CN104881027A - Autonomic barrier-crossing system for wheel-track transformer station inspection robot and control method thereof - Google Patents

Abstract

The invention discloses an autonomous obstacle surmounting system and a control method for a wheel-track compound type substation inspection robot. The arm unit and the driving motor unit, the crawler walking unit includes left and right walking crawlers, the left and right walking crawlers are fixed on both sides of the control box, and the left and right walking crawlers are respectively connected to a driving motor. The arm unit is connected to the arm drive motor, and the left and right traveling wheels are respectively fixed on both sides of the control box. The control system includes an industrial computer and a sensor group connected to it. The industrial computer is connected to multiple motor drivers, and each motor driver is connected to the corresponding drive motor. The invention can automatically switch the wheel type or the crawler walking mode according to the needs, and satisfies the needs of patrol inspection under different road conditions of the substation.

Description

Wheel-track composite substation inspection robot autonomous obstacle-surpassing system and control method

technical field

The invention relates to an autonomous obstacle surmounting system and a control method for a wheel-track compound substation inspection robot.

Background technique

In recent years, with the development of science and technology, the use of substation inspection robots to automatically complete substation daily equipment inspections, infrared temperature measurement, and equipment status inspections has become an important auxiliary means for substation equipment inspections. However, the current substation inspection robot has the following problems:

1. Substation inspection robots mainly conduct inspections in road areas, and it is difficult to conduct all-round inspections of equipment in substations;

2. In a general substation, the equipment area and the road are usually not on the same level, and the equipment area is usually an unstructured road surface, such as grass, gravel road, etc. If the robot enters the equipment area from the main road to perform inspections, the robot needs to be able to Autonomously climb over the curb and enter the equipment area for operation. For the wheeled robot platform, due to its own characteristics, the robot cannot enter the equipment area for operation.

Some existing crawler robots include crawler robots with two swing arms, such as the invention patent of CN101492072A "a mobile robot and its method for overcoming obstacles", and crawler robots with four swing arms, such as patent No. ZL200520075351.5 utility model patent "composite mobile mechanism of autonomous obstacle-surmounting robot", although the robot has a certain ability to overcome obstacles, but it does not mention the realization of the autonomous obstacle-surmounting system and autonomous obstacle-surmounting method, so it cannot perform autonomous obstacle-surmounting. Obstacle surmounting, and due to the low operating efficiency of a single crawler robot, it is difficult to meet the requirements of efficient inspection of the robot from the substation to the road area. Due to the special requirements for the safety of power equipment in substations and the requirements for autonomous operation, positioning accuracy and operational reliability of substation inspection robots, the existing crawler robot systems cannot be directly applied to substation inspection robots.

Contents of the invention

In order to solve the above problems, the present invention proposes a wheel-track compound type substation inspection robot autonomous obstacle surmounting system and control method. The system integrates multi-sensor information such as laser sensors, GPS sensors, binocular vision sensors, and attitude sensors. The body information of the inspection robot and the surrounding environment information are accurately detected, and based on the above information, a serialized autonomous obstacle surmounting control method is proposed, which realizes the autonomous obstacle surmounting of the substation inspection robot and the wheeled substation inspection robot. The automatic switching between the walking mode and the crawler walking mode solves the problem of the robot patrolling the whole area in the substation.

In order to achieve the above object, the present invention adopts the following technical solutions:

An autonomous obstacle-surpassing system for a wheel-track composite substation inspection robot, including a chassis and a control system, wherein the chassis includes a robot control box, a crawler walking unit, a wheeled walking unit, an obstacle-surpassing arm unit, and a drive motor unit, crawler The walking unit includes left and right walking tracks, which are fixed on both sides of the control box. The left and right walking tracks are respectively connected to a driving motor. The wheeled walking unit includes left and right side walking wheels, and the walking wheels are connected to the arm drive motor through the obstacle-surpassing arm unit. The left and right traveling wheels are respectively fixed on both sides of the control box. The control system includes an industrial computer and a sensor group connected thereto. The industrial computer is connected to a plurality of motor drivers, and each motor driver is connected to a corresponding driving motor.

The obstacle-surmounting support arm unit includes two front support arms installed at the front end of the control box and two rear support arms installed at the rear end of the control box.

The driving motor unit includes two walking driving motors, left and right, and front and rear support arm driving motors, wherein the left walking driving motor drives the left walking track, the right walking driving motor drives the right walking track, and the front supporting arm driving motor drives two A front support arm, and a rear support arm drive motor drives two rear support arms.

The output shafts of the drive motors of the front and rear support arms are respectively connected with the drive shafts of the front and rear support arms through gears, and the drive shafts of the front and rear support arms pass through the center of the track drive wheel.

The length of the front and rear support arms is slightly less than half of the total length of the robot body, and the front and rear support arms of the robot respectively rotate continuously for 360 degrees with the axis of the large wheel of the support arm as the axis.

The sensor group includes a GPS positioning sensor, a laser navigation sensor, a binocular vision sensor, a distance sensor and an inclination sensor, wherein the laser navigation sensor is installed on the front-end bracket of the robot, and determines the current position of the robot by detecting the distance from the surrounding objects. The position in the substation, the binocular vision sensor is installed on the front-end bracket of the robot, through the road environment modeling method based on the regional normal vector, the distance and height of the road edge in front of the robot, and the plane height and area information of the area to be driven into; The distance sensor is installed at the front end of the robot control box to accurately measure the distance between the robot and the obstacles in front; the inclination sensor is installed at the bottom of the robot to measure the inclination of the robot in two directions of roll and pitch.

The GPS positioning sensor, laser navigation sensor, distance sensor, inclination sensor and four motor drivers are connected through CAN bus.

The binocular vision sensor is connected to the industrial computer through the IEEE1394 bus.

The control system also includes two zero position switches of the support arm, the zero position switch is installed on the drive shaft of the support arm, connected with the motor driver, and used to calibrate the zero return position of the support arm.

The control system also includes four encoders, the encoders are respectively installed on the walking drive motor and the arm drive motor, the encoders are connected to the motor driver through RS422; the encoders connected to the walking drive motor calculate the movement of the robot Distance and speed of movement; an encoder connected to the drive motor of the arm is used to calculate the angle of rotation and speed of rotation of the arm.

The control method based on the above-mentioned obstacle clearance system includes the following control methods:

(1) When the robot patrols in the hardened road environment of the substation road area, the control arm rotates to the lower crawler parallel to the road surface, so that the walking wheels on the left and right sides of the robot are in contact with the road surface, thereby switching the robot to the wheeled walking mode;

(2) When the robot patrols on sandy gravel, grassland and other road environments in the equipment area of the substation, the control arm is retracted on both sides of the control box, and the arm is controlled to rotate until the upper track is parallel to the road surface, so that the left and right sides of the robot The walking track is in contact with the road surface, thereby switching the robot to the track walking mode;

(3) When the robot climbs a slope, the control arm is extended forward and backward, so that the crawler track of the robot arm and the walking track are in contact with the ground to increase the driving force of the robot climbing, and at the same time lengthen the length of the robot to prevent the robot from overturning during the climbing process;

(4) When the robot enters the equipment area from the conventional road area of the substation for inspection, if it needs to climb over obstacles, an autonomous obstacle-surmounting control method is adopted.

The autonomous obstacle surmounting control method includes the following steps:

Step 1. According to the information collected by the GPS positioning sensor and the laser navigation sensor, through the global path planning method, the robot is controlled to move within the action setting range of the obstacle, and it is facing the obstacle;

Step 2. Collect environmental images through the binocular vision sensor. Based on the three-dimensional reconstruction technology, extract the distance between the robot and the obstacle, the height of the obstacle, and the area information of the plane to be driven into, and judge whether the robot can bypass the obstacle. If it can bypass the obstacle, the robot will bypass the obstacle; otherwise, judge whether the robot can climb over the obstacle, if it can, go to step 3; otherwise, the robot will stop and call the police, waiting for the staff to handle;

Step 3. Accurately measure the horizontal distance from the robot to the obstacle through the distance sensor, and control the distance between the robot and the obstacle within a safe range;

Step 4. Control the front arm to rotate forward until the lower track of the front arm is level with the new plane, and at the same time control the rear arm to rotate backward until the lower side of the track of the rear arm is level with the ground. During this process, The angle between the robot body and the ground gradually increases;

Step 5. Obtain the horizontal inclination and lateral inclination of the robot through the inclination sensor, control the speed of the crawler wheels on both sides of the robot to move forward, and at the same time control the robot not to incline laterally;

Step 6. Control the rear arm of the robot to rotate backward until the walking tracks on both sides of the robot are parallel to the ground;

Step 7. Control the robot to move forward until the center of gravity of the robot falls on the new motion plane; put away the front and rear arms of the robot, and choose the wheeled walking mode or the crawler walking mode according to the road conditions.

