CN109079795B - Inspection robot with visual recognition function - Google Patents
Inspection robot with visual recognition function Download PDFInfo
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- CN109079795B CN109079795B CN201811116115.1A CN201811116115A CN109079795B CN 109079795 B CN109079795 B CN 109079795B CN 201811116115 A CN201811116115 A CN 201811116115A CN 109079795 B CN109079795 B CN 109079795B
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- robot
- personal computer
- industrial personal
- recognition module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The application relates to a patrol robot with a visual recognition function. The robot comprises a robot body provided with a cradle head, wherein an industrial personal computer and an intelligent recognition device for collecting stereoscopic images and recognizing the stereoscopic images are arranged on the robot body, the industrial personal computer is also in communication connection with the intelligent recognition device, the industrial personal computer is in communication connection with an upper computer, and the industrial personal computer sends the recognition result of the stereoscopic images received from the intelligent recognition device to the upper computer. The robot has the characteristics of flexible chassis movement and high autonomous cradle head precision, can automatically avoid obstacles by seamlessly integrating a monitoring background, and has wide detection range and high detection precision.
Description
Technical Field
The application relates to the field of robots, in particular to a patrol robot with a visual identification function.
Background
With the rapid development of artificial intelligence, robots applying artificial intelligence are capable of performing more and more work, and even replacing manual work in some occasions.
In the power system, the power equipment needs to be manually inspected, and because high voltage and high radiation can be generated in the inspection environment, the human body is easily damaged, and because of subjectivity of manual inspection, the efficiency and quality of inspection work are often not guaranteed.
Disclosure of Invention
In view of the above, it is necessary to provide an inspection robot with a visual recognition function capable of performing automatic inspection.
A first aspect of the present application provides a patrol robot having a visual recognition function, the robot comprising:
the intelligent recognition device is characterized by comprising a robot body provided with a cradle head, wherein the robot body is provided with an industrial personal computer and an intelligent recognition device used for collecting stereoscopic images and recognizing the stereoscopic images, the industrial personal computer is also in communication connection with the intelligent recognition device, the industrial personal computer is in communication connection with an upper computer, and the industrial personal computer sends the recognition result of the stereoscopic images received from the intelligent recognition device to the upper computer.
Optionally, the intelligent recognition device is installed on the cloud platform, the intelligent recognition device includes:
the camera comprises a stereoscopic camera used for shooting stereoscopic images and an image recognition module used for recognizing the stereoscopic images, wherein the stereoscopic camera is in communication connection with the image recognition module, and the shooting direction of the stereoscopic camera follows the cradle head to rotate.
Optionally, the image recognition module comprises a seal recognition module, a sign recognition module, a fire extinguisher recognition module, a ceiling recognition module, a box recognition module and a material recognition module, wherein at least one of the seal recognition module, the sign recognition module, the fire extinguisher recognition module, the ceiling recognition module, the box recognition module and the material recognition module.
Optionally, a light supplementing lamp is further arranged above the stereo camera, and the light supplementing lamp is arranged on the cradle head.
Optionally, the robot body includes:
the cradle head controller is used for controlling the cradle head, the cradle head controller is connected with a motor driver, and the motor driver is connected with a servo motor used for driving the cradle head to rotate.
Optionally, the horizontal rotation range of the pan-tilt is-180 degrees to 180 degrees, and the pitching rotation range of the pan-tilt is-30 degrees to 90 degrees.
Optionally, the robot body further includes:
the walking driving device is used for driving the robot to walk and is connected with the industrial personal computer through a bus, a chassis is further arranged on the robot body, two front wheels and two rear wheels are arranged on the chassis, the front wheels are driving wheels, the rear wheels are universal wheels, and the walking driving device is used for driving the two front wheels to move.
Optionally, the wheel diameter of the front wheel is larger than the wheel diameter of the rear wheel.
Optionally, the robot body is last still to install ultrasonic device, ultrasonic device include supersonic generator, with supersonic generator is connected ultrasonic sensor and obstacle detection module, supersonic generator is used for sending the ultrasonic wave, ultrasonic sensor is used for detecting the ultrasonic wave, obstacle detection module is used for according to ultrasonic detection has the obstacle, and will detect the result and send to the industrial computer.
Optionally, be equipped with laser rangefinder, alarm and speaker on the robot body, laser rangefinder, alarm and speaker all with the industrial computer is connected.
Optionally, the industrial computer is in communication connection with the upper computer through an industrial antenna, and the industrial antenna is installed at the rear of the robot body.
According to the inspection robot with the visual recognition function, the cradle head is arranged on the robot body, the industrial personal computer and the intelligent recognition device for collecting the stereoscopic images and recognizing the stereoscopic images are arranged on the robot body, the industrial personal computer is also in communication connection with the intelligent recognition device, the industrial personal computer is in communication connection with the upper computer, the industrial personal computer sends the recognition result of the stereoscopic images received from the intelligent recognition device to the upper computer, the inspection robot has the characteristics of flexible chassis movement and high precision of the automatic cradle head, the monitoring background is integrated in a seamless mode, the detection range is wide, and the detection precision is high.
Drawings
FIG. 1 is a diagram of an embodiment of a inspection robot with visual recognition according to the present application;
FIG. 2 is a diagram of an embodiment of an intelligent recognition device in a inspection robot with visual recognition according to the present application;
FIG. 3 is a diagram of one embodiment of an image recognition module in a inspection robot with visual recognition according to the present application;
FIG. 4 is a diagram of another embodiment of a inspection robot with visual identification according to the present application;
fig. 5 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
In the power system, the power equipment needs to be manually inspected, and because high voltage and high radiation can be generated in the inspection environment, the human body is easily damaged, and because of subjectivity of manual inspection, the efficiency and quality of inspection work are often not guaranteed.
In view of the above, the application provides a patrol robot with a visual recognition function to replace manual patrol, and has higher training efficiency and patrol precision compared with manual patrol.
In one embodiment, referring to fig. 1, fig. 1 is a diagram illustrating an embodiment of a inspection robot with visual recognition function according to the present application, as shown in fig. 1, there is provided an inspection robot with visual recognition function, including:
the robot body 11 with the cloud platform 111, install industrial computer 12 and be used for gathering the stereoscopic image and discern on the robot body 11 the intelligent recognition device 13 of stereoscopic image, industrial computer 12 still with intelligent recognition device 13 communication connection, industrial computer 12 and host computer 14 communication connection, industrial computer 12 will follow intelligent recognition device 13 receive the recognition result of stereoscopic image is sent to host computer 14.
It can be seen that through set up the cloud platform on the robot body, install industrial computer and be used for gathering the stereo image and discern on the robot body the intelligent recognition device of stereo image, the industrial computer still with intelligent recognition device communication connection, industrial computer and host computer communication connection, the industrial computer will follow intelligent recognition device receives the recognition result of stereo image send to the host computer, have chassis motion flexibility, autonomous cloud platform precision is high, and the seamless integration of control backstage can be kept away the barrier voluntarily to detection range is wide, and the detection precision is high.
Optionally, the smart identification device 13 is mounted on the pan-tilt 111, and the smart identification device 13 includes:
the camera device comprises a stereo camera 131 for shooting stereo images and an image recognition module 132 for recognizing the stereo images, wherein the stereo camera 131 is in communication connection with the image recognition module 132, and the shooting direction of the stereo camera 131 follows the rotation of the holder 111.
The stereoscopic camera 131 may be a 3D camera, and by taking a stereoscopic picture, stereoscopic objects in the picture can be further identified, and the object identification rate is also higher, so that various objects in the warehouse environment can be fully identified.
Optionally, the image recognition module 132 includes at least one of a seal recognition module, a sign recognition module, a fire extinguisher recognition module, a ceiling recognition module, a box recognition module, and a material recognition module.
It should be noted that, the image recognition module 132 in the present application can recognize various types of articles, and can configure corresponding modules of the articles to be recognized according to the requirement, and in the present application, the modules that the image recognition module 132 can configure include at least one of a seal recognition module, a sign recognition module, a fire extinguisher recognition module, a ceiling recognition module, a box recognition module, and a material recognition module. Each identification module is coupled to the industrial personal computer 12 when a plurality of identification modules are included.
The main functions of each recognition module are as follows, the seal recognition module is used for detecting the damage of the seal, the indication board recognition module is used for detecting whether the indication board is at a designated position or not, the fire extinguisher recognition module is used for detecting whether a fire extinguisher area is placed in disorder or not, the ceiling recognition module is used for detecting whether a ceiling falls off or leaks or not, the box recognition module is used for detecting whether a box is damaged or not, and the material recognition module is used for carrying out material quantity calculation.
Optionally, a light compensating lamp 15 is further disposed above the stereo camera 131, and the light compensating lamp 15 is disposed on the pan-tilt 111.
It can be appreciated that, considering the complex working environment of the inspection robot, for example, the condition of insufficient light, the light supplementing lamp 15 can be arranged on the stereo camera 131, so that the inspection robot can adapt to a wider scene on one hand, and the stereo picture photographed by the stereo camera 131 can be clearer after the light supplementing lamp 15 is added, so that the object recognition efficiency can be improved.
Optionally, the robot body 11 includes:
the cradle head controller 112 is used for controlling the cradle head 111, the cradle head controller 112 is connected with the motor driver 113, and the motor driver 113 is connected with the servo motor 114 used for driving the cradle head 111 to rotate.
It can be appreciated that in the present application, the pan-tilt has a complete control system, which can precisely control the rotation of the pan-tilt, for example, the pan-tilt controller 112 can firstly issue a control command, then the control command is sent to the motor driver 113 connected to the pan-tilt controller 112, then the motor driver 113 converts the control command into a signal that can be identified by the servo motor 114 and sends the signal to the servo motor 114, and the servo motor 114 works to drive the pan-tilt to rotate in the horizontal direction and/or the pitch direction after receiving the signal.
Optionally, the horizontal rotation range of the pan-tilt 111 is-180 degrees to 180 degrees, and the pitch rotation range of the pan-tilt 111 is-30 degrees to 90 degrees.
Optionally, the pan-tilt 111 in the present application is a high-precision pan-tilt, the horizontal rotation range of which is-180 degrees to 180 degrees, that is, 360 degrees, and the pitching rotation range of the pan-tilt is-30 degrees to 90 degrees, that is, 120 degrees, and the horizontal rotation range of 360 degrees is matched with the pitching rotation range of the pan-tilt, so that only the identification device has a relatively large identification field of view, and thus the warehouse environment can be fully patrolled.
Optionally, the robot body 11 further includes:
the walking driving device 115 is used for driving the robot to walk, the walking driving device 115 is connected with the industrial personal computer 12 through a bus, the robot body 11 is further provided with a chassis 116, two front wheels and two rear wheels are arranged on the chassis, the front wheels are driving wheels, the rear wheels are universal wheels, and the walking driving device 115 is used for driving the two front wheels to move.
It will be appreciated that the cradle head 111 ensures that the robot is able to scan items in all directions in a warehouse environment, but that some items need to be photographed at a specific angle and within a specific distance, so that the robot is still lacking in its ability to move, in the present application, a chassis 116 may be provided at the bottom of the robot body 11, the chassis 116 being mainly used for mounting means able to provide the robot with motive power, such as four wheels including two front wheels, which are driving wheels, and two rear wheels, which are universal wheels, and the travelling drive 115 being used to drive the two front wheels.
Optionally, the wheel diameter of the front wheel is larger than the wheel diameter of the rear wheel.
It will be appreciated that since the front wheels are primarily used to provide motive power for the movement, the front wheels may have a larger wheel diameter than the rear wheels, thereby providing more flexibility and convenience in steering through the rear wheels.
Optionally, the robot body 11 is further provided with an ultrasonic device 16, the ultrasonic device 16 includes an ultrasonic generator 161, an ultrasonic sensor 162 connected to the ultrasonic generator 161, and an obstacle detection module 163, the ultrasonic generator 161 is configured to emit ultrasonic waves, the ultrasonic sensor 162 is configured to detect the ultrasonic waves, and the obstacle detection module 163 is configured to detect whether an obstacle exists according to the ultrasonic waves, and send a detection result to the industrial personal computer 12.
It may be immediately that the ultrasonic device 16 is mainly used for obstacle avoidance, its principle is similar to flying of bat, the ultrasonic generator 161 emits ultrasonic waves at a certain frequency, then if the ultrasonic sensor 162 receives reflected ultrasonic waves, the distance between the obstacle located in the ultrasonic emitting direction and the robot can be calculated according to the return time, and the obstacle detection module 163 can calculate the size of the obstacle through ultrasonic waves emitted in different directions, so that when the current travelling direction of the robot is found to hit the obstacle, the industrial personal computer 12 can adjust the travelling path of the robot according to the result collected by the ultrasonic device 16, thereby achieving the purpose of obstacle avoidance.
Optionally, the robot body 11 is provided with a laser range finder 17, an alarm 18 and a loudspeaker 19, and the laser range finder 17, the alarm 18 and the loudspeaker 19 are all connected with the industrial personal computer 12.
It will be appreciated that, in addition to the distance measurement performed by the ultrasonic device 16, the robot body 11 may be further provided with a laser distance meter 17, and the measurement principle of the laser distance meter 17 is similar to that of the ultrasonic device 16, and the distance between the reflecting object and the robot is calculated by emitting laser light and receiving reflected laser light and then by the propagation time of the laser light. The alarm 18 can perform corresponding alarm operation when the robot is in any abnormal state, and the loudspeaker 19 can also cooperate with the alarm to perform alarm operation.
Optionally, the industrial personal computer 12 is in communication connection with the host computer 14 through an industrial grade antenna, and the industrial grade antenna is installed at the rear of the robot body 11.
In order to ensure the communication quality between the host computer 14 and the industrial personal computer 12, the industrial dual antenna may be used for communication, and specifically, the industrial dual antenna may be installed at the rear of the robot body 11.
