CN114415680A - Track inspection robot avoiding device and method - Google Patents
Track inspection robot avoiding device and method Download PDFInfo
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- CN114415680A CN114415680A CN202210008132.3A CN202210008132A CN114415680A CN 114415680 A CN114415680 A CN 114415680A CN 202210008132 A CN202210008132 A CN 202210008132A CN 114415680 A CN114415680 A CN 114415680A
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- 238000007689 inspection Methods 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 14
- 208000003164 Diplopia Diseases 0.000 claims abstract description 15
- 208000029444 double vision Diseases 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000008054 signal transmission Effects 0.000 claims description 19
- 238000003331 infrared imaging Methods 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 241000234295 Musa Species 0.000 claims 3
- 235000003805 Musa ABB Group Nutrition 0.000 claims 3
- 235000015266 Plantago major Nutrition 0.000 claims 3
- 230000004888 barrier function Effects 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 238000012360 testing method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000002567 autonomic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
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- 238000002474 experimental method Methods 0.000 description 1
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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
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a track inspection robot avoiding device and method. A plurality of groups of motors are arranged in the underframe, and each group of motors is in transmission connection with the wheel structure. A control device is arranged in the underframe, a battery box is arranged in the fixed station, an ultrasonic wave generating device is arranged in the vehicle island, and a laser sensor assembly is arranged at the top end of the ultrasonic wave generating device. The top of the vehicle island is provided with a double-vision holder structure. Ultrasonic wave generating device cooperation double vision cloud platform structure can carry out daily tour and keep away the barrier in advance to the unknown environment in the place ahead to carry out real-time recording to the position of this barrier in the route, size of a dimension and velocity of motion, the subassembly encryption transmission to external control end is made a video recording to the cooperation high definition, makes things convenient for follow-up record and next tour work, can promote keeping away the barrier process at every turn, plans the circuit in advance, reduces the consumption of time and electric quantity.
Description
Technical Field
The invention relates to the field of track inspection equipment, in particular to a track inspection robot avoiding device and method.
Background
The inspection robot is a robot composed of a mobile carrier, communication equipment, detection equipment and the like, and adopts a remote control or full-autonomous operation mode and takes a track as a traveling navigation path.
Chinese patent CN201520641863.7 discloses a power equipment inspection robot and a power equipment inspection robot system, which includes: a background controller; the power equipment inspection robot interacts information with the background controller through the wireless communication module. The information includes one or more of the following: the real-time load current of power equipment, infrared temperature measurement value, equipment anomaly alarm information, the face identification information in the inspection area, the sound collection identification information in the inspection area and the power equipment switch position identification information realize accurate monitoring and detection in full view angle and no dead angle. However, in practice, the person skilled in the art finds: this robot patrols and examines when using, its structure can continue to go according to original route, though has intellectuality, can't carry out autonomic study, and the track is patrolled and examined and need often operate the use on the route of regulation, if all need detect the rear to the place ahead barrier at every turn and can realize dodging, then can cause certain influence to the scope of patrolling and examining of robot.
Disclosure of Invention
Technical problem to be solved
In view of the above disadvantages and shortcomings of the prior art, the present invention provides an avoiding device and method for a track inspection robot, which solves the technical problem that the existing inspection robot cannot perform autonomous learning, so that the front obstacle needs to be detected and then can be avoided each time on a prescribed route.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
the invention provides a track inspection robot avoidance device, which comprises an underframe, wherein an operating platform, a fixed platform and a vehicle island are sequentially arranged at the top end of the underframe from bottom to top; be provided with the multiunit motor in the chassis, every group the motor all with the wheel structure transmission that sets up on the chassis is connected, be provided with controlling means in the chassis, be provided with the battery case in the fixed station, be provided with ultrasonic wave generating device in the car island, ultrasonic wave generating device's top is provided with the laser sensor subassembly, the top in car island is provided with double vision cloud platform structure, just double vision cloud platform structure includes infrared imaging subassembly and high definition camera shooting subassembly, one side in car island is provided with the locator, one side of locator is provided with signal transmission device.
As a preferred technical solution of the present invention, the control device is electrically connected to the ultrasonic wave generating device, the laser sensor assembly, the infrared imaging assembly, the high definition camera assembly and the signal transmission device, and a file compression structure is disposed in the signal transmission device.
As a preferred technical solution of the present invention, the locator is a GPS positioning device, and one side of the signal transmission device is connected to the signal encryption module and the signal enhancement module.
As a preferred technical scheme of the present invention, a lifting structure is disposed at a bottom end of the dual-view pan/tilt structure, the lifting structure is electrically connected to the battery box, and the control device controls an action of the lifting structure.
As a preferable technical scheme of the invention, the front side and the rear side of the underframe are both provided with the car lamps.
