CN111590590B - Transformer substation rail hanging robot collision prevention system and method - Google Patents
Transformer substation rail hanging robot collision prevention system and method Download PDFInfo
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- CN111590590B CN111590590B CN202010500374.5A CN202010500374A CN111590590B CN 111590590 B CN111590590 B CN 111590590B CN 202010500374 A CN202010500374 A CN 202010500374A CN 111590590 B CN111590590 B CN 111590590B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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Abstract
The invention discloses a transformer substation rail-mounted robot anti-collision system and a method, wherein the system comprises: the rail-mounted robot motion control device comprises a rail-mounted robot background host, a rail-mounted robot body host, an ultrasonic distance measuring device and a rail-mounted robot motion control device, wherein the rail-mounted robot background host is in communication connection with the rail-mounted robot body host, the output end of the ultrasonic distance measuring device is connected to the input end of the rail-mounted robot body host, and the rail-mounted robot motion control device is electrically connected with the rail-mounted robot body host. The invention can effectively realize early collision early warning and obstacle avoidance of the rail-mounted robot by utilizing the ultrasonic distance measuring devices arranged in different directions and through a preset graded alarm threshold anti-collision strategy.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a collision-prevention system and method for a rail-mounted robot of a transformer substation.
Background
Indoor places such as substation relay protection rooms, high-voltage rooms and GIS rooms are provided with a lot of equipment, and in order to improve the inspection work efficiency and save space, a rail-mounted robot is required to be used for carrying out equipment inspection business. The transformer substation equipment is numerous, and along with the increase of overhaul of the equipments, transformation work, it is also increasingly complicated to hang the rail robot and patrol the environment. The rail-mounted robot can collide with personnel, equipment or other objects in the inspection process, so that the personnel, the equipment and the rail-mounted robot can be damaged, and therefore the anti-collision method of the inspection robot is very important.
Most of the existing robot collision prevention methods are that an emergency stop button on a robot or a micro switch is triggered to power off after the robot collides with an object so as to force the robot to stop moving. Stopping the robot through the emergency stop button requires manual discovery of danger and manual stopping of the robot, and the robot can collide to cause equipment damage under the condition that no danger is discovered manually; the anti-collision method for triggering the micro switch after the robot collides with an object has poor applicability on the rail hanging robot, the robot cannot be protected in all directions, and certain risks exist when the robot collides with substation equipment.
In the prior art, the invention patent with publication number CN109049006A discloses an anti-collision detection method for a sweeping robot, which includes the following steps, S1: preparing a sweeping robot with MEMS devices (accelerometers and gyroscopes), and jumping to step S2 when the sweeping robot is in a linear motion state and a collision condition occurs; when the sweeping robot is in a bumpy road surface condition, jumping to step S3; when the sweeping robot is in a rotating motion state and is blocked by an obstacle, jumping to step S4; s2: using newton's second law V ═ a × t; the sweeping robot starts to walk at positive acceleration, impacts an object at negative acceleration and moves at a constant speed at an acceleration of 0; when collision happens, the gyroscope is adopted to correct the horizontal acceleration value of the sweeping robot, and according to the technical scheme, the MEMS device is used for carrying out collision detection on the obstacle and then is adjusted, so that collision early warning cannot be carried out. The publication number is: CN104850699B discloses a stamping line transfer robot anti-collision control method, which comprises the following steps: 101, establishing a robot joint axis envelope model and a forging press simplified envelope model based on an AABB bounding box method; 102, projecting the robot joint axis envelope model and the forging press simplified envelope model to three coordinate plane planes respectively; step 103, judging whether the robot collides, specifically comprising: if any projection does not have an overlapping area, judging that the robot does not collide; if there is an overlap region in one projection, it indicates a possible collision, and then further judgment is made by combining the other two projection surfaces. According to the technical scheme, the collision is judged firstly through the projection overlapping area by utilizing the preset model, and the omnibearing early warning and obstacle avoidance actions cannot be carried out.
Therefore, an anti-collision method for the rail-mounted robot with all-around protection and intelligent obstacle avoidance is urgently needed.
Disclosure of Invention
The invention provides a transformer substation rail hanging robot anti-collision system and method, aiming at overcoming the defect that the robot anti-collision in the prior art cannot effectively early warn and avoid obstacles in advance.
The primary objective of the present invention is to solve the above technical problems, and the technical solution of the present invention is as follows:
the invention provides a transformer substation rail hanging robot collision prevention system in a first aspect, which comprises: the rail-mounted robot motion control device comprises a rail-mounted robot background host, a rail-mounted robot body host, an ultrasonic distance measuring device and a rail-mounted robot motion control device, wherein the rail-mounted robot background host is in communication connection with the rail-mounted robot body host, the output end of the ultrasonic distance measuring device is connected to the input end of the rail-mounted robot body host, and the rail-mounted robot motion control device is electrically connected with the rail-mounted robot body host.
In the scheme, the rail-mounted robot background host is used for editing and releasing the inspection tasks, and meanwhile, a track model and an inspection target distribution model of an equipment room where the rail-mounted robot is located are established.
In this scheme, ultrasonic ranging device is including 5, sets up respectively at five different positions of front side, rear side, left side, right side, the bottom side of hanging the rail robot, front side, rear side, left side, right side, bottom side correspond five directions respectively: the front, the rear, the left, the right and the lower parts of the rail hanging inspection robot.
In the scheme, each ultrasonic distance measuring device comprises an ultrasonic receiver and an ultrasonic transmitter.
The invention provides a transformer substation rail hanging robot collision prevention method in a second aspect, which comprises the following steps:
s1: the ultrasonic distance measuring device carries out real-time detection according to a preset direction, and if the distance of an obstacle in the direction measured by the ultrasonic distance measuring device in any one of the front direction, the rear direction, the left direction and the right direction of the rail-mounted robot is larger than a first obstacle alarm value in the direction, the rail-mounted robot continues to run at a constant speed according to a set speed;
s2: when the distance of the obstacle measured by the ultrasonic distance measuring devices in any one of the front direction, the rear direction, the left direction and the right direction is smaller than a first obstacle alarm value, a main machine of the rail-mounted robot body sends a primary obstacle alarm signal, and the rail-mounted robot decelerates to run according to a set speed;
s3: when the distance of the obstacle measured by the ultrasonic distance measuring devices in any one of the front direction, the rear direction, the left direction and the right direction is smaller than a second obstacle alarm value, a secondary obstacle alarm signal is sent out by the main machine of the rail-mounted robot body, and the rail-mounted robot stops running;
s4: the main machine of the rail-mounted robot body sends out an obstacle alarm signal, and meanwhile, the sound-light alarm reminds workers, the main machine of the rail-mounted robot body sends the obstacle alarm signal to a background main machine of the rail-mounted robot, the background main machine of the rail-mounted robot can display an obstacle alarm signal message and send out a sound-light alarm, and meanwhile, a short message is sent to inform operators;
s5: the ultrasonic distance measuring device in each direction detects the distance between the rail-mounted robot and the adjacent obstacles in each corresponding direction in real time and transmits the distance measuring result of the obstacles to the rail-mounted robot main body host, and the rail-mounted robot main body host uploads the distance measuring result of the obstacles to the rail-mounted robot background host;
s6: after the main machine of the rail-mounted robot body sends out a secondary obstacle alarm signal, if the storage duration of the secondary obstacle alarm signal is less than the set time t, wherein t is a positive integer, the rail-mounted robot continues the current task after the secondary obstacle alarm signal disappears; and if the storage duration of the secondary obstacle alarm signal is longer than the set time t, the intelligent planning route of the track-hanging robot background host avoids the obstacle and continues the current residual tasks, and the track-hanging robot cancels the task in-situ standby if the intelligent planning route of the track-hanging robot background host cannot avoid the obstacle.
