CN108015786A - A kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies - Google Patents
A kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies Download PDFInfo
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- CN108015786A CN108015786A CN201810001946.8A CN201810001946A CN108015786A CN 108015786 A CN108015786 A CN 108015786A CN 201810001946 A CN201810001946 A CN 201810001946A CN 108015786 A CN108015786 A CN 108015786A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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Abstract
A kind of entitled automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies of the present invention, it is related to robotic technology field of patrolling automatically, more particularly to a kind of technical background of the automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies.By key technologies such as the real-time plug-flow of panoramic video, video-splicing, automatic obstacle avoiding, route planning, remote chats, inspection robot is integrated with the function such as collection panoramic video, automatic obstacle-avoiding, route planning, remote chat, operating robotic arm, detection environment of plant in real time.Remote operator is remotely patrolled scene using VR glasses, can also pass through mechanical arm remote operation field device.
Description
Technical field
The present invention relates to automatic inspection robotic technology field, more particularly to one kind to be based on automatic obstacle-avoiding technology and VR
The technical background of the automatic inspection robot of technology.
Background technology
Robot industry realizes automatic operating, artificial intelligence, computer vision technique and navigation etc. for various fields
The development of technology continues to press on innovation of the robot in performance, function, cost benefit etc..Automatic obstacle-avoiding technology is constantly complete
Kind and VR technologies maturation is implemented to provide technology branch for a kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies
Hold.
Automatic obstacle-avoiding technology is constantly improved and maturation, in simple, inexpensive avoiding obstacles by supersonic wave technical foundation, development
Infrared or laser ranging avoidance technology, binocular vision avoidance technology and the electronic map to get up obtains model of place avoidance technology,
Avoidance precision is substantially increased, implements to provide for a kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies automatic
Avoidance technical support.
VR technologies are the exchange technologies of new era, and the development of its technology is a huge leap, and VR is constantly sent out
Open up and perfect, be widely applied in every field and industry rapidly.VR technologies are shown using Computer Simulation, sensor and 3D
Show etc. that technology is combined, build Virtual Space, give the experience of user's immersion.In recent years, VR technologies obtained very big in China
Development, many domestic corporation provide paid formula VR service.Therefore, the use of VR technologies becomes very convenient.
The content of the invention
The present invention is to realize automatic inspection robot technology, and inspection robot is taken based on a simple mobile platform
Build, which is integrated with collection panoramic video, automatic obstacle-avoiding, route planning, remote chat, operating robotic arm in real time
（Containing manipulator, mechanical arm described herein all includes manipulator）, the detection function such as the environment of plant.Patrolling robot can be according to
Defined route inspection, can also be controlled inspection route by remote operator.The real-time monitoring of environmental of inspection robot, if live
Generation accident, inspection robot can trigger warning function.Inspection robot may operate in both of which, and one mode is long-range
Inspection pattern is operated, another pattern is autonomous inspection pattern.
Under remote operation inspection pattern, far-end operation person realizes long-range inspection factory scenario using VR technologies.
Remote operation end, operator can utilize the real-time panoramic video that VR glasses are collected referring to inspection robot, be chatted using long-range
Its function and inspection robot surrounding people chat, operator can have control scene is some to set with remote operation mechanical arm
Standby ability.
Under autonomous inspection pattern, inspection robot, which follows the prescribed course, patrols, real-time monitoring field environment shape
Condition.If monitoring abnormal situation, remote operator is notified that, long-range person can carry out some behaviour using robot of patrolling
Make, so as to control the generation of field accident.
A kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies, it is characterised in that：It is described based on from
The automatic inspection robot system of dynamic avoidance technology and VR technologies includes at least 21 modules.Wherein, mainly comprising three parts,
Inspection robot, plug-flow platform（13）With operator end, inspection robot is integrated with VR cameras（1）, microphone 1（2）, sound equipment
1（3）, mechanical arm（4）, sensor（5）, VR technology modules（6）, remote chat module 1（7）, automatic obstacle avoiding module（8）, route
Contexture by self module（9）, mechanical arm control module（10）, sending module 1（11）, receiving module 1（12）.Operator end is integrated with
Sending module 2（14）, receiving module 2（15）, video processing module（16）, remote chat module 2（17）, control command module
（18）, VR glasses（19）, microphone 2（20）, sound equipment 2（21）.
Inspection robot can complete automatic obstacle avoiding function, control field device functions, route contexture by self function, long-range
Chat feature, in real time collection panorama function and warning function.Remote operator can watch live panoramic video, remote chat and
Remote control mechanical arm.
Inspection robot may operate in both of which, and one mode is remote operation inspection pattern, and another pattern is
Autonomous inspection pattern.
Inspection robot carries out avoidance using the potential field method based on ultrasonic sensor, and distance measuring sensor such as sonar senses
It is all the content of this patent protection that device, radar sensor, binocular camera shooting be first-class, and obstacle avoidance algorithm is not limited solely to potential field method.
Security personnel's position is inherited by inspection robot, carries out inspection site safety coefficient.Operator can see using VR glasses
The real-time panoramic video information of inspection robot collection, can experience service on the spot in person.
Inspection robot can be alarmed if necessary using related sensor with monitoring field environmental parameter.
Operator can see the real-time panoramic video information of inspection robot collection using VR glasses, can experience body and face
The service in its border.Real time remote voice-enabled chat, panoramic video and audio-frequency information can also be carried out with inspection robot surrounding people
Reach synchronous.Operator can remote operation patrol robot on mechanical arm, if necessary using mechanical arm to scene certain
A little equipment are operated.Inspection robot can use multiple mechanical arms to carry out work in conjunction, and control model can be based on flesh
Electric hand ring MYO gesture identifications, control stick carry out remote operating isotype.
Advantages of the present invention：
1. the present invention combines VR technologies, the position of security personnel is act as using robot of patrolling, long-range operator can reach parent
Face the effect in its border so that remotely patrol more life-like, safer.
2. mechanical arm is integrated into inspection robot by the present invention, remote operator can be controlled field device, make
The work that must patrol is more convenient.
3. the present invention utilize sensor technology, robot of patrolling can monitoring field environment in real time.
Brief description of the drawings
Fig. 1 is total system work block diagram.
Fig. 2 is mechanical arm control block diagram
Fig. 3 controls control block diagram for automatic obstacle avoiding module
Fig. 4 is working sensor block diagram
Fig. 5 is VR modules work block diagram
Wherein：1 it is VR cameras, 2 is that microphone 1,3 is that sound equipment 1,4 is mechanical arm, 5 is sensor, 6 is VR technology modules, 7
It is automatic obstacle avoiding module for remote chat module 1,8,9 be route contexture by self module, 10 be mechanical arm control module, 11 is hair
It is that receiving module 1,13 is plug-flow platform, 14 is that sending module 2,15 is that receiving module 2,16 is Video processing mould to send module 1,12
Block, 17 be remote chat module 2,18 in order to control command module, 19 be VR glasses, 20 be that microphone 2,21 is sound equipment 2.
Embodiment
As shown in Figure 1, the present invention implements to include 21 modules.Inspection robot is integrated with VR cameras（1）, microphone
2（2）, sound equipment 2（3）, mechanical arm（4）, sensor（5）, VR technology modules（6）, remote chat module 1（7）, automatic obstacle avoiding module
（8）, route contexture by self module（9）, mechanical arm control module（10）, sending module 1（11）, receiving module 1（12）, constitute
Inspection robot.Inspection robot is utilized can complete automatic obstacle avoiding function, control field device functions, route certainly with upper module
Master program function, in real time remote chat function, collection panorama function and warning function.Panoramic video and voice messaging utilize plug-flow
Platform（13）It is sent to remote operator end.Operator end is integrated with sending module 2（14）, receiving module 2（15）, Video processing
Module（16）, remote chat module 2（17）, control command module（18）, VR glasses（19）, microphone 2（20）With sound equipment 2
（21）, remote operator is utilized can watch live panoramic video, remote chat and remote control mechanical arm with upper module.
