CN113821038A - Intelligent navigation path planning system and method for robot - Google Patents
Intelligent navigation path planning system and method for robot Download PDFInfo
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- CN113821038A CN113821038A CN202111140509.2A CN202111140509A CN113821038A CN 113821038 A CN113821038 A CN 113821038A CN 202111140509 A CN202111140509 A CN 202111140509A CN 113821038 A CN113821038 A CN 113821038A
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- 230000004888 barrier function Effects 0.000 claims abstract description 9
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention provides an intelligent navigation path planning system and method for a robot, and relates to the technical field of navigation equipment. This an intelligent navigation path planning system for robot, including all terrain robot and the treater of keeping away the barrier module of installation around, the control system and the treater phase-match of all terrain robot self, all terrain robot sets up the topography boundary extraction module that is used for acquireing walking path topography in the top of keeping away the barrier module. Through the work of patrolling and examining behind the simple appointed initial route of marcing, the in-process generates the 3D map that matches the electric power department fast and generates the optimum route memory of patrolling and examining, supply to patrol and examine the use next time, the numerical value to the air dust concentration of barrier, air humidity, SF6 concentration, oxygen concentration, the surrounding electric field intensity of operation equipment on the 3D map marks, the staff can follow long-range observation, behind the mark operation card of patrolling and examining of formulating into different workplaces to the all-terrain robot, can obviously improve the quality of patrolling and examining.
Description
Technical Field
The invention relates to the technical field of navigation equipment, in particular to an intelligent navigation path planning system and method for a robot.
Background
A robot is an automated machine, except that it has some intelligent capabilities similar to human or biological, such as perception capability, planning capability, action capability, and coordination capability, and is an automated machine with a high degree of flexibility. As people's understanding of the intelligent nature of robotics has deepened, robotics has begun to continually infiltrate into various areas of human activity. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. Its task is to assist or replace human work. It is a product of advanced integrated control theory, mechano-electronics, computer, material and bionics, and has important application in the fields of industry, medicine, agriculture, service industry, building industry and even military affairs.
When patrolling and examining in electric power department workplace, not only inefficiency is carried out to the use manual work, still there can be some security problems, because the artifical advantage of replacement of robot is very obvious, consequently, the proportion of using constantly increases, but the problem that the robot exists is can not be like the people and walk oneself in a workplace according to oneself's wish, it needs to match the route of patrolling and examining that corresponds, it is great and formulate the speed slowly to patrol and examine the route difficulty through artifical formulation, the content of patrolling and examining of different workplaces (like switching station and power distribution station) in the electric power department door is different simultaneously, this operating condition who just makes the robot is different.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an intelligent navigation path planning system and method for a robot, which solve the problems that the robot is applied to the routing inspection path making aspect of the power department and the working state problem of dealing with different routing inspection contents.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: an intelligent navigation path planning system and method for a robot comprises an all-terrain robot and a processor, wherein the all-terrain robot is provided with an obstacle avoidance module at the periphery, the control system of the all-terrain robot is matched with the processor, the all-terrain robot is provided with a terrain boundary extraction module above the obstacle avoidance module for acquiring walking path terrain, a workbench capable of rotating is arranged above the all-terrain robot, an infrared imager, a humidity sensor, an SF6 concentration detector, an oxygen concentration detector, a radio frequency electric field strength detector, a dust concentration detector and a mechanical arm are arranged above the workbench, a temperature sensor is arranged at the end part of the mechanical arm, an all-view camera and a three-dimensional imager which are supported above the workbench by a lifting support frame are arranged on the all-terrain robot and positioned at the rear side of the workbench, the three-dimensional imager is positioned under the all-view camera, the processor is connected with a three-dimensional imaging system of the three-dimensional imager, and the all-terrain robot is provided with a navigation module.
Preferably, the obstacle avoidance module includes, but is not limited to, an infrared obstacle avoidance module and a radar obstacle avoidance module.
Preferably, a dehumidifying device is further provided on the worktable of the all-terrain robot.
Preferably, the signal connection of the processor is provided with a remote controller, the remote controller can control the working state of the all-terrain robot, in addition, the remote controller is also provided with a display screen, and the processor and the remote controller are both connected with a map system.
Preferably, the obstacle avoidance module, the topographic boundary extraction module, the infrared imager, the humidity sensor, the SF6 concentration detector, the oxygen concentration detector, the radio frequency electric field intensity detector, the dust concentration detector, the mechanical arm, the temperature sensor, the full-view camera and the three-dimensional imager are all in signal connection with the navigation module and the processor.
A method for intelligent navigation path planning for a robot, comprising:
when the all-terrain robot walks in a workplace, a signal is sent to a processor when an obstacle obstructing the advancing is detected by an obstacle avoidance module, in the process, a three-dimensional imager and a full-view camera acquire the position and the space volume of an object on a path where the obstacle walks and send the position and the space volume to the processor, and the processor generates a 3D map by the received information;
the terrain boundary extraction module extracts the boundary of the walking path in the walking process of the all-terrain robot, so that the road boundary of the path and the boundary of the obstacle can be obtained, the boundary is sent to the processor after the road boundary of the path is obtained, the processor enables the all-terrain robot to walk to the center of the road, if the position of the obstacle interferes with normal forward movement, the processor controls the all-terrain robot control system to enable the all-terrain robot to bypass the obstacle, and the all-terrain robot continues to recover to the center of the road after bypassing;
during the period, the infrared imager obtains a temperature image of operating equipment in a workplace around a path along the way, when the processor receives the temperature image of the infrared imager and the temperature image is combined with the full-view camera to correspond to the temperature source to be the operating equipment, the mechanical arm is enabled to carry the temperature sensor to correspond to the position of the heat source for measurement and send back to the processor, meanwhile, the humidity sensor, the SF6 concentration detector, the oxygen concentration detector, the radio frequency electric field intensity detector and the dust concentration detector respectively detect the air humidity, the SF6 concentration, the oxygen concentration and the air dust concentration of the surrounding electric field intensity of the operating equipment along the way and send the air dust concentration to the processor, the processor corresponds the detected values to a 3D map, and when the humidity value is larger, the drying is carried out through the dehumidifying equipment;
the whole walking path is memorized by the processor, the initial walking path can be pre-designated by combining a map system during initial walking, the all-terrain robot moves along the initial walking path according to the action of the navigation module, the all-terrain robot walks again after walking once to form a 3D map of a workplace and a corresponding memory path, the 3D map is regenerated and a new walking path is memorized if the spatial features of the road and the spatial features of obstacles change during the walking again.
Preferably, the processor receives a location and a spatial volume of the obstacle marked on the generated map.
(III) advantageous effects
The invention provides an intelligent navigation path planning system and method for a robot. The method has the following beneficial effects:
according to the invention, the inspection work is carried out after the initial travelling route is simply specified, the 3D map matched with the power department is quickly generated in the process, the optimal inspection path memory is generated and is used for next inspection, numerical values of obstacles, air humidity, SF6 concentration, oxygen concentration and air dust concentration of the surrounding electric field intensity of the operating equipment are marked on the 3D map, workers can remotely observe, and the inspection quality can be obviously improved after the all-terrain robot is made into inspection marking operation cards of different working places.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.
Example (b):
the embodiment of the invention provides an intelligent navigation path planning system for a robot, which comprises an all-terrain robot and a processor, wherein an obstacle avoidance module is arranged around the all-terrain robot, the all-terrain robot can travel to roads including but not limited to stone roads, slope roads and pavements containing water pits, a control system of the all-terrain robot is matched with the processor, so that the processor and the control system of the all-terrain robot are matched to control the motion state of the all-terrain robot, including acceleration, deceleration, translation and steering, the all-terrain robot is provided with a terrain boundary extraction module for acquiring the terrain of a travel path above the obstacle avoidance module, the terrain boundary extraction module is corresponding to a map system and is used for acquiring road boundary characteristics (such as boundaries of non-motorized vehicle lanes and safety boundaries of working places), and the terrain boundary extraction module can also acquire the boundary characteristics of the road boundary characteristics, a worktable which can rotate is arranged above the all-terrain robot, the rotation process of the worktable is controlled by a control system of the all-terrain robot, the all-terrain robot moves forward by one length, the worktable rotates by one circle, an infrared imager, a humidity sensor, an SF6 concentration detector, an oxygen concentration detector, a radio frequency electric field intensity detector, a dust concentration detector and a mechanical arm are arranged above the worktable, a temperature sensor is arranged at the end part of the mechanical arm, a full-view camera and a three-dimensional imager which are supported above the worktable by a lifting support frame are arranged on the all-terrain robot and are positioned at the rear side of the worktable, the full-view camera and the three-dimensional imager are adjusted in height by the lifting support frame, the two visual angle blind areas which are blocked by the self structure of the all-terrain robot are minimized, and the three-dimensional imager is positioned under the full-view camera, the three-dimensional imaging system of three-dimensional imager is connected to the treater, and the all-terrain robot is provided with navigation module, and treater signal connection has remote control ware, and remote control ware can control the operating condition of all-terrain robot, and remote control ware still is provided with the display screen in addition, and treater and remote control ware all are connected with map system.
Keep away the barrier module and keep away the barrier module including but not limited to infrared obstacle module and radar, still be provided with dehumidification equipment on the workstation of holomorphic robot for keep the drying in the workplace, dehumidification equipment is automatic to be opened and dehumidifies when the result that humidity transducer surveyed is higher than the settlement numerical value.
Keep away barrier module, topography boundary and draw module, infrared imager, humidity transducer, SF6 concentration detection appearance, oxygen concentration detection appearance, radio frequency electric field intensity detector, dust concentration detection appearance, arm, temperature sensor, full visual angle camera, three-dimensional imager all with navigation module and treater signal connection.
A method for intelligent navigation path planning for a robot, comprising:
when the all-terrain robot walks in a workplace, a signal is sent to a processor when an obstacle obstructing the advancing is detected by an obstacle avoiding module, in the process, a three-dimensional imager and an all-perspective camera acquire the position and the space volume of an object on a path where the obstacle walks and send the position and the space volume to the processor, the processor generates received information into a 3D map, the 3D map can be fitted by a map system to further acquire more comprehensive map information of the workplace, and the position and the space volume of the obstacle received by the processor are marked on the generated 3D map, so that a worker acquires the type and the position of the obstacle from a remote controller;
the terrain boundary extraction module extracts the boundary of the walking path in the walking process of the all-terrain robot, so that the road boundary of the path and the boundary of the obstacle can be obtained, the boundary is sent to the processor after the road boundary of the path is obtained, the processor enables the all-terrain robot to walk to the center of the road, if the position of the obstacle interferes with normal advance, the processor controls the all-terrain robot control system to enable the all-terrain robot to bypass the obstacle, the all-terrain robot is continuously recovered to the center of the road after bypassing, the all-terrain robot keeps a distance of 10-15cm with the obstacle at least when bypassing, and the rotation of a workbench and the accidental touch of the operation of the mechanical arm to equipment in operation can be prevented by enabling the all-terrain robot to walk to the center of the road;
meanwhile, the infrared imager obtains a temperature image of operating equipment of a workplace around a path along the way, the temperature image can also provide reference for ventilation and heat dissipation of the workplace, a worker can obtain whether the operating equipment runs in an overload mode according to the temperature image, when the processor receives the temperature image of the infrared imager and corresponds to a temperature source through the full-view camera as the operating equipment, the mechanical arm is enabled to carry the temperature sensor to correspond to a heat source position to measure and send back to the processor, meanwhile, the humidity sensor, the SF6 concentration detector, the oxygen concentration detector, the radio frequency electric field intensity detector and the dust concentration detector respectively detect the air humidity, the SF6 concentration, the oxygen concentration and the air dust concentration of the surrounding electric field intensity of the operating equipment and send the air dust concentration to the processor, and the processor corresponds the detected values to a 3D map, when the humidity value is large, the humidity sensor, the SF6 concentration detector, the oxygen concentration detector, the radio frequency electric field strength detector and the dust concentration detector can be used according to selection, the dangerous electric field range and the safe electric field range of a workplace can be obtained through the value of the radio frequency electric field strength detector, the action range of workers is further limited, and safety prompt can be provided for the workers to overhaul the equipment;
the whole walking path is memorized by the processor, the initial walking path can be pre-designated by combining a map system during initial walking, the all-terrain robot moves along the initial walking path according to the action of the navigation module, the all-terrain robot walks again after walking once to form a 3D map of a workplace and a corresponding memory path, the 3D map is regenerated and a new walking path is memorized if the spatial features of the road and the spatial features of obstacles change during the walking again.
The workplace includes, but is not limited to, and reaches beyond roads where the operation of humidity sensors, SF6 concentration detectors, oxygen concentration detectors, rf electric field strength detectors, dust concentration detectors, temperature sensors may be turned off from a remote controller.
