CN108597169A - A kind of robot enters the room anti-toy detecting system and detection method before inspection - Google Patents
A kind of robot enters the room anti-toy detecting system and detection method before inspection Download PDFInfo
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- CN108597169A CN108597169A CN201810404890.0A CN201810404890A CN108597169A CN 108597169 A CN108597169 A CN 108597169A CN 201810404890 A CN201810404890 A CN 201810404890A CN 108597169 A CN108597169 A CN 108597169A
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- China
- Prior art keywords
- automatically
- controlled door
- outside
- indoor
- system processor
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
- G08B13/19613—Recognition of a predetermined image pattern or behaviour pattern indicating theft or intrusion
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
- E05F15/74—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using photoelectric cells
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
- E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
- E05Y2900/13—Application of doors, windows, wings or fittings thereof for buildings or parts thereof characterised by the type of wing
- E05Y2900/132—Doors
Abstract
It enters the room anti-toy detecting system and detection method before inspection, including crusing robot, system processor, canyon exterior wall, outside automatically-controlled door upper level position detection optocoupler, outside automatically-controlled door low order position detection optocoupler, the first video camera, the second video camera, indoor automatically-controlled door upper level position detection optocoupler, indoor automatically-controlled door low order position detection optocoupler and the outdoor area in place set gradually by outside to inside, detection zone and indoor area in place the invention discloses a kind of robot；Wherein, it is provided with outside automatically-controlled door on the outside of the canyon exterior wall, the canyon inner side of outer wall is provided with indoor automatically-controlled door；Above-mentioned robot provided by the invention enters the room anti-toy detecting system and detection method before inspection, has perfect in shape and function, product automation degree is high, autonomous communication, all various technical advantages such as autonomous detection control.
Description
Technical field
It enters the room anti-petty action quality testing before inspection the present invention relates to power accessories technical field more particularly to a kind of robot
Examining system and detection method.
Background technology
With the intelligentized development of power grid, intelligent substation machine system has progressed into the work of electricity grid substation
In.Intelligent inspection robot system is in a manner of autonomous or remote control, in the environment of substation, completes to set indoor (outer) high pressure
The tasks such as the standby image recognition for carrying out infrared temperature monitoring and instrument oil level, replacement be accomplished manually encountered in inspection it is numerous, difficult, dangerous
And repetitive work.
Intelligent inspection robot (as shown in Figure 1) mainly have determine path, specified point inspection, remote control inspection, high definition can
Light-exposed and infrared real-time video monitoring, transformer and reactor noise monitoring, SF6 leak detections, infrared measurement of temperature and fault alarm,
The functions such as visible images intelligent distinguishing, inspection statement analysis and historical data analysis, in a manner of autonomous or remote control, in power transformation
It is substituted in the environment stood and manually performs patrol task.
The anti-toy requirement of substation：According to indoor canyon in related regulation substation be all have it is in detail and stringent anti-
Toy requirement, for example, it is closed to having to accomplish when the channels such as door and window, the requirements such as exhaust fan exhaust outlet, gas vent are installed additional
Every coral, sealing to be carried out to raceway grooves such as cable ducts and put toy closure.I.e. all channels into canyon will have anti-petty action
The measure of object.Otherwise it may result in and one secondary side of indoor equipment is climbed by toy lead to the risk of serious power grid accident.
It is that it is maked an inspection tour in substation according to projected route there are problem after work of transformer substation is added in crusing robot now
Have a from outdoor tour to the process for getting in tour.
If opening up open inspection channel to robot in canyon, toy entrance can also be become by being bound to cause the channel
The channel of canyon.Even automatic open-close type channel, also has toy and be attached to robot or with robot simultaneously
The possibility occurred into the case where canyon.So needing to consider the anti-toy measure in the channel.
To sum up, how to solve above-mentioned technological deficiency existing for traditional crusing robot is that those skilled in the art are badly in need of solving
The technical issues of.
Invention content
It enters the room anti-toy detecting system and detection method before inspection the purpose of the present invention is to provide a kind of robot, with
It solves the above problems.
