CN106272434A - One key of a kind of crusing robot makes a return voyage control method and system - Google Patents

Abstract

The invention discloses a key of a kind of crusing robot to make a return voyage control method and system, method includes: write FRID label information；Distance between the RFID label tag that record is measured；Instruction is sent with mobile to effective RFID label tag to robot；Send the optimal path instruction returning initial point.Crusing robot one key of the present invention makes a return voyage control method and system, it is achieved robot quickly returns task starting point when the fortuitous events such as parts damages or battery electric quantity are on the low side occur, it is ensured that patrol and examine that everything goes well with your work is carried out.

Description

One-button return control method and system for inspection robot

technical field

The invention relates to an autonomous navigation system of an inspection robot, in particular to a one-button return control method and system for an inspection robot.

Background technique

Inspection robots can replace inspectors, perform reliable inspections, charge autonomously, collect, store, and transmit on-site image, sound, temperature, smoke and other data in real time. Through the analysis of data, determine whether there is equipment failure and the location of the failure, free the inspectors from the harsh working environment, reduce labor intensity, reduce labor risks, avoid the expansion of accidents, and greatly reduce abnormal shutdowns in the production process Time, and has functions such as end point automatic reversing, limit stop, fixed point correction, etc. The inspection robot platform is mainly composed of the inspection robot body, control box, wireless communication system, charging device and track system, and is suitable for urban comprehensive pipe gallery, cable pipe gallery, mine water pump room, substation, and large belt conveyor roadway movement Inspection.

In the strong electromagnetic environment of the substation, the substation inspection robot generally adopts the method of road magnetic strip guidance and radio frequency identification (RFID) tags. When the substation inspection robot is tracking the magnetic strip on the road to perform tasks, accidents such as component damage or low battery power may occasionally occur, making it unable to continue to perform inspection tasks. At this time, it is time-consuming to rely solely on substation staff for rescue. , and labor-intensive. Especially in some narrow areas, it is difficult to give rescue.

Contents of the invention

Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a one-button return control method and system for inspection robots. The purpose of the present invention is to achieve the following technical solutions:

The one-button return control method of the inspection robot of the present invention is improved in that the method includes:

A writes the RFID tag information;

B records the distance between the measured RFID tags;

C sends instructions to the robot to move to a valid RFID tag;

D sends the best path instruction to return to the origin.

Preferably, in the step A, the tag information is composed of 4 bytes consisting of a packet header represented by letters 'S', 'D', 'L' or 'R' and numbers starting from 000.

Preferably, the 'S' label is fixed at each stop, the 'L' or 'R' label is fixed at each turn, and the 'D' label is fixed at the stop in the narrow dead end road area.

Preferably, in the step B, set the RFID tag in the closed-loop path, record the measured distance value in the distance.txt text file according to the digital serial number of the tag information, start the industrial computer, and set the distance The distance value of the .txt text document is read into the one-dimensional array distance; the distance between the L or R label and the D label is recorded as 0.

Preferably, in the step C, after sending a return command to the robot, it travels to the RFID tag, if there is a valid tag of 'S', 'L' or 'R', then read the signature i; if the header of the information packet is 'D' for an invalid tag, perform a backward movement until the valid RFID tag is sensed.

Preferably, in the step D, the robot receiving the instruction calculates the cumulative sum Lb of distance[0]～distance[i] and the cumulative sum Lf of the remaining path according to the current signature i, and compares the two cumulative sums, If Lb>Lf, send a forward command to the robot, otherwise send a backward command until it moves to the label S000.

A one-button return control system for a patrol robot based on the above method, including an industrial computer, a motion controller, a front-end magnetic induction sensor, a rear-end magnetic induction sensor, and an RFID sensor; the improvement is that the industrial computer is connected to the Front-end magnetic induction sensor, rear-end magnetic induction sensor, RFID sensor and motion controller are connected.

Preferably, the RFID sensor is set at the geometric center of the robot chassis, and the RFID tag is set in a closed-loop path for the robot to complete tasks.

