CN111459169B - Comprehensive pipe gallery inspection method based on wheeled robot - Google Patents
Comprehensive pipe gallery inspection method based on wheeled robot Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a comprehensive pipe gallery inspection method and a paving method based on a wheeled robot, wherein the method comprises the following steps: step one, constructing a grid map of a comprehensive pipe rack based on a laser radar carried on a wheeled robot and combining with SLAM technology; secondly, carrying out secondary processing on the grid map so as to limit the navigation route of the wheeled robot during inspection; step three, configuring relevant inspection parameters of the inspection task route; and step four, the wheel robot completes the inspection work of the passenger corridor based on the inspection task route. Compared with the prior art based on the track robot, the utility tunnel inspection method based on the wheel robot has the advantages that the cost is reduced because the track is not required to be reconstructed and laid on the utility tunnel, and meanwhile, the intelligent of using the robot for inspection is improved by using the SLAM technology and the robot autonomous navigation technology.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a comprehensive pipe rack inspection method based on a wheeled robot.
Background
The utility tunnel is a modern, scientific and intensive urban infrastructure which integrates various engineering pipelines such as sewage, electric power, communication, fuel gas, heat supply, water supply and drainage and the like, can avoid the problems of messy and dense repeated excavation of repairment pavement, electric wires, network cables and the like, high pipeline use risk and the like, and is an important guarantee for ensuring the normal operation of cities.
In recent years, along with the rapid development of the urban speed of China, the utility tunnel is accelerating to build, the building scale is expanding continuously, the problem of the traditional inspection mode is remarkable, the main problem is that the internal environment of the utility tunnel is bad, the inspection process is complex, the inspection content is many and complex, the manual inspection task is heavy, the comprehensive capacity requirement on personnel is high, and the physical and mental health of the inspection personnel is influenced.
At present, people are relied on to patrol and examine the problem that the patrol and examine coverage area is not comprehensive and the patrol and examine flow is not standard often, even if multiparty resources are utilized, patrol and examine blind areas exist, and the ideal effect cannot be achieved. Due to the problems, the traditional method is adopted at present, so that the small hidden trouble can gradually evolve into a large problem, and a plurality of cities are caused to have accidents such as large-range water cut, power failure, communication interruption, foundation subsidence and the like, and the problems seriously affect the normal life of citizens.
To the problem of patrolling and examining that present utility tunnel exists, prior art also has to adopt track formula to patrol and examine the robot and accomplish the work of patrolling and examining, but because track formula robot normal operating must lay the track earlier, lay the track and need reform transform the utility tunnel that builds and lay the track, its construction cost is high, and the rate of application is low.
Disclosure of Invention
It is an object of the present invention to address at least the above problems and/or disadvantages and to provide at least the advantages described below.
The invention also aims to provide a comprehensive pipe gallery inspection method based on the wheeled robot, which can inspect the comprehensive pipe gallery based on the wheeled robot, compared with the current track-based robot, the method has the advantages that the cost is reduced because the comprehensive pipe gallery does not need to be reformed and paved with tracks, and meanwhile, the intelligent of inspection by using the robot is improved by using the SLAM technology and the robot autonomous navigation technology.
To achieve these objects and other advantages and in accordance with the purpose of the invention, a utility tunnel inspection method and a paving method based on a wheeled robot are provided, including:
step one, constructing a grid map of a comprehensive pipe gallery based on a laser radar carried on a wheeled robot and combining with a SLAM technology;
secondly, carrying out secondary processing on the grid map so as to limit the navigation route of the wheeled robot during inspection;
step three, configuring relevant inspection parameters of the inspection task route;
and step four, the wheel robot completes the inspection work of the passenger corridor based on the inspection task route.
Preferably, in the first step, the method further comprises setting a map coordinate origin of the grid map according to the internal layout of the utility tunnel and the road surface position when the grid map is constructed, and the wheeled robot scans each cabin in the tunnel one by one from the map origin to respectively establish a map corresponding to each cabin.
Preferably, in the second step, the secondary treatment is configured to include:
s1, based on the current position of the wheeled robot in a map coordinate system, a first position coordinate and a second position coordinate are taken from left and right sides of the wheeled robot, and corresponding first pixel coordinates and second pixel coordinates of the wheeled robot in a pixel coordinate system are obtained according to the conversion relation;
s2, in a pixel coordinate system, changing pixel values corresponding to the first pixel coordinate and the second pixel coordinate, and supplementing two lines in a grid map through continuous updating of positions in the map coordinate in the running process of the wheeled robot so as to limit a navigation route during inspection of the wheeled robot.
