CN208155322U - A kind of rail mounted tunnel crusing robot positioning system - Google Patents
A kind of rail mounted tunnel crusing robot positioning system Download PDFInfo
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- CN208155322U CN208155322U CN201820130772.0U CN201820130772U CN208155322U CN 208155322 U CN208155322 U CN 208155322U CN 201820130772 U CN201820130772 U CN 201820130772U CN 208155322 U CN208155322 U CN 208155322U
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- crusing robot
- anchor point
- positioning system
- rail mounted
- robot
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Abstract
The utility model provides a kind of rail mounted tunnel crusing robot positioning system, including：Crusing robot and inspection track；Displacement measurement device is set in the crusing robot；Anchor point, the anchor point position installation site positioning device is arranged in the setting position of the inspection track；The location position device is communicated with crusing robot.The utility model beneficial effect：Using the integrated positioning mode of absolute anchor point position+relative offset, accurate positioning is low in cost；It can be widely applied in tunnel crusing robot field.
Description
Technical field
The utility model relates to substation line and plant maintenance technical field of tools more particularly to a kind of intelligent substations
Robot system.
Background technique
It is constantly progressive as robot technology is horizontal, cable duct Tunnel testing robot has gradually developed.Tunnel patrols
Inspection robot mostly uses rail mounted walking manner.Since tunnel is maked an inspection tour apart from long, usually several hundred or even several kms.Traditional
Positioning system is there are at high cost, the defects of calculation is complicated, and cumulative errors are big, it is difficult to the disadvantages of rapid deployment.
In cable duct tunnel there is the features such as rising and falling, turn in landform, and traditional positioning system is probably divided into absolute type and phase
To two kinds of formula.Absolute type localization method positioning accuracy is not influenced by track length, but there are at high cost, and field conduct difficulty etc. lacks
It falls into.Relative type motor is low in cost, but the cumulative errors of positioning system can increase as orbital distance increases, and robot breaks every time
Track origin is returned to after electricity and finds relative zero, this extreme influence makes an inspection tour efficiency to robot.
Prior art discloses RFID straight line positioning system in a kind of tunnel, it is straight which proposes a kind of triangle calculating
Linear distance algorithmic formula and bearing calibration.But it will not be clearly stated apart from acquiring way.Due to there is bending in tunnel,
Featuress of terrain, traditional robot ranging means such as fluctuating can have large error, that is to say, that calculate used by the technology
The input variable of formula can bring large error, cause final robot localization error larger；Prior art discloses a kind of rails
Road is crusing robot Precise Position System, and the system is by doing special calibration at each segmentation, robot is logical for track section
It crosses and reads the position of calibration and be marked with and the speed of travel and the product of time demarcate robot location.Due to track to be divided in advance
Section, field conduct difficulty of getting up are larger；And robot speed is difficult to accomplish uniform motion, caring for accumulative position, there is also larger mistakes
Difference.
Utility model content
Purpose of the utility model is to solve the above problems, provide a kind of positioning of rail mounted tunnel crusing robot
System, for the system from tunnel robot functional requirement angle, the combination based on absolute anchor point position+relative offset is fixed
Position meets the needs of tunnel inner machine people tour.
In order to solve the above-mentioned technical problem, the utility model provides the following technical solutions：
The utility model discloses a kind of rail mounted tunnel crusing robot positioning systems, including：It crusing robot and patrols
Examine track；Displacement measurement device is set in the crusing robot；Anchor point, the anchor is arranged in the setting position of the inspection track
Point position installation site positioning device；The location position device is communicated with crusing robot.
Further, the displacement measurement device includes：Be arranged in the RFID electronic label on each anchor point position or
Person's magnetic localizer.
Further, the location position device includes：Relative quantity speed encoder, absolute value in crusing robot are compiled
Code device, accelerometer or gyroscope.
Further, the anchor point position is set as needed.
Further, the location position device is carried out wireless communication with crusing robot.
The utility model beneficial effect：
Rail mounted tunnel crusing robot positioning system disclosed by the utility model uses absolute anchor point position+relative position
The integrated positioning mode of offset, accurate positioning are low in cost；It can be widely applied in tunnel crusing robot field.
The setting of anchor point on inspection track, can reset cumulative errors at any time, and by increasing anchor point quantity, system is accumulative to be missed
Difference is limited in smaller range always.
Detailed description of the invention
Fig. 1 is the utility model rail mounted tunnel crusing robot positioning system structure schematic diagram；
Fig. 2 is encoder interface circuit；
Wherein, 1. inspection track, 2. crusing robots.
Specific embodiment
The utility model is described further with embodiment with reference to the accompanying drawing：
The utility model discloses a kind of rail mounted tunnel crusing robot positioning systems, as shown in Figure 1, including：Inspection
Robot 2 and inspection track 1；Displacement measurement device is set in crusing robot 2；Anchor point is arranged in the setting position of inspection track 1,
In anchor point position installation site positioning device；Location position device is carried out wireless communication with crusing robot 2.
The setting of anchor point position can according to tunnel field condition flexible choice.If the equipment for needing to make an inspection tour in tunnel, than
Such as control cabinet, cable connector close quarters, can increase anchor point quantity；Anchor point quantity can be increased at track corner, big rise and fall；
The less region of straight section, especially equipment, can reduce anchor point quantity.
During robot deployment, by anchor point data input crusing robot internal database.When robot passes through anchor point,
Current anchor information can be uploaded to crusing robot master controller.
Displacement measurement device includes：RFID electronic label on each anchor point position or magnetic localizer are set.
As an implementation, image detection device is equipped on crusing robot 2, image detection device is preferably taken the photograph
As head, for acquire be mounted on anchor point position RFID electronic label or magnetic localizer image information and be uploaded to inspection
Robot master controller.Crusing robot master controller according to image information judge the anchor point position RFID electronic label or
Whether magnetic localizer lacks or is capped.
Location position device is used to calculate the position offset of anchor point position Yu inspection point provided position.Location position device is preferred
Metering device using incremental encoder as offset is being maked an inspection tour in more demanding tunnel, can also be compiled using absolute value
The code location position devices such as device or accelerometer, gyroscope.
Encoder is a kind of measuring device that angular displacement or straight-line displacement can be converted into electric signal.Encoder is by connecing
The master controller of mouth J8 access robot system, as shown in Fig. 2, encoder (namely deviates angular displacement or straight-line displacement
Amount) it is converted into pulse signal, rectification, filtering of the pulse signal by internal circuit are input to master controller, complete the reading of data
It takes, store.
Position of the robot inspection point provided position by absolute anchor point is formed with the offset based on the anchor point；Robot weighs every time
After newly powering on, meeting automatic running to nearest anchor point position resets cumulative errors.Next inspection point provided by anchor point position be based on
Anchor point offset composition.If being moved to next anchor point after the completion of the inspection point provided based on current anchor is maked an inspection tour and being based on
The inspection point provided of the offset composition of next anchor point.Robot one anchor point of every transformation, is equivalent to clearing cumulative errors.Robot
During tour, by increasing anchor point quantity, system cumulative errors are limited in smaller range always.
In Fig. 1, M1 and M2 represent anchor point position, m1, m2, and m3 represents inspection point provided, L1, L2, and L3, which is represented, is based on respective anchor point
Offset.
As shown in Figure 1, when 2 inspection of crusing robot is to inspection point provided m1, crusing robot 2 and it is arranged in anchor point position M1's
RFID electronic label or magnetic localizer are communicated, and anchor point position information is obtained；Position positioning inside crusing robot 2
Device calculates the displacement between anchor point M1 and inspection point provided m1.
Rail mounted tunnel crusing robot positioning system based on the utility model, the coordinate setting of inspection point provided m1 on track
It is formed including two parts, a part is absolute position M1, and another part is the relative displacement L1 based on M1.Inspection point provided m2,
The coordinate setting of m3 is same；Hereby it is achieved that the accurate positioning of crusing robot 2.
As an implementation, crusing robot 2 is communicated with remote monitoring center or controlling terminal, will be maked an inspection tour
Collected related data is sent to remote monitoring center or controlling terminal during the location information of point and inspection.
It should be noted that the master controller of robot system is using master controller original inside crusing robot
Can, without improving.
It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but it is not practical new to this
The limitation of type protection scope, those skilled in the art should understand that, based on the technical solution of the present invention, ability
Field technique personnel do not need to make the creative labor the various modifications or changes that can be made still in the protection model of the utility model
Within enclosing.
Claims (5)
1. a kind of rail mounted tunnel crusing robot positioning system, including：Crusing robot and inspection track；It is characterized in that,
Displacement measurement device is set in the crusing robot；Anchor point, the anchor point position is arranged in the setting position of the inspection track
Installation site positioning device；The location position device is communicated with crusing robot.
2. a kind of rail mounted tunnel crusing robot positioning system as described in claim 1, which is characterized in that the displacement meter
Measuring device includes：RFID electronic label on each anchor point position or magnetic localizer are set.
3. a kind of rail mounted tunnel crusing robot positioning system as described in claim 1, which is characterized in that the position is fixed
Position device include：Relative quantity speed encoder, absolute value encoder, accelerometer or gyroscope in crusing robot.
4. a kind of rail mounted tunnel crusing robot positioning system as described in claim 1, which is characterized in that the anchor point position
It sets and is set as needed.
5. a kind of rail mounted tunnel crusing robot positioning system as described in claim 1, which is characterized in that the position is fixed
Position device is carried out wireless communication with crusing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820130772.0U CN208155322U (en) | 2018-01-25 | 2018-01-25 | A kind of rail mounted tunnel crusing robot positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820130772.0U CN208155322U (en) | 2018-01-25 | 2018-01-25 | A kind of rail mounted tunnel crusing robot positioning system |
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| Publication Number | Publication Date |
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| CN208155322U true CN208155322U (en) | 2018-11-27 |
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| CN201820130772.0U Active CN208155322U (en) | 2018-01-25 | 2018-01-25 | A kind of rail mounted tunnel crusing robot positioning system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739247A (en) * | 2019-04-02 | 2019-05-10 | 常州市盈能电气有限公司 | Rail mounted crusing robot localization method |
| CN109855631A (en) * | 2019-03-26 | 2019-06-07 | 常州市盈能电气有限公司 | Rail mounted crusing robot re-positioning method |
| CN112198883A (en) * | 2020-12-09 | 2021-01-08 | 苏州光格设备有限公司 | Track section calibration method for inspection robot system |
| CN112270393A (en) * | 2020-11-30 | 2021-01-26 | 上海擎刚智能科技有限公司 | Positioning and calibrating device and method for track robot |
| CN112665578A (en) * | 2021-03-16 | 2021-04-16 | 湖南承希科技有限公司 | Inspection positioning method and system based on tunnel inspection robot |
| CN113063413A (en) * | 2021-02-19 | 2021-07-02 | 中铁第一勘察设计院集团有限公司 | Tunnel position positioning method based on multiple sensors |
-
2018
- 2018-01-25 CN CN201820130772.0U patent/CN208155322U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109855631A (en) * | 2019-03-26 | 2019-06-07 | 常州市盈能电气有限公司 | Rail mounted crusing robot re-positioning method |
| CN109739247A (en) * | 2019-04-02 | 2019-05-10 | 常州市盈能电气有限公司 | Rail mounted crusing robot localization method |
| CN112270393A (en) * | 2020-11-30 | 2021-01-26 | 上海擎刚智能科技有限公司 | Positioning and calibrating device and method for track robot |
| CN112198883A (en) * | 2020-12-09 | 2021-01-08 | 苏州光格设备有限公司 | Track section calibration method for inspection robot system |
| CN113063413A (en) * | 2021-02-19 | 2021-07-02 | 中铁第一勘察设计院集团有限公司 | Tunnel position positioning method based on multiple sensors |
| CN113063413B (en) * | 2021-02-19 | 2023-09-19 | 中铁第一勘察设计院集团有限公司 | Tunnel position positioning method based on multiple sensors |
| CN112665578A (en) * | 2021-03-16 | 2021-04-16 | 湖南承希科技有限公司 | Inspection positioning method and system based on tunnel inspection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 block B, Yinhe building, 2008 Xinjie street, hi tech Zone, Ji'nan, Shandong. Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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| CP03 | Change of name, title or address |