CN111702809A - A robot track self-checking device and method thereof - Google Patents

Abstract

The invention relates to a robot track self-checking device and a method thereof. The method includes: collecting a robot position signal according to a preset detection interval; Or the slope segment, if it is judged to be yes, then collect the robot position signal again, otherwise, according to the preset signal collection interval, complete the signal collection of a partition; according to the signal collection data in a partition, judge whether the track status in the partition is normal or not , and get the orbital anomaly interval. Compared with the prior art, the present invention integrates the position signal of the inspection robot, the beam signal collected by the laser receiver at the current position, and the walking speed of the robot, and can automatically and accurately complete the detection of the track state and the positioning of the track abnormality interval, and has the accuracy of discrimination. It has the advantages of high performance, strong adaptive ability and good reliability, which can effectively improve the reliability and safety of robot inspection.

Description

A 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-inspection device and a method thereof.

Background technique

With the in-depth advancement of smart cities in my country, robot inspection has become an important part of the intelligent inspection of urban comprehensive pipe corridors and power cable tunnels, and plays a vital role in the safe operation of equipment in pipe corridors or tunnels. Compared with wheeled or crawler robots that walk on the ground, orbital robots have simple walking control, wide field of vision, less energy consumption, and can adapt to the relatively narrow underground pipe gallery or tunnel space or complex ground road conditions, becoming a pipe gallery or tunnel robot. Mainstream way of inspection.

The track of the orbital robot is installed on the top of the tunnel, and most of it is hoisted by mechanical components. In actual engineering, due to insufficient quality control of on-site construction and vibration during the walking process of the robot, it is easy to cause the nut of the hanger to loosen. In addition, the track bears the weight of the robot for a long time, etc. Affected by factors, these will deform the track. On the one hand, the track deformation will cause the inspection image to shake during the robot's walking process, which will affect the inspection effect. security risks. Therefore, it is necessary to detect the robot track to improve the reliability and safety of robot inspection.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a robot track self-inspection device and method thereof in order to overcome the above-mentioned defects of the prior art, which can effectively improve the reliability and reliability of robot inspection by automatically detecting the track state and locating the track abnormal interval. safety.

The object of the present invention can be achieved through the following technical solutions: a robot track self-checking device, comprising a laser transmitter, a laser receiver, an odometer, a speed sensor and a processor, and the laser transmitter is installed in a pipe gallery or tunnel. At the track position on one side of each partition, RFID (Radio Frequency Identification, radio frequency identification) tags are installed at the entrance and exit of the partition and special positions in the partition for marking the location of the partition, and the beams emitted by the laser transmitter are parallel On the track, the laser receiver is installed at the bottom of the robot to receive the beam emitted by the laser transmitter and output the beam signal. The odometer and the speed sensor are both installed on the robot body and are used to collect the position signal of the robot respectively. And the walking speed, the laser receiver, the odometer, the speed sensor and the RFID tag are respectively connected with the processor, and the processor automatically judges the current track state according to the beam signal, the position signal, the walking speed and the RFID tag information of the partition position and orbital anomalies.

Further, the length of each partition of the pipe gallery or tunnel is K, and the transmission distance of the laser transmitter is greater than K.

Further, the special positions in the partition include curves and slopes.

A robot track self-checking method, comprising the following steps:

S1. Collect robot position signals according to a preset detection interval;

S2, compare the robot position signal with the RFID tag information of the partition position to determine whether the robot is in a curve or a slope segment, if it is determined to be yes, then return to step S1, otherwise go to step S3;

S3, according to the preset signal collection interval, complete the signal collection of one partition, that is, collect multiple position signals when the robot is walking in one partition, as well as the corresponding walking speed and beam signal;

S4. According to the plurality of position signals in a partition in step S3, and the corresponding traveling speed and beam signal, determine whether the track status in the partition is normal, and obtain the track abnormality interval.

Further, the RFID marking information of the partition position includes the RFID marking information of the partition entrance, the RFID marking information of the partition exit, the RFID marking information of the partition curve position and the RFID marking information of the partition slope position;

The specific process of the step S2 is: if Se<s<So, and s=Sc, then it is judged that the robot is in a curved position, and the process returns to step S1, where s is the current position signal of the robot, and Se is the partition entrance RFID tag information , So is the RFID tag information of the partition exit, Sc is the RFID tag information of the partition curve position;

If Se<s<So, and s=Sr, it is judged that the robot is in the slope segment, and the process returns to step S1, where Sr is the RFID tag information of the partitioned slope segment;

If s=Se or s=So, it is judged that the robot is not in a curve or slope, and step S3 is executed;

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

Further, in the step S3, the specific process of completing the signal acquisition of a subregion is as follows: if s=Se, it indicates that the robot is located at the entrance position of the subregion, and then according to the preset signal acquisition interval, every time a position signal is collected, the position signal is collected. The position signal is compared with So until s=So, ending the signal acquisition;

If Se<s<So, it means that the robot is located in the partition, and then according to the preset signal acquisition interval, every time a position signal is collected, the position signal is compared with So until s=So, the signal acquisition is ended;

If s=So, it means that the robot has been located at the exit position of the partition, and the signal acquisition is ended at this time.

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

When the laser receiver can receive the beam from the laser transmitter, the beam signal is "1".

Further, the step S4 specifically includes the following steps:

S41, based on the preset signal acquisition interval and walking speed, combined with the preset segment threshold, determine whether the robot is in a stable state, if the determination is yes, then return to step S1, otherwise, perform step S42;

S42, based on the position signal and the corresponding beam signal, combined with the preset track state criterion, determine whether the track state is normal, if it is judged to be normal, then return to step S1, otherwise, execute step S43;

S43, the orbit anomaly interval is obtained by calculation.

Further, the step S41 specifically includes the following steps:

S411, calculating the current travel distance of the robot based on the walking speed of the robot and a preset signal collection interval;

S412. Compare the current travel distance with the preset segment threshold, and if the current travel distance is less than the preset segment threshold, determine that the robot is in a stable state, and return to step S1, otherwise, perform step S42.

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

Among them, s _mk is the preset segment threshold, w _i , w _i+1 ,...,w _i+n are the position signals of the robot s _i ,s _i+1 ,...,s _i+ The beam signal at _n , when w _i , w _i+1 ,...,wi _+n is "1" consecutively, indicates the position segment s _i ,s _i+1 ,...,s _i+n The track status is abnormal;

In the step S43, the abnormal orbit interval is specifically:

D=s _i+n -s _i

Among them, D is the size of the track abnormal section, s _i+n and _si are the end position signal of the track abnormal section and the start position signal of the track abnormal section, respectively.

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

1. The present invention can collect the output of the laser receiver during the walking process of the robot by installing a laser transmitter at a fixed position on each partition track, installing a laser receiver, an odometer and a speed sensor on the robot, combined with the setting of the processor. The beam signal, combined with the walking speed of the robot and the position signal of the track, can automatically and accurately complete the track state detection and abnormal interval positioning, which is beneficial to improve the reliability and safety of the robot inspection.

2. The present invention uses the RFID tag information of the entrance and exit of the partition and the special position, and can accurately identify whether the robot is in a curve or a slope by comparing the robot position signal and the RFID tag information of the partition, and complete the signal acquisition of a partition, thereby To avoid the problem of false detection, in addition, combined with the comparison of the current driving distance and the threshold of the section, it can accurately identify whether the robot is in a stable state. At the same time, the setting of the segment threshold can produce an anti-shake effect on the collected position signal data, that is, to ensure the validity of the position signal data collection and further improve the accuracy of the detection results.

Description of drawings

1 is a schematic diagram of the connection of the device structure of the present invention;

Fig. 2 is the method flow schematic diagram of the present invention;

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

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

Fig. 4 is the flow chart of the robot orbit self-checking task in the embodiment;

Description of the marks in the figure: 1. Laser transmitter, 2. Laser receiver, 3. Odometer, 4. Speed sensor, 5. Processor, 6. RFID tag.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Example

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

The laser receiver 2 is installed at the bottom of the robot to receive the beam emitted by the laser transmitter 1 and output the beam signal. When the track is straight and without deformation, the laser receiver 2 can receive the beam emitted by the laser transmitter 1;

Both the odometer 3 and the speed sensor 4 are installed on the robot body, and are respectively used to collect the position signal and the walking speed of the robot;

A plurality of RFID tags 6 are respectively installed at the entrances, exits and special locations in the partitions to mark the partition locations, wherein the special locations in the partitions include curves and slopes;

The processor 5 automatically judges and obtains the current track status and track abnormality interval according to the beam signal, the position signal, the walking speed and the RFID tag information of the partition position.

The working method of the above device is shown in Figure 2, including:

S1. Collect robot position signals according to a preset detection interval;

S2, compare the robot position signal with the RFID tag information of the partition position to determine whether the robot is in a curve or a slope segment, if it is determined to be yes, then return to step S1, otherwise go to step S3;

S3, according to the preset signal collection interval, complete the signal collection of one partition, that is, collect multiple position signals when the robot is walking in one partition, as well as the corresponding walking speed and beam signal;

S4. According to the plurality of position signals in a partition in step S3, and the corresponding traveling speed and beam signal, determine whether the track status in the partition is normal, and obtain the track abnormality interval.

The above-mentioned device and method are applied to this embodiment, and the specific implementation is as follows:

1. Setting up a fixed laser transmitter: In this embodiment, the pipe gallery and the tunnel are a partition every 200m, and the laser transmitter 1 is installed under the track on one side of each partition (see Fig. 3a), and the beam emitted by it is related to the track. Parallel and emitted; due to the good monochromaticity of the laser, small diffusion angle, strong stability, and strong light penetration ability, the beam can reach the receiving end normally even in the case of smoke or moisture in the tunnel. The laser transmitter has simple structure, low power consumption, low cost, simple maintenance and strong environmental adaptability. The laser selected in this embodiment requires that the transmission distance be greater than 200m, and the installation method should ensure that the emitted light beam is parallel to the track of the inspection robot.

2. Setting up the mobile laser receiver: Install the laser receiver 2 at the bottom of the inspection robot and align it with the fixed laser transmitter 1 (see Figure 3a). The laser receiver 2 is powered by the robot. When the inspection robot moves on the track, the laser receiver 2 at its lower part can receive the beam emitted by the fixed laser emitter 1 in the straight and non-deformed section of the track, so the collected signal is low level, denoted as Logic "0"; when the inspection robot moves on the track to the deformed track part (see Figure 3b), the receiving angle of the laser receiver 2 at the lower part changes and is no longer aligned with the laser transmitter 1, so the receiving angle is not to the beam emitted by the fixed laser transmitter 1, so the collected signal is a high level, which is recorded as a logic "1". When the robot is on a curve or going up and down a slope, it cannot receive a laser signal, so the recording of the above logic state needs to filter out the special working conditions of the robot going up and down and turning. During robot motion, it can be set to every interval t (in this embodiment, t is set to be 0.1 to 1 second, when the robot moves at a constant speed of 1m/s, the corresponding travel distance is 0.1m to 1m) to collect data. Once the position signal s and the corresponding beam signal w, the walking speed v, and write the position signal s and the corresponding beam signal w into an array {s, w}, the information can be stored in the robot's body control system memory, It can also be sent directly to the processor 5 . The implementation of the present invention in engineering application is very simple, not only can the laser receiver 2 be installed on a newly designed robot, but also an existing inspection robot can be simply transformed to install the laser receiver 2 .

3. Analysis and judgment of abnormal track state: Combined with the robot position information s and the corresponding beam signal w and walking speed v, the comprehensive analysis and judgment of the track state is carried out in the processor 5, and it can also be realized in the form of tasks in the robot body control system. The specific track self-inspection task process is shown in Figure 4:

1. When the preset detection time T is reached, first collect the robot position signal s, and combine the RFID tag information of the partition position to determine whether the robot is in a curve or slope:

If Se<s<So, and s=Sc, it is judged that the robot is at the curve position, where s is the current position signal of the robot, Se is the RFID tag information of the partition entrance, So is the RFID tag information of the partition exit, and Sc is the partition curve position. Track location RFID tag information;

If Se<s<So, and s=Sr, it is judged that the robot is in the slope segment, where Sr is the RFID tag information of the partitioned slope segment;

If s=Se or s=So, it is judged that the robot is not in a curve or slope;

If Se<s<So, and s≠Sc, s≠Sr, it is judged that the robot is not in a curve or slope;

2. When it is judged that the robot is not in a curve or a slope, continue to perform signal acquisition in a partition at the signal acquisition interval t:

If s=Se, it means that the robot is located at the entrance of the partition, and then according to the preset signal acquisition interval t, every time a position signal is collected, the position signal is compared with So until s=So, the signal acquisition is ended;

If Se<s<So, it means that the robot is located in the partition, and then according to the preset signal acquisition interval t, every time a position signal is collected, the position signal is compared with So until s=So, and the signal acquisition is ended;

If s=So, it means that the robot is already at the exit position of the partition, and the signal acquisition is ended at this time;

When the robot completes the inspection of a pipe gallery partition (200m), it reads the robot state signal array {{s1,w1}, {s2,w2}, {s3,w3},...}, which contains the partitions The position information of the inner track and the corresponding state, such as {{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. Read the robot state signal array {{s1,w1}, {s2,w2}, {s3,w3}, ...}, and combine the corresponding walking speed {v1, v2, v3, ...} to track Status analysis and judgment:

The specific criteria are as follows:

In the formula, w _i , w _i+1 ,...,w _i+n are the beam signals of the robot at positions s _i ,s _i+1 ,...,s _i+n respectively, when w _i ,w When _i+1 ,...,w _i+n is "1" continuously, it indicates that the orbital state of this position segment s _i ,s _i+1 ,...,s _i+n is abnormal;

s _mk is a preset section threshold, which is set to 0.1 m in this embodiment, and can be appropriately adjusted in actual engineering as required. On the one hand, setting this threshold has the function of anti-shake. In order to prevent the accidental wrong output of a certain point from causing misjudgment, the output of adjacent continuous points in a certain length interval is used for confirmation, so as to play the role of anti-shake. When the robot collects The laser receiver signal interval t is 0.1 seconds. When the robot moves at a constant speed of 1m/s, the corresponding driving distance is 0.1m. When the driving distance is greater than the segment threshold s _mk , at least two sampling intervals can be guaranteed for confirmation. ; On the other hand, when the robot is stationary or the relative motion is less than this threshold, no orbital abnormality judgment is made, that is, when the robot is in a stable state, the orbital abnormality judgment is not performed, because when the robot is stationary or the relative motion is small, there is no need to repeat Judgement is made at this point.

When judging the orbital anomaly, the size of the orbital anomaly interval can be obtained as:

D=s _i+n -s _i (2)

In the formula, D is the size of the track abnormal section, s _i+n and _si are the end position signal of the track abnormal section and the start position signal of the track abnormal section, respectively.

In practical applications, the above analysis and judgment processes are all implemented in the processor 5 or the inspection robot body control unit. After the robot completes a partition inspection of a pipe gallery, it performs an analysis and calculation according to formula (1) and formula (2), After detecting the track abnormality, the alarm signal and abnormal section information will be sent to the monitoring background; the above analysis and judgment process can also be implemented in the background system. In this case, the robot only needs to include the current position signal s and the beam The signal w array {s,w} information is sent to the background analysis system, and the background system receives the status signal array {{s1,w1}, {s2,w2}, {s3,w3},... } After that, analyze and judge according to formula (1) and formula (2).

The invention integrates the position signal of the inspection robot and the 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 interval, and has the characteristics of high discrimination accuracy, strong adaptive ability and good reliability. On the inspection system, the self-detection capability of the robot inspection track can be realized through a simple transformation, thereby effectively improving the reliability level of the operation and maintenance of the integrated pipe gallery and the power cable tunnel.

Claims (10)

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;

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.

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;

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.

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;

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.

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:

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.

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

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.

10. The robot orbit self-checking method according to claim 9, wherein the orbit state criterion in the 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.

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