Inspection robot may operate in both of which, and one mode is remote operation inspection pattern, and another pattern is
Autonomous inspection pattern.
Under remote operation inspection pattern, specific embodiment is as follows：
When operator sends control command, control command producing method has as follows：Operator utilizes electromechanical bracelet MYO identification gestures
Or using LeapMotion identification gestures, it can also use control stick and carry out remote operating etc., produce control command and do not limit to this
Several ways.Then, control command passes through control command module（18）Encoded, the control command after coding is by sending mould
Block 2（14）, plug-flow platform 13 arrive receiving module 1（12）, inspection robot have received control command, then control command is sent
To mechanical arm control module（10）.As shown in Fig. 2, mechanical arm control module is by command decoder, controller, actuator and machinery
Arm forms.Command decoder decodes control command, and the post command of decoding is defeated by controller, and controller can be classics
PID controller, can be the controller described in present control theory, such as nerve network controller, fuzzy controller.Controller
Control command is transmitted to actuator, actuator performs operation to mechanical arm, so that operator reaches the mesh of control machinery arm
's.
In route contexture by self module, inspection robot patrols according to predetermined route.
, can be real using potential field algorithm as sonar, radar, depth camera are first-class as shown in figure 3, according to range sensor
When avoiding obstacles.In the present embodiment, range sensor is ultrasonic sensor.First, ultrasonic sensor detects in real time
Obstacle Position, data processing module handle obstacle position information so that potential field algorithm Use barriers object location is believed
Breath carries out avoidance, and potential field algorithm module finally determines the direction of motion of motion platform.
, there are personnel around inspection robot in remote chat module, and microphone 2 can gather the acoustic information of the personnel,
After filtered denoising, sending module 1 is transmitted to after being encoded（11）, then by plug-flow platform 13 operator end is sent to, grasp
The receiving module 2 at author end（15）After receiving voice messaging, remote chat module 2 is sent to（17）In, in remote chat module 2
（17）In, decoded to receiving voice messaging, then pass through sound equipment 2（21）Play out.When microphone 2（20）Collect
During the acoustic information of operator, after filtered denoising, sending module 2 is transmitted to after being encoded（14）, then by plug-flow platform
13 are sent to inspection robotic end, receiving module 1（12）After receiving voice messaging, remote chat module 1 is sent to（7）In,
Remote chat module 1（7）In, decoded to receiving voice messaging, then pass through sound equipment 1（3）Play out.This process
Complete remote chat function.
As shown in figure 4, temperature sensor, humidity sensor and smoke sensor device detect environmental parameter in real time, environment is joined
Number is transmitted to data processing module, and data processing module is filtered and encodes to environmental parameter, then as the defeated of alarm module
Enter.Alarm module compared with threshold value, if actual environmental parameter exceedes given threshold, reports the environmental parameter after coding
Alert module triggering alarm warning.Alarm warning can be also identified, and judgement is where to go wrong, and inspection robot utilizes mechanical arm
Some trouble free services can be done, for example cut off general supply.
In terms of VR technology modules, as shown in figure 5, in inspection robotic end, VR full-view cameras（1）Real-time collection site
VR full-view cameras are transmitted on the computer of inspection robot by panoramic video, collection elementary area using interface drive program.Figure
As pretreatment unit is filtered denoising to the image collected.Image mosaic unit is regarded using stitching algorithm to pretreated
Frequency is spliced, and the video spliced is encoded in image coding unit, and the panoramic video after coding passes to sending module 1
（11）, finally operating side, the receiving module 2 of operating side are sent into plug-flow platform 13 excessively（15）It is straight to receive panoramic video information
Connect and pass to video processing module（16）, video processing module（16）Work the panoramic video perform decoding at scene, operator's profit
With VR glasses（19）Decoded panoramic video can be watched.
