CN111844054A - Inspection robot, inspection robot system and inspection method of inspection robot - Google Patents
Inspection robot, inspection robot system and inspection method of inspection robot Download PDFInfo
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- CN111844054A CN111844054A CN201910345507.3A CN201910345507A CN111844054A CN 111844054 A CN111844054 A CN 111844054A CN 201910345507 A CN201910345507 A CN 201910345507A CN 111844054 A CN111844054 A CN 111844054A
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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
- 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
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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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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention provides a patrol robot, which comprises: the driving unit is used for driving the inspection robot to move in the monitoring area; the monitoring unit is used for acquiring at least one environmental data in the inspection range of the inspection robot; the image acquisition unit is used for acquiring image information in the inspection range; the control unit comprises a memory and a processor, wherein the memory is used for storing the alarm threshold value of the environment data; the processor is respectively and electrically connected with the driving unit, the monitoring unit and the image acquisition unit. The invention also correspondingly provides an inspection robot system and an inspection method of the inspection robot. The invention can not only quickly find the abnormal points in the monitoring area, but also monitor the environment at the abnormal points.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an inspection robot, an inspection robot system and an inspection method of the inspection robot.
Background
Along with the steady increase of social economy in China, more and more giant enterprise factories, high and new parks and giant markets are continuously present in national life, and the places put new special demands on safety protection work. Generally, the security tasks in the places are completed by the worker security personnel, but with the continuous expansion of the inspection range, the continuous increase of the labor cost in the indoor and outdoor mixed environment and other factors, the increasingly complicated security requirements cannot be met only by the worker security personnel. In addition, in some dangerous inspection environments, the safety personnel are not suitable for performing inspection work, for example, in a substation area, high-voltage arcs are everywhere, and the safety personnel are very dangerous. However, such similar places are related to the normal life of a community, even a city, and need the security work all the time.
Although the safety protection system is widely applied to various industries, the traditional safety protection system mainly adopts monitoring equipment at a fixed position to acquire signals such as images and the like to cooperate with personnel to patrol, a large amount of monitoring equipment and human resources are required to be invested, the adaptability is poor, monitoring dead angles are easy to generate, and the environment at abnormal points cannot be monitored in time after the abnormal points are found.
Disclosure of Invention
In view of the above, it is actually necessary to provide an inspection robot, an inspection robot system, and an inspection robot inspection method capable of quickly finding an abnormal point in a monitored area and monitoring the environment at the abnormal point to solve the above problems.
The present invention provides, in a first aspect, an inspection robot including: the driving unit is used for driving the inspection robot to move in a monitoring area; the monitoring unit is used for acquiring at least one environmental data in the inspection range of the inspection robot; the image acquisition unit is used for acquiring image information in the inspection range; a control unit comprising a memory and a processor, the memory for storing an alarm threshold for the environmental data; the processor is respectively electrically connected with the driving unit, the monitoring unit, the image acquisition unit and the communication unit, and is used for controlling the driving unit to drive the inspection robot to move in the monitoring area according to a preset path; the processor is also used for receiving the environmental data sent by the monitoring unit and comparing the environmental data with the alarm threshold value to judge whether abnormal points exist in the inspection range, and when the abnormal points exist in the inspection range, the processor controls the image acquisition unit to acquire the image information of the abnormal points.
Preferably, the monitoring unit includes with the thermal imaging system that the treater is electric is connected, the thermal imaging system is used for gathering patrol and examine the temperature in the scope and convert it into the temperature image, the treater is used for with temperature value in the temperature image with alarm threshold value compares in order to judge whether temperature value in the temperature image is greater than alarm threshold value.
Preferably, the monitoring unit further includes a smoke detector electrically connected to the processor, the smoke detector is configured to monitor a smoke concentration within the inspection range and send the smoke concentration to the processor, and the processor is further configured to compare the smoke concentration with the corresponding alarm threshold value to determine whether the smoke concentration is greater than the alarm threshold value.
Preferably, the inspection robot further comprises an alarm unit electrically connected with the processor, and when the temperature value in the temperature image or the smoke concentration is greater than the corresponding alarm threshold value, the processor sends an alarm control signal to the alarm unit, so that the alarm unit sends an alarm signal.
