CN107478318A - A kind of vibration measuring control method of crusing robot system - Google Patents
A kind of vibration measuring control method of crusing robot system Download PDFInfo
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- CN107478318A CN107478318A CN201710652149.1A CN201710652149A CN107478318A CN 107478318 A CN107478318 A CN 107478318A CN 201710652149 A CN201710652149 A CN 201710652149A CN 107478318 A CN107478318 A CN 107478318A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
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Abstract
The invention discloses a kind of vibration measuring control method of crusing robot system, step 1, robot run to vibration-testing point；Step 2, robot obtain the relevant information of vibration-testing point；Step 3, robot configure its internal part according to relevant information, and step 4 is carried out if configuration is normal, otherwise alarm and perform step 7；Step 4, robot control vibration measuring laser head are focused and add up the frequency of failure, if carrying out step 5 if default failure threshold value inner focusing success, are alarmed if more than default failure threshold value and perform step 7；Step 5, robot gather the image of equipment under test and calculate vibration values, and vibration values and default vibration threshold are contrasted, not alarmed if vibration values are in vibration threshold, are alarmed if vibration values exceed vibration threshold；Step 6, robot are uploaded vibration values and comparing result；Step 7, robot drive towards next test point.Simple and easy and automaticity of the invention is high.
Description
Technical field
The present invention relates to the vibration measuring control of crusing robot system technical field, more particularly to a kind of crusing robot system
Method.
Background technology
With the continuous development of robot industry, the class of security protection inspection in recent years robot is in large-sized workshop, workshop, transformer station
Risen etc. every field.The going out to be now able to of crusing robot system saves substantial amounts of human and material resources and financial resources, especially for height
Endanger for the inspection in place, robot turns into preferred plan due to that manual inspection can be replaced to reduce security risk.
At present, crusing robot system has been able to carry out the work such as all kinds of Meter recognitions, fire prevention early warning, but inspection machine
People's system still can not carry out automatic detecting and vibration measuring to the equipment in large-scale place.
The content of the invention
In order to solve drawbacks described above present in prior art, the present invention proposes a kind of vibration measuring control of crusing robot system
Method processed, the vibration measuring control method is simple and easy, workable, and automaticity is high.
The technical solution adopted by the present invention is to design a kind of vibration measuring control method of crusing robot system, inspection machine
People's system includes：Crusing robot and the background system with crusing robot data interaction, crusing robot include：Walking dress
Put, the head on running gear, the vibration measuring laser head on head and camera device, with background system data interaction
Controller, controller control the running status of running gear, head, vibration measuring laser head and camera device.
Vibration measuring control method comprises the following steps：
Step 1, robot run to vibration-testing point；
The database of step 2, robot retrieval background system, search the equipment letter of the equipment under test positioned at the vibration-testing point
Breath, metrical information and shooting information；
Step 3, robot are according to the default failure threshold value in metrical information Configuration Control Unit and default vibration threshold, according to shooting
The parameter of information configuration head, vibration measuring laser head and camera device, step 4 is carried out if all parts configure normally, otherwise
Damage alert notification attendant is sent, performs step 7；
Step 4, robot control vibration measuring laser head are focused and add up the frequency of failure, if default failure threshold value inner focusing into
Work(then carries out step 5, and false alarm is carried out if more than default failure threshold value, and the image of robot collection vibration-testing point preserves
Into the database of background system, step 7 is performed；
Step 5, accumulative frequency of failure zero, robot gather the image of three differences on equipment under test, and according to three points
Image calculate vibration values of the equipment under test in three X-axis, Y-axis and Z axis directions, robot is by vibration values and default vibration threshold
Value is contrasted, and is not alarmed if vibration values are in vibration threshold, and maintenance alarm is sent if vibration values exceed vibration threshold；
Step 6, robot preserve vibration values and comparing result into the database of background system；
Step 7, robot drive towards next test point.
Wherein, after focusing on failure in step 4, robot is finely adjusted rear refocusing to the incident angle of vibration measuring laser head.
Preferably, controller is connected with manual input device, and presetting failure threshold value manually can change input unit.
Preferably, robot preserves vibration values and comparing result to the database of background system in step 6, backstage
The database of system automatically generates statistical form.
Preferably, step 1 also includes：
Step 1.1, the inspection map according to actual place structure robot, according to the institute being distributed on inspection map and inspection map
There is the inspection route of vibration-testing point planning robot, inspection route is stored in the control of the database and robot of background system
In device；
Step 1.2, manual control machine device people reach a vibration-testing point in inspection route；
Step 1.3, optimal test point position is artificially chosen, and manual control machine device people reaches the position, robot storage is optimal
Test dot position information；
Step 1.4, reflective membrane is artificially pasted on the equipment under test of vibration-testing point, and adjust robot manually to equipment under test
It is focused and IMAQ, robot stores the shooting information of all parts, instrument board institute told from the image of collection
In region, to configure cog region；
Step 1.5, robot preserve optimal test dot position information, shooting information into the database of background system；
Step 1.6, complete if robot to perform step 1.7 if the record of all vibration-testing points in inspection route, do not completed
Then return to step 1.2；
Step 1.7, robot run to the optimal test point position up to first vibration-testing point according to inspection route automatic detecting
Put.
Wherein, most preferably test dot position information is coordinate information when robot stops in step 1.3, is taken the photograph in step 1.4
As information includes：The parameter of head, vibration measuring laser head and camera device.
Compared with prior art, the present invention can realize the vibration measurement of crusing robot device under test, data report,
The functions such as exception error early warning, test process is simple and easy, accurate data and automaticity are high, it is entirely avoided manual inspection
The potential security risk of measurement.
Brief description of the drawings
With reference to embodiment and accompanying drawing, the present invention is described in detail, wherein：
Fig. 1 is the structural representation of crusing robot in the present invention；
Fig. 2 is the schematic flow sheet of vibration measuring control method in the present invention；
Fig. 3 is the schematic flow sheet of vibration-testing point Data Enter in the present invention.
Embodiment
The present invention proposes a kind of vibration measuring control method of crusing robot system, and crusing robot system includes：Inspection
Robot and the background system with crusing robot data interaction.As shown in figure 1, in the present embodiment, crusing robot includes：
Running gear, head 3, vibration measuring laser head 1, camera device 2 and controller, running gear shape by main body and are located at like dolly
Four driving wheels of bottom part body are formed, and head 3 is arranged in the main body of running gear, and vibration measuring laser head 1 and camera device 2 are equal
On head 3, head 3 can adjust direction and angle of inclination of vibration measuring laser head 1 and camera device 2 etc., and controller passes through
Wireless communication networks carry out data interaction with background system, also, running gear, head, vibration measuring laser head and camera device are equal
On the controller, the running status of robot is controlled by controller for connection.
As shown in Fig. 2 vibration measuring control method comprises the following steps.
Step 1, robot run to vibration-testing point, and the mode that robot reaches vibration measuring point can be automatic detecting pattern
（Automatic detecting pattern can be found in hereafter）Or MANUAL CONTROL mode, by mobile phone, tablet personal computer, remote control or computer etc.
External equipment connects on the controller, is run to by external equipment manual control machine device people up to vibration-testing point.
The database of step 2, robot retrieval background system, the equipment for searching the equipment under test positioned at the vibration-testing point
Information, metrical information and shooting information, wherein, facility information includes the sequence number of equipment under test, title etc., and metrical information includes pre-
If failure threshold value and default vibration threshold etc., shooting packet parameter containing head, vibration measuring laser head parameter and camera parameter etc..
Step 3, robot according to the default failure threshold value and default vibration threshold in metrical information Configuration Control Unit, according to
The parameter of information configuration head, vibration measuring laser head and camera device is imaged, step 4 is carried out if all parts configure normally,
Otherwise damage alert notification attendant is sent, performs step 7, why not to be repaired in situ robot is, when reason is inspection
Staff is generally in local remote control farther out, and the place where robot, robot do not pass through wireless network when damaging
Network remote notification attendant, then automatically continue and walked to next vibration-testing point, until destination county stops, waiting to be repaired
Personnel repair.
Step 4, robot control vibration measuring laser head are focused, and step 5 is directly carried out if first time focuses on i.e. success,
If focusing on failure for the first time, carry out repeating focusing and the accumulative frequency of failure, if in default failure threshold value inner focusing success
Step 5 is carried out, if it exceeds default failure threshold value then carries out false alarm, robot is carried out by camera device to field conditions
Take pictures, image record, preserve into the database of background system, perform step 7.
Step 5, accumulative frequency of failure zero, robot gather the figure of three differences on equipment under test by camera device
Picture, these three points can preset or randomly chooses in advance, preset in advance then need it is default into the database of background system in advance can
Three points of most accurate response equipment under test vibration, the degree of accuracy of random point position is high not as preset, and required precision is not high can be with
Carry out random measurement.After having gathered image, robot calculates equipment under test in X-axis, Y-axis and Z axis according to the image of three points
The vibration values in three directions, then vibration values and default vibration threshold are contrasted, do not reported if vibration values are in vibration threshold
It is alert, maintenance alarm is sent if vibration values exceed vibration threshold.
Step 6, robot preserve vibration values and comparing result into the database of background system, and database synchronization is more
Newly, operating personnel can check Various types of data, alarm, form, chart and curve etc. by computer daemon software.
Step 7, robot drive towards next test point.
Wherein, after focusing on failure in step 4, robot is finely adjusted rear refocusing to the incident angle of vibration measuring laser head.
Preferably, controller is connected with manual input device, and presetting failure threshold value can manually input unit setting, modification.
Preferably, before inspection vibration measuring is carried out, robot needs first to detect simultaneously the information of each vibration-testing point
It is entered into the database of background system, after the completion of the equal typing of all vibration-testing points, robot could carry out automatic detecting.
Specifically, as shown in figure 3, step 1 also includes：
Step 1.1, the inspection map according to actual place structure robot, building process include place Scaned map and drafting,
Further according to the inspection route for all vibration-testing point planning robots being distributed on inspection map and inspection map, inspection route can
According to traveling distance it is most short or according to priority facility it is other or other it is regular plan, after being stored in after the completion of inspection route planning
In the database of platform system and the controller of robot.
Step 1.2, manual control machine device people reach a vibration-testing point in inspection route.
Step 1.3, optimal test point position is artificially chosen, and manual control machine device people reaches the position, robot storage
Optimal test dot position information, optimal dot position information of testing is coordinate information when robot stops.
Step 1.4, reflective membrane is artificially pasted on the equipment under test of vibration-testing point, the effect of reflective membrane is to coordinate laser
Head focuses on, and can produce focus signal when the laser beam that laser head is sent reflects from reflective membrane, gather when focusing on successfully
Burnt signal is 0, and the position that laser head need to be corrected when focusing on unsuccessful focuses on again.Robot is adjusted manually after pasting reflective membrane
Equipment under test is focused, IMAQ, configuration cog region, cog region includes instrument disk area, tag recognition region etc., matched somebody with somebody
The effect for putting cog region is to tell the position of robot instrument board, allows the robot to more accurately read the number on instrument board
According to robot stores the shooting information of all parts, and shooting information includes：The parameter of head, vibration measuring laser head and camera device,
Laser Focusing threshold value, camera focus on multiple etc..
Step 1.5, robot preserve optimal test dot position information, shooting information into the database of background system；
Step 1.6, complete if robot to perform step 1.7 if the record of all vibration-testing points in inspection route, do not completed
Then return to step 1.2；
Step 1.7, robot run to the optimal test point position up to first vibration-testing point according to inspection route automatic detecting
Put, be controlled according to above-mentioned vibration measuring control method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (6)
1. a kind of vibration measuring control method of crusing robot system, the crusing robot system include：Crusing robot and with
The background system of the crusing robot data interaction, the crusing robot include：Running gear, located at the running gear
On head, the vibration measuring laser head on the head and camera device, with the controller of the background system data interaction,
The controller controls the running status of the running gear, head, vibration measuring laser head and camera device；Characterized in that, institute
Vibration measuring control method is stated to comprise the following steps：
Step 1, robot run to vibration-testing point；
The database of step 2, robot retrieval background system, search the equipment letter of the equipment under test positioned at the vibration-testing point
Breath, metrical information and shooting information；
Step 3, robot are according to the default failure threshold value in metrical information Configuration Control Unit and default vibration threshold, according to shooting
The parameter of information configuration head, vibration measuring laser head and camera device, step 4 is carried out if all parts configure normally, otherwise
Damage alert notification attendant is sent, performs step 7；
Step 4, robot control vibration measuring laser head are focused and add up the frequency of failure, if default failure threshold value inner focusing into
Work(then carries out step 5, and false alarm is carried out if more than default failure threshold value, and the image of robot collection vibration-testing point preserves
Into the database of background system, step 7 is performed；
Step 5, accumulative frequency of failure zero, robot gather the image of three differences on equipment under test, and according to three points
Image calculate vibration values of the equipment under test in three X-axis, Y-axis and Z axis directions, robot is by vibration values and default vibration threshold
Value is contrasted, and is not alarmed if vibration values are in vibration threshold, and maintenance alarm is sent if vibration values exceed vibration threshold；
Step 6, robot preserve vibration values and comparing result into the database of background system；
Step 7, robot drive towards next test point.
