CN110039559B - Method for regulating and controlling height of pipe gallery inspection robot - Google Patents
Method for regulating and controlling height of pipe gallery inspection robot Download PDFInfo
- Publication number
- CN110039559B CN110039559B CN201910441672.9A CN201910441672A CN110039559B CN 110039559 B CN110039559 B CN 110039559B CN 201910441672 A CN201910441672 A CN 201910441672A CN 110039559 B CN110039559 B CN 110039559B
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- China
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- pipe gallery
- inspection robot
- piping lane
- lighting device
- pipe
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The invention discloses a method for regulating and controlling the personal height of a pipe gallery inspection robot, which is characterized in that after entering a pipe section where each lighting device is located, the inspection robot is lifted from the lowest height to the highest height, the illumination of the pipe gallery is continuously detected in the lifting process, and the image acquisition at each height is ensured to have enough brightness support, namely, the illumination adjustment in the pipe gallery is carried out along with the height adjustment of the inspection robot, so that the problems that the height of the pipe gallery inspection robot needs to be regulated in real time when the pipe gallery inspection robot acquires images and the brightness of all the heights is enough are solved. Still have energy-concerving and environment-protective and can carry out the preset to the illuminance of piping lane, shorten the advantage of patrolling and examining the time.
Description
Technical Field
The invention relates to the field of control of pipe gallery inspection robots, in particular to a method for regulating and controlling the height of a pipe gallery inspection robot.
Background
Utility tunnel, be exactly underground city pipeline utility corridor, build a tunnel space promptly in the city underground, collect electric power, communication, various engineering pipelines such as gas, heat supply, plumbing etc. in an organic whole, be equipped with special access hole, hoist and mount mouth and monitoring system, implement unified planning, unified design, unified construction and management, be the important infrastructure and "lifeline" utility tunnel system that ensure city operation not only solve the urban traffic jam problem, still greatly made things convenient for the maintenance and the maintenance of municipal facilities such as electric power, communication, gas, water supply and drainage. In addition, the system also has a certain shockproof and disaster reduction effect. For example, in 1995, during the great earthquake of Osaka, Japan, a large number of houses in the Shenhu city collapse and roads are damaged, but most of local underground comprehensive pipe galleries are intact, so that the difficulty of post-earthquake disaster relief and reconstruction work is greatly reduced. The utility tunnel plays an important role in meeting the basic demands of the civilian life and improving the comprehensive bearing capacity of the city. The construction of the common ditch avoids the influence and interference on traffic and resident trip caused by frequently digging roads for laying and maintaining underground pipelines, and keeps the road appearance complete and beautiful. The cost of repeated repair of the road surface and the maintenance cost of the engineering pipeline are reduced. The integrity of the pavement and the durability of various pipelines are maintained. Is convenient for laying, increasing, decreasing, maintaining and daily managing various pipelines. Because the pipeline arrangement is compact reasonable in the ditch, effectively utilized the space under the road, practiced thrift urban land. Because the number of the posts of the road and the inspection wells, rooms and the like of various pipelines are reduced, the urban landscape is beautiful. Because the overhead pipelines enter the ground together, the contradiction between the overhead pipelines and the greening is reduced.
However, because the particularity of piping lane environment, the robot is patrolled and examined to the pipe gallery of general adoption, the pipe gallery is patrolled and examined the robot except the magnetic field that detects the pipe gallery, physical parameters such as electric leakage, still need carry out image acquisition in the pipe gallery, but because the interior basic illumination that does not need of pipe gallery, very easily lead to the problem that illuminance is not enough in the pipe gallery when patrolling and examining and carrying out image acquisition, consequently, generally all can install lighting device in the pipe gallery, but, because the pipe gallery has certain height, the pipe gallery is patrolled and examined the robot and also need adjust the height of oneself in real time when gathering the image, guarantee all high luminance enough simultaneously.
Disclosure of Invention
The invention aims to: the utility model provides a pipe gallery patrols and examines robot person height control method, has solved because the pipe gallery has certain height, and the pipe gallery patrols and examines the robot and also need adjust the height of oneself in real time when gathering the image, guarantees the luminance of all heights simultaneously and all is enough problem.
The technical scheme adopted by the invention is as follows:
the utility model provides a pipe rack patrols and examines robot height control method, patrols and examines the robot including the pipe rack that has illuminance sensor, the pipe rack patrols and examines still to be provided with the lifting device on the robot, the lifting device is used for adjusting the ground clearance that the robot was patrolled and examined to the pipe rack, the pipe rack is patrolled and is examined and all be provided with wireless communication device on the lighting device in robot and the pipe rack, lighting device and wireless communication device match one by one still include following step:
s1, the pipe gallery inspection robot enters the pipe gallery to start working;
s2, the pipe gallery inspection robot stops moving after entering a pipe section where the first lighting device is located, and the wireless communication device of the pipe gallery inspection robot is connected with the wireless communication device of the first lighting device;
s3, starting an illumination sensor and a lifting device by the pipe gallery inspection robot, controlling the pipe gallery inspection robot to rise and lift from the minimum ground clearance by the lifting device, and detecting the ambient illumination by the illumination sensor in the rising process;
s4, the detected illumination is compared with a preset threshold value by an illumination sensor, when the detected illumination is larger than the threshold value, the lifting device controls the pipe gallery inspection robot to continuously lift, and when the pipe gallery inspection robot is lifted to the maximum ground clearance, the step S6 is carried out; when the detected illumination is smaller than the threshold value, the lifting device controls the pipe gallery inspection robot to suspend lifting, and the step S5 is carried out;
s5, the pipe gallery inspection robot adjusts the lighting device through the wireless communication device, the brightness of the lighting device is gradually increased, the illumination sensor continuously detects the ambient illumination in the adjusting process of the lighting device, when the detected illumination is larger than a threshold value, the pipe gallery inspection robot stops adjusting the lighting device through the wireless communication device, the lifting device controls the pipe gallery inspection robot to continue lifting, and then the step S4 is carried out;
s6, controlling the pipe gallery inspection robot to descend to the minimum ground clearance by the lifting device, enabling the pipe gallery inspection robot to move towards the next pipe section and stop moving after entering the next pipe section, enabling the wireless communication device to be connected with the wireless communication device of the next lighting device, and repeating the steps S3-S6;
and S7, finishing the task after the pipe gallery inspection robot passes through all the pipe sections.
By adopting the method, after entering the pipe section where each lighting device is located, the inspection machine is raised to the highest height from the lowest height, the illumination of the pipe gallery is continuously detected in the rising process, the image acquisition at each height is guaranteed to be supported by enough brightness, and the problems that the pipe gallery has a certain height, the height of the inspection robot of the pipe gallery needs to be adjusted in real time when the image is acquired, and the brightness of all the heights is enough are guaranteed simultaneously are solved.
Further, the wireless communication device communicates by using the NFC technology. NFC is a new technology, equipment using the NFC technology can exchange data under the condition that the equipment is close to each other, the equipment is integrated and evolved by a non-contact radio frequency identification RFID and an interconnection and intercommunication technology, and applications such as mobile payment, electronic ticketing, entrance guard, mobile identity recognition and anti-counterfeiting are realized by utilizing a mobile terminal through integrating functions of an induction type card reader, an induction type card and point-to-point communication on a single chip.
Further, in step S6, the pipe gallery inspection robot moves to the next pipe section, and after entering the next pipe section, the pipe gallery inspection robot disconnects from the wireless communication device of the previous pipe section, and after the wireless communication device of the lighting device of the current pipe section detects that the connection with the pipe gallery inspection robot is disconnected, the brightness of the lighting device connected with the pipe gallery inspection robot is adjusted to the lowest brightness. By adopting the scheme, after the inspection robot leaves the last pipe section, the brightness of the lighting device of the last pipe section is immediately reduced, and the inspection robot is energy-saving and environment-friendly.
Further, still including numbering the piping lane that needs were patrolled and examined in advance, then establish the piping lane database, record the serial number of piping lane and the biggest luminance of each lighting device in this piping lane patrols and examines for the latest time in the database.
Further, in step S1, before the piping lane inspection robot entered the piping lane and started working, read the piping lane database, read the biggest luminance of each lighting device in this piping lane was patrolled and examined latest, adjusted corresponding biggest luminance through patrolling and examining the lighting device in backstage and the piping lane control backstage control piping lane.
Further, when the pipe gallery inspection robot finishes tasks after passing through all pipe sections in the step S7, the pipe gallery inspection robot uploads the maximum brightness of each lighting device in the current inspection process to the database. Adopt above-mentioned scheme, because the inside closed environment that is of piping lane, it is less influenced by ambient illuminance, generally can not appear because the external reason leads to the circumstances that illuminance risees in the piping lane, generally only can lead to illuminance reduction in the piping lane owing to new shelter appearing, when the robot gets into the piping lane is patrolled and examined to the piping lane, adjust the illuminance in the piping lane in advance, each pipeline section of robot of avoiding patrolling and examining all need spend a large amount of time adjustment illuminance, and simultaneously, even some changes appear in this pipeline section and lead to needing readjusting the illuminance, the range of adjustment is also less, new illuminance parameter also can be updated to the database at once.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention relates to a method for regulating and controlling the height of a human body of a pipe gallery inspection robot, which solves the problems that the height of the pipe gallery inspection robot needs to be regulated in real time when an image is collected because the pipe gallery has a certain height, and the brightness of all the heights is enough;
2. according to the method for regulating the personal height of the pipe gallery inspection robot, after the inspection robot leaves the previous pipe section, the illumination of the lighting device of the previous pipe section is immediately reduced, so that the method is energy-saving and environment-friendly;
2. according to the method for regulating the height of the human body of the pipe gallery inspection machine, the special pipe gallery illumination database is established, so that the illumination of the pipe gallery can be preset, and the inspection time is shortened.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic flow diagram of the present invention;
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
The present invention will be described in detail with reference to fig. 1.
Example 1
The utility model provides a pipe rack patrols and examines robot height control method, patrols and examines the robot including the pipe rack that has illuminance sensor, the pipe rack patrols and examines still to be provided with the lifting device on the robot, the lifting device is used for adjusting the ground clearance that the robot was patrolled and examined to the pipe rack, the pipe rack is patrolled and is examined and all be provided with wireless communication device on the lighting device in robot and the pipe rack, lighting device and wireless communication device match one by one still include following step:
s1, the pipe gallery inspection robot enters the pipe gallery to start working;
s2, the pipe gallery inspection robot stops moving after entering a pipe section where the first lighting device is located, and the wireless communication device of the pipe gallery inspection robot is connected with the wireless communication device of the first lighting device;
s3, starting an illumination sensor and a lifting device by the pipe gallery inspection robot, controlling the pipe gallery inspection robot to rise and lift from the minimum ground clearance by the lifting device, and detecting the ambient illumination by the illumination sensor in the rising process;
s4, the detected illumination is compared with a preset threshold value by an illumination sensor, when the detected illumination is larger than the threshold value, the lifting device controls the pipe gallery inspection robot to continuously lift, and when the pipe gallery inspection robot is lifted to the maximum ground clearance, the step S6 is carried out; when the detected illumination is smaller than the threshold value, the lifting device controls the pipe gallery inspection robot to suspend lifting, and the step S5 is carried out;
s5, the pipe gallery inspection robot adjusts the lighting device through the wireless communication device, the brightness of the lighting device is gradually increased, the illumination sensor continuously detects the ambient illumination in the adjusting process of the lighting device, when the detected illumination is larger than a threshold value, the pipe gallery inspection robot stops adjusting the lighting device through the wireless communication device, the lifting device controls the pipe gallery inspection robot to continue lifting, and then the step S4 is carried out;
s6, controlling the pipe gallery inspection robot to descend to the minimum ground clearance by the lifting device, enabling the pipe gallery inspection robot to move towards the next pipe section and stop moving after entering the next pipe section, enabling the wireless communication device to be connected with the wireless communication device of the next lighting device, and repeating the steps S3-S6;
and S7, finishing the task after the pipe gallery inspection robot passes through all the pipe sections.
By adopting the method, after entering the pipe section where each lighting device is located, the inspection machine is raised to the highest height from the lowest height, the illumination of the pipe gallery is continuously detected in the rising process, the image acquisition at each height is guaranteed to be supported by enough brightness, and the problems that the pipe gallery has a certain height, the height of the inspection robot of the pipe gallery needs to be adjusted in real time when the image is acquired, and the brightness of all the heights is enough are guaranteed simultaneously are solved.
