Fusion positioning control method for rail robot

Abstract

The present invention relates to a rail robot and a fusion positioning control method thereof, comprising the following steps: S1: calculating real-time mileage and current position coordinates based on a motor encoder; S2: a radio frequency detection module senses a radio frequency response component in real time while the robot is driving, a robot control unit acquires an identification code and corresponding position calibration coordinates of the sensed radio frequency response component, and records the acquisition time as a first moment; a photoelectric receiver receives a light beam from a photoelectric transmitter, and the robot control unit records the moment when the light hole is detected as a second moment; S3: the robot control unit calculates the difference between the first moment and the second moment, and determines whether the difference is within a preset time difference threshold; S4: if so, assigning the acquired position calibration coordinates to the current position coordinates and simultaneously calculating the real-time mileage; if not, the current position coordinates are not updated, and the rail robot continues driving. The present invention significantly improves the positioning accuracy of the rail robot.

Description

Technical Field

[0001] The present invention relates to the field of fusion positioning technology, and in particular to a track robot with precise positioning and a fusion positioning control method for the track robot. Background Art

[0002] Common positioning methods for rail robots include radio frequency positioning and motor encoder positioning. Radio frequency positioning is easily affected by the operating environment, has a wide sensing range, and requires time for response processing, making it difficult to achieve accurate positioning. Motor encoder positioning is often used for high-precision positioning, but in actual applications, wheel slippage and gaps in track connections may occur, resulting in errors in the acquired position information, further causing irreparable cumulative errors and affecting positioning accuracy.

[0003] Therefore, it is necessary to provide a track robot with precise positioning and a fusion positioning control method for the track robot to solve the problem in the prior art that the track robot is prone to irreparable cumulative positioning errors. Summary of the Invention

[0004] The purpose of the present invention is to provide a track robot with precise positioning and a fusion positioning control method for the track robot, so as to solve the problem in the prior art that the track robot is prone to irreparable cumulative positioning errors.

[0005] In order to solve the problems existing in the prior art, the present invention provides a track robot with precise positioning, comprising:

[0006] A track robot, a robot control unit, a motor controller, a radio frequency detection module, a photoelectric transmitter, and a photoelectric receiver provided on the track robot;

[0007] A cloud platform in communication with the data transmission module in the robot control unit, and a client in communication with the cloud platform;

[0008] A motor encoder provided on the wheel of the rail robot;

[0009] A track for a rail robot, radio frequency response components arranged at intervals on the track, each radio frequency response component having its own identification code and corresponding position calibration coordinate value; and light holes arranged on the track and the same number as the radio frequency response components.

[0010] Optionally, in the precise positioning track robot,

[0011] The robot control unit is configured to collect, process and store information, and control the travel of the rail robot;

[0012] The motor controller is configured to control the wheels of the rail robot to rotate or stop rotating;

[0013] The radio frequency detection module is configured to actively sense radio frequency response components in real time during driving;

[0014] The photoelectric transmitter and the photoelectric receiver are configured to transmit and receive a light beam;

[0015] The motor encoder is configured to provide a pulse feedback signal to the robot control unit;

[0016] The light hole is configured to pass the light beam.

[0017] Optionally, in the precise positioning rail robot, the specification of the motor encoder is higher than 4096P / R.

[0018] Optionally, in the precise positioning rail robot, the radio frequency detection module is a radio frequency identification device operating in the 13.56 MHz frequency band, and the radio frequency response component is a radio frequency identification electronic tag operating in the 13.56 MHz frequency band.

[0019] Optionally, in the precise positioning track robot, the photoelectric transmitter and the photoelectric receiver form a set of opposing photoelectric switch devices, which are respectively located on both sides of the track.

[0020] Optionally, in the precisely positioned rail robot, an automatic wireless charging device is provided at the radio frequency response component identification code, configured to charge the rail robot.

[0021] The present invention also provides a fusion positioning control method for a track robot, which uses the track robot with precise positioning, comprising the following steps:

[0022] S1: Calculate the real-time mileage and current position coordinates based on the motor encoder;

[0023] S2: The RF detection module senses the RF response component in real time while the vehicle is driving. The robot control unit obtains the identification code and the corresponding position calibration coordinate value of the currently sensed RF response component and records the acquisition time as the first time;

[0024] The photoelectric receiver receives the light beam emitted by the photoelectric transmitter, and the robot control unit records the moment when the light hole is detected as the second moment;

[0025] S3: The robot control unit calculates the difference between the first moment and the second moment, and determines whether the difference is within a preset time difference threshold range;

[0026] S4: If it is within the preset time difference threshold range, the position calibration coordinate value corresponding to the currently sensed RF response component is assigned to the current position coordinate value, and the real-time driving mileage is calculated at the same time; if it is not within the preset time difference threshold range, the position calibration coordinate value corresponding to the currently sensed RF response component is not applied, and the current position coordinate value is not updated. The rail robot continues to drive until the next RF response component is detected.

[0027] Optionally, in the fusion positioning control method of the rail robot, in S1, the real-time mileage is calculated as follows:

[0028] M=C*N / K,

[0029] The current position coordinates are calculated as follows:

[0030] P t =P0+M;

[0031] Among them, M is the real-time mileage, C is the wheel circumference, N is the number of pulse feedback signals provided by the motor encoder collected by the robot control unit, the constant K is the number of pulses emitted per rotation of the track robot wheel, P t is the current position coordinate value, and P0 is the starting position coordinate value.

[0032] Optionally, in the fusion positioning control method of the track robot, if the RF detection module does not sense the RF response component, the track robot obtains the current position coordinate value calculated in S1 as the actual position; if the RF detection module senses the RF response component and the difference is within the preset time difference threshold range, the track robot obtains the current position coordinate value calculated in S4 as the actual position.

[0033] Optionally, in the fusion positioning control method of the rail robot, in S4, the method of simultaneously calculating the real-time mileage is as follows:

[0034] M=P t -P0, where M is the real-time driving mileage, P t is the current position coordinate value, and P0 is the starting position coordinate value.

[0035] In the precise positioning rail robot and the integrated positioning control method of the rail robot provided by the present invention, a motor encoder is used to calculate the real-time driving mileage and current position coordinate values ​​in real time, and the positioning is updated in real time in combination with radio frequency and optical aperture, thereby greatly improving the positioning accuracy of the rail robot and achieving a positioning accuracy of less than 5mm; further improving the reliability and accuracy of the rail robot's driving control and task execution. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1A schematic diagram of a track robot provided by an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of a track provided in an embodiment of the present invention.

[0038] Among them, 1-track robot; 2-robot control unit; 3-motor controller; 4-RF detection module; 5-photoelectric transmitter; 6-photoelectric receiver; 7-cloud platform; 8-client; 9-wheel; 10-motor encoder; 11-RF response component; 12-light hole; 13-track. DETAILED DESCRIPTION

[0039] The following is a more detailed description of the specific embodiments of the present invention with reference to schematic diagrams. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are greatly simplified and not to exact scale, and are only used for the purpose of conveniently and clearly illustrating the embodiments of the present invention.

[0040] Hereinafter, if the method described herein includes a series of steps, the order in which the steps are presented herein is not necessarily the only order in which the steps may be performed, and some of the steps described may be omitted and / or some other steps not described herein may be added to the method.

[0041] Common positioning methods for rail robots include radio frequency positioning and motor encoder positioning. Radio frequency positioning is easily affected by the operating environment, has a wide sensing range, and requires time for response processing, making it difficult to achieve accurate positioning. Motor encoder positioning is often used for high-precision positioning, but in actual applications, wheel slippage and gaps in track connections may occur, resulting in errors in the acquired position information, further causing irreparable cumulative errors and affecting positioning accuracy.

[0042] In order to solve the problems existing in the prior art, the present invention provides a track robot with precise positioning, such as Figure 1 and 2 Shown, including:

[0043] A track robot 1, a robot control unit 2, a motor controller 3, a radio frequency detection module 4, a photoelectric transmitter 5, and a photoelectric receiver 6 arranged on the track robot 1;

[0044] A cloud platform 7 communicatively connected to the data transmission module in the robot control unit 2, and a client 8 communicatively connected to the cloud platform 7;

[0045] A motor encoder 10 is provided on the wheel 9 of the rail robot 1;

[0046] A track 13 for the rail robot 1 to travel on, with radio frequency response components 11 arranged at intervals on the track 13, each radio frequency response component 11 having its own identification code (ID) and corresponding position calibration coordinate value, thereby establishing a track coordinate system; and light holes 12 arranged on the track 13 and the same number as the radio frequency response components 11, with the radio frequency response components 11 and the light holes 12 corresponding one to one.

[0047] Optionally, in the precise positioning track robot 1,

[0048] The robot control unit 2 is configured to collect, process and store information, and control the operation of the track robot 1;

[0049] The motor controller 3 is configured to control the wheels 9 of the rail robot 1 to rotate or stop rotating, and controls the motor operation by receiving driving control instructions from the robot control unit 2, thereby enabling the rail robot 1 to walk on the track 13;

[0050] The radio frequency detection module 4 is configured to actively sense the radio frequency response component 11 in real time during driving; the robot control unit 2 stores the ID number of the radio frequency response component 11 identification code and the corresponding position calibration coordinate value. The radio frequency detection module 4 is an active sensing module, and the radio frequency response component 11 is a passive response module. During driving, the radio frequency detection module 4 of the rail robot 1 will actively sense the radio frequency response component 11, thereby obtaining the position calibration coordinate value of the radio frequency response component 11;

[0051] The photoelectric transmitter 5 and the photoelectric receiver 6 are configured to transmit and receive light beams;

[0052] The motor encoder 10 is configured to provide a pulse feedback signal to the robot control unit 2;

[0053] The light hole 12 is configured to pass the light beam.

[0054] Preferably, the robot control unit 2 can be based on a single-chip microcomputer, ROS, or PLC. The motor encoder 10 is recommended to have a specification higher than 4096P / R. The RF detection module 4 is a radio frequency identification (RFID) device operating in the 13.56MHz frequency band, and the RF response component 11 is a radio frequency identification (RFID) electronic tag operating in the 13.56MHz frequency band.

[0055] Optional, such as Figure 2 As shown, the photoelectric transmitter 5 and the photoelectric receiver 6 form a set of opposing photoelectric switch devices, which are respectively located on both sides of the track 13. When the track robot 1 walks through the light hole 12, the photoelectric receiver 6 can receive the light beam emitted by the photoelectric transmitter 5.

[0056] Preferably, an automatic wireless charging device is provided at the identification code of the radio frequency response component 11 , configured to charge the rail robot 1 .

[0057] Furthermore, the operator can issue control instructions such as charging, driving position and operation tasks through the cloud platform 7 or the client 8 to control the rail robot 1 to execute the instruction operations; at the same time, the rail robot 1's own operating data (such as position information, alarm information, etc.) is uploaded to the cloud platform 7 and / or the client 8 through communication.

[0058] The present invention also provides a fusion positioning control method for a track robot, which is further described in detail. Figure 1 and Figure 2 , using the track robot 1 for precise positioning, comprising the following steps:

[0059] S1: Calculate the real-time mileage and current position coordinates in real time according to the motor encoder 10;

[0060] S2: When the rail robot 1 is traveling on the track 13, it passes a radio frequency response component 11 at every predetermined interval. The radio frequency detection module 4 actively senses the radio frequency response component 11 in real time during the driving process. Typically, the radio frequency detection module 4 senses the radio frequency response component 11 in real time during the driving process. The robot control unit 2 obtains the identification code and the corresponding position calibration coordinate value of the currently sensed radio frequency response component 11, and records the time of acquisition as the first moment.

[0061] The photoelectric receiver 6 receives the light beam emitted by the photoelectric transmitter 5, and the robot control unit 2 records the moment when the light hole 12 is detected as the second moment. Specifically, during the operation of the rail robot 1, it passes by a radio frequency response component 11 at every predetermined interval, and similarly passes by a light hole 12 corresponding to the radio frequency response component 11. When the photoelectric receiver 6 passes through the light hole 12, it receives the light beam emitted by the photoelectric transmitter 5. The received light beam undergoes photoelectric conversion and outputs a switching signal to the robot control unit 2. The robot control unit 2 determines whether the light hole 12 is detected based on whether the switching state is open or closed, and records the moment when the light hole 12 is detected.

[0062] S3: The robot control unit 2 calculates the difference between the first moment and the second moment, and determines whether the difference is within a preset time difference threshold range;

[0063] S4: If it is within the preset time difference threshold range, the position calibration coordinate value corresponding to the currently sensed RF response component 11 is assigned to the current position coordinate value, and the real-time mileage is calculated at the same time, thereby correcting the real-time mileage and the current position coordinate value calculated by the motor encoder 10; if it is not within the preset time difference threshold range, the position calibration coordinate value corresponding to the currently sensed RF response component 11 is not applied, and the current position coordinate value is not updated, and the rail robot 1 continues to drive until the next RF response component 11 is detected.

[0064] The identification code of the radio frequency response component 11 and the corresponding position calibration coordinate value can be used to correct the position of the track robot 1 under special circumstances. The specific description is as follows: During driving, the track robot 1 saves the driving data (including the current position coordinate value) to the memory of the robot control unit 2. If the position calibration coordinate value corresponding to the radio frequency response component 11 read by the track robot 1 is inconsistent with the current position coordinate value in the memory due to reasons such as shutdown, the position is updated according to the position calibration coordinate value corresponding to the radio frequency response component 11 currently read, and the corresponding driving and other tasks are re-planned.

[0065] Optionally, in the fusion positioning control method of the rail robot 1, in S1, the real-time mileage is calculated as follows:

[0066] M=C*N / K,

[0067] The current position coordinates are calculated as follows:

[0068] P t =P0+M;

[0069] Wherein, M is the real-time mileage, C is the circumference of the wheel 9, N is the number of pulse feedback signals provided by the motor encoder 10 collected by the robot control unit 2 (N is the number of pulse feedback signals collected in real time, which is a variable), the constant K is the number of pulses emitted by the track robot 1 wheel per revolution (K is the number of pulses per revolution, which is a constant), P t is the current position coordinate value, and P0 is the starting position coordinate value.

[0070] Preferably, if the RF detection module 4 does not sense the RF response component 11, the track robot 1 obtains the current position coordinate value calculated in S1 as the actual position; if the RF detection module 4 senses the RF response component 11 and the difference is within the preset time difference threshold range, the track robot 1 obtains the current position coordinate value calculated in S4 as the actual position.

[0071] Specifically, in S4, the method for simultaneously calculating the real-time mileage is as follows:

[0072] M=P t-P0, where M is the real-time driving mileage, P t is the current position coordinate value, and P0 is the starting position coordinate value.

[0073] Preferably, in the fusion positioning control method of the rail robot 1, the identification code of the radio frequency response component 11 and the corresponding position calibration coordinate value can be used to locate the automatic wireless charging device. The specific description is as follows: the rail robot 1 mostly adopts a wireless charging method. The position of the automatic wireless charging device can be located using the identification code of the radio frequency response component 11 and the light hole 12. For example, the identification code (ID) of the radio frequency response component 11 of the automatic wireless charging device is R c , the corresponding position calibration coordinate value is P c , the corresponding light hole 12 is GD c At the same time, the front and rear RF response components 11 of the RF response component 11 where the automatic wireless charging device is located are defined as charging area identification marks, and their identification codes are set as R c-1 and R c+1 , the corresponding position calibration coordinate value is P c-1 and P c+1 When the track robot 1 executes the wireless charging instruction, the track robot 1 will move toward the position with the coordinate value P c The radio frequency response component 11 is driving, when the radio frequency detection module 4 senses the identification code R c-1 or R c+1 When the RF response component 11 is reached (traveling in either the forward or reverse direction along the position calibration coordinate value sequence), the robot control unit 2 will intervene in the driving speed of the track robot 1, so that the track robot 1 moves from the position calibration coordinate value to P c-1 or P c+1 The position of the low speed position is calibrated to the coordinate value of P c The radio frequency detection module 4 senses the identification code R of the radio frequency response component 11. c , and the photoelectric switch device detects the light hole 12 (GD c ), the robot control unit 2 controls the track robot 1 to stop driving, thereby realizing the positioning of the track robot 1 for wireless charging, and then issues a charging command to start charging.

[0074] The fusion positioning control method of the present invention can be applied to rail robots 1 that serve tunnel disease monitoring, pipe gallery / power station equipment fixed-point inspection, and machine room equipment operation monitoring, which have high positioning accuracy requirements and require fixed-point positioning operations.

[0075] In summary, in the precise positioning rail robot and the integrated positioning control method of the rail robot provided by the present invention, the motor encoder is used to calculate the real-time driving mileage and the current position coordinate value in real time, and the radio frequency and optical hole are combined to update the positioning in real time, thereby greatly improving the positioning accuracy of the rail robot, and can achieve a positioning accuracy of less than 5mm; further improving the reliability and accuracy of the rail robot's driving control and task execution.

[0076] Furthermore, when the fusion positioning control method of the present invention is applied to wireless charging of a rail robot, high-precision positioning of wireless charging can be achieved, thereby improving the efficiency and reliability of wireless charging.

[0077] The above description is merely a preferred embodiment of the present invention and does not limit the present invention in any way. Any person skilled in the art who, without departing from the scope of the present invention, makes any equivalent substitution, modification, or other changes to the technical solution and technical content disclosed in the present invention shall be deemed to be within the scope of the present invention and still fall within the scope of protection of the present invention.

Claims

1. A fusion positioning control method for a rail robot, characterized in that: A track robot with precise positioning is used, wherein the track robot with precise positioning comprises: A track robot, a robot control unit, a motor controller, a radio frequency detection module, a photoelectric transmitter, and a photoelectric receiver provided on the track robot; A cloud platform in communication with the data transmission module in the robot control unit, and a client in communication with the cloud platform; A motor encoder provided on the wheel of the rail robot; A track for the rail robot, radio frequency response components arranged at intervals on the track, each radio frequency response component having its own identification code and corresponding position calibration coordinate value; and light holes arranged on the track and having the same number as the radio frequency response components; The fusion positioning control method includes the following steps: S1: Calculate the real-time mileage and current position coordinates based on the motor encoder; S2: The RF detection module senses the RF response component in real time while the vehicle is driving. The robot control unit obtains the identification code and the corresponding position calibration coordinate value of the currently sensed RF response component and records the acquisition time as the first time; The photoelectric receiver receives the light beam emitted by the photoelectric transmitter, and the robot control unit records the moment when the light hole is detected as the second moment; S3: The robot control unit calculates the difference between the first moment and the second moment, and determines whether the difference is within a preset time difference threshold range; S4: If it is within the preset time difference threshold range, the position calibration coordinate value corresponding to the currently sensed RF response component is assigned to the current position coordinate value, and the real-time driving mileage is calculated at the same time; if it is not within the preset time difference threshold range, the position calibration coordinate value corresponding to the currently sensed RF response component is not applied, and the current position coordinate value is not updated. The rail robot continues to drive until the next RF response component is detected.

2. The fusion positioning control method of the rail robot according to claim 1, characterized in that: In S1, the real-time mileage is calculated as follows: M=C*N / K, The current position coordinates are calculated as follows: P t =P0+M; Among them, M is the real-time mileage, C is the wheel circumference, N is the number of pulse feedback signals provided by the motor encoder collected by the robot control unit, the constant K is the number of pulses emitted per rotation of the track robot wheel, P t is the current position coordinate value, and P0 is the starting position coordinate value.

3. The fusion positioning control method of the rail robot according to claim 1, characterized in that: If the RF detection module does not sense the RF response component, the track robot obtains the current position coordinate value calculated in S1 as the actual position; if the RF detection module senses the RF response component and the difference is within the preset time difference threshold range, the track robot obtains the current position coordinate value calculated in S4 as the actual position.

4. The fusion positioning control method of the rail robot according to claim 1, characterized in that: In S4, the method for calculating real-time mileage is as follows: M=P t -P0, where M is the real-time driving mileage, P t is the current position coordinate value, and P0 is the starting position coordinate value.

5. The fusion positioning control method of the rail robot according to claim 1, characterized in that: The robot control unit is configured to collect, process and store information, and control the travel of the rail robot; The motor controller is configured to control the wheels of the rail robot to rotate or stop rotating; The radio frequency detection module is configured to actively sense radio frequency response components in real time during driving; The photoelectric transmitter and the photoelectric receiver are configured to transmit and receive a light beam; The motor encoder is configured to provide a pulse feedback signal to the robot control unit; The light hole is configured to pass the light beam.

6. The fusion positioning control method of the rail robot according to claim 1, characterized in that: The specification of the motor encoder is higher than 4096P / R.

7. The fusion positioning control method of the rail robot according to claim 1, characterized in that: The radio frequency detection module is a radio frequency identification device operating in the 13.56 MHz frequency band, and the radio frequency response component is a radio frequency identification electronic tag operating in the 13.56 MHz frequency band.

8. The fusion positioning control method of the rail robot according to claim 1, characterized in that: The photoelectric transmitter and the photoelectric receiver form a set of opposing photoelectric switch devices, which are located on both sides of the track.

9. The fusion positioning control method of the rail robot according to claim 1, characterized in that: An automatic wireless charging device is provided at the radio frequency response component identification code, and is configured to charge the track robot.

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