In order to achieve the above object, the technical proposal of the invention is realized in this way：
It enters the room anti-toy detecting system before inspection the present invention also provides a kind of robot, including crusing robot, is
System processor, canyon exterior wall and the outdoor area in place set gradually by outside to inside, detection zone and indoor area in place；
Wherein, it is provided with outside automatically-controlled door on the outside of the canyon exterior wall, be located at outside the canyon within the walls
Side is provided with indoor automatically-controlled door；And it is both provided on the outside automatically-controlled door and the indoor automatically-controlled door for driving
The automatically-controlled door driving motor of automatically-controlled door folding；And it is high that outside automatically-controlled door is provided at the top position of the outside automatically-controlled door
Position position detection optocoupler, bottom position are provided with outside automatically-controlled door low order position detection optocoupler；And the indoor is certainly
Indoor automatically-controlled door upper level position detection optocoupler is provided at the top position of dynamic door, bottom position is provided with indoor certainly
Detect optocoupler in dynamic door low order position；
It is provided with detection zone between the outside automatically-controlled door and the indoor automatically-controlled door；It is empty in detection zone
Between be also respectively provided with the first video camera and the second video camera at diagonal line；It is arranged positioned at the outside of the outside automatically-controlled door
There is outdoor area in place, indoor area in place is provided on the inside of the indoor automatically-controlled door；(it should be noted that i.e. by outer
Outdoor area in place, detection zone and indoor these three regions of area in place are scheduled in side to inside successively)
The system processor respectively with the crusing robot, first video camera and second video camera,
Automatically-controlled door driving motor on the outside automatically-controlled door, the automatically-controlled door driving motor on the indoor automatically-controlled door are established wireless
Communication connection；And the system processor is also automatic with outside automatically-controlled door upper level position detection optocoupler, outside respectively
Optocoupler is detected in door low order position detection optocoupler, indoor automatically-controlled door upper level position detection optocoupler, indoor automatically-controlled door low order position
Establish wireless communication connection；
Wherein, the crusing robot is used to make an inspection tour arrival outdoor area in place, inspection machine human hair according to determine path
Send " in place " signal to system processor；The system processor is used for automatically-controlled door open command on the outside of dispatcher's office, and control room
Automatically-controlled door driving motor on the automatically-controlled door of outside rotates forward operation and realizes opening outside automatically-controlled door；Wait for that outside automatically-controlled door reaches room
When outside automatically-controlled door upper level position detection optocoupler test position, and by high position detection trigger signal feedback to system processor, with
The system processor sends " entrance " signal to crusing robot afterwards, and crusing robot enters outside automatically-controlled door；
The crusing robot is additionally operable to drive into detection zone, after crusing robot detection zone in place, to system processor
Send " in place " signal；Then the system processor is closed the door for automatically-controlled door on the outside of dispatcher's office and is instructed, and on the outside of control room certainly
Automatically-controlled door driving motor reversion operation on dynamic door, which is realized, closes the door；It is low to wait for that the outside automatically-controlled door reaches its outside automatically-controlled door
When the position detection optocoupler of position, and by low level detection trigger signal feedback to system processor, then the system processor control
Automatically-controlled door driving motor delay stalling on the automatically-controlled door of outside；Detect program startup simultaneously, first video camera, described the
Two video cameras carry out shooting to current crusing robot and detection zone and photograph image are passed back to the judgement of system processor in real time
Program；
The determining program of the system processor is used for：By the photograph image passed back in real time processing switch to data, afterwards in advance
The crusing robot and detection zone of preservation confirm the corresponding data comparison of photograph image of foreign, if data unanimously if be judged as
Foreign matter is not present in current crusing robot；Being judged as current crusing robot if data are inconsistent, there are foreign matters, then described
System processor touches alarm signal and operations staff is notified to come to clear up.
It preferably, can embodiment as one kind；The system processor is additionally operable to send " passing through " signal to indoor
Automatically-controlled door, and control the automatically-controlled door driving motor on the indoor automatically-controlled door and rotate forward operation realization opening door operation；Wait for indoor
When automatically-controlled door reaches the test position of indoor automatically-controlled door upper level position detection optocoupler, and high position detection trigger signal feedback is given
System processor, the subsequent system processor are sent to crusing robot " entrance " signal；The crusing robot enters simultaneously
After reaching indoor area in place, " completely into " signal is sent to the system processor；The system processor receive " completely into
Enter " signal, the shutdown instruction sent to the indoor automatically-controlled door, and control the driving of the automatically-controlled door on the indoor automatically-controlled door
Door-closing operation is realized in motor reversal operation；Wait for that the indoor automatically-controlled door reaches its indoor automatically-controlled door low order position detection optocoupler
When, the automatically-controlled door driving motor delay stalling on the indoor automatically-controlled door；Detection process terminates at this time, and crusing robot continues
Determine path and makes an inspection tour indoor equipment.
It preferably, can embodiment as one kind；The system processor is additionally operable to control and starts crusing robot successively
Departure process is realized by indoor automatically-controlled door and outside automatically-controlled door.
It preferably, can embodiment as one kind；First video camera is specifically mounted on the east of the detection zone
The sides Nan Jiao, and second video camera is specifically mounted on detection zone northwest corner side.
It preferably, can embodiment as one kind；First video camera and second video camera are cloud camera shooting
Machine；And first video camera and second video camera are established between the system processor by Cloud Server respectively
Communication connection.
It preferably, can embodiment as one kind；The robot enters the room anti-toy detecting system before inspection, further includes
Wireless transport module；The system processor is taken the photograph with the crusing robot, first video camera and described second respectively
Automatically-controlled door driving motor on camera, the outside automatically-controlled door, automatically-controlled door driving motor on the indoor automatically-controlled door it
Between pass through the wireless transport module establish communication connection.
It preferably, can embodiment as one kind；The wireless transport module is specially 3G or 4G wireless network transmissions
Any one in module or WIFI transmission modules or Bluetooth communication modules, ZigBee wireless transport modules.
Correspondingly, it the present invention also provides a kind of detection method, enters the room anti-petty action before inspection including the use of above-mentioned robot
Quality testing examining system examinations, including following operating procedure：
Execution enters step operation：The crusing robot makes an inspection tour the outdoor area in place of arrival, inspection according to path is determined
Robot sends " in place " signal to system processor；Automatically-controlled door open command on the outside of the system processor dispatcher's office, and control
Automatically-controlled door driving motor on outside automatically-controlled door processed rotates forward operation and realizes opening outside automatically-controlled door；Wait for that outside automatically-controlled door arrives
When detecting optocoupler test position up to outside automatically-controlled door upper level position, and give high position detection trigger signal feedback to system processing
Device, the subsequent system processor send " entrance " signal to crusing robot, and crusing robot enters outside automatically-controlled door；
Execute detecting step operation：The crusing robot also drives into detection zone, after crusing robot detection zone in place,
" in place " signal is sent to system processor；Automatically-controlled door, which is closed the door, on the outside of the subsequent system processor dispatcher's office instructs, and controls
Automatically-controlled door driving motor reversion operation on the automatically-controlled door of outside, which is realized, closes the door；Wait for that the outside automatically-controlled door reaches its outside
When optocoupler is detected in automatically-controlled door low order position, and by low level detection trigger signal feedback to system processor, then at the system
Manage the automatically-controlled door driving motor delay stalling on the outside of device control room on automatically-controlled door；Program startup, first camera shooting are detected simultaneously
Machine, second video camera carry out shooting to current crusing robot and detection zone and pass photograph image back system processing in real time
The determining program of device；
The determining program of the system processor：The photograph image passed back in real time processing is switched into data, is preserved afterwards with pre-
Crusing robot and detection zone confirm the corresponding data comparison of photograph image of foreign, if data unanimously if be judged as it is current
Foreign matter is not present in crusing robot；Being judged as current crusing robot if data are inconsistent, there are foreign matter, the subsequent systems
Processor touches alarm signal and operations staff is notified to come to clear up.
It preferably, can embodiment as one kind；Further include executing after the system processor does not detect foreign matter
Subsequent step：
The system processor sends " passing through " signal and gives indoor automatically-controlled door, and controls on the indoor automatically-controlled door
Automatically-controlled door driving motor rotates forward operation and realizes opening door operation；Wait for that indoor automatically-controlled door reaches the detection of indoor automatically-controlled door upper level position
When the test position of optocoupler, and by high position detection trigger signal feedback to system processor, then the system processor transmission
Give crusing robot " entrance " signal；After the crusing robot enters and reaches indoor area in place, to the system processor
Send " completely into " signal；The system processor receives " completely into " signal, is sent to the indoor automatically-controlled door
It closes the door and instructs, and control the reversion operation of the automatically-controlled door driving motor on the indoor automatically-controlled door and realize door-closing operation；It waits for described
When indoor automatically-controlled door reaches its indoor automatically-controlled door low order position detection optocoupler, the automatically-controlled door on the indoor automatically-controlled door drives
Dynamic motor delay stalling；Detection process terminates at this time, and crusing robot continues to pinpoint path tour indoor equipment.
It preferably, can embodiment as one kind；Further include executing follow-up step after the completion of the crusing robot operation
Suddenly：
After the crusing robot returns to indoor area in place, the system processor, which also controls, starts crusing robot successively
Departure process is realized by indoor automatically-controlled door and outside automatically-controlled door.
Compared with prior art, this have the advantage that：
A kind of robot provided by the invention enters the room anti-toy detecting system and detection method before inspection, analyzes above-mentioned machine
Device people enters the room before inspection known to the main frame of anti-toy detecting system：Above-mentioned robot enters the room anti-petty action analyte detection before inspection
System its devise crusing robot, system processor, canyon exterior wall, outdoor area in place, detection zone and indoor area in place
Complete detecting system inside；
It performs complete monitored automatically method simultaneously, and control logic is reasonable, and backstage (i.e. system service may be implemented
Device remote control) remote control detection, control switch automatically-controlled door and coordination control video camera shooting photograph image and backstage
Image analysis, above-mentioned robot provided by the invention enter the room anti-toy detecting system and detection method before inspection, have function
It is perfect, the technical advantages such as high degree of automation and high safety.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is the schematic diagram of front three-dimensional structure of crusing robot in the prior art；
Fig. 2 is that anti-toy detecting system is entered the room before inspection in concrete application field by the robot that provides of the embodiment of the present invention one
Effect diagram in scape；
Fig. 3 is the control principle that the robot that provides of the embodiment of the present invention one enters the room before inspection in anti-toy detecting system
Schematic diagram.
Label：1- crusing robots；2- detection zones；The outsides 3- automatically-controlled door；The outsides 4- automatically-controlled door upper level position
Detect optocoupler；Detect optocoupler in the outsides 5- automatically-controlled door low order position；The first video cameras of 6-；The second video cameras of 7-；In the rooms 8-
Side automatically-controlled door；The indoors 9- automatically-controlled door upper level position detects optocoupler；Detect optocoupler in the indoors 10- automatically-controlled door low order position；
11- canyon exterior walls；Area in place outside the rooms 12-；Area in place in the rooms 13-；A- system processors.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the word of the orientation or positional relationship of certain instructions, be only for
Convenient for the description present invention and simplify description, specific side must be had by not indicating or implying the indicated device or element
Position, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the description of the present invention, it should be noted that " connection " shall be understood in a broad sense, for example, it may be fixedly connected,
It may be a detachable connection, or be integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected,
Can also can be indirectly connected through an intermediary the connection inside two elements.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
The present invention is described in further detail below through specific implementation examples and in conjunction with the accompanying drawings.
