CN206321253U - Intelligent Mobile Robot positioner - Google Patents
Intelligent Mobile Robot positioner Download PDFInfo
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- CN206321253U CN206321253U CN201621188595.9U CN201621188595U CN206321253U CN 206321253 U CN206321253 U CN 206321253U CN 201621188595 U CN201621188595 U CN 201621188595U CN 206321253 U CN206321253 U CN 206321253U
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- mobile robot
- encoder
- robot
- head
- video camera
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Abstract
The utility model is related to intelligent substation patrol technical field, it is a kind of Intelligent Mobile Robot positioner, wheeled platform including driving robot motion, it is arranged on the Robot Motion Controller in platform, encoder, communication module, video camera and head, the wheeled platform is circumferentially equidistantly provided with three omni-directional wheels, one encoder is respectively installed on three omni-directional wheels, head bottom is provided with support shaft, support shaft is fixedly mounted on platform, video camera is arranged on the top of head, Robot Motion Controller and communication module two-way communication link, encoder with Robot Motion Controller is two-way electrically connects, video camera and head with communication module two-way communication link.The utility model is more more flexible than other ordinary wheels robot motion by using omni-directional wheel, can be moved to any direction.Positioning is combined with Quick Response Code mode by using encoder, still it is known that the position of mobile robot in the case that Quick Response Code has barrier to block.
Description
Technical field
The utility model is related to intelligent substation patrol technical field, is a kind of Intelligent Mobile Robot positioner.
Background technology
Existing mobile robot that the positioning based on odometer, the positioning based on inertial sensor, vision is located is fixed
Position, localization by ultrasonic, map match positioning, the positioning based on a variety of heat transfer agents, the positioning of road sign and beacon and positioning simultaneously with
The positioning methods such as map structuring (SLAM).At present, robot used for intelligent substation patrol mainly include rail mounted crusing robot and
Wheeled crusing robot.Rail mounted crusing robot system is that robot is positioned by setting spacer in orbit,
Positioning precision is high, but its be capable of inspection space it is limited, can only be moved in fixed track.Wheeled crusing robot positioning side
Formula is mainly positioned and positioned using self-sensor device system by magnetic orbital, and positioning needs are carried out by magnetic orbital
Magnetic orbital is laid down below in advance, and cost is higher, and sphere of action is limited；Robot can be made by carrying out positioning by self-sensor device
Moved interior on a large scale, but traditional mode is to make robot progress self-positioning using scanning laser radar, it is with high costs,
Robot can not realize intelligent positioning.
The content of the invention
The utility model provide a kind of Intelligent Mobile Robot positioner, overcome above-mentioned prior art no
Foot, it can effectively solve poor mobile robot stability present in prior art, poor fault tolerance and mobile robot can not
The problem of suitable for outdoor running fix.
The technical solution of the utility model is realized by following measures：A kind of Intelligent Mobile Robot positioning dress
Put, including it is the driving wheeled platform of robot motion, the Robot Motion Controller being arranged in wheeled platform, encoder, logical
Believe module, video camera and head, the wheeled platform, which is circumferentially equidistantly provided with three omni-directional wheels, three omni-directional wheels, respectively pacifies
Equipped with an encoder, the head bottom is provided with support shaft, and support shaft is fixedly mounted on wheeled platform, the video camera peace
Mounted in the top of head, the Robot Motion Controller and communication module two-way communication link, encoder and robot motion
The two-way electrical connection of controller, video camera and head with communication module two-way communication link.
Above-mentioned communication module may include wireless router and serial port networked module, video camera, head, wireless router and machine
Device people motion controller is communicated to connect with serial port networked module.
It is above-mentioned to may also include long-range PC, the long-range PC and wireless router wireless communication connection.
Above-mentioned video camera may include thermal camera and high-definition camera, and thermal camera and high-definition camera are and serial ports
Networking module is communicated to connect.
Above-mentioned encoder can be photoelectric encoder.
The utility model is by using three omni-directional wheel mobile robot platforms than other ordinary wheel mobile robot platforms
Motion is flexible, can be moved to any direction.By using head, there is no special requirement to the position of putting up of Quick Response Code, it is real
Applying can be simpler efficient.Positioning is combined with Quick Response Code mode by using encoder, has barrier even in Quick Response Code
Still it is known that the position of mobile robot in the case of blocking.Intelligent Mobile Robot uses the positioning of Quick Response Code,
Interior under outdoor environment with that can use.
