CN115635487B - Tower climbing robot obstacle avoidance control system and method based on multi-sensor fusion - Google Patents
Tower climbing robot obstacle avoidance control system and method based on multi-sensor fusion Download PDFInfo
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- CN115635487B CN115635487B CN202211670563.2A CN202211670563A CN115635487B CN 115635487 B CN115635487 B CN 115635487B CN 202211670563 A CN202211670563 A CN 202211670563A CN 115635487 B CN115635487 B CN 115635487B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention discloses a multi-sensor fusion-based obstacle avoidance control system and method for a tower climbing robot, which are used for realizing reliable climbing of an electric tower climbing robot. The system comprises a multi-sensor sensing unit, a signal conversion transmission unit and a control unit; the multi-sensor sensing unit comprises a beam detection sensor, a foot nail detection sensor and a proximity limit sensor; the signal conversion transmission unit is used for converting the sensing data of the beam detection sensor, the foot nail detection sensor and the proximity limit sensor and transmitting the sensing data to the control unit; the invention provides a method for realizing effective stroke limit between two clamping jaws of a tower climbing robot by utilizing an inductance proximity sensor, wherein the single-step effective stroke of the tower climbing robot is not less than the distance between two cross beams; the effective recognition of the beam obstacle is realized by utilizing an ultrasonic sensor; the effective recognition of the foot nail obstacle is realized by utilizing the ultrasonic sensor, and the effective obstacle avoidance of the foot nail is realized by adopting a secondary bending plate refraction mode, so that the effect is better.
Description
Technical Field
The invention relates to the technical field of robot obstacle avoidance control, in particular to a tower climbing robot obstacle avoidance control system and method based on multi-sensor fusion.
Background
Along with the continuous improvement of the national safety requirements for the construction of the power industry, the development of the power tower climbing robot becomes an important direction for realizing the mechanization and the automation of the high-altitude operation. The premise of the climbing robot for effective operation is that the climbing reliability must be ensured, however, the high-voltage iron tower has a complex structure, the cross beams are staggered and the nails are distributed throughout, so that not only a reliable climbing unit is needed for effective climbing, but also a feasible obstacle avoidance control system and method are needed to be developed. At present, researches on electric power climbing robots are focused on structural design aspects of climbing units, and researches on how to effectively realize obstacle recognition and obstacle crossing are few.
In view of the foregoing, in order to enable the electric tower climbing robot to truly replace personnel to perform overhead operations, it is highly desirable to develop a practical and feasible obstacle avoidance control system and method.
Disclosure of Invention
The invention aims to provide a multi-sensor fusion-based obstacle avoidance control system and method for a tower climbing robot, so as to realize reliable climbing of the electric tower climbing robot.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
first aspect
The obstacle avoidance control system of the tower climbing robot based on multi-sensor fusion comprises a multi-sensor sensing unit, a signal conversion transmission unit and a control unit;
the multi-sensor sensing unit comprises a beam detection sensor, a foot nail detection sensor and a proximity limit sensor; the beam detection sensors are positioned at the head and the tail of the body of the climbing tower robot and are used for detecting beam obstacles; the foot nail detection sensor is positioned on a clamping arm of the clamping jaw assembly of the climbing tower robot and used for detecting foot nail barriers; the proximity limiting sensors are positioned at the front end and the rear end in the range of travel of the screw rod on the lower surface of the body of the climbing tower robot and are used for limiting the range of travel of the movable clamping jaw;
the signal conversion transmission unit is used for converting the sensing data of the beam detection sensor, the foot nail detection sensor and the proximity limit sensor and transmitting the sensing data to the control unit;
the control unit is used for judging the beam obstacle and the foot nail obstacle around the climbing tower robot and the front and rear limit positions of the movable clamping jaw of the climbing tower robot according to the perception data transmitted by the signal conversion transmission unit, and comprehensively deciding the clamping movement strategy of the climbing tower robot according to the judgment result.
Second aspect
The application provides a climbing tower robot keeps away barrier control method based on multisensor fuses, the method utilizes above-mentioned climbing tower robot that fuses to keep away barrier control system execution based on multisensor fuses, includes following steps:
step one: initializing and connecting a climbing robot fixed on an iron tower with an upper computer;
step two: the fixed clamping jaw is opened and starts to move randomly, the control unit receives the beam obstacle information detected by the ultrasonic sensor in real time, judges whether the ultrasonic sensor detects the beam obstacle, and if not, the fixed clamping jaw moves continuously along with the machine body; if yes, the fixed clamping jaw stops moving along with the machine body; the control unit receives the foot nail obstacle information of the stop position of the fixed clamping jaw detected by the ultrasonic sensor on the clamping arm of the fixed clamping jaw in real time, judges whether the foot nail obstacle is detected by the ultrasonic sensor on the clamping arm of the fixed clamping jaw at the operation stop position, and if not, directly clamps the foot nail; if yes, the fixed clamping jaw moves downwards or upwards by a preset distance along with the machine body independently and clamps the machine body;
step three: the movable clamping jaw is opened and starts to move, the control unit receives information that the two clamping jaw positions are prompted to reach the limiting position by the proximity limiting sensor in real time, and judges whether the two clamping jaw positions are prompted to reach the limiting position by the proximity limiting sensor or not; if not, the movable clamping jaw continuously moves, and if so, the movable clamping jaw stops moving; the control unit receives the foot nail obstacle information of the stop position of the movable clamping jaw detected by the ultrasonic sensor on the clamping arm of the movable clamping jaw in real time, and judges whether the foot nail obstacle is detected by the ultrasonic sensor on the clamping arm of the movable clamping jaw at the operation stop position; if not, directly clamping, and if so, automatically moving the fixed clamping jaw downwards or upwards by a preset distance along with the machine body and clamping;
step four: repeating the second step and the third step to perform the next crawling cycle.
Compared with the prior art, the invention has the beneficial effects that:
aiming at the conditions that the high-voltage iron tower is complex in structure, the cross beams are staggered and the pins are distributed throughout, the invention provides an inductor proximity sensor for realizing effective stroke limit between two clamping jaws of a tower climbing robot, wherein the single-step effective stroke of the tower climbing robot is not less than the distance between the two cross beams; the effective recognition of the beam obstacle is realized by utilizing an ultrasonic sensor, and the obstacle signal of the ultrasonic sensor determines the initial step length between two steps of the tower climbing robot; the ultrasonic sensor is utilized to realize effective recognition of the foot nail obstacle, and because the foot nail structure is in a straight rod with an elbow form, the side close to the climbing tower robot can only detect the straight rod, and the obstacle avoidance can not be realized by direct detection, so that the effective obstacle avoidance of the foot nail is realized by adopting a secondary bending plate refraction mode, and the effect is better.
Drawings
FIG. 1 is a schematic diagram of a system connection structure according to an embodiment of the present application;
FIG. 2 is a schematic diagram showing the installation position of a multi-sensor sensing unit on a climbing robot according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of a method in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
1-2, the embodiment of the application provides a climbing tower robot obstacle avoidance control system based on multi-sensor fusion, which comprises a multi-sensor sensing unit, a signal conversion transmission unit and a control unit;
the multi-sensor sensing unit comprises a beam detection sensor 1, a foot nail detection sensor 5 and a proximity limit sensor 2;
the beam detection sensor 1 is positioned at the head and the tail of the body of the climbing robot and is used for detecting beam obstacles; the foot nail detection sensor 5 is positioned on a clamping arm of the clamping jaw assembly of the climbing tower robot and used for detecting foot nail barriers; the proximity limiting sensors 2 are positioned at the front end and the rear end in the range of travel of the screw rod on the lower surface of the body of the climbing tower robot and are used for limiting the range of travel of the movable clamping jaw;
specifically, as shown in fig. 2, the beam detection sensor 1 is an ultrasonic sensor, and two beam detection sensors are respectively arranged at the head and the tail of the tower climbing robot and are all arranged perpendicular to the beam; the foot nail detection sensor 5 is an ultrasonic sensor, one of eight clamping arms of two clamping jaw assemblies of the climbing tower robot is respectively arranged, and the foot nail detection sensor is refracted by a secondary bending plate to detect foot nail obstacles, wherein the foot nail detection sensor is bent for 45 degrees for the first time and bent for 25 degrees for the second time; the proximity limiting sensors 5 are inductive sensors, and two proximity limiting sensors are respectively arranged at the front end and the rear end of the range of travel of the screw rod on the lower surface of the body of the climbing tower robot.
The signal conversion and transmission unit is used for converting the sensing data of the beam detection sensor 1, the foot nail detection sensor 5 and the proximity limit sensor 2 and transmitting the sensing data to the control unit; the signal conversion transmission unit comprises a buck isolation module and a wireless transceiver module, wherein the buck isolation module is used for converting a 12V voltage signal output by the multi-sensor sensing unit into a 3.3V voltage which can be received by the control unit; and the wireless transceiver module is used for data transmission between the signal conversion transmission unit and the control unit, and is also used for remote transmission between the control unit and the upper computer, and a LoRa wireless data transmission station can be adopted, and the transmission distance can reach 10km.
In addition, the wireless transceiver module is also used for transmitting interactive signals between the motor of the climbing tower robot and the control unit. As shown in fig. 2, the motor of the climbing robot is a power output part of the climbing robot and comprises a first motor, a second motor, a third motor 3 and a fourth motor 4.
The control unit is used for judging the beam obstacle and the foot nail obstacle around the climbing tower robot and the front and rear limit positions of the movable clamping jaw of the climbing tower robot according to the perception data transmitted by the signal conversion transmission unit, and comprehensively deciding the clamping movement strategy of the climbing tower robot according to the judgment result.
Specifically, the control unit is used for obtaining the situation that whether the front end of the climbing tower robot and the position under the clamping jaw arm are provided with barriers or not, which are sensed by complementation of the beam detection sensor and the foot nail detection sensor, so as to control the step length and the clamping position of the climbing tower robot.
Wherein the clamping movement strategy comprises a step size and a clamping position.
As shown in fig. 3, the present application further provides a method for controlling obstacle avoidance of a tower climbing robot based on multi-sensor fusion, where the method is performed by the above system, and includes the following steps:
step one: initializing and connecting a climbing robot fixed on an iron tower with an upper computer;
step two: the fixed clamping jaw is opened and starts to move randomly, the control unit receives the beam obstacle information detected by the ultrasonic sensor in real time, judges whether the ultrasonic sensor detects the beam obstacle, and if not, the fixed clamping jaw moves continuously along with the machine body; if yes, the fixed clamping jaw stops moving along with the machine body; the control unit receives the foot nail obstacle information of the stop position of the fixed clamping jaw detected by the ultrasonic sensor on the clamping arm of the fixed clamping jaw in real time, judges whether the foot nail obstacle is detected by the ultrasonic sensor on the clamping arm of the fixed clamping jaw at the operation stop position, and if not, directly clamps the foot nail; if yes, the fixed clamping jaw moves downwards or upwards by a preset distance along with the machine body independently and clamps the machine body;
step three: the movable clamping jaw is opened and starts to move, the control unit receives information that the two clamping jaw positions are prompted to reach the limiting position by the proximity limiting sensor 2 in real time, and judges whether the two clamping jaw positions are prompted to reach the limiting position by the proximity limiting sensor 2; if not, the movable clamping jaw continuously moves, and if so, the movable clamping jaw stops moving; the control unit receives the foot nail obstacle information of the stop position of the movable clamping jaw detected by the ultrasonic sensor on the clamping arm of the movable clamping jaw in real time, and judges whether the foot nail obstacle is detected by the ultrasonic sensor on the clamping arm of the movable clamping jaw at the operation stop position; if not, directly clamping, and if so, automatically moving the fixed clamping jaw downwards or upwards by a preset distance along with the machine body and clamping; the preset distance is preset in advance, and 10cm may be selected.
Step four: repeating the second step and the third step to perform the next crawling cycle.
Wherein, climb tower robot fixed clamping jaw and fuselage and carry out integrative motion for rigid connection, the activity clamping jaw can independent free motion.
The fixed clamping jaw and the movable clamping jaw of the climbing tower robot detect that the foot nails at the stopping position need to move downwards or upwards automatically depending on the crawling state of the climbing tower robot, if the climbing tower robot crawls upwards, the climbing tower robot needs to move downwards automatically, and if the climbing tower robot crawls downwards, the climbing tower robot moves upwards automatically.
