CN103245361A - Pose correction platform for nuclear power station rescue robot - Google Patents
Pose correction platform for nuclear power station rescue robot Download PDFInfo
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- CN103245361A CN103245361A CN2013101704676A CN201310170467A CN103245361A CN 103245361 A CN103245361 A CN 103245361A CN 2013101704676 A CN2013101704676 A CN 2013101704676A CN 201310170467 A CN201310170467 A CN 201310170467A CN 103245361 A CN103245361 A CN 103245361A
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Abstract
The invention relates to a pose correction platform for a mobile robot. The pose correction platform comprises the robot, built-in robot laser sensors, a camera, a video encoder, a wireless router, pose correction reference objects (such as a slope, encoding holes and baffles) in a nuclear power station, an upper computer wireless router, and an upper computer. The fixed slope with a given pose is constructed by cement or a wood board on the ground of the nuclear power station; the two baffles are tightly connected and fixed with the slope by bolts on the left side and the right side of the slope; a plurality of holes are formed in middle horizontal areas of the baffles to serve as the encoding holes; the depth and the number of the encoding holes are decided according to the requirement of actual information amount; an upper computer worker checks the slope through the upper computer; when the robot moves to a middle section of the slope, the depths of the encoding holes formed in the baffles are measured by the laser sensors mounted on the two sides; the current position coordinates of the robot are obtained; and the correction is carried out. The pose correction platform can be used for the nuclear power station which has heavy nuclear leakage and has no power supply.
Description
Technical field
The present invention relates to a kind of nuclear power station rescue robot pose leveling block, belong to fields such as Robotics, sensing technology and airmanship.
Background technology
The robot location technology has crucial effects on robot autonomous navigation field.Now, the robot location technology is varied, differ from one another, but they only satisfies the location that is operated under the home mostly.For the robot location of particular surroundings, then must use some special localization methods effectively to work, this is the function that those location measures commonly used can't be realized.The localization for Mobile Robot of environment is mainly radiated in the present invention towards the nuclear of nuclear power station.
On the one hand, nuclear power station is indoor environment, can't use GPS accurately to locate, and the building structure of nuclear power station has very strong protection effect, thus external informations such as the electromagnetic wave of nuclear power station outside, electric field, magnetic field all to be difficult to enter nuclear power station inner for robot location use.Therefore use modes such as inertial navigation or scrambler that navigation is calculated by robot mostly.
On the other hand, robot calculates that navigation has serious cumulative errors unavoidably, causes the pose of robot to judge misalignment.Yet, to depend on some external informations for the correction of calculating the navigation cumulative errors usually, as ground magnetic information or GPS information etc., but these modes all are not suitable for nuclear power plant environment.Also having some pose modification methods is by arrange some active devices in environment, as photoelectric device, realizes rectification to the robot pose by the detection to these active devices.But when serious leakage accident took place nuclear power station, whole nuclear power station inside had been full of the nuclear radiation.In this case, any active device without special processing all is to lose efficacy.Therefore, can not comprise active device for the device of correcting.Though other rectification modes can be used passive device, as two-dimension code scanning, passive RFID etc., but use these passive devices, often need add other scanning devices in robot, increased the burden of robot, and the algorithm complexity, operating distance is short, poor effect.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of nuclear power station rescue robot pose leveling block is provided, can be applicable to the mobile robot positioning system under the nuclear power station nuclear radiation situation, be operated in passive and can't accept GPS, in the particular surroundings of external signals such as earth magnetism.
1. for achieving the above object, the present invention adopts following technical proposals: a kind of nuclear power station rescue robot pose leveling block, comprise robot, the laser sensor that robot carries, camera, video encoder, the pose of wireless router and nuclear power station is corrected object of reference-slope, notch and baffle plate, and host computer wireless router and host computer, it is characterized in that: erect the known fixed ramp of pose on nuclear power station ground with cement or plank, the left and right sides on slope is adjacent to two baffle plates and slope by bolt and is connected and fixing, several holes are bored as notch in by-level zone at baffle plate, and the degree of depth of notch and number are determined by actual information amount demand; Robot moves on the slope, laser sensor is installed in the both sides, slope, camera is installed in the robot, the output of camera connects the screen sensor, the output of video sensor and laser sensor through wireless router, radio to the host computer wireless router, the output of upper wireless router is connected to host computer; The host computer staff views the slope by host computer, and namely the manual manipulation robot enters the slope between the baffle plate, because the attitude on slope is known, and also corresponding acquisition of the attitude of robot thus; When the robot motion arrives the stage casing, slope, measure the degree of depth of digging at the notch of baffle plate by the laser sensor that is contained in both sides, and obtain the current position coordinates of robot with this, and implement to correct.
Described slope is that the slope of nuclear leakage forefathers for making takes place, and its attitude is known fully.The width on slope equates with the width on robot chassis, by erect two baffle plates in the both sides on slope, can further limit robot thus in the degree of freedom of Y-direction (namely direction) vertical with robot motion's direction.By this measure, the attitude that robot enters after the slope must be unique, and consistent with the attitude on slope.Be the attitude on the slope of the building attitude just can infer that robot is in slope position time the, i.e. the course angle α of robot, roll angle β, angle of pitch γ according to the people thus.By update algorithm, just realized the rectification of robot pose.Eliminated and calculated the intrinsic cumulative errors that navigation produces.
Be carved with some notches on the baffle plate of both sides, zone, stage casing, described slope, the degree of depth of these notches has been stored the coordinate position of current robot.As robot motion during to this panel region scope, can detect the degree of depth of each notch by laser sensor, and by decoding obtain the current position coordinates of robot (X, Y, Z).By update algorithm, just realized the rectification of robot location's coordinate.Certainly, can store other information according to the coding complexity of notch, be not limited to coordinate information, so the present invention not stipulate the coded system of notch.
The present invention has following apparent outstanding substantive distinguishing features and significantly technical progress compared with prior art:
The present invention does not use the inner any active device of nuclear power station, and the signal that does not utilize any outside comes the pose of robot is corrected, therefore after being applicable to that nuclear power station takes place by extensive the leakage, there is not external signal, without any the robot pose correction of the special screne of active equipment yet.
Description of drawings
Fig. 1 is that robot of the present invention pose leveling block is formed and synoptic diagram.
Among Fig. 1, A partly is the front view of platform, and B partly is the platform vertical view.1 is the robot working environment, and 2 is the robot fuselage, 3 laser sensors for robot both sides installation, 4 for manually building the slope in nuclear power station, 5 for cutting a hole notch on baffle plate, and 6 for robot is in the state of slope interlude, and 7 for being close to the baffle plate of both sides, slope.
Fig. 2 is robot and the sketch of communicating by letter of host computer.
Among Fig. 2,8 is host computer PC, and 9 is the wireless router that is connected with host computer, and 10 for being installed in the wireless router in the robot, and 11 is the screen scrambler, is convenient to transmission for the data of camera are encoded, and 12 is the camera of installing in the robot.
Fig. 3 is that the attitude of slope under coordinate system described.
Fig. 4 measures the synoptic diagram of the notch degree of depth for robot.Wherein, 13 laser of emitting for laser sensor are in order to detect the notch degree of depth.
Fig. 5 is the coded system synoptic diagram of notch, wherein 14,15,16 is respectively the notch that hole depth is 6cm, 4cm, 1cm.
The outline flowchart that Fig. 6 corrects for the robot pose.
Embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described in detail.
Embodiment one: referring to Fig. 1 and Fig. 2, this nuclear power station rescue robot pose leveling block, comprise the laser sensor (3) that robot (2), robot carry, camera (12), video encoder (11), the pose of wireless router (10) and nuclear power station is corrected object of reference-slope (4), notch (5) and baffle plate (7), and host computer wireless router (9) and host computer (8).Erect the known fixed ramp of pose (4) in nuclear power station ground (1) with cement or plank, the left and right sides on slope (4) is adjacent to two baffle plates (7) and slope (4) by bolt and is connected and fixing, several holes are bored as notch (5) in by-level zone at baffle plate (7), and the degree of depth of notch (5) and number are determined by actual information amount demand; Robot (2) moves on the slope, laser sensor (3) is installed in both sides, slope (4), camera (12) is installed in the robot (2), the output of camera (12) connects screen sensor (11), the output of video sensor (11) and laser sensor (3) through wireless router (10), radio to host computer wireless router (9), the output of upper wireless router (9) is connected to host computer (8); The host computer staff views slope (4) by host computer (8), and namely manual manipulation robot (2) enters the slope (4) between the baffle plate (7), because the attitude on slope (4) is known, and also corresponding acquisition of the attitude of robot (2) thus; When robot (2) moves to stage casing, slope (4), measure the degree of depth of digging at the notch (5) of baffle plate (7) by the laser sensor (3) that is contained in both sides, and obtain the current position coordinates of robot (2) with this, and implement to correct.
Embodiment two: present embodiment and embodiment one are basic identical, special feature is: the environmental data that described robot (2) notes the camera (12) that carries is transferred to host computer (8) by screen scrambler (11) and wireless router (10), the outer staff of nuclear power station observes the slope (4) in the nuclear power station, namely sends order manual operation machine people (2) and enters in the slope (4); Described slope (4) is artificial special, therefore the inclination angle on slope (4) and deflection are fully known, the width on slope (4) is consistent with the width on robot (2) chassis, and the degree of freedom of two baffle plates (7) with restriction robot Y-direction settled in (4) both sides on the slope, so robot (2) is just by slope (4); Since the slope inclination angle and deflection known, the attitude angle-course angle α of robot so thereon (2), roll angle β and angle of pitch γ just and the attitude on the slope of setting in advance (4) in full accord; Be the current attitude of renewable robot (2) thus; Described baffle plate (7) plays restriction robot (2) Y-direction effect, has also dug some notches (5) in the middle of the baffle plate (7), the depth registration of notch (5) coordinate position of current slope (4).The laser sensor (3) that install robot (2) both sides is measured the degree of depth of notch (5), after decoding, obtains the current position coordinates of robot (2), and implements to correct.
When robot (2) operate as normal, can independently advance, and by wireless route the image information that obtains be passed to the outer host computer demonstration of nuclear power station.Yet when operating personnel saw slope (4) by host computer, namely switching operation modes was manual mode, and slope (4) is climbed up by control robot (2).
As shown in Figure 1, the width of slope (4) is set to the lucky robot (2) that can hold and passes through.For avoiding robot (2) to produce displacement in Y-direction, also to erect two baffle plates (7) in (4) both sides on the slope.Robot (2) just can be with unique attitude by slope (4) like this.Slope (4) is to be the slope made from regard to the people before take place leaking, and its deflection and the angle of gradient are known.Therefore to be in the attitude angle (course angle α, roll angle β, angle of pitch γ) of slope (4) then fully consistent with the slope in robot (2).As shown in Figure 3, α s, β s, γ s are the angle of each face of slope (4) and earth coordinates, establishing directions X is the Normal Course that robot initial is set.The course angle α of robot (2)=α s then, roll angle β=β s, angle of pitch γ=γ s.Thus, by update algorithm, just can eliminate the cumulative errors of robot (2) attitude measurement.
When robot (2) moved to zone, stage casing, slope (4), as shown in Figure 5, the peace commentaries on classics was emitted the degree of depth that laser (13) is measured each notch (5) at the laser sensor (3) of robot (2) both sides.
As shown in Figure 5, the degree of depth of three notches is respectively 6cm, 4cm, 1cm.We can stipulate in advance that first notch represents robot (2) directions X coordinate, second notch represents robot (2) Y-direction coordinate, the 3rd notch represents robot (2) Z direction coordinate, and every centimetre of degree of depth of notch (2) represents the distance of 10m, robot (2) coordinate at this moment is (60m so, 40m 10m), is renewable robot (2) position coordinates thus.
Above coded system only is for example, should consider in the practical application that the factors such as measuring accuracy, resolution of the quantity of information of robot (2) actual needs and laser sensor are rationally formulated the coded system of notch (4).
The outline flowchart that Fig. 6 corrects for the robot pose.
