CN111561943A - Robot inspection method and system - Google Patents
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- CN111561943A CN111561943A CN201910113729.2A CN201910113729A CN111561943A CN 111561943 A CN111561943 A CN 111561943A CN 201910113729 A CN201910113729 A CN 201910113729A CN 111561943 A CN111561943 A CN 111561943A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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Abstract
The invention relates to the field of intelligent manufacturing, and discloses a robot inspection method and a system, wherein inspection task scheduling information is acquired; acquiring an environment map according to the routing inspection task scheduling information; planning a path of the environment map to generate a routing inspection path; and performing autonomous navigation according to the routing inspection path, and reporting the routing inspection condition. The invention realizes the automatic and intelligent routing inspection of enterprise production equipment, has high routing inspection efficiency and reduces the labor input.
Description
Technical Field
The invention relates to the field of intelligent manufacturing, in particular to a robot inspection method and a robot inspection system.
Background
At present, most of the existing inspection systems of chemical enterprises still rely on the traditional inspection means, and inspection work is mostly established on the work consciousness of inspection personnel. The inspection mode is mainly that an inspector is arranged to go to each inspection point for inspection, the inspection result is recorded, and the inspection result is reported after the inspection is finished. The inspection results reported by the inspection personnel are not timely and accurate enough, the statistics of the inspection information is time-consuming and labor-consuming, the positions of the inspection personnel cannot be determined, the number of the inspection personnel cannot be counted, and the like. The current situations that maintenance personnel are not in place and the enterprise equipment facilities are not checked and maintained on time exist in the patrol supervision, and great potential safety hazards exist in enterprise production, so that the safety production management of enterprises is lack of powerful guarantee. The various measures of the routing inspection are not really implemented, the randomness and the blindness of the routing inspection are caused, a large amount of manpower and material resources are input, and the expected effect cannot be achieved. The inspection mode hardly ensures the safe production and normal operation management of enterprises.
Disclosure of Invention
The invention provides a robot inspection method and a robot inspection system, which solve the technical problems that in the prior art, due to randomness and blindness of inspection, a large amount of manpower and material resources are invested, and an expected effect cannot be achieved.
The purpose of the invention is realized by the following technical scheme:
a robot inspection method includes:
acquiring routing inspection task scheduling information;
acquiring an environment map according to the routing inspection task scheduling information;
planning a path of the environment map to generate a routing inspection path;
and performing autonomous navigation according to the routing inspection path, and reporting the routing inspection condition.
The utility model provides a robot system of patrolling and examining, is including patrolling and examining robot and remote control device, wherein, it includes to patrol and examine the robot:
the task obtaining module is used for obtaining routing inspection task scheduling information;
the map acquisition module is used for acquiring an environment map according to the routing inspection task scheduling information;
the route generation module is used for planning the route of the environment map and generating a routing inspection route;
and the polling reporting module is used for carrying out autonomous navigation according to the polling path and reporting the polling condition.
The invention provides a robot inspection method and a system, which are characterized in that inspection task scheduling information is obtained; acquiring an environment map according to the routing inspection task scheduling information; planning a path of the environment map to generate a routing inspection path; and performing autonomous navigation according to the routing inspection path, and reporting the routing inspection condition. The invention realizes the automatic and intelligent routing inspection of enterprise production equipment, has high routing inspection efficiency and reduces the labor input.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments 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 it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flowchart of a robot inspection method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot inspection system according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, a robot inspection method provided in an embodiment of the present invention includes:
101, acquiring routing inspection task scheduling information;
wherein, patrol and examine task accessible remote monitoring center and send to patrol and examine the robot.
102, acquiring an environment map according to the routing inspection task scheduling information;
103, planning a path of the environment map to generate a routing inspection path;
and 104, performing autonomous navigation according to the routing inspection path, and reporting the routing inspection condition.
step 102-1, initializing a local map;
wherein, the map size and the grid size (the actual distance represented by each grid) are required to be set for initializing the local map; secondly, the whole image is set to black to represent an unknown area, scanning is carried out from near to far according to the distance (z), and the size of the map is determined by the scanning range.
102-2, acquiring a three-dimensional point cloud within a preset height range;
in the inspection robot, only obstacles within a certain height range threaten the inspection robot, so that only three-dimensional points within the range are considered when a map is created. In this example, a 0-0.8 meter point cloud is obtained starting from the ground to draw a grid map.
102-3, projecting the three-dimensional point cloud to form a two-dimensional discrete obstacle map;
and projection statistics is carried out, namely, the projection of the point cloud extracted in a certain height range on the initialized map is solved. Judging whether each grid is an obstacle or not by using a threshold value, and counting the number of times each grid is projected by the obstacle by using pixel point values, for example: when the number of times is greater than a certain threshold, the corresponding grid is considered to be occupied by an obstacle.
And 102-4, acquiring the current position of the robot, and carrying out radiation scanning on the two-dimensional discrete obstacle map by taking the current position of the robot as a center to form an environment map.
Wherein, the step of scanning forms a grid pattern, and the core lies in the scanning. Since the discrete grid obstacle map is obtained in the previous step, and the final appearance of the grid map is to be centered on the camera, the positions of the radiation scanning after the first obstacle encounter are uncertain. Therefore, the step takes the optical center of the camera as a starting point, all angles are scanned in a radial mode, the grids between the optical center and the obstacle encountered for the first time are drawn to be white to represent passable areas in each scanning, and in addition, the next scanning is started when the obstacle is encountered, so that the areas behind the obstacle encountered for the first time are all gray.
step 103-1, dividing the two-dimensional discrete obstacle map into a certain number of sectors by taking the current position of the robot as the center;
step 103-2, calculating the obstacle density of each sector;
and 103-3, taking the sector with the obstacle density larger than the preset threshold value as a candidate sector, and selecting the candidate sector which is most favorable for reaching the target as the driving direction.
104-1, performing autonomous navigation according to the routing inspection path;
and step 104-2, acquiring the RFID identification of the equipment to be inspected, acquiring the information of the equipment to be inspected and uploading the information to a remote control center through a wireless network.
In the step 104-2, a photo or a video of the equipment to be inspected can be shot through the camera, the state information of the equipment to be inspected is obtained through the wireless interactive instruction, and the acquired information and the RFID identification are compressed and packaged into a data packet to be uploaded to the remote control center.
The invention provides a robot inspection method, which is characterized in that inspection task scheduling information is obtained; acquiring an environment map according to the routing inspection task scheduling information; planning a path of the environment map to generate a routing inspection path; and performing autonomous navigation according to the routing inspection path, and reporting the routing inspection condition. The invention realizes the automatic and intelligent routing inspection of enterprise production equipment, has high routing inspection efficiency and reduces the labor input.
The embodiment of the present invention further provides a robot inspection system, as shown in fig. 2, including an inspection robot 200 and a remote control device 300, wherein the inspection robot includes:
the task obtaining module 210 is configured to obtain polling task scheduling information;
the map acquisition module 220 is used for acquiring an environment map according to the routing inspection task scheduling information;
a path generating module 230, configured to perform path planning on the environment map, and generate a routing inspection path;
and the inspection reporting module 240 is configured to perform autonomous navigation according to the inspection path and report an inspection condition.
Wherein the map obtaining module 220 comprises:
an initialization unit 221 configured to initialize a local map;
an obtaining unit 222, configured to obtain a three-dimensional point cloud within a preset height range;
a projection unit 223 for projecting the three-dimensional point cloud to form a two-dimensional discrete obstacle map;
and a scanning unit 224, configured to acquire a current position of the robot, and perform radiation scanning on the two-dimensional discrete obstacle map with the current position of the robot as a center to form an environment map.
The path generation module 230 includes:
the segmentation unit 231 is configured to segment the two-dimensional discrete obstacle map into a certain number of sectors with the current position of the robot as a center;
a calculation unit 232 for calculating the obstacle density of each sector;
and a direction-finding unit 233, configured to use a sector with the obstacle density greater than a preset threshold as a candidate sector, and select a candidate sector that is most favorable for reaching the target as the driving direction.
The polling reporting module 240 includes:
the navigation unit 241 is used for performing autonomous navigation according to the routing inspection path;
and the acquisition unit 242 is configured to acquire an RFID identifier of the device to be inspected, acquire information of the device to be inspected, and upload the information to the remote control center through a wireless network.
The acquisition unit 242 is specifically configured to acquire an RFID identifier of the device to be inspected; the camera shoots the photo or video of the equipment to be inspected, the state information of the equipment to be inspected is obtained through the wireless interactive instruction, and the acquired information and the RFID identification are compressed and packaged into a data packet to be uploaded to the remote control center.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus a necessary hardware platform, and certainly may be implemented by hardware, but in many cases, the former is a better embodiment. With this understanding in mind, all or part of the technical solutions of the present invention that contribute to the background can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods according to the embodiments or some parts of the embodiments of the present invention.
The present invention has been described in detail, and the principle and embodiments of the present invention are explained herein by using specific examples, which are only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A robot inspection method is characterized by comprising the following steps:
acquiring routing inspection task scheduling information;
acquiring an environment map according to the routing inspection task scheduling information;
planning a path of the environment map to generate a routing inspection path;
and performing autonomous navigation according to the routing inspection path, and reporting the routing inspection condition.
2. The robot inspection method according to claim 1, wherein the step of obtaining an environment map according to the inspection task scheduling information includes:
initializing a local map;
acquiring three-dimensional point cloud within a preset height range;
projecting the three-dimensional point cloud to form a two-dimensional discrete obstacle map;
and acquiring the current position of the robot, and carrying out radiation scanning on the two-dimensional discrete obstacle map by taking the current position of the robot as a center to form an environment map.
3. The robot inspection method according to claim 1, wherein the step of planning the path of the environment map and generating the inspection path includes:
dividing the two-dimensional discrete obstacle map into a certain number of sectors by taking the current position of the robot as the center;
calculating the obstacle density of each sector;
and taking the sector with the obstacle density larger than the preset threshold value as a candidate sector, and selecting the candidate sector which is most favorable for reaching the target as the driving direction.
4. The robot inspection method according to claim 1, wherein the step of performing autonomous navigation and reporting inspection conditions according to the inspection path includes:
according to the routing inspection path, performing autonomous navigation;
and acquiring the RFID identification of the equipment to be inspected, acquiring the information of the equipment to be inspected and uploading the information to a remote control center through a wireless network.
5. The robot inspection method according to claim 4, wherein the steps of obtaining the RFID identification of the equipment to be inspected, collecting the information of the equipment to be inspected and uploading the information to a remote control center through a wireless network include:
acquiring an RFID (radio frequency identification) identifier of equipment to be inspected;
the camera shoots the photo or video of the equipment to be inspected, the state information of the equipment to be inspected is obtained through the wireless interactive instruction, and the acquired information and the RFID identification are compressed and packaged into a data packet to be uploaded to the remote control center.
6. The utility model provides a robot system of patrolling and examining, its characterized in that, including patrolling and examining robot and remote control device, wherein, patrol and examine the robot, include:
the task obtaining module is used for obtaining routing inspection task scheduling information;
the map acquisition module is used for acquiring an environment map according to the routing inspection task scheduling information;
the route generation module is used for planning the route of the environment map and generating a routing inspection route;
and the polling reporting module is used for carrying out autonomous navigation according to the polling path and reporting the polling condition.
7. The robot inspection system according to claim 6, wherein the map acquisition module includes:
an initialization unit for initializing a local map;
the acquisition unit is used for acquiring three-dimensional point cloud within a preset height range;
the projection unit is used for projecting the three-dimensional point cloud to form a two-dimensional discrete obstacle map;
and the scanning unit is used for acquiring the current position of the robot and carrying out radiation scanning on the two-dimensional discrete obstacle map by taking the current position of the robot as a center so as to form an environment map.
8. The robot inspection system according to claim 6, wherein the path generation module includes:
the segmentation unit is used for segmenting the two-dimensional discrete obstacle map into a certain number of sectors by taking the current position of the robot as the center;
the computing unit is used for computing the obstacle density of each sector;
and the direction-finding unit is used for taking the sector with the obstacle density larger than the preset threshold value as a candidate sector and selecting the candidate sector which is most favorable for reaching the target as the driving direction.
9. The robot inspection system according to claim 6, wherein the inspection reporting module includes:
the navigation unit is used for carrying out autonomous navigation according to the routing inspection path;
and the acquisition unit is used for acquiring the RFID identification of the equipment to be inspected, acquiring the information of the equipment to be inspected and uploading the information to the remote control center through a wireless network.
10. The robot inspection system according to claim 9, wherein the acquisition unit is specifically configured to acquire an RFID tag of the device to be inspected; the camera shoots the photo or video of the equipment to be inspected, the state information of the equipment to be inspected is obtained through the wireless interactive instruction, and the acquired information and the RFID identification are compressed and packaged into a data packet to be uploaded to the remote control center.
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| CN112213979A (en) * | 2020-10-14 | 2021-01-12 | 西南石油大学 | Intelligent robot inspection system and method for station |
| CN112712198A (en) * | 2020-12-23 | 2021-04-27 | 深圳市赛为智能股份有限公司 | Intelligent management system of inspection robot |
| CN112950803A (en) * | 2021-02-09 | 2021-06-11 | 京东数科海益信息科技有限公司 | Patrol data processing method, self-moving equipment, receiving equipment and storage medium |
| CN115454042A (en) * | 2021-05-20 | 2022-12-09 | 中移系统集成有限公司 | Route decision method, device, equipment and storage medium of inspection robot |
| CN115994046A (en) * | 2023-03-22 | 2023-04-21 | 远洋亿家物业服务股份有限公司 | High-precision identification method and system for equipment inspection |
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