In the scheme, the method further comprises the step of telescopically adjusting the anti-collision, and the method specifically comprises the following steps:
when the distance of the obstacle measured by the ultrasonic distance measuring device below the rail hanging robot is larger than a third obstacle alarm value below the rail hanging robot, the telescopic joint of the rail hanging robot normally operates;
when the distance of the obstacle measured by the ultrasonic distance measuring device below the rail-hanging robot is smaller than a third obstacle alarm value below the rail-hanging robot, the rail-hanging robot body host sends out an expansion joint obstacle alarm signal, and the expansion joint of the rail-hanging robot stops running;
the main machine of the rail-mounted robot body sends out an expansion joint obstacle alarm signal and simultaneously gives out audible and visual alarm to remind surrounding personnel; the rail-mounted robot body host sends the telescopic joint obstacle alarm signal to the rail-mounted robot background host, the rail-mounted robot background host displays a telescopic joint obstacle alarm signal message and sends out acousto-optic alarm, and meanwhile, a short message is sent to inform operators;
the ultrasonic distance measuring device detects the distance of an obstacle below the rail-mounted robot in real time and transmits the distance measuring result of the obstacle to the rail-mounted robot main body host, and the rail-mounted robot main body host transmits the distance measuring result of the obstacle to the rail-mounted robot background host.
In the scheme, the rail-mounted robot background host receives the distance between each direction of the rail-mounted robot and an adjacent obstacle in real time, and displays the position and the distance of the obstacle in a preset track and equipment model map; and after the background host of the rail-mounted robot receives the alarm signal, displaying the alarm signal and the distance of the obstacle measured by each ultrasonic distance measuring device.
In the scheme, when the background host of the rail-mounted robot crashes or background program communication of the rail-mounted robot is abnormal, the communication between the background host of the rail-mounted robot and the host of the rail-mounted robot body is interrupted, the inspection work is suspended on the host of the rail-mounted robot body, and after the communication is reconnected, the rail-mounted robot transmits the measured distance information of the obstacle to the background host of the rail-mounted robot to continue to execute the unfinished inspection task.
In this scheme, the operator can independently set up the first warning distance threshold and the second warning threshold of every direction at rail robot backstage host computer, and the first warning distance threshold and the second warning threshold of place ahead, rear, left, right-hand, below promptly, in different track regions, the first warning threshold in the same direction can set up to the not equidistance.
In the scheme, after the barrier is manually cleared, the background host of the rail-mounted robot issues a command for continuously executing the uncompleted task.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the invention can effectively realize early collision early warning and obstacle avoidance of the rail-mounted robot by utilizing the ultrasonic distance measuring devices arranged in different directions and through a preset graded alarm threshold anti-collision strategy.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is a flow chart of a transformer substation rail-mounted robot collision prevention method.
Fig. 3 is a flow chart of the rail hanging robot telescopic joint collision prevention in the invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Example 1
As shown in fig. 1, a first aspect of the present invention provides a transformer substation rail-mounted robot collision avoidance system, including: the rail-mounted robot motion control device comprises a rail-mounted robot background host, a rail-mounted robot body host, an ultrasonic distance measuring device and a rail-mounted robot motion control device, wherein the rail-mounted robot background host is in communication connection with the rail-mounted robot body host, the output end of the ultrasonic distance measuring device is connected to the input end of the rail-mounted robot body host, and the rail-mounted robot motion control device is electrically connected with the rail-mounted robot body host. Five different positions in front side, rear side, left side, right side, the bottom of every rail hanging robot all are equipped with ultrasonic ranging device, front side, rear side, left side, right side, bottom side correspond five directions respectively: the front, the rear, the left, the right and the lower parts of the rail hanging inspection robot are respectively provided with an ultrasonic receiver and an ultrasonic transmitter, each ultrasonic transmitter corresponds to one ultrasonic receiver, the signal receiving and transmitting of the ultrasonic ranging device are not overlapped, the signal received by the receiving probe is a pure reflection signal, and the ranging distance is calculated through the time difference of the received signal.