The foregoing has shown and described the basic principles, principal 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 above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The obstacle avoidance control system of the tower climbing robot based on the multi-sensor fusion is characterized by comprising a multi-sensor sensing unit, a signal conversion transmission unit and a control unit;
the multi-sensor sensing unit comprises a beam detection sensor, a foot nail detection sensor and a proximity limit sensor; the beam detection sensors are positioned at the head and the tail of the body of the climbing tower robot and are used for detecting beam obstacles; the foot nail detection sensor is positioned on a clamping arm of the clamping jaw assembly of the climbing tower robot and used for detecting foot nail barriers; the proximity limiting sensors are positioned at the front end and the rear end in the range of travel of the screw rod on the lower surface of the body of the climbing tower robot and are used for limiting the range of travel of the movable clamping jaw;
the signal conversion transmission unit is used for converting the sensing data of the beam detection sensor, the foot nail detection sensor and the proximity limit sensor and transmitting the sensing data to the control unit;
the control unit is used for judging the surrounding beam obstacle and the foot nail obstacle of the climbing robot and the front and rear limit positions of the movable clamping jaw of the climbing robot according to the perception data transmitted by the signal conversion transmission unit, and comprehensively deciding the clamping movement strategy of the climbing robot according to the judgment result;
the beam detection sensors are ultrasonic sensors, and the two beam detection sensors are respectively arranged at the head part and the tail part of the body of the climbing tower robot and are perpendicular to the beam;
the foot nail detection sensor is an ultrasonic sensor, and one of the eight clamping arms of the two clamping jaw assemblies of the climbing tower robot is respectively arranged on the eight clamping arms; the foot nail detection sensor utilizes the refraction of the secondary bending plate to detect foot nail obstacles, wherein the first bending is 45 degrees, and the second bending is 25 degrees;
the proximity limiting sensor is an inductive sensor, and two proximity limiting sensors are respectively arranged at the front end and the rear end of the lower surface screw stroke range of the body of the climbing tower robot.
2. The multi-sensor fusion-based obstacle avoidance control system of the tower climbing robot of claim 1, wherein the signal conversion transmission unit comprises a buck isolation module and a wireless transceiver module; the step-down isolation module is used for converting high-voltage signals output by the multi-sensor sensing unit into low voltage which can be received by the control unit; the wireless transceiver module adopts a wireless data transmission radio station capable of carrying out long-distance transmission.
3. The multi-sensor fusion based tower robot obstacle avoidance control system of claim 1, wherein the grip movement strategy comprises a step size and a grip position.
4. A method for controlling obstacle avoidance of a tower climbing robot based on multi-sensor fusion, wherein the method is performed by the system for controlling obstacle avoidance of a tower climbing robot based on multi-sensor fusion according to any one of claims 1-3, comprising the steps of:
step one: initializing and connecting a climbing robot fixed on an iron tower with an upper computer;
step two: the fixed clamping jaw is opened and starts to move randomly, the control unit receives the beam obstacle information detected by the ultrasonic sensor in real time, judges whether the ultrasonic sensor detects the beam obstacle, and if not, the fixed clamping jaw moves continuously along with the machine body; if yes, the fixed clamping jaw stops moving along with the machine body; the control unit receives the foot nail obstacle information of the stop position of the fixed clamping jaw detected by the ultrasonic sensor on the clamping arm of the fixed clamping jaw in real time, judges whether the foot nail obstacle is detected by the ultrasonic sensor on the clamping arm of the fixed clamping jaw at the operation stop position, and if not, directly clamps the foot nail; if yes, the fixed clamping jaw moves downwards or upwards by a preset distance along with the machine body independently and clamps the machine body;
step three: the movable clamping jaw is opened and starts to move, the control unit receives information that the two clamping jaw positions are prompted to reach the limiting position by the proximity limiting sensor in real time, and judges whether the two clamping jaw positions are prompted to reach the limiting position by the proximity limiting sensor or not; if not, the movable clamping jaw continuously moves, and if so, the movable clamping jaw stops moving; the control unit receives the foot nail obstacle information of the stop position of the movable clamping jaw detected by the ultrasonic sensor on the clamping arm of the movable clamping jaw in real time, and judges whether the foot nail obstacle is detected by the ultrasonic sensor on the clamping arm of the movable clamping jaw at the operation stop position; if not, directly clamping, and if so, automatically moving the fixed clamping jaw downwards or upwards by a preset distance along with the machine body and clamping;
step four: repeating the second step and the third step to perform the next crawling cycle.
5. The obstacle avoidance control method of the tower climbing robot based on multi-sensor fusion of claim 4, wherein the fixed clamping jaw of the tower climbing robot is rigidly connected with the machine body for integral movement, and the movable clamping jaw can independently and freely move.
6. The obstacle avoidance control method of a climbing robot based on multi-sensor fusion according to claim 4, wherein the fixed clamping jaw and the movable clamping jaw of the climbing robot detect that the foot nails at the stop position need to move down autonomously or move up autonomously depending on the crawling state of the climbing robot, if crawling up, the climbing robot needs to move down autonomously, and if crawling down, the climbing robot moves up autonomously.
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