CN205540280U - Robot patrols and examines path control system - Google Patents
Robot patrols and examines path control system Download PDFInfo
- Publication number
- CN205540280U CN205540280U CN201620367183.5U CN201620367183U CN205540280U CN 205540280 U CN205540280 U CN 205540280U CN 201620367183 U CN201620367183 U CN 201620367183U CN 205540280 U CN205540280 U CN 205540280U
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- robot
- polling path
- control system
- instruction
- polling
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Abstract
The utility model discloses a robot patrols and examines path control system, through the accurate positioning to current position in the walking robot, accurate current position of mastering the robot, remote monitoring device receives the control instruction of outside instant input, and patrol and examine accurate position at present that adjustment module in route will monitor instruction and robot most likely through the robot and combine to form and patrol and examine route adjustment instruction, and give the storage module among the master control set of robot with this instruction issue, storage module combines three -dimensional relief map to generate the new route of patrolling and examining, the robot patrols and examines according to the new route of patrolling and examining. Easy operation is convenient, and the location is accurate, and machine people's the route of patrolling and examining can be adjusted in the simple operation of control personnel.
Description
Technical field
This utility model belongs to substation inspection apparatus field, is specifically related to a kind of robot polling path
Control system.
Background technology
Transformer substation robot is all according to path set in advance and tour during actual patrolling and examining
Point is maked an inspection tour, if patrol route to be changed and increase inspection point provided, generally requires in background program
Face is added and revises, and layman cannot operate.
Utility model content
The purpose of this utility model is to provide a kind of robot polling path control system, simple to operate
Convenient, layman's equally simple operations, regulation and control robot Iterim Change polling path.
In order to achieve the above object, concrete technical scheme of the present utility model is as follows:
A kind of robot polling path control system, including: long-distance monitorng device and robot, described
Robot is provided with accumulator, driving means, walking performs device, the shooting of shooting 3-D view fills
Put, carry out the laser scanning device of two-dimensional scan, the mileage counting device of metering robot range ability
And master control set；
Described long-distance monitorng device includes outside main frame, the display screen of display robot current state and input
The input equipment of portion's monitoring instruction, is provided with robot polling path adjusting module in described main frame；
Described master control set performs device, shooting with described long-distance monitorng device, driving means, walking
Device is connected, and described master control set includes:
Counting module, the robot obtaining the metering of described mileage counting device runs to work as from initial position
The travel distance of front position；
Memory module, the 3 D stereo map of storage set path；Receive described travel distance；According to
Described travel distance determines robot regional location currently in described 3 D stereo map；Obtain institute
State two-dimensional coordinate data and the 3-D view of described filming apparatus shooting of laser scanning device scanning；
In described regional location, by described two-dimensional coordinate data and described 3 D stereo map comparison or general
Described 3-D view and described 3 D stereo map comparison, be accurately positioned the current location of machine people；
Data receiver and delivery module, be accurately positioned the current location of machine people described in reception, and send
To described robot polling path adjusting module；
Described robot polling path adjusting module, receives described current location and combines outside input
Monitoring instruction carries out polling path adjustment, forms polling path and adjusts instruction, and by described polling path
Adjust instruction and be sent to described memory module by described data receiver and delivery module；
Described memory module adjusts instruction according to polling path and combines the generation of described 3 D stereo map newly
Polling path, concurrently the information of seeing off away is to described driving means；
Described driving means, drives walking actuator according to new polling path walking.
A kind of robot polling path control system that this utility model provides, by walking robot
Being accurately positioned of middle current location, accurately grasps the present position of robot, long-distance monitorng device
Receive the monitoring instruction of outside instant input, and by robot polling path adjusting module by this monitoring
Instruction is combined formation polling path and adjusts instruction with the current accurate location of robot, and this instruction is sent out
Giving the memory module in robot master control set, memory module combines 3 D stereo map and generates new
Polling path, robot patrols and examines according to new polling path.
According to this programme provide monitoring system, it is not necessary to professional be added in background program or
Amendment, it is only necessary to operator use mouse carry out in set 3 D stereo map select add or
Mobile, say, that inputting new path at any time and adjust instruction, long-distance monitorng device then can be automatic
Process amended polling path data, and be sent to robot master by data receiver and transport module
Control device, the memory module in robot master control set generates new polling path, and instruction robot is pressed
Patrol and examine according to new polling path.This system is simple to operate, accurate positioning, it is possible to more easily
Generate new polling path, decrease maloperation and unnecessary equipment fault.
Further, described driving means is servomotor.
Further, described walking actuator includes head and for driving two row of robot ambulation
Driving wheel；
Said two road wheel is located at the bottom of robot, and described head is located at the top of robot, institute
State head and two road wheels are all connected with robot body by rotating shaft.
Further, described filming apparatus is binocular solid camera, and described laser scanning device is laser
Scanner, described binocular solid camera and described laser scanner are each provided at the head of robot.
Further, the scanning angle of described laser scanner is 190 ° to the maximum, and scanning accuracy is
± 15mm, the ultimate range of scanning is 80 meters.
Further, described mileage counting device is code-disc.
Accompanying drawing explanation
A kind of robot polling path Control system architecture figure that Fig. 1 provides for this utility model；
1. robot, 2. head, 3. road wheel, 4. driving means, 5. accumulator, 6. filming apparatus, 7.
Laser scanning device, 8. mileage counting device, 9. master control set；
10. long-distance monitorng device, 10-1. main frame, 10-2. display screen, 10-3. input equipment.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiment of the present utility model is illustrated.
As it is shown in figure 1, a kind of robot polling path control system, including: long-distance monitorng device 10
And robot 1, robot 1 is provided with accumulator 5, driving means 4, walking execution device, shooting
The filming apparatus 6 of 3-D view, carry out the laser scanning device 7 of two-dimensional scan, measure robot 1
The mileage counting device 8 of range ability and master control set 9；
Described long-distance monitorng device 10 includes main frame 10-1, the display of display robot 1 current state
Screen 10-2 and the input equipment 10-3 of input outside monitoring instruction, described main frame 10-1, display screen 10-2
Being connected with each other with input equipment 10-3, input equipment 10-3 therein can be come by mouse and keyboard
Realize.Described main frame 10-1 is provided with robot 1 polling path adjusting module.
Described master control set 9 and described long-distance monitorng device 10, driving means 4, walking perform device,
Filming apparatus 6 is connected, and described master control set 9 includes:
Counting module, the robot 1 obtaining the metering of described mileage counting device 8 walks from initial position
Travel distance to current location；
Memory module, the 3 D stereo map of storage set path；Receive described travel distance；According to
Described travel distance determines the current regional location in described 3 D stereo map of robot 1；Obtain
The two-dimensional coordinate data of described laser scanning device 7 scanning and the three-dimensional of described filming apparatus 6 shooting
Image；In described regional location, by described two-dimensional coordinate data and described 3 D stereo map comparison
Or by described 3-D view and described 3 D stereo map comparison, it is accurately positioned the current of machine people 1
Position；
Data receiver and delivery module, be accurately positioned the current location of machine people 1 described in reception, concurrently
Give described robot 1 polling path adjusting module；
Described robot 1 polling path adjusting module, receives described current location and combines outside input
Monitoring instruction carry out polling path adjustment, form polling path and adjust instruction, and patrol and examine road by described
Footpath adjusts instruction and is sent to described memory module by described data receiver and delivery module；
Described memory module adjusts instruction according to polling path and combines the generation of described 3 D stereo map newly
Polling path, concurrently the information of seeing off away is to described driving means 4；
Described driving means 4, drives walking actuator according to new polling path walking.
Driving means 4 therein is servomotor.Servomotor can make control speed, positional precision non-
The most accurately, voltage signal can be converted into torque and rotating speed to drive control object.Servomotor turns
Rotor speed is by input signal control, and energy fast reaction, in automatic control system, is used as to perform unit
Part, and have the characteristics such as electromechanical time constant is little, the linearity is high, pickup voltage, can be being received
Angular displacement or angular velocity that the signal of telecommunication is converted on motor reel export.
Walking actuator includes head 2 and walks two road wheels 3 for band mobile robot 1；Two
Individual road wheel 3 is located at the bottom of robot 1, and head 2 is located at the top of robot 1, head 2 He
Two road wheels 3 are all connected with robot 1 main body by rotating shaft, in running, and can be can
Rotate arbitrarily angled in the range of execution.
Described filming apparatus 6 is binocular solid camera, and described laser scanning device 7 is laser scanner,
Described binocular solid camera and described laser scanner are each provided at the head 2 of robot 1.Laser scanning
The scanning angle of instrument is 190 ° to the maximum, and scanning accuracy is ± 15mm, and the ultimate range of scanning is 80 meters,
Can preferably German imported L MS511 SICK laser radar.
Mileage counting device 8 is preferably code-disc (encodingdisk), is also speedometer, measures position, angle
The digital encoder moved.It has that resolution capability is strong, certainty of measurement is high and the advantage such as reliable operation, is
A kind of the most frequently used displacement transducer of measurement axis angle position.In this programme, code-disc mainly uses pulse
Counting, how many each pulse vehicle wheel rotations determines the distance that robot 1 walks, and umber of pulse is fed back
To the counting module 9-1 in master control set 9, by counting module 9-1 calculate robot 1 walk away from
From.
During concrete operation, robot 1, during normally patrolling and examining, can constantly carry out current environment position
The scanning put and shooting, and the two-dimensional coordinate data of scanning and the 3-D view of shooting are fed back to remotely prison
Control device 10, the monitoring personnel on backstage can see machine on the display screen 10-2 of long-distance monitorng device 10
Current being accurately positioned of device people 1.Now, the robot that monitoring personnel's temporary needs on backstage is being patrolled and examined
1 goes to patrol and examine a certain appointment position at once, and these personnel can be instructed by long-distance monitorng device 10 input monitoring,
Main frame 10-1 instructs according to accurate location and the monitoring received of current robot 1, forms polling path
Adjust instruction, and by this adjustment instruction feedback to robot 1, depositing in the master control set 9 of robot 1
The set 3 D stereo map that storage module 9-3 adjusts instruction combination storage according to this polling path is formed new
Polling path, and instruct robot 1 and patrol and examine according to new polling path.
And in practical operation, the display screen 10-2 of long-distance monitorng device 10 will reveal whether whole patrolling and examining
The plane graph in place, simultaneously, it is also possible to demonstrate the position that robot 1 is current, supervise for convenience
The operation of control personnel, can use on plane graph region that different colours indicates that robot 1 can walk,
The most walking region, needs the equipment region patrolled and examined, and monitoring personnel can pass through on plane graph afterwards
Dragging mouse, select different regions as patrolling and examining place temporarily, robot 1 will be according to monitoring afterwards
The instruction of personnel is patrolled and examined.
So, the robot 1 polling path control system that this programme provides, the most simple to operate, and
Accurate positioning, it is possible to be readily formed new polling path, meets the demand of remotely monitoring.
Above, although illustrate several embodiment of the present utility model, but these embodiments are simply
Propose as an example, be not intended to limit scope of the present utility model.For the embodiment that these are new,
Can implement in other various modes, in the range of without departing from main idea of the present utility model, it is possible to
Carry out various omission, displacement and change.These embodiments and its deformation, be contained in this utility model
Scope or spirit in while, be also contained in the utility model described in claims and impartial model thereof
In enclosing.
Claims (6)
1. a robot polling path control system, it is characterised in that including: long-distance monitorng device
And robot, described robot is provided with accumulator, driving means, walking execution device, shooting three
Tie up the filming apparatus of image, carry out the laser scanning device of two-dimensional scan, metering robot range ability
Mileage counting device and master control set；
Described long-distance monitorng device includes outside main frame, the display screen of display robot current state and input
The input equipment of portion's monitoring instruction, is provided with robot polling path adjusting module in described main frame；
Described master control set performs device, shooting with described long-distance monitorng device, driving means, walking
Device is connected, and described master control set includes:
Counting module, the robot obtaining the metering of described mileage counting device runs to work as from initial position
The travel distance of front position；
Memory module, the 3 D stereo map of storage set path；Receive described travel distance, according to
Described travel distance determines robot regional location currently in described 3 D stereo map；Obtain institute
State two-dimensional coordinate data and the 3-D view of described filming apparatus shooting of laser scanning device scanning；
In described regional location, stand with described three-dimensional by described two-dimensional coordinate data or by described 3-D view
Body map comparison, is accurately positioned the current location of machine people；
Data receiver and delivery module, be accurately positioned the current location of machine people described in reception, and send
To described robot polling path adjusting module；
Described robot polling path adjusting module, receives described current location and combines outside input
Monitoring instruction carries out polling path adjustment, forms polling path and adjusts instruction, and by described polling path
Adjust instruction and be sent to described memory module by described data receiver and delivery module；
Described memory module adjusts instruction according to polling path and combines the generation of described 3 D stereo map newly
Polling path, concurrently the information of seeing off away is to described driving means；
Described driving means, drives walking actuator according to new polling path walking.
A kind of robot the most according to claim 1 polling path control system, it is characterised in that
Described driving means is servomotor.
A kind of robot the most according to claim 1 polling path control system, its feature exists
In, described walking actuator includes head and for driving two road wheels of robot ambulation；
Said two road wheel is located at the bottom of robot, and described head is located at the top of robot, institute
State head and two road wheels are all connected with robot body by rotating shaft.
A kind of robot the most according to claim 3 polling path control system, its feature exists
In, described filming apparatus is binocular solid camera, and described laser scanning device is laser scanner, institute
State binocular solid camera and described laser scanner is each provided at the head of robot.
A kind of robot the most according to claim 4 polling path control system, its feature exists
In, the scanning angle of described laser scanner is 190 ° to the maximum, and scanning accuracy is ± 15mm, scanning
Ultimate range is 80 meters.
A kind of robot the most according to claim 1 polling path control system, its feature exists
In, described mileage counting device is code-disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620367183.5U CN205540280U (en) | 2016-04-27 | 2016-04-27 | Robot patrols and examines path control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620367183.5U CN205540280U (en) | 2016-04-27 | 2016-04-27 | Robot patrols and examines path control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205540280U true CN205540280U (en) | 2016-08-31 |
Family
ID=56793873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620367183.5U Expired - Fee Related CN205540280U (en) | 2016-04-27 | 2016-04-27 | Robot patrols and examines path control system |
Country Status (1)
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| CN (1) | CN205540280U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054883A (en) * | 2016-06-13 | 2016-10-26 | 国家电网公司 | Robot patrol path control system |
| CN106200652A (en) * | 2016-09-29 | 2016-12-07 | 翁锦祥 | A kind of intelligent material conveying system and method for carrying |
| CN108649695A (en) * | 2018-05-22 | 2018-10-12 | 四川超影科技有限公司 | A kind of intelligent inspection system based on intelligent robot |
| CN108994847A (en) * | 2018-07-16 | 2018-12-14 | 中科新松有限公司 | A kind of robot |
| CN111885348A (en) * | 2020-06-04 | 2020-11-03 | 视联动力信息技术股份有限公司 | Monitoring resource management method, device and computer readable storage medium |
-
2016
- 2016-04-27 CN CN201620367183.5U patent/CN205540280U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054883A (en) * | 2016-06-13 | 2016-10-26 | 国家电网公司 | Robot patrol path control system |
| CN106200652A (en) * | 2016-09-29 | 2016-12-07 | 翁锦祥 | A kind of intelligent material conveying system and method for carrying |
| CN108649695A (en) * | 2018-05-22 | 2018-10-12 | 四川超影科技有限公司 | A kind of intelligent inspection system based on intelligent robot |
| CN108994847A (en) * | 2018-07-16 | 2018-12-14 | 中科新松有限公司 | A kind of robot |
| CN111885348A (en) * | 2020-06-04 | 2020-11-03 | 视联动力信息技术股份有限公司 | Monitoring resource management method, device and computer readable storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20180427 |