CN107358675A - A kind of method for inspecting, system and the crusing robot in piping lane synthesis cabin - Google Patents
A kind of method for inspecting, system and the crusing robot in piping lane synthesis cabin Download PDFInfo
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Abstract
This application discloses a kind of method for inspecting in piping lane synthesis cabin, using the robot being positioned in comprehensive cabin, carries out status monitoring to target object in the cabin around presently described robot, obtains status information in corresponding cabin；The currently monitored robot to status information in the cabin is positioned, obtains the positional information of the robot.In the present invention, crusing robot replaces staff to carry out automatic detecting to piping lane synthesis cabin, and the devices such as pipeline therein and cable are monitored.The small volume of robot, action is flexible, still can activity and monitoring in narrow crowded space；Robot is affected by environment smaller, can stay in for a long time in comprehensive cabin, it is not necessary to continually pass in and out comprehensive cabin, in rugged environment still can accurately, be safely completed the target of setting.Accordingly, disclosed herein as well is the cruising inspection system and crusing robot in a kind of piping lane synthesis cabin.
Description
Technical Field
The invention relates to a pipe rack comprehensive cabin, in particular to a method and a system for inspecting the pipe rack comprehensive cabin and an inspection robot.
Background
The utility model provides a pipe gallery utility model, is the municipal utility who implements unified planning, design, construction and maintenance, builds in the city underground and is used for laying municipal utility pipeline, can lay various municipal pipeline including water, electricity, cold, heat, gas, communication in the pipe gallery. Although the one-time investment of the comprehensive cabin of the pipe gallery is usually higher than the cost of independently laying the pipelines, the cost of excavating the underground space of the road, the cost of passing the road and the damage to the environment are saved comprehensively, and obviously, the cost benefit of the comprehensive pipe gallery is higher.
To daily patrol and examine the cabin of synthesizing, traditionally carry out supplementary patrol and examine through hand-held type check out test set by the manual work. The worker often has the possibility of inaccurate positioning in the inspection process. Furthermore, since the inspection is performed manually, there are many problems in such inspection due to physiological defects of the human. For example, the working strength in the comprehensive cabin is high, workers are easy to fatigue, the environment in the comprehensive cabin is severe, and the physical and psychological health of the workers is negatively affected, so that potential safety hazards exist, and safety accidents are easy to cause.
Disclosure of Invention
In view of the above, the present invention provides a method and a system for inspecting a utility cabin of a pipe rack, and an inspection robot, so that the positioning is accurate in the inspection process, and the inspection quality is improved. The specific scheme is as follows:
a method for inspecting a comprehensive cabin of a pipe rack comprises the following steps
Carrying out state monitoring on target objects in the cabin around the robot at present by using the robot placed in the comprehensive cabin to obtain corresponding cabin state information;
and positioning the robot which currently monitors the state information in the cabin to obtain the position information of the robot.
Preferably, the process of monitoring the state of the cabin target objects around the robot by using the robot placed in the comprehensive cabin includes:
imaging the external state of the target object in the cabin by using the robot to obtain a corresponding target object image;
wherein the target object image comprises an infrared image and/or a visible image, and the target object in the cabin comprises a flange on a water supply pipeline and/or a cable joint.
Preferably, the process of locating the robot currently monitoring the status information in the cabin includes:
carrying out image recognition processing on the target object image to obtain the external shape characteristics of the target object in the cabin to obtain first characteristic information;
determining the position information of the target object in the cabin by using a preset first mapping relation and the first characteristic information; the first mapping relation is a mapping relation between the external shape feature of each target object in the comprehensive cabin and the position of the target object in the comprehensive cabin;
and determining the position information of the target object in the cabin as the position information of the robot.
Preferably, the process of locating the robot currently monitoring the status information in the cabin includes:
recording a routing inspection path of the robot relative to a preset initial origin in the robot routing inspection process;
and based on the routing inspection path, positioning the robot.
Preferably, the process of locating the robot currently monitoring the status information in the cabin includes:
carrying out image acquisition on a marker which is placed in the comprehensive cabin in advance to obtain a corresponding marker image;
carrying out image recognition processing on the marker image to obtain external features of the marker to obtain second feature information;
determining the position information of the marker by using a preset second mapping relation and the second characteristic information; wherein the second mapping relationship is a mapping relationship between the external feature of each marker in the integrated cabin and the position of the marker in the integrated cabin;
determining the position information of the marker as the position information of the robot.
Preferably, the process of monitoring the state of the cabin target object around the robot by using the robot placed in the integrated cabin further includes:
and monitoring the temperature and humidity and/or toxic gas components and/or toxic gas content in the air around the robot by using the robot.
Preferably, the inspection method further includes:
respectively establishing corresponding cabin state models according to each type of cabin state information monitored by the robot in a preset time period to obtain a model set containing various cabin state models;
and respectively superposing each cabin state model in the model set to obtain an integral data model related to the comprehensive cabin.
Performing first monitoring processing and/or second monitoring processing by using the overall data model; wherein,
the first monitoring processing is to judge whether the state of a target object in the comprehensive cabin needs to be changed, if so, trigger a corresponding control signal and send the control signal to a corresponding control component so as to correspondingly control the control component;
and the second monitoring process is to judge whether the inside of the comprehensive cabin breaks down, if so, trigger corresponding early warning information and send the early warning information to a corresponding supervision terminal.
Correspondingly, the invention also discloses a system for inspecting the comprehensive cabin of the pipe gallery, which comprises:
the monitoring module is positioned in the robot and used for monitoring the state of a target object in the cabin around the robot by utilizing the robot placed in the comprehensive cabin to obtain corresponding state information in the cabin;
and the positioning module is used for positioning the robot which currently monitors the state information in the cabin to obtain the position information of the robot.
Preferably, the monitoring module comprises:
the first imaging unit is used for imaging the external state of the target object in the cabin by using the robot to obtain a corresponding target object image;
wherein the target object image comprises an infrared image and/or a visible image, and the target object in the cabin comprises a flange on a water supply pipeline and/or a cable joint.
Preferably, the positioning module includes:
the first identification unit is used for carrying out image identification processing on the target object image so as to obtain the external shape characteristics of the target object in the cabin and obtain first characteristic information;
the first mapping unit is used for determining the position information of the target object in the cabin by utilizing a preset first mapping relation and the first characteristic information; the first mapping relation is a mapping relation between the external shape feature of each target object in the comprehensive cabin and the position of the target object in the comprehensive cabin;
and the first positioning unit is used for determining the position information of the target object in the cabin as the position information of the robot.
Correspondingly, the invention also discloses a patrol robot for the comprehensive cabin of the pipe gallery, which comprises:
the system comprises a sensor, a memory, a processor and the inspection system of the pipe rack comprehensive cabin.
In the invention, the inspection robot replaces a worker to automatically inspect the comprehensive cabin of the pipe rack and monitor devices such as pipelines, cables and the like. Compared with the working personnel, the robot has smaller volume and flexible action, and can still move and monitor in narrow and crowded space; because the environment is abominable in the comprehensive cabin, working strength is big, not only the artificial patrol has the danger that the monitoring result is inaccurate, the maloperation causes the incident, and be unfavorable for staff's physical and mental health, but the robot receives the environmental impact less, can wait for a long time in the comprehensive cabin, need not frequently pass in and out the comprehensive cabin, still can accurately, safely accomplish the work goal of settlement in abominable environment, especially when meetting extreme environment such as toxic gas and reveal, conflagration, the accident of permeating water, need not worry staff's personal safety.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flow chart of a first method for inspecting a utility compartment of a pipe rack;
FIG. 2 is a flow chart of a second specific inspection method for the utility compartment of the pipe rack;
FIG. 3 is a flow chart of a third specific inspection method for the utility model of the pipe rack;
FIG. 4 is a flow chart of a fourth specific inspection method for the utility compartment of the pipe rack;
FIG. 5 is a flow chart of a fifth specific inspection method for the utility model of the pipe rack;
fig. 6 is a block diagram of an inspection system for a utility room of a pipe rack.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a method for inspecting a comprehensive cabin of a pipe rack, which is shown in figure 1 and comprises the following steps:
s11: utilizing a robot placed in a comprehensive cabin to monitor the state of target objects in the cabin around the robot at present to obtain corresponding cabin state information;
s12: and positioning the robot which currently monitors the state information in the cabin to obtain the position information of the robot.