Preferably, in the third step, the wheeled robot is configured with corresponding inspection parameters for inspecting each device in the utility tunnel;
the inspection parameters are obtained based on inspection action point data related to inspection actions in all inspection devices.
Preferably, the inspection actions in each inspection device are configured to include:
s31, the wheeled robot runs to the equipment inspection position according to the planned route of the navigation target position;
s32, the wheeled robot controls the cradle head to rotate to a corresponding angle so as to shoot image data related to equipment to be detected;
s33, the wheeled robot completes equipment identification work according to the image data.
Preferably, each inspection operation point data is configured to include:
navigation target position data of the wheeled robot;
control data related to the rotation angle of the cradle head on the wheeled robot;
wherein the navigation target position data is a parameter related to the navigation target position configured near the equipment to be patrolled.
Preferably, in the third step, in the running process of the wheeled robot on a cabin-by-cabin basis, the method further comprises the step of continuously writing the inspection parameters related to each device into the configuration file of the wheeled robot until all devices needing inspection are covered, so that the inspection action points of all devices of the whole comprehensive pipe gallery form an inspection task route, and after the starting point and the finishing point of the inspection action are set, the inspection parameter configuration of the comprehensive pipe gallery is completed.
Preferably, in the fourth step, the wheeled robot reads data from the configuration file, starts to perform the inspection operation from the starting point to identify the equipment, and performs the inspection operation according to the set inspection task route until the inspection is completed.
Preferably, in the fourth step, the method further comprises compensating the control data of the cradle head in the actual inspection process of the wheeled robot.
Preferably, the compensation is to compensate the horizontal rotation angle yaw in the pan-tilt control data;
the compensation is configured to include:
setting a horizontal direction angle in navigation target point data of the robot configuration to be θ1;
setting the horizontal direction angle of the robot in the actual position to be theta 2 after the robot reaches the target point;
the horizontal rotation angle yaw1=yaw+ (θ1- θ2) after compensation in the pan/tilt control data.
The invention at least comprises the following beneficial effects:
firstly, the comprehensive inspection method based on the wheeled robot aims at solving the problems existing in the prior inspection of the comprehensive pipe rack by using the track type robot, compared with the prior inspection method based on the track type robot, the comprehensive pipe rack is not required to be reformed to lay tracks, the cost is reduced, and meanwhile, the intelligent inspection by using the robot is improved by using the SLAM technology and the robot autonomous navigation technology.
Secondly, the navigation route of the robot inspection is limited by carrying out secondary processing on the supplementary information of the grid map used for navigation, so that the situation that the robot cannot work normally due to the fact that wheels fall down a cement road or collide with objects on two sides in the autonomous navigation process of the robot is effectively prevented, the inspection effect is better, and the stability is better.
Thirdly, in the actual inspection execution process, the control data of the cradle head are compensated, so that the camera can be ensured to shoot the equipment image in the inspection process, the inspection and the identification of the equipment are completed, the reliability is better, and the inspection efficiency is better.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic hardware topology of a robot in one embodiment of the invention;
FIG. 2 is a schematic diagram of a utility tunnel in accordance with another embodiment of the present invention;
FIG. 3 is a schematic diagram of a map construction process according to another embodiment of the present invention;
FIG. 4 is a schematic view of a robot inspection route in another embodiment of the present invention;
FIG. 5 is a grid map in another embodiment of the invention;
FIG. 6 is a grid map after secondary processing in another embodiment of the present invention;
FIG. 7 is a schematic diagram of coordinates in another embodiment of the present invention;
fig. 8 is a schematic view of a patrol flow according to another embodiment of the invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
It should be noted that, in the description of the present invention, the orientation or positional relationship indicated by the term is based on the orientation or positional relationship shown in the drawings, which are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "configured to," "engaged with," "connected to," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected through an intermediate medium, and the communication between the two elements may be understood in a specific manner by those skilled in the art.
Fig. 1 shows an implementation form of a comprehensive pipe rack inspection method based on a wheeled robot according to the present invention, which includes:
step one, constructing a grid map of a comprehensive pipe gallery based on a laser radar carried on a wheeled robot and combining with SLAM technology, wherein the hardware of the wheeled robot can roughly comprise a vehicle-mounted computer, a cradle head and a motion controller which are connected with the vehicle-mounted computer in a communication manner to realize inspection, and a communication module for carrying out data communication between the laser radar which scans when the map is built and an external terminal;
secondly, carrying out secondary processing on the grid map so as to limit the navigation route of the wheeled robot during inspection;
step three, configuring relevant inspection parameters of the inspection task route;
and step four, the wheel robot completes the inspection work of the passenger corridor based on the inspection task route. The technical scheme mainly utilizes SLAM technology and robot autonomous navigation technology to finish inspection, firstly, configuration data required by robot inspection is required to be finished, firstly, a wheel type robot is used for scanning and constructing an integrated map of the comprehensive pipe gallery, secondly, the corresponding inspection configuration data is configured by using the built map, after the configuration is finished, the robot inspection can be performed, compared with the prior art, the wheel type robot is adopted for inspection, the requirements on inspection environment are low, the inspection cost can be well controlled, meanwhile, the map is provided with a navigation route for the robot to travel in the later stage inspection through the supplementary processing of the grid map, the problem that the robot cannot work normally due to the fact that wheels fall down a cement road surface or collide with objects on two sides in the autonomous navigation process is effectively prevented, and the inspection stability and the effectiveness are better.
In another example, in fig. 1-5, in step one, the method further includes setting a map coordinate origin of the grid map according to an internal layout of the utility tunnel and a road surface position when the grid map is constructed, the wheeled robot scans each cabin in the pipe tunnel one by one from the map origin to respectively establish a map corresponding to each cabin, in the implementation of this scheme, in fig. 2, we take 10 cabins of one utility tunnel as an example, the constructed wheeled robot of fig. 1 is adopted for inspection, the laser radar carried by the robot is used to scan and construct the grid map of the utility tunnel as shown in fig. 5 through a SLAM technology, the map coordinate origin is set as shown in fig. 3, the robot scans and constructs the map from the map origin, and each cabin is sequentially established from 1 cabin to 10 cabins.
In another example, in step two, the secondary processing is configured to include:
s1, based on the current position of the wheeled robot in a map coordinate system, a first position coordinate and a second position coordinate are taken from left and right sides of the wheeled robot, and corresponding first pixel coordinates and second pixel coordinates of the wheeled robot in a pixel coordinate system are obtained according to the conversion relation;
s2, in a pixel coordinate system, changing pixel values corresponding to the first pixel coordinate and the second pixel coordinate, and supplementing two lines in a grid map through continuous updating of positions in the map coordinate in the running process of the wheeled robot so as to limit a navigation route during inspection of the wheeled robot. Due to the complex environment of the pipe rack, the cement road width of the robot walking: 1.19m, high: 10cm, in order to prevent the robot from dropping off the cement pavement or colliding with objects on two sides in the autonomous navigation process, the robot is required to perform secondary processing on the grid map as shown in fig. 6 to perform supplementary information, and the navigation route of the robot is limited, specifically, the grid map obtained in the step one is shown in fig. 5, wherein a (i.e. black part) represents an obstacle (pixel value is 0), B (i.e. white part) represents a passable area (pixel value is 255), and C (i.e. gray part) represents a position area (pixel value is 100); as shown in fig. 6, D (gray part) of the rectangular frame portion represents the supplemental information (the pixel value is 150), and two lines on E are navigation routes for limiting the robot inspection after the image-based secondary processing, and the creation principle of the navigation routes is configured to include:
the grid map is a picture file, the picture has a pixel coordinate origin located in the upper left corner of the picture, and an actual distance represented by a pixel point is set at the same time: the resolution value was 0.05m.
As shown in fig. 7, assuming that the coordinates of the map coordinate origin based on the pixel coordinate system are (x 0, y 0), there is the following relationship:
x0＝width/resolution；
y0＝height/resolution；
assuming that the position of the robot based on the map coordinate system is (m, n), the position (x 1, y 1) of the robot based on the pixel coordinate system is:
x1＝(m-width)/resolution；
y1＝(n-height)/resolution；
the secondary treatment process is as follows:
the remote control robot runs on the cement road surface once, two coordinate positions (x2+0.6, y 2) are taken at the left and right sides of the cement road surface according to the positions (x 2, y 2) of the remote control robot in the map coordinate system, corresponding pixel coordinates are calculated, and a pixel value corresponding to the pixel coordinates is set to 150. During the running process of the robot, the position of the robot is continuously updated, and two lines are supplemented on the left and right sides of the robot along the running path of the robot to obtain a navigation route as shown in fig. 6E.
