Cruise method and system based on butt joint of ground cruise robot and hanger rail robot

Abstract

The invention discloses a cruise method and system based on butt joint of a ground cruise robot and an overhead rail robot, and relates to the technical field of robot cruise, and the system comprises the ground cruise robot, the overhead rail robot and an electronic tag; the ground cruise robot is in communication connection with the hanger rail robot; the hanger rail robot is arranged on a hanger rail at the top of the underground pipe gallery; a lifting rod is arranged at the top of the ground cruise robot; a hook is arranged at the top of the lifting rod; a water detector and an identification device for identifying the electronic tag are arranged at the bottom of the ground cruise robot; the water detector is used for identifying a ponding road section of the underground pipe gallery; the electronic tags are arranged in an obstacle road section of the underground pipe gallery and at the initial position of the obstacle road section and used for marking the position of the obstacle road section. The technical problem that in the prior art, a ground cruise robot cannot pass through part of obstacle road sections in an underground pipe gallery scene is solved.

Description

Technical Field

[0001] The present invention relates to the field of robot cruising technology, and in particular to a cruising method and system based on docking of a ground cruising robot with a hanging rail robot. Background Art

[0002] Currently, there are ground cruise robots on the market that can cruise along a set track on the ground through laser navigation or satellite navigation, and observe predetermined targets in the area through visible light and thermal imaging. Generally, they are wheeled or tracked. However, in underground pipe gallery scenarios, some sections have deep water, muddy roads, gravel roads, cliffs and gullies, and wheeled or tracked vehicles cannot pass through. Summary of the invention

[0003] The purpose of the present invention is to provide a cruising method and system based on the docking of a ground cruising robot and a rail-mounted robot in order to solve at least one of the above-mentioned technical problems.

[0004] In the first aspect, an embodiment of the present invention provides a cruise system based on the docking of a ground cruise robot and a hanging rail robot, which is applied to an underground tunnel; it includes: a ground cruise robot, a hanging rail robot and an electronic tag; the ground cruise robot is communicatively connected with the hanging rail robot; the hanging rail robot is arranged on the hanging rail at the top of the underground tunnel, and a crossbeam is arranged underneath; a lifting rod is arranged on the top of the ground cruise robot, and a hook is arranged on the top of the lifting rod; a water detector and an identification device for identifying the electronic tag are arranged at the bottom of the ground cruise robot; the water detector is used to identify the waterlogged section of the underground tunnel; the electronic tag is arranged in the obstacle section of the underground tunnel and at the starting position of the obstacle section, so as to identify the position of the obstacle section.

[0005] Furthermore, a laser radar is also arranged in front of the ground cruise robot for scanning the distance between an object on a vertical plane and the laser radar, so as to locate the position of the rail-mounted robot relative to the ground cruise robot.

[0006] Furthermore, the ground cruising robot and the rail-mounted robot are both provided with a radio communication device, and the ground cruising robot is wirelessly connected with the rail-mounted robot via the radio communication device.

[0007] In the second aspect, an embodiment of the present invention also provides a cruising method based on the docking of a ground cruise robot and a rail-mounted robot, which is applied to the cruising system based on the docking of a ground cruise robot and a rail-mounted robot provided by an embodiment of the present invention; the method includes: during the process of the ground cruise robot cruising the underground pipeline corridor, if the water detector detects that the ground cruise robot has reached a flooded section, or the identification device identifies an electronic tag set at the starting position of the obstacle section, then the cruising is stopped and a call signal is sent to the rail-mounted robot; the rail-mounted robot is controlled to move to a position above the ground cruise robot based on the call signal, and lowers the beam; the ground cruise robot is controlled to position the rail-mounted robot, and the ground cruise robot is connected to the rail-mounted robot through the hook and the beam by controlling the lifting rod; the rail-mounted robot is controlled to drive the ground cruise robot across the flooded section or the obstacle section.

[0008] Furthermore, controlling the ground cruise robot to position the rail-hanging robot includes: positioning the rail-hanging robot based on a laser radar arranged in front of the ground cruise robot.

[0009] Furthermore, the ground cruise robot is connected to the rail robot via the hook and the crossbeam by controlling the lifting rod, including: controlling the lifting rod to extend, and after the hook is hung on the crossbeam, controlling the lifting rod to shorten to the shortest.

[0010] Furthermore, controlling the rail hanging robot to drive the ground cruise robot across the flooded section includes: after the rail hanging robot drives the ground cruise robot to travel a preset distance, controlling the lifting rod to extend, and after the bottom of the ground cruise robot touches the ground, detecting based on the water detector whether the bottom of the ground cruise robot crosses the flooded section; if not, controlling the lifting rod to shorten, and controlling the rail hanging robot to drive the ground cruise robot to continue traveling the preset distance; if yes, controlling the hook to detach from the beam.

[0011] Furthermore, an end point electronic tag is set at the end point of the obstacle section; the rail hanging robot is controlled to drive the ground cruise robot to cross the obstacle section, including: when the identification device of the ground cruise robot recognizes the end point electronic tag, the lifting rod is controlled to extend, and the hook is controlled to disengage from the beam.

[0012] The present invention provides a cruising method and system based on the docking of a ground cruising robot and a rail-mounted robot. By docking the rail-mounted robot with the ground cruising robot, the ground cruising robot is assisted to cross the flooded section or obstacle section of the underground corridor and complete the crossing of the inaccessible section, thus solving the technical problem in the prior art that the ground cruising robot cannot pass through some obstacle sections in the underground corridor scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 A schematic diagram of a cruise system based on docking of a ground cruise robot and a hanging rail robot provided by an embodiment of the present invention;

[0015] Figure 2 A flowchart of a cruising method based on docking of a ground cruising robot and a rail-mounted robot is provided in an embodiment of the present invention.

[0016] In the figure: 1. Ground cruise robot, 2. Hanging rail robot, 3. Electronic tag, 4. Hanging rail, 5. Beam, 6. Lifting rod, 7. Hook, 8. Water detector, 9. Identification device, 10. Lidar, 11. End point electronic tag. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Embodiment 1

[0019] Figure 1 Schematic diagram of a cruise system based on docking of a ground cruise robot and a hanging rail robot according to an embodiment of the present invention, the system is applied to an underground pipe gallery. Figure 1 As shown, the system provided by the embodiment of the present invention includes: a ground cruising robot 1, a rail-mounted robot 2 and an electronic tag 3; the ground cruising robot 1 is communicatively connected with the rail-mounted robot 2.

[0020] Specifically, Figure 1As shown, the rail hanging robot 2 is arranged on the rail hanging 4 at the top of the underground pipe gallery, and a cross beam 5 is arranged below.

[0021] A lifting rod 6 is arranged on the top of the ground cruising robot 1 , and a hook 7 is arranged on the top of the lifting rod 6 .

[0022] In an embodiment of the present invention, the hanging rail robot 2 is equipped with small wheels and runs on the hanging rail 4 at the top of the underground tunnel, and can move forward and backward relying on its own power; a retractable beam 5 is provided below, and the hook 7 of the ground robot 1 can be flipped upwards and hung on the beam 5.

[0023] Specifically, a hook 7 is arranged on the top of the ground cruising robot 1, the hook 7 is driven by a motor, and a lifting rod 6 is connected below, and the bottom of the lifting rod 6 is a vehicle body and a wheeled chassis.

[0024] like Figure 1 As shown, a water detector 8 and an identification device 9 for identifying the electronic tag 3 are arranged at the bottom of the ground cruising robot 1 .

[0025] Specifically, the water detector 8 is used to identify the waterlogged section of the underground pipe gallery.

[0026] The electronic tag 3 is set in the obstruction section of the underground pipe gallery and at the starting position of the obstruction section to mark the position of the obstruction section.

[0027] Optionally, the electronic tag 3 is an RFID radio frequency card, and the identification device 9 is an RFID card reader. Each electronic tag 3 records the location information.

[0028] Optionally, the obstacle section includes a muddy section, a gravel section, a cliff gully section, etc. The embodiment of the present invention can enable the ground cruise robot 1 to identify the location of the obstacle section through the identification device 9 by setting the electronic tag 3 at the starting point of the obstacle section and in the obstacle section.

[0029] Preferably, an end point electronic tag 11 is also provided at the end point of the obstacle section to mark the end point of the obstacle section.

[0030] Specifically, Figure 1 As shown, a laser radar 10 is also arranged in front of the ground cruise robot 1 for scanning the distance between an object on a vertical plane and the laser radar 10 so as to locate the position of the hanging rail robot 2 relative to the ground cruise robot 1 .

[0031] Preferably, both the ground cruising robot 1 and the rail-mounted robot 2 are provided with a radio communication device, and the ground cruising robot 1 and the rail-mounted robot 2 are wirelessly connected via the radio communication device.

[0032] Embodiment 2

[0033] Figure 2 1 is a flow chart of a cruising method based on docking of a ground cruising robot and a hanging rail robot according to an embodiment of the present invention, and the method is applied to a cruising system based on docking of a ground cruising robot and a hanging rail robot according to an embodiment of the present invention. Figure 2 As shown, the method specifically comprises the following steps:

[0034] Step S202, when the ground cruise robot is cruising the underground pipeline corridor, if the water detector detects that the ground cruise robot reaches a flooded section, or the identification device identifies an electronic tag set at the starting position of the obstacle section, the cruise is stopped and a call signal is sent to the rail-mounted robot.

[0035] Step S204, controlling the rail-mounted robot to move to a position above the ground cruising robot based on the call signal, and lowering the beam.

[0036] Step S206, controlling the ground cruise robot to position the rail-mounted robot, and controlling the lifting rod so that the ground cruise robot is connected to the rail-mounted robot through the hook and the beam.

[0037] Specifically, the lifting rod is controlled to be extended, and after the hook is hung on the beam, the lifting rod is controlled to be shortened to the shortest.

[0038] Step S208, controlling the rail-mounted robot to drive the ground cruise robot to cross the flooded section or obstacle section.

[0039] In an optional implementation provided by an embodiment of the present invention, when the water detector detects a flooded section of the road, or the identification device identifies the electronic tag at the starting position of the obstacle section, the ground cruise robot stops and then calls the rail hanging robot to park 0.5m in front of the ground cruise robot. The rail hanging robot then lowers the beam, and the ground cruise robot positions the rail hanging robot based on a laser radar arranged in front of the ground cruise robot, and moves to a position directly below the rail hanging robot, controls the lifting rod to extend, and the hook to flip up so that the hook is hung on the beam, and then controls the lifting rod to shorten, and the rail hanging robot drives the ground cruise robot forward.

[0040] Specifically, the process of the ground cruise robot using lidar to locate the rail-hanging robot is as follows: the ground cruise robot moves forward 5 cm, and then the lidar scans to detect whether an object suddenly appears within a certain range directly above it. If not, it continues to move forward 5 cm until an object is detected, that is, it reaches the position directly below the rail-hanging robot.

[0041] Specifically, in step S208, controlling the rail-hanging robot to drive the ground cruising robot to cross the flooded road section includes:

[0042] After the rail-hanging robot drives the ground cruise robot to travel a preset distance, the lifting rod is controlled to extend, and after the bottom of the ground cruise robot touches the ground, the water detector is used to detect whether the bottom of the ground cruise robot crosses the flooded section;

[0043] If not, the lifting rod is controlled to be shortened, and the hanging rail robot is controlled to drive the ground cruise robot to continue to travel a preset distance;

[0044] If yes, the control hook is disengaged from the crossbar.

[0045] Optionally, the preset distance is 5m, that is, the rail hanging robot drives the ground cruise robot forward 5m each time until it crosses the flooded section, and then the rail hanging robot puts down the ground cruise robot, allowing the ground cruise robot to continue cruising in the underground corridor, and at the same time instructs the rail hanging robot to return to the starting point to charge.

[0046] Specifically, in step S208, the rail-hanging robot is controlled to drive the ground cruise robot to cross the obstacle section, including: when the identification device of the ground cruise robot identifies the end point electronic tag, the lifting rod is controlled to extend, and the hook is controlled to separate from the beam.

[0047] Specifically, the method provided in the embodiment of the present invention can detect whether the ground cruise robot has passed an obstacle section through an RFID card reader. After the ground cruise robot identifies the end point electronic tag, the hanging rail robot lowers the ground cruise robot, allowing the ground cruise robot to continue cruising in the underground tunnel, and at the same time instructs the hanging rail robot to return to the starting point for charging.

[0048] In a cruise method based on docking of a ground cruise robot and a hanging rail robot provided by an embodiment of the present invention, the hanging rail robot is controlled to park in front of the ground cruise robot. Because the positioning cannot be accurate to a few centimeters, even if the robot stops in time after detection, it is impossible for the hanging rail robot to park exactly above the ground cruise robot due to inertia. Therefore, it is necessary to park the hanging rail robot just above the ground cruise robot, and then slowly scan and dock it carefully through the laser radar.

[0049] In an embodiment of the present invention, the docking process is for the ground cruise robot to search and approach the rail-hanging robot, because the ring below the rail-hanging robot is not rigidly fixed, but flexible. Because the center of gravity of the heavy object being hung is not in the middle, the ring will tilt to one side. If it is rigid, the stress caused by the center of gravity offset will be transferred to the rail-hanging robot, causing the rail-hanging robot to tilt and derail. Therefore, in order not to transmit stress, the ring is flexibly fixed (can shake, but not as soft as a rope, because it also needs to be folded and retracted). Therefore, if the rail-hanging robot is allowed to move slowly close to the ground cruise robot, the ring below it will keep shaking back and forth, causing interference detection.

[0050] From the above description, it can be seen that the embodiments of the present invention provide a cruising method and system based on the docking of a ground cruise robot and a rail-mounted robot. By docking the rail-mounted robot with the ground cruise robot, the ground cruise robot is assisted to cross the flooded sections or obstacle sections of the underground corridor and complete the crossing of the inaccessible sections, thereby solving the technical problem in the prior art that the ground cruise robot cannot pass through some obstacle sections in the underground corridor scenario.

[0051] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0052] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A cruise system based on the docking of a ground cruise robot and a hanging rail robot, characterized in that: Applicable to underground pipe gallery; comprising: a ground cruise robot, a rail hanging robot and an electronic tag; the ground cruise robot is communicatively connected with the rail hanging robot; The rail hanging robot is arranged on the rail hanging at the top of the underground pipe gallery, and a crossbeam is arranged below; A lifting rod is arranged on the top of the ground cruising robot, and a hook is arranged on the top of the lifting rod; a water detector and an identification device for identifying the electronic tag are arranged on the bottom of the ground cruising robot; The water detector is used to identify the waterlogged section of the underground pipe gallery; The electronic tag is arranged in the obstacle section of the underground pipe gallery and at the starting position of the obstacle section, and is used to mark the position of the obstacle section.

2. The system according to claim 1, characterized in that: A laser radar is also arranged in front of the ground cruise robot for scanning the distance between an object on a vertical plane and the laser radar so as to locate the position of the hanging rail robot relative to the ground cruise robot.

3. The system according to claim 1, characterized in that: The ground cruising robot and the rail-mounted robot are both provided with a radio communication device, and the ground cruising robot is wirelessly connected with the rail-mounted robot via the radio communication device.

4. A cruising method based on docking of a ground cruising robot and a hanging rail robot, characterized in that: The cruise system based on docking of a ground cruise robot and a hanging rail robot according to claim 1; the method comprises: During the process of the ground cruise robot cruising the underground pipe gallery, if the water detector detects that the ground cruise robot reaches a flooded section, or the identification device identifies an electronic tag set at the starting position of the obstacle section, the cruise is stopped and a call signal is sent to the rail-mounted robot; Controlling the rail-hanging robot to move to a position above the ground cruising robot based on the call signal, and lowering the beam; Controlling the ground cruising robot to position the rail-hanging robot, and controlling the lifting rod so that the ground cruising robot is connected to the rail-hanging robot through the hook and the crossbeam; The rail-hanging robot is controlled to drive the ground cruising robot to cross the flooded section or the obstacle section.

5. The method according to claim 4, characterized in that: Controlling the ground cruising robot to position the rail-hanging robot includes: The rail-mounted robot is positioned based on a laser radar arranged in front of the ground cruising robot.

6. The method according to claim 4, characterized in that: The ground cruise robot is connected to the rail robot via the hook and the crossbeam by controlling the lifting rod, including: controlling the lifting rod to extend, and after the hook is hung on the crossbeam, controlling the lifting rod to shorten to the shortest.

7. The method according to claim 4, characterized in that: Controlling the rail-hanging robot to drive the ground cruising robot across the flooded road section includes: After the rail-hanging robot drives the ground cruising robot to travel a preset distance, the lifting rod is controlled to extend, and after the bottom of the ground cruising robot touches the ground, the water detector is used to detect whether the bottom of the ground cruising robot crosses the flooded section; If not, the lifting rod is controlled to be shortened, and the rail-hanging robot is controlled to drive the ground cruising robot to continue traveling the preset distance; If yes, the hook is controlled to be disengaged from the crossbeam.

8. The method according to claim 4, characterized in that: An end point electronic tag is set at the end point of the obstacle section; the rail hanging robot is controlled to drive the ground cruise robot to cross the obstacle section, including: when the identification device of the ground cruise robot identifies the end point electronic tag, the lifting rod is controlled to extend, and the hook is controlled to disengage from the beam.

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