In the scheme, the rail-mounted robot background host is used for editing and releasing the inspection tasks, and meanwhile, a track model and an inspection target distribution model of an equipment room where the rail-mounted robot is located are established.
And the background host of the rail-mounted robot intelligently generates a routing inspection route according to the routing inspection task issued by the operating personnel. After receiving the routing inspection task and the routing inspection route downloaded by the rail-hanging robot background host, the rail-hanging robot body host carries out routing inspection work, starts the anti-collision control method and controls the rail-hanging robot to run at normal speed to go to a routing inspection target.
As shown in fig. 2, a second aspect of the present invention provides a transformer substation rail-mounted robot collision prevention method, including the following steps:
s1: the ultrasonic distance measuring device carries out real-time detection according to a preset direction, and if the distance of an obstacle in the direction measured by the ultrasonic distance measuring device in any one of the front direction, the rear direction, the left direction and the right direction of the rail-mounted robot is larger than a first obstacle alarm value in the direction, the rail-mounted robot continues to run at a constant speed according to a set speed;
s2: when the distance of the obstacle measured by the ultrasonic distance measuring devices in any one of the front direction, the rear direction, the left direction and the right direction is smaller than a first obstacle alarm value, a main machine of the rail-mounted robot body sends a primary obstacle alarm signal, and the rail-mounted robot decelerates to run according to a set speed;
s3: when the distance of the obstacle measured by the ultrasonic distance measuring devices in any one of the front direction, the rear direction, the left direction and the right direction is smaller than a second obstacle alarm value, a secondary obstacle alarm signal is sent out by the main machine of the rail-mounted robot body, and the rail-mounted robot stops running;
s4: the main machine of the rail-mounted robot body sends out an obstacle alarm signal, and meanwhile, the sound-light alarm reminds workers, the main machine of the rail-mounted robot body sends the obstacle alarm signal to a background main machine of the rail-mounted robot, the background main machine of the rail-mounted robot can display an obstacle alarm signal message and send out a sound-light alarm, and meanwhile, a short message is sent to inform operators;
s5: the ultrasonic distance measuring device in each direction detects the distance between the rail-mounted robot and the adjacent obstacles in each corresponding direction in real time and transmits the distance measuring result of the obstacles to the rail-mounted robot main body host, and the rail-mounted robot main body host uploads the distance measuring result of the obstacles to the rail-mounted robot background host;
s6: after the main machine of the rail-mounted robot body sends out a secondary obstacle alarm signal, if the storage duration of the secondary obstacle alarm signal is less than the set time t, wherein t is a positive integer, the rail-mounted robot continues the current task after the secondary obstacle alarm signal disappears; and if the storage duration of the secondary obstacle alarm signal is longer than the set time t, the intelligent planning route of the track-hanging robot background host avoids the obstacle and continues the current residual tasks, and the track-hanging robot cancels the task in-situ standby if the intelligent planning route of the track-hanging robot background host cannot avoid the obstacle.
As shown in fig. 3, in this scheme, the method further includes a step of telescopically adjusting the collision avoidance, specifically:
when the distance of the obstacle measured by the ultrasonic distance measuring device below the rail hanging robot is larger than a third obstacle alarm value below the rail hanging robot, the telescopic joint of the rail hanging robot normally operates;
when the distance of the obstacle measured by the ultrasonic distance measuring device below the rail-hanging robot is smaller than a third obstacle alarm value below the rail-hanging robot, the rail-hanging robot body host sends out an expansion joint obstacle alarm signal, and the expansion joint of the rail-hanging robot stops running;
the main machine of the rail-mounted robot body sends out an expansion joint obstacle alarm signal and simultaneously gives out audible and visual alarm to remind surrounding personnel; the rail-mounted robot body host sends the telescopic joint obstacle alarm signal to the rail-mounted robot background host, the rail-mounted robot background host displays a telescopic joint obstacle alarm signal message and sends out acousto-optic alarm, and meanwhile, a short message is sent to inform operators;
the ultrasonic distance measuring device detects the distance of an obstacle below the rail-mounted robot in real time and transmits the distance measuring result of the obstacle to the rail-mounted robot main body host, and the rail-mounted robot main body host transmits the distance measuring result of the obstacle to the rail-mounted robot background host.
In the scheme, the rail-mounted robot background host receives the distance between each direction of the rail-mounted robot and an adjacent obstacle in real time, and displays the position and the distance of the obstacle in a preset track and equipment model map; and after the background host of the rail-mounted robot receives the alarm signal, displaying the alarm signal and the distance of the obstacle measured by each ultrasonic distance measuring device.
In the scheme, when the background host of the rail-mounted robot crashes or background program communication of the rail-mounted robot is abnormal, the communication between the background host of the rail-mounted robot and the host of the rail-mounted robot body is interrupted, the inspection work is suspended on the host of the rail-mounted robot body, and after the communication is reconnected, the rail-mounted robot transmits obstacle distance information measured by the robot to the background host of the rail-mounted robot to continue to execute unfinished inspection tasks.
In this scheme, the operator can independently set up the first warning distance threshold and the second warning threshold of every direction at rail robot backstage host computer, and the first warning distance threshold and the second warning threshold of place ahead, rear, left, right-hand, below promptly, in different track regions, the first warning threshold in the same direction can set up to the different value. The method for setting the differentiated alarm values in different directions and different areas can meet the requirement of safe operation of the rail-mounted robot in the complex substation environment.
In the scheme, after the barrier is manually cleared, the background host of the rail-mounted robot issues a command for continuously executing the uncompleted task.
The terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (7)
1. The utility model provides a transformer substation hangs rail robot collision avoidance system which characterized in that includes: the rail hanging robot comprises a rail hanging robot background host, a rail hanging robot body host, an ultrasonic distance measuring device and a rail hanging robot motion control device, wherein the rail hanging robot background host is in communication connection with the rail hanging robot body host, the output end of the ultrasonic distance measuring device is connected to the input end of the rail hanging robot body host, and the rail hanging robot motion control device is electrically connected with the rail hanging robot body host; the rail-mounted robot background host is used for editing and releasing the inspection tasks, and meanwhile, a track model and an inspection target distribution model of an equipment room where the rail-mounted robot is located are established;
ultrasonic ranging device is including 5, sets up respectively at five different positions of front side, rear side, left side, right side, the bottom side of hanging rail robot, front side, rear side, left side, right side, bottom side correspond five directions respectively: the front, the rear, the left, the right and the lower parts of the rail hanging inspection robot;
based on transformer substation hang rail robot collision avoidance system, its anticollision process as follows:
s1: the ultrasonic distance measuring device carries out real-time detection according to a preset direction, and if the distance of an obstacle in the direction measured by the ultrasonic distance measuring device in any one of the front direction, the rear direction, the left direction and the right direction of the rail-mounted robot is larger than a first obstacle alarm value in the direction, the rail-mounted robot continues to run at a constant speed according to a set speed;
s2: when the distance of the obstacle measured by the ultrasonic distance measuring devices in any one of the front direction, the rear direction, the left direction and the right direction is smaller than a first obstacle alarm value, a main machine of the rail-mounted robot body sends a primary obstacle alarm signal, and the rail-mounted robot decelerates to run according to a set speed;
s3: when the distance of the obstacle measured by the ultrasonic distance measuring devices in any one of the front direction, the rear direction, the left direction and the right direction is smaller than a second obstacle alarm value, a secondary obstacle alarm signal is sent out by the main machine of the rail-mounted robot body, and the rail-mounted robot stops running;
s4: the main machine of the rail-mounted robot body sends out an obstacle alarm signal, and meanwhile, the sound-light alarm reminds workers, the main machine of the rail-mounted robot body sends the obstacle alarm signal to a background main machine of the rail-mounted robot, the background main machine of the rail-mounted robot can display an obstacle alarm signal message and send out a sound-light alarm, and meanwhile, a short message is sent to inform operators;
s5: the ultrasonic distance measuring device in each direction detects the distance between the rail-mounted robot and the adjacent obstacles in each corresponding direction in real time and transmits the distance measuring result of the obstacles to the rail-mounted robot main body host, and the rail-mounted robot main body host uploads the distance measuring result of the obstacles to the rail-mounted robot background host;
s6: after the main machine of the rail-mounted robot body sends out a secondary obstacle alarm signal, if the storage duration of the secondary obstacle alarm signal is less than the set time t, wherein t is a positive integer, the rail-mounted robot continues the current task after the secondary obstacle alarm signal disappears; if the storage duration of the secondary obstacle alarm signal is longer than the set time t, the intelligent planning route of the track-hanging robot background host avoids the obstacle and continues to continue the current residual tasks, and the track-hanging robot cancels the task in-situ standby if the intelligent planning route of the track-hanging robot background host cannot avoid the obstacle;
still include flexible anticollision step of adjusting, specifically do:
when the distance of the obstacle measured by the ultrasonic distance measuring device below the rail hanging robot is larger than a third obstacle alarm value below the rail hanging robot, the telescopic joint of the rail hanging robot normally operates;
when the distance of the obstacle measured by the ultrasonic distance measuring device below the rail-hanging robot is smaller than a third obstacle alarm value below the rail-hanging robot, the rail-hanging robot body host sends out an expansion joint obstacle alarm signal, and the expansion joint of the rail-hanging robot stops running;
the main machine of the rail-mounted robot body sends out an expansion joint obstacle alarm signal and simultaneously gives out audible and visual alarm to remind surrounding personnel; the rail-mounted robot body host sends the telescopic joint obstacle alarm signal to the rail-mounted robot background host, the rail-mounted robot background host displays a telescopic joint obstacle alarm signal message and sends out acousto-optic alarm, and meanwhile, a short message is sent to inform operators;
the ultrasonic distance measuring device detects the distance of an obstacle below the rail-mounted robot in real time and transmits the distance measuring result of the obstacle to the rail-mounted robot main body host, and the rail-mounted robot main body host transmits the distance measuring result of the obstacle to the rail-mounted robot background host.
2. A substation rail-mounted robot collision avoidance system according to claim 1, wherein each ultrasonic ranging device comprises an ultrasonic receiver and an ultrasonic transmitter.
3. A transformer substation rail hanging robot collision prevention method is characterized by comprising the following steps:
s1: the ultrasonic distance measuring device carries out real-time detection according to a preset direction, and if the distance of an obstacle in the direction measured by the ultrasonic distance measuring device in any one of the front direction, the rear direction, the left direction and the right direction of the rail-mounted robot is larger than a first obstacle alarm value in the direction, the rail-mounted robot continues to run at a constant speed according to a set speed;
s2: when the distance of the obstacle measured by the ultrasonic distance measuring devices in any one of the front direction, the rear direction, the left direction and the right direction is smaller than a first obstacle alarm value, a main machine of the rail-mounted robot body sends a primary obstacle alarm signal, and the rail-mounted robot decelerates to run according to a set speed;
s3: when the distance of the obstacle measured by the ultrasonic distance measuring devices in any one of the front direction, the rear direction, the left direction and the right direction is smaller than a second obstacle alarm value, a secondary obstacle alarm signal is sent out by the main machine of the rail-mounted robot body, and the rail-mounted robot stops running;
s4: the main machine of the rail-mounted robot body sends out an obstacle alarm signal, and meanwhile, the sound-light alarm reminds workers, the main machine of the rail-mounted robot body sends the obstacle alarm signal to a background main machine of the rail-mounted robot, the background main machine of the rail-mounted robot can display an obstacle alarm signal message and send out a sound-light alarm, and meanwhile, a short message is sent to inform operators;
s5: the ultrasonic distance measuring device in each direction detects the distance between the rail-mounted robot and the adjacent obstacles in each corresponding direction in real time and transmits the distance measuring result of the obstacles to the rail-mounted robot main body host, and the rail-mounted robot main body host uploads the distance measuring result of the obstacles to the rail-mounted robot background host;
s6: after the main machine of the rail-mounted robot body sends out a secondary obstacle alarm signal, if the storage duration of the secondary obstacle alarm signal is less than the set time t, wherein t is a positive integer, the rail-mounted robot continues the current task after the secondary obstacle alarm signal disappears; if the storage duration of the secondary obstacle alarm signal is longer than the set time t, the intelligent planning route of the track-hanging robot background host avoids the obstacle and continues to continue the current residual tasks, and the track-hanging robot cancels the task in-situ standby if the intelligent planning route of the track-hanging robot background host cannot avoid the obstacle;
the method also comprises a telescopic adjustment anti-collision step, which specifically comprises the following steps:
when the distance of the obstacle measured by the ultrasonic distance measuring device below the rail hanging robot is larger than a third obstacle alarm value below the rail hanging robot, the telescopic joint of the rail hanging robot normally operates;
when the distance of the obstacle measured by the ultrasonic distance measuring device below the rail-hanging robot is smaller than a third obstacle alarm value below the rail-hanging robot, the rail-hanging robot body host sends out an expansion joint obstacle alarm signal, and the expansion joint of the rail-hanging robot stops running;
the main machine of the rail-mounted robot body sends out an expansion joint obstacle alarm signal and simultaneously gives out audible and visual alarm to remind surrounding personnel; the rail-mounted robot body host sends the telescopic joint obstacle alarm signal to the rail-mounted robot background host, the rail-mounted robot background host displays a telescopic joint obstacle alarm signal message and sends out acousto-optic alarm, and meanwhile, a short message is sent to inform operators;
the ultrasonic distance measuring device detects the distance of an obstacle below the rail-mounted robot in real time and transmits the distance measuring result of the obstacle to the rail-mounted robot main body host, and the rail-mounted robot main body host transmits the distance measuring result of the obstacle to the rail-mounted robot background host.
4. The transformer substation rail-mounted robot collision prevention method according to claim 3, characterized in that a rail-mounted robot background host receives distances between each direction of a rail-mounted robot and adjacent obstacles in real time, and displays the positions and distances of the obstacles in a preset track and equipment model map; and after the background host of the rail-mounted robot receives the alarm signal, displaying the alarm signal and the distance of the obstacle measured by each ultrasonic distance measuring device.
5. The transformer substation rail-mounted robot collision prevention method according to claim 3, characterized in that when a rail-mounted robot background host is halted or rail-mounted robot background program communication is abnormal, the rail-mounted robot background host is interrupted in communication with the rail-mounted robot body host, inspection work is suspended by the rail-mounted robot body host, and after communication is reconnected, the rail-mounted robot transmits the measured obstacle distance information to the rail-mounted robot background host to continue to execute unfinished inspection tasks.
6. The transformer substation rail-mounted robot collision prevention method according to claim 3, wherein an operator can autonomously set a first alarm distance threshold and a second alarm threshold in each direction at a rail-mounted robot background host, namely, the first alarm distance threshold and the second alarm threshold in front, rear, left, right and below, and the first alarm threshold in the same direction can be set to different values in different track areas.
7. The transformer substation rail-mounted robot collision prevention method according to claim 3, wherein after the obstacle is manually cleared, the rail-mounted robot background host issues a command to continue executing uncompleted tasks.
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| JP2004326264A (en) * | 2003-04-22 | 2004-11-18 | Matsushita Electric Works Ltd | Obstacle detecting device and autonomous mobile robot using the same and obstacle detecting method and obstacle detecting program |
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| CN106324619A (en) * | 2016-10-28 | 2017-01-11 | 武汉大学 | Automatic obstacle avoiding method of substation inspection robot |
| CN108415417A (en) * | 2018-01-19 | 2018-08-17 | 华南理工大学 | A kind of robot obstacle-avoiding system and method based on the prediction of barrier motion state |
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