Brief description of the drawings
Accompanying drawing 1 is the utility model alignment system block diagram.
Accompanying drawing 2 is the utility model all directionally movable robot platform effect diagram.
Accompanying drawing 3 is that the utility model all directionally movable robot moving line and Quick Response Code put up position view.
Accompanying drawing 4 is the utility model all directionally movable robot localization method flow chart.
Accompanying drawing 5 is the utility model all directionally movable robot location coordinate schematic diagram.
Accompanying drawing 6 is the utility model all directionally movable robot kinematics simplified model schematic diagram.
Accompanying drawing 7 is the utility model high-definition camera and Quick Response Code position relationship schematic diagram.
Accompanying drawing 8 is elements of a fix schematic diagram of the utility model high-definition camera relative to world coordinate system.
Accompanying drawing 9 is the utility model Quick Response Code reading process schematic diagram.
Accompanying drawing 10 is the utility model all directionally movable robot according to Quick Response Code position correction self-position schematic diagram.
Coding in accompanying drawing is respectively：1 is wheeled platform, and 2 be Robot Motion Controller, and 3 be head, and 4 be support shaft,
5 be omni-directional wheel, and 6 be wireless router, and 7 be encoder A, and 8 be encoder B, and 9 be encoder C, and 10 be serial port networked module, 11
It is thermal camera for long-range PC, 12,13 be high-definition camera.
Embodiment
The utility model is not limited by following embodiments, can according to the technical solution of the utility model and actual conditions come
Determine specific embodiment.
In the utility model, for the ease of description, the description of the relative position relation of each part is according to specification
The Butut mode of accompanying drawing 1 is described, such as：The position relationship of forward and backward, upper and lower, left and right etc. is according to Figure of description 1
Butut direction determine.
The utility model is further described with reference to embodiment and accompanying drawing：
As shown in accompanying drawing 1,2, a kind of Intelligent Mobile Robot positioner, including driving robot motion's are wheeled flat
Platform 1, the Robot Motion Controller 2 being arranged in wheeled platform 1, encoder, communication module, video camera and head 3, the wheel
Formula platform 1 is circumferentially equidistantly provided with three omni-directional wheels 5, three omni-directional wheels 5 and is respectively provided with an encoder, the head
3 bottoms are provided with support shaft 4, and support shaft 4 is fixedly mounted on wheeled platform 1, and the video camera is arranged on the top of head 3, institute
State Robot Motion Controller 2 and communication module two-way communication link, encoder with Robot Motion Controller 2 is two-way is electrically connected
Connect, video camera and head 3 with communication module two-way communication link.In real work, wheeled platform 1 plays driving transformer station
Crusing robot moves and supported the effect of head 3, and a motor, robot motion are separately installed with each omni-directional wheel 5
The steering of the controlled motor of controller 2 and rotating speed, motor driving omni-directional wheel 5 are rotated, so as to realize the motion of robot；Here use
The motion of robot is rotated in three omni-directional wheels 5, can quickly realize 360 ° of steerings of robot, more square compared with four-wheel drive
Just it is flexible.Here motor, Robot Motion Controller 2, communication module are by the high capacity cell being fixed in wheeled platform
Power supply is provided；Encoder is respectively encoder A7, encoder B8 and encoder C9, and Robot Motion Controller 2 receives encoder
The positional information for the omni-directional wheel 5 that A7, encoder B8 and encoder C9 are sent.Here head 3 is two-degree-of-freedom cradle head, including cloud
Platform a parts and head b parts, the two side arms of head a parts are arranged on head b parts, and head a parts and head b parts are
It can be rotated under the control instruction of Robot Motion Controller, head a parts can drive video camera to rotate, adjustment at any time is taken the photograph
As the angle of head, it is easy to find the two-dimentional code position of equipment.
As shown in accompanying drawing 1,2, communication module includes wireless router 6 and serial port networked module 10, video camera, head 3, nothing
Line router 6 and Robot Motion Controller 2 are communicated to connect with serial port networked module 10.The effect of serial port networked module 10 is
Serial ports is converted into RJ-45 network interface, between serial port networked module and wireless router use network interface connection, head 3 with
Connected, made between Robot Motion Controller 2 and serial port networked module 10 using RS485 communication interfaces between serial port networked module
Connected with RS232 communication interfaces.
As shown in accompanying drawing 1,2, also including long-range PC 11, the long-range PC 11 connects with the radio communication of wireless router 6
Connect.Here connected between long-range PC 11 and wireless router 6 using wireless communication, user is controlled by long-range PC 11
Crusing robot motion processed, realizes the remote monitoring to equipment.
As shown in accompanying drawing 1,2, the video camera includes thermal camera 12 and high-definition camera 13, the He of thermal camera 12
High-definition camera 13 is communicated to connect with serial port networked module 10.High-definition camera 13 is provided with network interface and USB interface, main
The image in 2 D code information being used to gather in transformer station, image in 2 D code here is rectangle；Thermal camera 13 is main
Using the image of infrared collecting Quick Response Code, it is easy to clearer collection 2 D code information.
As shown in accompanying drawing 1,2, encoder is photoelectric encoder.Here photoelectric encoder A7, photoelectric encoder B8 and light
Photoelectric coder C9 is separately mounted to drive on three motors of the motion of mobile robot omni-directional wheel 5, the rotating speed for detecting motor,
It is easy to calculate, mobile robot is accurately positioned so as to realize.
Above technical characteristic constitutes embodiment of the present utility model, and it has stronger adaptability and implementation result, can
Increase and decrease non-essential technical characteristic according to actual needs, to meet the demand of different situations.
As shown in the accompanying drawing 1,2,3,4,5,6,7,8,9,10, the utility model Intelligent Mobile Robot positioner is determined
Position method comprises the following steps：
The first step, sets up coordinate system, sets up world coordinate system OXYZ, Quick Response Code coordinate system o1x1y1z1, camera coordinate system
o2x2y2z2, head a partial coordinates system o3x3y3z3, head b partial coordinates system o3x4y4z4With robot coordinate system o5x5y5z5；
Here Quick Response Code coordinate system o1x1y1z1There is translation relative to world coordinate system OXYZ, relative to Z axis rotation.Take the photograph
Camera coordinate system o2x2y2z2Relative to Quick Response Code coordinate system o1x1y1z1To translate and rotating.Head part A coordinate system o3x3y3z3
Relative to camera coordinate system o2x2y2z2Only with respect to x2The translation of axle.Head part A coordinate system o3x3y3z3Relative to head
Part B coordinate system o3x4y4z4Only with respect to z3The rotation of axle, so they share a coordinate origin o3.Head part B
Coordinate system o3x4y4z4Relative to mobile robot coordinate system o5x5y5z5Only with respect to the translation and rotation of direction of principal axis.
Second step, calculates the positioning result M of odometer1, Kinematic Model is carried out to mobile robot, three-wheel omnidirectional is used
Wheel mobile robot is as mobile platform, and XOY is world coordinate system, and xoy is robot coordinate system, three wheels of mobile robot
It is respectively V that son, which is respectively labeled as i, j, k, the three respective linear velocities of wheel,i,Vj,Vk, in robot coordinate system, mobile machine
Speed of the people on two coordinates of X-axis and Y-axis is respectively vx, vy, direction is identical with change in coordinate axis direction, robot itself rotation
Angular speed is ω, and R is distance of the wheel to robot central point O；The speed of the reference axis of Robot two in world coordinate system
Respectively VX,VY.By analysis can be calculated according to the linear velocity of three omni-directional wheels of robot in robot coordinate system
The speed of robot is：
The angle of robot coordinate system and world coordinate system is φ, can be calculated and obtained by the speed in robot coordinate system
Speed under world coordinate system is：
The initial attitude of mobile robot is (x0, y0, φ0), the attitude of mobile robot is (x after the Δ t times1, y1,
φ1), computing formula is as follows：
Because mobile robot is in ground motion, the pose M of mobile robot1It is expressed as：
M1=(x1,y1,φ1)T；
3rd step, the pose M of mobile robot is calculated by image in 2 D code2, comprise the following steps：
(1) by image procossing, the information of Quick Response Code is read, is comprised the following steps：(a) camera is taken pictures, (b) gray processing,
(c) binaryzation, (d) morphologic filtering, (e) rim detection, the conversion of (f) Hough straight line, (g) perspective transform, (h) 2 D code information
Read；
(2) camera coordinate system o is calculated by Quick Response Code2x2y2z2Relative to Quick Response Code coordinate system o1x1y1z1Spin moment
Battle arrayAnd translation matrix P12, computational methods are as follows：
Quick Response Code is attached to x1o1y1In plane, z1Perpendicular to metope outwards, mobile robot camera lens are oriented z to axle2
Axle, mirror body direction is x2Axle, image information is located at x2o2y2In coordinate；If side AO length is lengthAO, side A1O1 length isTiming hypothesis are marked when object distance camera distance is 1m, in practice the length of object and objects in images length
Ratio be m, the distance between camera and Quick Response Code computing formula are as follows：
Known Quick Response Code puts up height h, and mobile robot high-definition camera is l apart from the length of Quick Response Code, then：
∠ AOB=90 ° ∠ A in camera coordinates system in world coordinate system1O1B1=θ, o2X2y2z2Relative to o1x1y1z1
- 90 ° are rotated around z-axis, then in z1Direction of principal axis is not rotated further by, in moveable robot movement and camera head motion process, phase
For z1Axle no longer rotates, only with respect to x1Axle and y1Axle is rotated, around x1Rotation θxRepresent, around y1Axle θyRepresent.o2x2y2z2
In coordinate in o1x1y1z1It is expressed as below in coordinate：
Wherein
Δ z=h
Δ x=l*sin α
Δ y=l*cos α
3 unknown number θx, θyWith β, it is necessary to 3 equations, then OA, OB is in x1o1y1It is represented by plane：
In o2x2y2z2In coordinate system:
In z2Direction is 0
z2Axle and x1Angle between axle is
Wherein r, it is known thatIt can be represented with β；According to z2Axle is in o1x1y1z1Vector in coordinate system obtains the equation on β；
Simultaneous equations (1) (2) (3) can try to achieve θx, θy, and β, obtain o2x2y2To o1x1y1z1Transition matrixAnd it is flat
Move matrix P12；
(3) between each coordinate system spin matrix and translation matrix calculating：
In world coordinate system, the position of Quick Response Code is set as (x1,y1,z1), Quick Response Code coordinate system o1x1y1z1Relative to
World coordinate system OXYZ translation matrix is PO1Be calculated as follows：
P01=(X1,Y1,Z1)T
3 × 3 square of the angle composition between three reference axis of Quick Response Code coordinate system and three axles of world coordinate system
Battle array, the matrix that the cosine value corresponding to each angle is constituted is Quick Response Code coordinate system o1x1y1z1Relative to world coordinate system
OXYZ spin matrix isIt is as follows：
Each coordinate system of mobile robot relative to adjacent coordinate system the anglec of rotation and translation distance in moving machine
Device people system is, it is known that the spin matrix and translation matrix of other coordinate systems are also calculated according to the method described above；
Quick Response Code coordinate system o1x1y1z1There is translation relative to world coordinate system OXYZ, relative to Z axis rotation, spin matrix
ForTranslation matrix is PO1；Camera coordinate system o2x2y2z2Relative to Quick Response Code coordinate system o1x1y1z1To translate and rotating, rotation
Torque battle array beTranslation matrix is P12；Head a partial coordinates system o3x3y3z3Relative to camera coordinate system o2x2y2z2Simply phase
For x2The translation of axle, spin matrix isTranslation matrix is P23；Head a partial coordinates system o3x3y3z3Relative to head b portions
Divide coordinate system o3x4y4z4Only with respect to z3The rotation of axle, so they share a coordinate origin o3, spin matrix is
Translation matrix is P34；Mobile robot coordinate system o5x5y5z5Relative to head b partial coordinates system o3x4y4z4Only with respect to axle
The translation and rotation in direction, and in the coordinate system o of head b parts3x4y4z4Under, the coordinate of mobile robot is4O5；
(4) pose of mobile robot is calculated by spin matrix and translation matrix：Head b parts are represented by calculating
Coordinate system is relative to the spin matrix of world coordinate systemTranslation matrix is PO1+P12+P23+P34, mobile robot
Coordinate origin O5It is exactly the position of mobile robot；According to coordinate system transformation rule, position of mobile robot can be calculated：
Mobile robot coordinate system rotates relative to world coordinate system along Z-direction,It is exactly moving machine
Device people coordinate system, by spin matrix, can calculate mobile robot coordinate system relative to the spin matrix of world coordinate system
Relative to the angle of world coordinate system, the pose M of mobile robot2Matrix is expressed as：
M2=(x, y, θ)T；
4th step, Quick Response Code location data is corrected to odometer positioning result amendment using the positioning result of Quick Response Code
Mileage
The data of meter, then：M1=M2=(x, y, θ)T。
Here it is considered that robot there is a situation where to skid during movement, so the positioning result of odometer is present
Error.The position of Quick Response Code is known in world coordinate system, so correcting odometer using the positioning result of Quick Response Code
Data；When mobile robot is moved to the place without Quick Response Code using the positioning result M of odometer1, when mobile machine
When people moves to the place of Quick Response Code, the positioning result M of Quick Response Code is used2To correct the positioning result M of odometer1.Because of movement
Robot there is a situation where to skid during movement, and the positioning result of odometer has error, number is positioned by Quick Response Code
Significantly pose adjustment need not be carried out according to mobile robot is modified to odometer positioning result, moving machine is effectively increased
The fault-tolerance and stability of device people.
As shown in accompanying drawing 1,2,3, the course of work of the utility model Intelligent Mobile Robot positioner is including following
Step：
(1) using two-dimension code generator generation with numbered substation equipment 2 D code information；
(2) it is the two-dimension code image of generation is stapled, it is attached on the corresponding transformer station's relevant device of 2 D code information and obtains
Obtain coordinate of each Quick Response Code in whole map；
(3) the movement locus figure of robot is automatically generated by computer, by trajectory diagram by long-range PC with wireless shape
Formula is sent to mobile robot；
(4) mobile robot for carrying head and high-definition camera is placed in transformer station and moved by trajectory diagram,
In robot kinematics, the positional information of robot is obtained according to encoder, encoder has cumulative errors, robot motion
More long, position error is bigger；When error increases, the position where self-position and actual robot that robot itself is detected
Putting will be different；
(5) positioned in no two-dimension code area mobile robot using encoder, when capturing Quick Response Code, machine
People is identified using 2 D code information, positions itself position；Representated by Quick Response Code is exactly coordinate information in map, if
Determine mobile robot and be provided with two kinds of routes, the two-dimentional code position of equipment that the first route sequentially passes through for be 0001 to 0002 to
0003 to 0004 to 0005 to 0006 to 0007 to 0008 to 0009, second of route be 0001 to 0004 to 0002 to 0003 to
0005 to 0006 to 0008 to 0007 to 0009, in two kinds of routes, self poisoning error can not in motion process for robot
Together, but mobile robot according to the device location information of Quick Response Code adjust after, its position error can be corrected；Because Quick Response Code is certainly
There is the numbering of itself in the information that body is included, number information is sent to long-range PC 11 by robot by radio communication, far
Journey PC 11 is sought all over after numbering, learns the positional information of the numbering Quick Response Code in map；
(6) long-range PC 11 is checked in after the information of Quick Response Code position, sends information to mobile robot, mobile machine
People is according to oneself position relative to Quick Response Code, so that accurate location of the mobile robot in the overall situation is obtained, by the position of itself
Confidence breath is corrected, and realizes and the overall situation of mobile robot is accurately positioned.
Claims (9)
1. a kind of Intelligent Mobile Robot positioner, it is characterised in that including driving the wheeled platform of robot motion, setting
Put Robot Motion Controller, encoder, communication module, video camera and head in wheeled platform, the wheeled platform edge
Circumference, which is equidistantly provided with three omni-directional wheels, three omni-directional wheels, is respectively provided with an encoder, and the head bottom is provided with branch
Axle is supportted, support shaft is fixedly mounted on wheeled platform, the video camera is arranged on the top of head, the motion planning and robot control
Device and communication module two-way communication link, encoder with Robot Motion Controller is two-way electrically connects, video camera and head with
Communication module two-way communication link.
2. Intelligent Mobile Robot positioner according to claim 1, it is characterised in that communication module includes wireless
Router and serial port networked module, video camera, head, wireless router and Robot Motion Controller with serial port networked module
Communication connection.
3. Intelligent Mobile Robot positioner according to claim 2, it is characterised in that also including long-range PC, institute
State long-range PC and wireless router wireless communication connection.
4. Intelligent Mobile Robot positioner according to claim 2, it is characterised in that the video camera includes red
Outer video camera and high-definition camera, thermal camera and high-definition camera are communicated to connect with serial port networked module.
5. Intelligent Mobile Robot positioner according to claim 3, it is characterised in that the video camera includes red
Outer video camera and high-definition camera, thermal camera and high-definition camera are communicated to connect with serial port networked module.
6. Intelligent Mobile Robot positioner according to claim 1 or 2, it is characterised in that encoder is compiled for photoelectricity
Code device.
7. Intelligent Mobile Robot positioner according to claim 3, it is characterised in that encoder is photoelectric coding
Device.
8. Intelligent Mobile Robot positioner according to claim 4, it is characterised in that encoder is photoelectric coding
Device.
9. Intelligent Mobile Robot positioner according to claim 5, it is characterised in that encoder is photoelectric coding
Device.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106323294A (en) * | 2016-11-04 | 2017-01-11 | 新疆大学 | Positioning method and device for patrol robot of transformer substation |
| CN107901023A (en) * | 2018-01-12 | 2018-04-13 | 长沙理工大学 | The holder two-dimensional positioning system and localization method of a kind of substation's track machine people |
| CN110254253A (en) * | 2019-07-17 | 2019-09-20 | 合肥工业大学 | A kind of robot |
| CN110509270A (en) * | 2019-07-17 | 2019-11-29 | 合肥工业大学 | A kind of robot control system and control method |
| CN112462762A (en) * | 2020-11-16 | 2021-03-09 | 浙江大学 | Robot outdoor autonomous moving system and method based on roadside two-dimensional code unit |
| CN112591410A (en) * | 2020-11-27 | 2021-04-02 | 江苏科技大学 | Material conveying system based on omnidirectional wheel and control method thereof |
| CN114313878A (en) * | 2021-11-19 | 2022-04-12 | 江苏科技大学 | Kinematics modeling strategy and path planning method for material transmission platform |
| CN114313878B (en) * | 2021-11-19 | 2024-04-19 | 江苏科技大学 | Kinematic modeling and path planning method for material transmission platform |
-
2016
- 2016-11-04 CN CN201621188595.9U patent/CN206321253U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106323294A (en) * | 2016-11-04 | 2017-01-11 | 新疆大学 | Positioning method and device for patrol robot of transformer substation |
| CN106323294B (en) * | 2016-11-04 | 2023-06-09 | 新疆大学 | Positioning method and positioning device for substation inspection robot |
| CN107901023A (en) * | 2018-01-12 | 2018-04-13 | 长沙理工大学 | The holder two-dimensional positioning system and localization method of a kind of substation's track machine people |
| CN110254253A (en) * | 2019-07-17 | 2019-09-20 | 合肥工业大学 | A kind of robot |
| CN110509270A (en) * | 2019-07-17 | 2019-11-29 | 合肥工业大学 | A kind of robot control system and control method |
| CN112462762A (en) * | 2020-11-16 | 2021-03-09 | 浙江大学 | Robot outdoor autonomous moving system and method based on roadside two-dimensional code unit |
| CN112462762B (en) * | 2020-11-16 | 2022-04-19 | 浙江大学 | Robot outdoor autonomous moving system and method based on roadside two-dimensional code unit |
| CN112591410A (en) * | 2020-11-27 | 2021-04-02 | 江苏科技大学 | Material conveying system based on omnidirectional wheel and control method thereof |
| CN114313878A (en) * | 2021-11-19 | 2022-04-12 | 江苏科技大学 | Kinematics modeling strategy and path planning method for material transmission platform |
| CN114313878B (en) * | 2021-11-19 | 2024-04-19 | 江苏科技大学 | Kinematic modeling and path planning method for material transmission platform |
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