Preferably, the inspection robot further comprises a rotating holder, the monitoring unit is arranged on the rotating holder, and the rotating holder is used for driving the monitoring unit to rotate so as to enable the monitoring unit to monitor the inspection range in an all-round mode.
Preferably, patrol and examine the robot still include with the recognition element that the processor electricity is connected, the recognition element is used for discerning magnetic dot information on the magnetic stripe in the monitoring area, the processor receives the recognition element sends magnetic dot information and control the drive unit drive patrol and examine the robot and follow the magnetic stripe removes.
Preferably, the inspection robot further comprises an obstacle avoidance unit electrically connected with the processor, wherein the obstacle avoidance unit is used for judging whether an obstacle exists on a moving path of the inspection robot, and when the obstacle exists on the moving path of the inspection robot, the processor receives an obstacle avoidance signal sent by the obstacle avoidance unit and controls the driving unit to drive the inspection robot to decelerate or stop moving.
The invention provides a patrol robot system in a second aspect, which comprises a monitoring terminal and at least one patrol robot in communication connection with the monitoring terminal, wherein the patrol robot comprises: the driving unit is used for driving the inspection robot to move in a monitoring area; the monitoring unit is used for monitoring at least one environmental data in the inspection range of the inspection robot; the image acquisition unit is used for acquiring image information in the inspection range; the communication unit is used for being in communication connection with the monitoring terminal; a control unit comprising a memory and a processor, the memory for storing an alarm threshold for the environmental data; the processor is respectively electrically connected with the driving unit, the monitoring unit, the image acquisition unit and the communication unit, and is used for controlling the driving unit to drive the inspection robot to move in the monitoring area according to a preset path; the processor is also used for receiving the environmental data sent by the monitoring unit and judging whether the environmental data is greater than the alarm threshold value, when the environmental data of the abnormal point in the inspection range is greater than the alarm threshold value, the processor controls the image acquisition unit to acquire the image information of the abnormal point and sends the image information to the monitoring terminal through the communication unit.
The invention provides a method for inspecting a robot, which comprises the following steps: the monitoring terminal controls the inspection robot to move to a monitoring area; the inspection robot moves in the monitoring area according to a preset path; the inspection robot acquires environmental data within an inspection range; the inspection robot compares the environmental data with an alarm threshold value to judge whether abnormal points exist in the inspection range; if yes, the inspection robot collects image information of abnormal points in an inspection range and sends the image information to the monitoring terminal; if not, the inspection robot continues to move along the preset path.
Preferably, the environment data includes a temperature value and a smoke concentration, and the alarm threshold includes a temperature alarm threshold and a smoke concentration alarm threshold.
Compared with the prior art, the inspection robot system and the inspection method of the inspection robot, provided by the invention, have the advantages that the environmental data in the inspection range are compared with the alarm threshold value, and when the environmental data of the abnormal point in the inspection range is larger than the alarm threshold value, the processor controls the image acquisition unit to acquire the image information of the abnormal point. The invention can not only quickly find the abnormal points in the monitoring area, but also monitor the environment at the abnormal points.
Drawings
Fig. 1 is a schematic diagram of the architecture of an inspection robot system in one embodiment of the present invention.
Fig. 2 is a block diagram of the inspection robot in one embodiment of the present invention.
Fig. 3 is a flow chart of an inspection robot inspection method according to an embodiment of the invention.
Description of the main elements
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
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 by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, the present invention provides an inspection robot system 10, which includes a monitoring terminal 100 and an inspection robot 200 communicatively connected to the monitoring terminal 100. The monitoring terminal 100 may be a video monitoring terminal or a command center. The monitoring terminal 100 may include one or more computers.
Referring to fig. 2, the inspection robot 200 includes a control unit 210, a driving unit 220, a monitoring unit 230, an image acquisition unit 240, a communication unit 250, an alarm unit 260, an identification unit 270, an input unit 280, and an obstacle avoidance unit 290.
It is understood that in other embodiments, the communication unit 250, the alarm unit 260, the identification unit 270, the input unit 280, and the obstacle avoidance unit 290 may be omitted.
The control unit 210 includes a memory 211 and a processor 212.
The memory 211 is used to store alarm thresholds for environmental data within the monitored area. The memory 211 is also used for storing various data, such as program codes, in the inspection robot 200, and realizing high-speed and automatic access to the program or data during the operation of the processor 212.
