CN114161452A - An inspection robot control system - Google Patents
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- CN114161452A CN114161452A CN202111664344.9A CN202111664344A CN114161452A CN 114161452 A CN114161452 A CN 114161452A CN 202111664344 A CN202111664344 A CN 202111664344A CN 114161452 A CN114161452 A CN 114161452A
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- 238000007689 inspection Methods 0.000 title claims abstract description 77
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- 238000004891 communication Methods 0.000 claims abstract description 11
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- 230000003028 elevating effect Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The invention relates to an inspection robot, which comprises an industrial personal computer and an inspection robot which are in communication connection, wherein wheel sets are arranged on two sides of the inspection robot, a laser radar, a wireless module and a pan-tilt camera are arranged at the top of the inspection robot, and an embedded control panel and a driver are arranged inside the inspection robot; the industrial personal computer runs the Ubuntu system, and the embedded control panel of the inspection robot runs the NuttX system. The inspection robot is used as a lower computer, an industrial personal computer running the Ubuntu system is used as an upper computer, an STM32 embedded control panel installed on the inspection robot runs a NuttX embedded real-time operating system, and a motor driving program is executed to complete robot motor driving, so that the STM32 embedded control panel can realize the motion control functions of advancing, retreating, steering and the like of the lower computer of the robot by receiving a motion control instruction of the upper computer.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a patrol robot control system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In the industrial fields of electric power, coal mines, petrifaction, communication, gas and the like, routing inspection operation is required to be carried out regularly to ensure safe production, the conventional routing inspection operation adopts a manual routing inspection mode or a fixed point monitoring mode, routing inspection workers carry out abnormal inspection and hidden danger investigation along routing inspection lines according to daily routing inspection tasks and a hidden danger library and carry out related recording, the defects of high risk, large workload, high cost, insufficient objectivity of routing inspection results and the like exist, routing inspection personnel is required to carry out field operation in manual routing inspection, and once an accident occurs, the life safety of the routing inspection personnel is greatly threatened; the fixed point monitoring mode is that a sensor is arranged in a high-rise area, and anomaly detection is realized in a sensor detection mode, but the fixed point monitoring coverage is limited, and the sensor needs to be regularly manually maintained on a working site to ensure that the sensor normally works.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides an inspection robot, which takes the inspection robot as a lower computer, an industrial personal computer running an Ubuntu system as an upper computer, an STM32 embedded control board installed on the inspection robot runs a NuttX embedded real-time operating system, and executes a motor driving program to complete robot motor driving, so that the STM32 embedded control board can realize the motion control functions of the lower computer of the robot, such as forward movement, backward movement, steering and the like by receiving a motion control instruction of the upper computer.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a patrol robot control system, which comprises an industrial personal computer and a patrol robot which are in communication connection, wherein wheel sets are arranged on two sides of the patrol robot, a laser radar, a wireless module and a pan-tilt camera are arranged at the top of the patrol robot, and an embedded control panel and a driver are arranged in the patrol robot; the industrial personal computer runs the Ubuntu system, and the embedded control panel of the inspection robot runs the NuttX system.
The inspection robot comprises a shell, wheel sets are connected to two sides of the shell, and a power module, an embedded control panel and a driver are arranged inside the shell.
The shell is provided with a state display panel and a depth camera in the advancing direction of the inspection robot.
The holder camera is connected to the shell through the lifting platform.
The laser radar faces the advancing direction of the inspection robot.
The shell top is equipped with the elevating platform base, and the elevating platform base passes through the elevating platform to be connected with cloud platform camera.
The wheel set comprises a right front wheel, a left rear wheel and a right rear wheel, and each wheel set is respectively connected with a corresponding motor.
The driver comprises a front wheel driver and a rear wheel driver, the front wheel driver is connected with motors of the right front wheel and the left front wheel, and the rear wheel driver is connected with motors of the left rear wheel and the right rear wheel.
The industrial personal computer sends a speed signal for controlling the motion of the inspection robot.
The Ubuntu system converts a speed signal of the industrial control machine for controlling the movement of the inspection robot into a movement speed signal of a wheel set and a rotating speed signal of a motor corresponding to the wheel set.
Compared with the prior art, the above one or more technical schemes have the following beneficial effects:
the inspection robot is used as a lower computer, an industrial personal computer running the Ubuntu system is used as an upper computer, an STM32 embedded control panel installed on the inspection robot runs a NuttX embedded real-time operating system, and a motor driving program is executed to complete robot motor driving, so that the STM32 embedded control panel can realize the motion control functions of advancing, retreating, steering and the like of the lower computer of the robot by receiving a motion control instruction of the upper computer.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic diagram of an outline structure of an inspection robot according to one or more embodiments of the present invention;
fig. 2 is a schematic diagram of an internal structure of an inspection robot according to one or more embodiments of the invention;
fig. 3 is a schematic diagram of a motion control connection of an inspection robot according to one or more embodiments of the invention;
in the figure: 1. right front wheel, 2, left front wheel 3, left rear wheel, 4, right rear wheel, 5, right front wheel motor, 6, left front wheel motor, 7, left rear wheel motor, 8, right rear wheel motor, 9, front wheel driver, 10, rear wheel driver, 11, casing, 12, power module, 13, embedded control panel, 14, status display panel, 15, depth camera, 16, laser radar, 17, wireless module, 18, elevating platform base, 19, elevating platform, 20, pan-tilt camera.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Interpretation of terms:
stm 32: a microprocessor designed for high performance, low cost, low power consumption embedded applications.
NuttX system: a small, embedded operating system used in a microcontroller environment (e.g., in stm 32).
ROS2 design architecture of new generation ROS released on the basis of Robot Operating System (ROS).
ROS2 node: and the ROS2 system is a module for completing single functions.
micro-ros: a set of lightweight ROS systems optimized based on ROS2 may run on microprocessor hardware.
Ubuntu system: a Linux operating system mainly based on desktop application.
DDS-XRCE: distributed data distribution protocol standards.
As described in the background art, in the industrial fields of electric power, coal mine, petrochemical industry, communication, gas and the like, inspection work needs to be performed regularly to ensure safe production, and the current inspection work adopts a manual inspection mode or a fixed point monitoring mode, the coverage range of the fixed point monitoring mode is limited, and the manual inspection mode has certain potential safety hazards.
Therefore, the following embodiment provides a patrol robot control system, which uses an patrol robot as a lower computer, an industrial personal computer operating an Ubuntu system as an upper computer, an STM32 embedded control board installed on the patrol robot operates a NuttX embedded real-time operating system, and executes a motor driving program to complete robot motor driving, so that the STM32 embedded control board can realize the motion control functions of the lower computer of the robot, such as forward movement, backward movement, steering and the like, by receiving a motion control instruction of the upper computer.
Meanwhile, aiming at a control system of the inspection robot, micro-ROS is developed as a software framework under a NuttX real-time control system, micro-ROS nodes are developed based on an ROS2 system standard library under the micro-ROS framework and run on a small embedded control board, and the same system standard library is adopted, so that seamless compatible communication is realized between the micro-ROS nodes running on the small embedded control board and the ROS2 node running at a pc end, and meanwhile, the nodes in an embedded processor run in an embedded real-time operating system and have better real-time performance than the nodes running on a bare computer directly. The control system developed under the micro-ROS architecture is developed in a node form on the basis of an ROS2 system standard library, and each node is a module for independently completing a single function, so that the robot system using the embedded control panel still has the advantages of modularization, high reusability and the like of the robot control system based on the ROS2, the development speed of the robot system can be increased, and the development cost can be reduced.
The first embodiment is as follows:
the utility model provides a control system of inspection robot, includes host computer and the next machine of communication connection, and the host computer is the industrial computer, and the next machine is for patrolling and examining the robot, and it is equipped with the wheelset to patrol and examine the robot both sides, and the top is equipped with laser radar, wireless module and cloud platform camera, and inside is equipped with embedded control panel and driver.
The industrial personal computer runs the Ubuntu system, and the embedded control panel of the inspection robot runs the NuttX system.
The inspection robot comprises a shell 11, wheel sets are connected to two sides of the shell 11, a laser radar 16, a wireless module 17 and a pan-tilt camera 20 are arranged at the top of the shell 11, and a power module 12, an embedded control panel 13 and a driver are arranged inside the shell 11; the shell 11 is provided with a state display panel 14 and a depth camera 15 in the advancing direction of the inspection robot; pan/tilt head camera 20 is attached to housing 11 via lift table 19.
The laser radar 16 is directed toward the traveling direction of the inspection robot.
In this embodiment, the top of the housing 11 is provided with a lifting platform base 18, and the lifting platform base 18 is connected with the pan-tilt camera 20 through a lifting platform 19.
The wheel set includes right front wheel 1, left front wheel 2, left rear wheel 3 and right rear wheel 4, and each wheel set is connected with the motor that corresponds respectively, namely right front wheel motor 5, left front wheel motor 6, left rear wheel motor 7 and right rear wheel motor 8.
The driver comprises a front wheel driver 9 and a rear wheel driver 10, the front wheel driver 9 is connected with the right front wheel motor 5 and the left front wheel motor 6, and the rear wheel driver 10 is connected with the left rear wheel motor 7 and the right rear wheel motor 8.
