CN111866337A - Intelligent inspection robot and inspection method - Google Patents
Intelligent inspection robot and inspection method Download PDFInfo
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- CN111866337A CN111866337A CN202010617998.5A CN202010617998A CN111866337A CN 111866337 A CN111866337 A CN 111866337A CN 202010617998 A CN202010617998 A CN 202010617998A CN 111866337 A CN111866337 A CN 111866337A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
Abstract
The invention discloses an intelligent inspection robot and an inspection method, wherein the intelligent inspection robot comprises a robot body, a mobile platform, a positioning navigation device, an automatic leveling device, a measuring instrument, an image acquisition device, a communication device and a built-in server. In the invention, the robot patrols and examines according to a preset route through the positioning navigation device, stays at different preset detection positions for operation, the self-leveling device provides a strictly horizontal basic platform for the measuring instrument, the robot guides the measuring instrument to measure the prism in the pipe tunnel, stores and calculates detection data, gives a settlement deformation measurement result, and can give detection results of diseases such as leakage water and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to the field of inspection robots.
Background
In recent years, due to rapid development of infrastructure, the stock of highway railway tunnels and urban comprehensive pipe galleries is continuously increased. Data show that by the end of 2018, the Chinese highway tunnel is 17738 and has the total length of 17236.1km, wherein the tunnel comprises world famous submarine tunnels such as Ganzaoda bridge submarine tunnels, and the settlement and deformation problems of the tunnels are the key points for maintaining and maintaining the tunnels and the pipe gallery.
Because of the change of pipe tunnel ground water level, the natural settlement of soil seabed, near construction can exert an influence to original pipe tunnel structure, also can lead to the change of soil body stress around the pipe tunnel to arouse pipe tunnel structure to produce the displacement, can bring the hidden danger to safe trip and piping lane safety. Therefore, the monitoring and the measurement of the settlement and the deformation of the pipe tunnel deformation area have very important significance.
At present, the settlement detection of the pipe tunnel generally adopts a method of manually utilizing a level gauge for measurement: and selecting one control point as a daily working base point on each of two sides of the stable area outside the deformation area, forming an attached leveling route by using the two working base points and each monitoring point in the deformation area, sequentially measuring the elevation of each monitoring point, and comparing the elevation difference of the corresponding monitoring points in the two stages to obtain the vertical displacement change condition of the monitoring points.
The measurement method for the horizontal displacement and the three-dimensional deformation of the pipe tunnel generally adopts a manual total station instrument to carry out measurement: and selecting stable points as control points in a stable area outside the deformation area, arranging a plurality of horizontal displacement monitoring points in the deformation area at equal intervals, and arranging a series of fixed measuring stations in the middle area of the deformation area for measuring the plane coordinates of each monitoring point. In the measuring process, the instrument is erected at an observation point, coordinates of the observation point are obtained by intersection behind at least 3 control points, then the total station is manually moved in an oriented mode by using one control point to measure the coordinates of each monitoring point in sequence, and the coordinates of the monitoring points at two stages are compared respectively, so that the horizontal displacement change condition of the monitoring points can be obtained. In fact, in the settlement detection, errors are accumulated due to the increase of the times of erecting the instrument, so that the quality of the final monitoring result is affected; and two errors are introduced in the deformation detection process, namely errors caused by backward intersection and errors caused by orientation. Experience has shown that even small errors in the field of precision engineering measurements can lead to erroneous or unreliable deformation monitoring results. Moreover, separate measurements of settlement and deformation undoubtedly add a significant amount of measurement work.
In addition, manual detection has the drawbacks of time and labor waste, large workload, long time consumption, low efficiency, long circuit occupation period, potential safety hazard and the like, monitoring data is easily influenced by human factors, and the requirement of rapidly acquiring deformation data cannot be met.
In order to overcome various defects of manual measurement, a small number of enterprises and scientific research units are researching automatic monitoring methods, including static leveling and optical fiber sensors, so that a large amount of manual labor can be saved.
For example, CN102661737A discloses an automatic group measurement system and method for tunnel structure settlement deformation, in which a plurality of laser assemblies are respectively arranged at tunnel measurement points to observe the tunnel settlement deformation.
For example, patent No. 201822083293.0 describes a real-time tunnel deformation monitoring device that observes settlement and deformation by using a plurality of levels and laser range finders installed on the top of the tunnel.
Meanwhile, at present, a method of continuously deploying a plurality of total stations in a tunnel is adopted to carry out automatic measurement, but the high-precision total stations are expensive, so that the cost is too high for a longer tunnel, and the implementation is difficult. Although the method can save a large amount of labor, the method of arranging a large amount of measuring instruments is adopted, the tunnel structure is influenced to a certain extent, a large amount of construction needs to be carried out on the tunnel, and the comprehensive cost is high.
The different automatic monitoring means have respective advantages and disadvantages, generally, the monitoring cannot be considered, the monitoring range is limited, the monitoring reference point is changed along with the integral deformation of the tunnel, and the manual monitoring method is still needed to be adopted for correction in practical application.
Meanwhile, diseases such as water leakage and internal structure deformation exist in the pipe tunnel, and the diseases need to be measured in a manual mode respectively.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an intelligent inspection robot.
The embodiment of the invention is realized by the following steps:
in one aspect of the embodiments of the present invention, an intelligent inspection robot is provided, including: the robot comprises a robot body, a mobile platform, a positioning navigation device, an automatic leveling device, a measuring instrument, an image acquisition device, a built-in server and a communication device;
the robot body and the mobile platform are provided with driving wheels or crawler belts at the bottoms, are used for automatically driving according to a preset route and automatically stay at a plurality of preset detection points for operation;
the automatic leveling device is arranged above the robot body and the mobile platform, is used for providing a strictly horizontal reference platform for the measuring instrument, is provided with a transverse leveling motor, a longitudinal leveling motor and a level detection device, and is locked after automatic leveling; the measuring instrument is arranged on the automatic leveling device.
Optionally, the measuring instrument is one or a combination of a digital total station and a digital level, wherein the total station is an automatic total station with automatic target identification and search functions for measuring settlement and deformation data of the pipe tunnel.
Optionally, the imaging device and the cradle head are arranged on the robot body and the mobile platform through the cradle head and used for carrying out image acquisition on the detection target.
Optionally, the inspection robot further includes a positioning navigation device disposed on the robot body and the mobile platform, including one or more combinations of an Ultra Wideband (UWB) positioning device, a laser radar, a machine vision depth camera, and the like. The positioning navigation device is in signal connection with the built-in server and is used for inputting navigation information to the built-in server to position and navigate the robot.
Optionally, the image acquisition device includes a cradle head, a visible light camera and an infrared thermal imaging camera, the bottom of the cradle head is connected with the robot body and the mobile platform, and the visible light camera and the infrared thermal imaging camera are respectively installed on two sides of the cradle head and used for performing optical image acquisition and infrared image acquisition on the detection target.
Optionally, the robot body and the mobile platform include a built-in server, where the built-in server is a multi-core artificial intelligence server and is used to control the motion of the robot body and the mobile platform, operate an onboard detection device, execute a specified detection action sequence, calculate and store detection data of the measurement instrument, and store and intelligently judge an image of the image acquisition device.
Optionally, the inspection robot further comprises a communication device arranged on the robot body and the mobile platform, and the communication device is in signal connection with the built-in server. The communication device comprises any one or more of WiFi, 4G devices and 5G devices, and realizes a signal transmission function.
Optionally, the inspection robot further comprises an emergency stop button arranged on the robot body and the mobile platform, and the emergency stop button is connected with the built-in server.
Optionally, the inspection robot further comprises a charging contact, wherein the charging contact is arranged on the side faces of the robot body and the mobile platform and used for being rapidly and electrically connected with the charging contact of the charging device.
Optionally, a three-dimensional laser scanning device is installed on the inspection robot and used for scanning and acquiring three-dimensional point cloud data of the pipe tunnel.
Furthermore, on the other hand of this patent, still disclose a patrol and examine method of robot, including the robot that patrols and examines of above-mentioned arbitrary one. The method comprises the steps that a prism is further installed in a pipe tunnel to be detected, the prism is used for being arranged in a monitoring interval of the pipe tunnel and used for reflecting a measuring point arranged on a monitoring section in the monitoring interval to a total station, no less than 3 prisms are arranged at the top and two ends of each pipe section, and the prisms of adjacent pipe sections are arranged in a staggered mode to avoid mutual shielding.
The method comprises the following steps:
s1: the robot performs self-checking, whether the self-checking is successful is judged, if not, the self-checking is continued and an alarm is given, and if so, the engineering configuration is opened;
s2: after the project configuration is opened, judging whether a known navigation map exists or not, if not, ending the project, and if so, starting automatic measurement operation;
s3: after the automatic measurement operation is started, the robot automatically drives to a preset first detection point, and after the robot reaches the first detection point, the self-leveling base is driven to self-level and lock;
s4: after leveling, executing an initial calibration action sequence, detecting a calibration control point, and calculating calibration data;
s5: judging whether the calibration data is correct or not, comparing the calibration data with the known historical detection data of the detection position, if the detection data is within a preset error range, continuing to execute detection operation, and if the detection data exceeds the error range, adjusting related parameters, and re-calibrating until the calibration data is correct;
s6: automatically driving to the next detection point according to a preset route, leveling the automatic leveling device, calling a detection action sequence to carry out detection operation on the detection point, and acquiring corresponding detection data;
s7: comparing the historical detection data, judging whether the detection data is in a preset range, if not, recording abnormal data, giving an alarm, and detecting again, and if so, finishing the detection operation of the detection point;
S8: judging whether all detection operations are finished, if not, driving to the next detection point according to a preset path, and continuing to execute the detection operations; if so, indicating that all detection operations are finished, processing and integrally resolving the detection operations, and giving detection data.
The invention has the following beneficial effects:
1. the mode that the intelligent inspection robot carries the measuring instrument to carry out unmanned detection is utilized, the intelligent inspection robot has the characteristics of high precision, good automation performance and the like, can completely make up the loophole of the traditional method, can be better applied to the special environment that the pipe tunnel manual work can not be operated for a long time, and can realize high-efficiency detection. The unmanned detection scheme can ensure frequent periodic detection, timely discover serious diseases, accurately position the diseases, ensure smooth development of tunnel maintenance work, is also the basis of later-stage automatic disease repair, provides position information for disease image data and is also beneficial to research on disease causes. The hidden danger can be eliminated by finding the problems in time in the maintenance process, and the automatic intelligent level of the maintenance is improved.
2. Utilize intelligence to patrol and examine robot and remove along predetermined detection circuitry automatically and detect, detect through multi-angle location and can effectively promote detection efficiency, improve and detect the precision, the while detection range is difficult for taking place to omit, has guaranteed the comprehensiveness that detects.
3. The leveling device and the total station instrument which are carried by the intelligent patrol robot are utilized to integrate the measurement of pipeline settlement, vertical displacement, horizontal displacement patrol, deformation and three-dimensional posture change into one, so that the precision of the total station instrument can be inherited, unmanned automatic measurement is realized, the operation time is reduced, the labor efficiency is greatly improved, the time and labor waste of conventional manual detection operation are avoided, the detection frequency can be improved, and frequent periodic detection can be carried out.
Drawings
FIG. 1 is a schematic structural diagram of the intelligent inspection robot of the patent
FIG. 2 is a schematic diagram of the inspection operation of this patent
FIG. 3 is a schematic view of the automatic leveling device of the present patent
FIG. 4 is a block diagram of the electrical apparatus of the automatic screed of this patent
FIG. 5 is a flow chart of the intelligent patrol operation of this patent
FIG. 6 is a flow chart of the operation of the robot for detecting the settlement and deformation at a certain detection point
FIG. 7 is a schematic diagram of the robot performing settlement and deformation detection at a certain detection point
FIG. 8 is a flow chart of a method for learning a new project route and action sequence
Icon: 100-robot body and mobile platform; 120-a pan-tilt of the image acquisition device; 1201-visible light camera; 1202-infrared thermographic camera; 190-measuring instrument; 180-automatic leveling device; 170 — a navigation radar; 220-driving wheel; 230-emergency stop button; 160-a charging contact; 130-a communication device; 150-a server; 260-Ultra Wideband (UWB) positioning means; 270-three-dimensional laser scanning device.
61. 62, 63 and 65 are reference point prisms of stable areas at two ends of the tunnel, 81 is an inspection robot, 60, 70 and 80 are pipe joints of the tunnel, 601, 602 and 603 are prisms arranged at one end of the pipe joint 60, and 604, 605 and 606 are prisms arranged at the other end of the pipe joint 60. Wherein 701, 702, 703 are prisms disposed on a section of the tube segment 70.
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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 8, an intelligent inspection robot according to an embodiment of the present invention, as shown in fig. 1, includes a robot body and a mobile platform 100, a driving wheel 220 is disposed at the bottom of the robot body and the mobile platform 100, an Ultra Wideband (UWB) positioning and navigation device 260, a navigation radar 170, and an automatic leveling device 180 are mounted on the robot body and the mobile platform 100; the measuring device 190 is mounted on the automatic leveling device 180; the robot is provided with a built-in server 150, a visible light camera 1201 in the image acquisition device, thermal infrared imagers 1202 are respectively arranged on two sides of a holder 120, and the holder 120 is arranged on the robot body and the mobile platform 100; the robot body and the mobile platform 100 are provided with a communication device 130;
the robot body and the mobile platform 100 adopted by the intelligent inspection robot are provided with wheels or tracks, and can be common electric trolleys, track mobile robots, AGV automatic guided vehicles (Automated guided vehicles) and the like. Of course, those skilled in the art may also set the mobile platform 100 according to actual requirements, which may be a ground mobile vehicle, or multiple mobile platforms moving in a rail manner, or a mobile platform moving in a mecanum wheel, an omni wheel, or a quadruped manner.
As shown in fig. 1, an automatic screed 180 is mounted above the robot body and mobile platform 100 and is connected to the built-in server 150 for providing a strict level of survey reference for a surveying instrument 190.
As shown in fig. 1, the measuring instrument 190, which is mounted on the automatic leveling device 180, is one or both of a digital total station or a level, in an embodiment, an automatic total station with automatic target identification and search function, such as a laika TS60, etc., for measuring settlement of pipe tunnel and pipe deformation data;
as shown in fig. 1, the positioning and navigation device includes one or more combinations of an ultra-wideband (UWB) positioning device 260, a navigation radar 170, a machine vision depth camera, and the like, where the navigation radar 170 and the ultra-wideband (UWB) positioning device 260 are connected to the built-in server 150 for positioning and navigation, and the navigation radar 170 may be any navigation radar having an environment scanning sensing capability, such as a laser radar, a terahertz radar, and the like, which is not limited herein.
As shown in fig. 1, the image capturing device includes a holder 120, a visible light camera 1201 or an infrared thermography camera 1202, and is configured to perform infrared or image capturing on an inspection target.
As shown in fig. 1, the built-in server 150 is installed on the upper portion of the robot body and the mobile platform 100, and is a multi-core artificial intelligence server, and is used for controlling the motion of the robot body and the mobile platform 100, operating an onboard detection device, executing a predetermined detection action sequence, storing and calculating detection data of the total station, and storing and analyzing image data acquired by the image acquisition devices 1201 and 1202.
As shown in fig. 1, the communication device 130 is installed on the upper portion of the robot body and the mobile platform 100, the communication device 130 is connected to the built-in server 150, and the communication device 130 may be a WiFi communication device, a bluetooth communication device, a 4G device, a 5G device, etc., and is not limited in particular herein as long as the function of signal transmission can be implemented, and is configured to transmit data to a remote central database.
As shown in fig. 1, the three-dimensional laser scanning device 270 is installed in front of the robot body and the mobile platform 100, and is used for scanning and acquiring three-dimensional point cloud data of the pipe tunnel.
As shown in fig. 1, the inspection robot further includes an emergency stop button 230 disposed on the robot body and the mobile platform, and the emergency stop button is connected to the built-in server 150.
As shown in fig. 1, the inspection robot further includes a charging contact 160, wherein the charging contact 160 is disposed on the side of the robot body and the side of the mobile platform, and is used for electrically connecting with a charging contact of a charging device.
The detection workflow and the working principle are as shown in fig. 2: when the intelligent inspection robot is used, the robot body and the mobile platform 100 can be in butt joint with remote control through the communication device 130, real-time data can be transmitted, and the built-in server 150 starts the driving wheel 220 to move after receiving an automatic inspection command; the built-in server can obtain the environmental navigation data through the navigation radar 170 and the ultra-wideband (UWB) positioning device 260, guide the robot to patrol according to a predetermined route after calculation, and guide the robot to stop at a preset nth detection point to execute detection operation. In this embodiment, the built-in server employs an ROS robot positioning and navigation system that is commonly used in the industry, and the system is an open-source system, which is a known technology, and can implement positioning and navigation in a pipe tunnel.
The inspection is divided into two cases, measurement and inspection, wherein the measurement requires the use of a self-service leveling device 180.
When the robot is required to perform a measurement operation when a predetermined detection point is reached: the built-in server 150 sends out a leveling instruction, operates the automatic leveling device 180, levels the base of the automatic leveling device 180, the measuring instrument 190 is connected with the base of the automatic leveling device 180, the automatic leveling device 180 is automatically locked after leveling, and meanwhile, a strictly leveled measuring foundation guarantee is provided for the measuring instrument 190. The built-in server 150 issues a measurement operation sequence command to operate the measurement instrument 190, and performs a series of measurement operations. In this embodiment, the measuring instrument is an automatic total station with automatic target identification and search functions, which may be a digital level, and this is not limited herein, and in this embodiment, the total station is taken as an example, and the built-in server 150 operates the total station to perform a series of measurement operations on a prism disposed inside a pipe tunnel.
And after the detection data are obtained, the measured data are stored and subjected to the adjustment calculation, so that the final measurement data are obtained. The measurement, data processing, adjustment algorithm and the like of the total station are all known in the industry.
When executing the detection job: the built-in server 150 sends out a detection instruction, operates the detection device 120, and performs related measurement operations, in this embodiment, the detection device 120 is a pan-tilt, and both sides of the pan-tilt are respectively connected with a visible light camera 1201 and an infrared thermal image camera 1202.
The method for detecting the water leakage disease in the tunnel in the embodiment comprises the following steps: the built-in server 150 sends out a detection instruction, the detection equipment holder 120 is operated to drive the infrared thermal imaging camera 1202 to scan the tunnel, and water leakage diseases of the managed tunnel can be found through calculation of the built-in server 150 according to the temperature image obtained by the infrared thermal imaging camera 1202. The principle of the infrared detection of the leakage water is that when the leakage water condition appears on the surface of the pipe tunnel, the temperature of the leakage water part is reduced compared with the ambient temperature due to the evaporation of water, and the color of the leakage water part is different from that of the ambient normal area on the image of the infrared thermal imaging camera, so that the leakage water disease is discovered. Experiments prove that the infrared thermal imaging camera with the sensitivity higher than 0.3 ℃ needs to be selected, and water leakage can be accurately identified.
In this embodiment, the method for detecting other diseases such as cracks in the tunnel and damaged lamps comprises the following steps: the built-in server 150 sends out a detection instruction, the holder 120 of the detection device is operated to drive the visible light camera 1201 to scan the tunnel, the image is obtained and then stored in the built-in server 150, meanwhile, the built-in server 150 presets a corresponding algorithm to perform identification calculation on the image, and detection items such as crack identification on the surface of the tunnel, lamp damage identification and the like can be achieved. The image recognition method is a deep learning technology algorithm combining a machine vision technology and artificial intelligence, and the image recognition technology is a known technology in the industry at present and has a plurality of open source algorithms such as OPENCV, YOLO and the like, so that the detailed description is omitted.
As shown in fig. 3 and 4, the automatic leveling device 180 has a horizontal leveling motor 1803, a longitudinal leveling motor 1806, and a horizontal detection device 1807, the horizontal states of the horizontal support frame 1801 and the longitudinal support frame 1804 can be adjusted by the horizontal leveling motor 1803 and the longitudinal leveling motor 1806, respectively, the horizontal detection device 1807 is a gyroscope, which can accurately detect leveled data, after automatic leveling, the built-in server 150 operates the horizontal leveling motor 1803 and the longitudinal leveling motor 1806 to automatically lock, so that the measuring instrument 190 can ensure a strictly horizontal measuring reference position during positioning detection, and after the motors are locked, the base of the measuring instrument 190 can be ensured not to move during measuring, so as to improve the measuring accuracy.
The inspection system may further include a terminal such as a control center corresponding to the inspection robot, for controlling the movement of the robot, navigating, receiving and processing the image information transmitted from the imaging device 120 and the data information transmitted from the measuring device 190. When the imaging device 120 employs a device having a wireless transmission function, data transmission between the imaging device 120 and the control center may be performed by wireless transmission, and may be real-time transmission or periodic transmission, or may be performed once after the inspection robot finishes inspection.
Meanwhile, when the devices adopted by the measuring instrument 190 and the imaging apparatus 120 do not have an active transmission function, data transmission between the measuring instrument 190 and the imaging apparatus 120 and the control center can be realized by importing data of the data storage devices of the measuring instrument 190 and the imaging apparatus 120 into the control center. Of course, in practical applications, there are other specific forms of data transmission between the imaging device 120 and the control center, and no specific limitation is made here.
The method for detecting the settlement and deformation of the pipe tunnel in the embodiment comprises the following steps: as shown in fig. 7, when performing the tube tunnel settlement and deformation detection, reference point prisms 61, 62, 63 are attached to the stabilization zone at one end of the tunnel, and reference point prisms 64, 65, 66 are attached to the stabilization zone at the other end of the tunnel, respectively, 60, 70, 80 being different tube segments of the tunnel. The method comprises the steps that prisms 601, 602 and 603 are installed at one end of a pipe joint 60, prisms 604, 605 and 606 are installed at the other end of the pipe joint 60 respectively, prisms 701, 702 and 703 are installed at one end of a pipe joint 70 respectively, and the like, the prisms are arranged in a monitoring interval of a pipe tunnel and used for reflecting measuring points arranged on a monitoring section in the monitoring interval to a total station, not less than 3 prisms are arranged at the top and two ends of each pipe joint respectively, and the prisms of adjacent pipe joints are arranged in a staggered mode to avoid mutual shielding. The robot 81 runs in a tunnel according to a preset route, and after stopping at a preset detection point, the total station is operated to identify each prism, measure the prisms respectively, and store the measurement result in a built-in server of the robot.
Because the navigation signals of satellites such as the GPS and the Beidou in the pipeline tunnel are shielded, in the embodiment, a mode of constructing a navigation system by deploying an Ultra Wideband (UWB) device along the way is adopted, positioning navigation is provided for the robot, and the navigation mode adopts a DW1000 chip which is commonly used in the industry as a core scheme and is a known technology.
The flowchart of the intelligent inspection operation of the embodiment is shown in fig. 5, and further, the patent further discloses an inspection method of the intelligent inspection robot, which comprises the following steps:
s1: the robot performs self-checking, whether the self-checking is successful is judged, if not, the self-checking is continued and an alarm is given, and if so, the engineering configuration is opened;
s2: after the project configuration is opened, judging whether a known navigation map exists or not, if not, ending the project, and if so, starting automatic measurement operation;
s3: after the automatic measurement operation is started, the robot automatically drives to a preset first detection point, and after the robot reaches the first detection point, the self-leveling base is driven to self-level and lock;
s4: after leveling, executing an initial calibration action sequence, detecting a calibration control point, and calculating calibration data;
s5: judging whether the calibration data is correct or not, comparing the calibration data with the known historical detection data of the detection position, if the detection data is within a preset error range, continuing to execute detection operation, and if the detection data exceeds the error range, adjusting related parameters, and re-calibrating until the calibration data is correct;
S6: automatically driving to the next detection point according to a preset route, leveling the automatic leveling device, calling a detection action sequence to carry out detection operation on the detection point, and acquiring corresponding detection data;
s7: comparing the historical detection data, judging whether the detection data is in a preset range, if not, recording abnormal data, giving an alarm, and detecting again, and if so, finishing the detection operation of the detection point;
s8: judging whether all detection operations are finished, if not, driving to the next detection point according to a preset path, and continuing to execute the detection operations; if so, indicating that all detection operations are finished, processing and integrally resolving the detection operations, and giving detection data.
In this embodiment, a flow chart of the sedimentation and deformation detection at each detection point is shown in fig. 6.
S1: after the robot reaches a preset detection point, finely adjusting the positions of the robot body and the mobile platform at the detection point, judging whether the position of the detection point where the robot stops is normal or not, if not, finely adjusting the positions of the robot body and the mobile platform at the detection point, and repeating the action until the positions of the robot body and the mobile platform at the detection point are normal;
s2: the built-in server sends out an instruction to level the automatic leveling device. If not, repeating the leveling action, and if the leveling is finished, locking and carrying out the next step;
S3: according to the data of the detection point location, executing a detection action sequence, and calling a coarse aiming coordinate and pointing data;
s4: transmitting the coarse aiming data to the total station, guiding the total station to aim at each prism, and measuring according to a preset sequence;
s5: obtaining measurement result data of each prism, and performing data calculation, wherein the data calculation method refers to a data calculation method of a total station;
s6: comparing the detection data with the detection data of the historical book, judging whether the data are in an error range, if the data exceed the error range, alarming after recording, starting an intelligent anti-interference algorithm, adjusting a coarse aiming coordinate, repeating the steps S3-S4 for re-measurement, and if the data are in the error range, determining that the detection is normal, and carrying out the next step;
s7: and updating and recording relevant data of the detection point, judging whether the detection action sequence is finished or not, if not, repeating the steps S1-S6 until all detection actions are finished, and finishing the detection action of the detection point.
In this embodiment, a flow of a learning and setting method of a new project is shown in fig. 8.
S1: the robot is operated to learn, store and record a route to be driven, wherein the route comprises the positions of all detection points on the route;
S2: driving to the point to be detected in sequence, and learning and storing and recording the detection action primitive sequence of the corresponding detection point;
s3: judging whether the primitive sequence of the detection action of the detection point is finished or not, whether the continuous learning is finished or not, whether all the detection learning is finished or not, and whether the continuous learning is not finished;
and S4, after learning of all detection points and detection action primitive sequences is completed, recording and storing routing inspection lines, and completing new project work.
After all the measurement work is finished, the data needs to be calculated, and after the total station is used for measuring and obtaining the measurement data, the matrixes of the spatial position information data of each detection point (measuring station) and the turning reference point are calculated. The method for obtaining settlement and deformation data and the algorithm for integrally balancing the data through the reference points at the two ends of the tunnel after measurement are common algorithms in the industry, and the algorithm can be reasonably adjusted by directly utilizing an open source algorithm, and is not repeated here.
After the measurement is finished, the overall adjustment algorithm is carried out by utilizing the observation data of different fixed-point measurement positions, and the settlement of each monitoring point in the pipe tunnel under the reference coordinate system and the three-dimensional deformation data of the pipe tunnel can be objectively reflected.
