspection.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a robot track self-checking device and a method thereof, which can effectively improve the reliability and safety of robot routing inspection by automatically detecting the track state and positioning the track abnormal section.

The purpose of the invention can be realized by the following technical scheme: the utility model provides a robot track self-checking device, includes laser emitter, laser receiver, odometer, speedtransmitter and treater, laser emitter installs the track position in every subregion one side in piping lane or tunnel, special position all installs the RFID (Radio Frequency Identification) label that is used for subregion position mark in entrance, export and the subregion of subregion, the light beam that laser emitter sent is on a parallel with the track, laser receiver installs in the robot bottom for the light beam that laser emitter sent is received, and output beam signal, odometer and speedtransmitter all install on the robot body, are used for gathering the position signal and the walking speed of robot respectively, laser receiver, odometer, speedtransmitter and RFID label are connected with the treater respectively, the treater is according to beam signal, speedtransmitter and RFID label, And automatically judging the current track state and the track abnormal interval by using the position signal, the walking speed and the partition position RFID mark information.

Further, each section of the pipe gallery or tunnel has a length of K, and the transport distance of the laser emitter is greater than K.

Further, the special positions in the subarea comprise a curve and a slope position section.

A robot track self-checking method comprises the following steps:

s1, acquiring a robot position signal according to a preset detection interval;

s2, comparing the robot position signal with the partition position RFID label information, judging whether the robot is in a curve or a slope section, if so, returning to the step S1, otherwise, executing the step S3;

s3, completing signal acquisition of a subarea according to a preset signal acquisition interval, namely acquiring a plurality of position signals, corresponding walking speed and corresponding light beam signals when the robot walks in the subarea;

and S4, judging whether the track state in the subarea is normal or not according to the position signals in the subarea in the step S3 and the corresponding travelling speed and light beam signals, and obtaining a track abnormal interval.

Further, the partition position RFID tag information comprises partition entrance RFID tag information, partition exit RFID tag information, partition curve position RFID tag information and partition slope position section RFID tag information;

the specific process of step S2 is as follows: if Se is less than S and less than So, and S is Sc, judging that the robot is at the curve position, and returning to the step S1, wherein S is the current position signal of the robot, Se is partition entrance RFID marking information, So is partition exit RFID marking information, and Sc is partition curve position RFID marking information;

if Se is less than S and less than So, and S is Sr, judging that the robot is in the slope bit segment, and returning to the step S1, wherein Sr is partitioned slope bit segment RFID label information;

if S-Se or S-So, determining that the robot is not in a curve or a slope section, and executing step S3;

if Se < S < So, and S ≠ Sc, and S ≠ Sr, it is determined that the robot is not in a curve or a slope position, and the step S3 is executed.

Further, the specific process of completing the signal acquisition of one partition in step S3 is as follows: if s is Se, the robot is located at the entrance position of the subarea, then according to a preset signal acquisition interval, every time a position signal is acquired, the position signal is compared with So until s is So, and the signal acquisition is finished;

if Se is larger than s and smaller than So, the robot is positioned in the subarea, then the position signal is compared with So every time the position signal is acquired according to a preset signal acquisition interval until s is equal to So, and the signal acquisition is finished;

if So, the robot is indicated to be located at the partition exit position, and the signal acquisition is finished.

Further, the light beam signal collected in the step S3 is specifically "0" or "1": when the laser receiver cannot receive the light beam emitted by the laser transmitter, the light beam signal is '0';

when the laser receiver can receive the light beam emitted by the laser transmitter, the light beam signal is "1".

Further, the step S4 specifically includes the following steps:

s41, based on the preset signal acquisition interval and the walking speed, in combination with a preset section threshold, judging whether the robot is in a stable state, if so, returning to the step S1, otherwise, executing the step S42;

s42, based on the position signals and the corresponding light beam signals, combining with a preset track state criterion, judging whether the track state is normal, if so, returning to the step S1, otherwise, executing the step S43;

and S43, calculating to obtain the track abnormal interval.

Further, the step S41 specifically includes the following steps:

s411, calculating to obtain the current running distance of the robot based on the walking speed of the robot and a preset signal acquisition interval;

and S412, comparing the current driving distance with a preset zone threshold, if the current driving distance is smaller than the preset zone threshold, judging that the robot is in a stable state, returning to the step S1, and if not, executing the step S42.

Further, the track state criterion in step S42 is specifically:

wherein s is_mkIs a predetermined sector threshold, w_i,w_i+1,...,w_i+nRespectively has a position signal s for the robot_i,s_i+1,...,s_i+nBeam signal of when w_i,w_i+1,...,w_i+nWhen "1" continues, the position section s is indicated_i,s_i+1,...,s_i+nThe track condition of (2) is abnormal;

the track abnormal section in step S43 is specifically:

D＝s_i+n-s_i

wherein D is the size of the abnormal section of the track, s_i+nAnd s_iThe end position signal of the track abnormal section and the start position signal of the track abnormal section are respectively.

Compared with the prior art, the invention has the following advantages:

according to the invention, the laser transmitters at fixed positions are arranged on each partitioned track, the laser receiver, the odometer and the speed sensor are arranged on the robot, and the arrangement of the processor is combined, so that a light beam signal output by the laser receiver can be collected in the walking process of the robot, and the detection of the track state and the positioning of an abnormal interval can be automatically and accurately finished by combining the walking speed of the robot and the position signal of the track where the robot is located, thereby being beneficial to improving the reliability and the safety of the inspection of the robot.

The invention can accurately identify whether the robot is in a curve or a slope section and finish signal acquisition of a subarea by comparing the robot position signal with the RFID label information of the subarea by utilizing the RFID label information of the subarea entrance and the special position, thereby avoiding the occurrence of false detection problems.

Drawings

FIG. 1 is a schematic structural connection diagram of the apparatus of the present invention;

FIG. 2 is a schematic flow diagram of the process of the present invention;

FIG. 3a is a schematic diagram of an application scenario when a track is normal in an embodiment;

FIG. 3b is a schematic diagram of an application scenario in an embodiment when a track is abnormal;

FIG. 4 is a flowchart of an embodiment robot track self-inspection task;

the notation in the figure is: 1. laser emitter, 2, laser receiver, 3, odometer, 4, speed sensor, 5, processor, 6, RFID label.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

Examples

As shown in fig. 1, a robot track self-checking device comprises a laser transmitter 1, a laser receiver 2, an odometer 3, a speed sensor 4, a processor 5 and a plurality of RFID tags 6, wherein the laser receiver 2, the odometer 3, the speed sensor 4 and the RFID tags 6 are respectively connected with the processor 5, and the laser transmitter 1 is installed at a track position on one side of each partition of a pipe gallery or a tunnel to emit light beams parallel to the track;

the laser receiver 2 is arranged at the bottom of the robot and used for receiving the light beam emitted by the laser emitter 1 and outputting a light beam signal, and when the track is straight and has no deformation, the laser receiver 2 can receive the light beam emitted by the laser emitter 1;

the odometer 3 and the speed sensor 4 are both arranged on the robot body and are respectively used for acquiring a position signal and a walking speed of the robot;

the RFID tags 6 are respectively arranged at the entrance and the exit of the subarea and at special positions in the subarea and are used for marking the positions of the subarea, wherein the special positions in the subarea comprise a curve and a slope position section;

and the processor 5 automatically judges and obtains the current track state and the track abnormal section according to the light beam signal, the position signal, the walking speed and the partition position RFID mark information.

The working method of the device is shown in fig. 2, and comprises the following steps:

s1, acquiring a robot position signal according to a preset detection interval;

The above-described apparatus and method are applied to this embodiment, and are specifically implemented as follows:

firstly, setting a fixed laser transmitter: in this embodiment, the pipe gallery and the tunnel are divided into one partition every 200m, and a laser emitter 1 (see fig. 3a) is installed below the track on one side of each partition, and emits a light beam parallel to and out of the track; because the laser monochromaticity is good, the diffusion angle is small, the stability is strong, the light penetration capability is strong, and even under the condition that smoke or water vapor exists in the tunnel, the light beam can normally reach the receiving end. The laser transmitter has the advantages of simple structure, low power consumption, low cost, simple maintenance and strong environment adaptability. In the embodiment, the laser is selected to require the transmission distance to be more than 200m, and the installation mode of the laser ensures that the emitted light beam is parallel to the track of the inspection robot.

Secondly, setting a movable laser receiver: a laser receiver 2 is arranged at the bottom of the inspection robot and is aligned with a fixedly arranged laser transmitter 1 (see figure 3a), and the laser receiver 2 is powered by the robot. When the inspection robot moves on the track, the laser receiver 2 at the lower part of the inspection robot can receive the light beam emitted by the fixed laser emitter 1 in a straight and undeformed section of the track, so that the acquired signal is low level and is recorded as logic '0'; when the inspection robot moves to a deformed track part on the track (see fig. 3b), the receiving angle of the laser receiver 2 at the lower part of the inspection robot changes and is not aligned with the laser emitter 1 any more, so that the laser beam emitted by the fixed laser emitter 1 is not received, and the acquired signal is high level and is marked as logic '1'. When the robot is in a curve or goes up and down a slope, the laser signal cannot be received, so the logic state records need to filter the special working conditions of the robot for going up and down the slope and turning. The robot motion can be set to acquire the position signal s and the corresponding light beam signal w and the walking speed v once every time t (in this embodiment, t is set to 0.1 to 1 second, and when the robot moves at a uniform speed of 1m/s, the corresponding running distance is 0.1 to 1m), and write the position signal s and the corresponding light beam signal w into an array { s, w }, and the information can be stored in a body control system memory of the robot or directly sent to the processor 5. The invention is very simple to realize in engineering application, can install the laser receiver 2 on a newly designed robot, and can also simply reform the existing inspection robot to install the laser receiver 2.

Thirdly, analyzing and judging track state abnormity: the state comprehensive analysis and judgment of the track is carried out in the processor 5 by combining the position information s of the robot and the corresponding light beam signal w and the walking speed v, and the state comprehensive analysis and judgment can also be realized in a task mode in a robot body control system, and the specific track self-checking task flow is shown in figure 4:

1. when the preset detection time T is reached, firstly, a robot position signal s is collected, and whether the robot is in a curve or a slope section is judged by combining the subarea position RFID label information:

if Se is larger than s and smaller than So, and s is Sc, judging that the robot is at the position of the curve, wherein s is a current position signal of the robot, Se is partition entrance RFID marking information, So is partition exit RFID marking information, and Sc is partition curve position RFID marking information;

if Se is larger than s and smaller than So, and s is Sr, judging that the robot is in the slope bit segment, wherein Sr is subarea slope bit segment RFID label information;

if s is Se or s is So, judging that the robot is not in a curve or a slope section;

if Se is less than s and less than So, and s is not equal to Sc and s is not equal to Sr, judging that the robot is not in a curve or a slope position section;

2. when the robot is judged not to be in a curve or a slope section, continuing to acquire a signal of one subarea at a signal acquisition interval t:

if s is Se, the robot is located at the entrance position of the subarea, then according to a preset signal acquisition interval t, every time a position signal is acquired, the position signal is compared with So until s is So, and the signal acquisition is finished;

if Se is larger than s and smaller than So, the robot is positioned in the subarea, then the position signal is compared with So every time the position signal is acquired according to a preset signal acquisition interval t until s is equal to So, and the signal acquisition is finished;

if So, indicating that the robot is located at the position of the partition outlet, and ending signal acquisition;

when the robot completes the inspection of a pipe corridor partition (200m), the robot state signal array { { s1, w1}, { s2, w2}, { s3, w3}, } is read, which contains position information and corresponding states of the track within the partition, for example { {0.1,0}, {0.2,0}, {0.3,1}, {0.4,1}, {0.5,1}, {0.6,1}, {0.7,0}, {0.8,0}, }.

3. Reading robot state signal arrays { { s1, w1}, { s2, w2}, { s3, w3}, and carrying out analysis judgment on the track state by combining corresponding walking speeds { v1, v2, v3 }:

the specific criteria are as follows:

in the formula, w_i,w_i+1,...,w_i+nFor the robot in position s respectively_i,s_i+1,...,s_i+nBeam signal of when w_i,w_i+1,...,w_i+nWhen "1" continues, this position section s is indicated_i,s_i+1,...,s_i+nThe track condition of (2) is abnormal;

s_mkthe threshold is a preset threshold, which is set to 0.1m in this embodiment, and can be adjusted appropriately according to the actual engineering. The threshold is set to have an anti-shake effect on one hand, and in order to prevent misjudgment caused by accidental error output of a certain point location, the output of adjacent continuous point locations in a certain length interval is taken for confirmation, so that the anti-shake effect is achieved, when the interval t of laser receiver signal acquisition of the robot is 0.1 second, and the robot moves at a constant speed of 1m/s, the corresponding running distance is 0.1m, and when the running distance is greater than the threshold s of the section, the threshold s of the section is set_mkThen, at least more than two sampling intervals can be guaranteed to be confirmed; on the other hand, when the robot is stationary or the relative movement amount is smaller than the threshold, the judgment of the track abnormality is not made, that is, when the robot is in a stable state, the track abnormality judgment is not made because it is not necessary to repeat the judgment at that point when the robot is stationary or the relative movement amount is small.

When the track is judged to be abnormal, the size of the track abnormal interval can be obtained as follows:

D＝s_i+n-s_i(2)

In practical application, the analysis and judgment processes are all realized in the processor 5 or the inspection robot body control unit, the robot performs analysis and calculation once according to the formula (1) and the formula (2) after finishing inspection of each pipe gallery partition, and after detecting that a track is abnormal, an alarm signal and abnormal section information are sent to a monitoring background; the above analysis and judgment process can also be implemented in a background system, in this case, the robot only needs to send the information including the current position signal s and the array { s, w } of the light beam signals w to the background analysis system, and the background system receives the state signal arrays { { s1, w1}, { s2, w2}, { s3, w3}, and then carries out analysis and judgment according to the formula (1) and the formula (2) after the state signal arrays { { s, w } sent up in the robot motion process are received.

The invention integrates the position signal of the inspection robot and the light beam signal collected by the laser receiver at the current position to complete the detection of the track state and the positioning of the abnormal section, has the characteristics of high judgment accuracy, strong self-adaptive capacity and good reliability, and can realize the self-detection capacity of the inspection track of the robot by simple modification on the existing robot inspection system, thereby effectively improving the reliability level of the operation and maintenance of the comprehensive pipe gallery and the power cable tunnel.

Claims

1. The utility model provides a robot track self-checking device, its characterized in that, includes laser emitter (1), laser receiver (2), odometer (3), speedtransmitter (4) and treater (5), the track position in every subregion one side in piping lane or tunnel is installed in laser emitter (1), special position all installs RFID label (6) that are used for subregion position mark in entrance, export and the subregion of subregion, the light beam that laser emitter (1) sent is on a parallel with the track, install in the robot bottom laser receiver (2) for the light beam that laser emitter (1) sent is received, and output light beam signal, odometer (3) and speedtransmitter (4) are all installed on the robot body, are used for gathering the position signal and the walking speed of robot respectively, laser receiver (2) the, The odometer (3), the speed sensor (4) and the RFID tag (6) are respectively connected with the processor (5), and the processor (5) automatically judges and obtains the current track state and the track abnormal interval according to the light beam signals, the position signals, the walking speed and the partition position RFID mark information.

2. A robotic rail self-inspection device according to claim 1, characterized in that each section of the pipe lane or tunnel has a length K and the transport distance of the laser emitter (1) is greater than K.

3. A robotic track self-inspection device as claimed in claim 1, wherein the specific locations within the sub-area include curves and ramp sections.

4. A robot track self-checking method using the device of claim 1, comprising the steps of:

s1, acquiring a robot position signal according to a preset detection interval;

5. The robot track self-inspection method according to claim 4, wherein the zone position RFID tag information includes zone entrance RFID tag information, zone exit RFID tag information, zone curve position RFID tag information, and zone slope section RFID tag information;

6. The self-inspection method of robot track according to claim 5, wherein the specific process of completing the signal acquisition of one partition in step S3 is as follows: if s is Se, the robot is located at the entrance position of the subarea, then according to a preset signal acquisition interval, every time a position signal is acquired, the position signal is compared with So until s is So, and the signal acquisition is finished;

7. The robot track self-inspection method according to claim 4, wherein the light beam signal collected in the step S3 is specifically "0" or "1": when the laser receiver (2) cannot receive the light beam emitted by the laser emitter (1), the light beam signal is '0';

when the laser receiver (2) can receive the light beam emitted by the laser transmitter (1), the light beam signal is '1'.

8. The robot track self-inspection method according to claim 4, wherein the step S4 specifically comprises the steps of:

and S43, calculating to obtain the track abnormal interval.

9. The robot track self-inspection method according to claim 8, wherein the step S41 specifically comprises the steps of:

10. The robot orbit self-checking method according to claim 9, wherein the orbit state criterion in the step S42 is specifically:

the track abnormal section in step S43 is specifically:

D＝s_i+n-s_i