Embodiment one
Referring to Fig. 2 and Fig. 3, the embodiment of the present invention one provides a kind of robot and enters the room anti-toy detection system before inspection
System, including crusing robot 1, system processor A, canyon exterior wall 11 and the outdoor area in place set gradually by outside to inside
12, detection zone 2 and indoor area 13 in place；
Wherein, the outside of the canyon exterior wall 11 is provided with outside automatically-controlled door 3, is located at the canyon exterior wall
11 insides are provided with indoor automatically-controlled door 8；And it is both provided on the outside automatically-controlled door 3 and the indoor automatically-controlled door 8
Automatically-controlled door driving motor for driving automatically-controlled door to open and close；And it is provided with outdoor at the top position of the outside automatically-controlled door 3
Side automatically-controlled door upper level position detects optocoupler 4, and bottom position is provided with outside automatically-controlled door low order position detection optocoupler 5；And
Indoor automatically-controlled door upper level position detection optocoupler 9, bottom position are provided at the top position of the indoor automatically-controlled door 8
It is provided with indoor automatically-controlled door low order position detection optocoupler 10；
It is provided with detection zone 2 between the outside automatically-controlled door 3 and the indoor automatically-controlled door 8；Positioned at detection zone 2
The first video camera 6 and the second video camera 7 are also respectively provided at interior space diagonal；Positioned at the outside automatically-controlled door 3
Outside is provided with outdoor area 12 in place, and the inside of the indoor automatically-controlled door 8 is provided with indoor area 13 in place；It (needs
It is bright, i.e., outdoor area 12 in place, detection zone 2 and indoor these three areas of area 13 in place are scheduled by outside to inside successively
Domain)
The system processor A is imaged with the crusing robot 1, first video camera 6 and described second respectively
Automatically-controlled door driving motor on machine 7, the outside automatically-controlled door 3, the automatically-controlled door driving motor on the indoor automatically-controlled door 8 are built
Vertical wireless communication connection；And the system processor A also detects optocoupler 4, room with the outside automatically-controlled door upper level position respectively
Detect optocoupler 5, indoor automatically-controlled door upper level position detection optocoupler 9, indoor automatically-controlled door low level position in outside automatically-controlled door low order position
It sets detection optocoupler 10 and establishes wireless communication connection；
Wherein, the crusing robot 1 is used to make an inspection tour arrival outdoor area 12 in place, crusing robot according to determine path
1 transmission " in place " signal gives system processor A；The system processor A is controlled for automatically-controlled door open command on the outside of dispatcher's office
Automatically-controlled door driving motor on outside automatically-controlled door 3 processed rotates forward operation and realizes opening gate；Wait for that outside automatically-controlled door 3 reaches outdoor
When automatically-controlled door upper level position detection 4 test position of optocoupler of side, and give high position detection trigger signal feedback to system processor A, with
The system processor A sends " entrance " signal to crusing robot 1 afterwards, and crusing robot 1 enters outside automatically-controlled door 3, should
Flow terminates；
The crusing robot 1 is additionally operable to drive into detection zone 2, after 1 detection zone 2 in place of crusing robot, at system
It manages device A and sends " in place " signal；The subsequent system processor A closes the door for automatically-controlled door on the outside of dispatcher's office to be instructed, and control room
Automatically-controlled door driving motor reversion operation on outside automatically-controlled door 3, which is realized, closes the door；Wait for that the outside automatically-controlled door 3 reaches its outside
When optocoupler 5 is detected in automatically-controlled door low order position, and give low level detection trigger signal feedback to system processor A, the subsequent system
Automatically-controlled door driving motor delay stalling on the outside of processor A control rooms on automatically-controlled door 3；It detects program simultaneously to start, described first
Video camera 6, second video camera 7 carry out shooting and passing photograph image back in real time to current crusing robot 1 and detection zone
The determining program of system processor A；
The determining program of the system processor A is used for：By the photograph image passed back in real time processing switch to data, afterwards in advance
The crusing robot and detection zone of preservation confirm the corresponding data comparison of photograph image of foreign, if data unanimously if be judged as
Foreign matter is not present in current crusing robot；Being judged as current crusing robot if data are inconsistent, there are foreign matters, then described
System processor A touches alarm signal and operations staff is notified to come to clear up.
It preferably, can embodiment as one kind；After the system processor A does not detect foreign matter, the system
Processor A is additionally operable to send " passing through " signal to indoor automatically-controlled door 8, and controls the automatically-controlled door on the indoor automatically-controlled door 8
Driving motor rotates forward operation and realizes opening door operation；Wait for that indoor automatically-controlled door 8 reaches indoor automatically-controlled door upper level position detection optocoupler 9
Test position when, and give high position detection trigger signal feedback to system processor A, the subsequent system processor A is sent to
Crusing robot " entrance " signal；After the crusing robot 1 enters and reaches indoor area 13 in place, to the system processor
A sends " completely into " signal；The system processor A receives " completely into " signal, is sent to the indoor automatically-controlled door 8
Shutdown instruction, and control the automatically-controlled door driving motor on the indoor automatically-controlled door 8 reversion operation realize door-closing operation；Wait for institute
When stating indoor automatically-controlled door 8 and reaching its indoor automatically-controlled door low order position detection optocoupler 10, on the indoor automatically-controlled door 8 from
Dynamic door driving motor delay stalling；Detection process terminates at this time, and crusing robot 1 continues to pinpoint path tour indoor equipment.
