CN205950750U - Transformer station inspection robot control system that navigates based on inertial navigation - Google Patents
Transformer station inspection robot control system that navigates based on inertial navigation Download PDFInfo
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- CN205950750U CN205950750U CN201620898696.9U CN201620898696U CN205950750U CN 205950750 U CN205950750 U CN 205950750U CN 201620898696 U CN201620898696 U CN 201620898696U CN 205950750 U CN205950750 U CN 205950750U
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- rfid card
- control system
- navigation
- inertial navigation
- enable pin
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Abstract
Transformer station inspection robot control system that navigates based on inertial navigation, including a plurality of intervals pre -buried in transformer station tour -inspection route department the RFID card and one patrol and examine the robot, it includes the organism and sets up IMU module, data acquisition unit, data processing control unit, the RFID card identification device in this organism and be used for driving the walking unit that this organism removed to patrol and examine the robot. The utility model discloses an adopt the pre -buried RFID card in road surface to replace laying of traditional magnetic stripe, can effectively practice thrift the cost, reduce and lay work load, and at the navigation in -process, at first come real -time detection robot motion state with the IMU module, again according to detecting control machine people that data the are accurate next calibrating spot that moves, it also is exactly the position of placing of RFID card, then carry out task of patrolling and examining and calibration IMU module, it patrols and examines the accurate navigation information of orbit to reach next section through fusion calculation, therefore can effectively practice thrift the cost, can improve the navigation accuracy again.
Description
Technical field
This utility model is related to the robot system that a kind of transformer station uses, and refers in particular to the transformer station based on inertial navigation
Crusing robot navigation control system.
Background technology
Currently, automatic crusing robot, the appearance of automatic transporting handling robot improve work efficiency, simultaneously relatively
Badly, can ensure that the safety of personnel in dangerous environment, so obtaining everybody pursue.Wherein it is used for unattended operation transformer station
It is relatively broad that crusing robot uses to the detection of high pressure equipment instrument and meter, and one of its key technology is to the fortune of robot
Autocontrol system provides the navigation informations such as continuous, real-time, accurate position, course so as to along predetermined route and complete
Detection task.There are multiple navigation modes in robot, and these navigation modes respectively have its feature it is adaptable to different applied environment.
Wherein with relatively broad be magnetic stripe navigation, but magnetic stripe navigation some magnetic interference inside transformer station are big
Place there is certain impact to navigation accuracy, even result in robot overstep the limit.General longer, the magnetic stripe in path in transformer station
Navigation laying workload is larger, and the cost of laying magnetic stripe can be higher.Simultaneously because the magnetic of magnetic stripe can decay it is impossible to repeat to make
With, magnetic stripe later stage in water, roll, wear and tear etc. under the conditions of, safeguard cumbersome.
Utility model content
This utility model provides a kind of Intelligent Mobile Robot navigation control system based on inertial navigation, its main mesh
The high cost being to overcome the navigation of existing magnetic stripe to exist, be easily damaged, keep in repair troublesome defect.
For solving above-mentioned technical problem, this utility model adopts the following technical scheme that：
Based on the Intelligent Mobile Robot navigation control system of inertial navigation, it is embedded in transformer station in advance including a plurality of intervals
Rfid card at polling path and a crusing robot, described crusing robot includes body and is arranged in this body
IMU module, data acquisition unit, data processing control units, rfid card evaluator and the walking for driving this body movement
Unit, the outfan of described IMU module is connected to the Enable Pin of described data acquisition unit, the output of described data acquisition unit
End is connected to the Enable Pin of described data processing control units, and the outfan of described rfid card evaluator is connected at described data
The Enable Pin of reason control unit, the outfan of described data processing control units is connected to the Enable Pin of described walking unit.
Further, described walking unit include servomotor PID adjust and control drive module, servomotor and with
The road wheel that this servo motor output shaft is in transmission connection, described servomotor PID adjusts and controls the Enable Pin of drive module to connect
It is connected to the outfan of described data processing control units, described servomotor PID adjusts and control the outfan of drive module to connect
It is connected to the Enable Pin of described servomotor.
