CN113138600A - Intelligent meter checking robot system and working method thereof - Google Patents
Intelligent meter checking robot system and working method thereof Download PDFInfo
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The invention discloses an intelligent meter checking robot system and a working method thereof, wherein the system comprises a walking module, an electromagnetic navigation line and navigation module, a camera, a control operation module and a reading module, wherein the walking module is respectively connected with the electromagnetic navigation line and navigation module, the camera and the control operation module, and the camera and the control operation module are connected with the reading module, so that the robot reaches a preset point under a driving circuit of the walking module according to the electromagnetic navigation line, the control operation module controls the reading module to adjust the camera, obtain an image and analyze the image, and finally obtain a reading. The intelligent mobile robot is used for finishing the inspection of the power station equipment, and is one of ideal schemes for improving the working efficiency and quality, reducing personnel and improving efficiency in terms of the current technology.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent meter checking robot system and a working method thereof.
Background
The inspection work of the traditional transformer substation is mainly completed by workers, and the quality of the inspection work is directly influenced by subjective factors such as the familiarity of the inspection workers to the business, the amount of work experience, the intensity of responsible centers, the quality of mental states and the like. In addition, the influence of objective factors such as weather conditions and recording modes also influences the inspection work, so that phenomena such as missed inspection and false inspection often occur in the work. According to the statistics report of the operation of the power grid in 2015 of the national institute of electrical and science, the economic loss caused by the missed detection and the false detection of the equipment reaches more than 50 billion yuan per year. Meanwhile, the high radiation environment in the transformer substation environment can cause great harm to the health of workers. The manual data entry is a very heavy thing, the data is not convenient to enter a database, and the information management cannot be conveniently carried out. Therefore, the traditional transformer substation inspection mode hardly meets the requirements of people on power consumption and power supply quality to a certain extent, and the design of the robot technology for transformer substation inspection work is a development trend of the future transformer substation inspection mode.
Disclosure of Invention
With the continuous and deep development of scientific and technological progress and power system reform, the automation degree of a power system is greatly improved, and the duty of a transformer substation gradually tends to be unmanned or less-humanized. In order to ensure the safe and reliable operation of the substation equipment and promote the unattended process of the substation more quickly, the invention utilizes the intelligent mobile robot to complete the inspection of the substation equipment, and is one of the ideal schemes for improving the working efficiency and quality and reducing the number of workers and improving the efficiency in terms of the current technology.
The intelligent meter checking robot system comprises a walking module, an electromagnetic navigation line and navigation module, a camera, a control operation module and a reading module, wherein the walking module is respectively connected with the electromagnetic navigation line and navigation module, the camera and the control operation module, and the camera and the control operation module are connected with the reading module, so that the robot reaches a preset point under a driving circuit of the walking module according to the electromagnetic navigation line, the control operation module controls the reading module to adjust the camera, images are acquired and analyzed, and finally a reading is obtained.
Further, the walking module also comprises a chip for controlling the driving circuit.
Furthermore, the electromagnetic navigation line and the navigation module comprise an electromagnetic navigation line for the robot to walk and an electromagnetic navigation module arranged on a robot movement mechanism, and the electromagnetic navigation module is used for acquiring path information so as to realize that the robot is on the electromagnetic navigation line 13.
Furthermore, the same number of sites capable of better observing each instrument are distributed on the electromagnetic navigation line, a magnetic marker is placed on the sites of the electromagnetic navigation line, so that the robot runs to the magnetic marker to stop walking, and the robot continues to walk after the reading of the instrument corresponding to the magnetic marker is obtained.
Furthermore, the camera and the control operation module comprise a robot camera and a control operation module, the robot camera takes a picture, after target detection and image analysis are carried out on the picture, a pointer angle corresponding to the instrument is obtained, and the control operation module controls the operation of the high-speed motor and the accurate control of the speed through the pointer angle.
Further, the system also comprises an upper computer, and the reading module is connected with the upper computer to acquire the communication system of the image.
Further, the driving circuit of the walking module is a full-bridge (H-bridge) driving circuit.
Furthermore, the electromagnetic navigation line is made of a single copper wire.
Furthermore, the magnetic markers are a group of cross magnet arrays which are respectively arranged on two sides of the electromagnetic navigation line.