The environmental data includes temperature values and smoke concentrations.
The alarm threshold comprises a temperature alarm threshold and a smoke concentration alarm threshold.
It can be understood that the scene and the range of the monitoring area can be specifically set according to actual needs. Such as a substation.
The Memory 211 may be, but is not limited to, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an electronically Erasable rewritable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, tape storage, or any other medium readable by a computer that can be used to carry or store data.
The processor 212 is electrically connected to the driving unit 220, the monitoring unit 230, the image capturing unit 240, the communication unit 250, the alarm unit 260, the identification unit 270, and the obstacle avoidance unit 290, respectively.
The processor 212 is used for performing calculation processing on the related data in the memory 211. The processor 212 may be a Central Processing Unit (CPU), a digital signal processor, or a single chip, and is suitable for implementing various instructions.
The driving unit 220 is used for driving the inspection robot 200 to move in the monitored area.
Specifically, the processor 212 controls the driving unit 220 to drive the inspection robot 200 to move in the monitored area according to a preset path. The driving unit 220 includes driving members electrically connected to the processor 212 and mounted on the wheels, and used for controlling the wheels to move so that the inspection robot 200 moves in the monitored area.
The monitoring unit 230 is used for monitoring at least one environmental data within the inspection range of the inspection robot 200.
Specifically, the inspection range is a range that the inspection robot 200 can monitor. It can be understood that the patrol range can be specifically set according to actual needs.
The monitoring unit 230 includes a thermal imager 231 and a smoke detector 232. The thermal imager 231 is used to collect the temperature within the inspection range and convert it into a temperature image. The smoke detector 232 is used to monitor the smoke concentration within the inspection range. In this embodiment, the thermal imager 231 is a dual-spectrum thermal infrared imager, which can capture the temperature value in the inspection range and generate thermal images and common images according to the temperature value in the inspection range. The smoke detector 232 is a flame detector.
In this embodiment, the inspection robot 200 further includes a rotating holder, the thermal imager 231 and the smoke detector 232 are both installed on the rotating holder, and the rotating holder is used for driving the thermal imager 231 and the smoke detector 232 to rotate so as to enable the monitoring unit 230 to monitor temperature values and smoke concentrations in an inspection range in an all-round manner.
The image acquisition unit 240 is used for acquiring image information in the inspection range.
Specifically, when the temperature value or the smoke concentration in the thermal imaging is greater than the alarm threshold, the processor 212 controls the image acquisition unit 240 to acquire image information of an abnormal point and sends the image information to the monitoring terminal 100 through the communication unit 250; when the temperature value or the smoke concentration in the temperature image is smaller than the alarm threshold, the processor 212 controls the image acquisition unit 240 to acquire the image information of the inspection range and transmits the image information to the monitoring terminal 100 through the communication unit 250, so as to monitor the whole monitoring area. In the present embodiment, the image capturing unit 240 is a panoramic camera.
The communication unit 250 is used for performing communication connection with the monitoring terminal 100.
Specifically, the communication unit 250 is configured to receive the processing signal transmitted by the processor 212 and send the processing signal to the monitoring terminal 100.
The alarm unit 260 is used to send out an alarm signal.
Specifically, when the temperature value or the smoke concentration in the thermal imaging is greater than the alarm threshold, the processor 212 sends an alarm control signal to the alarm unit 260, so that the alarm unit 260 sends an alarm signal. The alarm signal may be an audible alarm signal or a light alarm signal, but is not limited thereto. In this embodiment, the alarm unit 260 is an alarm tri-color lamp.
The identification unit 270 is used for identifying magnetic point information on magnetic stripes laid in the monitored area.
Specifically, a magnetic stripe is laid in the monitoring area according to a preset path, a plurality of magnetic dots are arranged on the magnetic stripe, the identification unit 270 is configured to identify magnetic dot information on the magnetic stripe and transmit the magnetic dot information to the processor 212, and the processor 212 processes the magnetic dot information and controls the driving unit 220 to drive the inspection robot 200 to move along the magnetic stripe. In this embodiment, the recognition unit 270 is a magnetic induction device, and can perform movement determination, such as straight acceleration forward, turning slow motion, or derailment warning stop, on the inspection robot 200 according to the recognized magnetic point information in cooperation with the PID algorithm. The PID algorithm is an operation method for data correction processing. The magnetic stripe is also provided with an RFID card, the inspection robot 200 is provided with a card reader corresponding to the RFID card, and the card reader is used for reading instruction information on the RFID card and controlling the inspection robot 200 to execute the instruction, such as delayed starting.
The input unit 280 serves to generate a signal in response to a user operation and transmit the signal to the processor 212.
Specifically, the input unit 280 may be a physical panel or a touch panel having function keys, or may be a remote controller having function keys and capable of remote input. The function keys of the input unit 280 can be specifically set according to actual needs.
The obstacle avoidance unit 290 is configured to determine whether an obstacle exists on a moving path of the inspection robot 200.
Specifically, the inspection robot 200 includes an automatic inspection mode and a manual inspection mode. The automatic inspection mode is that the inspection robot 200 automatically adjusts the traveling parameters to move in the monitoring area according to a preset path; the manual inspection mode is a mode in which a technician manually adjusts the traveling parameters of the inspection robot 200 so that the inspection robot 200 moves within the monitoring area along a preset path. When the obstacle avoidance unit 290 senses that an obstacle exists on the moving path of the inspection robot 200, the processor 212 receives an obstacle avoidance signal sent by the obstacle avoidance unit 290 and controls the driving unit 220 to drive the inspection robot 200 to decelerate or stop moving, meanwhile, the processor 212 sends the obstacle avoidance signal to the monitoring terminal 100 to enable a technician to clean the obstacle on the moving path, and then the technician adjusts the traveling parameters of the inspection robot 200 after deceleration or stop through the input unit 280 to enable the technician to bypass the obstacle or continue to move according to a preset path after the obstacle is cleaned. In this embodiment, the obstacle avoidance unit 290 is an infrared obstacle avoidance device.
It is understood that in other embodiments, the obstacle avoidance unit 290 may be a sound wave obstacle avoidance device. But is not limited thereto.
Referring to fig. 3, the present invention further provides an inspection method for an inspection robot 200, including the following steps:
s301: the monitoring terminal 100 controls the inspection robot 200 to move to the monitoring area.
Specifically, the monitoring terminal 100 and the inspection robot 200 are communicatively connected through the communication unit 250. The number of the inspection robots 200 may be one or more. When dispatching, the monitoring terminal 100 sends a dispatching command to the inspection robot 200 through the communication unit 250, and the inspection robot 200 receives the dispatching command and controls the driving unit 220 to move to the monitoring area.
S302: the inspection robot 200 moves within the monitoring area according to a preset path.
Specifically, the processor 212 controls the driving unit 220 to drive the inspection robot 200 to move in the monitored area according to a preset path.
The magnetic stripe is laid in the monitoring area according to a preset path, a plurality of magnetic points are arranged on the magnetic stripe, the recognition unit 270 is used for recognizing the magnetic point information on the magnetic stripe and transmitting the magnetic point information to the processor 212, and the processor 212 processes the magnetic point information and controls the driving unit 220 to drive the inspection robot 200 to move along the magnetic stripe. In this embodiment, the recognition unit 270 is a magnetic induction device, and can perform movement determination, such as straight acceleration forward, turning slow motion, or derailment warning stop, on the inspection robot 200 according to the recognized magnetic point information in cooperation with the PID algorithm. The PID algorithm is an operation method for data correction processing. The magnetic stripe is also provided with an RFID card, the inspection robot 200 is provided with a card reader corresponding to the RFID card, and the card reader is used for reading instruction information on the RFID card and controlling the inspection robot 200 to execute the instruction, such as delayed starting.
Step S303: the inspection robot 200 determines whether an obstacle exists on the preset path.
Specifically, the inspection robot 200 includes an automatic inspection mode and a manual inspection mode. The automatic inspection mode is that the inspection robot 200 automatically adjusts the traveling parameters to move in the monitoring area according to a preset path; the manual inspection mode is a mode in which a technician manually adjusts the traveling parameters of the inspection robot 200 so that the inspection robot 200 moves within the monitored area according to a preset path.