The specific method of the second step is: through the binocular vision sensor, based on the three-dimensional reconstruction technology, extract the distance between the robot and the obstacle, the height of the obstacle, and the area information of the plane to be driven into, and combine the model of the robot itself Determine whether the robot can climb over the obstacle.

In the first step, the maximum action setting range is 1m.

In the third step, the maximum safe range is 5cm.

In the step five, the specific method is: obtain the horizontal inclination and lateral inclination of the robot through the inclination sensor, control the speed of the crawler wheels on both sides of the robot to move forward, and simultaneously control the robot so that it does not incline laterally; control the rear support of the robot The arm rotates forward to ensure that the lower side of the track of the rear arm is always level with the ground to prevent the robot from sliding backwards; during this process, the horizontal inclination between the robot body and the ground gradually increases, and when the horizontal inclination reaches a critical value, the robot is controlled to stop moving ; This angle is determined by the position of the center of gravity of the robot and the height of the obstacle. It should be ensured that the robot does not overturn forward or backward during the forward process.

In the step six, the specific method is: control the rear arm of the robot to rotate backward until the walking tracks on both sides of the robot are parallel to the ground. If the height of the obstacle is greater than the length of the rear arm, the walking tracks on both sides of the robot cannot reach the ground. Parallel, then control the rear arm to rotate to the maximum position; at the same time control the front arm of the robot to rotate backward until the lower side of the front arm is parallel to the ground.

The beneficial effects of the present invention are:

(1) It can automatically switch the wheel type or crawler walking mode according to the needs, which meets the needs of substation inspections under different road conditions;

(2) The robot can independently climb over obstacles such as roadside stones and cable trenches in the substation, thus realizing the autonomous operation of the robot in the whole area of the substation;

(3) The combined positioning and navigation method of GPS positioning sensor and laser navigation sensor can accurately obtain the coordinate position of the robot in the substation, and solve the problem that the single navigation method fails in a specific environment;

(4) Use the rotation angle of the support arm as a feedback signal through the encoder to make the control of the rotation angle of the support arm more precise, and the support arm can be completely retracted on both sides of the robot body, with a compact structure;

(5) Each sensor in the sensor group is connected together through the CAN bus, which is convenient for system expansion.

Description of drawings

Fig. 1 is a structural schematic diagram of the robot chassis;

Figure 2 is a schematic diagram of the installation position of the robot sensor;

Fig. 3 is a structural schematic diagram of the robot control system;

Figure 4(a) is a schematic diagram of the movement posture of the robot wheeled walking mode;

Figure 4(b) is a schematic diagram of the motion posture of the robot crawler walking mode;

Figure 4(c) is a schematic diagram of the movement posture of the robot climbing and walking;

Fig. 5 is the flow chart of robot autonomous obstacle surmounting;

Fig. 6 (a) is a schematic diagram of step 1 of the autonomous obstacle surmounting process of the robot;

Figure 6(b) is a schematic diagram of step 4 of the robot's autonomous obstacle surmounting process;

Figure 6(c) is a schematic diagram of step 5 of the robot's autonomous obstacle surmounting process;

Fig. 6(d) is a schematic diagram of step 6 of the autonomous obstacle surmounting process of the robot;

Fig. 6(e) is a schematic diagram of step 7 of the autonomous obstacle surmounting process of the robot.

Among them, 1. Left travel wheel, 2. Rear support arm drive motor, 3. Rear support arm motor driver, 4. Left travel track, 5. Inclination sensor, 6. Left travel motor driver, 7. Left travel Drive motor, 8. Front support arm, 9. Encoder, 10. Front support arm drive motor, 11. Zero return switch, 12. Right side travel drive motor, 13. Rear support arm, 14. Front support arm motor driver, 15. Right travel motor driver, 16. Right travel track, 17. Control box, 18. Right travel wheel, 19. Laser sensor, 20. Binocular vision sensor, 21. Industrial computer, 22. Distance sensor, 23. GPS positioning sensor, 24. CAN bus.

Detailed ways:

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

A four-arm, wheel-track composite robot chassis includes a robot control box, a crawler walking unit, a wheel walking unit, an obstacle-surmounting support arm unit and a driving motor.

Wherein, the crawler walking unit includes a left walking crawler and a right walking crawler installed on both sides of the control box. The wheeled traveling unit includes two left traveling wheels and two right traveling wheels. The obstacle-surmounting support arm unit includes two front support arms installed at the front end of the control box and two rear support arms installed at the rear end of the control box. The drive motors include left and right travel drive motors and front and rear support arm drive motors.

