CN111638714B - 用于防止轨道巡检机器人跌落的方法和装置 - Google Patents
用于防止轨道巡检机器人跌落的方法和装置 Download PDFInfo
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- CN111638714B CN111638714B CN202010468708.5A CN202010468708A CN111638714B CN 111638714 B CN111638714 B CN 111638714B CN 202010468708 A CN202010468708 A CN 202010468708A CN 111638714 B CN111638714 B CN 111638714B
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- 238000007689 inspection Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000005259 measurement Methods 0.000 claims abstract description 23
- 230000003287 optical effect Effects 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000005856 abnormality Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000000644 propagated effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
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CN202010468708.5A CN111638714B (zh) | 2020-05-28 | 2020-05-28 | 用于防止轨道巡检机器人跌落的方法和装置 |
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CN202010468708.5A CN111638714B (zh) | 2020-05-28 | 2020-05-28 | 用于防止轨道巡检机器人跌落的方法和装置 |
Publications (2)
Publication Number | Publication Date |
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CN111638714A CN111638714A (zh) | 2020-09-08 |
CN111638714B true CN111638714B (zh) | 2023-12-05 |
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CN202010468708.5A Active CN111638714B (zh) | 2020-05-28 | 2020-05-28 | 用于防止轨道巡检机器人跌落的方法和装置 |
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JPH11101613A (ja) * | 1997-09-26 | 1999-04-13 | Tokimec Inc | 軌道検査装置 |
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WO2013133779A2 (en) * | 2012-03-07 | 2013-09-12 | Robat Kontrol Otomasyon Ar Ge Ve Yazilim | Catenary measurement robot and method |
JP2016070665A (ja) * | 2014-09-26 | 2016-05-09 | Idec株式会社 | 移動体、計測装置及び計測方法 |
CN105573321A (zh) * | 2016-01-05 | 2016-05-11 | 国家电网公司 | 一种基于激光轨道的变电站巡检机器人导航方法 |
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CN206527746U (zh) * | 2016-11-21 | 2017-09-29 | 深圳供电局有限公司 | 挂轨巡检机器人 |
CN109108992A (zh) * | 2018-08-22 | 2019-01-01 | 浙江国自机器人技术有限公司 | 一种应用在管廊内的巡检机器人巡检轨道和管廊控制*** |
CN109435986A (zh) * | 2018-12-11 | 2019-03-08 | 胡军 | 一种移动清除铁路接触网异物的装置 |
CN109571417A (zh) * | 2019-01-14 | 2019-04-05 | 中信重工开诚智能装备有限公司 | 一种用于变化轨道的轨道机器人行走机构 |
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CN110162030A (zh) * | 2018-02-12 | 2019-08-23 | 北京欣奕华科技有限公司 | 一种移动机器人及其障碍物检测方法 |
CN110193837A (zh) * | 2019-05-24 | 2019-09-03 | 北京海益同展信息科技有限公司 | 轨道巡检机器人 |
CN110481601A (zh) * | 2019-09-04 | 2019-11-22 | 深圳市镭神智能***有限公司 | 一种轨道检测*** |
CN110977929A (zh) * | 2019-12-23 | 2020-04-10 | 北京海益同展信息科技有限公司 | 运动设备、定位方法、轨道装置和运动*** |
JP2020068897A (ja) * | 2018-10-29 | 2020-05-07 | 大成建設株式会社 | 清掃ロボット |
CN111122791A (zh) * | 2020-01-02 | 2020-05-08 | 北京海益同展信息科技有限公司 | 气体浓度检测设备、***和方法 |
Family Cites Families (1)
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KR102286005B1 (ko) * | 2016-12-28 | 2021-08-04 | 한화디펜스 주식회사 | 주행 제어 시스템 및 주행 제어 방법 |
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2020
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JPH11101613A (ja) * | 1997-09-26 | 1999-04-13 | Tokimec Inc | 軌道検査装置 |
CN101357642A (zh) * | 2008-09-03 | 2009-02-04 | 中国科学院上海技术物理研究所 | 高速铁路车载自动避障***及避障方法 |
WO2013133779A2 (en) * | 2012-03-07 | 2013-09-12 | Robat Kontrol Otomasyon Ar Ge Ve Yazilim | Catenary measurement robot and method |
JP2016070665A (ja) * | 2014-09-26 | 2016-05-09 | Idec株式会社 | 移動体、計測装置及び計測方法 |
CN105573321A (zh) * | 2016-01-05 | 2016-05-11 | 国家电网公司 | 一种基于激光轨道的变电站巡检机器人导航方法 |
CN106980315A (zh) * | 2016-01-15 | 2017-07-25 | 深圳市朗驰欣创科技股份有限公司 | 一种自动导引车的巡航报警方法及*** |
CN206527746U (zh) * | 2016-11-21 | 2017-09-29 | 深圳供电局有限公司 | 挂轨巡检机器人 |
CN107065028A (zh) * | 2017-04-21 | 2017-08-18 | 中国科学院半导体研究所 | 铁道线路障碍物自动监测识别方法 |
CN110162030A (zh) * | 2018-02-12 | 2019-08-23 | 北京欣奕华科技有限公司 | 一种移动机器人及其障碍物检测方法 |
CN109108992A (zh) * | 2018-08-22 | 2019-01-01 | 浙江国自机器人技术有限公司 | 一种应用在管廊内的巡检机器人巡检轨道和管廊控制*** |
JP2020068897A (ja) * | 2018-10-29 | 2020-05-07 | 大成建設株式会社 | 清掃ロボット |
CN109435986A (zh) * | 2018-12-11 | 2019-03-08 | 胡军 | 一种移动清除铁路接触网异物的装置 |
CN109571417A (zh) * | 2019-01-14 | 2019-04-05 | 中信重工开诚智能装备有限公司 | 一种用于变化轨道的轨道机器人行走机构 |
CN109765900A (zh) * | 2019-02-15 | 2019-05-17 | 浙江大华技术股份有限公司 | 一种行进控制方法、装置、机器人及存储介质 |
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CN110481601A (zh) * | 2019-09-04 | 2019-11-22 | 深圳市镭神智能***有限公司 | 一种轨道检测*** |
CN110977929A (zh) * | 2019-12-23 | 2020-04-10 | 北京海益同展信息科技有限公司 | 运动设备、定位方法、轨道装置和运动*** |
CN111122791A (zh) * | 2020-01-02 | 2020-05-08 | 北京海益同展信息科技有限公司 | 气体浓度检测设备、***和方法 |
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