A working method of an intelligent meter checking robot system comprises the following steps:
(1) after the robot starts to walk from a starting point, recording the number of magnetic markers passing through, and establishing a database of magnetic marker numbers and shooting angles and shooting focal lengths of the magnetic markers when the corresponding instruments can be optimally observed;
(2) when the robot stops reaching the magnetic marker, the stored shooting angle and the stored focal length of the robot camera are matched according to the ordinal number of the magnetic marker, the camera takes a picture, and after target detection and image analysis are carried out on the picture, the pointer angle of the corresponding instrument is obtained;
(3) and establishing a corresponding database of the magnetic scale number, the pointer angle, the meter reading and the meter type so as to match the meter type according to the magnetic scale number and obtain the meter reading according to the pointer angle and the meter type.
Compared with the related art, the intelligent meter checking robot system provided by the invention has the following beneficial effects:
after the vehicle body stops, the image acquisition function starts to be started. And the rotation angles of the two steering engines and the focal length information of the camera are obtained from the database in a matching manner according to the number of the magnetic markers, and the camera is adjusted to a preset shooting angle and a preset shooting focal length. The method comprises the steps of shooting pictures, obtaining coordinates of a target instrument in a visual field by using a target detection technology, using a difference value between the coordinates and a visual field center as an input signal for controlling a cradle head steering engine, controlling by using a PD steering engine, adjusting a camera to enable the target instrument to reach the visual field center, adjusting the focal length of the camera according to the area of the target instrument occupying the visual field, slowly increasing the focal length of a lens, stopping zooming by the camera when the area of the target instrument occupying the visual field is larger than 3/4, obtaining the last instrument picture, and intercepting the instrument picture according to a frame selection of the target instrument to perform automatic reading; therefore, the intelligent mobile robot is used for finishing the inspection of the power station equipment, and is one of ideal schemes for improving the working efficiency and quality, reducing personnel and improving efficiency in terms of the current technology.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a block diagram of the principle architecture of the present invention;
FIG. 2(1-2) is a circuit diagram of the walking module driving circuit of the present invention in FIG. 1;
FIG. 3 is an electromagnetic navigation paving diagram;
FIG. 4 is a diagram of an array of inductors in an electromagnetic navigation module;
FIG. 5 is a diagram of a reed switch array and wiring scheme in an electromagnetic navigation module.
Reference numerals: 1-a walking module; 2-a navigation module; 3-a control module; 4-a reading module; 5-pull-down resistor at input end; 6-driver filter capacitance; 7-load resistance; 8-a filter capacitor; 9-isolation stable resistor, 10-BTN898 chip; 11-a gating capacitance; 12-a motor; 13-electromagnetic navigation line; 14-magnetic scale; 15-pointer instrument; 16-an inductor; 17-reed pipe.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
As shown in fig. 1-5, an intelligent meter-checking robot system comprises a walking module 1, an electromagnetic navigation line and navigation module, a camera, a control operation module and a reading module 4, wherein the walking module 1 is respectively connected with the electromagnetic navigation line and navigation module, the camera and control operation module, and the camera and control operation module is connected with the reading module 4, so that the robot reaches a preset point under a driving circuit of the walking module 1 according to the electromagnetic navigation line 13, controls the reading module to adjust the camera through the control operation module, acquires and analyzes an image, and finally obtains a reading; the walking module 1 further comprises a chip for controlling the driving circuit; the electromagnetic navigation line and navigation module comprises an electromagnetic navigation line 13 for the robot to walk and an electromagnetic navigation module 2 arranged on a robot movement mechanism, and the electromagnetic navigation module 2 is used for acquiring path information so as to realize that the robot is on the electromagnetic navigation line 13; the same number of sites capable of better observing each instrument are distributed on the electromagnetic navigation line 13, a magnetic marker 14 is placed at the site of the electromagnetic navigation line 13, so that the robot runs to the position of the magnetic marker 14 to stop walking, and the robot continues to walk after the reading of the instrument corresponding to the magnetic marker 14 is obtained; the camera and control operation module comprises a robot camera and a control operation module 3, the robot camera takes a picture, a pointer angle corresponding to the instrument is obtained after target detection and image analysis are carried out on the picture, and the control operation module 3 controls the operation of the high-speed motor and the accurate control of the speed through the pointer angle; the system further comprises an upper computer, and the reading module 4 is connected with the upper computer to obtain the communication system of the image. Specifically, as shown in fig. 1, the walking module 1 is connected to a navigation module 2 and a control operation module 3, respectively, and the control operation module 3 is connected to a reading module 4.