Further, described walking unit also includes an encoder being used for feedback servo motor rotation situation, described volume
The Enable Pin of code device is connected to described servomotor, the outfan of described encoder be connected to described servomotor PID adjust and
Control the Enable Pin of drive module.
Further, described IMU module is installed at the position of centre of gravity of body.
Further, described rfid card is embedded at underground 2～3.
Further, described IMU module includes the accelerometer of three single shafts and the gyroscope of three single shafts, described plus
Velometer is used for detecting that body founds the acceleration signal of three axles in carrier coordinate system unification and independence；Described gyroscope is used for testing machine body phase
For the angular velocity signal of navigational coordinate system, measure body angular velocity in three dimensions and acceleration, and calculated with this
The attitude of body, accurately extrapolates body movement track.
Further, described rfid card evaluator is installed on the bottom of described body.
Further, the height apart from ground for the described rfid card evaluator is less than 8.
Further, described data acquisition unit is complementary filter.
Compared to the prior art, what this utility model produced has the beneficial effects that:
This utility model structure is simple, practical, by replacing traditional magnetic stripe using the pre-buried rfid card in road surface
Laying, effectively save cost, reduce laying workload, and in navigation procedure, first with IMU module come real-time detection machine
People's kinestate, is accurately controlled robot motion to next calibration point further according to data is detected, that is, rfid card
Placement location（General calibration point is robot patrol task point）.Then execution patrol task and calibration IMU module, fused
Calculate next section of patrolled and examined track precise navigation information, thus can effectively save cost, navigation accuracy can be improved again.
Brief description
Fig. 1 is circuit theory schematic diagram of the present utility model.
Specific embodiment
Specific embodiment of the present utility model is described with reference to the accompanying drawings.
With reference to Fig. 1.Based on the Intelligent Mobile Robot navigation control system of inertial navigation, pre-buried including a plurality of intervals
Rfid card 1 at substation inspection path and a crusing robot 2, described crusing robot 2 includes body 3 and setting
IMU module 4 in this body 3, data acquisition unit, data processing control units 5, rfid card evaluator 6 and be used for driving
The walking unit 7 of this body 3 movement, the outfan of described IMU module 4 is connected to the Enable Pin of described data acquisition unit, institute
The outfan stating data acquisition unit is connected to the Enable Pin of described data processing control units 5, described rfid card evaluator 6
Outfan is connected to the Enable Pin of described data processing control units 5, and the outfan of described data processing control units 5 is connected to
The Enable Pin of described walking unit 7.The present embodiment by replacing the laying of traditional magnetic stripe using the pre-buried rfid card in road surface 1,
Effectively save cost, reduces laying workload, and in navigation procedure, is transported come real-time detection robot with IMU module 4 first
Dynamic state, is accurately controlled robot motion to next calibration point further according to data is detected, that is, the placement of rfid card 1
Position（General calibration point is robot patrol task point）.Then execution patrol task and calibration IMU module 4, fused meter
Calculation draws next section of patrolled and examined track precise navigation information, thus can effectively save cost, navigation accuracy can be improved again.
With reference to Fig. 1.Described walking unit 7 include servomotor PID adjust and control drive module 70, servomotor 71 with
And the road wheel 72 being in transmission connection with this servomotor 71 output shaft, described servomotor PID adjusts and controls drive module 70
Enable Pin be connected to the outfan of described data processing control units 5, described servomotor PID adjusts and controls drive module
70 outfan is connected to the Enable Pin of described servomotor 71.Described walking unit 7 also includes one for feedback servo motor
The encoder 73 of 71 operational situations, the Enable Pin of described encoder 73 is connected to described servomotor 71, described encoder 73
Outfan is connected to the Enable Pin that described servomotor PID adjusts and controls drive module 70.
With reference to Fig. 1.Described IMU module 4 includes the accelerometer of three single shafts and the gyroscope of three single shafts, described plus
Velometer is used for detecting that body 3 founds the acceleration signal of three axles in carrier coordinate system unification and independence；Described gyroscope is used for detecting body 3
With respect to the angular velocity signal of navigational coordinate system, measure body 3 angular velocity in three dimensions and acceleration, and resolved with this
Go out the attitude of body 3, accurately extrapolate body 3 movement locus.