The inspection robot with the vision recognition function has the advantages of flexible chassis movement, high autonomous cradle head precision, seamless background integration, three-level obstacle avoidance technology, rapid deployment application and advanced vision function, and is wide in detection range and high in precision. Through experiments, the robot has the speed of 0-1.2m/s, the climbing capacity of 15 degrees, the protection grade of IP55, the positioning precision of +/-10 mm, the obstacle crossing capacity of 5cm, the wading depth of 100mm and the working time of 8h.
In one embodiment, a computer device, that is, the host computer or the industrial personal computer, is provided, and the internal structure diagram thereof may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for user information, service information, etc. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a patrol robot having a visual recognition function.
It will be appreciated by those skilled in the art that the structure shown in FIG. 5 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory storing a computer program and a processor implementing the steps of the method embodiments described above when the computer program is executed.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the respective method embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (7)
1. Inspection robot with visual recognition function, characterized by comprising:
the intelligent robot comprises a robot body provided with a holder, wherein an industrial personal computer and an intelligent recognition device for collecting stereoscopic images and recognizing the stereoscopic images are arranged on the robot body, the industrial personal computer is also in communication connection with the intelligent recognition device, the industrial personal computer is in communication connection with an upper computer, and the industrial personal computer sends recognition results of the stereoscopic images received from the intelligent recognition device to the upper computer;
the intelligent recognition device install in on the cloud platform, the intelligent recognition device includes:
the camera comprises a stereoscopic camera used for shooting stereoscopic images and an image recognition module used for recognizing the stereoscopic images, wherein the stereoscopic camera is in communication connection with the image recognition module, and the shooting direction of the stereoscopic camera rotates along with the cradle head;
the robot body includes:
the cradle head controller is used for controlling the cradle head, the cradle head controller is connected with a motor driver, and the motor driver is connected with a servo motor for driving the cradle head to rotate;
the robot comprises a robot body, and is characterized in that an ultrasonic device is further arranged on the robot body, the ultrasonic device comprises an ultrasonic generator, an ultrasonic sensor and an obstacle detection module, the ultrasonic sensor is connected with the ultrasonic generator, the ultrasonic generator is used for emitting ultrasonic waves, the ultrasonic sensor is used for detecting the ultrasonic waves, and the obstacle detection module is used for detecting whether an obstacle exists according to the ultrasonic waves and sending a detection result to the industrial personal computer.
2. The inspection robot with a visual recognition function according to claim 1, wherein the image recognition module includes at least one of a seal recognition module, a sign recognition module, a fire extinguisher recognition module, a ceiling recognition module, a box recognition module, and a material recognition module.
3. The inspection robot with a visual recognition function according to claim 1, wherein a light supplementing lamp is further arranged above the stereo camera, and the light supplementing lamp is arranged on the cradle head.
4. The inspection robot with a visual recognition function according to claim 1, wherein the horizontal rotation range of the pan-tilt is-180 degrees to 180 degrees, and the pitching rotation range of the pan-tilt is-30 degrees to 90 degrees.
5. The inspection robot with visual recognition function according to claim 1, wherein the robot body further comprises:
the walking driving device is used for driving the robot to walk and is connected with the industrial personal computer through a bus, a chassis is further arranged on the robot body, two front wheels and two rear wheels are arranged on the chassis, the front wheels are driving wheels, the rear wheels are universal wheels, and the walking driving device is used for driving the two front wheels to move.
6. The inspection robot with a visual recognition function according to any one of claims 1 to 5, wherein a laser range finder, an alarm and a speaker are arranged on the robot body, and the laser range finder, the alarm and the speaker are all connected with the industrial personal computer.
7. The inspection robot with a visual recognition function according to any one of claims 1 to 5, wherein the industrial personal computer is in communication connection with an upper computer through an industrial grade antenna, and the industrial grade antenna is installed at the rear of the robot body.
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| CN201811116115.1A CN109079795B (en) | 2018-09-25 | 2018-09-25 | Inspection robot with visual recognition function |
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| CN201811116115.1A CN109079795B (en) | 2018-09-25 | 2018-09-25 | Inspection robot with visual recognition function |
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| CN109079795B true CN109079795B (en) | 2023-10-20 |
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| CN109877829A (en) * | 2019-01-30 | 2019-06-14 | 盈科视控(北京)科技有限公司 | A kind of figure communication dispatch method and system for robot |
| CN110362090A (en) * | 2019-08-05 | 2019-10-22 | 北京深醒科技有限公司 | A kind of crusing robot control system |
| CN111372060A (en) * | 2020-04-07 | 2020-07-03 | 北京海益同展信息科技有限公司 | Intelligent bait casting method and system and inspection vision device |
| CN112468736A (en) * | 2020-10-26 | 2021-03-09 | 珠海市一微半导体有限公司 | Ceiling vision robot capable of intelligently supplementing light and control method thereof |
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