Under autonomous inspection pattern, inspection robot carries out route planning using route contexture by self module, this inspection road
Line is thought to set in advance.According to sensor assembly（5）, inspection robot can monitoring field environmental parameter in real time, such as
Fruit monitors abnormal situation, is notified that remote operator, and long-range person can carry out certain operations using robot of patrolling, from
And control the generation of field accident.Inspection robot can also be carried out avoidance using automatic obstacle avoiding module and be controlled using mechanical arm
Module carrys out autonomous operation mechanical arm.
Claims (9)
- A kind of 1. automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies, it is characterised in that：It is described based on automatic The automatic inspection robot system of avoidance technology and VR technologies includes at least 21 modules, wherein, mainly comprising three parts, patrol Look into robot, plug-flow platform（13）With operator end, inspection robot is integrated with VR cameras（1）, microphone 1（2）, sound equipment 1 （3）, mechanical arm（4）, sensor（5）, VR technology modules（6）, remote chat module 1（7）, automatic obstacle avoiding module（8）, route from Master program module（9）, mechanical arm control module（10）, sending module 1（11）, receiving module 1（12）；Operator end is integrated with hair Send module 2（14）, receiving module 2（15）, video processing module（16）, remote chat module 2（17）, control command module （18）, VR glasses（19）, microphone 2（20）, sound equipment 2（21）.
- 2. according to a kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies of claim 1 requirement, its feature It is：Inspection robot can complete automatic obstacle avoiding function, control field device functions, route contexture by self function, remotely chat Its function, in real time collection panorama function and warning function, remote operator can watch live panoramic video, remote chat and remote Process control mechanical arm.
- 3. according to a kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies of claim 1 requirement, its feature It is：Inspection robot may operate in both of which, and one mode is remote operation inspection pattern, and another pattern is autonomous Inspection pattern.
- 4. according to a kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies of claim 1 requirement, its feature It is：The sensor includes range sensor, temperature sensor, humidity sensor and smoke sensor device, range sensor Ultrasonic sensor, sonar sensor, radar sensor, binocular camera shooting can be used first-class, inspection robot, which uses, is based on distance The potential field method of sensor carries out avoidance, and obstacle avoidance algorithm is not limited solely to potential field method.
- 5. according to a kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies of claim 1 requirement, its feature It is：Security personnel's position is inherited by inspection robot, carries out inspection site safety coefficient, and operator can see inspection using VR glasses The real-time panoramic video information of robot collection, can experience service on the spot in person.
- 6. according to a kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies of claim 1 requirement, its feature It is：Operator can carry out real time remote voice-enabled chat with inspection robot surrounding people, and panoramic video and audio-frequency information will Reach synchronous.
- 7. according to a kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies of claim 1 requirement, its feature It is：Inspection robot can be alarmed if necessary using sensor with monitoring field environmental parameter, and alarm warning can be known Not.
- 8. according to a kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies of claim 1 requirement, its feature It is：The mechanical arm that operator can patrol in robot in remote operation, if necessary using mechanical arm to some equipment in scene Operated.
- 9. according to a kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies of claim 8 requirement, its feature It is：Inspection robot can more mechanical arms be used in combination, control model can be based on myoelectricity bracelet MYO gesture identifications, behaviour Vertical pole carries out remote operating isotype.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015706A (en) * | 2018-07-23 | 2018-12-18 | 国家电网公司 | Cable tunnel inspection robot helmet-type virtual controlling terminal |
| CN111216127A (en) * | 2019-12-31 | 2020-06-02 | 深圳优地科技有限公司 | Robot control method, device, server and medium |
| CN111300430A (en) * | 2020-03-27 | 2020-06-19 | 梅其珍 | Dual-mode cooperative robot control system |
| CN113671953A (en) * | 2021-07-31 | 2021-11-19 | 河南中烟工业有限责任公司 | AGV obstacle avoidance system and method based on VR technology |
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| CN111216127A (en) * | 2019-12-31 | 2020-06-02 | 深圳优地科技有限公司 | Robot control method, device, server and medium |
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Application publication date: 20180511 |