It preferably, can embodiment as one kind；After the completion of 1 operation of crusing robot, the crusing robot 1
After returning to indoor area 13 in place, the system processor A is additionally operable to control and starts crusing robot 1 to pass sequentially through indoor automatic
Door 8 and outside automatically-controlled door 3 realize departure process.
It should be noted that robot provided in an embodiment of the present invention enters the room, anti-toy detecting system before inspection, is to build
It stands on computer hardware technology, computer software technology, digital communication technology, image recognition technology, sensor technology basis
On integrated service system, robot anti-toy detecting system before inspection of entering the room includes GPRS wireless networks, crusing robot
And system handles the control device including it, and there is remote signal transmission, teleinstruction data transmission, abnormal alarm to examine in real time
The functions such as survey.
It preferably, can embodiment as one kind；First video camera 6 is specifically mounted on the detection zone 2
Southeast corner side (i.e. the first video camera 6).Second video camera 7 is specifically mounted on 2 northwest corner side of the detection zone (i.e.
Two video cameras 7).
It preferably, can embodiment as one kind；First video camera 6 and second video camera 7 are that cloud is taken the photograph
Camera；And first video camera 6 and second video camera 7 pass through cloud service between the system processor A respectively
Device establishes communication connection.
It preferably, can embodiment as one kind；The robot enters the room anti-toy detecting system before inspection, further includes
Wireless transport module；The system processor A respectively with the crusing robot 1, first video camera 6 and described second
Automatically-controlled door driving motor on video camera 7, the outside automatically-controlled door 3, the automatically-controlled door driving electricity on the indoor automatically-controlled door 8
It is established and is communicated to connect by the wireless transport module between machine；
The wireless transport module is specially that 3G or 4G wireless network transmission modules or WIFI transmission modules or bluetooth pass
Any one in defeated module, ZigBee wireless transport modules.
It should be noted that above-mentioned wireless transport module can select the module of diversified forms：Such as：GPRS services mould
Block, WIFI transmission modules or ZigBee wireless transport modules；Above-mentioned WIFI transmission modules or ZigBee wireless transport modules have
High-speed transfer is widely used in the communication of power equipment industry spot.In addition, GPRS services are also known as grouping service wireless, it is
A kind of communication service mode of high rate data processing, has the function of real-time online, high-speed transfer user data.Pass through operation
The range for the communication service that quotient provides carries out most of region the covering of network, makes that the logical of dispersion user can be effectively treated
Letter data, GPRS communication modes can the big user data of effective processing data amount.
Correspondingly, the present invention also provides a kind of detection method, entering the room including the use of the robot, it is small to prevent before inspection
Animal detecting system examinations, including following operating procedure：
Execution enters step operation：The crusing robot 1 makes an inspection tour outdoor area 12 in place of arrival according to path is determined, and patrols
Inspection robot 1 sends " in place " signal and gives system processor A；Automatically-controlled door open command on the outside of the dispatcher's offices the system processor A,
And the automatically-controlled door driving motor on the outside of control room on automatically-controlled door 3 rotates forward operation and realizes opening gate；Wait for that outside automatically-controlled door 3 reaches
When automatically-controlled door upper level position detection 4 test position of optocoupler of outside, and by high position detection trigger signal feedback to system processor
A, the subsequent system processor A send " entrance " signal to crusing robot 1, and crusing robot 1 enters outside automatically-controlled door
3, which terminates；
Execute detecting step operation：The crusing robot 1 also drives into detection zone 2,1 detection zone in place of crusing robot
After 2, " in place " signal is sent to system processor A；Automatically-controlled door, which is closed the door, on the outside of the subsequent dispatcher's offices the system processor A instructs,
And the automatically-controlled door driving motor reversion operation on the outside of control room on automatically-controlled door 3 is realized and is closed the door；Wait for that the outside automatically-controlled door 3 reaches
When optocoupler 5 is detected in its outside automatically-controlled door low order position, and give low level detection trigger signal feedback to system processor A, then
Automatically-controlled door driving motor delay stalling on the outside of the system processor A control rooms on automatically-controlled door 3；Program startup is detected simultaneously,
First video camera 6, second video camera 7 carry out current crusing robot 1 and detection zone shooting and in real time by photos
Image passes the determining program of system processor A back；
The determining program of the system processor A：The photograph image passed back in real time processing is switched into data, is preserved afterwards with pre-
Crusing robot and detection zone confirm the corresponding data comparison of photograph image of foreign, if data unanimously if be judged as it is current
Foreign matter is not present in crusing robot；Being judged as current crusing robot if data are inconsistent, there are foreign matter, the subsequent systems
Processor A touches alarm signal and operations staff is notified to come to clear up.
It preferably, can embodiment as one kind；Further include holding after the system processor A does not detect foreign matter
Row subsequent step：
The system processor A sends " passing through " signal to indoor automatically-controlled door 8, and controls the indoor automatically-controlled door 8
On automatically-controlled door driving motor rotate forward operation realize opening door operation；Wait for that indoor automatically-controlled door 8 reaches indoor automatically-controlled door high position position
When setting the test position of detection optocoupler 9, and high position detection trigger signal feedback is given to system processor A, at the subsequent system
Reason device A is sent to crusing robot " entrance " signal；After the crusing robot 1 enters and reaches indoor area 13 in place, to institute
It states system processor A and sends " completely into " signal；The system processor A receives " completely into " signal, to the interior
The shutdown instruction that side automatically-controlled door 8 is sent, and control the reversion operation of the automatically-controlled door driving motor on the indoor automatically-controlled door 8 and realize
Door-closing operation；When the indoor automatically-controlled door 8 reaches its indoor automatically-controlled door low order position and detects optocoupler 10, the indoor
Automatically-controlled door driving motor delay stalling on automatically-controlled door 8；Detection process terminates at this time, and crusing robot 1 continues to pinpoint path
Make an inspection tour indoor equipment.
It preferably, can embodiment as one kind；Further include executing subsequently after the completion of 1 operation of crusing robot
Step：
After the crusing robot 1 returns to indoor area 13 in place, the system processor A, which is also controlled, starts crusing robot
1 passes sequentially through indoor automatically-controlled door 8 and the realization departure process of outside automatically-controlled door 3.
Analysis is entered the room the detection method of anti-toy detecting system before inspection using above-mentioned robot：System operation include into
Enter flow and detection process and departure process：
Into process：Crusing robot 1 makes an inspection tour outdoor area 12 in place of arrival according to path is determined, and crusing robot 1 is sent out
Send " in place " signal give system processor A；Then, automatically-controlled door open command on the outside of the dispatcher's offices the system processor A, and control
Automatically-controlled door driving motor on outside automatically-controlled door 3 rotates forward operation and realizes opening gate (i.e. outside automatically-controlled door 3)；Wait for gate
When (i.e. outside automatically-controlled door 3) reaches outside automatically-controlled door upper level position detection 4 test position of optocoupler, and high position detection is triggered
Signal feeds back to system processor A, and the subsequent system processor A sends " entrance " signal, inspection machine to crusing robot 1
People 1 enters outside automatically-controlled door 3, which terminates.
Detection process：Crusing robot 1 drives into detection zone 2, after 1 detection zone 2 in place of crusing robot, understands at system
It manages device A and sends " in place " signal；Automatically-controlled door, which is closed the door, on the outside of the subsequent dispatcher's offices system processor A instructs, and automatic on the outside of control room
Automatically-controlled door driving motor reversion operation on door 3, which is realized, closes the door.Wait for that outside automatically-controlled door 3 reaches its outside automatically-controlled door low level position
When setting detection optocoupler 5 (i.e. low order position), and give low level detection trigger signal feedback to system processor A, the subsequent system
Automatically-controlled door driving motor delay stalling on the outside of processor A control rooms on automatically-controlled door 3.Detection program starts at this time, the first camera shooting
Machine 6, the second 7 two, video camera are in the video camera on space diagonal, are carried out in real time to current crusing robot 1 and detection zone
It shoots and passes photograph image back backstage (i.e. system processor A) determining program.
The determining program principle of the system processor A is：The photograph image passed back processing is switched into data, is protected afterwards with pre-
The crusing robot and detection zone deposited confirm the picture data comparison of foreign (toys such as snake, worm, mouse), if data unanimously if
It is concluded that foreign matter is not present in crusing robot.Otherwise there are foreign matters then, and system processor A touches alarm signal notice fortune
Administrative staff comes to clear up.
If program does not detect that foreign matter, the system processor A send " passing through " signal to indoor automatically-controlled door 8, and
It controls the automatically-controlled door driving motor on the indoor automatically-controlled door 8 and rotates forward operation realization opening door operation；Wait for that indoor automatically-controlled door 8 arrives
Up to indoor automatically-controlled door upper level position detect optocoupler 9 test position when, and by a high position detection trigger signal feedback to system at
Device A is managed, the subsequent system processor A is sent to crusing robot 1 " entrance " signal；The crusing robot enters and reaches
Behind indoor area in place, " completely into " signal is sent to the system processor A；The system processor receives " completely into "
Signal, the shutdown instruction sent to the indoor automatically-controlled door, and control the driving electricity of the automatically-controlled door on the indoor automatically-controlled door 8
Door-closing operation is realized in machine reversion operation；Wait for that the indoor automatically-controlled door 8 reaches its indoor automatically-controlled door low order position detection optocoupler
When 10, the automatically-controlled door driving motor delay stalling on the indoor automatically-controlled door 8；Detection process terminates at this time, crusing robot 1
Continue to pinpoint path tour indoor equipment.
After operation completion returns to indoor area 13 in place, start departure process.And it is not that departure process is opposite with front
Start petty action analyte detection program.
Robot provided in an embodiment of the present invention enters the room anti-toy detecting system and detection method before inspection, realizes machine
The automatic indoor tour of device people, expands the service efficiency of robot, use scope.By the way that video camera is arranged in channel of entering the room,
Image procossing is judged to whether there is foreign matter in robot channel, and set in this, as whether robot can be entered by detection zone
The condition of preparation area operation.It eliminates and opens up robot and enter the room toy (snake, worm, mouse, bird etc.) risk of entering the room of channel band, increase
The reliability of operation for having added substation reduces the homework burden of operations staff.
Anti- toy detecting system and detection side before inspection in conclusion robot provided in an embodiment of the present invention enters the room
Method has perfect in shape and function, the technical advantages such as high degree of automation and high safety.
Based on above many significant technical advantages, robot provided by the invention enters the room anti-toy detection system before inspection
System and detection method will bring good market prospects and economic benefit.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
- The anti-toy detecting system before inspection 1. a kind of robot enters the room, which is characterized in that including crusing robot, system processing Device, canyon exterior wall and the outdoor area in place set gradually by outside to inside, detection zone and indoor area in place；Wherein, it is provided with outside automatically-controlled door on the outside of the canyon exterior wall, is set positioned at the canyon inner side of outer wall It is equipped with indoor automatically-controlled door；And it is both provided on the outside automatically-controlled door and the indoor automatically-controlled door automatic for driving The automatically-controlled door driving motor of door folding；And outside automatically-controlled door high position position is provided at the top position of the outside automatically-controlled door Detection optocoupler is set, bottom position is provided with outside automatically-controlled door low order position detection optocoupler；And the indoor automatically-controlled door Top position at be provided with indoor automatically-controlled door upper level position detection optocoupler, bottom position is provided with indoor automatically-controlled door Detect optocoupler in low order position；It is provided with detection zone between the outside automatically-controlled door and the indoor automatically-controlled door；The space pair in detection zone The first video camera and the second video camera are also respectively provided at linea angulata；Positioned at the outside of the outside automatically-controlled door, setting is had family Outer area in place is provided with indoor area in place on the inside of the indoor automatically-controlled door；The system processor respectively with the crusing robot, first video camera and second video camera, described Automatically-controlled door driving motor on the automatically-controlled door of outside, the automatically-controlled door driving motor on the indoor automatically-controlled door establish wireless communication Connection；And the system processor is also low with outside automatically-controlled door upper level position detection optocoupler, outside automatically-controlled door respectively Position position detection optocoupler, indoor automatically-controlled door upper level position detection optocoupler, indoor automatically-controlled door low order position detection optocoupler are established Wireless communication connection；Wherein, the crusing robot is used for according to the outdoor area in place of path tour arrival is determined, and crusing robot transmission " is arrived Position " signal is to system processor；The system processor is for automatically-controlled door open command on the outside of dispatcher's office, and control room outside is certainly Automatically-controlled door driving motor on dynamic door rotates forward operation and realizes opening outside automatically-controlled door；Wait for that outside automatically-controlled door reaches outside certainly It is then described when dynamic door upper level position detection optocoupler test position, and by high position detection trigger signal feedback to system processor System processor sends " entrance " signal to crusing robot, and crusing robot enters outside automatically-controlled door；The crusing robot is additionally operable to drive into detection zone, after crusing robot detection zone in place, is sent to system processor " in place " signal；The subsequent system processor is closed the door for automatically-controlled door on the outside of dispatcher's office to be instructed, and automatically-controlled door on the outside of control room On automatically-controlled door driving motor reversion operation realize close the door；Wait for that the outside automatically-controlled door reaches its outside automatically-controlled door low level position When setting detection optocoupler, and by low level detection trigger signal feedback to system processor, then outside the system processor control room Automatically-controlled door driving motor delay stalling on the automatically-controlled door of side；Program startup is detected simultaneously, and first video camera, described second takes the photograph Camera carries out shooting to current crusing robot and detection zone and photograph image is passed back to the determining program of system processor in real time；The determining program of the system processor is used for：The photograph image passed back in real time processing is switched into data, is preserved afterwards with pre- Crusing robot and detection zone confirm the corresponding data comparison of photograph image of foreign, if data unanimously if be judged as it is current Foreign matter is not present in crusing robot；Being judged as current crusing robot if data are inconsistent, there are foreign matter, the subsequent systems Processor touches alarm signal and operations staff is notified to come to clear up.
- The anti-toy detecting system before inspection 2. robot as described in claim 1 enters the room, which is characterized in thatThe system processor is additionally operable to transmission " passing through " signal and gives indoor automatically-controlled door, and controls on the indoor automatically-controlled door Automatically-controlled door driving motor rotate forward operation realize opening door operation；Wait for that indoor automatically-controlled door reaches the inspection of indoor automatically-controlled door upper level position When surveying the test position of optocoupler, and by high position detection trigger signal feedback to system processor, the subsequent system processor hair Give crusing robot " entrance " signal；After the crusing robot enters and reaches indoor area in place, handled to the system Device sends " completely into " signal；The system processor receives " completely into " signal, is sent to the indoor automatically-controlled door Shutdown instruction, and control the automatically-controlled door driving motor on the indoor automatically-controlled door reversion operation realize door-closing operation；Wait for institute When stating indoor automatically-controlled door and reaching its indoor automatically-controlled door low order position detection optocoupler, the automatically-controlled door on the indoor automatically-controlled door Driving motor delay stalling；Detection process terminates at this time, and crusing robot continues to pinpoint path tour indoor equipment.
