CN113467477B - Many intelligent robot underground cable maintenance device based on video identification technique - Google Patents
Many intelligent robot underground cable maintenance device based on video identification technique Download PDFInfo
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Abstract
The invention discloses a multi-intelligent-robot underground cable maintenance device based on a video identification technology, which comprises an upper computer, a head main vehicle and a tail main vehicle, and a plurality of serially connected auxiliary vehicles arranged between the two main vehicles, wherein the head main vehicle and the tail main vehicles are connected with each other through a plurality of connecting lines; the upper computer can be in communication interaction with the main vehicle, the multi-intelligent-robot underground cable maintenance device can judge the preset shape, the cross section size and the AprilTag mark of a cable based on a video processing technology, and the device automatically forms a team to drive to a fault position for cable replacement so as to realize maintenance, and the device does not need to manually excavate and maintain outside so as to greatly save manpower and material resources; and in addition, the device can dynamically configure the number of trolleys participating in maintenance formation according to specific maintenance tasks, and has extremely strong expansibility.
Description
Technical Field
The invention belongs to the technical field of underground cable maintenance, and particularly relates to a multi-intelligent-robot underground cable maintenance device based on a video identification technology.
Background
The underground cable is a cable buried underground, and an underground power cable and an underground communication cable are used according to the underground cable. The laying mode usually comprises the following steps: direct-buried laying, cable trench laying, calandria laying and cable tunnel laying
Underground cable laying mode is visible, by overhauing convenient degree, cable tunnel lays the most convenient, but a large amount of underground spaces of cable tunnel laying demand, need excavate a large amount of earthwork, and the direct-burried lays, the cable pit lays, the calandria lays and all needs the manual work to excavate out trouble part side from the outside and can overhaul, and is comparatively inconvenient.
Disclosure of Invention
The invention aims to provide a multi-intelligent-robot underground cable maintenance device based on a video identification technology, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a many intelligent robot underground cable maintenance device based on video identification technique which characterized in that: the master-slave linkage control of the formation of the multiple intelligent robot trolleys comprises the following steps:
the method comprises the following steps: the upper computer sends an electronic map and a fault point predicted position to the main vehicle of the robot trolley;
step two: branching according to whether a preset path exists or not;
step three: establishing motion tracking control of a horizontal plane zeta =0 under a fixed coordinate system E-xi eta zeta;
step four: if no preset path exists, planning the path according to the electronic map;
step five: the upper computer sends the preset path to the main robot trolley;
step six: branching according to whether the navigation information is correct or not;
step seven: designing a master-slave linkage formation algorithm of the multiple intelligent robot trolleys;
step eight: planning a new driving path based on a visual recognition technology;
step nine: the master vehicle sends the path information to the slave vehicle;
preferably, the maintenance device consists of an upper computer, a head main vehicle and a tail main vehicle, and a plurality of auxiliary vehicles which are arranged between the two main vehicles and are connected in series;
the upper computer is in communication interaction with the main vehicle, the upper computer sends the electronic map of the area and the predicted position of the fault point to the main vehicle, and the main vehicle sends the actual position and the maintenance condition to the upper computer;
the interior of the master vehicle is provided with a functional component, and the functional component is used for processing the matching of an electronic map and an actual position, planning a path based on a visual identification technology, sending a driving direction, a speed, a running time and a turning position to the slave vehicle, and replacing a maintenance cable. The functional components comprise an OV7725 camera image sensor, an MPU9250 nine-shaft low-cost MEMS gyroscope, an STM32H743VIT6 microprocessor, a brushless direct current motor driving inverter, an ESP8266 wireless communication module and a rotary wheel type cable replacing device.
An ESP8266 wireless communication module which is in signal connection with the upper computer is arranged in the slave vehicle, and the wireless communication module is used for communication between the master vehicle and the slave vehicle, and can also be used for carrying out signal relay for information transmission through the slave vehicle when the distance between the upper computer and the master vehicle is longer, so that real-time control is realized; the inside of the slave vehicle is provided with a cable clamp, a brushless direct current motor driving inverter and an ESP8266 wireless communication module, and the modules are used for achieving the functions of dragging a cable, following the master vehicle and wirelessly relaying.