Wherein, the left traveling wheel and the right traveling wheel are installed on four support arms respectively, and are connected with the driving wheels of the left and right walking crawlers through the synchronous belt, so when the traveling driving motor drives the walking crawler to rotate, the left and right sides The walking wheels rotate synchronously with the walking tracks.

Wherein, the front and rear arms of the robot are respectively driven by two motors installed at both ends of the control box, the output shaft of the arm drive motor is connected with the arm drive shaft through a gear, and the arm drive shaft passes through the center of the main crawler drive wheel. The length of the front and rear support arms is slightly less than half of the total length of the robot body, so that the front and rear support arms of the robot can be completely received on both sides of the robot body. The front and rear support arms of the robot can respectively rotate continuously through 360 degrees around the axis of the large wheel of the support arm.

A four-arm wheel-track compound robot autonomous obstacle control system, which includes an industrial computer, GPS positioning sensor, laser navigation sensor, binocular vision sensor, distance sensor, inclination sensor, four motor drivers, four encoders and Two arm zero switches.

Wherein, the industrial computer, the GPS positioning sensor, the laser navigation sensor, the distance sensor, the inclination sensor and the four motor drivers are connected through the CAN bus. The industrial computer and the binocular vision sensor are connected through the IEEE1394 bus.

Wherein, the laser navigation sensor is installed on the front-end bracket of the robot, and can determine the current position of the robot in the substation by detecting the distance from surrounding objects. The binocular vision sensor is installed on the front-end support of the robot, and can extract information such as the distance and height of the edge of the road ahead of the robot, the plane height and area of the area to be driven through the road environment modeling method based on the area normal vector. The distance sensor is installed at the front end of the robot control box, which can accurately measure the distance between the robot and the obstacle in front, so as to control the robot to accurately stop at the designated position in front of the obstacle. The inclination sensor is installed at the bottom of the robot, and can measure the inclination of the robot in two directions of roll and pitch.

Wherein, the zero position switch is installed on the drive shaft of the support arm, connected with the motor driver, and used to calibrate the zero return position of the support arm. The encoders are installed on the walking drive motor and the arm drive motor respectively, and the encoder and the motor driver are connected through RS422. The moving distance and moving speed of the robot can be accurately calculated by connecting the encoder of the walking drive motor, so as to precisely control the driving speed of the robot and the docking position of the robot. The rotation angle and rotation speed of the support arm can be accurately calculated through the encoder connected to the drive motor of the support arm, so as to accurately control the rotation position of the support arm. The motor driver is installed at the bottom of the robot, and is used to drive the walking drive motors and arm rotation drive motors on the left and right sides of the robot respectively.

A control method for a crawler substation inspection robot, comprising:

1. When the robot patrols in the hardened road environment of the substation road area, the control arm rotates to the lower crawler parallel to the road surface, so that the walking wheels on the left and right sides of the robot are in contact with the road surface, thus switching the robot to the wheeled walking mode.

2. When the robot patrols in the substation equipment area on gravel, grass and other road environments, the control arm is retracted on both sides of the control box, and the arm is controlled to rotate until the upper track is parallel to the road surface, so that the left and right sides of the robot can walk The track makes contact with the road surface, thereby switching the robot to tracked walking mode.

3. When the robot is climbing, the control arm is extended forward and backward, so that the track of the robot arm and the walking track are in contact with the ground to increase the driving force of the robot climbing, and at the same time lengthen the length of the robot to prevent the robot from overturning during the climbing process.

4. When the robot enters the equipment area from the conventional road area of the substation for inspection, if it needs to climb over obstacles such as roadside stones and cable trenches, the following steps should be taken to achieve autonomous obstacle surmounting:

Step 1: During the normal inspection process of the normal road area of the substation, the robot is controlled to move automatically to within 1 meter in front of the obstacle to be overcome through the combined navigation of laser and GPS, combined with the global path planning method, and make the robot for obstacles.

Step 2: Through the binocular vision sensor, based on the three-dimensional reconstruction technology, extract the distance d between the robot and the obstacle, the height h of the obstacle, and the area to be driven into the plane, and combine the model of the robot itself to judge the robot's performance. No over this obstacle.

Step 3: If the obstacle can be surmounted, use the distance sensor to accurately measure the horizontal distance from the robot to the obstacle, and control the robot to stop at a position where the distance of the obstacle is d≤5cm, which ensures that the front arm can reliably rest on the obstacle after rotation on the edge.

