CN110757476A - Workshop safety protection patrol robot system and patrol method thereof - Google Patents
Workshop safety protection patrol robot system and patrol method thereof Download PDFInfo
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- CN110757476A CN110757476A CN201911004362.7A CN201911004362A CN110757476A CN 110757476 A CN110757476 A CN 110757476A CN 201911004362 A CN201911004362 A CN 201911004362A CN 110757476 A CN110757476 A CN 110757476A
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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
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- 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
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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
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention discloses a patrol robot system for workshop safety protection and a patrol method thereof, wherein the system comprises an infrared obstacle avoidance module, a shooting module, a charging module, a camera holder, a server, a transmission module, an emergency processing module and a processor, wherein the infrared obstacle avoidance module is used for automatic steering and avoiding; the shooting module is used for shooting videos or photos of the workshop machine tool; the camera shooting tripod head drives the shooting module to rotate and lift; the server background controls the operation of the robot and sends a corresponding instruction to the robot: the transmission module realizes the forward movement, the backward movement and the steering of the robot; the emergency processing module: the danger condition is released for alarming and emergency treatment; the processor: and controlling the robot to operate according to the instruction of the server, storing the uploaded information, recording the walking route of the robot and the positions of all devices, and realizing the planning of the path and the drawing of the map. The patrol method finishes counting each device in the patrol process.
Description
Technical Field
The invention relates to the technical field of robot safety protection, in particular to a patrol robot system for workshop safety protection and a patrol method thereof.
Background
With the development of social economy, modern workshops tend to be unmanned in production and management, and people who have accidents in automatic workshops cannot be in place in time. Therefore, the traditional fixed camera monitoring mode cannot effectively reflect the overall condition of the workshop and cannot meet the requirements of complex workshop topography and equipment conditions. Therefore, the safety protection patrol robot for the workshop is produced at the same time.
However, although the conventional patrol robot has a monitoring camera and can provide a video recording and storing function, such a simple video recording and storing function is mainly used as a tool for investigation and evidence collection after an accident occurs, and cannot effectively function at the scene of the accident.
Disclosure of Invention
The invention aims to solve the problems and provides a workshop safety protection patrol robot system and a patrol method thereof.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a patrol robot system for workshop safety protection comprises a processor, and an infrared obstacle avoidance module, a shooting module, a camera shooting holder, a transmission module and an emergency processing module which are connected with the processor;
the processor receives and processes information transmitted by the infrared obstacle avoidance module, the shooting module, the camera cloud deck, the server, the transmission module and the emergency processing module at the background, and then sends an instruction to the infrared obstacle avoidance module, the shooting module, the camera cloud deck, the server, the transmission module and the emergency processing module to be executed; the robot is controlled to operate according to the instructions of the server, uploaded information is stored, the walking route of the robot and the positions of all devices are recorded, and path planning and map drawing are achieved;
the infrared obstacle avoidance module is used for detecting the periphery of the robot, so that the specific position of the robot and the actual specification of a workshop are accurately judged, the route planning of the robot is facilitated, and a road is automatically detected during line patrol to realize automatic steering and avoidance;
the shooting module is used for shooting videos or photos of the workshop machine tool;
the camera shooting tripod head drives the shooting module to rotate and lift;
the transmission module realizes the forward movement, the backward movement and the steering of the robot;
the emergency processing module is used for processing alarm and emergency processing of dangerous situations.
As an improvement of the technical scheme of the invention, the workshop safety protection patrol robot system further comprises a detachable charging module, so that the sufficient electric power of the robot is ensured.
As an improvement of the technical solution of the present invention, the charging mode of the charging module may be contact charging or wireless charging.
As an improvement on the technical scheme of the invention, the invention also provides a patrol method of the workshop safety protection patrol robot system, which comprises the following steps:
s1: the infrared obstacle avoidance module automatically patrols the line to move forward, a line map is drawn in the system, and the line is patrolled forward according to the principle of external inspection and internal inspection;
s2: when a branch is detected in the process of line patrol, identifying W1 at the point, then continuing to advance, if a branch is detected again on the advancing road, marking as W2, and so on;
s3: after the external line is traced, marking the line as A and returning to the starting point, continuing to trace forwards along the first line and tracing the turnout in turn according to the sequence of the turnout mark until meeting the line A and returning to the original line when no other turnout exists, marking the turnout as a1, continuing to mark if a new turnout is met in the process of tracing the turnout, and zeroing other turnout marks if the turnout is coincident with other turnout marks;
s4: after returning the original route to the origin of the branch route, continuing the next round of marking W2 along the a route, and repeating step S3;
s5: marking the floor occupation information and the shape of the equipment in real time in the line patrol process, and numbering the detected equipment sequentially according to numbers B1 and B2;
s6: converting a map and a scale of an actual line and the size of a corner according to the motion parameters of the transmission module, storing the line, and uploading the stored line to a server for storage;
s7: when line patrol is needed, an optimal line patrol route is planned according to an instruction of a server for line patrol and shooting, and a shooting result is stored and uploaded;
s8: when an accident is detected, the robot emergency processing module cuts off the power supply of the numbering device, and gives an alarm and informs related personnel.
As a modification of the present invention, in step S2, when marking a branch, a left arrow is marked if the branch is left, a right arrow is marked if the branch is right, and a cross arrow is marked if the branch is cross.
Compared with the prior art, the invention has the advantages and positive effects that:
according to the workshop safety protection patrol robot system and the patrol method thereof, a robot is used for patrolling a workshop and patrolling equipment, the problem that a traditional camera cannot patrol all equipment due to the existence of dead angles can be avoided, the check of each equipment is guaranteed, and the route can be automatically arranged without manual too much interference.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived from the embodiments of the present invention by a person skilled in the art without any creative effort, should be included in the protection scope of the present invention.
Example 1
As shown in fig. 1, the patrol robot system for workshop safety protection of the embodiment includes an infrared obstacle avoidance module, a shooting module, a charging module, a camera head, a server, a transmission module, an emergency processing module and a processor, wherein the infrared obstacle avoidance module is used for automatically detecting a road to realize automatic steering and avoidance during line patrol; the shooting module: the system is used for shooting videos or photos of the workshop machine tool; the camera shooting pan-tilt: driving the shooting module to rotate and lift; the server: the background controls the operation of the robot and sends a corresponding instruction to the robot: the transmission module is characterized in that: the forward, backward and steering of the robot are realized; the emergency processing module: the danger condition is released for alarming and emergency treatment; the processor: the robot is controlled to operate according to the instruction of the server, the uploaded information is stored, the walking route of the robot and the positions of all devices are recorded, the planning of the route and the drawing of the map are achieved, and the patrol method of the safety protection patrol robot comprises the following steps:
s1: automatically patrolling the line to advance through an infrared device, drawing a line map in the system, and patrolling the line forward according to the principle of external inspection and internal inspection;
s2: when a branch is detected during a line patrol, W is marked at that point1Then continuing to advance, on the advancing road if a diversion is detected againMarked W2And so on in turn;
s3: marking the line as A after the external line finishes the line patrol, returning to the starting point, continuing to patrol forwards along the first line and patrol the branches in sequence according to the sequence of the branch marks until meeting the line A and returning when no other branches exist, and marking the branch as a1If a new branch is encountered in the process of line patrol at the branch, marking is continued, and if the mark is overlapped with other branch marks, other branch marks are reset to zero;
s4: after the original route returns to the origin of the branch route, the next mark W is continued along the route A2And repeating step S3;
s5: marking the floor occupation information and the shape of the equipment in real time in the line patrol process, and numbering the detected equipment sequentially according to numbers B1 and B2;
s6: converting a map and a scale of an actual line and the size of a corner according to the motion parameters of the transmission module, storing the line, and uploading the stored line to a server for storage;
s7: when line patrol is needed, an optimal line patrol route is planned according to an instruction of the server for line patrol and shooting, and a shooting result is stored and uploaded.
S8: when an accident is detected, the robot emergency processing module cuts off the power supply of the numbering device, and gives an alarm and informs related personnel.
It is worth noting that the charging module is arranged at a wall corner, a charging position can be marked on a map, the electric power of the robot is ensured to be sufficient, and the charging mode of the charging module can be contact charging or wireless charging.
In this embodiment, the transmission module includes a gear set and a driving wheel with a specific ratio, the processor converts the ratio of the actual route to the map according to the number of rotation states of the gear set or the driving wheel, and calculates the rotation angle according to the rotation angle of the driving wheel.
In the case of the branch marking in step S2, a left arrow is marked if the branch is left, a right arrow is marked if the branch is right, and a cross arrow is marked if the branch is cross.
Example 2
As shown in fig. 1, the patrol robot system for workshop safety protection of the embodiment includes an infrared obstacle avoidance module, a shooting module, a charging module, a camera head, a server, a transmission module, an emergency processing module and a processor, wherein the infrared obstacle avoidance module is used for automatically detecting a road to realize automatic steering and avoidance during line patrol; the shooting module: the system is used for shooting videos or photos of the workshop machine tool; the camera shooting pan-tilt: driving the shooting module to rotate and lift; the server: the background controls the operation of the robot and sends a corresponding instruction to the robot: the transmission module is characterized in that: the forward, backward and steering of the robot are realized; the emergency processing module: the danger condition is released for alarming and emergency treatment; the processor: the robot is controlled to operate according to the instruction of the server, the uploaded information is stored, the walking route of the robot and the positions of all devices are recorded, the planning of the route and the drawing of the map are achieved, and the patrol method of the safety protection patrol robot comprises the following steps:
s1: automatically patrolling the line to advance through an infrared device, drawing a line map in the system, and patrolling the line forward according to the principle of external inspection and internal inspection;
s2: when a branch is detected during a line patrol, W is marked at that point1Then continue to advance, on the way that advances, if a diversion is detected again, it is marked as W2And so on in turn;
s3: marking the line as A after the external line finishes the line patrol, returning to the starting point, continuing to patrol forwards along the first line and patrol the branches in sequence according to the sequence of the branch marks until meeting the line A and returning when no other branches exist, and marking the branch as a1If a new branch is encountered in the process of line patrol at the branch, marking is continued, and if the mark is overlapped with other branch marks, other branch marks are reset to zero;
s4: after the original route returns to the origin of the branch route, the next mark W is continued along the route A2Is on a line andrepeating step S3;
s5: marking the floor occupation information and the shape of the equipment in real time in the line patrol process, and numbering the detected equipment sequentially according to numbers B1 and B2;
s6: converting a map and a scale of an actual line and the size of a corner according to the motion parameters of the transmission module, storing the line, and uploading the stored line to a server for storage;
s7: when line patrol is needed, an optimal line patrol route is planned according to an instruction of the server for line patrol and shooting, and a shooting result is stored and uploaded.
S8: when an accident is detected, the robot emergency processing module cuts off the power supply of the numbering device, and gives an alarm and informs related personnel.
It is worth noting that the infrared obstacle avoidance module can detect the periphery of the robot, so that the specific position of the robot and the actual specification of a workshop can be accurately judged, and the line planning of the robot is facilitated.
In this embodiment, the charging module is arranged at a wall corner, so that the charging position can be marked on a map, the electric power of the robot is ensured to be sufficient, and the charging mode of the charging module can be contact charging or wireless charging.
In this embodiment, the cloud platform of making a video recording includes the lifter and rotates the platform, rotates the platform and can drive and shoot the module and go on controlling 360 degrees rotations, and the lifter can drive and shoot the module and shoot from ground to the equipment highest point.
In this embodiment, the transmission module includes a gear set and a driving wheel with a specific ratio, the processor converts the ratio of the actual route to the map according to the number of rotation states of the gear set or the driving wheel, and calculates the rotation angle according to the rotation angle of the driving wheel.
In the case of the branch marking in step S2, a left arrow is marked if the branch is left, a right arrow is marked if the branch is right, and a cross arrow is marked if the branch is cross.
Based on the above, the robot system for patrolling the workshop and the patrolling method thereof patrol the workshop through the robot and patrol the equipment, so that the problem that the traditional camera cannot patrol all the equipment due to the existence of dead angles can be avoided, the check of each equipment is ensured, and the route can be automatically arranged without too much manual interference.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (5)
1. The utility model provides a workshop safety protection patrols robot system which characterized in that: the system comprises a processor, and an infrared obstacle avoidance module, a shooting module, a camera shooting holder, a transmission module and an emergency processing module which are connected with the processor;
the processor receives and processes information transmitted by the infrared obstacle avoidance module, the shooting module, the camera cloud deck, the server, the transmission module and the emergency processing module at the background, and then sends an instruction to the infrared obstacle avoidance module, the shooting module, the camera cloud deck, the server, the transmission module and the emergency processing module to be executed; the robot is controlled to operate according to the instructions of the server, uploaded information is stored, the walking route of the robot and the positions of all devices are recorded, and path planning and map drawing are achieved;
the infrared obstacle avoidance module is used for detecting the periphery of the robot, so that the specific position of the robot and the actual specification of a workshop are accurately judged, the route planning of the robot is facilitated, and a road is automatically detected during line patrol to realize automatic steering and avoidance;
the shooting module is used for shooting videos or photos of the workshop machine tool;
the camera shooting tripod head drives the shooting module to rotate and lift;
the transmission module realizes the forward movement, the backward movement and the steering of the robot;
the emergency processing module is used for processing alarm and emergency processing of dangerous situations.
2. The workshop safety protection patrol robot system of claim 1, wherein: the workshop safety protection patrol robot system further comprises a detachable charging module, and the sufficient electric power of the robot is guaranteed.
3. The workshop safety protection patrol robot system of claim 2, wherein: the charging mode of the charging module can be contact charging or wireless charging.
4. A plant patrol method of the workshop safety protection patrol robot system according to any one of claims 1 to 3, wherein the plant patrol method comprises the following steps: the patrol method comprises the following steps:
s1: the infrared obstacle avoidance module automatically patrols the line to move forward, a line map is drawn in the system, and the line is patrolled forward according to the principle of external inspection and internal inspection;
s2: when a branch is detected in the process of line patrol, identifying W1 at the point, then continuing to advance, if a branch is detected again on the advancing road, marking as W2, and so on;
s3: after the external line is traced, marking the line as A and returning to the starting point, continuing to trace forwards along the first line and tracing the turnout in turn according to the sequence of the turnout mark until meeting the line A and returning to the original line when no other turnout exists, marking the turnout as a1, continuing to mark if a new turnout is met in the process of tracing the turnout, and zeroing other turnout marks if the turnout is coincident with other turnout marks;
s4: after returning the original route to the origin of the branch route, continuing the next round of marking W2 along the a route, and repeating step S3;
s5: marking the floor occupation information and the shape of the equipment in real time in the line patrol process, and numbering the detected equipment sequentially according to numbers B1 and B2;
s6: converting a map and a scale of an actual line and the size of a corner according to the motion parameters of the transmission module, storing the line, and uploading the stored line to a server for storage;
s7: when line patrol is needed, an optimal line patrol route is planned according to an instruction of a server for line patrol and shooting, and a shooting result is stored and uploaded;
s8: when an accident is detected, the robot emergency processing module cuts off the power supply of the numbering device, and gives an alarm and informs related personnel.
5. The patrol method according to claim 4, wherein: in step S2, when the branch is marked, a left arrow is marked if the branch is left, a right arrow is marked if the branch is right, and a cross arrow is marked if the branch is cross.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911004362.7A CN110757476A (en) | 2019-10-22 | 2019-10-22 | Workshop safety protection patrol robot system and patrol method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911004362.7A CN110757476A (en) | 2019-10-22 | 2019-10-22 | Workshop safety protection patrol robot system and patrol method thereof |
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| CN110757476A true CN110757476A (en) | 2020-02-07 |
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| CN201911004362.7A Pending CN110757476A (en) | 2019-10-22 | 2019-10-22 | Workshop safety protection patrol robot system and patrol method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113110481A (en) * | 2021-04-26 | 2021-07-13 | 上海智蕙林医疗科技有限公司 | Emergency avoidance implementation method and system, robot and storage medium |
| CN116167729A (en) * | 2023-04-26 | 2023-05-26 | 内江市感官密码科技有限公司 | Campus patrol method, device, equipment and medium based on artificial intelligence |
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Application publication date: 20200207 |