It is understood that the above-described acquisition of the in-cabin state information and the acquisition of the robot position information have different orders according to the specific situation. If the acquired state information in the cabin is used in the process of acquiring the position information of the robot, the state information in the cabin is acquired first and then the position information of the robot is acquired through the state information in the cabin in order to effectively utilize the acquired state information, so that the steps are not repeated, and resources are effectively saved. Of course, if the acquired in-cabin state information is not used when acquiring the robot position information, there is no sequential requirement for the actions of acquiring the robot position information and acquiring the in-cabin state information.
It needs to be understood that the mapping relation exists between the in-cabin state information obtained at a certain position by the robot and the position information at the moment, so that the positioning information and the monitoring state of the positioning point can be conveniently and accurately searched, and the inspection quality of the comprehensive cabin of the pipe rack is improved.
It will be appreciated that the technical means of positioning the robot to obtain a specific position of the robot in the integration space are various and will be described in detail in the following specific embodiments.
It is understood that the robot placed in the comprehensive cabin is used for monitoring the state of the cabin target objects around the current robot, and various characteristic parameters of the target objects are used for monitoring.
The robot is used for imaging the external state of the target object in the cabin to obtain a corresponding target object image. The target object image here includes an infrared image and/or a visible image, and the target object may be a water supply line in a cabin, a flange on various kinds of lines, a cable, and/or a cable joint. It will be appreciated that the first positioning technique can directly utilize the target object image obtained here without repeating the image extraction.
In addition, other characteristic parameters indicative of the condition of the pipeline may be detected using sensors, such as whether the pipeline switch is open, the valve is tightened, the communication line is open, and the drain system is normal.
Of course, the robot may also be equipped with sensors or detectors for monitoring other characteristics.
In the invention, the inspection robot replaces a worker to automatically inspect the comprehensive cabin of the pipe rack and monitor devices such as pipelines, cables and the like. Compared with the working personnel, the robot has smaller volume and flexible action, and can still move and monitor in narrow and crowded space; because the environment is abominable in the comprehensive cabin, working strength is big, not only the artificial patrol has the danger that the monitoring result is inaccurate, the maloperation causes the incident, and be unfavorable for staff's physical and mental health, but the robot receives the environmental impact less, can wait for a long time in the comprehensive cabin, need not frequently pass in and out the comprehensive cabin, still can accurately, safely accomplish the work goal of settlement in abominable environment, especially when meetting extreme environment such as toxic gas and reveal, conflagration, the accident of permeating water, need not worry staff's personal safety.
The embodiment of the invention discloses a specific inspection method for a comprehensive cabin of a pipe rack, and compared with the previous embodiment, the embodiment further explains and optimizes the technical scheme. Referring to fig. 2, the specific steps are as follows:
s21: utilizing a robot placed in the comprehensive cabin to perform imaging processing on the external state of a target object in the cabin to obtain a corresponding target object image;
wherein the target object image comprises an infrared image and/or a visible image, and the target object in the cabin comprises a flange on a water supply pipeline and/or a cable joint.
The water supply lines here include a water supply line and a water intermediate line.
S22: performing image recognition processing on the target object image to obtain the external shape characteristics of the target object in the cabin to obtain first characteristic information;
s23: determining the position information of the target object in the cabin by using a preset first mapping relation and the first characteristic information;
wherein, the first mapping relation is a mapping relation between the external shape feature of each target object in the comprehensive cabin and the position of the target object in the comprehensive cabin;
s24: determining the position information of the target object in the cabin as the position information of the robot;
s25: by utilizing the robot, the temperature and humidity and/or the toxic gas components and/or the toxic gas content in the air around the robot are monitored.
The positioning technology used in this embodiment is to extract pipeline state information around the robot, such as important features of a water supply pipeline, a flange on the pipeline, a cable and/or a cable joint, and the like, by using a thermal infrared imager and a visible light general measurement technology, calculate key variables by comparison and an image recognition algorithm, and obtain position information of the robot by combining a mapping relationship between the features and the positions of the features. Meanwhile, the state information to be acquired also comprises the external state image of the target object, so that the external state image of the target object is acquired first, and then the robot is positioned by utilizing the image and the mapping relation, the sequence only needs to acquire the external state image of the target object once, the step does not need to be repeated, and the acquired state information can be effectively utilized.