In some embodiments, as shown in fig. 2-3, the driving circuit of the walking module 1 is divided into a half-bridge driving and a full-bridge (H-bridge) driving circuit. The half-bridge drive circuit can only control the unidirectional rotation of the motor 12, and has poor flexibility, so that an H-bridge double-motor drive circuit is adopted. The H-bridge driving circuit can control the size and the direction of current passing through the motor, can adjust the rotating direction and the rotating speed of the motor, and is higher in flexibility. Q1, Q2, Q3, and Q4 are control signals for controlling the respective switching elements. When Q1, Q4 are switched on, and Q2, Q3 are switched off, the current flowing through the motor M is rightward, and the motor rotates clockwise; when Q1, Q4 are off, Q2, Q3 are on, the direction of current flow through motor M is to the left and the motor is reversed. It can be seen that the H-bridge motor drive circuit is able to control the steering of the motor. The BTN8982 chip 10 is an integrated large-current half bridge for motor driving application, two BTN8982 can form a complete H-bridge motor driving circuit, and the chip is suitable for high-frequency PWM control and speed control of a direct current motor; the over-temperature and over-current detection is realized, and the circuit and the motor can be well protected; the maximum operating voltage is 40V, and the voltage overshoot has certain resistance in operation.
The walking module control chip MK60DN512Z is a 32-bit microcontroller, the working frequency of which is 100MHz, and the chip is the minimum system version of the chip. The chip is provided with two high-speed 16-bit analog-to-digital converters (ADC) with configurable resolution, and can convert analog signals generated by the electromagnetic sensor into digital signals easy to process, so that the controller can acquire electromagnetic wire path information and provide a basis for automatic walking; the two AD conversion modules can use registers to set digit and sampling frequency, the minimum sampling period is 0.73us, and the two AD conversion modules can completely hold the AD sampling frequency larger than 200 kHz. The chip is provided with 3 FlexTimers and 12 channels in total, can perform orthogonal decoding on square wave pulses sent by an encoder, acquire rotation information of the encoder and also can generate PWM (pulse width modulation) signals for controlling the rotating speed of a motor and the steering of a steering engine; the working voltage of the chip is 3.3V, and the chip is provided with proper and stable voltage when in use.
The electromagnetic pilot line 13 adopts a single copper wire, the diameter of the wire is 0.5mm, and a sine wave signal with the transmission frequency of 20kHz and 100mA in the electromagnetic wire is introduced with alternating current in the electromagnetic wire, so that the magnetic field around the electromagnetic wire can change along with the change of the current, and when the direction of the current changes, the direction of the magnetic field also changes along with the change of the current. Therefore, the magnetic field around the wire will change according to the sine law with the magnetic induction intensity corresponding to the maximum value of the alternating current, and in order to enable the robot to work better, the electromagnetic wire is laid according to the following requirements: (1) the path is straight, and the road surface undulation is small; (2) the curve is smooth, and the turning radius is more than or equal to 50 cm; (3) the camera is close to the instrument, so that a clear instrument picture can be conveniently shot; (4) the optimal shooting site of the instrument can be dispersed.
In order to better plan electromagnetic navigation, the invention can sense the change of a magnetic field according to the inductor, and forms an LC resonance circuit by matching with a certain capacitor, so that the change of the magnetic field with corresponding frequency in a space can be better sensed, thereby eliminating the influence of alternating magnetic fields with other frequencies in the surrounding environment. The AC signal generated by the amplifying circuit is processed by the rectifying and filtering circuit and converted into a DC signal capable of reflecting the amplitude of the AC signal, and then a digital signal is formed by an AD conversion module in the single chip microcomputer, so that the relative distance from the inductor to the electromagnetic wire can be conveniently obtained. The voltage doubling rectifying circuit is simpler than a diode rectifying bridge circuit in structure, and has the effect that the output voltage is twice the amplitude of the input voltage. The state shown in the figure is that the alternating current signal is in a negative half cycle, the diode D1 is conducted, the diode D2 is cut off, the input signal only charges the capacitor C1, and the charging is basically kept unchanged after the amplitude Vm of the input signal is reached; when the input signal is converted into a positive half cycle, the diode D1 is cut off, the diode D2 is conducted, the input signal and the polarity of the capacitor C1 are connected in series in the same direction, the capacitor C2 is charged together, and the charging is basically kept unchanged after the sum of the amplitude of the input signal and the voltage at the two ends of the capacitor C1 (namely 2Vm) is reached. After the circuit works stably, the voltage at the two ends of the capacitor C2 is always kept positive up and negative down, a stable direct current signal is output, and the amplitude of the signal is 2 Vm.
