CN104842338B - Intelligent Mobile Robot automatic transportation dispatches system and method - Google Patents
Intelligent Mobile Robot automatic transportation dispatches system and method Download PDFInfo
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- CN104842338B CN104842338B CN201510290434.4A CN201510290434A CN104842338B CN 104842338 B CN104842338 B CN 104842338B CN 201510290434 A CN201510290434 A CN 201510290434A CN 104842338 B CN104842338 B CN 104842338B
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Abstract
The invention discloses a kind of Intelligent Mobile Robot automatic transportation dispatches system and method, including：Hoistable platform and fixing device are each attached on crusing robot shipping platform, and hoistable platform is connected with elevating control unit；Fixing device is connected with fixing device control unit, position sensor and distance measuring sensor are separately positioned on hoistable platform, crusing robot shipping platform is communicated with dispatch server by communication module, and mobile terminal is communicated respectively with elevating control unit and fixing device control unit；Beneficial effect of the present invention：Motion of the crusing robot in transportation, the infringement in reduction transportation to robot body and relative electronic components, it is ensured that safety of the crusing robot in transportation can effectively be limited.
Description
Technical field
The present invention relates to Intelligent Mobile Robot technical field of transportation, more particularly to a kind of Intelligent Mobile Robot is certainly
Dynamic transportation scheduling system and method.
Background technology
Inspecting substation equipment is that substation equipment safe operation is effectively ensured, a basic work of power supply reliability is improved
Make, at present, Mobile Robot for Substation Equipment Inspection system gradually instead of manual inspection, and the application in substation inspection is increasingly wide
It is general.When patrol task is carried out, need Intelligent Mobile Robot is transported corresponding transformer station as needed in advance；But
In transportation, crusing robot is moved upper or moves lower haulage vehicle, this mode by the mode for relying primarily on a dead lift
There is following defect：
1st, there is very big potential safety hazard in crusing robot in handling process；In Mobile Robot for Substation Equipment Inspection
In transit, as jolting for road causes rocking for crusing robot, robot body and relative electronic components also can
Cause certain infringement.
2nd, crusing robot in transit, as itself is not provided with fixing device, enters to which by external strength merely
Row is fixed, it is impossible to enough avoid crusing robot itself from a certain degree of movement occur, equally robot body can be caused necessarily
Infringement.
What the 3rd, control centre of transformer station can not grasp crusing robot in real time patrols and examines position, and crusing robot can not be entered
Row is allocated in real time.
4th, the function of each several part device on shipping platform needs manual operation to complete, and efficiency is low, and labor workload is big；Nothing
Method automatically according to crusing robot position and state make corresponding operation, it is impossible to realize the complete of crusing robot transportation
It is automatically brought into operation.
The content of the invention
The purpose of the present invention is exactly to solve the above problems, it is proposed that a kind of Intelligent Mobile Robot automatic transportation is adjusted
Degree system and method, the system and method can effectively limit motion of the crusing robot in transportation, and reduction was transported
Infringement in journey to robot body and relative electronic components.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of Intelligent Mobile Robot automatic transportation dispatches system, including：Communication module, dispatch server, survey monitor
Device people's shipping platform, hoistable platform, elevating control unit, fixing device, fixing device control unit, position sensor, range finding
Sensor and mobile terminal；
The hoistable platform and fixing device are each attached on crusing robot shipping platform, hoistable platform and elevating control
Unit connects；Fixing device is connected with fixing device control unit, and position sensor and distance measuring sensor are separately positioned on lifting
On platform, crusing robot shipping platform is communicated with dispatch server by communication module, mobile terminal and elevating control unit
Communicated with fixing device control unit respectively；
Crusing robot passes through hoistable platform into and out crusing robot shipping platform, and is fixed by fixing device
On crusing robot shipping platform；Crusing robot sends lifting instruction, the control of elevating control unit to elevating control unit
Hoistable platform performs corresponding action, and crusing robot sends fixed or unlock instruction, fixed dress to fixing device control unit
Put control unit control fixing device and perform corresponding action.
