CN108181902A - A kind of intelligent polling method and the robot for realizing this method - Google Patents
A kind of intelligent polling method and the robot for realizing this method Download PDFInfo
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Abstract
The invention discloses a kind of intelligent polling method and the robot of realization this method, the intelligent polling method includes the following steps:Operator on duty sends out robot inspection instruction, and when operator on duty is connected to equipment fault notice, operator on duty controls robot, and to treated, equipment is shot, and determines the handling result of equipment fault；When operator on duty is not connected to equipment fault notice, robot shoots equipment, and the difference degree of each frame image of equipment is gone out by robot contrasting detection, judges whether to send out fault warning.And the robot for realizing intelligent polling method of the present invention is devised, by the image of the camera module recording equipment of the robot, by the control module to equipment picture frame real time contrast, so that it is determined that equipment is whether normal operation.The intelligent polling method and its robot of the present invention, passes through the inspection of robot, it is ensured that the accurate inspection to equipment reduces the cost of manual inspection, significantly improves the efficiency of inspection.
Description
Technical field
The invention belongs to the technical fields of robot inspection, and in particular to a kind of intelligent polling method and realization this method
Robot.
Background technology
Relevant device room is more in one's power for the power transformation of subway all fronts, and Daily Round Check needs back and forth completely each station, expends a large amount of working hours, and
Technical staff needs certain time to be on the scene when breaking down, and is unfavorable for the rapid processing of failure.In addition, for equipment component room
The situation of inspection cannot be entered during metro operation there is technical staff's inconvenience arrival or technical staff, for utilizing city
Robot carries out the inspection of equipment present on, and the specific aim there is the design of robot is not strong, can cause economic benefit
It is low and impracticable.Do not occur in cruising inspection system directly against the take pictures the relevant technologies of comparison of equipment.
For example, a kind of intelligent detecting trolley of Publication No. CN104090571A, including trolley body, the trolley body
On be provided with singlechip controller, the singlechip controller is connected with that the power of carriage walking, adjustment direction is driven to drive
Dynamic model block, for detecting the ultrasonic distance measuring module of distance between trolley and barrier, for acquiring trolley ambient condition information
Image capture module, for the Temperature and Humidity module that detects trolley ambient temperature and humidity and for that will detect
All information are sent to the wireless transmitter module of remote control center.But the trolley function ossifys, the trolley actual functional capability
The data that robot acquires exactly are transferred to computer by wireless technology, in robot not on how to comparing application
The component of processing image either video has no further for not having the comparison of photo or video processing after Image Acquisition
Method that is raw and effectively applying is prolonged for the technology of photo or video.
Invention content
To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of intelligent polling methods and the machine of realization this method
Device people by the intelligent polling method, significantly improves the efficiency of inspection；It is greatly reduced by the robot and manually patrolled
The cost of inspection.
To achieve the above object, the present invention is achieved by following technical scheme：
A kind of intelligent polling method, which is characterized in that the described method comprises the following steps:
S1：Operator on duty sends out robot inspection instruction, and robot starts inspection to equipment room；
S2：It is notified when operator on duty is connected to equipment fault, goes to step S3, when operator on duty is not connected to equipment fault notice
When, go to step S4；
S3：Operator on duty controls robot to run at faulty equipment, and to treated, equipment is shot, and determines equipment
The handling result of failure；
S4：Robot shoots equipment during inspection, goes out each frame figure of equipment by robot contrasting detection
The difference degree of picture, and the data of inspection are sent to operator on duty.
Further, the operator on duty to the control of robot is completed by wireless transmitting system.
Further, the inspection of the robot is the detection algorithm based on infrared path.
Further, the inspection of the robot includes the temperature and humidity monitor to equipment room.
Further, the robot is the machine vision skill by AForge.video algorithms to the shooting comparison of equipment
Art, the image of each frame of real time contrast's equipment.
A kind of robot for being used to implement above-mentioned intelligent polling method, the robot include：
Control module, the control module are used for the data processing to entire robot, complete the comparison of video image frame,
Control the automatic detecting of the robot；
Camera module is connected to control module, for capture apparatus video or photo；
Wireless communication module is connected to control module, and robot and the letter of operator on duty are realized by WIFI transmission technologys
Breath interaction；
Path detection module, the path detection module for being set to robot bottom employ two infrared path detectors,
For determining the circuit of robot automatic detecting；
Power module, for the supply of electric power during robot inspection.
