CN104133476B - Self-adaption path tracking method of inspection robot - Google Patents
Self-adaption path tracking method of inspection robot Download PDFInfo
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- CN104133476B CN104133476B CN201410374196.0A CN201410374196A CN104133476B CN 104133476 B CN104133476 B CN 104133476B CN 201410374196 A CN201410374196 A CN 201410374196A CN 104133476 B CN104133476 B CN 104133476B
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Abstract
The invention discloses a self-adaption path tracking method of an inspection robot. The method comprises the steps that a plurality of magnetic guide rails used for enabling a navigation robot to walk are laid in a working place, the magnetic guide rails form a plurality of actual operating paths of the robot, and magnetic strips are arranged at the monitoring point positions of the operating paths and between the adjacent operating paths; according to the actual operating paths of the working place, an electronic map of the corresponding robot operating path is set up; according to the electronic maps, running original points and stopping points of the robot are set according to the electronic maps, the turning angle from the current inspection operating path to the next inspection operating path is calculated, and an inspection task list is generated; the inspection task list is issued to the robot, and the robot operates on the actual operation paths according to the inspection task list. The method can visually determine the current running path of the robot, and the operating paths of the robot can be reliably tracked.
Description
Technical field
The present invention relates to crusing robot field, more particularly, to crusing robot Adaptive Path tracking.
Background technology
With the fast development of roboticses, crusing robot is in industry, agricultural, medical treatment, military and community service
Find broad application in the fields such as industry, particularly with the artificial carrier of inspection machine, carrying infrared thermography, visible image capturing are first-class
Equipment completes the task related to malfunction monitoring, monitoring of tools etc., has broad application prospects and practical value.
In mobile robot relation technological researching, mobile Robot must have high reliability, and fits
Should the special environment such as strong magnetic, intense radiation, high and cold, high pressure.Electromagnetic induction line walking is to lead currently used for crusing robot is most reliable
Boat scheme.It is that constantly sensing is laid on polling path using the electromagnetic induction sensor being arranged in robot that electromagnetic induction is patrolled and examined
On magnetic stripe, to ensure that robot travels all the time on set polling path, magnetic stripe is permanent magnet, is not subject to ambient light, temperature
Degree, humidity, weather condition, the impact on place road surface.
But in prior art, robot automatic running, in running, operator can not intuitively determine machine soon
Device people currently patrols and examines section, and such as robot running there may be the situation deviateing operating path, and operator do not allow
Easily find in time, operating path follows the tracks of poor reliability.
Content of the invention
It is an object of the invention to solution above-mentioned technical problem, provide a kind of crusing robot Adaptive Path track side
Method, the method can intuitively determine the current operating path of robot, follows the tracks of robot operating path, and reliability is high.
For achieving the above object, the present invention adopts the following technical scheme that a kind of crusing robot Adaptive Path track side
Method, comprises the steps:
A: lay the multiple magnetic conductance rails for navigating robot walking in working space, the plurality of magnetic conductance rail constitutes machine
Multiple actual motion paths of people, position setting between the monitoring location of described operating path and adjacent described operating path
Magnetic stripe；B: set up the electronic chart of corresponding robot operating path: c: root according to the actual motion path of described working space
Initial point and the anchor point that robot runs is set according to described electronic chart, calculating is currently patrolled and examined operating path and patrolled and examined fortune to next
The angle of turn in walking along the street footpath, generates patrol task list；D: issue described patrol task list to robot, robot patrols according to described
Inspection job order runs on actual motion path.
In said method, when robot runs on actual motion path, if the field signal of magnetic stripe is detected,
Out of service, now judge whether current anchor point is monitoring point, if then collection monitoring point information, if otherwise continuing to run with.
In said method, described step c is particularly as follows: arrange initial point and the stop that robot runs on described electronic chart
Point, the magnetic stripe position on described operating path is anchor point, then according to origin described on electronic chart and each
Stop point coordinates and calculate and currently patrol and examine operating path and patrol and examine the angle of turn of operating path to next；Wherein, described initial point with
Section between first anchor point constitutes the first operating path；First anchor point and all anchor point in addition to the first anchor point
In, the section between two neighboring anchor point constitutes an operating path.
