CN108153306A - A kind of autonomous road lossless detection method of robot system - Google Patents
A kind of autonomous road lossless detection method of robot system Download PDFInfo
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- CN108153306A CN108153306A CN201711373799.9A CN201711373799A CN108153306A CN 108153306 A CN108153306 A CN 108153306A CN 201711373799 A CN201711373799 A CN 201711373799A CN 108153306 A CN108153306 A CN 108153306A
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- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 230000004927 fusion Effects 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims abstract description 4
- 238000007689 inspection Methods 0.000 claims description 17
- 238000012544 monitoring process Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 12
- 230000007613 environmental effect Effects 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000013500 data storage Methods 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 9
- 238000012360 testing method Methods 0.000 abstract description 8
- 238000009659 non-destructive testing Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 10
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 238000005183 dynamical system Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000000465 moulding Methods 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a kind of autonomous road lossless detection method of robot system, the system where this method includes mobile platform, detecting system, operating mechanism and intelligence control system；Operating mechanism is mechanically connected with mobile platform, detecting system, operating mechanism, intelligence control system is respectively mounted on a mobile platform, the intelligence control system is electrically connected respectively with detecting system, operating mechanism, mobile platform is used to support entire robot system, and power is provided for entire robot system while driving robot system mass motion.The fusion that the present invention passes through pipe and cable detector and Ground Penetrating Radar detection data, determine various defects inside road, it can carry out efficient, accurately autonomous non-destructive testing, the robot system reliable operation, completely instead of the intensive work by artificial detection and the inaccuracy of testing result.
Description
Technical field
The present invention relates to a kind of detection method of robot system, specifically a kind of autonomous road of robot system is lossless
Detection method.
Background technology
The pipeline inspection gage for being currently used in Road Detection is mainly the defects of detecting metallic conduit, and nonmetallic can hardly
Detection, but investigation depth is deep；And Ground Penetrating Radar mainly detects the defects of road surface inside and various defect of pipeline, but
It is that investigation depth is more shallow than pipeline inspection gage；And above equipment mostly uses manually-operated mode, to the experience of staff
It is required that it is very high, and the accuracy detected, than relatively low, detection efficiency is low；Pipeline inspection gage and detection radar are all respectively independent
Manual work, shortage one kind can be integrated into can realize intelligentized non-destructive testing robot system together.
Above structure and detection method are very high to the skill requirement of staff, and the accuracy detected is compared
Low, detection efficiency is low；Detection can not realize high intelligence, high accurate, high reliability after even if benkelman beams deflectometer and loading vehicles integrate
The precise positioning and raising Detection accuracy and efficiency of feature.
Invention content
To overcome problem above of the existing technology, the present invention provides a kind of lossless inspections of the autonomous road of robot system
Survey method, not only detection efficiency is high for this method, and the accuracy of testing result is high, and reduces the labor intensity of staff,
Can effective guarantee staff personal safety.
The present invention is realized by following technical scheme：
A kind of autonomous road lossless detection method of robot system, includes the following steps：
S1：By remote control device, Telerobotic system is moved near workspace, passes through the navigation in robot system
Module obtains GPS absolute positions, and is positioned on the map at the control software interface of remote control device；
S2：Three points are acquired by remote control device（Origin, x, y）, coordinate system is established, workspace is set for robot system
Domain；
S3：The kernel control module of robot system according to the coordinate system of foundation, passage path planning algorithm to working region into
The autonomous path planning of row；
S4：Robot system is switched to by remote control device by automatic control mode, the automatic row of robot system to coordinate
It is origin, intelligence control system control hoisting mechanism falls, and pipeline inspection gage and Ground Penetrating Radar is made to be in detection height, starts edge
Path planning detects, while monitoring camera acquisition road conditions environmental information；Or robot system is cut by remote control device
MANUAL CONTROL mode is shifted to, controls the movement of operating mechanism, mobile platform in real time；
S5：Pipeline inspection gage and the data storage of Ground Penetrating Radar detection are on the industrial personal computer hard disk of robot system, data processing
Module carries out gathered data on analysis fusion, while the road for acquiring detection data and monitoring camera by remote communication module
Condition environmental information and data results pass back to remote control device, are tied in order to which operating personnel's distant surveillance detects
The road conditions environmental information of fruit, analysis result and robot system acquisition；
S6：After the completion of the detection of working region, robot system is automatically stopped, and robot is switched to hand by remote control device
Dynamic control model, is moved to next detection zone and continues to detect.
