CN112428269B - Obstacle alarm system for inspection robot - Google Patents
Obstacle alarm system for inspection robot Download PDFInfo
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- CN112428269B CN112428269B CN202011256871.1A CN202011256871A CN112428269B CN 112428269 B CN112428269 B CN 112428269B CN 202011256871 A CN202011256871 A CN 202011256871A CN 112428269 B CN112428269 B CN 112428269B
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- 238000007689 inspection Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 claims abstract description 23
- 238000005286 illumination Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 12
- 239000013589 supplement Substances 0.000 claims description 45
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Abstract
The invention discloses an obstacle alarm system for an inspection robot, which comprises an image acquisition module, a laser transceiving module, a illuminance acquisition module, a data receiving module, a data processing module, a master control module, an instruction sending module and a robot control module, wherein the image acquisition module is used for acquiring an image of a robot; the system comprises an image acquisition module, a laser transceiving module, a laser receiving and transmitting module and a laser processing module, wherein the image acquisition module is installed on the inspection robot and used for acquiring image information of the traveling direction of the inspection robot, the illumination acquisition module is used for acquiring illumination information of the inspection robot in the running process, the laser receiving and transmitting module is used for transmitting ranging laser and recording laser information, and the laser information comprises laser transmitting time and laser receiving time; the data receiving module is used for receiving image information, illuminance information and laser information. The invention can better perform obstacle alarm, meets the use requirements of users, and makes the system more worthy of popularization and use.
Description
Technical Field
The invention relates to the field of inspection robots, in particular to an obstacle alarm system for an inspection robot.
Background
Line patrol robot: the inspection robot has the functions of obstacle detection and identification, autonomous operation planning, autonomous obstacle crossing, autonomous inspection of a power transmission line and a line corridor thereof, automatic storage and remote wireless transmission of a robot body for inspecting images and data, ground remote wireless monitoring and remote control, online real-time supply of electric energy, background inspection operation management, analysis and diagnosis and the like, and the inspection robot needs to use an obstacle alarm system to control the robot to avoid obstacles in the using process.
The existing obstacle avoidance alarm system is not good enough in obstacle avoidance alarm effect, cannot meet the use requirements of users, is single in function, brings certain influence on the use of the obstacle avoidance alarm system, and therefore provides the obstacle avoidance alarm system for the inspection robot.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to solve current obstacle avoidance alarm system, its effect of keeping away the obstacle alarm is good inadequately, can not satisfy user's user demand, and the function is comparatively single simultaneously, has brought the problem of certain influence for keeping away obstacle alarm system's use, provides one kind and patrols and examines obstacle alarm system for robot.
The invention solves the technical problems through the following technical scheme, and the robot control system comprises an image acquisition module, a laser transceiving module, a illuminance acquisition module, a data receiving module, a data processing module, a master control module, an instruction sending module and a robot control module;
the system comprises an image acquisition module, a laser transceiving module, a laser receiving and transmitting module and a laser processing module, wherein the image acquisition module is installed on the inspection robot and used for acquiring image information of the traveling direction of the inspection robot, the illumination acquisition module is used for acquiring illumination information of the inspection robot in the running process, the laser receiving and transmitting module is used for transmitting ranging laser and recording laser information, and the laser information comprises laser transmitting time and laser receiving time;
the data receiving module is used for receiving image information, illuminance information and laser information, and the data receiving module sends the received image information, illuminance information and laser information to the data processing module for processing;
the specific process of processing the video image by the data receiving module is as follows:
the method comprises the following steps: extracting image information, processing video contents in the video image, and extracting obstacles in the video;
step two: extracting the total plane area information of the video image and marking the information as PGeneral assemblyMarking the plane area information of the obstacle in the video image as PBarrier；
Step three: by the formula PBarrier/PGeneral assembly=PRatio ofObtaining the ratio of the obstacle PRatio ofWhen the ratio of obstacles is PRatio ofWhen the laser receiving and transmitting module is larger than the preset value, the laser receiving and transmitting module starts to operate;
the data processing module is used for processing the image information and the laser information to avoid the barrier alarm information and converting the illuminance information into light supplement information;
the specific processing process of the data processing module for processing the laser information is as follows:
the method comprises the following steps: extracting laser emission time information in the laser information, and marking the laser emission time information as T1;
step two: extracting the time information of the received reflected laser, and marking the time information as T2;
step three: calculating the time information T2 of the received reflected laser and the laser emission time information by a formulaThe difference between the information T1 is the time difference TDifference (D)；
Step four: extracting laser emission speed information, marking the information as Wq, and obtaining the laser emission speed information through a formula Wq TDifference (D)= Wtq, resulting in obstacle distance Wtq;
the obstacle avoidance warning information and the light supplement information are sent to a master control module, and the master control module converts the obstacle avoidance warning information and the light supplement information into an obstacle avoidance warning instruction and a light supplement instruction;
the obstacle avoidance alarm instruction and the light supplement instruction are sent to the instruction sending module by the master control module, and the instruction sending module sends the obstacle avoidance alarm instruction and the light supplement instruction to the robot control module.
Preferably, the ratio P of the obstacle distance Wtq to the obstacle is extractedRatio ofWhen the ratio of obstacles is PRatio ofIf the distance is greater than the preset value and the obstacle distance Wtq is greater than the preset value, obstacle avoidance warning information is generated;
obstacle avoidance alarm information is converted into an obstacle avoidance alarm instruction and sent to the robot control module, and the robot control module controls the robot to carry out obstacle avoidance operation after receiving the obstacle avoidance alarm instruction.
Preferably, the specific processing procedure of the data processing module converting the illuminance information into the supplementary lighting information is as follows:
the method comprises the following steps: continuously collecting x-time illumination information, and marking the illumination information as Gx, wherein x is more than or equal to 3;
step two: by the formula G1+ G2+ … … + Gx = GAndobtaining the sum G of the illuminanceAnd；
step three: then by formula GAnd/x=Gare all made ofObtaining the average value G of illuminanceAre all made of；
Step four: mean value of illuminance GAre all made ofGenerating light supplement information when the light supplement information is smaller than a preset value;
the light supplement information is converted into a light supplement instruction by the master control module, the light supplement instruction is sent to the robot control module, and the robot control module controls the operation of a light supplement lamp installed on the robot to perform light supplement operation.
Compared with the prior art, the invention has the following advantages: this patrol and examine robot and use obstacle alarm system, can gather the image information in the journey of traveling earlier, and carry out the analysis to the barrier in the image, control laser transceiver module promptly and send laser when the barrier is too big and carry out the range finding processing, this kind of setting can effectually avoid the waste of the electric energy that range finding system operated always and leads to, the operation of robot is long when having prolonged, and can be when illumination is not enough, in time control robot advances to mend the light and crosses the operation, the situation emergence of the robot striking the barrier because light is not enough to lead to has been avoided, let this system possess more functions, make this system be worth using widely more.
Drawings
FIG. 1 is a system block diagram of the present invention.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1, the present embodiment provides a technical solution: an obstacle alarm system for an inspection robot comprises an image acquisition module, a laser transceiving module, a illuminance acquisition module, a data receiving module, a data processing module, a master control module, an instruction sending module and a robot control module;
the system comprises an image acquisition module, a laser transceiving module, a laser processing module and a monitoring module, wherein the image acquisition module is installed on the inspection robot and used for acquiring image information of the traveling direction of the inspection robot;
the data receiving module is used for receiving the image information, the illuminance information and the laser information, and sending the received image information, the illuminance information and the laser information to the data processing module for processing;
the specific process of processing the video image by the data receiving module is as follows:
the method comprises the following steps: extracting image information, processing video contents in the video image, and extracting obstacles in the video;
step two: extracting the total plane area information of the video image and marking the information as PGeneral assemblyMarking the plane area information of the obstacle in the video image as PBarrier；
Step three: by the formula PBarrier/PGeneral assembly=PRatio ofObtaining the ratio of the obstacle PRatio ofWhen the ratio of obstacles is PRatio ofWhen the laser receiving and transmitting module is larger than the preset value, the laser receiving and transmitting module starts to operate;
the data processing module is used for processing the image information and the laser information to avoid the barrier alarm information and converting the illuminance information into light supplement information;
the specific processing procedure of the data processing module for processing the laser information is as follows:
the method comprises the following steps: extracting laser emission time information in the laser information, and marking the laser emission time information as T1;
step two: extracting the time information of the received reflected laser, and marking the time information as T2;
step three: calculating the difference between the time information T2 of the received reflected laser and the laser emission time information T1 by a formula to obtain a time difference TDifference (D)；
Step four: extracting laser emission speed information, marking the information as Wq, and obtaining the laser emission speed information through a formula Wq TDifference (D)= Wtq, resulting in obstacle distance Wtq.
Extracting the ratio P of the obstacle distance Wtq to the obstacleRatio ofWhen the ratio of obstacles is PRatio ofIf the distance is greater than the preset value and the obstacle distance Wtq is greater than the preset value, obstacle avoidance warning information is generated;
obstacle avoidance alarm information is converted into an obstacle avoidance alarm instruction and sent to the robot control module, and the robot control module controls the robot to carry out obstacle avoidance operation after receiving the obstacle avoidance alarm instruction.