Claims (4)
1. nuclear power station rescue robot pose leveling block, comprise robot (2), the laser sensor that robot carries (3), camera (12), video encoder (11), the pose of wireless router (10) and nuclear power station is corrected object of reference-slope (4), notch (5) and baffle plate (7), and host computer wireless router (9) and host computer (8), it is characterized in that: erect the known fixed ramp of pose (4) in nuclear power station ground (1) with cement or plank, the left and right sides on slope (4) is adjacent to two baffle plates (7) and slope (4) by bolt and is connected and fixing, several holes are bored as notch (5) in by-level zone at baffle plate (7), and the degree of depth of notch (5) and number are determined by actual information amount demand; Robot (2) moves on the slope, laser sensor (3) is installed in both sides, slope (4), camera (12) is installed in the robot (2), the output of camera (12) connects screen sensor (11), the output of video sensor (11) and laser sensor (3) through wireless router (10), radio to host computer wireless router (9), the output of upper wireless router (9) is connected to host computer (8); The host computer staff views slope (4) by host computer (8), and namely manual manipulation robot (2) enters the slope (4) between the baffle plate (7), because the attitude on slope (4) is known, and also corresponding acquisition of the attitude of robot (2) thus; When robot (2) moves to stage casing, slope (4), measure the degree of depth of digging at the notch (5) of baffle plate (7) by the laser sensor (3) that is contained in both sides, and obtain the current position coordinates of robot (2) with this, and implement to correct.
2. according to the nuclear power station rescue robot pose leveling block of claim 1, it is characterized in that the environmental data that described robot (2) notes the camera (12) that carries is transferred to host computer (8) by screen scrambler (11) and wireless router (10), the outer staff of nuclear power station observes the slope (4) in the nuclear power station, namely sends order manual operation machine people (2) and enters in the slope (4).
3. according to the nuclear power station rescue robot pose leveling block of claim 1, it is characterized in that described slope (4) is for artificial special, therefore the inclination angle on slope (4) and deflection are fully known, the width on slope (4) is consistent with the width on robot (2) chassis, and the degree of freedom of two baffle plates (7) with restriction robot Y-direction settled in (4) both sides on the slope, so robot (2) is just by slope (4); Since the slope inclination angle and deflection known, the attitude angle-course angle α of robot so thereon (2), roll angle β and angle of pitch γ just and the attitude on the slope of setting in advance (4) in full accord; Be the current attitude of renewable robot (2) thus.
4. according to the nuclear power station rescue robot pose leveling block of claim 1, it is characterized in that described baffle plate (7) plays restriction robot (2) Y-direction effect, also dug some notches (5) in the middle of the baffle plate (7), the depth registration of notch (5) coordinate position of current slope (4).The laser sensor (3) that install robot (2) both sides is measured the degree of depth of notch (5), after decoding, obtains the current position coordinates of robot (2), and implements to correct.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310170467.6A CN103245361B (en) | 2013-05-10 | 2013-05-10 | Nuclear power station rescue robot pose leveling block |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310170467.6A CN103245361B (en) | 2013-05-10 | 2013-05-10 | Nuclear power station rescue robot pose leveling block |
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| CN103245361A true CN103245361A (en) | 2013-08-14 |
| CN103245361B CN103245361B (en) | 2016-05-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2540816A (en) * | 2015-07-30 | 2017-02-01 | Guidance Automation Ltd | Calibrating an automated guided vehicle |
Citations (3)
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|---|---|---|---|---|
| US4119900A (en) * | 1973-12-21 | 1978-10-10 | Ito Patent-Ag | Method and system for the automatic orientation and control of a robot |
| US5453931A (en) * | 1994-10-25 | 1995-09-26 | Watts, Jr.; James R. | Navigating robot with reference line plotter |
| CN102252671A (en) * | 2011-04-18 | 2011-11-23 | 上海大学 | Positioning control system for nuclear power underwater robot |
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2013
- 2013-05-10 CN CN201310170467.6A patent/CN103245361B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4119900A (en) * | 1973-12-21 | 1978-10-10 | Ito Patent-Ag | Method and system for the automatic orientation and control of a robot |
| US5453931A (en) * | 1994-10-25 | 1995-09-26 | Watts, Jr.; James R. | Navigating robot with reference line plotter |
| CN102252671A (en) * | 2011-04-18 | 2011-11-23 | 上海大学 | Positioning control system for nuclear power underwater robot |
Non-Patent Citations (1)
| Title |
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| 黄志华等: "基于人机交互的移动服务机器人导航系统", 《机器人》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2540816A (en) * | 2015-07-30 | 2017-02-01 | Guidance Automation Ltd | Calibrating an automated guided vehicle |
| GB2540816B (en) * | 2015-07-30 | 2021-10-27 | Guidance Automation Ltd | Calibrating an Automated Guided Vehicle |
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| CN103245361B (en) | 2016-05-25 |
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