Further, obstacle avoidance module is further included, if the obstacle avoidance module of robot system finds barrier, robot system
It stops and attempts to bypass；If obstacle can not bypass, robot system can be switched to MANUAL CONTROL mode with remote control device,
After remote manual control cut-through, robot system continuation is detected along path planning.
Further, the path planning algorithm is the coordinate system according to delimitation, marks off rectangular area；Then in rectangle
The operating path of " bow " font is set in working region and finds a series of key points, is fed back using velocity feed forward binding site,
Robot system realizes the movement of point-to-point.
Compared with prior art, beneficial effects of the present invention are as follows：
The present invention is for coming to nothing inside autonomous non-destructive testing road, cavity, loosening body disease and beneath pipeline, cable etc. position
It puts, move towards, the defects of position of depth and steel pipeline anti-corrision layer breaking point and size etc. threaten urban safety, being examined by pipeline
The fusion of instrument and Ground Penetrating Radar detection data is surveyed, determines various defects inside road, can be carried out efficient, accurately autonomous lossless
Detection, the robot system reliable operation, completely instead of the inaccurate of the intensive work by artificial detection and testing result
True property.
Simple and reliable for structure the present invention provides a kind of hoisting mechanism and connection structure, control is simple flexible, with autonomous type
Mobile platform is used cooperatively, and greatly improves working efficiency.
Of the present invention integrated and dragging pattern can select not similar shape according to specific detection environment and testing requirements
The robot system of formula, it is versatile and flexible.
Description of the drawings
Fig. 1 is the mobile platform bottom schematic view of the present invention.
Fig. 2 is the mobile platform schematic diagram the present invention is based on Mecanum wheel.
Fig. 3 is the rear-guard mobile platform schematic diagram the present invention is based on rubber tyre.
Fig. 4 is the mobile platform schematic diagram the present invention is based on double main wheels, the Two-wheeled mode of four auxiliary wheels.
Fig. 5 is the mobile platform schematic diagram the present invention is based on four main wheel type of drive.
Fig. 6 is the present invention is based on the driving of two main wheels, the mobile platform schematic diagrames of two driven wheel modes.
Fig. 7 is a kind of schematic diagram of embodiment of the present invention.
Fig. 8 is the schematic diagram of another embodiment of the present invention.
Fig. 9 is a kind of structure diagram of hoisting mechanism of the present invention.
Figure 10 is the intelligence control system logic composition of the present invention and connection block diagram.
Figure 11 is the remote control device structure diagram of the present invention.
Specific embodiment
It is further illustrated the present invention below in conjunction with the drawings and specific embodiments.
A kind of non-destructive testing robot system for urban road and pipe engineering underground defect, including mobile platform,
Detecting system, operating mechanism and intelligence control system；Operating mechanism is mechanically connected with mobile platform, detecting system, operating mechanism,
Intelligence control system is respectively mounted on a mobile platform, and the intelligence control system electrically connects respectively with detecting system, operating mechanism
It connects, mobile platform is used to support entire robot system, is entire system of robot while driving robot system mass motion
System provides power.Entire detection robot system is also equipped with remote control device, robot system by remote communication module with
Remote control device communicates, and is conveniently operated movement of the personnel from distant surveillance testing result and control robot system.
As shown in Figure 1, mobile platform is the ontology support of robot system, band mobile robot mass motion is simultaneously entire
Robot system provides power.Mobile platform is made of dynamical system, control system and battery module, and control system receives intelligence
The control signal of control system, control dynamical system operating；Battery module integrally provides power for robot.The dynamical system
By train, motor, driver, speed reducer and suspension composition.Train is connect by suspension with mobile platform ontology, electricity
Machine, driver and speed reducer are connect with train, and control system is operated by driver control motor, so as to fulfill control train
Movement.
Mobile platform provides five kinds of schemes in this patent, but is not limited to this following five kinds of modes：
As shown in Fig. 2, using the omni-directional moving platform based on Mecanum wheel, using this kind of chassis, movement speed is not more than
5km/h, climbing capacity can realize 5 °, can be with all-around mobile, flexibly, steadily.
As shown in figure 3, using the rear-guard mobile platform based on rubber tyre, this kind of chassis, movement speed 20- are used
30km/h, climbing capacity can realize 20 °, and the speed of service is fast, efficient.
As shown in figure 4, using double main wheels, the mobile chassis of the Two-wheeled mode of four auxiliary wheels, using this kind of chassis, four
Steamboat independent suspension, steady is assisted, bearing capacity is strong.
As shown in figure 5, with the mobile platform of four main wheel type of drive, four-wheel can realize driving and steering respectively, operating
Flexibly, it is suitable for the detection of Different Ground.
As shown in fig. 6, being driven using two main wheels, the mobile platform of two driven wheel modes, two front-wheels are driving wheel, can be distinguished
It realizes driving and turns to, two trailing wheels are driven wheel.
As shown in Fig. 7, Fig. 8, Fig. 9, the detecting system includes pipeline inspection gage and detection radar, detects robot system
It is merged by the detection data to pipeline inspection gage and Ground Penetrating Radar, can accurately provide the information of various defects inside road,
Such as defect kind, position, depth and size information.
Pipeline inspection gage and Ground Penetrating Radar are connect respectively by operating mechanism with mobile platform, and electric with intelligence control system
Gas connects, and intelligence control system sends out instruction control operating mechanism detecting system and reaches operating position, then again by control system
It issues instructions to detecting system and does monitoring, and pass back data processing is carried out in gathered data to intelligence control system in real time；
Operating personnel can also pass through remote control device distant surveillance testing result and control operating mechanism, the fortune of detecting system
It is dynamic.
Pipeline inspection gage is connected to mobile platform front end by hoisting mechanism, and hoisting mechanism places pipeline inspection during working condition
It surveys instrument to start to detect to ground, hoisting mechanism lifts the deposit position in pipeline inspection gage to mobile platform during off working state.
The operating mechanism that Ground Penetrating Radar is connect with mobile platform, this patent provide two schemes, but be not limited to it is following this two
Kind mode can determine connection scheme according to actual use operating mode：
1. using intergration model, Ground Penetrating Radar is connected to mobile platform rear end by hoisting mechanism, hoisting mechanism during working condition
It places Ground Penetrating Radar to start to detect to ground, hoisting mechanism lifts the storage in Ground Penetrating Radar to mobile platform during off working state
Position.
2. using dragging pattern, Ground Penetrating Radar is connected to mobile platform posterior end by connection structure, can be as needed
Using rigidity or flexible connection, mobile platform provides the work of power traction Ground Penetrating Radar.
Intelligence control system controls the driver of hoisting mechanism by industrial personal computer, and driver control motor reducer operates,
Motor reducer is connect with ball-screw by shaft coupling, and motor drives ball-screw operating, and ball-screw is with being fixed on rack
On feed screw nut occlusion transmission, so as to which entire rack be driven to be promoted or declined；Linear guide poles are by being fixed on leading in rack
Column nut is oriented to for entire gantry motion.
Shown in Figure 10, intelligence control system includes positioning navigation module, obstacle avoidance module, kernel control module, environmental monitoring
Module, remote communication module, data processing module etc..Data processing module is mounted on kernel control module, remaining each module
Be separately mounted on mobile platform, positioning navigation module, obstacle avoidance module, environmental monitoring module, remote communication module respectively with core
Heart control module is electrically connected.
Positioning navigation module is including but not limited to monitoring camera, odometer, gyroscope, GPS geo-location system.Odometer
Outdoor high precision position and gesture stability are realized together for recording relative displacement and gyroscope, GPS, are kernel control module
It carries out path planning and condition is provided.Monitoring camera is mounted on four orientation of mobile platform, for observing ambient enviroment, phase during work
Each sensor information that the video image information and kernel control module of machine shooting are collected is sent to by remote communication module
Remote control device is shown.
Obstacle avoidance module is made of two single-line type laser radars, is separately mounted to the front and rear oblique angle orientation of robot, is realized
The all standing of robot surrounding environment is scanned, object of the obstacle avoidance module detection higher than 50cm such as encounters barrier, robot meeting
It stops and pathfinding bypasses.
Pipeline inspection gage and the data of Ground Penetrating Radar acquisition pass intelligence control system back, and data processing module is carried out at data
Reason, data that treated can then be read by remote control device.