Preferably, the main car is provided with a cable replacing device, the cable replacing device can rotate forwards and backwards to magnetically attract the cable interface for positioning, approach or separate the cable interface, and the rotating wheel type rotates the cable, so that the cable is replaced.
Preferably, the cable interface comprises a convex cable male port and a concave cable female port, the cable is of a double-layer structure, the inner layer of the cable interface is circular, the outer layer of the cable interface is in a regular hexagonal prism shape, and a marble rolling bearing is arranged between the inner layer and the outer layer.
Preferably, when the public mouth of evagination formula cable was inserted into the female mouth of indent formula cable, install main actuation electro-magnet and supplementary actuation permanent magnet on the terminal surface of cable interface inlayer, the notch that supplies the public mouth card of evagination formula cable to go into is seted up to the female mouth of indent formula cable, the external screw thread has been seted up on the outer surface of the public mouth of evagination formula cable, the internal thread has been seted up to the outer internal surface of the female mouth of indent formula cable.
Compared with the prior art, the invention has the beneficial effects that:
1. the earthwork is not required to be excavated and maintained outside manually to expose the fault point, so that the manpower and material resources can be greatly saved;
2. the size of the cable groove can be reduced, manual climbing for maintenance is not needed, maintenance risks are reduced, and laying and maintenance costs are reduced;
3. the system is provided with a plurality of robot trolleys, and maintenance formation is formed by the robot trolleys, so that the number of the maintenance trolleys can be dynamically configured according to specific maintenance requirements, and the system has strong expansibility;
4. only the lead car is provided with hardware equipment for operating a visual identification technology, a high-precision MEMS gyroscope, a wireless communication module and a rotary wheel type cable replacing device, and only the receiving device, the high-precision clock counter, the wireless communication module and the cable clamp are needed for the following car, so that the cost for maintaining and forming the robot trolleys is greatly saved;
5. the system can realize the unattended operation and the automatic maintenance function of a cable groove or a cable tunnel, and the device has high technological content, wide application range and high application and popularization value in the field of underground cable maintenance.
Drawings
FIG. 1 is a hardware topology diagram of a multi-intelligent-robot underground cable repair device of the present invention;
FIG. 2 is a hardware topological diagram of a main vehicle of the robot trolley;
FIG. 3 is a slave car hardware topology of the robotic trolley of the present invention;
FIG. 4 is a master-slave linkage control flow chart of the formation of multiple intelligent robot dollies according to the invention;
FIG. 5 is a schematic diagram of the preset path motion tracking of the present invention;
FIG. 6 is a schematic diagram of the L-psi control of the present invention;
FIG. 7 is a physical model diagram of the movement of a single vehicle according to the present invention;
FIG. 8 is a following movement model diagram of the master vehicle and the slave vehicle according to the present invention;
fig. 9 is a connection topology diagram of an ESP8266 wireless communication module according to the present invention;
fig. 10 is a circuit diagram of an ESP8266 wireless communication module of the present invention;
FIG. 11 is a front view of the cable splice of the present invention;
figure 12 is a side view of the cable splice of the present invention.