Further, described calculating with each stop point coordinates according to origin described on electronic chart is currently patrolled and examined
Operating path patrols and examines the angle of turn of operating path to next, particularly as follows:
Initial point is arranged on electronic chart, initial point is robot and starts the starting point patrolled and examined, then chooses first
Individual anchor pointWith the second anchor point, determine the first operating path and the second operating path；
1) if initial pointWith the first anchor point'sCoordinate is identical, now judges the second anchor pointWith the first anchor point'sCoordinate:
WhenWhen coordinate is identical, now may determine that two sections of operating paths linearly, continue to judge, if, then robot straight trip, otherwise 180 ° of robot turning is turned around；
WhenWhen coordinate differs, if, then 90 ° of robot left-hand rotation, otherwise turns right 90 °；
2) if initial pointWith the first anchor point'sCoordinate is identical, now judges the second anchor point pointWith the first anchor point'sCoordinate:
WhenWhen coordinate is identical, now may determine that two sections of operating paths linearly, continue to judge, if, then robot straight trip, otherwise 180 ° of robot turning is turned around；
WhenWhen coordinate differs, robot needs to turn: if, robot turns left 90 °,
Otherwise turn right 90 °；
Two stop point coordinates on current operating path are chosen on each operating path afterwardsWithWith
And the 3rd anchor point on next operating path, using and above-mentioned steps 1), 2) same procedure, judge adjacent
Angle of turn between two operating paths, wherein i is the positive integer more than 2.
Preferably, described patrol task list includes the turning angle between the path number of every section of operating path, adjacent operation road strength
Degree, path attribute and whether be monitoring point information.
Preferably, the method also includes step display, the robot of display in real time current operating conditions.
Preferably, described magnetic stripe vertical with magnetic conductance rail and be in " ten " font.
Compared with prior art, the invention has the beneficial effects as follows:
1st, the present invention adopts patrol task list, the use of cooperation electronic chart, can quickly, intuitively determine robot
Currently patrol and examine section, electronic chart is set up according to actual motion path, according to digital map corresponding patrol task list, then
Run by patrol task single control robot, facilitate operations staff to carry out the setting of patrol mode and the check of monitoring device,
Robot runs according to patrol task list, and path trace reliability is high, there is provided the important safety guarantee that robot runs.
2 the invention provides the path following method of high reliability, and using magnetic stripe positioning, walking positioning precision is high, error
Less than 2mm, anti-electromagnetic interference capability is strong.
3rd, robot polling path each time can arrange foundation it is ensured that path is optimum, monitoring of equipment efficiency high, the side of patrolling and examining
Formula is flexible.
4th, robot of the present invention is followed the trail of path and is shown using electronic chart, can intuitively show that robot currently follows the tracks of section
And working condition, reliability height.
Brief description
Fig. 1 is the crusing robot Adaptive Path tracking flow chart of the present invention；
Fig. 2 is the schematic diagram of electronic chart in the crusing robot Adaptive Path tracking of the present invention；
Fig. 3 is another schematic diagram of electronic chart in the crusing robot Adaptive Path tracking of the present invention；
Fig. 4 is the patrol task list schematic diagram in the crusing robot Adaptive Path tracking of the present invention；
Fig. 5 is that the background interface display current road segment in the crusing robot Adaptive Path tracking of the present invention is illustrated
Figure.
Specific embodiment
With reference to specific embodiment, the present invention is described in further detail.But this should not be interpreted as the present invention
The scope of above-mentioned theme is only limitted to below example, all models belonging to the present invention based on the technology that present invention is realized
Enclose.
The present invention in order to intuitively determine the current operating path of robot, reliable follow the tracks of robot run location it is proposed that
A kind of crusing robot Adaptive Path tracking, illustrates below in conjunction with the accompanying drawings.
Refer to Fig. 1, the inventive method lays the multiple magnetic conductance rails for navigating robot walking in working space first,
The plurality of magnetic conductance rail constitutes multiple actual motion paths (or claiming to patrol and examine section, similarly hereinafter) of robot, in described operating path
Monitoring location and adjacent described operating path between position setting magnetic stripe.
Specifically, the magnetic conductance rail of navigating robot walking, pre-buried road is constituted in the thick magnetic stripe of transformer station's pre-buried 5cm width, 1mm
Footpath covers transformer station needs all devices of detection.Monitoring location on the operating path that magnetic conductance rail is constituted (needs to detect
At equipment) and turning position (i.e. two magnetic conductance rail joints) laying magnetic stripe.When the Magnetic Sensor of setting in robot detects
During the field signal of magnetic stripe, each sampled point Hui You mono- tunnel signal output of Magnetic Sensor, if sampled point number is more than certain
One preset value, then controlling makes crusing robot out of service.When robot runs on actual motion path, if magnetic is detected
Then out of service during the field signal of bar, now judge whether current anchor point is monitoring point, if then collection monitoring point information,
If otherwise continuing to run with.In a preferred version, magnetic stripe vertical with magnetic conductance rail and be in " ten " font, (magnetic stripe position is stopped
Point, similarly hereinafter).Robot navigates on magnetic conductance rail and walks is to rely on the Magnetic Sensor detection magnetic guide rail signal being arranged in robot
Control and make robot operate in magnetic conductance rail centre position to realize navigation walking, positioning stopping is vertical with magnetic conductance rail by detecting
The signal of horizontal magnetic stripe realize, both are vertical and be in " ten " font, can ensure that the Magnetic Sensor of robot chassis installation is whole
Covered by magnetic stripe, if now detection points are more than preset value, control realization positioning stops, and reliability of positioning is high.Wherein magnetic conductance
Vertical dimension between the Magnetic Sensor installed on rail and robot chassis is 25-40mm, and this distance range can ensure that
The magnetic field detection of effect, improves robot operational reliability.
B: set up the electronic chart of corresponding robot operating path according to the actual motion path of described working space.
Specifically, set up on background computer according to the actual motion path that pre-buried magnetic conductance rail in abovementioned steps is constituted
The corresponding electronic chart in work of transformer substation place actual motion path.Often patrol and examine section for one between two neighboring halt,
Do not draw required precision it is only necessary to draw the polling path of relative bearing and the stop position of equal number.For example utilize
24 bitmaps of 640*480 pixel are drawn by mapping software, then enter edlin using vc++ 6.0 to electronic chart, determine interface
For level to the right, y-axis positive direction is vertically downward to interior x-axis positive direction, realizes the foundation of electronic chart.
C: initial point and the anchor point that robot runs is arranged according to described electronic chart, calculating is currently patrolled and examined operating path and arrived
Next patrols and examines the angle of turn of operating path, generates patrol task list.
Specifically, on described electronic chart, setting robot runs initial point and anchor point, on described operating path
Magnetic stripe position is anchor point, then calculates and currently patrols according to origin described on electronic chart and each stop point coordinates
Inspection operating path patrols and examines the angle of turn of operating path to next；Wherein, the section between described initial point and the first anchor point
Constitute the first operating path；In first anchor point and all anchor point in addition to the first anchor point, two neighboring anchor point it
Between section constitute an operating path.Described according to origin described on electronic chart and each stop point coordinates calculate
Currently patrol and examine operating path and patrol and examine the angle of turn of operating path to next, particularly as follows: initial point is arranged on electronic chart, initial point is robot and starts the starting point patrolled and examined, then chooses first anchor pointWith the second anchor point, determine the first operating path and the second operating path；
1) if initial pointWith the first anchor point'sCoordinate is identical, now judges the second anchor pointWith the first anchor point'sCoordinate:
WhenWhen coordinate is identical, now may determine that two sections of operating paths linearly, continue to judge, if, then robot straight trip, otherwise 180 ° of robot turning is turned around；
WhenWhen coordinate differs, if, then 90 ° of robot left-hand rotation, otherwise turns right 90 °；
2) if initial pointWith the first anchor point'sCoordinate is identical, now judges the second anchor point pointWith the first anchor point'sCoordinate:
WhenWhen coordinate is identical, now may determine that two sections of operating paths linearly, continue to judge, if, then robot straight trip, otherwise 180 ° of robot turning is turned around；
WhenWhen coordinate differs, robot needs to turn: if, robot turns left 90 °,
Otherwise turn right 90 °；
Two stop point coordinates on current operating path are chosen on each operating path afterwardsWith
And the 3rd anchor point on next operating path, using and above-mentioned steps 1), 2) same procedure, judge adjacent
Angle of turn between two operating paths, wherein i is the positive integer more than 2.
Illustrate further step c with reference to Fig. 2 and Fig. 3.Fig. 2 be set up work of transformer substation place electronically
Figure, each cross cross point of in figure is an anchor point.Anchor point comprises all of monitoring position.Robot is from charging
Room sets out, and that is, with charging house as initial point, starts path trace.It is from a point to point b when robot patrols and examines direction shown in Fig. 3
Article 8, patrol and examine on section, now a point and b pointCoordinate is equal (due to selecting anchor point to have error of coordinate, therefore to be set definitely
Value is less than 10Coordinate orCoordinate is when judging to turn for equal coordinates).
1) if it is bc section that next section patrols and examines section, c pointCoordinate and b pointCoordinate is unequal, and, meet 90 ° of Rule of judgment of turning right, robot can stop in anchor point b and start to turn right 90 °,
Turning starts the 9th section of (bc section) path trace after completing；
2) if next section of polling path is bd section, d pointCoordinate and b pointCoordinate is unequal, and, meet the 90 ° of Rule of judgment that turn left, robot can stop in anchor point b and start to turn left 90 °,
Turning starts bd section path trace after completing；
3) if it is be section that next section patrols and examines section, e pointCoordinate and b pointCoordinate is equal, and, meet straight trip condition, robot can be after anchor point b, and move on beginning be section path
Follow the tracks of.
4) if it is ba section that next section patrols and examines section, a pointCoordinate and b pointCoordinate is equal, and, meet the condition that turns around, robot can start to turn around after halt b, after turning around to complete
Continue ba section path trace.
Fig. 4 is the ab section bc section cb section bd section db section be section making according to the path following method of Fig. 3
Patrol task list, its path number successively is 8,9,10,11,12 and 13.According to patrol task list, order executes, complete for robot
Become path trace.
D: issue described patrol task list to robot, robot is according to described patrol task singly on actual motion path
Run.
Specifically, the robot in the present invention is provided with industrial computer, and the chassis of robot is provided with Magnetic Sensor, Magnetic Sensor
Export the field signal of described magnetic conductance rail and magnetic stripe for the detection when robot walks above described magnetic conductance rail；Industrial computer is used
In the described field signal receiving the output of described Magnetic Sensor, according to described field signal and patrol task single control robot
Walking states are thus navigate and positioning robot's operation.Described patrol task list includes the path number of every section of operating path, adjacent
Run angle of turn between road strength, path attribute and whether be monitoring point information.In a preferred version, the inventive method
Also include step display, robot current operating conditions are shown in real time by background computer.Described background computer and machine
Industrial computer radio communication on people, is specifically as follows existing any communication, such as infrared, gprs, 3g etc..Described patrol
Inspection job order is sent to the industrial computer of robot by background computer, and industrial computer is electrically connected with the motor driver of robot
Connect, by controlling described motor driver thus controlling the walking states of robot.
Fig. 5 is to show the schematic diagram when patrolling and examining in the bc section of section for the robot, robot in real time at background computer interface
Advance in direction according to arrow indication, show three anchor point judging to turn simultaneously, and the anchor point c meeting that will reach
Flicker, so that directly perceived show.
Advantages of the present invention is as follows: 1, adopts patrol task list, coordinates the use of electronic chart, can quickly, intuitively
Determine robot currently patrols and examines section, and electronic chart is set up according to actual motion path, corresponding according to digital map
Patrol task list, then run by patrol task single control robot, facilitate operations staff to carry out setting and the prison of patrol mode
The check of measurement equipment, robot runs according to patrol task list, and path trace reliability is high, there is provided it is important that robot runs
Safety guarantee.2 the invention provides the path following method of high reliability, and using magnetic stripe positioning, walking positioning precision is high, by mistake
Difference is less than 2mm, and anti-electromagnetic interference capability is strong.3rd, robot polling path each time can arrange foundation it is ensured that path is optimum, if
Standby monitoring efficiency is high, and routine inspection mode is flexible.4th, robot of the present invention is followed the trail of path and is shown using electronic chart, can intuitively show
Robot currently follows the tracks of section and working condition, and reliability is high.
Above in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but the present invention has been not restricted to
State embodiment, in the case of the spirit and scope without departing from claims hereof, those skilled in the art can make
Go out various modifications or retrofit.