As a preferred technical solution of the present invention, a wheel steering control system and a differential mechanism structure are provided in the wheel structure.
In a second aspect, the invention provides a method for avoiding and installing a track inspection robot, which comprises the following steps:
s1: collecting front vertical direction flatness data through the ultrasonic wave generating device on the vehicle island, and collecting front and back horizontal direction flatness data through the infrared imaging assembly and the high-definition camera assembly in the double-vision holder structure;
s2: the signal transmission device compresses and packages the collected data and video information, attaches GPS position information, and transmits the data and the video information to an external controller in real time by adopting a wireless protocol through a signal encryption module and a signal enhancement assembly on one side;
s3: the control device calculates the collected flatness data and judges:
(1) if no obstacle exists, the original speed is kept;
(2) if an obstacle appears, firstly, performing infrared and ultrasonic distance measurement on an uneven position in front, judging the distance, the moving speed and the size of the obstacle through returning data, and marking the position on the path, wherein the control device plans an obstacle avoidance route and controls a wheel steering structure to avoid according to the obstacle avoidance route;
s4: and after the obstacle is successfully avoided, the original speed is kept, the vehicle returns to the original specified route, and the vehicle continues to run.
As a preferred technical scheme of the invention: the operation information of the external controller has higher priority than the operation information transmission of the control device.
(III) advantageous effects
The invention has the beneficial effects that: according to the invention, the double-vision holder structure is not only suitable for outdoor inspection of the track path under better light conditions, but also suitable for environments with poorer light conditions. Ultrasonic wave generating device cooperates the double vision cloud platform structure on top, can carry out daily tour and keep away the barrier in advance to the unknown environment in the place ahead to carry out real-time recording to the position of this barrier in the route, size of a dimension and velocity of motion, the subassembly encryption transmission to external control end is made a video recording to the cooperation high definition, the work of making things convenient for follow-up record and next tour can promote keeping away the barrier process at every turn, plans the circuit in advance, reduces the consumption of time and electric quantity.
Drawings
Fig. 1 is a schematic structural diagram of an avoidance device of a track inspection robot according to the present invention;
FIG. 2 is a schematic structural view of the chassis of FIG. 1;
FIG. 3 is a schematic structural view of the fixed platen and the wheel island of FIG. 1;
fig. 4 is a structural flow chart of the avoidance method of the track inspection robot of the present invention.
[ description of reference ]
1: a chassis;
2: a fixed table;
3: turning an island;
4: a lifting structure;
5: a motor;
6: a vehicle lamp;
7, a battery box;
8, a signal transmission device;
9, an ultrasonic wave generating device;
10 laser sensor assembly;
11, an infrared imaging component;
12, a high-definition camera shooting component;
13, a positioner;
14, a control device;
15, operating table.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
The first embodiment is as follows:
as shown in fig. 1-4, the invention provides a track inspection robot avoidance device, which comprises an underframe 1, wherein an operating platform 15, a fixed platform 2 and an island 3 are sequentially arranged at the top end of the underframe 1 from bottom to top. A plurality of groups of motors 5 are arranged in the underframe 1, and each group of motors 5 is in transmission connection with the wheel structure arranged on the underframe 1. A control device 14 is also arranged in the chassis 1. A battery box 7 is arranged in the fixed station 2 and used for providing power for the track inspection robot. An ultrasonic wave generating device 9 is arranged in the island 3, and a laser sensor assembly 10 is arranged at the top end of the ultrasonic wave generating device 9. The top of island 3 is provided with double vision cloud platform structure, and double vision cloud platform structure includes infrared imaging component 11 and high definition subassembly 12 of making a video recording. One side of the island 3 is provided with a locator 13, one side of the locator 13 is provided with a signal transmission device 8, and a file compression structure is arranged in the signal transmission device 8.
In other embodiments, the control device 14 is electrically connected to the ultrasonic wave generating device 9, the laser sensor assembly 10, the infrared imaging assembly 11, the high-definition camera assembly 12 and the signal transmission device 8 to control the above components to work cooperatively.
In other embodiments, the locator 13 is a GPS positioning device, and one side of the signal transmission device 8 is connected with the signal encryption module and the signal enhancement component.
In other embodiments, the lifting structure 4 is disposed at the bottom end of the dual-view tripod head structure, the lifting structure 4 is electrically connected to the battery box 7, and the control device 14 controls the movement of the lifting structure 4.
In other embodiments, the front and rear sides of the chassis 1 are provided with the lamps 6.
In other embodiments, a wheel steering control system and a differential arrangement are provided within the wheel arrangement.
In another embodiment, an avoidance method of a track inspection robot includes the following steps:
s1: collecting front vertical direction flatness data through an ultrasonic generating device 9 on the island 3, and collecting front and back horizontal direction flatness data through an infrared imaging component 11 and a high-definition camera component 12 in a double-vision holder;
s2: the signal transmission device 8 compresses and packages the collected data and video information, attaches GPS position information, and transmits the data and the video information to an external controller in real time by adopting a wireless protocol through a signal encryption module and a signal enhancement assembly;
s3: the control device 14 calculates the collected flatness data and determines:
(1) if no obstacle exists, the original speed is kept;
(2) if an obstacle appears, firstly, infrared and ultrasonic distance measurement is carried out on the uneven position in front, the distance, the moving speed and the size of the obstacle are judged through returning data, the obstacle is marked on the path, the control device 14 plans an obstacle avoidance route, and the wheel steering structure is controlled to avoid according to the obstacle avoidance route;
s4: and after the obstacle is successfully avoided, the original speed is kept, the vehicle returns to the original specified route, and the vehicle continues to run.
In the present embodiment, the operation information of the external controller has a higher priority than the operation information transmission of the control device 14.
Example two:
s1: collecting front vertical direction flatness data through an ultrasonic generating device 9 on the island 3, and collecting front and back horizontal direction flatness data through a high-definition camera component 12;
s2: the signal transmission device 8 compresses and packages the collected data and video information, attaches GPS position information, and transmits the data and the video information to an external controller in real time by adopting a wireless protocol through a signal encryption module and a signal enhancement assembly;
s3: the control device 14 calculates the collected flatness data and determines:
(1) if no obstacle exists, the original speed is kept;
(2) if an obstacle appears, firstly, ultrasonic distance measurement is carried out on the uneven position in front, the distance, the moving speed and the size of the obstacle are judged through returning data, the obstacle is marked on the path, the control device 14 plans an obstacle avoidance route, and the wheel steering structure is controlled to avoid according to the obstacle avoidance route;
s4: and after the obstacle is successfully avoided, the original speed is kept, the vehicle returns to the original specified route, and the vehicle continues to run.
Compared with the first embodiment, the infrared imaging assembly in the double-view holder structure is removed, the inspection robot is placed in the track of the first embodiment, the received data and the obstacle avoidance condition are counted, and the specific experimental result is shown in the first table.
Example three:
s1: collecting front vertical direction flatness data through an ultrasonic generating device 9 on the island 3, and collecting front and back horizontal direction flatness data through an infrared imaging component 11;
s2: the signal transmission device 8 compresses and packages the collected data information, attaches GPS position information, and transmits the data information to an external controller in real time by adopting a wireless protocol through a signal encryption module and a signal enhancement assembly;
s3: the control device 14 calculates the collected flatness data and determines:
(1) if no obstacle exists, the original speed is kept;
(2) if an obstacle appears, firstly, infrared and ultrasonic distance measurement is carried out on the uneven position in front, the distance, the moving speed and the size of the obstacle are judged through returning data, the obstacle is marked on the path, the control device 14 plans an obstacle avoidance route, and the wheel steering structure is controlled to avoid according to the obstacle avoidance route;
s4: and after the obstacle is successfully avoided, the original speed is kept, the vehicle returns to the original specified route, and the vehicle continues to run.
Compared with the first implementation, the high-definition camera shooting assembly in the double-vision holder structure is removed, the inspection robot is placed on the track of the first embodiment to perform multiple tests, and specific experimental results are shown in the first table.
Example four:
s1: collecting front vertical direction flatness data through an ultrasonic generating device 9 on the island 3, and collecting front and back horizontal direction flatness data through an infrared imaging component 11 and a high-definition camera component 12 in a double-vision holder;
s2: the signal transmission device 8 compresses and packages the collected data and video information, attaches GPS position information, and transmits the data and the video information to an external controller in real time by adopting a wireless protocol through a signal encryption module and a signal enhancement assembly on one side;
s3: the control device 14 calculates the collected flatness data and determines:
(1) if no obstacle exists, the original speed is kept;
(2) if an obstacle appears, firstly, infrared and ultrasonic distance measurement is carried out on the uneven position in front, the control device 14 plans an obstacle avoidance route through returning data, and the wheel steering structure is controlled to avoid according to the obstacle avoidance route;
s4: and after the obstacle is successfully avoided, the original speed is kept, the vehicle returns to the original specified route, and the vehicle continues to run.
Compared with the first embodiment, in the avoidance method, the step of marking the obstacle information with the autonomous learning function is removed, and the inspection robot is placed on the track of the first embodiment to perform multiple tests, and specific experimental results are shown in table one.
Note that: the number of obstacles is the average number of obstacles successfully found and successfully avoided;
the total obstacle avoidance time is the average of the time from the moment that the robot slows down to the moment that the robot completely leaves the obstacle;
the score is the average of scores of actions which are successfully bypassed by the inspection robot when finding the obstacle each time; (found and bypassed + 5; found not bypassed +0 min; not found and bypassed +0 min; not found not bypassed-5 min);
single-turn fastest speed: the time taken to complete the obstacle avoidance test for each set of examples was the shortest round.
From table one, it can be seen that: in comparison of the various groups of embodiments, the inspection robot of the first embodiment finds the most obstacles, takes the shortest time to avoid the obstacles, has the highest score, and can finish the inspection work in a short time. The second embodiment and the third embodiment lack key components of the dual-view holder, so that the number of found obstacles is small, further more collisions are generated, scores are small, and finally, the time consumed by a single circle is also long. The fourth embodiment is similar to the function of the inspection robot in the market, in multiple experiments, the number of found obstacles is slightly different from that of the first embodiment, but due to the lack of adjustment on the route in advance, the obstacle avoidance time is long, the score is less than that of the first embodiment, and the fastest completion time is finally affected.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a track is patrolled and examined robot and is dodged device, includes chassis (1), its characterized in that: the operating platform (15), the fixed platform (2) and the vehicle island (3) are sequentially arranged at the top end of the underframe (1) from bottom to top; a plurality of groups of motors (5) are arranged in the chassis (1), and each group of motors (5) is in transmission connection with a wheel structure arranged on the chassis (1); be provided with controlling means (14) in chassis (1), be provided with battery case (7) in fixed station (2), be provided with ultrasonic wave generating device (9) in plantain (3), the top of ultrasonic wave generating device (9) is provided with laser sensor subassembly (10), the top of plantain (3) is provided with double vision pan-tilt structure, just double vision pan-tilt structure includes infrared imaging subassembly (11) and high definition camera subassembly (12), one side of plantain (3) is provided with locator (13), one side of locator (13) is provided with signal transmission device (8).
2. The track inspection robot avoidance device according to claim 1, wherein: the control device (14) is electrically connected with the ultrasonic wave generating device (9), the laser sensor assembly (10), the infrared imaging assembly (11), the high-definition camera assembly (12) and the signal transmission device (8), and a file compression structure is arranged in the signal transmission device (8).
3. The track inspection robot avoidance device according to claim 1, wherein: the locator (13) is a GPS locating device, and one side of the signal transmission device (8) is connected with the signal encryption module and the signal enhancement assembly.
4. The track inspection robot avoidance device according to claim 1, wherein: the bottom of two looks cloud platform structures is provided with lifting structure (4), lifting structure (4) and battery case (7) electric connection, controlling means (14) control the action of lifting structure (4).
5. The track inspection robot avoidance device according to claim 1, wherein: and the front side and the rear side of the underframe (1) are provided with car lamps (6).
6. The track inspection robot avoidance device according to claim 1, wherein: and a wheel steering control system and a differential mechanism structure are arranged in the wheel structure.
7. A track inspection robot avoidance method which is suitable for the track inspection robot avoidance device according to any one of claims 1 to 6, and is characterized in that: the method comprises the following steps:
s1: the ultrasonic wave generating device (9) on the island (3) collects the front vertical direction flatness data, and the infrared imaging component (11) and the high-definition camera component (12) in the double-vision holder structure collect the front and back horizontal direction flatness data;
s2: the signal transmission device (8) compresses and packages the collected data and video information, attaches GPS position information, and transmits the data and the video information to an external controller in real time by adopting a wireless protocol through a signal encryption module and a signal enhancement assembly on one side;
s3: the control device (14) calculates the collected flatness data and judges that:
(1) if no obstacle exists, the original speed is kept;
(2) if an obstacle appears, firstly, infrared and ultrasonic distance measurement is carried out on the uneven position in front, the distance, the moving speed and the size of the obstacle are judged through returning data, the obstacle is marked on the path, the control device (14) plans an obstacle avoidance route, and a wheel steering structure is controlled to avoid according to the obstacle avoidance route;
s4: and after the obstacle is successfully avoided, the original speed is kept, the vehicle returns to the original specified route, and the vehicle continues to run.
8. The track inspection robot avoidance method according to claim 7, wherein the priority of the operation information of the external controller is higher than the transmission of the operation information of the control device (14).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210008132.3A CN114415680A (en) | 2022-01-06 | 2022-01-06 | Track inspection robot avoiding device and method |
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| CN202210008132.3A CN114415680A (en) | 2022-01-06 | 2022-01-06 | Track inspection robot avoiding device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114770561A (en) * | 2022-06-02 | 2022-07-22 | 安徽海马特救援科技有限公司 | Four-wheel drive explosion-proof robot |
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