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 (7)
1. An intelligent navigation path planning system for a robot, characterized in that: including installing all terrain robot and the treater of keeping away barrier module around, the control system and the treater phase-match of all terrain robot self, all terrain robot sets up the topography boundary who is used for acquireing walking route topography in the top of keeping away barrier module and draws the module, all terrain robot's top is provided with can carry out pivoted workstation, infrared imager, humidity transducer, SF6 concentration detection appearance, oxygen concentration detection appearance, radio frequency electric field intensity detector, dust concentration detection appearance and arm are installed to the top of workstation, temperature sensor is installed to the tip of arm, all terrain robot is last and the rear side that is located the workstation is provided with and is supported the full view angle camera and the three-dimensional imager above the workstation by lifting support frame, the three-dimensional imager is located under the full view angle camera, the three-dimensional imaging system of three-dimensional imager is connected to the treater, the all-terrain robot is provided with a navigation module.
2. An intelligent navigation path planning system for a robot according to claim 1, wherein: the obstacle avoidance module comprises but is not limited to an infrared obstacle avoidance module and a radar obstacle avoidance module.
3. An intelligent navigation path planning system for a robot according to claim 1, wherein: and a dehumidifying device is also arranged on the worktable of the all-terrain robot.
4. An intelligent navigation path planning system for a robot according to claim 1, wherein: the processor signal connection has a remote controller, the remote controller can control the working state of the all-terrain robot, in addition, the remote controller is also provided with a display screen, and the processor and the remote controller are both connected with a map system.
5. An intelligent navigation path planning system for a robot according to claim 1, wherein: keep away barrier module, topography boundary and draw module, infrared imager, humidity transducer, SF6 concentration detection appearance, oxygen concentration detection appearance, radio frequency electric field intensity detector, dust concentration detection appearance, arm, temperature sensor, full visual angle camera, three-dimensional imager all with navigation module and treater signal connection.
6. A method for intelligent navigation path planning for a robot, comprising:
when the all-terrain robot walks in a workplace, a signal is sent to a processor when an obstacle obstructing the advancing is detected by an obstacle avoidance module, in the process, a three-dimensional imager and a full-view camera acquire the position and the space volume of an object on a path where the obstacle walks and send the position and the space volume to the processor, and the processor generates a 3D map by the received information;
the terrain boundary extraction module extracts the boundary of the walking path in the walking process of the all-terrain robot, so that the road boundary of the path and the boundary of the obstacle can be obtained, the boundary is sent to the processor after the road boundary of the path is obtained, the processor enables the all-terrain robot to walk to the center of the road, if the position of the obstacle interferes with normal forward movement, the processor controls the all-terrain robot control system to enable the all-terrain robot to bypass the obstacle, and the all-terrain robot continues to recover to the center of the road after bypassing;
during the period, the infrared imager obtains a temperature image of operating equipment in a workplace around a path along the way, when the processor receives the temperature image of the infrared imager and the temperature image is combined with the full-view camera to correspond to the temperature source to be the operating equipment, the mechanical arm is enabled to carry the temperature sensor to correspond to the position of the heat source for measurement and send back to the processor, meanwhile, the humidity sensor, the SF6 concentration detector, the oxygen concentration detector, the radio frequency electric field intensity detector and the dust concentration detector respectively detect the air humidity, the SF6 concentration, the oxygen concentration and the air dust concentration of the surrounding electric field intensity of the operating equipment along the way and send the air dust concentration to the processor, the processor corresponds the detected values to a 3D map, and when the humidity value is larger, the drying is carried out through the dehumidifying equipment;
the whole walking path is memorized by the processor, the initial walking path can be pre-designated by combining a map system during initial walking, the all-terrain robot moves along the initial walking path according to the action of the navigation module, the all-terrain robot walks again after walking once to form a 3D map of a workplace and a corresponding memory path, the 3D map is regenerated and a new walking path is memorized if the spatial features of the road and the spatial features of obstacles change during the walking again.
7. A method for intelligent navigation path planning for a robot according to claim 6, characterized in that: the processor receives a location and a spatial volume of the obstacle marked on the generated map.
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| CN114965896A (en) * | 2022-05-31 | 2022-08-30 | 广东电网有限责任公司 | Method and device for detecting concentration of indoor sulfur hexafluoride |
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Application publication date: 20211221 |