Further, the control module includes image comparison processing chip, and described image comparison processing chip passes through
The difference of AForge.video algorithm real time contrast image's frames.
Further, the power module includes automatic charging chip, and when electricity is less than setting value, robot opens automatically
Dynamic charging procedure, according to the sensing route that ground is set to juice point automatic charging.
Further, the robot further includes drive module, is connected to control module, is used to implement to robot power
Driving and the camera module rotation.
Further, the robot further includes humiture survey meter.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) present invention controls robot to start equipment room by designing a kind of intelligent polling method by operator on duty
Inspection, robot are taken pictures and are checked to equipment room equipment, and operator on duty is allowed to carry out equipment operation condition in equipment room
It checks and alarm, recycling robot checks equipment obstacle management result.By the method for inspecting of the robot, greatly
The big cost for reducing manual inspection significantly improves the efficiency of inspection.
(2) the invention discloses a kind of robot for realizing method for inspecting, equipment room is monitored in real time and pair is set
It is standby accurately to be taken pictures, equipment photo is compared according to robot interior program and algorithm, and pass through robot pair and set
The environmental monitoring in standby room, reaches remote monitoring and inspection, overcomes the inspection caused by transformer equipment is distributed more widely and expends working hour,
Solve the problems, such as that equipment obstacle management timeliness is not high.
Description of the drawings
The specific embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings, wherein：
Fig. 1 is the intelligent polling method working portion flow chart of the present invention；
Fig. 2 is the intelligent polling method working portion flow chart of the present invention；
Fig. 3 is the robot principle assumption diagram that the present invention realizes intelligent polling method.
In figure:
1- power modules；2- drive modules；3- path detection modules；
4- control modules；5- camera modules；6- wireless communication modules.
Specific embodiment
The preferred embodiment of the present invention is illustrated below in conjunction with attached drawing, it should be understood that preferred reality described herein
It applies example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, intelligent polling method work flow diagram of the present invention, inspection side of the present invention as can be seen from Figure 1
Method includes following steps：
S1：Operator on duty sends out robot inspection instruction, and robot starts inspection to equipment room；
S2：It is notified when operator on duty is connected to equipment fault, goes to step S3, when operator on duty is not connected to equipment fault notice
When, go to step S4；
S3：Operator on duty controls robot to run at faulty equipment, and to treated, equipment is shot, and determines equipment
The handling result of failure；
S4：Robot shoots equipment during inspection, goes out each frame figure of equipment by robot contrasting detection
The difference degree of picture, and the data of inspection are sent to operator on duty.
Wherein, after equipment breaks down, operator on duty can receive system failure notice, and operator on duty notifies repair people
After member safeguards faulty equipment, order robot goes out to be shot to the equipment safeguarded, and determines whether equipment restores normal.Work as value
When class personnel do not receive system failure notice, robot can compare the difference of equipment picture frame, determine by being shot to equipment
Whether fault warning is sent out to operator on duty.
Intelligent patrol detection is unfolded for more convenient control robot, it is preferable that the operator on duty is to the control of robot
It is completed by wireless transmitting system.In the transmission band for selecting automatic detecting method, by the frequency for detecting subway signal system
Section, select with subway signal system frequency band without the frequency range intersected as the transmission band of the application method, it can be achieved that with subway letter
Number system is not interfere with each other, and safety transmits information.
Preferably, the inspection of the robot is the detection algorithm based on infrared path, for determining that robot patrols automatically
The circuit of inspection greatly facilitates purpose of the robot during inspection.
In order to increase diversity of the robot during inspection, it is preferable that the inspection of the robot is included to equipment
The temperature and humidity monitor in room by the way that data of the Temperature and Humidity module is fed back to operator on duty, greatly strengthens the diversification energy on duty of robot
Power.
Further, the robot is the machine vision skill by AForge.video algorithms to the shooting comparison of equipment
Art, the image of each frame of real time contrast's equipment.Wherein AForge.video represents the video processing class libraries of series, this algorithm stresses
In video processing, the image of each frame of real time contrast's equipment.The algorithm is more simplified, and reliability is high, meets subway equipment room and patrols
Inspection robot need to keep simplifying, the requirement of high reliability.After the technology, robot can monitor single equipment in real time, in real time
The image of each frame of comparative apparatus, for example, when device action or indicator light variation, front and rear two field pictures different from, machine
People, which starts, to record a video and can be automatically notified to related personnel, and real time monitoring video recording is carried out, and Video Document is transmitted to equipment state
To person on duty.
A kind of robot for being used to implement above-mentioned intelligent polling method, the robot include：
Control module 4, control module 4 are completed the comparison of video image frame, are controlled for the data processing to entire robot
Make the automatic detecting of the robot；
Camera module 5 is connected to control module 4, for capture apparatus video or photo, specifically, the camera
Component, which can be realized, takes pictures or video record, angle adjustment, automatic focusing, the function of manual focusing；
Wireless communication module 6 is connected to control module 4, and robot and operator on duty are realized by WIFI transmission technologys
Information exchange；
Path detection module 3, the path detection module 3 for being set to robot bottom employ two infrared path detections
Device for determining the circuit of robot automatic detecting, and then ensure that the automatic detecting of robot；
Power module 1, for the supply of electric power during robot inspection.
Preferably, control module 4 includes image comparison processing chip, and described image comparison processing chip passes through
The difference of AForge.video algorithm real time contrast image's frames, specifically, camera module 5 gives equipment image or transmission of video
Described image compares processing chip, the difference of contrast images frame, in monitoring before and after photo by comparing same angle equipment
Frame compares its transposition into ordered series of numbers, if two groups of ordered series of numbers are different, can determine whether that front and rear frame image is had any different, so as to sentence
Disconnected equipment is abnormal and notifies operator on duty.Preferably, the instruction that the control module 4 receives wireless communication module 6
It carries out judging correctly to perform, can realize remote control robot path and camera angle.
Preferably, power module 1 includes automatic charging chip, and when electricity is less than setting value, robot starts automatically to be filled
Electric program, according to the sensing route that ground is set to juice point automatic charging, specifically, the automatic charging module setting
There are earth leakage protective and automatic power-off switch, can effectively prevent charging process electric leakage and the automatic of robot fills power-off.Due to ground
Usually less personnel come in and go out in iron station equipment room, to meet the long-time service of robot battery electricity, are ensureing Daily Round Check route
Outside, when detecting robot battery not enough power supply, less than the value of setting, robot interior control module 4 runs charging procedure,
I.e. robot can go to juice point to charge automatically, and infrared path detection technique is also based on to the judgement for the route that charges.
Preferably, the robot further includes drive module 2, is connected to control module 4, is used to implement to robot power
Driving and the camera module 5 rotation.
Preferably, the robot further includes humiture survey meter, and the humiture survey meter will be warm and humid in equipment room
Real-time Feedback is spent to operator on duty, greatly strengthens the diversified inspection ability of robot.
A kind of intelligent polling method of the present invention and realize this method robot other structures referring to the prior art,
Details are not described herein.
The above described is only a preferred embodiment of the present invention, not make limitation in any form to the present invention, therefore
Every any modification that without departing from technical solution of the present invention content, technical spirit according to the present invention makees above example,
Equivalent variations and modification, in the range of still falling within technical solution of the present invention.
Claims (10)
1. a kind of intelligent polling method, which is characterized in that the described method comprises the following steps:
S1：Operator on duty sends out robot inspection instruction, and robot starts inspection to equipment room；
S2：It is notified when operator on duty is connected to equipment fault, goes to step S3, when operator on duty is not connected to equipment fault notice,
Go to step S4；
S3：Operator on duty controls robot to run at faulty equipment, and to treated, equipment is shot, and determines equipment fault
Handling result；
S4：Robot shoots equipment during inspection, goes out each frame image of equipment by robot contrasting detection
Difference degree, and the data of inspection are sent to operator on duty, robot judges whether to send out fault warning.
2. intelligent polling method according to claim 1, which is characterized in that the operator on duty is to the control of robot
It is completed by wireless transmitting system.
3. intelligent polling method according to claim 1, which is characterized in that the inspection of the robot is based on infrared road
The detection algorithm of diameter.
4. intelligent polling method according to claim 1, which is characterized in that the inspection of the robot is included to equipment room
Temperature and humidity monitor.
5. intelligent polling method according to claim 1, which is characterized in that the robot, which compares the shooting of equipment, is
By the machine vision technique of AForge.video algorithms, the image of each frame of real time contrast's equipment.
A kind of 6. robot for being used to implement intelligent polling method described in claim 1, which is characterized in that the robot packet
It includes：
Control module, the control module are completed the comparison of video image frame, are controlled for the data processing to entire robot
The automatic detecting of the robot；
Camera module is connected to control module, for capture apparatus video or photo；
Wireless communication module is connected to control module, and the information for realizing robot and operator on duty by WIFI transmission technologys is handed over
Mutually；
Path detection module, the path detection module for being set to robot bottom employ two infrared path detectors, are used for
Determine the circuit of robot automatic detecting；
Power module, for the supply of electric power during robot inspection.
7. intelligent inspection robot according to claim 6, which is characterized in that the control module includes image comparison
Processing chip, described image comparison difference of the processing chip by AForge.video algorithm real time contrast image's frames.
8. intelligent inspection robot according to claim 6, which is characterized in that the power module includes automatic charging core
Piece, when electricity is less than setting value, the robot is according to the sensing route that ground is set to juice point automatic charging.
9. intelligent inspection robot according to claim 6, which is characterized in that the robot, which further includes, is connected to control
The drive module of module is used to implement to the driving of robot power and the rotation of the camera module.
10. intelligent inspection robot according to claim 6, which is characterized in that the robot further includes humiture spy
Survey instrument.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108900812A (en) * | 2018-07-20 | 2018-11-27 | 合肥云联电子科技有限公司 | It is a kind of based on the indoor video monitoring method remotely controlled |
| CN108989108A (en) * | 2018-07-20 | 2018-12-11 | 北京百度网讯科技有限公司 | Troubleshooting exchange method, device, equipment and computer-readable medium |
| CN109240311A (en) * | 2018-11-19 | 2019-01-18 | 国网四川省电力公司电力科学研究院 | Outdoor power field construction operation measure of supervision based on intelligent robot |
| CN111415432A (en) * | 2020-03-20 | 2020-07-14 | 四川华能宝兴河水电有限责任公司 | Intelligent inspection method for hydropower station |
| CN111673752A (en) * | 2020-06-24 | 2020-09-18 | 杭州安森智能信息技术有限公司 | Real-time linkage control method and system for robot network |
| CN112557076A (en) * | 2020-11-29 | 2021-03-26 | 中国航空工业集团公司洛阳电光设备研究所 | Automatic inspection test comparison system and method for high-low temperature products to be tested |
| CN113341802A (en) * | 2021-06-01 | 2021-09-03 | 江西凯天电力科技发展有限公司 | Intelligent and safe electricity utilization operation and maintenance management system and method |
| CN113487045A (en) * | 2021-06-23 | 2021-10-08 | 上海铁路北斗测量工程技术有限公司 | Safety management and monitoring method for operating personnel and equipment in high-speed rail measurement field |
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| CN112557076A (en) * | 2020-11-29 | 2021-03-26 | 中国航空工业集团公司洛阳电光设备研究所 | Automatic inspection test comparison system and method for high-low temperature products to be tested |
| CN113341802A (en) * | 2021-06-01 | 2021-09-03 | 江西凯天电力科技发展有限公司 | Intelligent and safe electricity utilization operation and maintenance management system and method |
| CN113487045A (en) * | 2021-06-23 | 2021-10-08 | 上海铁路北斗测量工程技术有限公司 | Safety management and monitoring method for operating personnel and equipment in high-speed rail measurement field |
| CN113487045B (en) * | 2021-06-23 | 2023-12-22 | 上海铁路北斗测量工程技术有限公司 | Safety management and monitoring method for operating personnel equipment in high-speed rail measurement site |
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