The four wheels of the inspection robot are independently driven, the two drivers are one-driving-two servo drivers, the front wheel motor driver respectively drives the left front wheel and the right front wheel, the rear wheel motor driver respectively drives the left rear wheel and the right rear wheel, and the robot realizes differential steering through four-wheel motion.
The depth camera and the laser radar form an environment sensing mechanism, an infrared image, a depth image and a color image of the robot running environment can be collected through the depth camera, and a point cloud model of the robot running environment is obtained through the laser radar; sending the sensor data to an upper computer device through a wireless AP, and fusing and constructing an environment map based on a point cloud model, a depth image and color image data; and the upper computer equipment visually displays a robot running environment map and a field picture.
The inspection operation mechanism is composed of the lifting platform base, the lifting platform and the cloud platform camera, the lifting platform base and the lifting platform can cooperate to finish lifting of the cloud platform camera so as to meet requirements of inspection operation at different heights, the cloud platform camera can identify readings of related instruments and meters on an inspection line, on-site anomaly detection can be finished through image identification, and data uploading of instrument and meter data and on-site anomaly conditions can be finished through the wireless AP.
The instrument data identification is realized by constructing a fast RCNN (fast regional convolutional neural network model which can realize target detection by algorithms of generating candidate regions, extracting features, judging categories and the like, training the model through a field picture data set and realizing the detection and identification of instruments in a factory area), firstly, determining instruments used in the factory area to be inspected, acquiring picture data sets of various instruments in a working state, performing instrument target detection network training by using the fast RCNN, correctly identifying the instruments to be read after the training is finished, extracting a data display region, and performing image processing methods such as binarization processing on images of the data display region to finish the data reading.
In the process of inspection operation, the robot is controlled to move along an inspection route in a remote control mode and the like, and an environment map is constructed on an upper computer by environment sensing modules such as a depth camera, a laser radar and the like through sensing inspection environment information. The robot routing inspection route is planned by using a pre-constructed environment map, a host computer sends a motion instruction to an STM32 embedded control panel, the STM32 embedded control panel drives a motor to move through a motor driver, the robot moves according to the planned routing inspection route, in the moving process, a pan-tilt camera collects field images in a factory area, the field image information is uploaded through a wireless network, reading of field instrument and meter data is realized by using a fast RCNN network, abnormal detection is carried out on the instrument and meter reading in the operating environment, the inspection of the production operating environment is realized, and the normal operation and safety of the factory area are guaranteed.
The inspection robot control system and the inspection robot based on STM32 can reduce the cost of the robot system, improve the system development efficiency, and are easy to popularize and apply.
With regard to the control system:
an inspection robot control system based on an STM32 embedded control panel is divided into an upper computer and a lower computer, wherein the lower computer is an inspection robot body, the upper computer is an industrial personal computer for operating a Ubuntu system, and a ROS2 open-source software framework and a tool set are installed in the Ubuntu system.
When the robot environment map data transmission system works, the upper computer realizes data transmission and communication with the lower computer through a UDP communication port according to a distributed data distribution protocol standard DDS-XRCE, and obtains sensor data of a depth camera, a pan-tilt camera, a laser radar and the like, the DDS-XRCE uses Micro XRCE-DDS of an eProsima company, the upper computer realizes functions of image recognition, environment map construction and the like through information of a pan-tilt camera image, a laser point cloud and the like of the lower computer of the robot obtained through communication, and the upper computer also transmits a motion instruction to the lower computer through the communication port;
firstly, installing a micro-ros program compiling system on a development computer and creating an operation working space, converting a control instruction sent by an upper computer into a bottom layer driving instruction, controlling the linear velocity v and the angular velocity w of the robot movement sent by the upper computer, converting the robot movement velocity controlled by the upper computer into the bottom layer driving wheel movement velocity, and when a bottom layer motor is driven, the linear velocity v of the driving motor needs to be convertedr、vlConversion into speed values of individual motors, i.e. operationAnd (4) issuing a motion command to the left and right wheel rotating speed values of the motor driver, and writing a bottom-layer motor driving program of the robot under a micro-ros framework according to the rotation command.
Through system configuration, a system operation program is configured into a robot bottom layer motor driving program developed under a micro-ros standard, an operation system and a motor driver are communicated in a serial port mode, then the program is compiled into a binary executable file under an operation working space, and finally the compiled binary executable file is burnt onto an STM32 embedded control board, so that the STM32 embedded control board operates a NuttX embedded real-time operation system, and the motor driving program is executed to complete robot motor driving, and therefore the STM32 embedded control board can realize the motion control functions of the lower computer of the robot, such as forward, backward, steering and the like by receiving a motion control command of the upper computer.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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| CN202111664344.9A CN114161452A (en) | 2021-12-30 | 2021-12-30 | An inspection robot control system |
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