CN108827277A - A kind of tunnel robot automatic station-keeping system and its localization method - Google Patents
A kind of tunnel robot automatic station-keeping system and its localization method Download PDFInfo
- Publication number
- CN108827277A CN108827277A CN201810805223.3A CN201810805223A CN108827277A CN 108827277 A CN108827277 A CN 108827277A CN 201810805223 A CN201810805223 A CN 201810805223A CN 108827277 A CN108827277 A CN 108827277A
- Authority
- CN
- China
- Prior art keywords
- cloud server
- tunnel
- wireless communication
- server system
- visible light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of tunnel robot automatic station-keeping system and its localization methods, including Bluetooth transmission device, bluetooth reception device, it can be seen that electro-optical device, cloud server system and wireless communication system, it can be seen that electro-optical device is connect by Bluetooth transmission device and bluetooth reception device with tunnel robot, cloud server system by wireless communication system respectively with tunnel robot, Bluetooth transmission device, bluetooth reception device, it can be seen that electro-optical device connects, cloud server system by wireless communication system control tunnel robot movement, system changes Bluetooth transmission device to cloud server system by wireless communication, the working condition of bluetooth reception device, system changes the working condition of visible electro-optical device to cloud server system by wireless communication.A variety of disadvantages such as the location systems art principle that the present invention can solve current tunnel robot is complicated, the degree of automation is low, the device of needs is various, effectively realize the accurate automatic positioning of tunnel robot.
Description
Technical field
The present invention relates to the technical fields of image recognition, refer in particular to a kind of tunnel robot automatic station-keeping system and its determine
Position method.
Background technique
It is increasing the Research intensity for robot industry always in the world, is carrying out the systematic research of robot general character, and
Develop towards intelligent and diversified direction.Currently, the country has had already appeared cable tunnel inspection robot, it to be used for cable tunnel
Line walking.
When robot carries out the work such as line walking in tunnel, needs to be implemented and reach designated position investigation failure, reach specific bit
It sets and carries out the function such as charge, need to configure a set of full automatic Precise Position System for it at this time.
The positioning system principle of tunnel robot in developing at present is complicated, and the degree of automation is low, and the device needed is various,
Interference easily is generated to cable communication, consumption electric energy is more, and operation is affected by environment big, is not suitable for the severe, complicated of cable tunnel
Environment.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose a kind of tunnel robot automatic station-keeping system and
Its localization method can solve the device that the location systems art principle complexity of current tunnel robot, the degree of automation is low, needs
A variety of disadvantages such as various effectively realize the accurate automatic positioning of tunnel robot.
To achieve the above object, technical solution provided by the present invention is as follows：
A kind of tunnel robot automatic station-keeping system, including Bluetooth transmission device, bluetooth reception device, visible electro-optical device,
Cloud server system and wireless communication system, the visible electro-optical device passes through the Bluetooth transmission device to match and bluetooth receives
Device is connect with tunnel robot, and the cloud server system by wireless communication send out with tunnel robot, bluetooth respectively by system
Injection device, bluetooth reception device, the connection of visible electro-optical device, system controls tunnel machine to the cloud server system by wireless communication
The movement of device people, the cloud server system by wireless communication system change Bluetooth transmission device, bluetooth reception device work
Make state, system changes the working condition of visible electro-optical device to the cloud server system by wireless communication；The Bluetooth transmission
Device is installed in tunnel robot, is powered by the built-in power of tunnel robot；The visible electro-optical device includes visible
Optical transmitter module and visible optical receiver module, the VISIBLE LIGHT EMISSION module are mounted on the tunnel top of designated position, it is described can
Light-exposed receiving module is mounted on the tunnel bottom of designated position, and the position of the VISIBLE LIGHT EMISSION module and visible optical receiver module
Set corresponding, the visible light of VISIBLE LIGHT EMISSION module transmitting space of passing through tunnel is received by visible optical receiver module.
The localization method of tunnel robot automatic station-keeping system, concrete condition are as follows：
The tunnel robot is moved according to cloud server system specified path, executes corresponding function, at this time bluetooth
Emitter, bluetooth reception device, visible electro-optical device do not open；
When tunnel, robot needs to reach designated position execution preset function, cloud server system is by wireless communication
System is communicated with the visible electro-optical device in designated position, controls the work of its VISIBLE LIGHT EMISSION module, it is seen that optical transmitter module hair
Visible light is penetrated, the visible light is stopped without object at this time, it is seen that optical receiver module can receive visible light, at this time tunnel
Pipeline robot opens its photographic device, and by captured image, system is sent to cloud server system, cloud clothes by wireless communication
Business device system is handled the image received by image processing techniques, is analyzed and be whether there is visible light, tunnel machine in image
Device people continues to move；
When occurring visible light in image, illustrate that tunnel robot is closer apart from designated position, at this time cloud server system
System is communicated with Bluetooth transmission device, bluetooth reception device by wireless communication, and the two is opened, Bluetooth transmission device with
Bluetooth reception device begins trying to match, and when the mutual successful matching of the two, illustrates that tunnel robot has arrived at designated position
Near, system control tunnel robot slows down cloud server system by wireless communication；When tunnel robot reaches visible light dress
When setting place, object stops visible light, it is seen that optical receiver module can not receive visible light, it is seen that electro-optical device passes through wireless
Communication system is communicated with cloud server system, and cloud server system stops tunnel robot, to realize tunnel machine
The accurate positioning of people.
Compared with prior art, the present invention having the following advantages that and beneficial effect：
Present system structure is simple, high degree of automation, and the flexible and accurate control for tunnel robot may be implemented
System reduces the spent energy cost of tunnel robot automatic positioning, excludes convenient for tunnel robot realization position determination of fault, is fixed
A series of functions such as point charging, realize energy-saving and emission-reduction, have sustainability and generalization.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of present system.
Specific embodiment
The present invention is further explained in the light of specific embodiments.
As shown in Figure 1, robot automatic station-keeping system in tunnel provided by the present embodiment, including Bluetooth transmission device 2, indigo plant
Tooth reception device 3, visible electro-optical device 4, cloud server system 5 and wireless communication system 6, the visible electro-optical device 4 pass through phase
Matched Bluetooth transmission device 2 and bluetooth reception device 3 are connect with tunnel robot 1, and the cloud server system 5 passes through wireless
Communication system 6 is connect with tunnel robot 1, Bluetooth transmission device 2, bluetooth reception device 3, visible electro-optical device 4 respectively, the cloud
System 6 controls the movement of tunnel robot 1 to server system 5 by wireless communication, and the cloud server system 5 passes through channel radio
Letter system 6 changes the working condition of Bluetooth transmission device 2, bluetooth reception device 3, and the cloud server system 5 passes through channel radio
Letter system 6 changes the working condition of visible electro-optical device 4；The Bluetooth transmission device 2 is installed in tunnel robot 1, by tunnel
The built-in power of robot 1 is powered；The visible electro-optical device 4 includes VISIBLE LIGHT EMISSION module and visible optical receiver module,
The VISIBLE LIGHT EMISSION module is mounted on the tunnel top of designated position, and the visible optical receiver module is mounted on designated position
Tunnel bottom, and the position of the VISIBLE LIGHT EMISSION module and visible optical receiver module is corresponding, the VISIBLE LIGHT EMISSION module
The visible light of transmitting space of passing through tunnel is received by visible optical receiver module.
The following are the localization method of the above-mentioned tunnel robot automatic station-keeping system of the present embodiment, concrete condition is as follows：
The tunnel robot 1 can be moved according to cloud server system specified path, execute corresponding function, at this time
Bluetooth transmission device 2, bluetooth reception device 3, visible electro-optical device 4 do not open.
When tunnel, robot needs to reach designated position execution preset function, cloud server system 5 is by wireless communication
System 6 is communicated with the visible electro-optical device 4 in designated position, controls the work of its VISIBLE LIGHT EMISSION module, it is seen that light emitting mould
Block emits visible light, stops at this time without object to the visible light, it is seen that and optical receiver module can receive visible light, this
When tunnel robot 1 open its photographic device, by captured image, system 6 is sent to cloud server system by wireless communication
5, cloud server system 5 is handled the image received by image processing techniques, is analyzed and be whether there is visible light in image,
Tunnel robot 1 continues to move.