Example 2
The present embodiment is different from embodiment 1 in that the wireless communication apparatus performs communication using NFC technology. NFC is a new technology, equipment using the NFC technology can exchange data under the condition that the equipment is close to each other, the equipment is integrated and evolved by a non-contact radio frequency identification RFID and an interconnection and intercommunication technology, and applications such as mobile payment, electronic ticketing, entrance guard, mobile identity recognition and anti-counterfeiting are realized by utilizing a mobile terminal through integrating functions of an induction type card reader, an induction type card and point-to-point communication on a single chip.
Further, in step S6, the pipe gallery inspection robot moves to the next pipe section, and after entering the next pipe section, the pipe gallery inspection robot disconnects from the wireless communication device of the previous pipe section, and after the wireless communication device of the lighting device of the current pipe section detects that the connection with the pipe gallery inspection robot is disconnected, the brightness of the lighting device connected with the pipe gallery inspection robot is adjusted to the lowest brightness. By adopting the scheme, after the inspection robot leaves the last pipe section, the brightness of the lighting device of the last pipe section is immediately reduced, and the inspection robot is energy-saving and environment-friendly.
Further, still including numbering the piping lane that needs were patrolled and examined in advance, then establish the piping lane database, record the serial number of piping lane and the biggest luminance of each lighting device in this piping lane patrols and examines for the latest time in the database.
Further, in step S1, before the piping lane inspection robot entered the piping lane and started working, read the piping lane database, read the biggest luminance of each lighting device in this piping lane was patrolled and examined latest, adjusted corresponding biggest luminance through patrolling and examining the lighting device in backstage and the piping lane control backstage control piping lane.
Further, when the pipe gallery inspection robot finishes tasks after passing through all pipe sections in the step S7, the pipe gallery inspection robot uploads the maximum illumination of each lighting device in the current inspection process to the database. Adopt above-mentioned scheme, because the inside closed environment that is of piping lane, it is less influenced by ambient illuminance, generally can not appear because the external reason leads to the circumstances that illuminance risees in the piping lane, generally only can lead to illuminance reduction in the piping lane owing to new shelter appearing, when the robot gets into the piping lane is patrolled and examined to the piping lane, adjust the illuminance in the piping lane in advance, each pipeline section of robot of avoiding patrolling and examining all need spend a large amount of time adjustment illuminance, and simultaneously, even some changes appear in this pipeline section and lead to needing readjusting the illuminance, the range of adjustment is also less, new illuminance parameter also can be updated to the database at once.
Example 3
As shown in table 1, the data measured in the actual operation shows that the illuminance is 0.2lx when the minimum illuminance is adjusted for all the lighting apparatuses, and the threshold value of the illuminance detected by the illuminance sensor is 100lx, the present apparatus performs different illuminance adjustments at a plurality of heights in the actual operation.
Table 1: height of inspection robot at maximum brightness and maximum brightness of different pipe section lighting devices
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be made by those skilled in the art without inventive work within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (6)
1. The utility model provides a piping lane patrols and examines robot height control method, patrols and examines the robot including the piping lane that has illuminance sensor, the piping lane is patrolled and examined and still is provided with the lifting device on the robot, the lifting device is used for adjusting the ground clearance that the robot was patrolled and examined to the piping lane, the piping lane is patrolled and examined and all is provided with wireless communication device on the lighting device in robot and the piping lane, lighting device and wireless communication device match one to one, its characterized in that: further comprising the steps of:
s1, the pipe gallery inspection robot enters the pipe gallery to start working;
s2, the pipe gallery inspection robot stops moving after entering a pipe section where the first lighting device is located, and the wireless communication device of the pipe gallery inspection robot is connected with the wireless communication device of the first lighting device;
s3, starting an illumination sensor and a lifting device by the pipe gallery inspection robot, controlling the pipe gallery inspection robot to lift from the minimum ground clearance by the lifting device, and detecting the ambient illumination by the illumination sensor in the lifting process;
s4, the detected illumination is compared with a preset threshold value by an illumination sensor, when the detected illumination is larger than the threshold value, the lifting device controls the pipe gallery inspection robot to continuously lift, and when the pipe gallery inspection robot is lifted to the maximum ground clearance, the step S6 is carried out; when the detected illumination is smaller than the threshold value, the lifting device controls the pipe gallery inspection robot to suspend lifting, and the step S5 is carried out;
s5, the pipe gallery inspection robot adjusts the lighting device through the wireless communication device, the brightness of the lighting device is gradually increased, the illumination sensor continuously detects the ambient illumination in the adjusting process of the lighting device, when the detected illumination is larger than a threshold value, the pipe gallery inspection robot stops adjusting the lighting device through the wireless communication device, the lifting device controls the pipe gallery inspection robot to continue lifting, and then the step S4 is carried out;
s6, controlling the pipe gallery inspection robot to descend to the minimum ground clearance by the lifting device, enabling the pipe gallery inspection robot to move towards the next pipe section and stop moving after entering the next pipe section, enabling the wireless communication device to be connected with the wireless communication device of the next lighting device, and repeating the steps S3-S6;
and S7, finishing the task after the pipe gallery inspection robot passes through all the pipe sections.
