CN106695747A - Valve hall inspection method and inspection robot based on laser radar - Google Patents
Valve hall inspection method and inspection robot based on laser radar Download PDFInfo
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- CN106695747A CN106695747A CN201510777149.5A CN201510777149A CN106695747A CN 106695747 A CN106695747 A CN 106695747A CN 201510777149 A CN201510777149 A CN 201510777149A CN 106695747 A CN106695747 A CN 106695747A
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- valve room
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- positional information
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Abstract
The invention discloses a valve hall inspection method and a valve hall inspection robot based on a laser radar. The inspection method includes the steps that a measuring plane of the laser radar fixed on the inspection robot is set to be perpendicular to the ground; the inspection robot runs along a preset track after receiving a data acquisition task, target valve hall equipment is detected through the laser radar, position information of the robot is obtained through a positioning device, and reference data and the position information are reported to a database; and after receiving a valve hall inspection task, the inspection robot runs along the preset track, acquires the position information and the reference data from the database, obtains radar data as real-time data, compares the real-time data with the reference data and judges whether the target valve hall equipment corresponding to the position information is abnormal or not according to the difference between the real-time data and the reference data as well as the preset threshold value. The valve hall inspection method and the inspection robot can effectively detect whether the valve hall equipment is abnormal or not, and the efficiency and the precision of equipment inspection are effectively improved.
Description
Technical field
Patrolled and examined the present invention relates to Automatic Measurement Technique field, more particularly to a kind of valve Room based on laser radar
Method and crusing robot.
Background technology
Change of current valve group in the valve Room is the key equipment during direct current transportation, to ensure its reliability service,
Need regular visit.Valve Room crusing robot is applied to the patrolling and examining in work of the valve Room.
Current technology can carry out instrument reading or thermometric work to instrument or easily worn part, can also lead to
Cross image procossing mode and detect whether the valve Room is abnormal, and the method includes：Using Fa Ting robots carry can
See light camera to be likely to occur abnormal region grabgraf and with it is normal when picture compare, and by pattern know
Whether method for distinguishing determinating area is abnormal.The method needs to being likely to occur the region of problem that grabgraf is simultaneously in advance
It is fabricated to the template of pattern-recognition, robot blit again when by the position, by pattern-recognition
Method is compared with template picture.Robot stops grabgraf being needed to expend certain hour.And easily produce
Raw wrong report.
Whether whether, overhaul of the equipments door complete for equipment closes in the prior art, and whether device location becomes
With the presence or absence of the abnormal judgement that cannot be accurately and timely such as abnormal object in change, the valve Room.
The content of the invention
For the deficiencies in the prior art, it is proposed that a kind of valve Room method for inspecting based on laser radar
And crusing robot, solve the problems, such as that various valve Rooms unit exception cannot be detected in the prior art.
The invention provides a kind of valve Room method for inspecting based on laser radar, methods described includes：Set
The measuring surface of fixed laser radar is perpendicular to ground on crusing robot；Crusing robot receives data and adopts
Travelled along predetermined trajectory after set task, target valve Room equipment is carried out by laser radar in the process of moving
Detection obtains the radar data of target valve Room equipment as reference data, and obtains machine by positioner
Device people carries out positional information during detection operation, by the reference data and positional information reported data storehouse；
Crusing robot is travelled after receiving valve Room patrol task along the predetermined trajectory, is obtained from the database
Positional information and corresponding reference data, are carried out in the corresponding position of the positional information by laser radar
Detection obtains radar data as real time data, and this real time data is compared with the reference data, according to
Both gaps and predetermined threshold value judge whether the corresponding target valve Room equipment of this positional information exception occurs.
Wherein, the radar data refers to the distance that single laser light beam is measured.
Wherein, the radar data refers to the distance that multi-stripe laser light beam is measured, and both gaps described refer to
The average value or weighted average of the difference of the distance that each bar laser beam is measured in reference data and real time data
Value.
Wherein, judge that the corresponding target valve Room equipment of this positional information is according to both gaps and predetermined threshold value
It is no abnormal specifically referring to occur：When both gaps are more than predetermined threshold value, the corresponding mesh of this positional information is judged
There is exception in mark valve Room equipment, when both gaps are less than or equal to predetermined threshold value, judges this positional information pair
There is not exception in the target valve Room equipment answered；Or, when both gaps are more than or equal to predetermined threshold value, sentence
There is exception in the corresponding target valve Room equipment of this positional information of breaking, when both gaps are less than predetermined threshold value, sentences
There is not exception in the disconnected corresponding target valve Room equipment of this positional information.
Wherein, the crusing robot has memory module, and the database is arranged at the memory module
In.
Wherein, the positioner is GPS positioning device, draw wire encoder or RFID Card Reader locators.
Present invention also offers a kind of valve Room crusing robot based on laser radar, including：Robot sheet
The orbit connection device and the robot body that body is fixedly connected with the robot body are fixed and connected
The laser radar for connecing；The robot body includes body housing, the centre being fixed in body housing
Reason device, memory, positioner, the memory and positioner are connected with the central processing unit；
The central processing unit is connected with the orbit connection device by control line, the central processing unit with swash
Optical radar is connected by control line；The central processing unit, for receiving data acquisition in crusing robot
Control the orbit connection device to be travelled along predetermined trajectory after task, be additionally operable to control to swash in the process of moving
Optical radar carries out detection to target valve Room equipment and obtains the radar data of target valve Room equipment as reference number
According to, and positional information when detection is operated is carried out by positioner acquisition laser radar, by the ginseng
Examine data and positional information is stored in memory；It is additionally operable to after crusing robot receives valve Room patrol task
Control the orbit connection device to be travelled along the predetermined trajectory, positional information is obtained from the memory
With corresponding reference data, detection acquisition is carried out by laser radar in the positional information corresponding position
Radar data compares this real time data with the reference data as real time data, according to both gaps
Judge whether the corresponding target valve Room equipment of this positional information exception occurs with predetermined threshold value.
Wherein, the radar data refers to the distance that single laser light beam is measured, or, the radar number
According to referring to distance that multi-stripe laser light beam is measured, during both gaps described refer to reference data and real time data
The average value or weighted average of the difference of the distance that each bar laser beam is measured.
Whether the solution of the present invention exception can occurs with effective detection valve Room equipment, and especially whether equipment is complete
Whether whole, overhaul of the equipments door closes, whether device location changes, in the valve Room with the presence or absence of exception object etc.
It is abnormal, effectively improve the efficiency and precision of equipment routing inspection.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the valve Room method for inspecting based on laser radar；
Fig. 2 is a kind of structure chart of the valve Room crusing robot based on laser radar.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with this hair
Accompanying drawing in bright embodiment, is clearly and completely described to the technical scheme in the embodiment of the present invention,
Obviously, described embodiment is a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained under the premise of creative work is not made
The every other embodiment for obtaining, belongs to the scope of protection of the invention.It should be noted that not conflicting
In the case of, the feature in embodiment and embodiment in the application can mutually be combined.
Fig. 1 is a kind of flow chart of the valve Room method for inspecting based on laser radar.The valve Room of laser radar is patrolled
Detecting method includes：
Step 1, sets the measuring surface of laser radar fixed on crusing robot perpendicular to ground；
Step 2, crusing robot is travelled after receiving data acquisition session along predetermined trajectory, is running over journey
In by laser radar carry out detection to target valve Room equipment and obtain the radar data of target valve Room equipment being used as
Reference data, and positional information when detection is operated is carried out by positioner acquisition robot, by institute
State reference data and positional information reported data storehouse；
Step 3, crusing robot receives to be travelled along the predetermined trajectory after the patrol task of the valve Room, from described
Positional information and corresponding reference data are obtained in database, is passed through in the corresponding position of the positional information
Laser radar carries out detection and obtains radar data as real time data, by this real time data and the reference number
According to comparing, whether the corresponding target valve Room equipment of this positional information is judged according to both gaps and predetermined threshold value
Occur abnormal.
Radar data refers to the distance that single laser light beam is measured.Or, radar data refers to multi-stripe laser
The distance that light beam is measured, both gaps refer to that each bar laser beam is measured in reference data and real time data
The average value or weighted average of the difference of distance.
In this method, judge that the corresponding target valve Room of this positional information sets according to both gaps and predetermined threshold value
It is standby abnormal specifically referring to whether occur：When both gaps are more than predetermined threshold value, this positional information correspondence is judged
Target valve Room equipment occur abnormal, when both gaps are less than or equal to predetermined threshold value, judge that this position is believed
Cease corresponding target valve Room equipment and exception do not occur；Or, when both gaps are more than or equal to predetermined threshold value,
Judge that the corresponding target valve Room equipment of this positional information occurs abnormal, when both gaps are less than predetermined threshold value,
Judge that exception does not occur in the corresponding target valve Room equipment of this positional information.
In this method, crusing robot has memory module, and database is arranged in the memory module.
Positioner is GPS positioning device, draw wire encoder or RFID Card Reader locators.
The valve Room crusing robot based on laser radar in the present invention can have following constituted mode.