Kernel control module is mainly made of one or more industrial personal computer.Kernel control module is by operating in industrial personal computer
Control software, obtain positioning navigation module data, carry out path planning and decision；Issue a command to the control system of mobile platform
System, control mobile platform movement；During work, moved by the driver control hoisting mechanism of hoisting mechanism；Control detecting system
Detection work is simultaneously stored in detection data to industrial personal computer hard disk；Data processing module is controlled to merge detection data processing；Pass through
Detection data and data processed result are sent to remote control device by remote communication module；Constantly handle the module scans letter that keeps in obscurity
Breath, controls robot moving platform to stop, and calculate path cut-through simultaneously if finding obstacle.
Meanwhile operating personnel's also operable remote control device, kernel control module is given to send by remote communication module
Control instruction.
Remote control device can send instruction control meter robot system directly to robot system and perform action, may be used also
It is passed with the remote communication module with intelligence control system into line number and schemes to pass and communicated, obtain working condition, the mistake letter of robot
The video of breath, detection data and the shooting of multiple cameras.
Remote control device this patent provides two schemes, but is not limited to both following modes：
1st, haulage vehicle and monitoring system composition, monitoring system are built in haulage vehicle.
2nd, portable remote control terminal as shown in Figure 10, is made of, human-computer interaction human-computer interaction module and display module
Module includes multiple three axis industry handles, button, knob, indicator light, and operating personnel can be by human-computer interaction module to machine
People's system sends instruction control meter robot system and performs action, can also pass through remote communication module and portable remote control
Hold regarding for the working condition for into line number biography and figure biography communication, obtaining robot, error message, detection data and the shooting of multiple cameras
Frequently；Display module is made of an industrial display, can show the detailed operation state of each module of testing result and robot.
Invention additionally discloses invention additionally discloses a kind of autonomous road non-destructive testing flows of robot system：
S1：Operating personnel are moved to by remote control device, remote-controlled robot near workspace, and positioning navigation module obtains
GPS absolute positions simultaneously position on the map at control software interface；
S2：Operating personnel acquire three points using remote control device（Origin, x, y）, establish coordinate system, the core control of robot
Molding root tuber marks off rectangular area, the work of " bow " font is then set in rectangular active regions domain according to the coordinate system of foundation
A series of key points are simultaneously found in path, are fed back using velocity feed forward binding site, and robot realizes the movement of point-to-point, so as to real
The autonomous path planning of existing robot；
S3：Robot is switched to by remote control device by automatic control mode, the automatic row of robot to coordinate origin, intelligence
Energy control system control hoisting mechanism falls, and pipeline inspection gage and Ground Penetrating Radar is made to be in detection height, is started along path planning
Detection, while monitoring camera acquisition road conditions environmental information；
S4：Pipeline inspection gage and the data storage of Ground Penetrating Radar detection are on the industrial personal computer hard disk of robot, data processing module
Analysis fusion is carried out to gathered data, while is believed the video that detection data and monitoring camera acquire by remote communication module
Breath and data results pass back to remote control device, in order to operating personnel's distant surveillance testing result, analysis knot
Fruit and robot environment's monitoring.Robot can also be switched to control mould manually by operating personnel by remote control device
Formula to control the movement of operating mechanism, mobile platform in real time；
S5：If robot obstacle-avoiding module finds barrier, robot stops and attempts to bypass, and if obstacle can not bypass, can use
Robot is switched to MANUAL CONTROL mode by remote control device, after operating personnel's remote manual control cut-through, robot after
It is continuous to be detected along path planning.
S6：After the completion of the detection of working region, robot is automatically stopped, and robot is switched to manually with remote control device
Control model is moved to next detection zone and continues to detect.
Description for the understanding of specific embodiment is only to help to understand the present invention rather than for limiting this hair
Bright.Those skilled in the art can carry out some modifications and changes using the thought of the present invention, as long as its technological means does not have
There are the thought and main points for being detached from the present invention, still within protection scope of the present invention.