2. vibration measuring control method as claimed in claim 1, it is characterised in that after focusing on failure in the step 4, robot pair
The incident angle of vibration measuring laser head is finely adjusted rear refocusing.
3. vibration measuring control method as claimed in claim 1 or 2, it is characterised in that the controller, which is connected with, is manually entered dress
Put, the default failure threshold value can be changed manually input unit.
4. vibration measuring control method as claimed in claim 1 or 2, it is characterised in that in the step 6 robot by vibration values and
Comparing result is preserved to the database of background system, and the database of background system automatically generates statistical form.
5. vibration measuring control method as claimed in claim 1, it is characterised in that the step 1 also includes：
Step 1.1, the inspection map according to actual place structure robot, according to the institute being distributed on inspection map and inspection map
There is the inspection route of vibration-testing point planning robot, inspection route is stored in the control of the database and robot of background system
In device；
Step 1.2, manual control machine device people reach a vibration-testing point in inspection route；
Step 1.3, optimal test point position is artificially chosen, and manual control machine device people reaches the position, robot storage is optimal
Test dot position information；
Step 1.4, reflective membrane is artificially pasted on the equipment under test of vibration-testing point, and adjust robot manually to equipment under test
It is focused and IMAQ, robot stores the shooting information of all parts, configures cog region；
Step 1.5, robot preserve optimal test dot position information, shooting information into the database of background system；
Step 1.6, complete if robot to perform step 1.7 if the record of all vibration-testing points in inspection route, do not completed
Then return to step 1.2；
Step 1.7, robot run to the optimal test point position up to first vibration-testing point according to inspection route automatic detecting
Put.
6. vibration measuring control method as claimed in claim 5, it is characterised in that optimal test point position letter in the step 1.3
Coordinate information when being stopped for robot is ceased, shooting information includes in the step 1.4：Head, vibration measuring laser head and shooting dress
The parameter put.
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| CN201710652149.1A CN107478318B (en) | 2017-08-02 | 2017-08-02 | A kind of vibration measuring control method of crusing robot system |
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Cited By (6)
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| CN109947107A (en) * | 2019-04-05 | 2019-06-28 | 姜志强 | A kind of intelligent polling method and system of Irrigation Project facility |
| CN110617876A (en) * | 2019-11-01 | 2019-12-27 | 云南电网有限责任公司电力科学研究院 | Abnormal sound positioning method for power equipment |
| CN111279165A (en) * | 2019-03-13 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Method for adjusting cradle head vibration, cradle head and client |
| CN111458012A (en) * | 2020-05-29 | 2020-07-28 | 国网山西省电力公司电力科学研究院 | Non-contact micro-vibration detection device and detection method for electric power equipment |
| CN112207858A (en) * | 2020-09-29 | 2021-01-12 | 北京海益同展信息科技有限公司 | Robot test site and robot test method |
| CN113561177A (en) * | 2021-07-22 | 2021-10-29 | 山东新一代信息产业技术研究院有限公司 | Four-wheel-drive four-rotation robot rotation method, equipment and medium |
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| CN112207858A (en) * | 2020-09-29 | 2021-01-12 | 北京海益同展信息科技有限公司 | Robot test site and robot test method |
| CN113561177A (en) * | 2021-07-22 | 2021-10-29 | 山东新一代信息产业技术研究院有限公司 | Four-wheel-drive four-rotation robot rotation method, equipment and medium |
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