In addition, the robot in this embodiment may also monitor characteristic parameters of the ambient air. In a general monitoring process, the temperature and the humidity of the ambient air are important characteristic parameters, and some pipelines in the comprehensive cabin have high requirements on the temperature or the humidity, so that when the temperature or the humidity exceeds a certain range, the pipelines and the materials of the pipeline interfaces can be corroded, the quality of conveyed objects in the pipelines can be influenced, communication lines can be influenced, and unsmooth communication or sending of wrong information is caused. Secondly, it is also measured whether there is a toxic gas in the surrounding air, and the composition and/or content of the toxic gas. The toxic gas may be generated in the environment outside the pipeline, if the toxic gas source is in the comprehensive cabin, the gas source needs to be further removed and checked, and if the toxic gas enters the comprehensive cabin from the outside of the comprehensive cabin, the tightness of the comprehensive cabin needs to be checked; toxic gases may also leak out of the pipeline, where the pipeline is checked for tightness and safety of the cabin and other pipelines.
Of course, in other embodiments, characteristic parameters of the ambient air may also be monitored.
The embodiment of the invention discloses a specific inspection method for a comprehensive cabin of a pipe rack, and compared with the previous embodiment, the embodiment further explains and optimizes the technical scheme. Referring to fig. 3, the specific steps are as follows:
s31: utilizing a robot placed in a comprehensive cabin to monitor the state of target objects in the cabin around the robot at present to obtain corresponding cabin state information;
s32: carrying out image acquisition on a marker which is placed in the comprehensive cabin in advance to obtain a corresponding marker image;
s33: carrying out image recognition processing on the marker image to acquire the external features of the marker to obtain second feature information;
s34: determining the position information of the marker by using a preset second mapping relation and the second characteristic information; wherein the second mapping relationship is a mapping relationship between an external feature of each marker in the integrated cabin and a position of the marker in the integrated cabin;
s35: and determining the position information of the marker as the position information of the robot.
The positioning method used here, i.e., steps S33-S35, is to identify and integrate markers preset in the cabin duct, and position the robot by combining the mapping relationship between the markers and their positions. The markers mentioned here may be markers at locations where it is critical in the integrated cabin, or markers marked in the pipeline in segments according to length distance. The marker can be a digital mark or a regularly arranged pattern mark, the robot collects and identifies images of the marker, and the robot is positioned by utilizing the mapping relation between the marker and the position of the marker. The marker can also be a signal of other special markers, such as an electromagnetic signal, and the robot obtains the information of the marker through a sensor and positions the robot by combining the mapping relation of the marker and the position of the marker.
Since the positioning method does not use the cabin state information that we finally need, in fact, there is no absolute front-back order between the step S31 of acquiring the cabin state information and the steps S32-S35 of acquiring the positioning information, and the action of acquiring the cabin state information and the action of positioning are parallel, but there is always a mapping relationship between a certain point of positioning information and the point of state information. In addition to the action sequence in this embodiment, the in-cabin state information may be obtained first by positioning, or the in-cabin state information and the position information of the positioning robot may be obtained at the same time, which is not specifically required.
Similar to this embodiment, there are the following methods for positioning without using the above-mentioned cabin status information in the positioning process:
a positioning method is characterized in that a routing inspection path of a robot relative to a preset starting point origin point is recorded, and the robot is positioned based on the routing inspection path. The method can obtain the characteristic parameters of each fixed point position on the motion trail of the robot in the coordinate system.
Another positioning method is to position the robot by using a wireless carrier positioning system. This is an Indoor wireless positioning technology, and similarly, the Indor Atlas scheme and the Qubulis scheme, and the Nokia HAIP (high interference Indor positioning) scheme are also available. They are highly accurate but require recording of the indoor environment before operation or the addition of signal transmitting and receiving modules.
Another positioning method is to use a satellite positioning system, and the accuracy of satellite positioning is too low due to unstable underground signals, which is not an optimal choice for robots working underground and requiring high accuracy.