The hoistable platform includes：Base, hydraulic means, support platform and lifting arm；
The base is fixed on Intelligent Mobile Robot shipping platform, and hydraulic means one end is fixed on base, separately
One end is connected with lifting arm, and hydraulic means is connected with hydraulic control device, and the lifting arm is connected with support platform；The support
Platform can be overturn along the axis being connected with lifting arm, and the lifting arm can be carried out along the axis being connected with hydraulic means
Upset.
The front end of the support platform can turn along axis with baffle plate, the baffle plate of the front end is respectively arranged on the left side and the right side
It is dynamic.
Arrange between the base and Intelligent Mobile Robot shipping platform and strengthen liner plate one, in substation inspection machine
Strengthen at the corresponding position of liner plate one, arranging reinforcement liner plate two with described in device people's shipping platform bottom.
The fixing device includes：The circuit orbit being fixed on crusing robot shipping platform, described each circle
The retractor device for being connected with crusing robot is provided with track, automatic tightening device on the retractor device, is carried.
Described retractor device one end is fixed on circuit orbit, the other end is connected by hook or eye-splice and crusing robot
Connect.
The retractor device is traction apparatuss, and the ribbon that can be stretched is provided with traction apparatuss.
The fixing device includes：At least one be separately fixed on crusing robot shipping platform side plate and base plate is electric
Dynamic compensator, described electric expansion device one end is connected with crusing robot shipping platform, the other end is fixed with and patrols and examines for connection
The electromagnetic lock of robot.
The electric expansion device being connected with the top of crusing robot is provided with the top of crusing robot shipping platform.
By at least one electric expansion device at crusing robot shipping platform base plate, side plate or top replace with for
The traction apparatuss of crusing robot connection, the traction apparatuss are connected with the circuit orbit being arranged on crusing robot shipping platform.
The fixing device also includes：The crusing robot driving wheel being fixed on crusing robot shipping platform compresses dress
Put；
The crusing robot driving wheel hold down gag includes：Permanent magnetic chuck, pressing plate, self-locking gas spring and bearing；
The permanent magnetic chuck is connected with bearing, and described pressing plate one end is fixed on bearing, the other end and crusing robot drive
Driving wheel connects, and the self-locking gas spring one end is fixed on bearing, the other end is connected respectively with pressing plate and crusing robot.
V-type rubber is inlaid with inside the pressing plate.
A kind of Intelligent Mobile Robot automatic transportation dispatches the method for work of system, including：Automatically unload inspection machine
People and automatically loading crusing robot；
The detailed process of the automatic unloading crusing robot is：
(1) mobile terminal sets up communication link respectively with crusing robot, elevating control unit and fixing device control unit
Connect；
(2) mobile terminal issues crusing robot unloading order, and fixing device control unit sends to fixing device and unlocks
Unblock, when fixing device control unit detects unblock and completes signal, is completed signal and feeds back to mobile terminal by order；
(3) mobile terminal issues walking order to crusing robot, and crusing robot walking is to elevating mechanism support platform
It is interior, and detect whether walking in place, if it is, robot stop walking, and feed back in place signal to mobile terminal；
(4) mobile terminal issues hoistable platform decline order to elevating control unit, and elevating control unit detects lifting
When platform drops to specified location, feedback in place signal to mobile terminal；
(5) mobile terminal issues travelling control order to crusing robot, and robot moves ahead setpoint distance, it is ensured that leave liter
Drop platform.
The detailed process of the automatic loading crusing robot is：
(1) mobile terminal sets up communication link respectively with crusing robot, elevating control unit and fixing device control unit
Connect；
(2) mobile terminal issues crusing robot load command, and mobile terminal issues walking order to crusing robot, patrols
Inspection robot ambulation is in the support platform of elevating mechanism；
(3) crusing robot detect whether walking in place, if it is, robot stop walking, and feed back in place signal give
Mobile terminal；
(4) mobile terminal issues hoistable platform rising order to elevating control unit, and elevating control unit detects lifting
When platform rises to specified location, feedback in place signal to mobile terminal；
(5) mobile terminal issues walking order to crusing robot, and crusing robot is walked in fixing device, fed back to
Position signal is to mobile terminal；
(6) mobile terminal issues locking order to fixing device control unit, and fixing device control unit detects locking
When completing signal, feedback locking completes signal to mobile terminal；
(7) dispatch server sends dispatch command, power transformation to Intelligent Mobile Robot shipping platform by communication module
Crusing robot is transported to corresponding transformer station according to dispatch command by crusing robot shipping platform of standing.
The invention has the beneficial effects as follows：
1st, apparatus of the present invention can effectively limit motion of the crusing robot in transportation, right in reduction transportation
The infringement of robot body and relative electronic components, it is ensured that safety of the crusing robot in transportation.By arranging
Automatic tightening device, it is ensured that the steadiness being connected with crusing robot, can preferably protect crusing robot.
2nd, by setting up the communication of crusing robot and transportation system, the automatization of whole assembling process is realized, is saved
Manpower and materials, more efficiently ensure that the safety of crusing robot.
3rd, by setting up the communication of shipping platform and transformer station's dispatch server, effectively crusing robot can be carried out
Targetedly allocate, improve robot patrols and examines efficiency.
4th, a key operation, only need to carry out issuing for a subcommand in handheld device, and follow-up work is automatically performed.When running into announcement
Manual operation can also be supported during the failure such as alert.All operationss can be completed by a people, the participation of people during reducing, efficiency are carried
It is high.
Description of the drawings
Fig. 1 is that Intelligent Mobile Robot automatic transportation of the present invention dispatches system structure diagram；
Fig. 2 is that Intelligent Mobile Robot automatic transportation of the present invention dispatches system hoistable platform structural representation；
Fig. 3 is view after Intelligent Mobile Robot automatic transportation of the present invention scheduling system hoistable platform is folded；
Fig. 4 is that Intelligent Mobile Robot automatic transportation of the present invention scheduling system hoistable platform fixes signal with shipping platform
Figure；
Fig. 5 is Intelligent Mobile Robot automatic transportation of the present invention scheduling system fixing device structural representation one；
Fig. 6 is Intelligent Mobile Robot automatic transportation of the present invention scheduling system fixing device structural representation two；
Fig. 7 is that Intelligent Mobile Robot automatic transportation of the present invention scheduling system drive wheel compresses apparatus structure schematic diagram；
Fig. 8 unloads crusing robot flow chart automatically for the present invention；
Fig. 9 loads crusing robot flow chart automatically for the present invention.
Wherein, 1. crusing robot shipping platform, 2. fixing device, 3. hoistable platform, 4. crusing robot, 5. front end
Baffle plate, 6. support platform, 7. lifting arm, 8. control unit, 9. hydraulic means, 10. base, 11. communication units, 12. reinforcing lines
Plate one, 13. reinforcement liner plates two, 14. circuit orbits, 15. traction apparatuss, 16. hooks, 17. suspension ring, 18. buttons, 19. side plates, 20.
Electric expansion device, 21. electromagnetic locks, 22. adsorption plates, 23. base plates, 24. crusing robot driving wheels, 25. pressing plates, 26. bearings,
27. permanent magnetic chucks, 28. self-locking gas springs, 29. communication modules, 30. dispatch servers.
Specific embodiment：
The present invention will be further described with embodiment below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of specific embodiment of 4 automated transport system of Intelligent Mobile Robot, including：Communication module
29th, dispatch server 30, crusing robot shipping platform 1, hoistable platform 3, elevating control unit 8, fixing device 2, fixed dress
Put control unit 8, position sensor, distance measuring sensor and mobile terminal；
The effect of position sensor is to detect each connection (or contact) whether in place.Such as whether robot walks a certain
Position；Whether frame for movement stretches or shrinks in place etc.；
Distance measuring sensor can carry out range measurement；Detect whether to cross a certain distance value or in a certain distance value scope
It is interior.
The hoistable platform 3 and fixing device 2 are each attached on crusing robot shipping platform 1, hoistable platform 3 and lifting
Control unit 8 connects；Fixing device 2 is connected with fixing device control unit 8, and position sensor and distance measuring sensor are respectively provided with
On hoistable platform 3, crusing robot shipping platform 1 is communicated with dispatch server 30 by communication module 29, mobile terminal with
Elevating control unit 8 and fixing device control unit 8 are communicated respectively.
Crusing robot 4 passes through hoistable platform 3 into and out crusing robot shipping platform 1, and passes through fixing device 2
It is fixed on crusing robot shipping platform 1；Crusing robot 4 sends lifting instruction, elevating control list to elevating control unit 8
Unit 8 controls hoistable platform 3 and performs corresponding action, and crusing robot 4 sends fixed or unblock to fixing device control unit 8 and refers to
Order, the control of fixing device control unit 8 fixing device 2 perform corresponding action.
, it should be understood that the crusing robot shipping platform 1 of the present invention can adopt haulage vehicle or other fortune that can move
Defeated platform.For whether simultaneously shipping platform has base plate 23, side plate 19 and top board, then sets itself according to actual needs.
With regard to hoistable platform 3, as shown in Fig. 2 hoistable platform 3 includes：Base 10, hydraulic means 9, support platform 6, lifting
Arm 7；Base 10 is fixed on Intelligent Mobile Robot shipping platform 1, and 9 one end of hydraulic means is fixed on base 10, another
End is connected with lifting arm 7, and lifting arm 7 is connected with support platform 6.
The front end of support platform 6 and it is respectively arranged on the left side and the right side baffle plate, the baffle plate 5 of front end can be along connecting with support platform 6
The axis for connecing is rotated, and when baffle plate 5 and the ground of front end are adjacent to, ensure that robot is smoothly moved to support platform 6；Front end
When baffle plate 5 is upturned, robot landing is prevented from.
Lifting arm 7 can be overturn along the axis being connected with hydraulic means 9, drive 6 raising and lowering of support platform.
Support platform 6 can carry out the upset of 0-90 degree scope along the axis being connected with lifting arm 7.When hoistable platform 3 are not needed,
Support platform 6 can be brought into close contact with lifting arm 7, reduce floor space.
As shown in figure 4, adding one piece of reinforcing line between 1 chassis of hoistable platform 3 and Intelligent Mobile Robot shipping platform
Plate 1, prevents not caused enough the fracture of the 1 chassis strength of materials of crusing robot shipping platform, crusing robot shipping platform 1
Bottom equally one block of reinforcement liner plate 2 13 of addition, caused by preventing tilting moment excessive, bolt penetrates crusing robot shipping platform
1 chassis.Strengthen liner plate 1 and strengthen liner plate 2 13 being fixed by bolt.
Specific work process is：
Robot is moved near Intelligent Mobile Robot shipping platform 1, the communication unit 11 of robot interior with set
The communication unit 11 put on lifting arm 7 is communicated, after control unit 8 receives robot location's information, control hydraulic pressure dress
Put 9 driving lifting arms 7 to decline, the baffle plate 5 of 6 front end of support platform falls, robot voluntarily walks 3 position of hoistable platform, then
Secondary to send positional information instruction to the communication unit 11 being arranged on lifting arm 7, control unit 8 receives robot location's information
Afterwards, the baffle plate 5 of 6 front end of support platform is tilted, and prevents robot from tumbling, now 9 setting in motion of hydraulic means, and lifting arm 7 is slowly
Rise, until support platform 6 rises to and 10 flush position of base, now 7 stop motion of lifting arm, robot ambulation is to transport
Platform interior, and being fixed using fixing device 2, after robot is fixed, lifting arm 7 and support platform 6 start respectively along
It is dynamic that axle center carries out counterclockwise rotation transport, until completely into being moved to inside Intelligent Mobile Robot shipping platform 1, Fig. 3 institutes
Show that position is the state after hoistable platform 3 is folded.
Communication unit 11 is communicated with robot using communication, and concrete communication mode can be WiFi, penetrate
The modes such as frequency communication, Zigbee.
Communication mode between elevating control unit and lowering or hoisting gear, between fixing device control unit and fixing device is not
Radio communication is confined to, also comprising wired communication mode such as RS232, RS485,422, and ether net mode.Mobile terminal
Wireless communication technology is used between elevating control unit, fixing device control unit with liter.
Control unit 8 is by microcontroller (such as single-chip microcomputer, DSP etc.) or microprocessor (such as ARM, PowerPC, intel
Processor etc.), memory element, input and output (I/O) module, analogue collection module etc. constitute.The present embodiment uses list
Piece machine.Control unit 8 is integrated with the design of communication unit 11 in the design.
With regard to fixing device 2, as shown in figure 5, fixing device 2 includes：Four circles being fixed on robotic conveyance's platform
Shape track 14, is respectively provided with a traction apparatuss 15 on each circuit orbit 14,15 one end of traction apparatuss is stuck on circuit orbit 14, another
End is fixed on by hook 16 and is arranged on the suspension ring 17 on robot chassis.Four traction apparatuss 15 carry automatic tightening device,
In vehicle run duration, it is also possible to automatic tightening.
After robot moves to the precalculated position of crusing robot shipping platform 1, hook 16 is held, is pressed on traction apparatuss 15
Button 18, the ribbon in traction apparatuss 15 is extracted out, and hook 16 is hung on suspension ring 17, release button 18, ribbon is returned automatically
Contracting is tightened, and completes fixation of the robot on 1 base plate 23 of crusing robot shipping platform.
, it should be understood that traction apparatuss 15 can also adopt other connected modes, the such as other end of traction apparatuss 15 with crusing robot 4
Mode is connected etc. by eye-splice with the buckling device for being arranged on robot chassis, therefore, the connected mode that the application is given is
A kind of more preferably embodiment therein.
Further, in order to more preferably be fixed to crusing robot 4, set at the top of crusing robot shipping platform 1
The fixing device 2 for having and being connected at the top of crusing robot 4.
Further, in order to more preferably be fixed to crusing robot 4, set in the side of crusing robot shipping platform 1
There is the fixing device 2 being connected with 4 side of crusing robot.
In other embodiment, fixing device 2 can also be following structure, as shown in fig. 6, including：It is fixed on car
Two electric expansion devices 20 on side plate 19 and base plate 23, are fixed on the electromagnetic lock 21 of 20 other end of electric expansion device, and
It is separately fixed at the 4 anterior adsorption plate 22 with bottom of crusing robot.
After robot moves to the precalculated position of 1 base plate 23 of crusing robot shipping platform, horizontal and vertical automatic telescopic
Device action, after the electromagnetic lock 21 on automatic telescopic device is contacted with the adsorption plate 22 on crusing robot 4, electromagnetic lock 21 is by electricity
Magnetic force is fixed on one piece with adsorption plate 22, completes fixation of the robot on 1 base plate 23 of crusing robot shipping platform.
Further, in order to more preferably be fixed to crusing robot 4, set at the top of crusing robot shipping platform 1
The electric expansion device 20 for having and being connected at the top of crusing robot 4.The corresponding position at the top of crusing robot 4 be provided with
The corresponding adsorption plate 22 of the electromagnetic lock 21 of electric expansion device 20.
In other embodiment, will be at least one on 1 side of crusing robot shipping platform, bottom or top electric
Dynamic compensator 20 replaces with the traction apparatuss 15 for being connected with crusing robot 4, and traction apparatuss 15 are transported with crusing robot is arranged on
Circuit orbit 14 on defeated platform 1 connects.Automatic tightening device is carried on traction apparatuss 15,15 one end of traction apparatuss is fixed on circular rail
On road 14, the other end passes through hook 16 or eye-splice is connected with crusing robot 4.Set at 4 corresponding position of crusing robot
Put the suspension ring 17 or buckling device matched with hook 16 or eye-splice.
Further, in order to more preferably be fixed to crusing robot 4, the movement of crusing robot 4 is limited, above-mentioned two
On the basis of the fixed structure that kind of fixed structure or two kinds of fixed structures are combined, crusing robot driving wheel 24 is set and is pressed
Tight device, as shown in fig. 7, driving wheel hold down gag includes：Permanent magnetic chuck 27, pressing plate 25, self-locking gas spring 28 and bearing 26；Forever
Magnetic-disc 27 is connected with bearing 26, and 25 one end of pressing plate is fixed on bearing 26, the other end and crusing robot driving wheel 24 connect,
28 one end of self-locking gas spring is fixed on bearing 26, the other end is connected respectively with pressing plate 25 and crusing robot 4, inside pressing plate 25
Inlay V-type rubber.
After robot moves to the precalculated position of 1 base plate 23 of crusing robot shipping platform, permanent magnetic chuck 27 is adsorbed
On 1 base plate 23 of crusing robot shipping platform, pressing plate 25 is pressed on crusing robot driving wheel 24 with self-locking gas spring 28,
And by the auto-lock function of self-locking gas spring 28 by gas spring self-lock, so as to robotically-driven wheel is pressed on crusing robot fortune
On 1 base plate 23 of defeated platform, fixation of the robot on 1 base plate 23 of crusing robot shipping platform is completed.
Crusing robot shipping platform 1, hoistable platform 3, elevating control unit 8, fixing device control unit 8 can be shared
A set of power supply is powered；It can also be powered using different power-supply systems respectively.
A kind of method of work of 4 automated transport system of Intelligent Mobile Robot, including：Automatically unload crusing robot 4
With loading crusing robot 4 automatically；
Automatically the detailed process of unloading crusing robot 4 is as shown in Figure 8：
(1) set up mobile terminal to be set up with crusing robot 4, elevating control unit 8 and fixing device control unit 8 respectively
Communication connection；
(2) mobile terminal issues the unloading order of crusing robot 4, and fixing device control unit 8 sends to fixing device 2 and solves
Unblock, when fixing device control unit 8 detects unblock and completes signal, is completed signal and feeds back to mobile terminal by lock order；Such as
Fruit unlocks unsuccessful, then continue to send unlock instruction, if unlocking for continuous more than 3 times unsuccessful, send alarm signal.
(3) mobile terminal issues walking order to crusing robot 4, and the walking of crusing robot 4 to elevating mechanism supports flat
In platform 6, and detect whether walking in place, if it is, robot stop walking, and feed back in place signal to mobile terminal；
(4) mobile terminal issues the decline order of hoistable platform 3 to elevating control unit 8, and elevating control unit 8 detects liter
Drop platform 3 is when dropping to specified location, feedback in place signal to mobile terminal；
(5) mobile terminal issues travelling control order to crusing robot 4, and robot moves ahead setpoint distance, it is ensured that leave
Hoistable platform 3.
Automatically the detailed process for loading crusing robot 4 is as shown in Figure 9：
(1) set up mobile terminal to be set up with crusing robot 4, elevating control unit 8 and fixing device control unit 8 respectively
Communication connection；
(2) mobile terminal issues 4 load command of crusing robot, and mobile terminal issues walking order to crusing robot 4,
Crusing robot 4 walk elevating mechanism support platform 6 on；
(3) crusing robot 4 detect whether walking in place, if it is, robot stop walking, and feed back in place signal give
Mobile terminal；
(4) mobile terminal issues the rising order of hoistable platform 3 to elevating control unit 8, and elevating control unit 8 detects liter
Drop platform 3 is when rising to specified location, feedback in place signal to mobile terminal；
(5) mobile terminal issues walking order to crusing robot 4, and crusing robot 4 is walked in fixing device 2, instead
A signal is fed to mobile terminal；
(6) mobile terminal issues locking order to fixing device control unit 8, and fixing device control unit 8 detects lock
When tightly completing signal, feedback locking completes signal to mobile terminal.If locking is unsuccessful, continue to send locking instruction, such as
Lock for really continuous more than 3 times unsuccessful, then send alarm signal.