2. The personnel height regulating method for the pipe gallery inspection robot according to claim 1, characterized in that: the wireless communication device communicates by using NFC technology.
3. The personnel height regulating method for the pipe gallery inspection robot according to claim 1, characterized in that: in the step S6, the pipe gallery inspection robot moves to the next pipe section, and disconnects the wireless communication device of the previous pipe section after entering the next pipe section, and adjusts the brightness of the lighting device connected with the wireless communication device of the lighting device of the previous pipe section to the lowest brightness after detecting that the wireless communication device of the lighting device of the previous pipe section is disconnected with the pipe gallery inspection robot.
4. The personnel height regulating method for the pipe gallery inspection robot according to claim 1, characterized in that: still including numbering the piping lane that needs patrol and examine in advance, then establish the piping lane database, record the serial number of piping lane and the biggest luminance of each lighting device in this piping lane patrols and examines most recently in the database.
5. The personnel height control method for the pipe gallery inspection robot according to claim 4, characterized in that: in step S1, before the piping lane inspection robot entered the piping lane and started working, read the piping lane database, read the biggest luminance of each lighting device in this piping lane was patrolled and examined last time, adjusted corresponding biggest luminance through patrolling and examining the lighting device in backstage and the control backstage control piping lane of piping lane.
6. The personnel height control method for the pipe gallery inspection robot according to claim 5, characterized in that: and in the step S7, after the pipe gallery inspection robot finishes the task after passing through all the pipe sections, the pipe gallery inspection robot uploads the maximum brightness of each lighting device in the current inspection process to the database.
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| CN201910441672.9A CN110039559B (en) | 2019-05-24 | 2019-05-24 | Method for regulating and controlling height of pipe gallery inspection robot |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0509256A1 (en) * | 1991-04-19 | 1992-10-21 | Shinko Electric Co. Ltd. | Unmanned conveying device in clean room |
| CN106255256A (en) * | 2016-07-07 | 2016-12-21 | 浙江中廊监控设备有限公司 | Pipe gallery and tunnel illumination loop dimming energy-saving system and control method |
| CN107985620A (en) * | 2017-11-23 | 2018-05-04 | 苏州奥柯图葳机电科技有限公司 | A kind of intelligent patrol unmanned machine for wisdom piping lane based on Internet of Things |
| CN108582107A (en) * | 2018-05-07 | 2018-09-28 | 哈工大（张家口）工业技术研究院 | A kind of pipe gallery information system based on technology of Internet of things |
-
2019
- 2019-05-24 CN CN201910441672.9A patent/CN110039559B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0509256A1 (en) * | 1991-04-19 | 1992-10-21 | Shinko Electric Co. Ltd. | Unmanned conveying device in clean room |
| CN106255256A (en) * | 2016-07-07 | 2016-12-21 | 浙江中廊监控设备有限公司 | Pipe gallery and tunnel illumination loop dimming energy-saving system and control method |
| CN107985620A (en) * | 2017-11-23 | 2018-05-04 | 苏州奥柯图葳机电科技有限公司 | A kind of intelligent patrol unmanned machine for wisdom piping lane based on Internet of Things |
| CN108582107A (en) * | 2018-05-07 | 2018-09-28 | 哈工大（张家口）工业技术研究院 | A kind of pipe gallery information system based on technology of Internet of things |
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