CN215679133U - Tracked motion system of tracked robot - Google Patents
Tracked motion system of tracked robot Download PDFInfo
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- CN215679133U CN215679133U CN202120652793.0U CN202120652793U CN215679133U CN 215679133 U CN215679133 U CN 215679133U CN 202120652793 U CN202120652793 U CN 202120652793U CN 215679133 U CN215679133 U CN 215679133U
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Abstract
The utility model discloses a tracked robot tracking motion system, which comprises a robot sensor system and a road surface track system, wherein the robot sensor system comprises a laser detector arranged at the front lower part of a robot, a laser receiving circuit connected with the laser detector and a communication module for transmitting the laser receiving circuit to a control background, and the laser detector comprises an avalanche photodiode; the road surface track system comprises a laser and a road surface track dot matrix arranged along the motion track of the robot, the road surface track dot matrix is composed of a plurality of groups of laser absorption sheets and laser reflection sheets which are arranged on the road surface side by side, the laser emits laser to the path of the laser absorption reflection sheets, the laser reflection sheets reflect the laser, the laser absorption sheets absorb the laser, and the reflected laser triggers the avalanche photodiode. The utility model can realize the automatic inspection of the inspection robot according to the planned route.
Description
Technical Field
The utility model relates to a tracked robot tracking motion system used in the field of intelligent inspection of power stations.
Background
High quality and timely operation and maintenance are the prerequisites for ensuring safe and reliable operation of the power system. Modern degree of transformer substation is higher and higher nowadays, and the equipment that increases in a large number leads to artifical daily cost of patrolling and examining to increase day by day, and the problem that traditional artifical daily mode of patrolling and examining is prominent just more but not neglected. Once misjudgment and missed judgment occur in daily routing inspection, great economic loss is caused. Along with the rapid development of subjects such as electronic information technology, automation level and precise control, a large amount of monitoring cameras are installed in a transformer substation, but the traditional camera system only transmits images and is mainly used for security and environmental monitoring, and the device inspection work is hardly helped. The large application of the substation inspection automation equipment is the future development trend of substation automatic inspection. The existing substation inspection operation and maintenance equipment is low in intelligent degree, the whole inspection process of a travel route of the substation inspection operation and maintenance equipment needs manual intervention for planning and control, and full-automatic inspection is still difficult to achieve.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art, and provides a tracked robot tracking motion system which can realize automatic routing inspection of an inspection robot according to a planned route.
One technical scheme for achieving the above purpose is as follows: a tracked motion system of a tracked robot comprises a robot sensor system and a road surface track system;
the robot sensing system comprises a laser detector arranged at the front lower part of the robot, a laser receiving circuit connected with the laser detector and a communication module for transmitting the laser receiving circuit to a control background, wherein the laser detector comprises an avalanche photodiode;
the road surface track system comprises a laser and a road surface track dot matrix arranged along the motion track of the robot, the road surface track dot matrix is composed of a plurality of groups of laser absorption sheets and laser reflection sheets which are arranged on the road surface side by side, the laser emits laser to the path of the laser absorption reflection sheets, the laser reflection sheets reflect the laser, the laser absorption sheets absorb the laser, and the reflected laser triggers the avalanche photodiode.
Furthermore, the laser absorption sheets and the laser reflection sheets which form the pavement track dot matrix are symmetrically arranged on two sides of the motion track of the robot.
Furthermore, when the robot movement track is in a straight line, two laser absorption sheets are symmetrically arranged on two sides of the movement track, and two laser reflection sheets are symmetrically arranged on the outer sides of the laser absorption sheets.
When the robot moves along the turning track, two laser absorption sheets are arranged on the turning side of the telemechanical track, and two laser reflection sheets are arranged on the non-turning side of the telemechanical track.
Furthermore, light absorption black strips with the same width are sequentially and uniformly distributed in the motion trail direction of the robot.
Furthermore, the robot adopts a track motion mode, and a controller and a steering rudder which are connected with the laser detector are arranged on the robot.
According to the tracked motion system of the tracked robot, the tracked motion system can move forward according to the preset inspection track in the whole inspection process, the moving and steering control is automatically carried out, manual intervention is not needed, and the inspection efficiency is improved.
Drawings
FIG. 1 is a schematic view of a linear path of a tracked robot tracking motion system of the present invention;
FIG. 2 is a schematic view of a turning path of a tracked robot tracking motion system of the present invention;
FIG. 3 is a schematic diagram of a black strip path of a tracked robot tracking motion system of the present invention.
Detailed Description
In order to better understand the technical solution of the present invention, the following detailed description is made by specific examples:
the utility model discloses a tracked robot tracking motion system which comprises a robot sensor system and a road surface track system. The robot adopts the track motion mode for speed is controllable, opens and stops convenient error little.
The robot sensing system comprises a laser detector arranged at the front lower part of the robot, a laser receiving circuit connected with the laser detector and a communication module for transmitting the laser receiving circuit to a control background, wherein the laser detector comprises an avalanche photodiode. The laser detectors are arranged in parallel at the front part of the robot body and perform uninterrupted laser signal detection on the area ahead in the robot traveling direction in parallel lines. The robot is provided with a controller and a steering rudder which are connected with the laser detector.
The road surface track system comprises a laser and a road surface track dot matrix arranged along the motion track of the robot. The pavement track lattice consists of a plurality of groups of laser absorption sheets and laser reflection sheets which are arranged on the pavement side by side.
Referring to fig. 1 and 2, the laser absorption plates 1 and the laser reflection plates 2 forming the road surface track lattice are symmetrically arranged on two sides of the motion track of the robot 3. When the robot motion trail is the straight line, two laser absorption sheets are symmetrically arranged on two sides of the motion trail, and two laser reflection sheets are symmetrically arranged on the outer sides of the laser absorption sheets. When the robot movement track is turned, the turning side of the telemechanical track is provided with two laser absorption sheets, and the non-turning side of the telemechanical track is provided with two laser reflection sheets. When the laser sensor works, a laser emitting diode firstly emits laser pulses to the running track of the intelligent robot, laser is scattered to all directions after being reflected by a laser reflecting sheet, a part of scattered light after being reflected is received by a laser detector, and an electric signal is formed through an avalanche photodiode. When the laser receiving circuit receives a laser signal, a low level is output; when the signal is not received, high level is output. Correspondingly, when the white laser reflector is irradiated by the laser, the laser signal is received by the diffuse reflection laser detector; when the laser detector irradiates on a black (or dark) laser absorption sheet, the laser detector cannot receive laser signals due to the absorption effect of the dark color. Therefore, the position of the robot relative to the track can be judged by using the high-low level signals generated by the laser receiving tube, and the traveling direction of the robot can be controlled. If the detected path is located at the center of the robot, the steering engine does not turn, and the motor accelerates the trolley; if the detected path is on the left side (or the right side) of the robot, the situation that the intelligent trolley is about to enter a left bending line (or a right bending line) is indicated, and the steering engine is controlled to enable the intelligent trolley to deflect by a corresponding angle in the left-right direction. And simultaneously, controlling the motor to reduce the speed according to the current speed detected in the speed feedback link, wherein the higher the speed is, the higher the reduction speed is.
Please refer to fig. 3, light absorbing black stripes with equal width are uniformly distributed in sequence in the motion track direction of the robot. When the robot sensing system monitors the transverse black strip, a feedback result that four paths of input are all high levels is obtained, and the robot can determine that a target position is reached. Through the intelligent position management strategy of the upper computer, the indoor position of the robot can be accurately managed by matching with the image recognition algorithm based on the characteristics, the complex functions of fixed-point parking, shooting, recording and recognizing are achieved, the tracking track of the robot is a closed curve, and the robot can achieve circular tracking motion among 1-N target positions.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (6)
1. The utility model provides a tracked robot tracking motion system, includes robot sensor system and road surface track system, its characterized in that:
the robot sensing system comprises a laser detector arranged at the front lower part of the robot, a laser receiving circuit connected with the laser detector and a communication module for transmitting the laser receiving circuit to a control background, wherein the laser detector comprises an avalanche photodiode;
the road surface track system comprises a laser and a road surface track dot matrix arranged along the motion track of the robot, the road surface track dot matrix is composed of a plurality of groups of laser absorption sheets and laser reflection sheets which are arranged on the road surface side by side, the laser emits laser to the path of the laser absorption reflection sheets, the laser reflection sheets reflect the laser, the laser absorption sheets absorb the laser, and the reflected laser triggers the avalanche photodiode.
2. The tracked robot tracking motion system of claim 1, wherein the laser absorption sheets and the laser reflection sheets forming the pavement track dot matrix are symmetrically arranged on two sides of the motion track of the robot.
3. The tracked robot tracking motion system of claim 2, wherein when the robot motion track is straight, two laser absorption sheets are symmetrically arranged on two sides of the motion track, and two laser reflection sheets are symmetrically arranged on the outer sides of the laser absorption sheets.
4. The tracked robot tracking motion system of claim 2, wherein when the robot moves along a turning track, two laser absorption sheets are arranged on the turning side of the telecontrol track, and two laser reflection sheets are arranged on the non-turning side of the telecontrol track.
5. The tracked robot tracking motion system of claim 1, wherein light-absorbing black strips with equal width are uniformly distributed in sequence in the motion track direction of the robot.
6. The tracked robot tracking motion system according to claim 1, wherein the robot adopts a tracked motion mode, and a controller and a steering rudder which are connected with the laser detector are arranged on the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120652793.0U CN215679133U (en) | 2021-03-31 | 2021-03-31 | Tracked motion system of tracked robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120652793.0U CN215679133U (en) | 2021-03-31 | 2021-03-31 | Tracked motion system of tracked robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215679133U true CN215679133U (en) | 2022-01-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120652793.0U Active CN215679133U (en) | 2021-03-31 | 2021-03-31 | Tracked motion system of tracked robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215679133U (en) |
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2021
- 2021-03-31 CN CN202120652793.0U patent/CN215679133U/en active Active
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