When occurring visible light in image, illustrate that tunnel robot 1 is closer apart from designated position, at this time cloud server system
5 by wireless communication system 6 communicated with Bluetooth transmission device 2, bluetooth reception device 3, the two is opened, Bluetooth transmission dress
It sets 2 to begin trying to match with bluetooth reception device 3, when the mutual successful matching of the two, illustrates that tunnel robot 1 has arrived at finger
Near positioning is set, system 6 controls the deceleration of tunnel robot 1 to cloud server system 5 by wireless communication；When tunnel robot 1 arrives
When at up to visible electro-optical device 4, object stops visible light, it is seen that optical receiver module can not receive visible light, it is seen that light
System 6 is communicated device 4 with cloud server system 5 by wireless communication, and cloud server system 5 stops tunnel robot 1,
To realize the accurate positioning of tunnel robot 1.
Embodiment described above is only the preferred embodiments of the invention, and but not intended to limit the scope of the present invention, therefore
All shapes according to the present invention change made by principle, should all be included within the scope of protection of the present invention.
Claims (2)
1. a kind of tunnel robot automatic station-keeping system, it is characterised in that：Including Bluetooth transmission device, bluetooth reception device, can
Light-exposed device, cloud server system and wireless communication system, the visible electro-optical device pass through the Bluetooth transmission device to match
Connect with bluetooth reception device with tunnel robot, the cloud server system by wireless communication system respectively with tunnel machine
People, Bluetooth transmission device, bluetooth reception device, the connection of visible electro-optical device, cloud server system system by wireless communication
The movement of tunnel robot is controlled, system changes Bluetooth transmission device to the cloud server system by wireless communication, bluetooth connects
The working condition of receiving apparatus, system changes the working condition of visible electro-optical device to the cloud server system by wireless communication；Institute
It states Bluetooth transmission device to be installed in tunnel robot, be powered by the built-in power of tunnel robot；The visible light dress
It sets including VISIBLE LIGHT EMISSION module and visible optical receiver module, the VISIBLE LIGHT EMISSION module is mounted on the tunnel top of designated position
On, the visible optical receiver module is mounted on the tunnel bottom of designated position, and the VISIBLE LIGHT EMISSION module and visible light connect
The position for receiving module is corresponding, and the visible light of the VISIBLE LIGHT EMISSION module transmitting passes through tunnel space by visible optical receiver module
It receives.
2. a kind of localization method of tunnel robot described in claim 1 automatic station-keeping system, it is characterised in that：The tunnel
Robot is moved according to cloud server system specified path, executes corresponding function, and Bluetooth transmission device, bluetooth receive at this time
Device, visible electro-optical device do not open；
When tunnel robot need to reach designated position execute preset function when, cloud server system by wireless communication system with
Visible electro-optical device in designated position is communicated, and the work of its VISIBLE LIGHT EMISSION module is controlled, it is seen that optical transmitter module transmitting can
It is light-exposed, the visible light is stopped without object at this time, it is seen that optical receiver module can receive visible light, at this time tunnel machine
Device people opens its photographic device, and by captured image, system is sent to cloud server system, Cloud Server by wireless communication
System is handled the image received by image processing techniques, is analyzed and be whether there is visible light, tunnel robot in image
Continue to move；
When occurring visible light in image, illustrate that tunnel robot is closer apart from designated position, cloud server system passes through at this time
Wireless communication system is communicated with Bluetooth transmission device, bluetooth reception device, and the two is opened, Bluetooth transmission device and bluetooth
Reception device begins trying to match, and when the mutual successful matching of the two, illustrates that tunnel robot has arrived near designated position,
System control tunnel robot slows down cloud server system by wireless communication；When tunnel robot reaches at visible electro-optical device
When, object stops visible light, it is seen that optical receiver module can not receive visible light, it is seen that electro-optical device is by wireless communication
System is communicated with cloud server system, and cloud server system stops tunnel robot, to realize tunnel robot