- The anti-toy detecting system before inspection 3. robot as claimed in claim 2 enters the room, which is characterized in thatThe system processor is additionally operable to control and starts crusing robot to pass sequentially through indoor automatically-controlled door and outside is automatic Door realizes departure process.
- The anti-toy detecting system before inspection 4. robot as described in claim 1 enters the room, which is characterized in thatFirst video camera is specifically mounted on the southeast corner side of the detection zone, and second video camera is specifically installed It is arranged in detection zone northwest corner side.
- The anti-toy detecting system before inspection 5. robot as claimed in claim 4 enters the room, which is characterized in thatFirst video camera and second video camera are cloud video camera；And first video camera and described second Video camera is established by Cloud Server between the system processor communicate to connect respectively.
- The anti-toy detecting system before inspection 6. robot as described in claim 1 enters the room, which is characterized in thatThe robot enters the room anti-toy detecting system before inspection, further includes wireless transport module；The system processor point Not with it is automatic on the crusing robot, first video camera and second video camera, the outside automatically-controlled door Door driving motor passes through the wireless transport module between the automatically-controlled door driving motor on the indoor automatically-controlled door and establishes communication Connection.
- The anti-toy detecting system before inspection 7. robot as claimed in claim 6 enters the room, which is characterized in thatThe wireless transport module is specially 3G or 4G wireless network transmission modules or WIFI transmission modules or Bluetooth transmission mould Any one in block, ZigBee wireless transport modules.
- 8. a kind of detection method, which is characterized in that enter the room and patrol including the use of such as claim 1-7 any one of them robot Anti- toy detecting system examinations before inspection, including following operating procedure：Execution enters step operation：The crusing robot makes an inspection tour the outdoor area in place of arrival, inspection machine according to path is determined Human hair send " in place " signal to system processor；Automatically-controlled door open command on the outside of the system processor dispatcher's office, and control room Automatically-controlled door driving motor on the automatically-controlled door of outside rotates forward operation and realizes opening outside automatically-controlled door；Wait for that outside automatically-controlled door reaches room When outside automatically-controlled door upper level position detection optocoupler test position, and by high position detection trigger signal feedback to system processor, with The system processor sends " entrance " signal to crusing robot afterwards, and crusing robot enters outside automatically-controlled door；Execute detecting step operation：The crusing robot also drives into detection zone, after crusing robot detection zone in place, to being Processor of uniting sends " in place " signal；Automatically-controlled door, which is closed the door, on the outside of the subsequent system processor dispatcher's office instructs, and outside control room Automatically-controlled door driving motor reversion operation on the automatically-controlled door of side, which is realized, closes the door；It is automatic to wait for that the outside automatically-controlled door reaches its outside When the detection optocoupler of door low order position, and by low level detection trigger signal feedback to system processor, the subsequent system processor Automatically-controlled door driving motor delay stalling on the outside of control room on automatically-controlled door；Program startup, first video camera, institute are detected simultaneously The second video camera is stated current crusing robot and detection zone are carried out shooting in real time and pass photograph image back system processor Determining program；The determining program of the system processor：The photograph image passed back in real time processing is switched into data, is patrolled afterwards with what is preserved in advance Examine the corresponding data comparison of photograph image that robot and detection zone confirm foreign, if data unanimously if be judged as current inspection Foreign matter is not present in robot；Being judged as current crusing robot if data are inconsistent, there are foreign matter, then the system processing Device touches alarm signal and operations staff is notified to come to clear up.
- 9. detection method as claimed in claim 8, which is characterized in that after the system processor does not detect foreign matter, Further include executing subsequent step：The system processor sends " passing through " signal and gives indoor automatically-controlled door, and controls automatic on the indoor automatically-controlled door Door driving motor rotates forward operation and realizes opening door operation；Wait for that indoor automatically-controlled door reaches indoor automatically-controlled door upper level position detection optocoupler Test position when, and by high position detection trigger signal feedback to system processor, the subsequent system processor, which is sent to, to patrol Examine robot " entrance " signal；After the crusing robot enters and reaches indoor area in place, sent to the system processor " completely into " signal；The system processor receives " completely into " signal, the shutdown sent to the indoor automatically-controlled door Instruction, and control the reversion operation of the automatically-controlled door driving motor on the indoor automatically-controlled door and realize door-closing operation；Wait for the interior When side automatically-controlled door reaches its indoor automatically-controlled door low order position detection optocoupler, the automatically-controlled door driving electricity on the indoor automatically-controlled door Machine delay stalling；Detection process terminates at this time, and crusing robot continues to pinpoint path tour indoor equipment.
- 10. detection method as claimed in claim 9, which is characterized in that after the completion of the crusing robot operation, further include Execute subsequent step：After the crusing robot returns to indoor area in place, the system processor also controls startup crusing robot and passes sequentially through Indoor automatically-controlled door and outside automatically-controlled door realize departure process.
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| CN201810404890.0A CN108597169A (en) | 2018-04-28 | 2018-04-28 | A kind of robot enters the room anti-toy detecting system and detection method before inspection |
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| CN201810404890.0A CN108597169A (en) | 2018-04-28 | 2018-04-28 | A kind of robot enters the room anti-toy detecting system and detection method before inspection |
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Application publication date: 20180928 |