The magnetic scale 14 is a set of cross magnet arrays 16 disposed on both sides of the magnet wire to provide positioning recognition for the robot. The magnets are circular magnet pieces with the diameter of 1cm, the surface magnetic field intensity is 0.3-0.5 Tesla, the magnets are arranged in a cross mode, the distance is 1cm, and the length and the width of the array are 17 cm. The magnet scale 14 is placed at a position which enables the magnet wires to be laid in a straight line as much as possible and ensures that the ground at the position is flat. Because the magnetic marker is small, the robot starts to decelerate after reaching the magnetic marker and is not easy to stop immediately, and meanwhile, a small magnet of 3-5 is placed at the position 1m upstream of the magnetic marker along the advancing direction of the electromagnetic wire, and the robot enters a decelerating state immediately after sensing the small magnet, so that the robot can be ensured to accurately stop at the magnetic marker. A device capable of detecting a magnetic field is provided with two normally open contacts made of magnetic conductive materials in the device, the distance between the contacts is very small, when a reed pipe is in the magnetic field, the two contacts sense different magnetism and are influenced by magnetic force, and the two contacts are attracted together to enable a circuit to be conducted. The reed switches are used for forming a 9 x 9 array, the reed switches are arranged in the same direction, the center distance is 2cm, matrix keyboard type wiring is adopted, fewer input and output pins of a control chip are occupied, and the on-off information of the 81 reed switches can be acquired only by 18 input and output pins.
The movement of the robot system comprises a direction control part and a speed control part, the robot obtains the position of an electromagnetic navigation line 13 by using an electromagnetic sensor, and then controls a steering engine to adjust the running direction so as to ensure that the robot walks along an electromagnetic line. The relative magnitude of the induced electromotive force of each inductor in the inductor array 16 is obtained by using the electromagnetic sensor and the AD conversion module of the control chip, and the position information between the vehicle body and the electromagnetic wire is judged according to the difference of the induced electromotive forces of the inductors. And the relative potential difference between the electromagnetic wire and the central inductor of the inductor array is used as an input signal for controlling the steering angle of the steering engine to form closed-loop control of the direction. The speed of the robot is obtained by an encoder, a rotating shaft of the encoder and a rotating shaft of a motor are connected by a gear, when the motor rotates, the encoder outputs square waves representing the rotation amount, timing interruption is set in a single chip microcomputer, and the rotating speed of the motor 12 can be obtained by dividing the number of pulses in a certain time by the time, so that closed-loop control is formed.
In fig. 4, the magnitude of the induced electromotive force generated by the inductors 16 at different distances is different, and the relative distance between each inductor in the inductor array and the electromagnetic wire can be easily obtained according to the difference. The inductors are arranged according to a diagram mode, when the center of the inductor array is positioned on the electromagnetic wire, the inductors are distributed on two sides of the electromagnetic navigation line 13, and the induced electromotive force of the middle inductor is larger than that of the edge inductor. The relative position between the electromagnetic wire and the inductor array can be judged according to the induced electromotive force of each inductor of the inductor array.
In some embodiments, the electromagnetic navigation module 2 is noted to be mounted in the following directions: the magnetic field direction around the straight conducting wire follows the right-hand rule, and the conducting wire is taken as the center and is distributed in a circular shape;
in some embodiments, the current frequency in the magnet wire is 20kHz, so AD conversion frequencies greater than 200kHz should be used.
In some embodiments, PWM control is utilized. When the high-level duty ratio of the pulse is increased, the energy received in the motor in unit time is increased, so that the rotating speed of the motor is increased, and the frequency of a PWM signal for controlling the motor is 10 kHz.
In some embodiments, the vehicle body steering is realized by turning the front wheels of the vehicle body by a steering engine, the turning angle of the steering engine is controlled by a PWM signal with a special format, the model is Futaba S3010, the steering engine is in the middle position when the high level is 1.5ms, the steering engine rotates leftwards less than 1.5ms, and the steering engine rotates rightwards more than 1.5 ms.
In this embodiment, the reading module 3 is transmitted to a computer for processing, the VS platform processes an image, and the control module 3 is a chip control: MK60DN512Z is a 32-bit microcontroller with 100MHz working frequency, and is the minimum system version of the chip. The chip is provided with two high-speed 16-bit analog-to-digital converters (ADC) with configurable resolution, and can convert analog signals generated by the electromagnetic sensor into digital signals easy to process, so that the controller can acquire electromagnetic wire path information and provide a basis for automatic walking.