The embodiment of the invention discloses a specific inspection method for a comprehensive cabin of a pipe rack, and compared with the previous embodiment, the embodiment further explains and optimizes the technical scheme. Referring to fig. 4, the specific steps are as follows:
s41: the method comprises the following steps of utilizing a robot placed in a comprehensive cabin to monitor the state of target objects in the cabin around the current robot to obtain corresponding cabin state information;
s42: positioning the robot which currently monitors the state information in the cabin to obtain the position information of the robot;
s43: respectively establishing corresponding cabin state models according to each type of cabin state information monitored by the robot in a preset time period to obtain a model set containing various cabin state models;
s44: respectively superposing each cabin state model in the model set to obtain an integral data model related to the comprehensive cabin;
s45: judging whether the state of the target object in the comprehensive cabin needs to be changed or not by utilizing the integral data model;
s46: if yes, triggering a corresponding control signal, and sending the control signal to a corresponding control component so as to correspondingly control the control component.
In this embodiment, after the cabin state information and the robot position information are obtained, a corresponding cabin state model is established according to the cabin state information. It can be understood that the built in-cabin state model can be verified to improve the accuracy of subsequent work, the in-cabin state model with the problem verification result is analyzed, the error reason is traced, and the model is built and verified again until the in-cabin state model is verified without error.
In the state of the target object in the comprehensive cabin, the opening and closing of a channel valve, the opening and closing of a communication line, the regulation and control of temperature and humidity and the like can be changed. And triggering a corresponding control signal by using the obtained overall data model when the state of the object target object in the comprehensive cabin is judged to reach the condition needing to be changed, and sending the control signal to a corresponding component to realize control. The touch signal may be sent to the robot, and the robot changes the state of the target object in the integrated cabin through a physical manner, or the staff directly changes the state of the target object in the integrated cabin through corresponding operations outside the integrated cabin.
It is understood that steps S43-S46 may be implemented by a processor carried by the robot itself, or the robot sends the cabin state information to a terminal, and the terminal analyzes and determines the cabin state information, and the main body of the analysis is not limited herein.
The embodiment of the invention discloses a specific inspection method for a comprehensive cabin of a pipe rack, and compared with the previous embodiment, the embodiment further explains and optimizes the technical scheme. Referring to fig. 5, the specific steps are as follows:
s51: the method comprises the following steps of utilizing a robot placed in a comprehensive cabin to monitor the state of target objects in the cabin around the current robot to obtain corresponding cabin state information;
s52: positioning the robot which currently monitors the state information in the cabin to obtain the position information of the robot;
s53: respectively establishing corresponding cabin state models according to each type of cabin state information monitored by the robot in a preset time period to obtain a model set containing various cabin state models;
s54: respectively superposing each cabin state model in the model set to obtain an integral data model related to the comprehensive cabin;
s55: judging whether the inside of the comprehensive cabin has a fault or not by using the integral datamation model;
s56: if yes, triggering corresponding early warning information, and sending the early warning information to a corresponding supervision terminal.
In this embodiment, the obtained overall datamation model is used to determine and warn the internal fault of the integrated cabin. The early warning information can be graded according to severity, and different early warning prompts are matched for different early warning grades, such as matching different volumes and different modes of ring tones, flashing different frequencies and colors of alarm lamps and the like.
Of course, the early warning information can be obtained by the robot through analysis and sent to the supervision terminal, or the supervision terminal can be obtained through analyzing the whole data model, and the final purpose is to send out the early warning information to remind the staff of paying attention.
Correspondingly, the embodiment of the invention discloses an inspection system for a pipe rack comprehensive cabin, which is shown in fig. 6 and comprises:
the monitoring module 01 is positioned in the robot and used for monitoring the state of a target object in the cabin around the robot by utilizing the robot placed in the comprehensive cabin to obtain corresponding state information in the cabin;
and the positioning module 02 is used for positioning the robot which currently monitors the state information in the cabin to obtain the position information of the robot.
It can be understood that the monitoring module 01 must be located inside the robot to monitor the objects in the cabin around the robot; the positioning module 02 is placed inside the robot or on a terminal where the robot can send information, according to the needs of the specific positioning technology.
The first monitoring module comprises a first imaging unit, a second imaging unit and a third monitoring unit, wherein the first imaging unit is used for imaging the external state of the target object in the cabin by using the robot to obtain a corresponding target object image;
wherein the target object image comprises an infrared image and/or a visible image, and the target object in the cabin comprises a flange on a water supply pipeline and/or a cable joint.