If not, it is determined that there is no obstacle on the preset path, and the process proceeds to step S304. If so, the process proceeds to step S305, the processor 212 receives the obstacle avoidance signal sent by the obstacle avoidance unit 290 and controls the driving unit 220 to drive the inspection robot 200 to decelerate or stop moving, meanwhile, the processor 212 sends the obstacle avoidance signal to the monitoring terminal 100 to enable the technician to clean the obstacle on the moving path, then, the technician adjusts the traveling parameters of the inspection robot 200 decelerated or stopped through the input unit 280 and returns to step S302, and the inspection robot 200 continues to move along the preset path. In this embodiment, the obstacle avoidance unit 290 is an infrared obstacle avoidance device.
It is understood that in other embodiments, the obstacle avoidance unit 290 may be a sound wave obstacle avoidance device. But is not limited thereto.
S304: the inspection robot 200 acquires environmental data within the inspection range.
Specifically, the environmental data includes a temperature value and a smoke concentration. The inspection range is a range that the inspection robot 200 can monitor. It can be understood that the patrol range can be specifically set according to actual needs.
The monitoring unit 230 includes a thermal imager 231 and a smoke detector 232. The thermal imager 231 is used to collect the temperature within the inspection range and convert it into a temperature image. The smoke detector 232 is used to monitor the smoke concentration within the inspection range. In this embodiment, the thermal imager 231 is a dual-spectrum thermal infrared imager, which can capture the temperature value in the inspection range and generate thermal images and common images according to the temperature value in the inspection range. The smoke detector 232 is a flame detector.
Further, patrol and examine robot 200 still includes and rotates the cloud platform, and thermal imaging appearance 231 and smoke detector 232 are all installed on rotating the cloud platform, rotate the cloud platform and be used for driving thermal imaging appearance 231 and smoke detector 232 to rotate so that monitoring unit 230 omnidirectional monitoring patrols and examines temperature value and smog concentration in the within range.
S306: the inspection robot 200 compares the environmental data with the alarm threshold to determine whether there is an anomaly in the inspection range.
Specifically, if yes, for example, the processor 212 determines that the temperature value or the smoke concentration in the temperature image is greater than the alarm threshold, and determines that an abnormal point exists in the inspection range, then step S307 is performed; if not, the process returns to step S302, and the inspection robot 200 continues to move along the preset path.
S307: the inspection robot collects image information of abnormal points in an inspection range and transmits the image information to the monitoring terminal 100.
Specifically, the processor 212 controls the image collecting unit 240 to collect image information of an abnormal point within the inspection range and transmits the image information to the monitoring terminal 100 through the communication unit 250. At the same time, the processor 212 issues an alarm control signal to the alarm unit 260, so that the alarm unit 260 issues an alarm signal.
According to the inspection robot 200, the inspection robot system 10 and the inspection method of the inspection robot, provided by the invention, the environmental data in the inspection range is compared with the alarm threshold value, and when the environmental data of the abnormal point in the inspection range is larger than the alarm threshold value, the processor 212 controls the image acquisition unit 240 to acquire the image information of the abnormal point and transmits the image information to the monitoring terminal 100 through the communication unit 250. The method can not only quickly find the abnormal points in the monitoring area, but also monitor the environment at the abnormal points.
In addition, each functional unit in the embodiments of the present invention may be integrated in the same data processing unit, or each unit may exist alone physically, or two or more units are integrated in the same unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The units or computer means recited in the computer means claims may also be implemented by the same unit or computer means, either in software or in hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. An inspection robot, comprising:
the driving unit is used for driving the inspection robot to move in a monitoring area;
the monitoring unit is used for acquiring at least one environmental data in the inspection range of the inspection robot;
the image acquisition unit is used for acquiring image information in the inspection range;
a control unit comprising a memory and a processor, the memory for storing an alarm threshold for the environmental data; the processor is respectively electrically connected with the driving unit, the monitoring unit, the image acquisition unit and the communication unit, and is used for controlling the driving unit to drive the inspection robot to move in the monitoring area according to a preset path; the processor is also used for receiving the environmental data sent by the monitoring unit and comparing the environmental data with the alarm threshold value to judge whether abnormal points exist in the inspection range; and when the abnormal point exists in the inspection range, the processor controls the image acquisition unit to acquire the image information of the abnormal point.
2. The inspection robot according to claim 1, wherein the monitoring unit includes a thermal imager electrically coupled to the processor, the thermal imager configured to collect and convert temperatures within the inspection range into temperature images, and the processor configured to compare temperature values in the temperature images to the alarm threshold to determine whether the temperature values in the temperature images are greater than the alarm threshold.