It is accurately positioned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810805223.3A CN108827277B (en) | 2018-07-18 | 2018-07-18 | Automatic positioning system and positioning method for tunnel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810805223.3A CN108827277B (en) | 2018-07-18 | 2018-07-18 | Automatic positioning system and positioning method for tunnel robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108827277A true CN108827277A (en) | 2018-11-16 |
| CN108827277B CN108827277B (en) | 2020-06-19 |
Family
ID=64139739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810805223.3A Active CN108827277B (en) | 2018-07-18 | 2018-07-18 | Automatic positioning system and positioning method for tunnel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108827277B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100811885B1 (en) * | 2006-09-11 | 2008-03-10 | 한국전자통신연구원 | Position confirmation apparatus and method for mobile robot |
| CN104122890A (en) * | 2013-04-24 | 2014-10-29 | 山东轻工业学院 | City underground railway inspection robot system and detection method |
| CN105500406A (en) * | 2015-12-25 | 2016-04-20 | 山东建筑大学 | Transformer substation switch box operation mobile robot, working method and system |
| CN106444752A (en) * | 2016-07-04 | 2017-02-22 | 深圳市踏路科技有限公司 | Robot intelligent follow-up system and intelligent follow-up method based on wireless location |
| CN107518830A (en) * | 2016-06-15 | 2017-12-29 | 美国iRobot公司 | The system and method for controlling autonomous mobile robot |
| CN108168553A (en) * | 2017-11-10 | 2018-06-15 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of robot indoor visible light positioning navigation method and device based on ROS systems |
-
2018
- 2018-07-18 CN CN201810805223.3A patent/CN108827277B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100811885B1 (en) * | 2006-09-11 | 2008-03-10 | 한국전자통신연구원 | Position confirmation apparatus and method for mobile robot |
| CN104122890A (en) * | 2013-04-24 | 2014-10-29 | 山东轻工业学院 | City underground railway inspection robot system and detection method |
| CN105500406A (en) * | 2015-12-25 | 2016-04-20 | 山东建筑大学 | Transformer substation switch box operation mobile robot, working method and system |
| CN107518830A (en) * | 2016-06-15 | 2017-12-29 | 美国iRobot公司 | The system and method for controlling autonomous mobile robot |
| CN106444752A (en) * | 2016-07-04 | 2017-02-22 | 深圳市踏路科技有限公司 | Robot intelligent follow-up system and intelligent follow-up method based on wireless location |
| CN108168553A (en) * | 2017-11-10 | 2018-06-15 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of robot indoor visible light positioning navigation method and device based on ROS systems |
Non-Patent Citations (1)
| Title |
|---|
| 邓方远，: ""隧道巡检机器人关键技术研究"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108827277B (en) | 2020-06-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102212838B1 (en) | Three-way communication system comprising end device, edge server controlling end device and cloud server, and operating method of the same | |
| CN107491913A (en) | A kind of express system, Intelligent stop machine platform and express box using unmanned plane | |
| CN102157040A (en) | Communication device and method thereof of non-contact mobile payment apparatus | |
| CN206411519U (en) | A kind of UAS of video control landing | |
| CN201773183U (en) | Portable radio direction finding device | |
| CN105375574A (en) | Charging system and charging method | |
| CN105234951A (en) | Intelligent guiding type mechanical arm vision system and work method thereof | |
| CN105676848A (en) | Robot autonomous navigation method based on ROS operating system | |
| CN101955093A (en) | Operation and control system of multi-base-station wireless remote elevator calling and control method | |
| CN110033764A (en) | Sound control method, device, system and the readable storage medium storing program for executing of unmanned plane | |
| CN106535103B (en) | A kind of UAV Intelligent data transfer mode based on bluetooth communication | |
| CN108827277A (en) | A kind of tunnel robot automatic station-keeping system and its localization method | |
| RU154324U1 (en) | DEVICE FOR POSITION AND CONTROL OF MOVEMENT OF MOBILE TECHNOLOGICAL MACHINES AND ROBOTS | |
| CN109799812A (en) | AGV onboard system and control method, more vehicles scheduling system and control method | |
| CN108168553B (en) | ROS system-based robot indoor visible light positioning navigation method and device | |
| CN110989382A (en) | Multifunctional cloud service home robot | |
| CN208202940U (en) | The laser ranging formula foot of boot door kicks induction opener | |
| CN207502718U (en) | A kind of laser orientation system | |
| CN202548320U (en) | Accurate positioning navigation system of autonomous mobile equipment | |
| CN107089483A (en) | intelligent feeding system and intelligent charging method | |
| CN204926455U (en) | Car is surveyed to intelligence | |
| CN101625554B (en) | Wireless communication control system of coorbital and synchronized simulated motion platform of spacecraft | |
| CN210515035U (en) | Vehicle-mounted mobile terminal based on star-shaped topological structure | |
| CN107093248A (en) | A kind of non-two-dimensional code scanning Intelligent lock device based on 3G mobile communication technologies | |
| CN203117786U (en) | Mountain agricultural robot remote wireless touch screen control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |