CN112254731A - Inspection robot, inspection path planning method and inspection path planning system - Google Patents
Inspection robot, inspection path planning method and inspection path planning system Download PDFInfo
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- G—PHYSICS
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The embodiment of the invention relates to an inspection robot, an inspection path planning method and an inspection path planning system, which comprise: the controller is used for controlling the driving device and driving the inspection robot to run; the distance sensor is used for acquiring the distance between the base of the inspection robot and the ground in real time when the inspection robot runs in the current inspection path; the processor is used for sending a control command to the controller when the distance between the base of the inspection robot and the ground is greater than a first distance threshold value; the controller is also used for replanning the routing inspection path according to the control instruction and controlling the driving device to work so as to drive the routing inspection robot to run according to the replanned routing inspection path. By the method, the actual map does not need to be accurately measured, and the robot is redeployed after the robot inspection map is not needed to be modified and the virtual wall is set. When the no-pass area changes, the coating can be removed at any time to change the no-pass area, and the setting simplification of the no-pass area is realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to an inspection robot, an inspection path planning method and an inspection path planning system.
Background
The machine room inspection robot is intelligent equipment which assists or replaces manpower to execute inspection tasks in a data machine room, and the machine room inspection robot is deployed in a large quantity due to the characteristics of intelligence, low cost and uninterrupted inspection. When the machine room inspection robot is deployed, an inspection environment map needs to be established firstly, then the inspection position is manually set, and after the deployment is completed, the robot can autonomously navigate according to the set inspection point to execute the inspection task.
When some areas of a machine room are constructed and modified or some areas need to be temporarily provided with no-pass areas, the current method is to modify an inspection map of the inspection robot through a background, set a virtual wall at the position where the passage needs to be prevented, and then deploy an updated map to the robot. When the transformation is completed or the passing-prohibited area can pass, the inspection map needs to be revised again to erase the virtual wall and then is redeployed to the inspection robot.
The prior scheme has the disadvantages that the robot patrol map is obtained by scaling a real map according to a certain proportion, and when the patrol map is modified through software, the real map needs to be measured firstly, and then a map reference object is searched to be converted to the position on the patrol map of the patrol robot; secondly, the routing inspection robot map needs to be updated after the virtual wall is set, and the virtual wall needs to be reset after the traffic-restricted area is changed, so that the management difficulty of the routing inspection robot map version can be increased.
Disclosure of Invention
In view of this, to solve the above technical problems or some technical problems, embodiments of the present invention provide an inspection robot, an inspection path planning method, and an inspection path planning system.
In a first aspect, an embodiment of the present invention provides an inspection robot, including:
a processor, at least one distance sensor, a controller and a drive device; the processor is electrically connected with each distance sensor respectively; the controller is electrically connected with the processor and the driving device respectively;
the controller is used for controlling the driving device and driving the inspection robot to run;
each distance sensor of the at least one distance sensor is arranged below the base of the inspection robot and used for acquiring the distance between the base of the inspection robot and the ground in real time when the inspection robot runs in the current inspection path;
the processor is used for sending a control command to the controller when the distance between the base of the inspection robot and the ground is greater than a first distance threshold value;
the controller is also used for replanning the routing inspection path according to the control instruction and controlling the driving device to work so as to drive the routing inspection robot to run according to the replanned routing inspection path.
In one possible embodiment, the inspection robot comprises a plurality of distance sensors, and forms a distance sensor array;
the spacing distance between two adjacent distance sensors in the distance sensor array is smaller than a second distance threshold value;
the distance sensor array length is greater than a third distance threshold.
In one possible embodiment, the processor is specifically configured to,
when the distance between the base of the inspection robot and the ground, collected by all the distance sensors in the distance sensor array, is determined to be greater than a first distance threshold, a control instruction is sent to the controller.
In one possible embodiment, the distance sensor is an optical ranging sensor;
after the optical signal emitted by the optical ranging sensor is processed by the pre-configured path limiting layer, the optical ranging sensor detects that the distance between the inspection robot base and the ground is infinite, so that the processor determines that the distance between the inspection robot base and the ground is larger than a first distance threshold value.
In one possible embodiment, the inspection robot further includes: the navigation device is electrically connected with the controller;
the navigation device is used for scanning the environment where the inspection robot is located when the inspection robot runs around the environment, and acquiring an obstacle point cloud picture corresponding to the environment and correction data corresponding to the obstacle point cloud picture;
the processor is further used for correcting the obstacle point cloud picture according to the correction data.
In one possible embodiment, a navigation device includes: the system comprises a laser radar, an inertial navigation unit and a milemeter;
the laser radar is used for scanning the distance between the inspection robot and the obstacle in the environment where the inspection robot is located to form an obstacle point cloud picture;
the inertial navigation unit is used for acquiring the running direction of the inspection robot;
and the odometer is used for acquiring the running mileage of the inspection robot, and the running direction and the running mileage of the inspection robot are jointly used as correction data to correct the obstacle point cloud picture, wherein all running paths of the inspection robot are acquired from the corrected obstacle point cloud picture.
In one possible embodiment, the inspection robot further comprises a data transceiver electrically connected with the processor and the controller respectively for establishing communication connection between the processor and the controller.
In one possible embodiment, the drive means comprises: the device comprises a motor driver, a motor, a speed reducer and a power wheel;
the motor driver is respectively electrically connected with the controller and the motor, and the motor is electrically connected with the speed reducer; the speed reducer is electrically connected with the power wheel;
the motor driver is used for driving the motor to work after receiving the driving instruction sent by the controller;
and the motor is used for driving the speed reducer so that the speed reducer drives the power wheel to finish the operation of the inspection robot.
In a second aspect, an embodiment of the present invention provides an inspection path planning method, which is applied to the inspection robot described in any implementation manner of the first aspect, and the method includes:
when the robot runs in the current routing inspection path, acquiring the distance between a chassis of the routing inspection robot and the ground in real time;
when the distance between the base of the inspection robot and the ground is determined to be larger than the first distance threshold value, the inspection path is re-planned, so that the inspection robot runs according to the re-planned inspection path.
In one possible embodiment, before acquiring the distance between the robot chassis and the ground in real time, the method further includes:
when the inspection robot runs around in the environment, scanning the environment where the inspection robot is located, and acquiring an obstacle point cloud picture corresponding to the environment where the inspection robot is located and correction data corresponding to the obstacle point cloud picture;
and correcting the obstacle point cloud picture according to the correction data, wherein all driving paths of the inspection robot are acquired from the corrected obstacle point cloud picture.
In a third aspect, an embodiment of the present invention provides an inspection path planning system, where the inspection path planning system includes:
an inspection robot as described in any of the embodiments of the first aspect, and a path restriction map layer;
the inspection robot is used for acquiring the distance between an inspection robot chassis and the ground in real time when the inspection robot runs in the current inspection path;
when the vehicle runs to the position of the path limiting map layer, determining that the distance between the base of the inspection robot and the ground is larger than a first distance threshold value, replanning the path, and running according to the replanned inspection path; wherein, the route restriction picture layer for the range finding signal that sends of distance sensor among the robot patrols and examines is handled, so that the distance that patrols and examines between robot detection base and the ground is greater than first distance threshold value.
According to the inspection robot provided by the embodiment of the invention, once the inspection robot reaches the no-pass area, the processor judges that the distance between the robot base and the ground, which is acquired by the distance sensor, is greater than the first distance threshold. Then, a control command is sent to the controller, so that the controller stops advancing according to the idle command, replans the traveling path, and continues traveling according to the new traveling path. Before the distance between the base of the robot and the ground is judged to be greater than a first distance threshold value, a substance which enables the distance detected by the distance sensor to be far greater than the actual distance between the base and the ground needs to be configured in the forbidden area, and then the distance between the base and the ground detected by the distance sensor at the bottom of the inspection robot is matched to be greater than the first distance threshold value, so that the arrangement of the passing-forbidden area is realized. By the method, the actual map does not need to be accurately measured, and the robot is redeployed after the robot inspection map is not needed to be modified and the virtual wall is set. And when the no-pass area changes, the coating can be removed at any time to change the no-pass area, so that the setting of the no-pass area is simplified.
Drawings
Fig. 1 is a schematic structural diagram of an inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a plurality of distance sensors mounted on a base of an inspection robot according to the present invention;
FIG. 3 is a schematic diagram illustrating a simple principle that a light signal emitted from an optical ranging sensor is absorbed by a light absorbing material coating according to the present invention;
FIG. 4 is a schematic diagram illustrating a simple principle of reflection of an optical signal from an optical ranging sensor by a highly reflective coating;
FIG. 5 is a schematic diagram illustrating a gap spacing between hollowed-out floor panels according to the present invention;
fig. 6 is a schematic structural diagram of an inspection robot provided by the invention in a specific example;
fig. 7 is a schematic flow chart of a routing inspection path planning method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
For the convenience of understanding of the embodiments of the present invention, the following description will be further explained with reference to specific embodiments, which are not to be construed as limiting the embodiments of the present invention.
Fig. 1 is a structural diagram of an inspection robot according to an embodiment of the present invention, where the inspection robot includes: at least one distance sensor 10, a controller 20, a processor 30 and a driving device 40;
the processor 30 is electrically connected with each distance sensor 10 respectively; the controller 20 is electrically connected to the processor 30 and the driving device 40;
the controller 20 is used for controlling the driving device 40 to drive the inspection robot to run;
each distance sensor 10 of the at least one distance sensor 10 is installed below the base of the inspection robot and used for acquiring the distance between the base of the inspection robot and the ground in real time when the inspection robot runs in the current inspection path;
the processor 30 is used for sending a control instruction to the controller 20 when the distance between the base of the inspection robot and the ground is greater than a first distance threshold value;
the controller 20 is further configured to replan the inspection path according to the control instruction, and control the driving device 40 to operate so as to drive the inspection robot to travel according to the replanned inspection path.
Specifically, the inspection robot continuously operates to complete the inspection task. Optionally, the inspection robot has a liftable table, and the table is provided with an image acquisition device, such as a camera. When the inspection robot works, the camera can shoot and select the working state of the monitored object in the working environment of the inspection robot. For example, the working environment is a data room, and the monitored object is a computer. Therefore, the inspection robot can continuously run in the machine room to monitor and collect images of the working states of the computers so as to provide the images for workers to check and complete the monitoring of the working states of the computers.
In a specific operation, a control command is mainly issued to the driving device 40 by the controller 20. The whole inspection robot is driven by the driving device 40 to run.
In the driving process, an area where the inspection robot is forbidden to pass exists inevitably. In order to effectively forbid the inspection robot to run in the passing area. The method can be realized by the following scheme:
when the inspection robot runs in the current inspection path, each distance sensor 10 of the at least one distance sensor 10 collects the distance between the base of the inspection robot and the ground in real time. Wherein, distance sensor 10 all installs on patrolling and examining robot's base, specifically refer to as shown in fig. 2. Fig. 2 is a schematic structural view showing that a plurality of distance sensors 10 are arranged on a base of an inspection robot. Wherein, reference numeral 1 in fig. 2 is a distance sensor 10, and fig. 2 includes a plurality of array sensors 10, which are distributed and arranged on the inspection robot base 4. Also shown in fig. 2 are powered wheels, see position 2, and universal wheels, see position 3.
The inspection robot collects the distance between the inspection robot base and the ground and transmits the distance to the processor 30. The processor 30 may be any separate electronic component having processing functionality or a combined device having processing functionality. In this embodiment, the processor 30 is a single chip. The single chip microcomputer is electrically connected with each distance sensor 10 respectively and used for obtaining the distance between the inspection robot base and the ground, wherein the distance is acquired by each distance sensor 10.
When the ground surface is a normal ground surface, such as a flat ground surface, the distance value between the base and the ground surface collected by each distance sensor 10 is substantially the same. Then, the processor 30 may determine whether the inspection robot may proceed according to the distance between the base and the ground, which is acquired by any one of the distance sensors 10.
Specifically, when the distance between the base of the inspection robot and the ground is smaller than or equal to the first distance threshold value, the inspection robot can move forward continuously.
However, if the distance between the base of the inspection robot and the ground is greater than the first distance threshold, it indicates that the front is a forbidden area, and the inspection robot needs to plan a driving route again. In the practical application process, in order to enable the distance sensor 10 to detect that the distance between the base of the inspection robot and the ground is greater than the first distance threshold value, some processing operation can be performed on the ground. For example, when the distance sensor 10 is an optical ranging sensor, then a path-limiting layer may be disposed on the ground, including, but not limited to, one or more of the following: the light absorbing substance coating or the highly light reflecting substance coating.
In the case of a light-absorbing substance coating, refer to fig. 3 for a simple schematic diagram of the light signal emitted by the optical distance measuring sensor being absorbed by the light-absorbing substance coating. Most of light signals sent by the optical ranging sensor are absorbed by the light absorption substances, a small amount of reflected light received by the optical ranging sensor is not enough to trigger the receiving unit of the optical ranging sensor, and the distance between the base and the floor measured by the optical ranging sensor is infinite.
In the case of a highly reflective coating, see fig. 4 for a simplified schematic diagram of the reflection of the optical signal from the optical ranging sensor by the highly reflective coating. Most of the optical signals are reflected, but the radiation direction deviates from the original reflection direction, the reflected optical signals still cannot be received by the optical ranging sensor receiving unit, and then the optical ranging sensor receiving unit is not triggered enough, and the distance between the base and the floor measured by the optical ranging sensor is infinite.
Accordingly, the processor 30 may determine that the distance between the inspection robot base and the ground is greater than the first distance threshold. At this time, a control command is issued to the controller 20.
The controller 20 replans the inspection path according to the control instruction, and controls the driving device 40 to work so as to drive the inspection robot to continue to run according to the new inspection path, thereby completing the monitoring work of the monitored object.
Optionally, in the actual application process, the processor 30 may replan a new driving path when determining that the distance between the inspection robot base and the ground is greater than the first distance threshold. And then transmits the data to the controller 20, and sends a control command to instruct the controller 20 to control the driving device 40 to work, so as to drive the inspection robot to run according to the re-planned inspection path.
The specific manner used can be set according to actual conditions, and will not be described herein too much. In the present embodiment, the following description will specifically take an example in which the processor 30 issues a control command and the controller 20 replans a driving route.
Through the mode, once the inspection robot reaches the no-pass area, the inspection robot stops advancing, replans the driving path and continues to drive according to the new driving path.
Further alternatively, in the above, a case where the ground is flat is referred to. The inspection robot may include at least one distance sensor 10, and may include only one distance sensor 10 in consideration of cost.
However, in some special cases, such as shown in fig. 5, the floor in the inspection machine room is generally a hollow floor. FIG. 5 shows a schematic diagram of the gap spacing of the hollowed-out floor. It is mainly because, the inside heat dispersion that is in order to improve of computer lab, refrigerating system generally installs in the fireproof floor below, and the fireproof floor is the fretwork floor, and refrigeration air conditioner adopts the mode of upwards blowing from the bottom to cool down the computer.
That is, in the operation process of the inspection robot, when the distance sensor 10 suddenly detects that the robot is operated to a certain position, the distance between the base of the inspection robot and the ground is large. If no treatment is carried out, the condition can easily trigger the related operation of the inspection robot for replanning the driving path by mistake. In order to prevent this, a plurality of distance sensors 10 may be included in the inspection robot. These distance sensors 10 constitute an array of distance sensors 10.
Furthermore, in consideration of the width L of the hollow area and the distance d between the non-hollow areas in the hollow floor, the distance between two adjacent distance sensors 10 may be configured to be smaller than a second distance threshold, for example, d, and the length of the array of distance sensors 10 is greater than or equal to a third distance threshold, for example, L + d. In the present embodiment, the length of the array of distance sensors 10 is set to be greater than 2 × (L + d) in consideration of the practical application of the engineering work.
The reason why the spacing distance between two adjacent distance sensors 10 is configured to be smaller than the second distance threshold value is that when the inspection robot does not reach the forbidden area, even if a hollow area exists, the distance sensors 10 can acquire that the distance between the base of the inspection robot and the ground is smaller than the first distance threshold value, so that the inspection robot is prevented from mistakenly triggering the operation of path replanning.
The reason why the length of the array of distance sensors 10 is greater than the third distance threshold is to consider that once the forbidden area is reached, if the distances between the base and the ground acquired by all the distance sensors 10 are greater than the first distance threshold, it is indicated that the front is really the forbidden area, and a path needs to be re-planned. If it is determined that the distances between the bases and the ground collected by all the distance sensors 10 are greater than the first distance threshold, excluding the case where only the distances between the bases and the ground collected by the distance sensors 10 in the hollow areas are greater than the first distance threshold, it is required that the length of the distance sensor 10 matrix covers the distance between at least one hollow area and one non-hollow area, i.e., L + d.
Optionally, the inspection robot further comprises: a navigation device 50. Referring specifically to FIG. 1, the navigation device 50 is electrically connected to the controller 20.
The navigation device 50 is used for scanning the environment where the inspection robot is located when the inspection robot runs around the environment, and acquiring an obstacle point cloud picture corresponding to the environment and correction data corresponding to the obstacle point cloud picture;
the processor 30 is further configured to modify the obstacle point cloud image according to the modification data.
Optionally, the inspection robot may further include a data transceiver 60, as shown in fig. 1, the data transceiver 60 is electrically connected to the processor 30 and the controller 20, respectively, for establishing a communication connection between the processor 30 and the controller 20.
In a specific example, referring to fig. 6 in particular, fig. 6 shows a schematic structural diagram of the inspection robot in a specific example. The navigation device 50 may include a laser radar 501, an inertial navigation unit 502, and a odometer;
the laser radar 501 is used for scanning the distance between the inspection robot and an obstacle in the environment where the inspection robot is located to form an obstacle point cloud picture;
the inertial navigation unit 502 is used for acquiring the running direction of the inspection robot;
and the odometer 503 is configured to obtain the operation mileage of the inspection robot, and the operation direction and the operation mileage of the inspection robot are jointly used as correction data to correct the obstacle point cloud picture, where all the travel paths of the inspection robot are obtained from the corrected obstacle point cloud picture.
In particular, the cloud image of the obstacle points can also be understood as an approximate outline of the working environment in which the inspection robot is located. And obtaining a map of the operation of the inspection robot after the correction of the correction data. Then, all the traveling paths of the inspection robot can be extracted from the map.
In fig. 6, the data transceiver 60 is a CAN data transceiver bus. The driving device 40 may include a motor driver 401, a motor 402, a speed reducer 403 and a power wheel 404;
the motor 402 driver 401 is respectively electrically connected with the controller 20 and the motor 402, and the motor 402 is electrically connected with the speed reducer 403; the speed reducer 403 is electrically connected with a power wheel 404;
a motor 402 driver 401, configured to receive a driving instruction sent by the controller 20, and drive the motor 402 to operate;
and the motor 402 is used for driving the speed reducer 403, so that the speed reducer 403 drives the power wheel 404 to complete the operation of the inspection robot, and a specific robot operation principle is not described herein.
Fig. 6 also shows that the distance sensor 10 is an optical distance measuring sensor, the processor 30 is a single chip, and the like, and the specific working principle has been described in detail above, and will not be described too much here.
According to the inspection robot provided by the embodiment of the invention, once the inspection robot reaches the no-pass area, the processor judges that the distance between the robot base and the ground, which is acquired by the distance sensor, is greater than the first distance threshold. Then, a control command is sent to the controller, so that the controller stops advancing according to the idle command, replans the traveling path, and continues traveling according to the new traveling path. Before the distance between the robot base and the ground is judged to be greater than a first distance threshold value, firstly, a substance which enables the distance sensor to detect infinite distance needs to be configured in the forbidden area, for example, the distance sensor is an optical distance measuring sensor, then a highly reflective or light absorbing coating is configured in the forbidden area, and then the distance measuring of the distance sensor at the bottom of the inspection robot is matched to be infinite, so that the arrangement of the passing-forbidden area is realized. By the method, the actual map does not need to be accurately measured, and the robot is redeployed after the robot inspection map is not needed to be modified and the virtual wall is set. And when the no-pass area changes, the coating can be removed at any time to change the no-pass area, so that the setting of the no-pass area is simplified.
Fig. 7 is a schematic flow chart of a routing inspection path planning method according to an embodiment of the present invention, as shown in fig. 7.
And step 710, acquiring the distance between the chassis of the inspection robot and the ground in real time when the robot runs in the current inspection path.
And 720, when the distance between the base of the inspection robot and the ground is determined to be larger than the first distance threshold, re-planning the inspection path.
Optionally, before the distance between the robot chassis and the ground is collected in real time, the method may further include:
when the inspection robot runs around in the environment, scanning the environment where the inspection robot is located, and acquiring an obstacle point cloud picture corresponding to the environment where the inspection robot is located and correction data corresponding to the obstacle point cloud picture;
and correcting the obstacle point cloud picture according to the correction data, wherein all driving paths of the inspection robot are acquired from the corrected obstacle point cloud picture.
The details of the execution of each method step in the routing method for the inspection robot provided by this embodiment have been described in detail in the previous embodiment, which is not described herein again.
According to the routing inspection path planning method provided by the embodiment of the invention, once the routing inspection robot reaches the no-pass area, the processor judges that the distance between the robot base and the ground, which is acquired by the distance sensor, is greater than the first distance threshold. Then, a control command is sent to the controller, so that the controller stops advancing according to the idle command, replans the traveling path, and continues traveling according to the new traveling path. Before the distance between the robot base and the ground is judged to be greater than a first distance threshold value, firstly, a substance which enables the distance sensor to detect infinite distance needs to be configured in the forbidden area, for example, the distance sensor is an optical distance measuring sensor, then a highly reflective or light absorbing coating is configured in the forbidden area, and then the distance measuring of the distance sensor at the bottom of the inspection robot is matched to be infinite, so that the arrangement of the passing-forbidden area is realized. By the method, the actual map does not need to be accurately measured, and the robot is redeployed after the robot inspection map is not needed to be modified and the virtual wall is set. And when the no-pass area changes, the coating can be removed at any time to change the no-pass area, so that the setting of the no-pass area is simplified.
The embodiment of the invention also provides an inspection path planning system, which can comprise the inspection robot and a path limiting layer mentioned in any embodiment.
The inspection robot is used for acquiring the distance between an inspection robot chassis and the ground in real time when the inspection robot runs in the current inspection path;
when the vehicle runs to the position of the path limiting map layer, determining that the distance between the base of the inspection robot and the ground is larger than a first distance threshold value, replanning the path, and running according to the replanned inspection path; wherein, the route restriction picture layer for the range finding signal that sends of distance sensor among the robot patrols and examines is handled, so that the distance that patrols and examines between robot detection base and the ground is greater than first distance threshold value.
According to the routing inspection path planning system provided by the embodiment, once the routing inspection robot reaches the no-pass area, namely meets the path restriction map layer, the routing inspection robot replans the driving path according to the routing inspection path planning method corresponding to fig. 7, and continues to drive according to the new driving path. By the method, the actual map does not need to be accurately measured, and the robot is redeployed after the robot inspection map is not needed to be modified and the virtual wall is set. And when the no-pass area changes, the coating can be removed at any time to change the no-pass area, so that the setting of the no-pass area is simplified. Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, in a software module executed by processor 30, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (11)
1. The utility model provides an inspection robot, its characterized in that, inspection robot includes: a processor, at least one distance sensor, a controller and a drive device; the processor is electrically connected with each distance sensor respectively; the controller is electrically connected with the processor and the driving device respectively;
the controller is used for controlling the driving device to drive the inspection robot to run;
each distance sensor in the at least one distance sensor is arranged below the base of the inspection robot and used for acquiring the distance between the base of the inspection robot and the ground in real time when the inspection robot runs in the current inspection path;
the processor is used for sending a control instruction to the controller when the distance between the inspection robot base and the ground is greater than a first distance threshold value;
the controller is further used for replanning the routing inspection path according to the control instruction and controlling the driving device to work so as to drive the routing inspection robot to drive according to the replanned routing inspection path.
2. The inspection robot according to claim 1, wherein the inspection robot includes a plurality of distance sensors and forms a distance sensor array;
the spacing distance between two adjacent distance sensors in the distance sensor array is smaller than a second distance threshold value;
the distance sensor array length is greater than a third distance threshold.
3. The inspection robot according to claim 2, wherein the processor is specifically configured to issue the control command to the controller when it is determined that the distances between the base of the inspection robot and the ground, acquired by all the distance sensors in the distance sensor array, are greater than the first distance threshold.
4. The inspection robot according to claim 1, wherein the distance sensor is an optical ranging sensor;
when the optical signal emitted by the optical ranging sensor is processed by the preconfigured path limiting layer, the optical ranging sensor detects that the distance between the inspection robot base and the ground is infinite, so that the processor determines that the distance between the inspection robot base and the ground is greater than a first distance threshold value.
5. The inspection robot according to claim 1, further including: a navigation device electrically connected with the controller;
the navigation device is used for scanning the environment where the inspection robot is located when the inspection robot runs around in the environment where the inspection robot is located, and acquiring an obstacle point cloud picture corresponding to the environment where the inspection robot is located and correction data corresponding to the obstacle point cloud picture;
the processor is further configured to correct the obstacle point cloud picture according to the correction data.
6. The inspection robot according to claim 5, wherein the navigation device includes: the system comprises a laser radar, an inertial navigation unit and a milemeter;
the laser radar is used for scanning the distance between the inspection robot and an obstacle in the environment where the inspection robot is located to form an obstacle point cloud picture;
the inertial navigation unit is used for acquiring the running direction of the inspection robot;
the odometer is used for acquiring the running mileage of the inspection robot, the running direction of the inspection robot and the running mileage serve as correction data together to correct the obstacle point cloud picture, wherein all running paths of the inspection robot are acquired from the corrected obstacle point cloud picture.
7. The inspection robot according to any one of claims 1-6, further including a data transceiver electrically connected to the processor and the controller, respectively, for establishing a communication link between the processor and the controller.
8. The inspection robot according to any one of claims 1-6, wherein the drive arrangement includes: the device comprises a motor driver, a motor, a speed reducer and a power wheel;
the motor driver is electrically connected with the controller and the motor respectively, and the motor is electrically connected with the speed reducer; the speed reducer is electrically connected with the power wheel;
the motor driver is used for driving the motor to work after receiving the driving instruction sent by the controller;
the motor is used for driving the speed reducer, so that the speed reducer drives the power wheel to complete the operation of the inspection robot.
9. An inspection path planning method applied to the inspection robot according to any one of claims 1 to 8, the method comprising:
when the robot runs in the current routing inspection path, acquiring the distance between a chassis of the routing inspection robot and the ground in real time;
when the distance between the base of the inspection robot and the ground is determined to be larger than a first distance threshold value, an inspection path is re-planned, so that the inspection robot runs according to the re-planned inspection path.
10. The method of claim 9, wherein prior to the acquiring the distance between the robot chassis and the ground in real-time, the method further comprises:
when the inspection robot runs around in the environment, scanning the environment where the inspection robot is located, and acquiring a barrier point cloud picture corresponding to the environment where the inspection robot is located and correction data corresponding to the barrier point cloud picture;
and correcting the obstacle point cloud picture according to the correction data, wherein all driving paths of the inspection robot are acquired from the corrected obstacle point cloud picture.
11. An inspection path planning system comprising an inspection robot according to any one of claims 1 to 8, and a path restriction map layer;
the inspection robot is used for acquiring the distance between an inspection robot chassis and the ground in real time when the inspection robot runs in the current inspection path;
when the vehicle runs to the position of the path limiting map layer, determining that the distance between the inspection robot base and the ground is larger than a first distance threshold value, replanning a path, and running according to the replanned inspection path; the path limiting layer is used for processing distance measuring signals sent by a distance sensor in the inspection robot, so that the distance between the inspection robot detection base and the ground is larger than a first distance threshold value.
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