3. The inspection robot according to claim 2, wherein the monitoring unit further includes a smoke detector electrically connected to the processor for monitoring a smoke concentration within the inspection range and transmitting the smoke concentration to the processor, the processor further being configured to compare the smoke concentration to the corresponding alarm threshold to determine whether the smoke concentration is greater than the alarm threshold.
4. The inspection robot according to claim 3, further including an alarm unit electrically connected to the processor, wherein the processor sends an alarm control signal to the alarm unit when the temperature value or the smoke concentration in the temperature image is greater than the corresponding alarm threshold, such that the alarm unit sends an alarm signal.
5. The inspection robot according to claim 1, further comprising a rotating head, wherein the monitoring unit is disposed on the rotating head, and the rotating head is configured to rotate the monitoring unit to enable the monitoring unit to monitor the inspection range in an omnidirectional manner.
6. The inspection robot according to claim 1, further comprising an identification unit electrically connected to the processor, wherein the identification unit is configured to identify magnetic dot information on a magnetic stripe in the monitored area, and the processor receives the magnetic dot information from the identification unit and controls the driving unit to drive the inspection robot to move along the magnetic stripe.
7. The inspection robot according to claim 1, further comprising an obstacle avoidance unit electrically connected to the processor, wherein the obstacle avoidance unit is configured to determine whether an obstacle exists in a movement path of the inspection robot, and when an obstacle exists in the movement path of the inspection robot, the processor receives an obstacle avoidance signal sent by the obstacle avoidance unit and controls the driving unit to drive the inspection robot to decelerate or stop moving.
8. The utility model provides a patrol and examine robot system, its characterized in that, including monitor terminal and with monitor terminal communication connection's at least one robot of patrolling and examining, it includes to patrol and examine the robot:
the driving unit is used for driving the inspection robot to move in a monitoring area;
the monitoring unit is used for monitoring at least one environmental data in the inspection range of the inspection robot;
the image acquisition unit is used for acquiring image information in the inspection range;
the communication unit is used for being in communication connection with the monitoring terminal;
a control unit comprising a memory and a processor, the memory for storing an alarm threshold for the environmental data; the processor is respectively electrically connected with the driving unit, the monitoring unit, the image acquisition unit and the communication unit, and is used for controlling the driving unit to drive the inspection robot to move in the monitoring area according to a preset path; the processor is also used for receiving the environmental data sent by the monitoring unit and judging whether the environmental data is greater than the alarm threshold value, when the environmental data of the abnormal point in the inspection range is greater than the alarm threshold value, the processor controls the image acquisition unit to acquire the image information of the abnormal point and sends the image information to the monitoring terminal through the communication unit.
9. A method for polling a polling robot is characterized by comprising the following steps:
the monitoring terminal controls the inspection robot to move to a monitoring area;
the inspection robot moves in the monitoring area according to a preset path;
the inspection robot acquires environmental data within an inspection range;
the inspection robot compares the environmental data with an alarm threshold value to judge whether abnormal points exist in the inspection range;
if yes, the inspection robot collects image information of abnormal points in an inspection range and sends the image information to the monitoring terminal;
if not, the inspection robot continues to move along the preset path.
10. The inspection robot inspection method according to claim 9, wherein the environmental data includes temperature values and smoke concentrations and the alarm thresholds include temperature alarm thresholds and smoke concentration alarm thresholds.
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Cited By (8)
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|---|---|---|---|---|
| CN112775970A (en) * | 2021-01-06 | 2021-05-11 | 嘉兴学院 | Multi-sensor system of inspection robot and inspection method |
| CN112781585A (en) * | 2020-12-24 | 2021-05-11 | 国家电投集团郑州燃气发电有限公司 | Method for connecting intelligent inspection robot and platform through 5G network |
| CN113547500A (en) * | 2020-04-23 | 2021-10-26 | 鸿富锦精密电子(烟台)有限公司 | Inspection robot, inspection robot system and inspection method of inspection robot |
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| CN116633467B (en) * | 2023-07-20 | 2023-10-10 | 杭州工信光电子有限公司 | Emergency broadcasting system combining artificial intelligence technology |
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