Preferably, the front-end magnetic induction sensor and the rear-end magnetic induction sensor are composed of 16 arrays of magnetic induction points.

Preferably, the RFID sensor adopts a real-time detection mode.

Compared with the closest prior art, the present invention has the following beneficial effects:

The industrial computer of the inspection robot of the present invention receives the data transmitted by the front-end magnetic induction sensor, the rear-end magnetic induction sensor and the RFID sensor, sends instructions to the motion controller, and the robot receiving the instructions senses the effective label, determines the shortest path and finally returns to the origin. The one-button return method of the present invention has a simple process and extremely short time, which ensures that the robot can quickly return to the starting point of the task when unexpected situations such as component damage or low battery power occur, and does not need to rely on substation staff for rescue, ensuring smooth inspection work. went well.

Description of drawings

Fig. 1 is a flow chart of the one-button return control method of the present invention

Fig. 2 is a schematic diagram of the inspection path of the present invention

Fig. 3 is a schematic diagram of the one-button return control system of the present invention

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention , but not to limit the scope of the present invention.

The one-button return control method of the inspection robot provided by the present invention enables the robot to autonomously return to the starting point when accidents such as component damage or low battery power occur during the inspection task. After the one-button return command is triggered, the robot can quickly calculate the shortest return path, and return to the starting point the fastest and with the least energy consumption.

As shown in Figure 1, the specific steps are:

(1) Write the RFID tag information, the tag information consists of four bytes of data packet header and number, such as S001. The headers are represented by the letters 'S', 'D', 'L' and 'R', the labels with the header of 'S' are fixed at each stop, and the labels with headers of 'L' and 'R' are fixed at each turn , and the labels whose header is 'D' are fixed at the stops in the narrow dead end road area in sequence; the numbers are represented by three bytes and arranged sequentially from 000 (starting point).

(2) Manually measure the distance information between each RFID tag, and record the measured distance value in the distance.txt text file according to the digital serial number of the RFID tag information, wherein the distance from the L or R tag to the D tag is recorded as 0;

Start the industrial computer, and read the distance value in the distance.txt text file into the one-dimensional array distance.

(3) After receiving the staff's one-key return command during the inspection task, the robot continues to drive normally to the RFID tag point and then stops. If the RFID tag is 'S', 'L' or 'R' at the current moment, it will stop Forward, if the RFID tag is 'D' at the current moment, perform a backward movement until the 'L', 'R' or 'S' tag is sensed to stop moving forward, and read the tag number i.

(4) According to the current RFID tag number i, calculate the cumulative sum Lb of distance[0]~distance[i] and the cumulative sum Lf of the remaining path, and compare the two; if Lb<Lf, the robot performs backward movement, otherwise executes Forward movement; Ignore other tag information during the forward or backward movement until the movement stops at the tag S000, that is, the one-button return operation is completed.

As shown in Figure 2, the rectangular frame established on the coordinate system is a magnetic strip, the label with the header of 'S' is fixed at each stop, the labels with headers of 'L' and 'R' are fixed at each turn, and The label with header 'D' is fixed at the stopping point in the narrow dead end road area in sequence; the number is represented by three bytes, and S000 represents the starting point.

If the robot travels to D005 after receiving the one-button return command, it will perform a backward movement and move to L004. If it is judged that the distance from distance[0] to distance[4] is less than the remaining path distance, it will move along the former until it reaches the origin.

As shown in Figure 3, the one-button return control system of the inspection robot includes an industrial computer, a motion controller, a front-end magnetic induction sensor, a rear-end magnetic induction sensor, an RFID sensor, and an RFID tag; the industrial computer receives the front-end magnetic induction sensor and the rear-end magnetic induction sensor. , RFID sensor information, calculate the motion control amount and send it to the motion controller.

The RFID sensor is installed at the geometric center of the robot chassis, and the RFID tag is set in the closed-loop path where the robot can complete the task, using real-time detection mode. The front-end magnetic induction sensor and the rear-end magnetic induction sensor are composed of 16 arrays of magnetic induction points.