The tunnel is subjected to three-dimensional modeling, measured and calculated data are given to a three-dimensional model, the position and the posture of each pipe joint and the relative position of each three-dimensional model are updated, and compared with the poses of historical pipe joints, various data such as uneven settlement (vertical deformation), posture change, transverse dislocation, torsional deformation, longitudinal tension-compression dislocation, pipe joint gap change and the like of the pipe joints can be calculated and used for judging the settlement deformation state of the tunnel pipe joints.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (4)
1. The intelligent inspection robot is characterized by comprising a robot body, a mobile platform, a positioning navigation device, an automatic leveling device, a measuring instrument, an image acquisition device, a built-in server and a communication device;
The robot body and the mobile platform are provided with driving wheels or crawler belts at the bottoms, and are used for automatically driving according to a preset route and automatically stopping at a plurality of preset detection points for operation;
the automatic leveling device is used for providing a strictly horizontal reference platform for the measuring instrument, is provided with a transverse leveling motor, a longitudinal leveling motor and a horizontal detection device, and is locked after automatic leveling;
the measuring instrument is one or the combination of a digital total station and a digital level, wherein the total station is an automatic total station with automatic target identification and search functions and is used for measuring settlement and deformation data of a pipe tunnel;
the positioning navigation device comprises an Ultra Wide Band (UWB), namely one or more combinations of a UWB positioning device, a laser radar, a machine vision depth-of-field camera and the like, and is used for positioning and navigating the robot;
the image acquisition device is provided with a holder, wherein the image acquisition device is one or two of an infrared thermal image camera and a visible light camera and is used for acquiring infrared or optical images of a detection target;
the built-in server is a multi-core artificial intelligence server and is used for controlling the robot, operating the airborne detection equipment, executing a specified detection action sequence, calculating and storing detection data of the measuring instrument, and storing and intelligently judging images of the image acquisition device;
The communication device comprises any one or more of WiFi, 4G devices and 5G devices, and realizes a signal transmission function.
2. The intelligent inspection robot according to claim 1, wherein a three-dimensional laser scanning device is mounted for scanning and acquiring three-dimensional point cloud data of the pipe tunnel.
3. The inspection method of the intelligent inspection robot is characterized in that prisms are further installed in a pipe tunnel to be inspected, the prisms are used for being arranged in a monitoring area of the pipe tunnel and used for reflecting measuring points arranged on a monitoring section in the monitoring area to a total station, no less than 3 prisms are arranged at the top and two ends of each pipe section, and the prisms of adjacent pipe sections are arranged in a staggered mode to avoid mutual shielding.
4. The inspection method of the intelligent inspection robot is characterized by comprising the following steps:
s1: the robot performs self-checking, whether the self-checking is successful is judged, and if not, the self-checking is continued and an alarm is given; if yes, opening the engineering configuration;
s2: after the project configuration is opened, judging whether a known navigation map exists or not, and if not, ending the project; if yes, starting automatic measurement operation;
s3: after the automatic measurement operation is started, the robot automatically drives to a preset first detection point, and after the robot reaches the first detection point, the self-leveling base is driven to self-level and lock;
S4: after leveling, executing an initial calibration action sequence, detecting a calibration control point, and calculating calibration data;
s5: judging whether the calibration data is correct or not, comparing the calibration data with the known historical detection data of the detection position, and if the detection data is within a preset error range, continuing to execute the detection operation; if the error is exceeded, adjusting the related parameters, and recalibrating until the calibration data is correct;
s6: automatically driving to the next detection point according to a preset route, leveling the automatic leveling device, calling a detection action sequence to carry out detection operation on the detection point, and acquiring corresponding detection data;
s7: comparing the historical detection data, judging whether the detection data is in a preset range, if not, recording abnormal data, giving an alarm, and detecting again; if yes, finishing the detection operation of the detection point;
s8: judging whether all detection operations are finished, if not, driving to the next detection point according to a preset path, and continuing to execute the detection operations; if so, indicating that all detection operations are finished, processing and integrally resolving the detection operations, and giving detection data.
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| CN114102552A (en) * | 2021-12-29 | 2022-03-01 | 福州大学 | Intelligent inspection robot for offshore converter station based on equipment identification and working method of intelligent inspection robot |
| CN114102552B (en) * | 2021-12-29 | 2024-03-12 | 福州大学 | Intelligent inspection robot for offshore converter station based on equipment identification and working method thereof |
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