摘要：【中文】本发明公开了一种移动机器人定位方法，属于移动机器人定位技术领域，包括将搭载二维激光雷达的机器人置于当前定位的环境中，并获取障碍物的地图点云；采用自适应蒙特卡洛定位算法，估计出机器人当前的位姿；利用机器人当前的位姿将二维激光雷达的实时数据转换为与地图点云同一坐标系下的点云PTCloud_scan；将每一帧点云PTCloud_scan作为迭代最近点的输入，得到当前帧点云PTCloud_scan相对于地图点云的旋转矩阵R和平移矩阵T；根据旋转矩阵R和平移矩阵T，计算出机器人最终的位姿。通过将采用自适应蒙特卡洛定位算法得到的位姿作为参考值变换二维激光雷达的点云坐标系，使其与当前的地图点云足够近，以加速迭代最近点的匹配速度，提高定位精度。 【EN】The invention discloses a mobile robot positioning method, which belongs to the technical field of mobile robot positioning and comprises the steps of placing a robot carrying a two-dimensional laser radar in a current positioning environment and acquiring a map point cloud of an obstacle; estimating the current pose of the robot by adopting a self-adaptive Monte Carlo positioning algorithm; converting real-time data of the two-dimensional laser radar into point cloud PTcloud under the same coordinate system with map point cloud by using the current pose of the robot_scan(ii) a Each frame of point cloud PTcloud_scanObtaining the current frame point cloud PTcloud as the input of the iteration closest point_scanA rotation matrix R and a translation matrix T relative to the map point cloud; and calculating the final pose of the robot according to the rotation matrix R and the translation matrix T. Transforming a two-dimensional laser beam by using a pose obtained by using an adaptive Monte Carlo localization algorithm as a reference valueThe obtained point cloud coordinate system is close enough to the current map point cloud so as to accelerate the matching speed of the iteration closest point and improve the positioning precision.

摘要：【中文】本发明公开了一种面向移动机器人的不停车控制方法及系统，属于移动机器人控制技术领域，移动机器人包括移动平台和多自由度机械臂，包括基于多自由度机械臂末端执行器的速度控制率，控制多自由度机械臂末端速度按照控制率下的速度进行运动；基于移动平台的速度控制率，控制移动平台与目标的相对位姿；将移动平台的速度作为控制量，采用前馈控制补偿方式，消除移动平台运动导致的所述多自由度机械臂末端的运动分量。本发明结合前馈控制与反馈控制的优点，降低移动平台运动对于机械臂末端运动的影响，可实现移动机器人的不停车作业。 【EN】The invention discloses a non-stop control method and a system for a mobile robot, belonging to the technical field of mobile robot control.A mobile robot comprises a mobile platform and a multi-degree-of-freedom mechanical arm, wherein the mobile robot controls the tail end speed of the multi-degree-of-freedom mechanical arm to move according to the speed under the control rate based on the speed control rate of an end effector of the multi-degree-of-freedom mechanical arm; controlling the relative pose of the mobile platform and the target based on the speed control rate of the mobile platform; and taking the speed of the mobile platform as a control quantity, and eliminating the motion component of the tail end of the multi-degree-of-freedom mechanical arm caused by the motion of the mobile platform by adopting a feedforward control compensation mode. The invention combines the advantages of feedforward control and feedback control, reduces the influence of the motion of the mobile platform on the motion of the tail end of the mechanical arm, and can realize the non-stop operation of the mobile robot.

摘要：【中文】一种基于视觉算法的机器人巡检点位智能配置方法，可解决目前配置巡检点位的方式采用人工配置、成本高且效率低的技术问题。包括以下步骤：获取巡检机器人的初始数据；控制巡检机器人按照设定规则运动；在巡检机器人运动过程中，获取相机所拍摄的每一帧图像进行拼接得到配电柜面全景图，利用深度模型进行目标检测，得到配电柜上状态指示设备的像素坐标并计算该坐标与图像中心的差值，利用离线标定的伺服数据将像素坐标转换为设备在机器人运动坐标系下位于视频中心的脉冲坐标；显示检测出的状态指示设备信息及对应的脉冲坐标，并人工核查。本发明可提升配电房巡检机器人配点的智能化程度、降低人工成本和提升实施效率。 【EN】An intelligent robot inspection point location configuration method based on a visual algorithm can solve the technical problems of manual configuration, high cost and low efficiency of the conventional inspection point location configuration mode. The method comprises the following steps: acquiring initial data of the inspection robot; controlling the inspection robot to move according to a set rule; in the motion process of the inspection robot, acquiring each frame of image shot by a camera, splicing to obtain a panoramic view of the surface of the power distribution cabinet, performing target detection by using a depth model to obtain a pixel coordinate of state indicating equipment on the power distribution cabinet, calculating a difference value between the coordinate and the image center, and converting the pixel coordinate into a pulse coordinate of the equipment positioned in the video center under a robot motion coordinate system by using offline calibrated servo data; and displaying the detected state indicating equipment information and the corresponding pulse coordinates, and manually checking. The invention can improve the intelligent degree of the distribution point of the inspection robot of the power distribution room, reduce the labor cost and improve the implementation efficiency.

摘要：【中文】本发明公开了一种有限状态机的控制方法及有限状态机，属于计算机应用技术领域，包括根据状态机每个状态的名字和内存地址，创建状态机的每个状态，该状态包括两个父状态和一个final状态，每个父状态各包括三个子状态；状态机当前的状态执行完毕后经postEvent函数指定要跳转的下个状态，其中postEvent函数的第一个参数为要跳转到的下个状态的名字、第二参数为要传递给下个状态的参数；父状态或StateMachine根据下个状态的名字从注册过的状态列表中查找到对应的内存地址，并执行该下个状态的接口函数，每个子状态都有3个执行函数，分别是onEntry,handleTimeout,onExit函数。本发明采用简单的语言提供了丰富的状态机功能，可移植性强。 【EN】The invention discloses a control method of a finite-state machine and the finite-state machine, belonging to the technical field of computer application, comprising the steps of establishing each state of the state machine according to the name and the memory address of each state of the state machine, wherein the state comprises two father states and a final state, and each father state comprises three child states; after the current state of the state machine is executed, the next state to be jumped is designated by a postEvent function, wherein a first parameter of the postEvent function is the name of the next state to be jumped to, and a second parameter is a parameter to be transferred to the next state; the father state or StateMachine looks up the corresponding memory address from the registered state list according to the name of the next state, and executes the interface function of the next state, and each sub-state has 3 execution functions, namely oneentry, handleTimeout and oneexit functions. The invention provides rich state machine functions by adopting simple language and has strong transportability.

摘要：【中文】本发明涉及一种自适应自主充电机构，包括路标架、充电箱和充电滑动机构。充电箱内安装有充电器。充电滑动机构包括固定板、固定块、直线轴承、导轨滑块、充电铜极、充电铜极固定结构和通过塞打螺丝及螺母一与直线轴承相连且与固定块滑动配合的导向支架。充电铜极固定结构包括充电铜极支架和充电铜极固定筒。充电铜极支架与充电器电连接。导向支架上开设有充电铜极过孔一。塞打螺丝的中段及直线轴承的外侧套设有弹簧二。本发明能够解决现有技术中存在的不足，具有定位准确、可靠性和安全性高、功能齐全等特点。 【EN】The invention relates to a self-adaptive self-determination charging mechanism which comprises a road sign frame, a charging box and a charging sliding mechanism. The charger is arranged in the charging box. The charging sliding mechanism comprises a fixing plate, a fixing block, a linear bearing, a guide rail sliding block, a charging copper pole fixing structure and a guide support which is connected with the linear bearing through a plug screw and a nut I and is in sliding fit with the fixing block. The charging copper pole fixing structure comprises a charging copper pole support and a charging copper pole fixing cylinder. The charging copper pole bracket is electrically connected with the charger. A first charging copper pole via hole is formed in the guide support. And a second spring is sleeved on the middle section of the plug screw and the outer side of the linear bearing. The invention can solve the defects in the prior art and has the characteristics of accurate positioning, high reliability and safety, complete functions and the like.

摘要：【中文】本发明涉及一种轻型丝杆升降机构，包括升降桶模块、驱动模块、丝杆模块和连接模块。升降桶模块包括n个升降桶。驱动模块包括电机、传动齿轮一和传动齿轮二。丝杆模块包括n节丝杆；位于内侧的丝杆首端从与之相邻的位于外侧的丝杆的首端向外伸出；除最内侧丝杆外，其余丝杆首端均设有一丝杆螺母；每节丝杆的末端安装有一导向螺母；最内侧丝杆首端与传动齿轮二相连。连接模块包括n块连接板；除最内侧升降桶中的连接板外，其余升降桶中的连接板上均安装有轴承；最外侧升降桶内的连接板与最外侧丝杆上的丝杆螺母相连；除最外侧丝杆上的丝杆螺母外，其余丝杆螺母依次装配在各轴承中。本发明具有尺寸小、重量轻、行程大、运行稳定可靠等特点。 【EN】The invention relates to a light lead screw lifting mechanism which comprises a lifting barrel module, a driving module, a lead screw module and a connecting module. The lift bucket module includes n lift buckets. The driving module comprises a motor, a first transmission gear and a second transmission gear. The screw rod module comprises n sections of screw rods; the head end of the screw rod positioned at the inner side extends outwards from the head end of the screw rod positioned at the outer side adjacent to the head end of the screw rod; the head ends of the other screw rods except the innermost screw rod are provided with screw rod nuts; the tail end of each section of screw rod is provided with a guide nut; the head end of the innermost lead screw is connected with a second transmission gear. The connecting module comprises n connecting plates; bearings are arranged on the connecting plates in the other lifting barrels except the connecting plate in the innermost lifting barrel; the connecting plate in the outermost lifting barrel is connected with the screw rod nut on the outermost screw rod; the other lead screw nuts except the lead screw nut on the outermost lead screw are sequentially assembled in each bearing. The invention has the characteristics of small size, light weight, large stroke, stable and reliable operation and the like.

摘要：【中文】一种配电房轮式巡检机器人的巡检配置及实施方法，可解决手工配置配电房巡检机器人效率较低，工作量较大的技术问题。包括：创建原始地图并确定机柜的位置范围；计算出巡检点位置，生成巡检地图；将机器人导航至巡检点，定时对机柜进行截图，并将截图时的控制云台和相机信息进行保存，在控制云台升高到最高点时，将所有截图及截图时的云台相机信息发送给视觉识别模块进行识别；视觉识别模块识别出表计并计算出表计位置，将识别结果返回；将机器人导航至其他巡检点，将所有机柜上的表计识别完全；将所有表计识别信息存入xml文件，生成巡检配置文件。本发明可减少人工干预的程序，实现机器人的自主智能实施，提高自动化程度，提高工作效率。 【EN】A routing inspection configuration and implementation method of a wheel type routing inspection robot for a power distribution room can solve the technical problems of low efficiency and large workload of a routing inspection robot for a power distribution room which is manually configured. The method comprises the following steps: creating an original map and determining the position range of the cabinet; calculating the position of a routing inspection point to generate a routing inspection map; navigating the robot to a patrol point, capturing images of the cabinet at regular time, storing information of a control holder and a camera during capturing the images, and sending all the captured images and the information of the holder camera during capturing the images to a visual identification module for identification when the control holder is lifted to the highest point; the visual identification module identifies the meter, calculates the position of the meter and returns the identification result; navigating the robot to other inspection points, and completely identifying meters on all cabinets; and storing all meter identification information into an xml file to generate a routing inspection configuration file. The invention can reduce the procedure of manual intervention, realize the autonomous intelligent implementation of the robot, improve the degree of automation and improve the working efficiency.

摘要：【中文】本发明公开了一种基于增强图像对比的变电场所悬挂物识别方法，属于变电场所异物识别技术领域，包括对待测图像进行显著性检测，提取待测图像的第一显著性区域，并转化成掩码图像；在通道一中，对待测图像与原始背景图像进行差分处理，并将得到的第一作差图与掩码图像相掩，提取待测图像的第二显著性区域；在第二显著性区域上进行二值化处理，并对二值化图像进行腐蚀膨胀后提取其连通区域；在通道二中，对待测图像与原始背景图像进行图像增强操作后进行差分处理，得到第二作差图；根据连通区域和第二作差图进行处理，识别出待测图像中的异物。与现有技术相比，本发明的识别精确度和抗干扰均有大幅提升。 【EN】The invention discloses a substation suspender identification method based on enhanced image contrast, belonging to the technical field of substation foreign matter identification, and comprising the steps of carrying out significance detection on an image to be detected, extracting a first significance region of the image to be detected, and converting the first significance region into a mask image; in the first channel, carrying out difference processing on the image to be detected and the original background image, masking the obtained first difference image and the mask image, and extracting a second saliency area of the image to be detected; performing binarization processing on the second salient region, performing corrosion expansion on the binarized image, and extracting a connected region of the binarized image; in the second channel, performing image enhancement operation on the image to be detected and the original background image, and then performing difference processing to obtain a second difference drawing; and processing according to the connected region and the second difference drawing to identify the foreign matters in the image to be detected. Compared with the prior art, the method has the advantages that the recognition accuracy and the anti-interference performance are greatly improved.