When the robot moves according to the magnetic strip, the autonomous navigation system runs on the industrial computer, collects the data of the magnetic sensor, and calculates the yaw rate w and the driving speed v of the robot according to the following formula:

$\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; r</span>}}{\mathrm{<span\; class="notranslate">\; no</span>}}{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}$

v=const

Among them, l and r are the sum of the number of magnetic induction points that the magnetic induction sensor senses to the magnetic stripe from the left and right respectively, n is the sum of the number of magnetic induction points, w _max is the maximum yaw angular velocity of the robot, and const is a constant value.

The industrial computer sends the robot’s yaw angular velocity and driving speed motion control quantities to the motion controller to drive the robot to move along the magnetic trajectory; switch the tracking control mode according to the data packet header information received at the current time and the previous time, and set the forward mode, Reverse mode, left turn mode and right turn mode. In the control process of backward mode, the control quantity solver collects the data of the back-end magnetic sensor to calculate the motion control quantity of the robot, while in other modes, it collects the data of the front-end magnetic sensor to calculate the movement control quantity. For the substation inspection environment, the forward mode, backward mode, left-turn mode and right-turn mode are designed to switch. In each mode, the control amount solver is used to calculate the motion control amount of the robot to adjust the posture in real time, and send it to the motion The controller realizes the precise control of the robot at the docking point, avoids its in-situ steering movement, effectively reduces energy consumption, and improves the operating efficiency of the robot system.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (10)

1. A one-button return control method of an inspection robot, characterized in that the method comprises: A writes the RFID tag information; B records the distance between the measured RFID tags; C sends instructions to the robot to move to a valid RFID tag; D sends the best path instruction to return to the origin. 2. The one-button return-to-home control method according to claim 1, characterized in that, in the step A, the label information includes the letters represented by the letters 'S', 'D', 'L' or 'R' 4 bytes consisting of the packet header and numbers starting from 000. 3. The one-button return control method according to claim 2, characterized in that the 'S' label is fixed at each stop, the 'L' or 'R' label is fixed at each turning, and the 'D ' label fixed to stops in narrow dead end road areas. 4. The one-key return-to-home control method according to claim 1, wherein, in the step B, the RFID tag is set in the closed-loop path, and the measured distance value is recorded according to the digital serial number of the tag information In the distance.txt text file, start the industrial computer, and read the distance value of the distance.txt text file into the one-dimensional array distance; where the distance between the L or R label and the D label is recorded as 0. 5. The one-button return-to-home control method according to claim 1, characterized in that, in the step C, after sending a return-to-home instruction to the robot, it travels to the RFID tag, if there is 'S', 'L' or 'R ', then read the signature number i; if the packet header is an invalid label 'D', perform a backward movement until the effective RFID tag is sensed. 6. The one-button return control method according to claim 1, characterized in that, in the step D, the robot receiving the instruction calculates the cumulative sum Lb of distance[0]～distance[i] according to the current ticket number i Same as the cumulative sum Lf of the remaining path, and compare the two cumulative sums. If L _b > L _f , send a forward command to the robot, otherwise send a backward command until it moves to the label S000. 7. A one-button return control system of an inspection robot, comprising an industrial computer, a motion controller, a front-end magnetic induction sensor, a rear-end magnetic induction sensor, and an RFID sensor; it is characterized in that the industrial computer is connected to the front-end magnetic induction sensor, The back-end magnetic induction sensor, RFID sensor and motion controller are connected. 8. The one-button return-to-home control system according to claim 7, wherein the RFID sensor is set at the geometric center of the robot chassis, and the RFID tag is set in the closed-loop path for the robot to complete the task. 9. The one-button return-to-home control system according to claim 7, wherein the front-end magnetic induction sensor and the rear-end magnetic induction sensor are composed of 16 arrays of magnetic induction points. 10. The one-button return-to-home control system according to claim 8, wherein the RFID sensor adopts a real-time detection mode.