Claims (4)
1. a kind of crusing robot Adaptive Path tracking is it is characterised in that comprise the steps:
A: lay the multiple magnetic conductance rails for navigating robot walking in working space, the plurality of magnetic conductance rail constitutes robot
Multiple actual motion paths, position setting magnetic between the monitoring location of described operating path and adjacent described operating path
Bar；
B: set up the electronic chart of corresponding robot operating path according to the actual motion path of described working space:
C: initial point and the anchor point that robot runs is arranged according to described electronic chart, calculates and currently patrol and examine operating path to next
Bar patrols and examines the angle of turn of operating path, generates patrol task list；
D: issue described patrol task list to robot, robot singly transports according to described patrol task on actual motion path
OK；
When robot runs on actual motion path, if the field signal of magnetic stripe is detected, out of service, now sentence
Whether current anchor point of breaking is monitoring point, if then collection monitoring point information, if otherwise continuing to run with；
Described step c is particularly as follows: arrange initial point and the anchor point that robot runs, described operating path on described electronic chart
On magnetic stripe position be anchor point, then according to origin described on electronic chart and each stop point coordinates calculate work as
Before patrol and examine operating path and patrol and examine the angle of turn of operating path to next；Wherein, between described initial point and the first anchor point
Section constitutes the first operating path；In first anchor point and all anchor point in addition to the first anchor point, two neighboring stop
Section between point constitutes an operating path；
Described according to origin described on electronic chart and each stop point coordinates and calculate and currently patrol and examine operating path and arrive down
Article one, patrol and examine the angle of turn of operating path, particularly as follows:
Initial point is arranged on electronic chart, initial point is robot and starts the starting point patrolled and examined, then choose first and stop
By pointWith the second anchor point, determine the first operating path and the second operating path；
1) if initial pointWith the first anchor point'sCoordinate is identical, now judges the second anchor pointWith
First anchor point'sCoordinate:
WhenWhen coordinate is identical, now may determine that two sections of operating paths linearly, continue to judge, if, then robot straight trip, otherwise 180 ° of robot turning is turned around；
WhenWhen coordinate differs, if, then 90 ° of robot left-hand rotation, otherwise turns right 90 °；
2) if initial pointWith the first anchor point'sCoordinate is identical, now judges the second anchor pointWith
First anchor point'sCoordinate:
WhenWhen coordinate is identical, now may determine that two sections of operating paths linearly, continue to judge, if, then robot straight trip, otherwise 180 ° of robot turning is turned around；
WhenWhen coordinate differs, robot needs to turn: if, robot turns left 90 °, otherwise
Turn right 90 °；
Two stop point coordinates on current operating path are chosen on each operating path afterwardsWithAnd under
The 3rd anchor point on one operating path, using above-mentioned steps 1), 2) same procedure, judge two neighboring fortune
Angle of turn between walking along the street footpath, wherein i are the positive integer more than 2.
2. crusing robot Adaptive Path tracking according to claim 1 is it is characterised in that described patrol task
Angle of turn between single path number including every section of operating path, adjacent operating path, path attribute and whether be monitoring point
Information.
3. crusing robot Adaptive Path tracking according to claim 1 is it is characterised in that the method also includes
Step display, the robot of display in real time current operating conditions.
4. crusing robot Adaptive Path tracking according to claim 1 is it is characterised in that described magnetic stripe and magnetic
Guide rail vertically and is in " ten " font.
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| CN104850123B (en) * | 2015-05-15 | 2018-03-13 | 济南大学 | A kind of greenhouse intelligence spray robot and method based on electromagnetic detection |
| CN105320131A (en) * | 2015-07-31 | 2016-02-10 | 北京家度科技有限公司 | Robot multi-track linear continuous tracking moving service system |
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| CN106493733B (en) * | 2016-10-21 | 2018-12-14 | 苏州大成电子科技有限公司 | The cruise establishment of coordinate system method and learning method of room cruise robot |
| CN106272441A (en) * | 2016-10-21 | 2017-01-04 | 苏州大成电子科技有限公司 | Robot cruise site and set up method and the cruise method of coordinate system by site |
| CN107358675A (en) * | 2017-07-12 | 2017-11-17 | 浙江国自机器人技术有限公司 | A kind of method for inspecting, system and the crusing robot in piping lane synthesis cabin |
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| CN109991972A (en) * | 2017-12-29 | 2019-07-09 | 长城汽车股份有限公司 | Control method, apparatus, vehicle and the readable storage medium storing program for executing of vehicle driving |
| CN109343517A (en) * | 2018-08-20 | 2019-02-15 | 杭州合时机器人科技有限公司 | Crusing robot pinpoints visiting method |
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