With reference to Fig. 1.Described data acquisition unit is complementary filter 8.Using complementary filter 8 can effectively filter by
The fixing drift of the data of IMU module 4 collection and random error, the data being allowed to obtain is more stable, reliable.
With reference to Fig. 1.In the present embodiment, IMU module 4 need to be arranged on the position of centre of gravity of body 3, and rfid card 1 is embedded in machine
At the underground 2～3cm in the navigation channel that device people patrols and examines, rfid card evaluator 6 is placed on crusing robot 2 bottom, and terrain clearance must not
More than 8cm.The IMU module 4 of the present embodiment is general inertial measuring unit, comprises gyroscope, the inertia measurement list such as accelerometer
Unit.IMU module 4 can comprise other subsidiary sensors and be used for improving certainty of measurement.IMU module 4 communication mode adopts RS232
Mode carry out data transmission, but be not limited to the communication mode of RS232.IMU module 4 is installed demanding party's formula and is installed to body as far as possible
Position of centre of gravity.
With reference to Fig. 1.Rfid card 1 is common radio-frequency card, the built-in unique identification code of each FRID card.Patrolling in transformer station
Examine at underground 2～3cm that needing on path, rfid card 1 is buried.In often should recording accurately between the pre-buried point of place's rfid card 1
Journey information, stores in the data storage of robot, then data processing control units 5 are according to the mileage between rfid card 1
The navigation information that information and IMU module 4 data are extrapolated makes robot control 71 turns of servomotor according to corresponding mileage information
Dynamic.
With reference to Fig. 1.The RFID identification code that rfid card evaluator 6 collects, is then known that crusing robot 2 place power transformation
Position in standing.Data processing control units 5 draw crusing robot 2 course deviation angle, and deviation angle is calibrated.
Calibrate IMU module 4 simultaneously, eliminate cumulative errors produced by IMU module 4.
Above are only specific embodiment of the present utility model, but design concept of the present utility model be not limited thereto,
All changes that using this design, this utility model is carried out with unsubstantiality, all should belong to the row invading this utility model protection domain
For.
Claims (9)
1. the Intelligent Mobile Robot navigation control system based on inertial navigation it is characterised in that：Pre- including a plurality of intervals
It is embedded in the rfid card at substation inspection path and a crusing robot, described crusing robot includes body and is arranged at
IMU module in this body, data acquisition unit, data processing control units, rfid card evaluator and be used for driving this body
The walking unit of movement, the outfan of described IMU module is connected to the Enable Pin of described data acquisition unit, described data acquisition
The outfan of unit is connected to the Enable Pin of described data processing control units, and the outfan of described rfid card evaluator is connected to
The Enable Pin of described data processing control units, the outfan of described data processing control units is connected to described walking unit
Enable Pin.
2. as claimed in claim 1 the Intelligent Mobile Robot navigation control system based on inertial navigation it is characterised in that：Institute
State walking unit to include servomotor PID regulation and control drive module, servomotor and pass with this servo motor output shaft
The road wheel being dynamically connected, described servomotor PID adjusts and controls the Enable Pin of drive module to be connected to described data processing control
The outfan of unit processed, described servomotor PID adjusts and controls the outfan of drive module to be connected to described servomotor
Enable Pin.
3. as claimed in claim 2 the Intelligent Mobile Robot navigation control system based on inertial navigation it is characterised in that：Institute
State walking unit and also include an encoder being used for feedback servo motor rotation situation, the Enable Pin of described encoder is connected to institute
State servomotor, the outfan of described encoder is connected to the Enable Pin that described servomotor PID adjusts and controls drive module.
4. as claimed in claim 1 the Intelligent Mobile Robot navigation control system based on inertial navigation it is characterised in that：Institute
State IMU module to be installed at the position of centre of gravity of body.
5. as claimed in claim 1 the Intelligent Mobile Robot navigation control system based on inertial navigation it is characterised in that：Institute
State rfid card to be embedded at underground 2～3.
6. as claimed in claim 1 the Intelligent Mobile Robot navigation control system based on inertial navigation it is characterised in that：Institute
State IMU module and include the accelerometer of three single shafts and the gyroscope of three single shafts, described accelerometer is used for detecting body
Found the acceleration signal of three axles in carrier coordinate system unification and independence；Described gyroscope is used for the angle for navigational coordinate system for the testing machine body phase
Rate signal, measurement body angular velocity in three dimensions and acceleration, and the attitude calculating body with this, accurately push away
Calculate body movement track.
7. as claimed in claim 1 the Intelligent Mobile Robot navigation control system based on inertial navigation it is characterised in that：Institute
State the bottom that rfid card evaluator is installed on described body.
8. as claimed in claim 1 the Intelligent Mobile Robot navigation control system based on inertial navigation it is characterised in that：Institute
State the height apart from ground for the rfid card evaluator and be less than 8.
9. as claimed in claim 1 the Intelligent Mobile Robot navigation control system based on inertial navigation it is characterised in that：Institute
Stating data acquisition unit is complementary filter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620898696.9U CN205950750U (en) | 2016-08-18 | 2016-08-18 | Transformer station inspection robot control system that navigates based on inertial navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620898696.9U CN205950750U (en) | 2016-08-18 | 2016-08-18 | Transformer station inspection robot control system that navigates based on inertial navigation |
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| Publication Number | Publication Date |
|---|---|
| CN205950750U true CN205950750U (en) | 2017-02-15 |
Family
ID=57975120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201620898696.9U Withdrawn - After Issue CN205950750U (en) | 2016-08-18 | 2016-08-18 | Transformer station inspection robot control system that navigates based on inertial navigation |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843225A (en) * | 2017-03-15 | 2017-06-13 | 宜宾学院 | A kind of Intelligent Mobile Robot path planning system |
| CN107883941A (en) * | 2017-10-31 | 2018-04-06 | 西安科锐盛创新科技有限公司 | Sweeping robot intelligent guidance system |
| CN108181636A (en) * | 2018-01-12 | 2018-06-19 | 中国矿业大学 | Petrochemical factory's crusing robot environmental modeling and map structuring device and method |
| CN109460038A (en) * | 2018-12-26 | 2019-03-12 | 南京景曜智能科技有限公司 | A kind of inertial navigation heavy duty AGV system and its control method |
| CN109621260A (en) * | 2018-11-27 | 2019-04-16 | 北京建筑大学 | A kind of control system of extinguishing vehicle |
| CN111077421A (en) * | 2019-12-30 | 2020-04-28 | 云南恒协科技有限公司 | Intelligent operation and detection system for cable line |
| CN111660279A (en) * | 2020-04-20 | 2020-09-15 | 国网山东省电力公司桓台县供电公司 | Intelligent robot and system for epidemic area sickroom |
-
2016
- 2016-08-18 CN CN201620898696.9U patent/CN205950750U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843225A (en) * | 2017-03-15 | 2017-06-13 | 宜宾学院 | A kind of Intelligent Mobile Robot path planning system |
| CN107883941A (en) * | 2017-10-31 | 2018-04-06 | 西安科锐盛创新科技有限公司 | Sweeping robot intelligent guidance system |
| CN108181636A (en) * | 2018-01-12 | 2018-06-19 | 中国矿业大学 | Petrochemical factory's crusing robot environmental modeling and map structuring device and method |
| CN108181636B (en) * | 2018-01-12 | 2020-02-18 | 中国矿业大学 | Environment modeling and map building device and method for petrochemical plant inspection robot |
| CN109621260A (en) * | 2018-11-27 | 2019-04-16 | 北京建筑大学 | A kind of control system of extinguishing vehicle |
| CN109621260B (en) * | 2018-11-27 | 2021-03-30 | 北京建筑大学 | Control system of fire extinguishing vehicle |
| CN109460038A (en) * | 2018-12-26 | 2019-03-12 | 南京景曜智能科技有限公司 | A kind of inertial navigation heavy duty AGV system and its control method |
| CN111077421A (en) * | 2019-12-30 | 2020-04-28 | 云南恒协科技有限公司 | Intelligent operation and detection system for cable line |
| CN111660279A (en) * | 2020-04-20 | 2020-09-15 | 国网山东省电力公司桓台县供电公司 | Intelligent robot and system for epidemic area sickroom |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170215 Effective date of abandoning: 20221214 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170215 Effective date of abandoning: 20221214 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |