Guide rail robot moving platform with high-speed response

Abstract

The invention discloses a high-speed response guide rail robot moving platform, and relates to the technical field of guide rail robots, the high-speed response guide rail robot moving platform comprises a guide rail body, a moving mechanism is arranged at the top of the guide rail body, a base is arranged at the top of the moving mechanism, and a robot body is arranged at the top of the base. The deep coupling of the positioning data is realized by fusing the multi-element positioning data of the high-precision photoelectric encoder, the IMU and the VO and processing different granularity information based on the optimal estimation theory, so that the movement of the robot can reach the millimeter-level positioning precision, meanwhile, the high-power driving motor is adopted, and the positioning precision of the robot is improved. A flexible start-stop strategy of an S-curve speed regulation mathematical algorithm model of a motor is adopted, an intelligent foreign matter collision prevention means is combined, rapid and safe movement of the robot on a track is achieved, meanwhile, a forward simulation algorithm is utilized, the track of the robot driven by the speed change vector is simulated, an optimal path is obtained, and the speed change vector of the robot is simulated. Therefore, the robot avoids obstacles.

Description

Technical Field

[0001] The invention relates to the technical field of guide rail robots, and in particular to a high-speed response guide rail robot mobile platform. Background Art

[0002] A rail robot is an automated device that can move along a predetermined rail (usually a track fixed on the ground or other planes). They are usually designed to perform specific industrial or commercial tasks. Using the guidance and support provided by the rail system, the application of rail robots in substations usually refers to a robot system that can automatically move along a pre-set rail or track. It can be used for inspection and maintenance of equipment in substations, replacing manual inspections and avoiding the safety risks of workers entering high-risk or high-voltage areas. During the operation of the rail robot, workers are required to control the robot's activities through the console. However, due to the high delay of the robot's remote control, the operation accuracy and efficiency are affected, and the obstacle avoidance algorithm is conservative, so it dare not move at high speed. At the same time, it cannot change its strategy intelligently when encountering obstacles and is easily affected by project construction. Therefore, the current operation of the robot still has certain limitations and cannot completely replace the workers' entry into the station for operation. Summary of the invention

[0003] The purpose of the present invention is to provide a high-speed response guide rail robot mobile platform with the advantage of intelligent obstacle avoidance, which solves the problem that the robot's remote control delay is high, affecting the operation accuracy and efficiency, and the obstacle avoidance algorithm is conservative and dare not move at high speed. At the same time, it cannot intelligently change the strategy when encountering obstacles and is easily affected by project construction. Therefore, the current operation of the robot still has certain limitations and cannot completely replace the problem of staff entering the station for operation.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solution: it includes a guide rail body, a moving mechanism is arranged on the top of the guide rail body, a base is arranged on the top of the moving mechanism, a robot body is arranged on the top of the base, the base includes a motor and a navigation system, and the output shaft of the motor is transmission-connected to the bottom of the robot body, an adjustment mechanism is arranged on the front of the guide rail body, the adjustment mechanism includes a fixing plate, the fixing plate is located on the front of the guide rail body and is fixedly connected to the front of the guide rail body, a multi-section cylinder is fixedly connected to the center of the top of the fixing plate, a lifting column is fixedly connected to the output end of the multi-section cylinder, the top of the lifting column is fixedly connected to a bottom plate, and a 3D camera is arranged on the top of the bottom plate.

[0005] Preferably, the 3D camera collects images to perform three-dimensional reconstruction of the scene, divides the scene into objects, and uses a dynamic back propagation network to adaptively control the robotic arm to perform panel button operations.

[0006] Preferably, by fusing high-precision photoelectric encoders, IMU, and VO multi-positioning data, information of different granularities is processed based on optimal estimation theory.

[0007] Preferably, a forward simulation algorithm is used to take multiple groups of speed change vectors with different speeds, simulate the trajectory of the robot body driven by the speed change vector, and obtain the optimal path. The specific steps include establishing a robot kinematic model, multiple groups of speed sampling and optimization evaluation.

[0008] Preferably, a fixed box is fixedly connected to the right side of the top of the base plate, and the front and rear ends of the inner cavity of the fixed box are movably connected to rotating columns through bearings, the surface of the rotating column at the front end is fixedly connected to a main gear, and the surface of the rotating column at the rear end is fixedly connected to a slave gear, and the main gear and the slave gear are meshed.

[0009] Preferably, a through groove is provided on the top of the fixing box, a fixing sleeve is fixedly connected to the surface of the 3D camera, the fixing sleeve is slidably connected to the inner cavity of the through groove, the bottom of the fixing sleeve extends to the inner cavity of the fixing box and is fixedly connected to the top of the gear.

[0010] Preferably, a servo motor is fixedly connected to the left side of the top of the base plate, the output shaft of the servo motor passes through the inner cavity of the fixed box, and is transmission-connected to the left end of the rotating column at the front end, a limit sleeve is provided on the surface of the lifting column, and reinforcing plates are fixedly connected to both sides of the bottom of the limit sleeve, and the bottom of the reinforcing plate is fixedly connected to the top of the fixed plate.

[0011] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention provides a guide rail body, a moving mechanism and a base to support and fix the robot body, thereby improving the stability of the robot body during operation and providing support and power for the movement of the robot body so that the robot body can work at different positions. The adjustment mechanism is provided to photograph and collect images of the working state of the robot body so that the staff can control the operation of the robot body. At the same time, since the angle of the 3D camera can be adjusted in multiple directions, the image collection can be more comprehensive. 2. The present invention integrates high-precision photoelectric encoders, IMU, and VO multi-dimensional positioning data, processes information of different granularities based on the optimal estimation theory, and realizes deep coupling of positioning data, so that the robot's movement can achieve millimeter-level positioning accuracy. At the same time, a high-power drive motor is adopted, and a flexible start-stop strategy of the motor's S-curve speed regulation mathematical algorithm model is adopted, as well as intelligent foreign body collision prevention measures to achieve fast and safe movement of the robot on the track. At the same time, a forward simulation algorithm is used to adopt multiple groups of speed change vectors with different speeds to simulate the trajectory of the robot driven by this speed change vector and obtain the optimal path, so that the robot can avoid obstacles and reach the target as quickly as possible, reducing the limitations of the robot's operation and enabling it to fully replace the staff's entry into the station for operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 It is a schematic diagram of the main structure of the adjustment mechanism of the present invention; Figure 3 It is a schematic diagram of the side cross-sectional structure of the fixing box of the present invention; Figure 4 Schematic diagram of the motor S-curve control algorithm of the present invention; Figure 5 Schematic diagram of the motion model of the robot body of the present invention; Figure 6 It is a schematic diagram of the velocity sampling estimation trajectory of the present invention.

[0013] In the figure: 1. Guide rail body; 2. Moving mechanism; 3. Base; 4. Robot body; 5. Adjustment mechanism; 501. Fixed plate; 502. Multi-section cylinder; 503. Lifting column; 504. Bottom plate; 505. 3D camera; 506. Fixed box; 507. Rotating column; 508. Main gear; 509. Slave gear; 510. Through slot; 511. Fixed sleeve; 512. Servo motor; 513. Limit sleeve; 514. Reinforcement plate. DETAILED DESCRIPTION

[0014] 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.

[0015] The guide rail body 1, moving mechanism 2, base 3, robot body 4, adjustment mechanism 5, fixed plate 501, multi-section cylinder 502, lifting column 503, bottom plate 504, 3D camera 505, fixed box 506, rotating column 507, main gear 508, slave gear 509, through groove 510, fixed sleeve 511, servo motor 512, limit sleeve 513, and reinforcement plate 514 of the present invention are all universal standard parts or parts known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or through conventional experimental methods.

[0016] Example 1

[0017] like Figure 1-6 As shown, it is the first embodiment of the present invention, which provides a high-speed response guide robot mobile platform, including a guide rail body 1, a moving mechanism 2 is arranged on the top of the guide rail body 1, a base 3 is arranged on the top of the moving mechanism 2, a robot body 4 is arranged on the top of the base 3, the base 3 includes a motor and a navigation system, and the output shaft of the motor is transmission-connected to the bottom of the robot body 4, an adjustment mechanism 5 is arranged on the front of the guide rail body 1, the adjustment mechanism 5 includes a fixed plate 501, the fixed plate 501 is located on the front of the guide rail body 1 and is fixedly connected to the front of the guide rail body 1, a multi-section cylinder 502 is fixedly connected at the center of the top of the fixed plate 501, a lifting column 503 is fixedly connected to the output end of the multi-section cylinder 502, a bottom plate 504 is fixedly connected to the top of the lifting column 503, and a 3D camera 505 is arranged on the top of the bottom plate 504.

[0018] like Figure 1-6As shown, the guide rail body 1, the moving mechanism 2 and the base 3 are used to support and fix the robot body 4, improve the stability of the robot body 4 during work, and provide support and power for the movement of the robot body 4 so that the robot body 4 can work in different positions. The adjustment mechanism 5 is used to shoot and collect images of the working state of the robot body 4 so that the staff can control the operation of the robot body 4. At the same time, since the angle of the 3D camera 505 can be adjusted in multiple directions, the image collection can be more comprehensive. By integrating high-precision photoelectric encoders, IMUs, and VO multi-positioning data, based on the optimal estimation theory, It processes information of different granularities and realizes deep coupling of positioning data, so that the robot's movement can achieve millimeter-level positioning accuracy. At the same time, it adopts a high-power drive motor and a flexible start-stop strategy of the motor's S-curve speed regulation mathematical algorithm model, as well as intelligent foreign body collision prevention measures to achieve fast and safe movement of the robot on the track. At the same time, it uses a forward simulation algorithm and adopts multiple groups of speed change vectors with different speeds to simulate the robot's trajectory driven by this speed change vector and obtain the optimal path, so that the robot can avoid obstacles and reach the target as quickly as possible, reducing the limitations of the robot's operation and enabling it to fully replace the staff's entry into the station for operations.

[0019] Example 2

[0020] Reference Figure 3-6 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0021] In this embodiment, the 3D camera 505 collects images to perform three-dimensional reconstruction of the scene, divides the scene into objects, and uses the dynamic back propagation network to adaptively control the robotic arm to perform panel button operations.

[0022] By integrating high-precision photoelectric encoders, IMU, and VO multi-positioning data, information of different granularities is processed based on optimal estimation theory.

[0023] Using the forward simulation algorithm, multiple groups of speed change vectors with different speeds are taken to simulate the trajectory of the robot driven by this speed change vector and obtain the optimal path. The specific steps include establishing a robot kinematic model, multiple groups of speed sampling and optimization evaluation.

[0024] like Figure 3-6 As shown in the figure, in terms of image 3D reconstruction, unsupervised methods can separate various objects in complex visual situations without any prior information about objects or scenes, and use point cloud distance algorithm to perform object segmentation by fitting shape primitives to segmented point clouds; it is obtained by finding horizontal supporting surfaces on the point cloud and clustering the points supported by these planes.

[0025] For the modeling and control problems of the robotic arm, the RBFNN-based forward and inverse solutions of the manipulator kinematics can effectively avoid the tediousness of the traditional robot kinematics solution method, and can accurately and quickly guide the robotic arm to perform scene operations.

[0026] The object recognition problem in the process of grasping by multi-DOF manipulators, the method of semantic segmentation and object recognition of three-dimensional scenes based on the point cloud segmentation algorithm of concavity and convexity, the real posture of the object is restored through filtering and pixel normal vector analysis, and multiple objects that occlude each other are efficiently and accurately identified; the trajectory control algorithm of the six-DOF manipulator in a known workspace is studied, and the optimal value of the inverse kinematics of the six-DOF manipulator is solved by sampling and analyzing the octree map in three-dimensional space, and the smooth control of the motor is completed by using high-frequency position control to simulate speed control, and high-precision manipulator contour interpolation calculation is realized by improving the digital integration algorithm; By integrating high-precision photoelectric encoders, IMU, and VO multi-dimensional positioning data, and processing information of different granularities based on the optimal estimation theory, deep coupling of positioning data is achieved, so that the robot's movement can achieve millimeter-level positioning accuracy; at the same time, a high-power drive motor is used, and the motor's S-curve speed regulation mathematical algorithm model flexible start-stop strategy is adopted, combined with intelligent anti-foreign object collision measures, the robot can move quickly and safely on the track.

[0027] Using the forward simulation algorithm, multiple groups of speed change vectors with different speeds are taken to simulate the trajectory of the robot driven by this speed change vector and obtain the optimal path. The specific steps are as follows: ① Establish a robot kinematic model; the forward simulation algorithm simulates the robot's motion trajectory, and it is necessary to establish a robot kinematic model. Assuming that the robot performs uniform linear motion in a short time interval, then:

[0028] In the formula , , For robots The linear velocity and angular velocity at the moment, the robot motion model is as follows Figure 5 shown.

[0029] ② Multiple groups of speed sampling: When performing the forward simulation algorithm, it is necessary to adopt a variety of different speeds for simulation analysis. Due to the limitations of the robot's own mechanical structure and hardware system, the sampling speed space should be constrained. This project intends to use a mobile robot whose linear speed and angular speed are not mutually constrained, so the constraints of its speed space are:

[0030] There is a limit on the deceleration when the motor accelerates or decelerates, so the motor acceleration and deceleration constraints are:

[0031] To ensure the safety of the robot and the external environment, constraints should be imposed on the braking distance to ensure that the robot can stop within a safe distance:

[0032] In the formula for The distance to the nearest obstacle at any moment, is the angle between the current angle of the robot and the nearest obstacle; after the speed constraint is given, multiple groups of different speeds can be used to simulate short-distance paths, such as Figure 5 shown.

[0033] ③ Optimization evaluation: Among the obtained path curves, there are several groups of curves that can achieve the expected goal, that is, multiple groups of velocity vectors are obtained. Then, an evaluation function should be designed to select the optimal trajectory, so as to obtain the optimal velocity vector; assuming that the evaluation rule is: in local navigation, the robot avoids obstacles and reaches the target as quickly as possible, so the evaluation function can be designed as:

[0034] In the formula, Indicates the azimuth deviation between the simulated trajectory direction and the target direction at the current position; for The distance to the nearest obstacle at any time; It is the evaluation function of the current position speed; is a smooth function; , , are the weights of the three evaluation functions.

[0035] Example 3 Reference Figure 2 and 3 , which is the third embodiment of the present invention, and this embodiment is based on the previous two embodiments.

[0036] In this embodiment, a fixed box 506 is fixedly connected to the right side of the top of the base plate 504, and the front and rear ends of the inner cavity of the fixed box 506 are movably connected to rotating columns 507 through bearings. The surface of the front rotating column 507 is fixedly connected to a main gear 508, and the surface of the rear rotating column 507 is fixedly connected to a slave gear 509, and the main gear 508 and the slave gear 509 are meshed.

[0037] A through slot 510 is provided at the top of the fixed box 506, and a fixed sleeve 511 is fixedly connected to the surface of the 3D camera 505. The fixed sleeve 511 is slidably connected to the inner cavity of the through slot 510, and the bottom of the fixed sleeve 511 extends to the inner cavity of the fixed box 506 and is fixedly connected to the top of the gear 509.

[0038] A servo motor 512 is fixedly connected to the left side of the top of the bottom plate 504. The output shaft of the servo motor 512 passes through the inner cavity of the fixed box 506 and is transmission-connected to the left end of the front rotating column 507. A limiting sleeve 513 is provided on the surface of the lifting column 503. Reinforcing plates 514 are fixedly connected to both sides of the bottom of the limiting sleeve 513. The bottom of the reinforcing plate 514 is fixedly connected to the top of the fixed plate 501.

[0039] like Figure 2 and 3 As shown, when the 3D camera 505 is in operation, it can monitor the operating status of the robot body 4 and collect images at the same time. When the use height of the 3D camera 505 needs to be adjusted, the multi-section cylinder 502 is started, and the output end of the multi-section cylinder 502 is extended, which can cooperate with the lifting column 503 to adjust the height of the base plate 504, and then adjust the use height of the 3D camera 505. When the shooting direction of the 3D camera 505 needs to be adjusted, the servo motor 512 is started, and the output shaft of the servo motor 512 drives the front end rotating column 507 to rotate, and the rotating column 507 drives the main gear 508 to rotate. Since the main gear 508 is meshed with the slave gear 509, it can drive the fixed sleeve 511 to rotate, and then drive the 3D camera 505 to rotate, so as to achieve the purpose of adjusting the shooting angle of the 3D camera 505.

[0040] A method for using a high-speed response guide rail robot mobile platform, the method comprising the following steps: The 3D camera 505 collects images to perform three-dimensional reconstruction of the scene, divides the scene into objects, and uses the dynamic back-propagation network's mechanical arm neural network model to adaptively control the mechanical arm to perform panel button operations. By integrating high-precision photoelectric encoders, IMU, and VO multi-dimensional positioning data, different granularity information is processed based on the optimal estimation theory. The forward simulation algorithm is used to take multiple groups of speed change vectors with different speeds to simulate the trajectory of the robot driven by this speed change vector and obtain the optimal path. The specific steps include establishing a robot kinematic model, multiple groups of speed sampling and optimization evaluation, and then deriving the optimal motion trajectory of the robot body 4 to achieve the purpose of automatic obstacle avoidance. When the 3D camera 505 is running, it can monitor the operating status of the robot body 4 and collect images at the same time. When the use height of the 3D camera 505 needs to be adjusted, the multi-section cylinder 502 is started, and the multi-section cylinder 502 is started. When the output end of the throttle cylinder 502 is extended, the height of the base plate 504 can be adjusted in cooperation with the lifting column 503, thereby adjusting the use height of the 3D camera 505. When the shooting direction of the 3D camera 505 needs to be adjusted, the servo motor 512 is started, and the output shaft of the servo motor 512 drives the front rotating column 507 to rotate, and the rotating column 507 drives the main gear 508 to rotate. Since the main gear 508 is engaged with the slave gear 509, it can drive the fixed sleeve 511 to rotate, and then drive the 3D camera 505 to rotate, so as to achieve the purpose of adjusting the shooting angle of the 3D camera 505, and solve the problem that the remote control delay of the robot is high, which affects the operation accuracy and efficiency, and the obstacle avoidance algorithm is conservative and dares not move at high speed. At the same time, it cannot intelligently change the strategy when encountering obstacles and is easily affected by the project construction. Therefore, the operation of the robot is still limited to a certain extent at present, and it cannot completely replace the problem of staff entering the station for operation.

[0041] The standard parts used in this application document can all be purchased from the market and can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented through simple programming by technicians in this field, which is common knowledge in the field. This application is mainly used to protect mechanical devices, so this application no longer explains the control method and circuit connection in detail.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-speed response guide rail robot mobile platform, comprising a guide rail body (1), characterized in that: A moving mechanism (2) is arranged on the top of the guide rail body (1), a base (3) is arranged on the top of the moving mechanism (2), a robot body (4) is arranged on the top of the base (3), the base (3) comprises a motor and a navigation system, and the output shaft of the motor is drivingly connected to the bottom of the robot body (4), an adjustment mechanism (5) is arranged on the front of the guide rail body (1), the adjustment mechanism (5) comprises a fixing plate (501), the fixing plate (501) is located on the front of the guide rail body (1) and is fixedly connected to the front of the guide rail body (1), a multi-section cylinder (502) is fixedly connected at the center of the top of the fixing plate (501), a lifting column (503) is fixedly connected to the output end of the multi-section cylinder (502), a bottom plate (504) is fixedly connected to the top of the lifting column (503), and a 3D camera (505) is arranged on the top of the bottom plate (504).

2. A high-speed response rail robot mobile platform according to claim 1, characterized in that: The 3D camera (505) collects images to perform three-dimensional reconstruction of the scene, divides the scene into objects, and uses the dynamic back-propagation network to adaptively control the robotic arm to perform panel button operations.

3. The high-speed response guide rail robot mobile platform according to claim 1, characterized in that: By integrating high-precision photoelectric encoders, IMU, and VO element positioning data, information of different granularities is processed based on optimal estimation theory.

4. The high-speed response guide rail robot mobile platform according to claim 1, characterized in that: By using the forward simulation algorithm, multiple groups of speed change vectors with different speeds are taken to simulate the trajectory of the robot body (4) driven by this speed change vector, and the optimal path is obtained. The specific steps include establishing a robot kinematic model, multiple groups of speed sampling and optimization evaluation.

5. The high-speed response guide rail robot mobile platform according to claim 1, characterized in that: A fixing box (506) is fixedly connected to the right side of the top of the bottom plate (504); the front and rear ends of the inner cavity of the fixing box (506) are movably connected to a rotating column (507) via bearings; the surface of the rotating column (507) at the front end is fixedly connected to a main gear (508); the surface of the rotating column (507) at the rear end is fixedly connected to a slave gear (509); the main gear (508) and the slave gear (509) are meshed.

6. The high-speed response guide rail robot mobile platform according to claim 5, characterized in that: A through slot (510) is formed at the top of the fixing box (506), a fixing sleeve (511) is fixedly connected to the surface of the 3D camera (505), the fixing sleeve (511) is slidably connected to the inner cavity of the through slot (510), and the bottom of the fixing sleeve (511) extends to the inner cavity of the fixing box (506) and is fixedly connected to the top of the slave gear (509).

7. The high-speed response guide rail robot mobile platform according to claim 5, characterized in that: A servo motor (512) is fixedly connected to the left side of the top of the bottom plate (504); an output shaft of the servo motor (512) passes through the inner cavity of the fixed box (506) and is drivingly connected to the left end of the rotating column (507) at the front end; a limiting sleeve (513) is sleeved on the surface of the lifting column (503); reinforcing plates (514) are fixedly connected to both sides of the bottom of the limiting sleeve (513); and the bottom of the reinforcing plate (514) is fixedly connected to the top of the fixed plate (501).

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