Accordingly, a first positioning module comprises: the first identification unit is used for carrying out image identification processing on the target object image so as to obtain the external shape characteristics of the target object in the cabin and obtain first characteristic information; the first mapping unit is used for determining the position information of the target object in the cabin by using a preset first mapping relation and the first characteristic information; wherein, the first mapping relation is a mapping relation between the external shape feature of each target object in the comprehensive cabin and the position of the target object in the comprehensive cabin; and a first positioning unit configured to determine position information of the target object in the cabin as position information of the robot.
Of course, there are many other positioning modules that do not duplicate data with the monitoring module.
Wherein, the second kind of orientation module includes: the second imaging unit is used for imaging the marker which is placed in the comprehensive cabin in advance to obtain a corresponding marker image; a second recognition unit, configured to perform image recognition processing on the marker image to obtain an external feature of the marker, so as to obtain second feature information; the second mapping unit is used for determining the position information of the marker by using a preset second mapping relation and the second characteristic information; wherein the second mapping relationship is a mapping relationship between an external feature of each marker in the integrated cabin and a position of the marker in the integrated cabin; and a second positioning unit for determining the position information of the marker as the position information of the robot.
Wherein, the third kind of orientation module includes: the route recording unit is used for recording a routing inspection route of a preset original starting point; and the third positioning unit is used for positioning the robot through the routing inspection path.
Besides the above-mentioned positioning module, other modules capable of realizing positioning can also be applied to the present embodiment.
In addition, the monitoring module can also comprise a temperature and humidity monitoring unit and/or a toxic gas monitoring unit;
the temperature and humidity monitoring unit is used for monitoring the temperature and humidity of the air around the robot at present; wherein, the toxic gas monitoring unit is used for monitoring the toxic gas components and/or the toxic gas content in the air around the robot at present.
In order to further optimize the scheme, the system can be further connected with a processing module, and the processing module is used for respectively establishing corresponding cabin state models according to each type of cabin state information monitored by the inspection robot in a preset time period to obtain a model set containing a plurality of cabin state models, and respectively superposing each type of cabin state model in the model set to obtain an overall data model related to the comprehensive cabin;
correspondingly, the processing module sends the whole data model to a control module or an early warning module;
the control module is used for judging whether the state of a target object in the comprehensive cabin needs to be changed or not by utilizing the integral data model, if so, triggering a corresponding control signal and sending the control signal to a corresponding control component so as to correspondingly control the control component;
the early warning module is used for judging whether the inside of the comprehensive cabin breaks down or not by utilizing the overall data model, if so, triggering corresponding early warning information, and sending the early warning information to a corresponding supervision terminal.
It can be understood that the processing module, the control module or the early warning module mentioned here may be embedded into the robot, or may be embedded into the comprehensive cabin supervisory terminal, and the supervisory terminal processes the information data sent by the robot.
Correspondingly, the embodiment of the invention discloses an inspection robot for a comprehensive cabin of a pipe rack, which comprises: the system comprises a sensor, a memory, a processor and the inspection system of the pipe rack comprehensive cabin.
It is understood that the sensors acquire status information within the cabin, and in particular, the sensors include, but are not limited to, infrared image sensors and/or visible light image sensors and/or temperature and humidity sensors and/or toxic gas sensors. In addition, the memory can store the state information in the cabin, the positioning data and the programs needed in the inspection system. In this embodiment, the processor may call a program in the memory to execute the following steps:
monitoring the state of the target objects in the cabin around the robot at present to obtain corresponding cabin state information;
and positioning the robot which currently monitors the state information in the cabin to obtain the position information of the robot.
For a more specific working process of the inspection robot, reference may be made to corresponding contents disclosed in the foregoing embodiments, and details are not repeated herein.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the same element.
The inspection method, the inspection system and the inspection robot for the comprehensive cabin of the pipe rack provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (11)
1. A method for inspecting a comprehensive cabin of a pipe rack is characterized by comprising the following steps:
carrying out state monitoring on target objects in the cabin around the robot at present by using the robot placed in the comprehensive cabin to obtain corresponding cabin state information;
and positioning the robot which currently monitors the state information in the cabin to obtain the position information of the robot.