(7) dispatch server 30 sends dispatch command to Intelligent Mobile Robot shipping platform 1 by communication module 29,
Crusing robot 4 is transported to corresponding transformer station according to dispatch command by Intelligent Mobile Robot shipping platform 1.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not to present invention protection model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
The various modifications made by needing to pay creative work or deformation are still within protection scope of the present invention.
Claims (2)
1. a kind of Intelligent Mobile Robot automatic transportation dispatches the method for work of system, it is characterized in that, described transformer station patrols
Inspection robot automatic transportation scheduling system includes：Communication module, dispatch server, crusing robot shipping platform, hoistable platform,
Elevating control unit, fixing device, fixing device control unit, position sensor, distance measuring sensor and mobile terminal；The liter
Drop platform and fixing device are each attached on crusing robot shipping platform, and hoistable platform is connected with elevating control unit；It is fixed
Device is connected with fixing device control unit, and position sensor and distance measuring sensor are separately positioned on hoistable platform, survey monitor
Device people shipping platform is communicated with dispatch server by communication module, and mobile terminal is controlled with elevating control unit and fixing device
Unit is communicated respectively；
Described method of work includes：Automatically unloading crusing robot and automatically loading crusing robot；The automatic unloading is patrolled
Inspection robot detailed process be：
(1) set up mobile terminal communication link is set up respectively with crusing robot, elevating control unit and fixing device control unit
Connect；
(2) mobile terminal issues crusing robot unloading order, and fixing device control unit sends unlocking command to fixing device,
When fixing device control unit detects unblock and completes signal, unblock is completed into signal and feeds back to mobile terminal；
(3) mobile terminal issues walking order to crusing robot, and crusing robot is walked Dao elevating mechanism support platform in, and
Detect whether walking in place, if it is, robot stop walking, and feed back in place signal to mobile terminal；
(4) mobile terminal issues hoistable platform decline order to elevating control unit, and elevating control unit detects hoistable platform
When dropping to specified location, feedback in place signal to mobile terminal；
(5) mobile terminal issues travelling control order to crusing robot, and robot moves ahead setpoint distance, it is ensured that leave lifting flat
Platform.
2. a kind of Intelligent Mobile Robot automatic transportation as claimed in claim 1 dispatches the method for work of system, its feature
It is that the detailed process of the automatic loading crusing robot is：
(1) set up mobile terminal communication link is set up respectively with crusing robot, elevating control unit and fixing device control unit
Connect；
(2) mobile terminal issues crusing robot load command, and mobile terminal issues walking order, survey monitor to crusing robot
Device people walks in the support platform of elevating mechanism；
(3) crusing robot detect whether walking in place, if it is, robot stop walking, and feed back in place signal to movement
Terminal；
(4) mobile terminal issues hoistable platform rising order to elevating control unit, and elevating control unit detects hoistable platform
When rising to specified location, feedback in place signal to mobile terminal；
(5) mobile terminal issues walking order to crusing robot, and crusing robot is walked in fixing device, and feedback is believed in place
Number give mobile terminal；
(6) mobile terminal issues locking order to fixing device control unit, and fixing device control unit detects locking and completes
During signal, feedback locking completes signal to mobile terminal；
(7) dispatch server sends dispatch command to Intelligent Mobile Robot shipping platform by communication module, and transformer station patrols
Crusing robot is transported to corresponding transformer station according to dispatch command by inspection robotic conveyance's platform.
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| CN108147234A (en) * | 2017-12-07 | 2018-06-12 | 国网浙江省电力公司紧水滩水力发电厂 | A kind of intelligent elevated system and method with the cooperation of hydroelectric power plant's crusing robot |
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2015
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