In the figure: 1. a cable interface inner layer; 2. an outer layer of a cable interface; 3. a ball rolling bearing; 4. auxiliary attraction permanent magnet; 5. the main attraction electromagnet.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1 to 12, the present invention provides a technical solution: a maintenance device for underground cables of multiple intelligent robots based on a video recognition technology is composed of an upper computer, two main vehicles at the head and the tail, and a plurality of auxiliary vehicles which are arranged between the two main vehicles and are connected in series;
the host computer can communicate with the host vehicle to interact with the host computer and send the electronic map of the area and the predicted position of the fault point to the host vehicle, and the host vehicle sends the actual position and the maintenance condition to the host computer;
the slave vehicle is internally provided with a wireless transmission module which is in signal connection with the upper computer, the wireless transmission module is used for carrying out signal relay transmission information through the wireless transmission module of the slave vehicle equipment when the distance between the upper computer and the master vehicle is far, so that real-time control is realized, and if the distance between the upper computer and the master vehicle is far and communication cannot be carried out due to lack of relay points, the master vehicle has the autonomous operation capability;
the interior of the master vehicle is provided with a functional component, the functional component is used for processing the matching of an electronic map and an actual position, planning a path based on a visual recognition technology, and sending a driving direction, a speed, a running time and a turning position to the slave vehicle, and the functional component comprises an OV7725 camera image sensor and is used for collecting images shot by an external camera. The OV7725 can provide video outputs in 60-frame, RGB (GRB 4:2, RGB 565/5551444) and YCBCR (4;
a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis magnetometer are integrated in the MPU9250, a hardware acceleration engine of a digital motion processor of the MPU9250 can integrate nine-axis sensor data and output complete 9-axis fusion calculation data to an application end, and the data is input into an STM32H743VIT6 for calculating a real-time path and a current position;
STM32H743VIT6 is a 32-bit high-performance microcontroller with a core processor of
M7, operating frequency 400MHz, which is responsible for specific video recognition, image processing, electronic map matching, route planning and master vehicle control;
the brushless direct current motor drives the inverter to drive the transmission motors on two sides of the robot trolley, and control signals of the inverter are input by the STM32H743VIT6 to generate PWM pulse signals required by the work of the transmission motors, so that the speed regulation and the forward and reverse rotation of the motors are realized;
the ESP8266 wireless module is connected with the main vehicle of the robot trolley, the auxiliary vehicle of the robot trolley and the upper computer by using a WiFi wireless communication protocol. The intelligent robot car is in an STA + AP mode, but the upper computer and the robot car main car mainly work in the STA mode, and in the STA mode, an ESP8266 wireless module can receive and send control instructions through the Internet to realize remote control on equipment;
device is changed to runner formula cable, carry on many cables simultaneously, the work efficiency is improved, can realize changing the cable through the mechanical device who is close to/separates the interface, the magnetism of cable interface inhales the outer loop and helps the accurate realization of location interface position to change, the bolt formula interface of realizing loosening/tightening up by a step motor corotation/reversal, the inseparable degree of interface can be adjusted to control step motor's step number, detect the jump of step motor drive current and can survey the moment that bolt formula interface reaches tightest degree, last power supply and burn out motor coil when preventing the motor locked rotor.
In the embodiment, a brushless direct current motor driving inverter and an ESP8266 wireless module are arranged in the slave vehicle, the slave vehicle of the robot trolley mainly works in an AP mode, the ESP8266 wireless module serves as a hot spot in the AP mode, and the upper computer and the master vehicle can achieve data communication through the hot spot and be used for achieving the functions of dragging a cable, following the master vehicle and wirelessly relaying.
Preferably, the master-slave linkage control of the formation of the multiple intelligent robot trolleys comprises the following steps:
the method comprises the following steps: the upper computer sends an electronic map and a fault point predicted position to the main vehicle of the robot trolley;
the electronic map has larger data capacity and longer transmission time, and the upper computer is usually closer to the main vehicle of the robot trolley when transmitting the electronic map, so that the signal is excellent and the transmission rate is higher. In addition, the electronic map is stored in an extended TF card of the microcontroller STM32H743VIT6 and is not influenced by power failure once being stored. The electronic map can also be copied and updated by a manual operation TF card, the predicted position of the fault point is calculated by a short-circuit fault algorithm or a fault detection system in the electric power engineering, the electronic map is not expanded because the position does not relate to the patent, and at the beginning of the system work, the upper computer marks the predicted position of the fault point in the electronic map and transmits the mark to the robot trolley main vehicle, and the main vehicle is expected to autonomously run to the predicted position;
step two: branching according to whether a preset path exists or not;
if the preset path exists, referring to the preset path, and entering the step 3; if no preset path exists, entering the step four;
step three: referring to fig. 5, establishing motion tracking control of a horizontal plane ζ =0 under a fixed coordinate system E- ξ η ζ;
establishing an included angle psi between the motion speed Up and xi sf of the point P along a preset path and a xi axis of a fixed coordinate system, wherein the value of the track curve angular speed rp is as shown in formula 1;
path tracking errors are described. And the point B is the actual coordinate of the main vehicle of the robot trolley, and the error between the actual coordinate B and the preset coordinate P is (tau e, ne). The path tracking error of the robot trolley main vehicle in the horizontal plane (E-xi eta) can be described as an equation 2:
as can be seen from step 3, when there is a preset driving path, the path tracking problem of the robot trolley with the path tracking function on the horizontal plane (E- ξ η) can be described as follows: starting from any initial position at a preset path omega and a longitudinal movement speed ud, searching a propulsion longitudinal force X, a steering torque N and a change rate of a track curve parameter s of the robot trolley main car so that a tracking error tau e and ne of the robot trolley main car converge to zero and a longitudinal speed u converges to an expected speed ud;
step four: if no preset path exists, planning the path according to the electronic map;
the upper computer marks the initial position of the main vehicle of the robot trolley and the predicted position of the fault point in the electronic map. The map information is processed, nodes are extracted, and a path planning problem is converted into a graph theory problem by roads suitable for driving, so that a single-source shortest path algorithm, such as Dijksta algorithm and Bellman-Ford algorithm, or a full-source shortest path algorithm, such as Floyd-Warshall algorithm and Johnson algorithm, can be used for calculating the shortest path problem, but the method is only suitable for the situation that an accurate electronic map is provided and roads are well maintained, and when the electronic map is lacked or the underground road condition is complex (blocking, narrowing and the like), the follow-up processing of the method is needed. The path generated at this time is therefore only the desired ideal path;
step five: the upper computer sends the preset path to the main robot trolley;
the main robot trolley vehicle has the most complete processing function, and in order to realize the leading function, the upper computer needs to send a preset path to the main robot trolley vehicle;
step six: branching according to whether the navigation information is correct or not;
if the navigation information is correct, entering a seventh step, designing a master-slave linkage algorithm to realize formation cluster control of the multiple intelligent robot trolleys; if the navigation information is wrong, entering step eight, and planning a new driving path based on the visual identification technology
Step seven: referring to fig. 6, 7 and 8, designing a master-slave linkage formation algorithm of the multi-intelligent-robot trolley;
in the working scene of the patent, the main vehicle of the robot trolley and the auxiliary vehicle of the robot trolley are arranged in series, and the patent designs an L-psi controlled master-slave linkage algorithm aiming at the working scene. As shown in fig. 6, in order to save the cost of the device, only one main vehicle in the multi-intelligent robot trolley formation serves as a navigator, the trolley 1 serves as the main vehicle, and the trolley 2 serves as a secondary vehicle. A midpoint Q of a vertical connecting line between two wheels of the robot trolley is defined as a reference point of the trolley (if the robot trolley is a four-wheel vehicle, an orthogonal midpoint Q between four wheels, if the robot trolley is a tracked vehicle, an orthogonal midpoint Q between four driving wheels), a point C is a gravity center of the trolley and is positioned on a middle vertical line of a connecting line of axles, and the common midpoint Q of the robot trolley coincides with the gravity center point C. θ 1 is the driving direction angle of the master vehicle, θ 2 is the driving direction angle of the slave vehicle, L12 is the relative distance between the master vehicle and the slave vehicle, i.e., the straight-line distance between the middle point Q of the pilot axle and the gravity center C of the slave vehicle, and ψ 12 is the relative angle between the master vehicle and the slave vehicle. The master-slave linkage algorithm based on the L-psi control achieves the purpose that a plurality of trolleys in a formation drag the maintenance cable to advance in a certain formation by controlling two physical quantities, namely the relative distance L12 and the relative angle psi 12. The method comprises the following specific steps:
s1: establishing XY coordinate system using state vector
To describe the pose information of the cart. The point C (x, y) is the coordinate of the gravity center of the trolley and represents the position of the trolley under a two-dimensional coordinate system, theta is the movement direction of the trolley, and (v, omega) are the movement speed and the angular speed of the trolley respectively;
s2: and the motion state of the trolley is represented in a two-dimensional plane XY coordinate system. As shown in fig. 7, the intelligent system consists of three trolleysThe method is explained by taking the formation of the robot trolleys as an example (in practical application, the number of the robot trolleys is configured according to the length of a cable and the dragging resistance thereof, and is not limited), namely, one master trolley and two slave trolleys are designed, and the state vectors are used for designing
To describe the principal vehicles, using state vectors
And
to respectively describe the attitude information of two slave vehicles; s3: converting the posture control requirement of the two-dimensional plane XY coordinate system into a control requirement on wheels of the trolley; for the robot trolley, the moving part is the trolley wheels, and the differential equation of the robot trolley is established by taking the wheels as the controlled object as follows:
in the formula 3, r is the radius of the wheels of the trolley,
is the angular velocity of the wheel.
Meanwhile, assuming that the trolley does not slide in motion, namely the speed in the direction vertical to the plane of wheels of the trolley is zero, the differential equation is as follows:
the combined type 3 and the formula 4 are combined, and the motion model of a single trolley is shown as the formula 5:
in the device, the driving direction, the speed, the running time and the turning position of the master vehicle are sent to the slave vehicles, the intelligent trolleys are connected in series, the formation is a chain structure, the chain structure can be simplified into the following motion of the master vehicle and the slave vehicles, a motion model refers to fig. 8, and the motion equation of the slave vehicles is shown in formula 6.
In the case of the formula 6, the compound,
designing a convergence formula 7 according to the dynamic response requirement of the following motion control
In the formula 7, alpha and beta are proportionality coefficients.
The joint type 6 and 7 can obtain the motion speed v and the angular speed omega of the slave vehicle
The motion information (v, omega) of the slave vehicle can be calculated according to the formula 8, and the motion speed and the motion angular speed of the slave vehicle are controlled, so that the chain structure of the robot trolley formation can be maintained. The relative angle psi between the master vehicle and the slave vehicle is a fixed value pi;
step eight: planning a new driving path based on a visual recognition technology;
the underground cable groove is usually buried at the ground bottom, the cable groove is not easy to maintain, and if the cable groove is collapsed, blocked, narrowed and the electronic map is not matched, a new driving route needs to be planned again.
8-1, designing AprilTag marks with fixed sizes;
AprilTag is a visual reference system that can be used to record the ID value (ID value includes the entry's code, electronic map location, entry's shape), direction information of the cable channel entry. AprilTag logos are printed on the wall of each channel entrance and bifurcation entrance by using reflective paint when the underground cable trough is laid. All AprilTag marks are designed into square mark cards with uniform sizes, and the estimation of distance and direction by the Open MV is facilitated;
and 8-2, designing a proper color of the reflecting paint, brightness and color temperature of the searchlight, and accordingly designing a proper threshold value.
The underground cable groove is basically and completely in a dark state, and the whole process needs a light source of the robot trolley to illuminate; through actual measurement, a proper threshold value is selected, so that the Open MV can identify color block coding information in an AprilTag identifier through a self light source, and the condition of item shortage is avoided;
8-3, calculating the distance and the direction between the main vehicle and the AprilTag mark according to the identified AprilTag mark;
the AprilTag mark is a square mark card with the unified size after being designed, the midpoint of the AprilTag mark is identified, the deviation between an image in a camera and a rectangle is calculated, and the rotation angle of an xyz axis can be obtained. AprilTag marks are attached to an entrance positively, so that the current posture of the robot trolley can be known according to the rotation angle, the main vehicle hardware comprises an MPU9250 which integrates a 3-axis gyroscope and a 3-axis accelerometer and can also measure the real-time posture of the robot trolley; when the robot trolley measures the current posture through the AprilTag mark, the data needs to be compared with the current posture data of the MPU9250, the data is subjected to averaging and accepting, and meanwhile, the data is used for correcting the MPU9250; in addition, the distance information between the robot trolley and the AprilTag mark can be obtained by calculating the deviation between the image in the camera and the actual rectangular size.
8-4, judging whether the shape of the cable duct channel is consistent with the shape data in the Apriltag through Open MV, if so, entering 8-5, and if not, entering 8-6;
8-5, the shape of the cable groove channel is consistent with the shape data in the Apriltag, and the multi-intelligent-robot trolley chain formation is carried out on the main vehicle route of the first line of the line, runs through the channel and advances to the next entrance; and positioning the position of the current formation in the electronic map at the entrance according to the Apriltag, comparing the difference between the current position and the position of a preset fault point, executing 8-7, and planning a path according to the electronic map.
8-6, if the shape of the cable trough channel is inconsistent with the shape data in the AprilTag mark, the cable trough channel collapses, blocks and becomes small; here, a deformation parameter is set for defining the degree of shape change; if the deformation parameter is lower than the threshold value of the tolerance, certain blockage is indicated, but the blockage can still pass; if the deformation parameter is higher than the tolerance threshold value, indicating that the vehicle is blocked or the path of the previous step is wrong, enabling the tail main vehicle of the multi-intelligent-robot chain formation to return to the previous entrance, and recording the return;
8-7, planning a path according to the electronic map; path planning is similar to the fourth step, but the processor executing the path planning is the main vehicle instead of the upper computer;
step nine: the master vehicle sends the path information to the slave vehicle;
due to the cost problem, the master vehicle has the most complete processing function, records the turning time, the turning angle and the straight-line running time, and sends the information to the slave vehicle, thereby realizing the following function of the slave vehicle;
and 9-1, the MPU9250 gyroscope module communicates with the main control board OpenMV through an IIC bus. The specific process comprises the following steps: initializing an IIC, an MPU9250 gyroscope module, a DMP register and the acceleration of an xyz axis and the value of a gyroscope;
and 9-2, processing data of the gyroscope around the xyz axis. We define ω x as the gyroscope values around the x-axis, ω y as the gyroscope values around the y-axis, and ω z as the gyroscope values around the z-axis. When the trolley normally runs, the constant omega x and omega y values of the xy plane are within a certain threshold value, the change of the omega z value is detected, the omega z value is actually the steering of the trolley, the main trolley records the moment and the change quantity of the omega z value change and transmits the moment and the change quantity to the auxiliary trolley; when the trolley loses balance due to road jolt, the changes of the omega x and the omega y exceed threshold values except the change of the omega z value, and records of the changes of the omega z value are removed;
9-3, processing data of the xyz-axis accelerometer; define Fx as the acceleration value of the x-axis, fy as the acceleration value of the y-axis, and Fz as the acceleration value of the z-axis. When the trolley normally runs, the values of Fx and Fy actually record the running direction of the trolley;
9-4, processing a clock counter; and recording the change time of the omega z value by using a clock counter k1, wherein the time between the change time of two adjacent omega z values is the time length of the trolley in the new direction. Recording the driving time length in the new direction by using a clock counter k2, starting the clock counter k2 to start timing at the initial time when the values of Fx and Fy are not equal to zero, stopping timing by using the clock counter k2 when the effective value omega z is changed, storing the numerical value of the clock counter k2 in a data table, and then setting the clock counter k2 to zero and continuing to start counting;
data table the data format is shown in the following table:
TABLE 1 data Table data Format
9-5, the master vehicle establishes wireless connection with the slave vehicle through an ESP8266 wireless module and sends the motorcade running information (comprising a route direction, a turning angle) and the route maintaining time and the turning time to the slave vehicle; .
In this embodiment, the main car is last to have the cable and to change the device, but this cable change device forward and reverse rotation magnetism inhale the location cable interface, is close or separates the cable interface, and the change of cable is realized to the rotatory cable of runner formula.
In this embodiment, the cable interface includes the public mouth of evagination formula cable and the female mouth of indent formula cable, and the cable is bilayer structure, and cable interface inlayer 1 is circular, and outer 2 of cable interface is regular hexagonal prism shape, is equipped with marble rolling bearing 3 between the inside and outside two-layer.
In this embodiment, when the public mouth of evagination formula cable was inserted into female mouth of indent formula cable, installed main actuation electro-magnet 5 and supplementary actuation permanent magnet 4 on the terminal surface of cable interface inlayer, the notch that supplies the public mouth card of evagination formula cable to go into is seted up to female mouth of indent formula cable, and the external screw thread has been seted up on the outer 2 surfaces of the cable interface of the public mouth of evagination formula cable, and the internal thread has been seted up to the cable interface inlayer 1 of the female mouth of indent formula cable.