According to the system reading module, the principle is as follows: after the vehicle body stops, the image acquisition function starts to be started. And the rotation angles of the two steering engines and the focal length information of the camera are obtained from the database in a matching manner according to the number of the magnetic markers, and the camera is adjusted to a preset shooting angle and a preset shooting focal length. The method comprises the steps of shooting a picture, obtaining a coordinate of a target instrument in a visual field by using a target detection technology, using a difference value between the coordinate and a visual field center as an input signal for controlling a cradle head steering engine, controlling a camera by using a PD steering engine to adjust the camera to enable the target instrument to reach the visual field center, adjusting the focal length of the camera according to the area of the target instrument occupying the visual field, slowly increasing the focal length of a lens, stopping zooming by the camera when the area of the target instrument occupying the visual field is larger than 3/4, obtaining the last instrument picture, and intercepting the instrument picture according to a frame selection of the target instrument to perform automatic reading.
A working method of an intelligent meter checking robot system comprises the following steps:
(1) after the robot starts to walk from a starting point, recording the number of magnetic markers passing through, and establishing a database of magnetic marker numbers and shooting angles and shooting focal lengths of the magnetic markers when the corresponding instruments can be optimally observed;
(2) when the robot stops reaching the magnetic marker, the stored shooting angle and the stored focal length of the robot camera are matched according to the ordinal number of the magnetic marker, the camera takes a picture, and after target detection and image analysis are carried out on the picture, the pointer angle of the corresponding instrument is obtained;
(3) and establishing a corresponding database of the magnetic scale number, the pointer angle, the meter reading and the meter type so as to match the meter type according to the magnetic scale number and obtain the meter reading according to the pointer angle and the meter type.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a table robot system is examined to intelligence which characterized in that: the robot comprises a walking module, an electromagnetic navigation line and navigation module, a camera, a control operation module and a reading module, wherein the walking module is respectively connected with the electromagnetic navigation line and navigation module, the camera and the control operation module are connected with the reading module, so that the robot can reach a preset point under a driving circuit of the walking module according to the electromagnetic navigation line, the control operation module controls the reading module to adjust the camera, images are acquired and analyzed, and finally a reading is obtained.
2. The intelligent meter checking robot system according to claim 1, wherein: the walking module also comprises a chip for controlling the driving circuit.
3. The intelligent meter checking robot system according to claim 1, wherein: the electromagnetic navigation line and the navigation module comprise an electromagnetic navigation line used for the robot to walk and an electromagnetic navigation module arranged on a robot movement mechanism, and the electromagnetic navigation module is used for acquiring path information so as to realize the electromagnetic navigation line of the robot.
4. The intelligent meter-checking robot system according to claim 3, wherein: the same number of points of each instrument are distributed on the electromagnetic navigation line, a magnetic marker is placed on the points of the electromagnetic navigation line, so that the robot runs to the position of the magnetic marker to stop walking, and the robot continues to walk after the reading of the instrument corresponding to the magnetic marker is obtained.
5. The intelligent meter-checking robot system according to claim 4, wherein: the camera and the control operation module comprise a robot camera and a control operation module, the robot camera takes a picture, after the picture is subjected to target detection and image analysis, a pointer angle corresponding to an instrument is obtained, and the control operation module controls the operation of the high-speed motor and the accurate control of the speed through the pointer angle.
6. The intelligent meter checking robot system according to claim 1, wherein: the system further comprises an upper computer, and the reading module is connected with the upper computer to obtain the communication system of the image.
7. The intelligent meter-checking robot system according to claim 2, wherein: the driving circuit of the walking module is a full-bridge (H-bridge) driving circuit.
8. The intelligent meter checking robot system according to claim 1, wherein: the electromagnetic navigation line is made of a single copper wire.
9. The intelligent meter-checking robot system according to claim 4, wherein: the magnetic marks are a group of cross magnet arrays and are respectively arranged on two sides of the electromagnetic navigation line.
10. A method of operating an intelligent meter-checking robotic system as claimed in any one of claims 1 to 9, comprising the steps of:
(1) after the robot starts to walk from a starting point, recording the number of magnetic markers passing through, and establishing a database of magnetic marker numbers and shooting angles and shooting focal lengths of the magnetic markers when the corresponding instruments can be optimally observed;
(2) when the robot stops reaching the magnetic marker, the stored shooting angle and the stored focal length of the robot camera are matched according to the ordinal number of the magnetic marker, the camera takes a picture, and after target detection and image analysis are carried out on the picture, the pointer angle of the corresponding instrument is obtained;
(3) and establishing a corresponding database of the magnetic scale number, the pointer angle, the meter reading and the meter type so as to match the meter type according to the magnetic scale number and obtain the meter reading according to the pointer angle and the meter type.
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Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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