Fig. 2 is the structure chart of the valve Room crusing robot based on laser radar in mode one.This valve Room is patrolled and examined
Robot includes：Orbit connection device 2 and machine that robot body 1 is fixedly connected with robot body
The laser radar 3 that device human body is fixedly connected；Robot body includes body housing 101, is fixed on body
Central processing unit 102, positioner 103 in shell, memory 104, positioner 103 and storage
Device 104 is connected with central processing unit 102.Central processing unit 102 is with orbit connection device 2 by control
Line processed is connected, and central processing unit 102 is connected with laser radar 3 by control line.
Orbit connection device 2 include for the connector that is slidably connected with track and for robot body
Fixed connecting rod.The measuring surface of laser radar 3 is parallel with connecting rod.Use this valve Room crusing robot
When laser radar 3 measuring surface it is vertical with ground holding.
Central processing unit 102 is used to control track connection dress after crusing robot receives data acquisition session
Put and travelled along predetermined trajectory, be additionally operable to control laser radar 3 to enter target valve Room equipment in the process of moving
Row detection obtains the radar data of target valve Room equipment as reference data, and by positioner 103
Obtaining laser radar is carried out detecting positional information when operating, and reference data and positional information are stored in
Reservoir；It is additionally operable to be controlled after crusing robot receives the valve Room patrol task orbit connection device along default rail
Road is travelled, and positional information and corresponding reference data are obtained from memory 104, and confidence manner of breathing in place should
Position by laser radar carry out detection obtain radar data be used as real time data, by this real time data with
Reference data compares, and judges that the corresponding target valve Room of this positional information sets according to both gaps and predetermined threshold value
It is standby whether exception occur.
Radar data refers to the distance that single laser light beam is measured, or, radar data refers to multi-stripe laser
The distance that light beam is measured, both gaps refer to that each bar laser beam is measured in reference data and real time data
The average value or weighted average of the difference of distance.
In above-mentioned implementation, the specifically used following methods of central processing unit are according to both gap and default thresholds
Value judges whether the corresponding target valve Room equipment of this positional information exception occurs：Both gaps are more than default threshold
During value, judge that the corresponding target valve Room equipment of this positional information occurs abnormal, both are less than or equal to gap
During predetermined threshold value, judge that exception does not occur in the corresponding target valve Room equipment of this positional information；Or, both
When gap is more than or equal to predetermined threshold value, judge that the corresponding target valve Room equipment of this positional information occurs abnormal,
When both gaps are less than predetermined threshold value, judge that exception does not occur in the corresponding target valve Room equipment of this positional information.
In above-mentioned implementation, positioner is that GPS positioning device, draw wire encoder or RFID read
Card locator.
In above-mentioned implementation, orbit connection device 2 include for the connector that is slidably connected with track and
For the connecting rod fixed with robot body.The measuring surface of laser radar 3 is parallel with connecting rod.Use
The measuring surface of laser radar 3 is vertical with ground holding during the crusing robot of this valve Room.
In above-mentioned implementation, robot body also includes the alarm module being connected with central processing unit, report
Alert module includes Audio Players and/or light prompt device.Central processing unit when unit exception is detected,
Control signal is sent to alarm module, alarm module is sent the prompting of sound and/or light.
Whether the solution of the present invention exception can occurs with effective detection valve Room equipment, and especially whether equipment is complete
Whether whole, overhaul of the equipments door closes, whether device location changes, in the valve Room with the presence or absence of exception object etc.
It is abnormal, effectively improve the efficiency and precision of equipment routing inspection.
Furthermore, it is necessary to illustrate, the specific embodiment described in this specification, its parts and components
Shape, named title etc. can be with differences, and the above content described in this specification is only to the present invention
Structure example explanation.
Descriptions above can combine implementation individually or in a variety of ways, and these modifications
Mode is all within protection scope of the present invention.
Herein, term " including ", "comprising" or its any other variant be intended to nonexcludability
Include so that article or equipment including a series of key elements not only include those key elements, and
Also include other key elements being not expressly set out, or also include being that this article or equipment institute are intrinsic
Key element.In the absence of more restrictions, the key element limited by sentence " including ... ", does not arrange
Except also there is other identical element in the article or equipment including the key element.
The above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, reference only to preferably implementation
Example has been described in detail to the present invention.It will be understood by those within the art that, can be to this hair
Bright technical scheme is modified or equivalent, without deviating from the spirit and model of technical solution of the present invention
Enclose, all should cover in the middle of scope of the presently claimed invention.
Claims (8)
1. a kind of valve Room method for inspecting based on laser radar, it is characterised in that methods described includes：
The measuring surface of laser radar fixed on crusing robot is set perpendicular to ground；
Crusing robot is travelled after receiving data acquisition session along predetermined trajectory, in the process of moving by swashing
Optical radar carries out detection to target valve Room equipment and obtains the radar data of target valve Room equipment as reference number
According to, and positional information when detection is operated is carried out by positioner acquisition robot, by the reference
Data and positional information reported data storehouse；
Crusing robot is travelled after receiving valve Room patrol task along the predetermined trajectory, from the database
Positional information and corresponding reference data are obtained, laser radar is passed through in the corresponding position of the positional information
Carry out detection and obtain radar data as real time data, this real time data is compared with the reference data,
Judge whether the corresponding target valve Room equipment of this positional information occurs according to both gaps and predetermined threshold value different
Often.