In the present invention, as shown in fig. 5, Ω(s) is a preset path arbitrarily set up on a horizontal plane (E- ξ η) of a fixed coordinate system, a curve of which is defined by a parameter s, a point P is an arbitrary point in the preset path, coordinates of which are P [ ξ(s), η(s) ], and a { SF } coordinate system composed of a tangent vector and a normal vector is established with the point P as an origin, where ξ SF is a tangent vector of the point along the path and η SF is a normal vector of the point along the path; and establishing an included angle psi P between the movement speeds Up and xi sf of the P point along the preset path and the xi axis of the fixed coordinate system, wherein the value of the track curve angular speed rp is as shown in a formula 1.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The utility model provides a many intelligent robot underground cable maintenance device based on video identification technique which characterized in that: the master-slave linkage control of the formation of the multiple intelligent robot trolleys comprises the following steps:
the method comprises the following steps: the upper computer sends an electronic map and a fault point predicted position to the main vehicle of the robot trolley;
step two: branching according to whether a preset path exists or not;
step three: establishing motion tracking control of a horizontal plane zeta =0 under a fixed coordinate system E-xi eta zeta;
step four: if no preset path exists, planning the path according to the electronic map;
step five: the upper computer sends the preset path to the main robot trolley;
step six: branching according to whether the navigation information is correct or not;
step seven: designing a master-slave linkage formation algorithm of the multiple intelligent robot trolleys;
step eight: planning a new driving path based on a visual recognition technology;
step nine: the master vehicle sends the path information to the slave vehicle;
the maintenance device consists of an upper computer, a head main vehicle and a tail main vehicle, and a plurality of secondary vehicles which are arranged between the two main vehicles and are connected in series;
the upper computer is in communication interaction with the main vehicle, the upper computer sends an electronic map of an area and a predicted position of a fault point to the main vehicle, and the main vehicle sends an actual position and a maintenance condition to the upper computer;
the wireless transmission module is arranged in the slave vehicle and is in signal connection with the upper computer, and the wireless transmission module is used for transmitting information through a signal relay of slave vehicle equipment when the upper computer is far away from the master vehicle so as to transmit information through the wireless transmission module, thereby realizing real-time control;
the main vehicle is internally provided with functional components, the functional components are used for processing the matching of an electronic map and an actual position, planning a path based on a visual recognition technology, and sending a driving direction, a speed, a running time and a turning position to a secondary vehicle, wherein the functional components comprise an OV7725 camera image sensor, an MPU9250, an STM32H743VIT6, a brushless direct current motor driving inverter, an ESP8266 wireless module and a rotary wheel type cable replacing device;
the slave vehicle is internally provided with a brushless direct current motor driving inverter and an ESP8266 wireless module and is used for realizing the functions of dragging a cable, following the master vehicle and wirelessly relaying;
the main car is provided with a cable replacing device, the cable replacing device can rotate forwards and backwards to magnetically attract and position the cable interface, the cable interface is close to or separated from the cable interface, and the rotating wheel type rotating cable realizes the replacement of the cable.
2. The multi-intelligent-robot underground cable maintenance device based on the video recognition technology, according to claim 1, is characterized in that: the cable interface comprises a convex cable male port and a concave cable female port, the cable is of a double-layer structure, the cable interface inner layer (1) is circular, the cable interface outer layer (2) is in a regular hexagonal prism shape, and a marble rolling bearing (3) is arranged between the inner layer and the outer layer; when the public mouth of evagination formula cable inserted the female mouth of indent formula cable, installed main actuation electro-magnet (5) and supplementary actuation permanent magnet (4) on the terminal surface of cable interface inlayer, the concave notch that supplies the public mouth card of evagination formula cable to go into is seted up to the female mouth of indent formula cable, the external screw thread has been seted up on outer (2) surface of the cable interface of the public mouth of evagination formula cable, the internal thread has been seted up in the cable interface inlayer (1) of the female mouth of indent formula cable.
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| CN117495356B (en) * | 2023-12-18 | 2024-03-26 | 成都秦川物联网科技股份有限公司 | Intelligent gas pipeline maintenance method based on man-machine linkage and Internet of things system |
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