Step 4: Control the front arm to rotate forward until the lower track of the front arm is level with the new plane. At the same time, the rear support arm is controlled to rotate backward until the lower side of the track of the rear support arm is level with the ground. During this process, the angle between the robot body and the ground gradually increases.

Step 5: Obtain the horizontal inclination and lateral inclination of the robot through the inclination sensor, control the speed of the crawler wheels on both sides of the robot to move forward, and at the same time control the robot not to incline laterally. Control the robot's rear arm to rotate forward to ensure that the lower side of the rear arm's track is always level with the ground and prevent the robot from sliding backwards. During this process, the horizontal inclination between the robot body and the ground gradually increases, and when the horizontal inclination reaches a critical value, the robot is controlled to stop moving. This angle is jointly determined by the position of the center of gravity of the robot and the height of the obstacle, which ensures that the robot does not overturn forward or backward during the forward process.

Step 6: Control the rear arm of the robot to rotate backward until the walking tracks on both sides of the robot are parallel to the ground. If the height of the obstacle is greater than the length of the rear outrigger, and the walking tracks on both sides of the robot cannot be parallel to the ground, then control the rear outrigger to rotate to the maximum position. At the same time, control the front arm of the robot to rotate backward until the lower side of the front arm is parallel to the ground.

Step 7: Control the robot to move forward until the center of gravity of the robot falls on the new motion plane. Put away the front and rear arms of the robot, and choose the wheeled walking method or the crawler walking method according to the road conditions.

Embodiment one:

A four-arm wheel-track composite robot chassis includes a robot control box (17), a crawler walking unit, a wheel walking unit, an obstacle-crossing arm unit and a driving motor. Wherein the crawler walking unit comprises a left walking crawler (4) and a right walking crawler (16) installed on both sides of the control box. The wheeled traveling unit comprises two left traveling wheels (1) and two right traveling wheels (18). The obstacle-surmounting support arm unit includes two front support arms (8) installed at the front end of the control box body and two rear support arms (13) installed at the rear end of the control box body. Drive motor comprises left side travel drive motor (7), right side travel drive motor (12), front support arm drive motor (10) and rear support arm drive motor (2).

Wherein, walking wheel is installed on the front support arm (8) and the rear support arm (13) respectively. The two traveling wheels installed on the front support arm (8) are respectively connected with the driving wheels of the left and right walking tracks through the synchronous belt, so when the traveling drive motor drives the traveling crawler to rotate, the traveling wheels on the left and right sides are synchronized with the walking track rotate. Two road wheels installed on the rear support arm (13) are driven wheels. In this example, the walking drive motor uses a 250W DC brushless motor from MAXON. The maximum speed of the robot in this mode is 1m/s, and the maximum speed in the crawler mode is 1.5m/s.

Wherein, the front support arm (8) and the rear support arm (13) of the robot are respectively installed on the outer sides of the two ends of the control box body (17), and the motors (10) are driven by the front support arms installed at the two ends of the control box body (17). and rear support arm drive motor (2) to drive respectively. The output shaft of the arm drive motor is connected to the arm drive shaft through gears, and the arm drive shaft passes through the center of the driving wheel of the walking track, and the front and rear arms can be rotated continuously at 360 degrees synchronously. The length of the support arm is slightly less than half of the total length of the robot body, so that the front and rear support arms of the robot can be completely retracted on both sides of the robot body, making the robot more compact in structure when driving normally. In this example, the arm drive motor uses a 150W DC brushed motor from MAXON. The maximum speed of the motor is 7580rpm, and the reduction ratio of the transmission system is 1040:1, so the maximum rotation speed of the arm is 43°/s.

As shown in Figures 1 and 2, the present invention also provides a four-arm wheel-track compound robot autonomous obstacle control system, which includes an industrial computer (21) installed above the control box (17), installed on GPS positioning sensor (23), laser navigation sensor (19), binocular vision sensor (20) on the robot front-end support, the distance sensor (22) that is installed in control cabinet (17) front end, is installed in control cabinet (17) ) inside the inclination sensor (5), the left travel motor driver (6), the right travel motor driver (15), the front support arm motor driver (14), the rear support arm motor driver (3), which are installed at the rear end of the motor Four encoders (9) and the zero return switch (11) installed on the drive shaft of the support arm.

As shown in Figure 3, industrial computer (21), GPS positioning sensor (23), laser navigation sensor (19), distance sensor (22), inclination sensor (5) and four motor drivers are connected by CAN bus (24), It is convenient for system expansion. The positioning and navigation of the robot in the substation is realized by combining the GPS positioning sensor (23) and the laser navigation sensor (19), and the GPS positioning sensor (23) is used to provide the initial position of the robot and correct the position of the robot during the operation of the robot . The distance between the robot and surrounding objects is scanned by the laser navigation sensor (19), and the position coordinates of the robot in the substation are obtained by matching with the laser map. The binocular vision sensor (20) is connected with the industrial computer through the IEEE1394 bus. Obtain the binocular image of the obstacle in front of the robot through the binocular vision sensor (20), and use the road environment modeling method based on the area normal vector to extract information such as the distance and height of the edge of the road in front of the robot, and the plane height and area of the area to be driven into , according to the above information, the robot can comprehensively judge whether it is necessary to adopt an obstacle surmounting strategy or an obstacle avoidance strategy. Two distance sensors (22) are installed on the front end of the control box (17), which can accurately measure the distance between the robot and the obstacle, so as to control the robot to accurately stop at the designated position in front of the obstacle. In this example, the DT35 of SICK Company is used as the distance sensor, the range of the sensor can reach 0.05m ~ 12m, and the measurement accuracy is 0.5mm. The inclination sensor (5) is installed on the bottom of the control box (17), and can measure the inclination angle of the robot in both rolling and pitching directions. In this example, RION's SCA126T-60 dual-axis inclination sensor is used. The resolution of the sensor is 0.01°, and the absolute accuracy is 0.08°.

Wherein, the four encoders (9) are respectively installed at the tails of the four driving motors, and are connected with the four motor drivers through the RS422 bus. The rotational speed of the motor can be calculated through the encoder (9), and a speed closed loop is formed on the walking motor driver, thereby controlling the walking speed of the robot. A position closed loop is formed on the arm motor driver to control the rotation angle of the arm. The encoder used in this example is MAXON’s HEDL9140, which has 500 lines. After the frequency is multiplied by 4 in the driver, the motor can get 2000 pulses per revolution. Since the reduction ratio of the arm transmission system is 1040, so The resolution of the arm rotation angle can reach 0.0002°.

The invention also provides a control method of the wheel-track compound robot. As shown in Figure 4(a), when the robot patrols in the hardened road environment of the substation road area, the control arm rotates to the lower crawler parallel to the road surface, so that the walking wheels on the left and right sides of the robot are in contact with the road surface, thus switching the robot To the wheeled way of walking. As shown in Figure 4(b), when the robot patrols the substation equipment area on gravel, grass and other road environments, the control arm is retracted on both sides of the control box, and the arm is controlled to rotate until the upper track is parallel to the road surface. The walking tracks on the left and right sides of the robot are brought into contact with the road surface, thereby switching the robot to the crawler walking mode. As shown in Figure 4(c), when the robot is climbing, the control arm is extended forward and backward, so that the crawler track of the robot arm and the walking track are in contact with the ground to increase the driving force of the robot climbing, and at the same time lengthen the length of the robot to prevent the robot from moving forward. Overturned while climbing.

When the robot enters the equipment area from the conventional road area of the substation for inspection, if it needs to climb over obstacles such as curbstones and cable trenches, the steps shown in Figure 5 are used to achieve autonomous obstacle surmounting:

Step 1: During the normal inspection process of the normal road area of the substation, the robot uses the combined navigation of the GPS positioning sensor (23) and the laser navigation sensor (19), combined with the global path planning method, to control the automatic movement of the robot to the front of the obstacle to be overcome Within a range of 1 meter, and make the robot face the obstacle. As shown in Figure 6(a).

Step 2: Through the binocular vision sensor (20), based on the three-dimensional reconstruction technology, extract the distance d between the robot and the obstacle, the height h of the obstacle, and the area of the plane to be driven into, and combine the model of the robot itself Determine whether the robot can climb over the obstacle. If the obstacle can be bypassed, the obstacle circumvention strategy will be started, otherwise, if the obstacle can be surmounted, the automatic obstacle surmounting strategy will be started, otherwise, the robot will stop and alarm to wait for human intervention. As shown in Figure 6(a).

Step 3: If it is judged that the obstacle can be surmounted, measure the distance from the robot to the obstacle through the distance sensor (22), and control the robot to stop at a position where the distance of the obstacle is d≤5cm. This distance ensures that the front arm (8) can rotate Reliable ride on the edge of the obstacle.

Step 4: Rotate the front arm (8) forward until the lower track of the front arm (8) is level with the new plane. Control rear support arm (13) to rotate backward simultaneously, until rear support arm (13) caterpillar lower side and ground level. At this moment, the angle at which the front support arm (8) rotates is approximately The angle of rotation of the rear outrigger is approximately Among them, L is the center-to-center distance of the robot’s crawler wheels, h is the height of the obstacle, and θ is the angle between the upper and lower sides of the support arm. In this example, the angle θ between the upper and lower sides of the support arm is 26°. During this process, the angle between the robot body and the ground gradually increases. As shown in Figure 6(b).

Step 5: Control the speed of the left walking drive motor (6) and the right walking drive motor (12) of the robot to make the robot move forward, and at the same time obtain the horizontal inclination and lateral inclination of the robot through the inclination sensor (5), so as to control the robot without Lean sideways. Control robot rear support arm (13) to rotate forward, to guarantee rear support arm (13) crawler belt lower side all the time and ground level, prevent robot from sliding backward. During this process, the horizontal inclination between the robot body and the ground gradually increases, and when the horizontal inclination reaches a critical value, the robot is controlled to stop moving. This angle is jointly determined by the position of the center of gravity of the robot and the height of the obstacle, so as to ensure that the robot does not fall forward or overturn backward during the forward movement. As shown in Figure 6(c).

Step 6: Control the rear support arm (13) of the robot to rotate backward until the walking tracks on both sides of the robot are parallel to the ground. If the height of the obstacle is greater than the length of the rear support arm (13), the crawler belts on both sides of the robot cannot reach parallel with the ground, then the control rear support arm (13) is rotated to the maximum position. Simultaneously, the front support arm (8) of the robot is controlled to rotate backward until the lower side of the front support arm is parallel to the ground. As shown in Figure 6(d).

Step 7: Control the robot to move forward until the center of gravity of the robot falls on the new motion plane. Put away the front support arm (8) and the rear support arm (13) of the robot, and select the wheeled walking mode or the crawler walking mode according to the road conditions. As shown in Figure 6(e).

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (16)

1. a wheel-track combined Intelligent Mobile Robot active obstacle system, it is characterized in that: comprise chassis and control system, wherein, chassis comprises robot controlling casing, crawler travel unit, running on wheels unit, obstacle detouring props up arm unit and drive motor group, crawler travel unit comprises left and right traveling crawler, left and right traveling crawler is fixed on and controls casing both sides, left and right traveling crawler connects a drive motor separately, running on wheels unit comprises left and right sides road wheel, road wheel props up arm unit connecting support arm drive motor by obstacle detouring, left and right sides road wheel is separately fixed at and controls casing both sides, the sensor group that control system comprises industrial computer and is attached thereto, industrial computer connects multiple motor driver, each motor driver connects corresponding drive motor respectively.

2. active obstacle system as claimed in claim 1, is characterized in that: described obstacle detouring props up arm unit and comprises two front arms being arranged on and controlling casing front end and two back arms being arranged on control box back.

3. active obstacle system as claimed in claim 1, it is characterized in that: described drive motor group comprises left and right two travel driving motor and forward and backward support arm drive motor, wherein, left travel driving motor drives left traveling crawler, right travel driving motor drives right traveling crawler, front arm drive motor drives two front arms, and back arm drive motor drives two back arms.

4. active obstacle system as claimed in claim 3, is characterized in that: described forward and backward support arm drive motor output shaft is connected with forward and backward support arm driving shaft respectively by gear, and forward and backward support arm driving shaft passes from crawler driving whell center.

5. active obstacle system as claimed in claim 2, is characterized in that: the length of described forward and backward support arm is less than the half of robot body total length, described robot front and rear support arm respectively with support arm bull wheel axle center for axle 360 degree of continuous rotations.

6. active obstacle system as claimed in claim 1, it is characterized in that: described sensor group, comprise GPS alignment sensor, laser navigation sensor, binocular vision sensor, range sensor and obliquity sensor, wherein, described laser navigation sensor is arranged on robot front-end bracket, by the distance determination robot current position in transformer station of detection with surrounding objects, described binocular vision sensor is arranged on robot front-end bracket, by the road environment modeling method based on field method vector, extract robot road ahead Edge Distance, the level in height and region to be sailed into and area information, described range sensor is arranged on robot controlling casing front end, the distance of accurate robot measurement distance preceding object thing, described obliquity sensor is arranged on bottom robot interior, the inclination angle in robot measurement roll and pitching both direction.

7. active obstacle system as claimed in claim 6, is characterized in that: described GPS alignment sensor, laser navigation sensor, range sensor, obliquity sensor are crossed CAN with four motor drivers and be connected.