Claims (3)
1. a kind of autonomous road lossless detection method of robot system, it is characterised in that include the following steps：
S1：By remote control device, Telerobotic system is moved near workspace, passes through the navigation in robot system
Module obtains GPS absolute positions, and is positioned on the map at the control software interface of remote control device；
S2：Three points are acquired by remote control device（Origin, x, y）Coordinate system is established, workspace is set for robot system
Domain；
S3：The kernel control module of robot system according to the coordinate system of foundation, passage path planning algorithm to working region into
The autonomous path planning of row；
S4：Robot system is switched to by remote control device by automatic control mode, the automatic row of robot system to coordinate
It is origin, intelligence control system control hoisting mechanism falls, and pipeline inspection gage and Ground Penetrating Radar is made to be in detection height, starts edge
Path planning detects, while monitoring camera acquisition road conditions environmental information；Or robot system is cut by remote control device
MANUAL CONTROL mode is shifted to, controls the movement of operating mechanism, mobile platform in real time；
S5：Pipeline inspection gage and the data storage of Ground Penetrating Radar detection are on the industrial personal computer hard disk of robot system, data processing
Module carries out gathered data on analysis fusion, while the road for acquiring detection data and monitoring camera by remote communication module
Condition environmental information and data results pass back to remote control device, are tied in order to which operating personnel's distant surveillance detects
The road conditions environmental information of fruit, analysis result and robot system acquisition；
S6：After the completion of the detection of working region, robot system is automatically stopped, and robot is switched to hand by remote control device
Dynamic control model, is moved to next detection zone and continues to detect.
2. a kind of autonomous road lossless detection method of robot system according to claim 1, it is characterised in that：It further includes
Obstacle avoidance module, if the obstacle avoidance module of robot system finds barrier, robot system stops and attempts to bypass；As obstacle without
Method bypasses, and robot system can be switched to MANUAL CONTROL mode with remote control device, after remote manual control cut-through, machine
The continuation of people's system is detected along path planning.
3. a kind of autonomous road lossless detection method of robot system according to claim 1, it is characterised in that：The road
Diameter planning algorithm is the coordinate system according to delimitation, marks off rectangular area；Then " bow " font is set in rectangular active regions domain
Operating path and find a series of key points, fed back using velocity feed forward binding site, robot system realizes point-to-point
It is mobile.
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| CN111551927A (en) * | 2020-05-19 | 2020-08-18 | 上海圭目机器人有限公司 | Underground pipeline diameter measuring method based on three-dimensional ground penetrating radar |
| CN112304967A (en) * | 2020-10-14 | 2021-02-02 | 华电电力科学研究院有限公司 | Method for automatic coloring and penetration detection in power station pipeline pre-inspection stage |
| CN112859005A (en) * | 2021-01-11 | 2021-05-28 | 成都圭目机器人有限公司 | Method for detecting metal straight cylinder structure in multi-channel ground penetrating radar data |
| CN112859006A (en) * | 2021-01-11 | 2021-05-28 | 成都圭目机器人有限公司 | Method for detecting metal curved cylindrical structure in multi-channel ground penetrating radar data |
| CN113219063A (en) * | 2021-04-12 | 2021-08-06 | 北京航空航天大学 | Concrete structure internal defect imaging system and method based on sound vibration signal deep learning |
| CN113311821A (en) * | 2021-04-02 | 2021-08-27 | 西南科技大学 | Drawing and positioning system and method for multi-pendulous pipeline flaw detection mobile robot |
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Cited By (11)
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|---|---|---|---|---|
| CN111551927A (en) * | 2020-05-19 | 2020-08-18 | 上海圭目机器人有限公司 | Underground pipeline diameter measuring method based on three-dimensional ground penetrating radar |
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| CN112304967A (en) * | 2020-10-14 | 2021-02-02 | 华电电力科学研究院有限公司 | Method for automatic coloring and penetration detection in power station pipeline pre-inspection stage |
| CN112859005A (en) * | 2021-01-11 | 2021-05-28 | 成都圭目机器人有限公司 | Method for detecting metal straight cylinder structure in multi-channel ground penetrating radar data |
| CN112859006A (en) * | 2021-01-11 | 2021-05-28 | 成都圭目机器人有限公司 | Method for detecting metal curved cylindrical structure in multi-channel ground penetrating radar data |
| CN112859006B (en) * | 2021-01-11 | 2023-08-29 | 成都圭目机器人有限公司 | Method for detecting metal bending cylindrical structure in multichannel ground penetrating radar data |
| CN112859005B (en) * | 2021-01-11 | 2023-08-29 | 成都圭目机器人有限公司 | Method for detecting metal straight cylinder structure in multichannel ground penetrating radar data |
| CN113311821A (en) * | 2021-04-02 | 2021-08-27 | 西南科技大学 | Drawing and positioning system and method for multi-pendulous pipeline flaw detection mobile robot |
| CN113311821B (en) * | 2021-04-02 | 2022-10-11 | 西南科技大学 | Drawing and positioning system and method for multi-pendulous pipeline flaw detection mobile robot |
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Application publication date: 20180612 |