In another example, in the third step, the wheeled robot is configured with corresponding inspection parameters for inspecting each device in the utility tunnel;
the inspection parameters are obtained based on inspection action point data related to inspection actions in the inspection devices, and in the scheme, the inspection parameters are provided for the robot to provide an inspection route, so that the robot can follow the route to finish inspection work of the devices in the pipe gallery.
In another example, the patrol actions in each patrol device are configured to include:
s31, the wheeled robot runs to the equipment inspection position according to the planned route of the navigation target position;
s32, the wheeled robot controls the cradle head to rotate to a corresponding angle so as to shoot image data related to equipment to be detected;
s33, the wheeled robot completes equipment identification work according to the image data. In this scheme, the robot performs a device inspection action as follows: the robot firstly navigates to the equipment inspection position, secondly controls the cradle head to rotate to a corresponding angle to shoot an equipment image, and finally completes equipment identification according to the image.
In another example, each patrol action point data is configured to include:
navigation target position data of the wheeled robot;
control data related to the rotation angle of the cradle head on the wheeled robot;
in this scheme, the robot needs to complete the identification of the equipment during the inspection, so two data need to be configured, namely the navigation target position data of the robot and the rotation angle control data of the cradle head, and the two data form inspection action point data.
In another example, in step three, in the running process of the wheeled robot on a cabin-by-cabin basis, the method further includes continuously writing the inspection parameters related to each device into the configuration file of the wheeled robot until all devices needing inspection are covered, so as to form an inspection task route from inspection action points of all devices of the whole comprehensive pipe gallery, and after setting the starting point and the end point of the inspection action, completing the inspection parameter configuration of the comprehensive pipe gallery. And configuring the whole comprehensive pipe rack sequentially from cabin to cabin until all equipment needing to be inspected is covered, forming an inspection task route by all inspection action points configured by the whole comprehensive pipe rack, and finally setting the starting point and the finishing point of the inspection action.
In another example, in the fourth step, the wheeled robot reads data from the configuration file, starts to execute the inspection action from the starting point to identify the equipment, and executes the inspection action according to the set inspection task route until the inspection is completed, and in this scheme, the inspection task execution flow is as shown in fig. 8: the robot reads data from the configuration file, starts to execute the inspection action from the starting point, firstly navigates to the inspection position of the equipment according to the read navigation target position data, secondly controls the cradle head to turn to the corresponding angle acquisition equipment image recognition equipment according to the read cradle head control data, finally outputs the recognition result, and then the inspection action is completed, and the inspection action is executed according to the set inspection task route in sequence until the inspection is completed.
In another example, in the fourth step, the method further includes compensating for control data of the cradle head in an actual inspection process of the wheeled robot, in an actual execution process, after the cradle head rotates according to the configured cradle head control data, the equipment cannot shoot an equipment image in the field of view of the camera to cause detection failure, and analysis is caused by that the robot navigating to the target point deviates greatly in the horizontal direction, so that the scheme is adopted to compensate for the control data of the cradle head, and further ensure that the camera can shoot the equipment image to finish identification of the equipment.
In another example, the compensation is compensation for a horizontal rotation angle yaw in the pan-tilt control data;
the compensation is configured to include:
setting a horizontal direction angle in navigation target point data of the robot configuration to be θ1;
setting the horizontal direction angle of the robot in the actual position to be theta 2 after the robot reaches the target point;
the horizontal rotation angle yaw1=yaw+ (θ1- θ2) after compensation in the pan/tilt control data, and the specific compensation method in this scheme is as follows:
the control data of the cradle head are as follows: (yaw, pitch, boom), yaw is the horizontal rotation angle, and the value of yaw needs to be compensated.
The navigation target point data configured by the robot are: (x 3, y3, θ1), where x3, y3 are position data and θ1 is a horizontal direction angle.
Let the actual position of the robot up to the target point (x 3, y3, θ1) be: (x 4, y4, θ2) then compensated yaw1=yaw+ (θ1- θ2).
The above is merely illustrative of a preferred embodiment, but is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
The number of equipment and the scale of processing described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be readily apparent to those skilled in the art.
Although embodiments of the invention have been disclosed above, they are not limited to the use listed in the description and embodiments. It can be applied to various fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrative examples shown and described herein, without departing from the general concepts defined by the claims and the equivalents thereof.
Claims (2)
1. The utility tunnel inspection method and the paving method based on the wheeled robot are characterized by comprising the following steps:
step one, constructing a grid map of a comprehensive pipe rack based on a laser radar carried on a wheeled robot and combining with SLAM technology;
secondly, carrying out secondary processing on the grid map so as to limit the navigation route of the wheeled robot during inspection;
step three, configuring relevant inspection parameters of the inspection task route;
fourth, the wheel robot completes the inspection work of the passenger corridor based on the inspection task route;
in step two, the grid map secondary processing is configured to include:
s1, based on the current position of the wheeled robot in a map coordinate system, a first position coordinate and a second position coordinate are taken from left and right sides of the position coordinate, and corresponding first pixel coordinates and second pixel coordinates of the wheeled robot in a pixel coordinate system are obtained according to a conversion relation;
s2, in a pixel coordinate system, changing pixel values corresponding to a first pixel coordinate and a second pixel coordinate, and supplementing two lines in a grid map through continuous updating of positions in a map coordinate in the running process of the wheeled robot so as to limit a navigation route during inspection of the wheeled robot;
the coordinates of the map coordinate origin based on the pixel coordinate system are (x 0, y 0), and the following relationship is given:
x0＝width/resolution；
y0＝height/resolution；
assuming that the position of the robot based on the map coordinate system is (m, n), the position (x 1, y 1) of the robot based on the pixel coordinate system is:
x1＝(m-width)/resolution；
y1＝(n-height)/resolution；
the secondary treatment process is as follows:
the remote control robot runs on the cement pavement once, two coordinate positions (x2+0.6, y 2) are taken at the left and right sides of the cement pavement according to the positions (x 2, y 2) of the cement pavement in a map coordinate system, corresponding pixel coordinates are calculated, a pixel value corresponding to the pixel coordinates is set to 150, and during the running process of the robot, the positions of the cement pavement are updated continuously, and two lines are supplemented at the left and right sides of the robot along the running path of the robot to obtain a navigation route;
in the third step, the wheel robot is used for configuring corresponding inspection parameters for inspecting all equipment in the comprehensive pipe rack;
the inspection parameters are obtained based on inspection action point data related to inspection actions in all inspection equipment;
the patrol actions in each patrol device are configured to include:
s31, the wheeled robot runs to the equipment inspection position according to the planned route of the navigation target position;
s32, the wheeled robot controls the cradle head to rotate to a corresponding angle so as to shoot image data related to equipment to be detected;
s33, the wheeled robot completes equipment identification work according to the image data;
each patrol action point data is configured to include:
navigation target position data of the wheeled robot;
control data related to the rotation angle of the cradle head on the wheeled robot;
wherein the navigation target position data is a parameter related to the navigation target position configured near the equipment to be patrolled;
in the third step, in the running process of the wheeled robot from cabin to cabin, continuously writing the inspection parameters related to each device into a configuration file of the wheeled robot until all devices needing inspection are covered, so that the inspection action points of all devices of the whole comprehensive pipe gallery form an inspection task route, and after the starting point and the finishing point of the inspection action are set, finishing the inspection parameter configuration of the comprehensive pipe gallery;
in the fourth step, the wheeled robot reads data from the configuration file, starts to execute the inspection action from the starting point to identify the equipment, and executes the inspection action according to the set inspection task route until the inspection is completed;
in the fourth step, the method also comprises the step of compensating the control data of the cradle head in the actual inspection process of the wheeled robot;
the compensation is to compensate the horizontal rotation angle yaw in the cradle head control data;
the compensation is configured to include:
setting a horizontal direction angle in navigation target point data of the robot configuration to be θ1;
setting the horizontal direction angle of the robot in the actual position to be theta 2 after the robot reaches the target point;
the horizontal rotation angle yaw1=yaw+ (θ1- θ2) after compensation in the pan/tilt control data.
2. The inspection method and paving method for utility tunnel based on wheeled robot according to claim 1, wherein in step one, the method further comprises setting map coordinate origin of grid map according to internal layout of utility tunnel and road surface position when constructing grid map, wheeled robot scans each cabin in the tunnel one by one from map origin to establish map corresponding to each cabin respectively.
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