2. as claimed in claim 1 a kind of valve Room method for inspecting based on laser radar, it is characterised in that
The radar data refers to the distance that single laser light beam is measured.
3. as claimed in claim 1 a kind of valve Room method for inspecting based on laser radar, it is characterised in that
The radar data refers to the distance that multi-stripe laser light beam is measured, both gaps described refer to reference data and
The average value or weighted average of the difference of the distance that each bar laser beam is measured in real time data.
4. as claimed in claim 1 a kind of valve Room method for inspecting based on laser radar, it is characterised in that
Judge whether the corresponding target valve Room equipment of this positional information exception occurs according to both gaps and predetermined threshold value
Specifically refer to：When both gaps are more than predetermined threshold value, the corresponding target valve Room equipment of this positional information is judged
There is exception, when both gaps are less than or equal to predetermined threshold value, judge the corresponding target valve of this positional information
There is not exception in Room equipment；Or, when both gaps are more than or equal to predetermined threshold value, judge that this position is believed
Cease corresponding target valve Room equipment and exception occur, when both gaps are less than predetermined threshold value, judge that this position is believed
Cease corresponding target valve Room equipment and exception do not occur.
5. as claimed in claim 1 a kind of valve Room method for inspecting based on laser radar, it is characterised in that
The crusing robot has memory module, and the database is arranged in the memory module.
6. as claimed in claim 1 a kind of valve Room method for inspecting based on laser radar, it is characterised in that
The positioner is GPS positioning device, draw wire encoder or RFID Card Reader locators.
7. a kind of valve Room crusing robot based on laser radar, it is characterised in that including：Robot
The orbit connection device and the robot body that body is fixedly connected with the robot body are fixed
The laser radar of connection；The robot body includes body housing, the center being fixed in body housing
Processor, memory, positioner, the memory and positioner connect with the central processing unit
Connect；The central processing unit is connected with the orbit connection device by control line, the central processing unit
It is connected by control line with laser radar；
The central processing unit, for controlling the track after crusing robot receives data acquisition session
Attachment means are travelled along predetermined trajectory, are additionally operable to control laser radar to set the target valve Room in the process of moving
It is standby detect the radar data for obtaining target valve Room equipment as reference data, and by positioner
Obtaining laser radar is carried out detecting positional information when operating, and the reference data and positional information are stored
In memory；It is additionally operable to control the orbit connection device after crusing robot receives valve Room patrol task
Travelled along the predetermined trajectory, positional information and corresponding reference data are obtained from the memory,
The corresponding position of positional information carries out detection acquisition radar data and is used as number in real time by laser radar
According to, this real time data is compared with the reference data, judge this position according to both gaps and predetermined threshold value
Whether confidence breath corresponding target valve Room equipment there is exception.
8. a kind of valve Room crusing robot based on laser radar as claimed in claim 7, its feature exists
In, the radar data refers to the distance that single laser light beam is measured, or, the radar data refers to
The distance that multi-stripe laser light beam is measured, both gaps described refer to that each bar swashs in reference data and real time data
The average value or weighted average of the difference of the distance that light light beam is measured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510777149.5A CN106695747A (en) | 2015-11-13 | 2015-11-13 | Valve hall inspection method and inspection robot based on laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510777149.5A CN106695747A (en) | 2015-11-13 | 2015-11-13 | Valve hall inspection method and inspection robot based on laser radar |
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| CN106695747A true CN106695747A (en) | 2017-05-24 |
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| CN201510777149.5A Pending CN106695747A (en) | 2015-11-13 | 2015-11-13 | Valve hall inspection method and inspection robot based on laser radar |
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Cited By (4)
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| CN108093241A (en) * | 2017-11-03 | 2018-05-29 | 国网河南省电力公司检修公司 | A kind of valve Room intelligent patrol detection sampler based on VR technologies |
| CN111679291A (en) * | 2020-06-17 | 2020-09-18 | 四川智动木牛智能科技有限公司 | Inspection robot target positioning configuration method based on three-dimensional laser radar |
| CN112665578A (en) * | 2021-03-16 | 2021-04-16 | 湖南承希科技有限公司 | Inspection positioning method and system based on tunnel inspection robot |
| CN114526724A (en) * | 2022-02-18 | 2022-05-24 | 山东新一代信息产业技术研究院有限公司 | Positioning method and equipment for inspection robot |
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