2. The inspection method according to the claim 1, wherein the process of monitoring the state of the cabin target objects around the robot by using the robot placed in the comprehensive cabin comprises the following steps:
imaging the external state of the target object in the cabin by using the robot to obtain a corresponding target object image;
wherein the target object image comprises an infrared image and/or a visible image, and the target object in the cabin comprises a flange on a water supply pipeline and/or a cable joint.
3. The inspection method according to claim 2, wherein the process of locating the robot that currently monitors the status information in the cabin includes:
carrying out image recognition processing on the target object image to obtain the external shape characteristics of the target object in the cabin to obtain first characteristic information;
determining the position information of the target object in the cabin by using a preset first mapping relation and the first characteristic information; the first mapping relation is a mapping relation between the external shape feature of each target object in the comprehensive cabin and the position of the target object in the comprehensive cabin;
and determining the position information of the target object in the cabin as the position information of the robot.
4. The inspection method according to claim 1, wherein the process of locating the robot currently monitoring the status information in the cabin includes:
recording a routing inspection path of the robot relative to a preset initial origin in the robot routing inspection process;
and based on the routing inspection path, positioning the robot.
5. The inspection method according to claim 1, wherein the process of locating the robot that currently monitors the status information in the cabin includes:
carrying out image acquisition on a marker which is placed in the comprehensive cabin in advance to obtain a corresponding marker image;
carrying out image recognition processing on the marker image to obtain external features of the marker to obtain second feature information;
determining the position information of the marker by using a preset second mapping relation and the second characteristic information; wherein the second mapping relationship is a mapping relationship between the external feature of each marker in the integrated cabin and the position of the marker in the integrated cabin;
determining the position information of the marker as the position information of the robot.
6. The inspection method according to any one of the claims 1 to 5, wherein the process of monitoring the state of the target objects in the cabin around the robot at present by using the robot placed in the comprehensive cabin further comprises the following steps:
and monitoring the temperature and humidity and/or toxic gas components and/or toxic gas content in the air around the robot by using the robot.
7. The inspection method according to claim 6, further comprising:
respectively establishing corresponding cabin state models according to each type of cabin state information monitored by the robot in a preset time period to obtain a model set containing various cabin state models;
respectively superposing each cabin state model in the model set to obtain an integral data model related to the comprehensive cabin;
performing first monitoring processing and/or second monitoring processing by using the overall data model; wherein,
the first monitoring processing is to judge whether the state of a target object in the comprehensive cabin needs to be changed, if so, trigger a corresponding control signal and send the control signal to a corresponding control component so as to correspondingly control the control component;
and the second monitoring process is to judge whether the inside of the comprehensive cabin breaks down, if so, trigger corresponding early warning information and send the early warning information to a corresponding supervision terminal.
8. The utility model provides a system of patrolling and examining of piping lane utility model cabin which characterized in that includes:
the monitoring module is positioned in the robot and used for monitoring the state of a target object in the cabin around the robot by utilizing the robot placed in the comprehensive cabin to obtain corresponding state information in the cabin;
and the positioning module is used for positioning the robot which currently monitors the state information in the cabin to obtain the position information of the robot.
9. The inspection system according to claim 8, wherein the monitoring module includes:
the first imaging unit is used for imaging the external state of the target object in the cabin by using the robot to obtain a corresponding target object image;
wherein the target object image comprises an infrared image and/or a visible image, and the target object in the cabin comprises a flange on a water supply pipeline and/or a cable joint.
10. The inspection system according to claim 9, wherein the positioning module includes:
the first identification unit is used for carrying out image identification processing on the target object image so as to obtain the external shape characteristics of the target object in the cabin and obtain first characteristic information;
the first mapping unit is used for determining the position information of the target object in the cabin by utilizing a preset first mapping relation and the first characteristic information; the first mapping relation is a mapping relation between the external shape feature of each target object in the comprehensive cabin and the position of the target object in the comprehensive cabin;
and the first positioning unit is used for determining the position information of the target object in the cabin as the position information of the robot.
11. The utility model provides a robot that patrols and examines in piping lane utility model cabin which characterized in that includes:
a sensor, a memory, a processor, and the inspection system for the utility of any of claims 8-10.
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Application publication date: 20171117 |