8. active obstacle system as claimed in claim 6, is characterized in that: described binocular vision sensor connects industrial computer by IEEE1394 bus.

9. active obstacle system as claimed in claim 1, it is characterized in that: described control system, also comprise two support arm zero position switchs, described zero position switch is arranged on support arm driving shaft, is connected with motor driver, for demarcating the back to zero position of support arm.

10. active obstacle system as claimed in claim 9, it is characterized in that: described control system, also comprise four scramblers, described scrambler is arranged on on travel driving motor and support arm drive motor respectively, and scrambler is connected by RS422 with motor driver; Connect displacement and the translational speed of the scrambler calculating robot of travel driving motor; The scrambler of connecting support arm drive motor is for calculating the anglec of rotation and the rotational speed of support arm.

11., based on the control method of the obstacle detouring system such as according to any one of claim 1-10, is characterized in that: comprise following control mode:

(1), when robot patrols and examines under transformer station's roadway area hard surface environment, it is parallel with road surface that control support arm rotates to downside crawler belt, the road wheel of the robot left and right sides contacted with road surface, thus robot is switched to running on wheels mode;

(2) when robot patrols and examines under the road environments such as substation equipment district sandstone, meadow, control support arm and close at control casing both sides, and control support arm rotate to upside crawler belt parallel with road surface, the traveling crawler of the robot left and right sides is contacted with road surface, thus robot is switched to crawler travel mode;

(3) during robot climbing, control support arm and launch forwards, backwards, make the driving force that Robot arm crawler belt and traveling crawler are all climbed to increase robot with earth surface, lengthen robot length simultaneously and topple in climbing process to prevent robot;

(4), when robot patrols and examines from access arrangement district of conventional road district of transformer station, if need throwing over barrier, active obstacle control method is taked.

12. active obstacle control methods as claimed in claim 11, is characterized in that: comprise the following steps:

Step one, the information gathered according to GPS alignment sensor, laser navigation sensor, by global path planning method, control moves in the action setting range of barrier, and is right against barrier;

Step 2, pass through binocular vision sensor, gather ambient image, based on 3 D stereo reconfiguration technique, extract robot and the distance of barrier, the height of barrier, and the area information of plane to be sailed into, judge whether robot can walk around this barrier, if can walk around, robot cut-through thing; Otherwise, judge whether robot can cross this barrier, if can cross, enters step 3; Otherwise robot stops and reports to the police, wait for staff's process;

Step 3, by the horizontal range of the accurate robot measurement of range sensor to barrier, the distance of control and barrier is in safe range;

Step 4, control front arm rotate forward, until the downside crawler belt of front arm and new planar horizontal, control back arm simultaneously and rotate backward, until back arm crawler belt downside and ground level, in the process, the angle on robot body and ground increases gradually;

Step 5, obtain the level inclination of robot and side direction inclination angle by obliquity sensor, the speed of control both sides Athey wheel makes to travel forward, and control lateral tilt does not occur simultaneously;

Step 6, control back arm rotate backward, until robot both sides traveling crawler is parallel to the ground;

Step 7, control travel forward, until robot center of gravity is all fallen on new plane of movement; Pack up the forward and backward support arm of robot, select running on wheels mode or crawler travel mode according to surface conditions.

13. control methods as described in claim 12, is characterized in that: in described step one, and action setting range maximal value is 1m.

14. control methods as described in claim 12, it is characterized in that: in described step 3, safe range maximal value is 5cm.

15. control methods as described in claim 12, it is characterized in that: in described step 5, its concrete grammar is: the level inclination and the side direction inclination angle that are obtained robot by obliquity sensor, the speed of control both sides Athey wheel makes to travel forward, and control lateral tilt does not occur simultaneously; Control back arm rotates forward, with ensure back arm crawler belt downside all the time with ground level, prevent robot from sliding backward; In the process, robot body and ground level inclination angle increase gradually, when level inclination reaches critical value, and control stop motion; This angle is determined jointly by the height of robot centre of gravity place and barrier, should ensure that robot does not occur to topple forward or backward in advance process.

16. control methods as described in claim 12, it is characterized in that: in described step 6, its concrete grammar is: control back arm rotates backward, until robot both sides traveling crawler is parallel to the ground, if when obstacle height is greater than back arm length, robot both sides traveling crawler cannot reach parallel with ground, then control back arm and rotate to maximum position; Control front arm rotates, backward until front arm downside is parallel to the ground simultaneously.