Cloud terrace two-dimensional positioning system of transformer substation rail robot and positioning method
An orbital robot and two-dimensional positioning technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of easy misreading, easy to be affected by the environment, and low positioning accuracy, so as to improve positioning accuracy and avoid strong electromagnetic fields interference effect
Pending Publication Date: 2018-04-13
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
View PDF6 Cites 4 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, the positioning accuracy of this method is not high and is greatly affected by the environment, and misreading is prone to occur in the environment of strong electromagnetic fields in substations
[0006] 4. In addition, there are some positioning methods such as infrared positioning and laser ranging positioning, but these methods are costly, easily affected by the environment, complex in technology, and prone to positioning errors in the strong electromagnetic field environment of the substation
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Such as figure 1 and figure 2 and image 3 As shown, the pan-tilt two-dimensional positioning system of a substation track robot provided by the present invention includes a plurality of station positioning pieces 9 in the X-axis direction, and the station positioning pieces 9 are installed on the driving track 4, and the station positioning pieces 9 are equally spaced Arrangement: on the robot, there is a drive motor 61, the rack 7 that cooperates with the drive motor 61, when the drive motor 61 rotates, the forward or backward of the robot is realized by the engagement of the drive gear 63 on the drive motor with the rack 7, and the robot is in the Walk on the driving track 4. An encoder 62 is installed on the motor shaft of the drive motor 61 , and the motor encoder is used to count the number of rotations of the motor 61 .
[0...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a cloud terrace two-dimensional positioning system of a transformer substation rail robot and a positioning method. In the X-axis direction, a station positioning sheet is mounted on an operation rail of the robot and the robot is provided with a triggering switch and an encoder; a master controller is used for recording the number of times of triggering of the triggering switch and the encoder is used for counting the number of turns of rotating of a motor; and the movement distance of the robot in the X-axis direction is determined according to the recorded number ofthe encoder and the recorded number of the master controller through conversion. In the Y-axis direction, the robot is provided with a magnetic detector, a station positioning sheet and an encoder; the master controller is used for recording the number of times of triggering of the magnetic detector and the encoder is used for counting the number of turns of rotating of the motor; and the movementdistance of the robot in the Y-axis direction is determined according to the recorded number of the encoder and the recorded number of the master controller through conversion. A final cloud terracemovement position of the robot is the vector sum of the movement distance of the robot in the X-axis direction and the movement distance of the robot in the Y-axis direction. The cloud terrace two-dimensional positioning system disclosed by the invention has the advantages of low cost high accuracy, good operation reliability and the like.
Description
technical field [0001] The invention mainly relates to the design field of mobile robots, in particular to a two-dimensional positioning system and positioning method for a platform of a substation track robot. Background technique [0002] At present, the commonly used mobile robot positioning methods include the following. [0003] 1. Motor encoder positioning. The distance measurement of the encoder installed on the robot is a positioning method that is often used at present. This method is to install the encoder on the robot and read the number of turns of the driving wheel to calculate the moving distance of the robot and estimate the position of the robot. This method is relatively simple, but it is difficult to accurately locate the actual position of the robot due to the cumulative error of the encoder. [0004] 2. Ultrasonic positioning. The method is to install an ultrasonic transceiver module on the robot, and determine the moving distance of the robot through ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/02B25J9/12B25J9/16
CPCB25J5/02B25J9/12B25J9/16
Inventor 杨翔宇樊绍胜韩立哲廖森伟司朋伟
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY