The present application relates to a cleaning robot control apparatus for controlling a cleaning robot and a control method of the cleaning robot, and more particularly, to a control apparatus and a control method of a cleaning robot for removing dust deposits accumulated between nozzles inside a facility performing a steelmaking process will be.
background
[2]
Various types of dust deposits are accumulated in facilities that carry out the iron making process. For example, there is a nozzle inside the flow furnace, which is a facility that produces reduced iron by blowing reducing gas generated from the melting furnace into spectral iron ore and flowing it, and as the facility is operated, dust deposits are accumulated around the nozzle. If these dust deposits are not removed, a pressure loss of the reducing gas occurs, and the gas flow is not smooth, thereby causing problems such as lowering of the reduction efficiency. Therefore, it is necessary to remove such dust and the like.
[3]
(Patent Document 1) Japanese Patent Laid-Open No. 1994-154718
DETAILED DESCRIPTION OF THE INVENTION
technical challenge
[4]
According to an embodiment of the present invention, an apparatus for controlling a cleaning robot is provided.
[5]
According to another embodiment of the present invention, a cleaning robot control method is provided.
means of solving the problem
[6]
An apparatus for controlling a cleaning robot according to an embodiment of the present invention includes a thermal imaging camera that acquires a thermal image around a work tool and outputs a thermal image signal, an image camera that acquires an image around the working tool and outputs an image signal; A laser pointer that irradiates a laser to a designated point, and the designated point is identified based on the thermal image signal, the laser pointer is controlled, and the work tool moves in a circle around the designated point by using the image signal. and a control unit for controlling the work tool to do so.
[7]
The designated point of the cleaning robot control device according to an embodiment of the present invention may be the center of a nozzle inside a flow furnace, which is a facility for producing reduced iron by blowing and flowing the reducing gas generated in the melting furnace into the spectral iron ore.
[8]
The work tool of the apparatus for controlling a cleaning robot according to an embodiment of the present invention may be installed at an end of a manipulator including a plurality of arms and a plurality of actuators.
[9]
The work tool of the cleaning robot control apparatus according to an embodiment of the present invention includes a rotary blade, a rotary blade for crushing the dust deposits deposited in the flow path while rotating, and an inhaler for collecting the pulverized dust deposits. may include
[10]
The cleaning robot control apparatus according to an embodiment of the present invention may further include a sensor unit that measures a pressure between the manipulator and the work tool and provides information on the measured pressure.
[11]
The control unit of the apparatus for controlling a cleaning robot according to an embodiment of the present invention may control the manipulator so that the pressure measured by the sensor unit maintains a constant pressure.
[12]
The cleaning robot control apparatus according to an embodiment of the present invention may further include a sensor unit for measuring the pressure of at least one of the plurality of actuators.
[13]
In response to the pressure measured from the sensor unit, the control unit of the cleaning robot control apparatus according to an embodiment of the present invention controls the work tool as the difference between the target position of the work tool and the actual position of the work tool decreases. It can be controlled so that the force applied to move is small.
[14]
A cleaning robot control method according to another embodiment of the present invention is a method of controlling a cleaning robot for cleaning the inside of a flow furnace, which is a facility for producing reduced iron by blowing a reducing gas generated in a melting furnace into a spectral iron ore and flowing it, acquiring a thermal image inside the flow path, determining a position of a nozzle installed inside the flow path using the thermal image, moving a work tool of the cleaning robot according to the position of the nozzle, and the flow acquiring an image inside the furnace, and controlling the work tool so that the work tool performs a circular motion using the image.
[15]
Controlling the work tool of the cleaning robot control method according to another embodiment of the present invention includes irradiating a laser to the central position, acquiring an image inside the flow path, and using the image to control the work tool may include the step of moving the
[16]
The cleaning robot of the cleaning robot control method according to another embodiment of the present invention may include a manipulator including a plurality of arms and a plurality of actuators, and a work tool disposed at an end of the manipulator.
[17]
The cleaning robot control method according to another embodiment of the present invention may further include controlling the pressure between the manipulator and the work tool to be a constant pressure.
[18]
The cleaning robot of the cleaning robot control method according to another embodiment of the present invention is a lever-type input device, and may further include an operation tool for controlling the operation of the work tool.
[19]
A cleaning robot control method according to another embodiment of the present invention includes detecting a difference between a target position of the work tool and an actual position of the work tool, and the smaller the difference, the smaller the force applied to the work tool. It may further include the step of controlling to lose.
Effects of the Invention
[20]
Therefore, according to the apparatus and control method for controlling a cleaning robot according to an embodiment of the present invention, it is possible to reduce the time taken for the cleaning operation and prevent the operation tool from being damaged.
Brief description of the drawing
[21]
1 is a diagram schematically illustrating an example of a facility cleaned by a cleaning robot.
[22]
FIG. 2 is a diagram schematically illustrating a cross-sectional view of the nozzle shown in FIG. 1 .
[23]
3 is a diagram schematically showing the configuration of an embodiment of a cleaning robot to which the cleaning robot control apparatus according to an embodiment of the present invention is applied.
[24]
4 is a diagram schematically showing the configuration of a cleaning robot control apparatus according to an embodiment of the present invention.
[25]
FIG. 5 is a diagram for explaining a method of moving, by the cleaning robot control apparatus, a work tool of the cleaning robot according to an embodiment of the present invention.
[26]
6 is an operation flowchart illustrating a method for controlling a cleaning robot according to an embodiment of the present invention.
[27]
7 is a view for explaining an operation tool control operation of the apparatus for controlling a cleaning robot according to an embodiment of the present invention.
[28]
8 is a diagram schematically illustrating an embodiment of a Stevenness model of the cleaning robot control device of FIG. 7 .
[29]
9 is a diagram schematically illustrating an embodiment of a friction model of the cleaning robot control apparatus of FIG. 7 .
[30]
10 is a view for explaining a work tool control operation of the apparatus for controlling a cleaning robot according to an embodiment of the present invention.
Best mode for carrying out the invention
[31]
Hereinafter, preferred embodiments will be described in detail so that those of ordinary skill in the art can easily practice the present invention with reference to the accompanying drawings.
[32]
[33]
FIG. 1 is a view schematically showing an example of a facility for cleaning by a cleaning robot, and FIG. 2 is a view schematically showing a cross-sectional view of the nozzle shown in FIG. 1 .
[34]
As described above, in the case of the cleaning robot according to an embodiment of the present invention, the cleaning equipment may include a plurality of nozzles 1 . A hole may be disposed in the center C of each of the nozzles.
[35]
As shown in FIG. 1 , dust deposits may be accumulated around the nozzles 1 , and the cleaning robot to which the cleaning robot control device according to an embodiment of the present invention is applied may remove such dust deposits.
[36]
[37]
3 is a diagram schematically illustrating a configuration of a cleaning robot to which a cleaning robot control apparatus according to an embodiment of the present invention is applied. The cleaning robot includes a control device 100 , a work tool 200 , and a manipulator. ) 300 , a main body 400 , and an operation tool 500 may be included.
[38]
The control device 100 may include a sensor and a controller, and may control the position of the work tool 200 or adjust the force applied to the work tool 200 according to the position of the work tool 200 . A specific configuration or operation of the control device 100 will be described later with reference to FIGS. 4 to 10 .
[39]
The work tool 200 is installed at the end of the manipulator 300 to remove and collect the sediment formed in the facility. For example, the work tool 200 may include a rotary blade including a rotary blade, an inhaler, etc., and after rotating the rotary blade to pulverize the sediment, the pulverized sediment can be collected using an inhaler. have.
[40]
The manipulator 300 may include a plurality of arms 310 , 320 , 330 and a plurality of rotation actuators 340 and 350 . The rotary actuators 340 and 350 may be operated under the control of the control device 100 , whereby the manipulator 300 may move the work tool 200 to a desired position. Although not shown, the arm 330 may include an actuator for moving the work tool 200 in a vertical direction, and a pressure sensor may be disposed between the arm 330 and the work tool 200 .
[41]
The main body 400 may include a robot body 410 and a moving unit 420 . Various components for controlling the manipulator 300 or the work tool 200 may be disposed in the robot body 410 . The moving unit 420 may move the cleaning robot including the robot body 410 to a desired place.
[42]
The operation tool 500 may be a lever-type input device such as a joystick, and may output a signal for controlling the manipulator 300 .
[43]
[44]
4 is a diagram schematically showing the configuration of an apparatus for controlling a cleaning robot according to an embodiment of the present invention. The apparatus for controlling a cleaning robot according to an embodiment of the present invention 100 includes a thermal imaging camera 110 and an image camera ( 120 ), a laser pointer 130 , a sensor unit 140 , and a control unit 150 .
[45]
The thermal imaging camera 110 may be attached to a position adjacent to the work tool 200 , for example, to an arm 330 to which the work tool 200 is connected, and heat for a range in which the work tool 200 can move. An image may be acquired and a thermal image signal including thermal image information may be output.
[46]
The image camera 120 may be attached to a position adjacent to the work tool 200 , for example, an arm 330 to which the work tool 200 is connected, and displays an image of a range in which the work tool 200 can move. acquired, and an image signal including image information may be output.
[47]
The laser pointer 130 may be attached to a position adjacent to the work tool 200 , for example, an arm 330 to which the work tool 200 is connected, and irradiate a laser to a certain point under the control of the controller 150 . can do. For example, the laser pointer 130 may irradiate a laser to the center C of the nozzle 1 .
[48]
The sensor unit 140 may be disposed at various actuators of the manipulator 300 or other necessary positions, measure the pressure at the installed position, and provide information on the measured pressure to the control unit 150 . .
[49]
The control unit 150 uses the thermal image signal input from the thermal imaging camera 110 , the image signal input from the image camera 120 , and pressure information input from the sensor unit 140 , the laser pointer 130 and The position and operation of the work tool 200 may be controlled. For example, the control unit 150 may control operations of various actuators of the manipulator 300 and rotary blades of the work tool 200 in response to a thermal image signal, an image signal, and pressure information. The control unit 150 may be attached to a position adjacent to the work tool 200 , for example, an arm 330 to which the work tool 200 is connected, or may be disposed on the robot body 410 .
[50]
[51]
FIG. 5 is a diagram for explaining a method of moving, by the cleaning robot control apparatus, a work tool of the cleaning robot according to an embodiment of the present invention.
[52]
First, the controller 150 determines the position of the nozzle, and moves the work tool to a predetermined point (eg, P1 in FIG. 5 ) using the position of the nozzle.
[53]
Next, the control unit 150 may control the work tool 200 to make a circular motion with the center of the nozzle as a center point. For example, if the current position of the work tool is P1, the controller 150 may control the position of the work tool so that the next position is P2. In this case, the controller 150 may control the laser pointer 130 so that the laser is irradiated to the center P0 of the nozzle.
[54]
[55]
6 is an operation flowchart illustrating a method for controlling a cleaning robot according to an embodiment of the present invention. Each step shown in FIG. 6 may be performed by the controller 150 .
[56]
First, the controller 150 may determine the position of the nozzle by using the thermal image signal input from the thermal imaging camera 110 (step S100 ). As shown in Figure 1, it is not easy to grasp the position of the nozzle because the dust deposits are accumulated in the facility. However, since the temperature of the nozzle is different from that of other parts, the position of the nozzle can be determined by using the thermal image signal. In this case, the controller 150 may determine the position of the nozzle by additionally considering the image signal input from the image camera 120 .
[57]
Next, the controller 150 may irradiate the laser to the center of the nozzle using the laser pointer 130 (step S200).
[58]
Next, the controller 150 may control the position of the work tool 200 using the image signal input from the image camera 120 (step S300 ). For example, as described in FIG. 5 , the controller 150 first determines the center position of the nozzle using the laser irradiated from the laser pointer 130 , and the work tool 200 circles the center of the nozzle as the center point. The manipulator 300 may be controlled to exercise.
[59]
[60]
7 is a diagram for explaining a control operation of the cleaning robot control apparatus according to an embodiment of the present invention, and schematically shows the configuration of the control unit 150 . The control unit 150 may include a stiffness model 151 , a friction model 152 , a controller 153 , and a feedback unit 154 . Each of the components may be implemented as a hardware configuration or may be implemented as a software configuration. Also, the actuator 155 in FIG. 7 may be one or more of a plurality of actuators constituting the manipulator 300 of FIG. 3 . In addition, the actuator 155 of FIG. 7 may be configured to move the work tool 200 in a horizontal direction.
[61]
In FIG. 7 , X_d is a target position where the work tool wants to be located, X_m is an actual position of the work tool, P_A is a first pressure that is the actuator pressure to move the work tool in the first direction, and P_B is the work a second pressure, which is a pressure of the actuator that causes the tool to move in a second direction different from the first direction, respectively. The first direction and the second direction may be directions orthogonal to each other or may be opposite to each other.
[62]
First, a position error (e_x) between the target position (X_d) and the actual position (X_m) of the work tool is obtained. The actual position X_m may be determined by detecting the states of actuators that control the work tool (eg, actuators constituting the manipulator 300 of FIG. 3 ). In addition, the target position X_d may be determined based on a signal input from the operation tool ( 500 in FIG. 3 ).
[63]
Next, a first error e_1 and a second error e_2 are obtained by inputting the position error e_x into the stiffness model 151 and the friction model 152 . FIG. 8 is an embodiment of the stiffness model 151 , and FIG. 9 is an embodiment of the friction model 152 . Each of the stiffness model 151 and the friction model 152 outputs a first error e_1 and a second error e_2 corresponding to the input position error e_x.
[64]
[65]
[66]
Next, the target force f_d is obtained by summing the first error e_1 and the second error e_2 .
[67]
In addition, the feedback unit 154 obtains the pressure difference between the first pressure P_A and the second pressure P_B as the measurement force f_m, and the controller 153 controls the measurement force f_m to become the target force f_d. The first pressure P_A and the second pressure P_A are adjusted. As the controller 153 for this purpose, a Proportional-Integral-Derivative (PID) controller or a PI controller may be used.
[68]
Through this configuration, as the difference between the target position of the work tool and the actual position of the work tool decreases, the actuator is controlled so that the force applied to the work tool is also reduced. That is, when the work tool approaches the target position, it is generally the case that the work tool approaches the object to be cleaned (eg, the nozzle, etc.). Accordingly, when the target is approached, the force applied by the actuator to the work tool is also reduced, so that the work tool does not receive a large force even if the work tool collides with the object to be cleaned. This can prevent the work tool from being damaged.
[69]
[70]
10 is a diagram for explaining a control operation of a cleaning robot control apparatus according to an embodiment of the present invention, and schematically shows the configuration of the control unit 150 . The control unit 150 may include a controller 156 and a feedback unit 157 , and each of the components of the control unit shown in FIG. 10 may be implemented as a hardware module or as a software module. The servo valve 158 and the linear actuator 159 of FIG. 10 may be one or more of a plurality of actuators constituting the manipulator 300 of FIG. 3 . Specifically, the servo valve 158 and the linear actuator 159 may be configured to move the work tool 200 up and down.
[71]
In FIG. 10 , P_C represents a third pressure for moving the work tool in a third direction, and P_D represents a fourth pressure for moving the work tool in a fourth direction different from the third direction, respectively. The third direction and the fourth direction may be opposite to each other.
[72]
[73]
First, the target pressure P_d is input to the controller 150 . The target pressure P_d may be set in advance, and may be a pressure value at which the work tool 200 or the nozzle 1 may not be damaged while removing the dust deposits.
[74]
The feedback unit 157 outputs a measurement pressure P_m based on a difference between the third pressure P_C and the fourth pressure P_D. The controller 156 may control the servo valve 156 such that the measured pressure P_m becomes the target pressure P_d. As the controller 156 for this purpose, a Proportional-Integral-Derivative (PID) controller or a PI controller may be used. In this way, the control unit 150 may maintain a constant pressure between the manipulator and the work tool.
[75]
[76]
The present invention described above is not limited by the above-described embodiments and the accompanying drawings, but is limited by the claims described below, and the configuration of the present invention may vary within the scope without departing from the technical spirit of the present invention. Those of ordinary skill in the art to which the present invention pertains can easily recognize that it can be changed and modified.
[77]
Claims
[Claim 1]
a thermal imaging camera that acquires a thermal image around the work tool and outputs a thermal image signal; an image camera for acquiring an image around the work tool and outputting an image signal; A laser pointer that irradiates a laser to a specified point; and a controller configured to identify the designated point based on the thermal image signal, control the laser pointer, and control the work tool to make a circular motion around the designated point using the image signal. Containing a cleaning robot control unit.
[Claim 2]
The cleaning robot control apparatus according to claim 1, wherein the designated point is the center of a nozzle inside the flow furnace, which is a facility for producing reduced iron by blowing the reducing gas generated from the melting furnace into the spectral iron ore and flowing it.
[Claim 3]
The cleaning robot control apparatus according to claim 2, wherein the work tool is installed at an end of a manipulator comprising a plurality of arms and a plurality of actuators.
[Claim 4]
According to claim 3, wherein the work tool comprises a rotating blade, rotating blade for crushing the dust deposits deposited in the flow path while rotating; and an inhaler for collecting the pulverized dust deposits.
[Claim 5]
The apparatus of claim 3 , wherein the cleaning robot control device further comprises a sensor unit that measures a pressure between the manipulator and the work tool and provides information on the measured pressure.
[Claim 6]
The apparatus of claim 5 , wherein the control unit controls the manipulator so that the pressure measured by the sensor unit maintains a constant pressure.
[Claim 7]
The apparatus of claim 3 , wherein the cleaning robot control device further comprises a sensor unit configured to measure a pressure of at least one of the plurality of actuators.
[Claim 8]
The method according to claim 7, wherein the control unit responds to the pressure measured by the sensor unit, and as the difference between the target position of the work tool and the actual position of the work tool decreases, the force acting on the work tool is small. A cleaning robot control device that controls
[Claim 9]
A method for controlling a cleaning robot that cleans the inside of a flow furnace, which is a facility for producing reduced iron by blowing reducing gas generated from a melting furnace into spectral iron ore and flowing it, acquiring a thermal image of the inside of the flow furnace, and the thermal image determining the position of the nozzle installed in the flow path using moving the working tool of the cleaning robot according to the position of the nozzle; and acquiring an image of the inside of the flow path, and controlling the work tool so that the work tool performs a circular motion using the image.
[Claim 10]
The method of claim 9, wherein the controlling of the work tool comprises: irradiating a laser to the central position; and acquiring an image of the inside of the flow path and moving the work tool using the image.
[Claim 11]
10. The method of claim 9, wherein the cleaning robot comprises: a manipulator comprising a plurality of arms and a plurality of actuators; and a work tool disposed at an end of the manipulator.
[Claim 12]
The method of claim 11 , further comprising controlling a pressure between the manipulator and the work tool to be a constant pressure.
[Claim 13]
The method of claim 11 , wherein the cleaning robot is a lever-type input device and further comprises an operation tool for controlling the operation of the work tool.
[Claim 14]
The method of claim 13 , further comprising: detecting a difference between a target position of the work tool and an actual position of the work tool; and controlling the force applied to the work tool to decrease as the difference decreases.