The obstacle avoidance alarm information and the light supplement information are sent to the master control module, and the master control module converts the obstacle avoidance alarm information and the light supplement information into an obstacle avoidance alarm instruction and a light supplement instruction;
the obstacle avoidance alarm instruction and the light supplement instruction are sent to the instruction sending module by the master control module, and the instruction sending module sends the obstacle avoidance alarm instruction and the light supplement instruction to the robot control module.
The specific processing process of converting the illuminance information into the supplementary lighting information by the data processing module is as follows:
the method comprises the following steps: continuously collecting x-time illumination information, and marking the illumination information as Gx, wherein x is more than or equal to 3;
step two: by the formula G1+ G2+ … … + Gx = GAndobtaining the sum G of the illuminanceAnd；
step three: then by formula GAnd/x=Gare all made ofObtaining the average value G of illuminanceAre all made of；
Step four: mean value of illuminance GAre all made ofGenerating light supplement information when the light supplement information is smaller than a preset value;
the light supplement information is turned into a light supplement instruction by the master control module, the light supplement instruction is sent to the robot control module, and the robot control module controls the light supplement lamp installed on the robot to operate to perform light supplement operation.
In summary, when the inspection robot is used, an image acquisition module is installed on the inspection robot and acquires image information of the traveling direction of the inspection robot, a light intensity acquisition module acquires light intensity information of the inspection robot during operation, a laser transceiving module transmits ranging laser and records laser information, a data receiving module is used for receiving the image information, the light intensity information and the laser information, the data receiving module transmits the received image information, the light intensity information and the laser information to a data processing module for processing, the data processing module is used for processing the image information and the laser information to process obstacle avoidance alarm information and convert the light intensity information into light supplement information, the obstacle avoidance alarm information and the light supplement information are transmitted to a general control module, the general control module converts the obstacle avoidance alarm information and the light supplement information into obstacle avoidance alarm instructions and light supplement instructions, and the obstacle avoidance alarm instructions and the light supplement instructions are transmitted to an instruction transmitting module by the general control module, and the instruction sending module sends an obstacle avoidance alarm instruction and a light supplement instruction to the robot control module.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (3)
1. An obstacle alarm system for an inspection robot is characterized by comprising an image acquisition module, a laser transceiving module, a illuminance acquisition module, a data receiving module, a data processing module, a master control module, an instruction sending module and a robot control module;
the system comprises an image acquisition module, a laser transceiving module, a laser receiving and transmitting module and a laser processing module, wherein the image acquisition module is installed on the inspection robot and used for acquiring image information of the traveling direction of the inspection robot, the illumination acquisition module is used for acquiring illumination information of the inspection robot in the running process, the laser receiving and transmitting module is used for transmitting ranging laser and recording laser information, and the laser information comprises laser transmitting time and laser receiving time;
the data receiving module is used for receiving image information, illuminance information and laser information, and the data receiving module sends the received image information, illuminance information and laser information to the data processing module for processing;
the specific process of processing the video image by the data receiving module is as follows:
the method comprises the following steps: extracting image information, processing video contents in the video image, and extracting obstacles in the video;
step two: extracting the total plane area information of the video image and marking the information as PGeneral assemblyMarking the plane area information of the obstacle in the video image as PBarrier；
Step three: by the formula PBarrier/PGeneral assembly=PRatio ofObtaining the ratio of the obstacle PRatio ofWhen the ratio of obstacles is PRatio ofWhen the laser receiving and transmitting module is larger than the preset value, the laser receiving and transmitting module starts to operate;
the data processing module is used for processing the image information and the laser information to avoid the barrier alarm information and converting the illuminance information into light supplement information;
the specific processing process of the data processing module for processing the laser information is as follows:
the method comprises the following steps: extracting laser emission time information in the laser information, and marking the laser emission time information as T1;
step two: extracting the time information of the received reflected laser, and marking the time information as T2;
step three: calculating the difference between the time information T2 of the received reflected laser and the laser emission time information T1 by a formula to obtain a time difference TDifference (D)；
Step four: extracting laser emission speed information, marking the information as Wq, and obtaining the laser emission speed information through a formula Wq TDifference (D)= Wtq, resulting in obstacle distance Wtq;
the obstacle avoidance warning information and the light supplement information are sent to a master control module, and the master control module converts the obstacle avoidance warning information and the light supplement information into an obstacle avoidance warning instruction and a light supplement instruction;
the obstacle avoidance alarm instruction and the light supplement instruction are sent to the instruction sending module by the master control module, and the instruction sending module sends the obstacle avoidance alarm instruction and the light supplement instruction to the robot control module.
2. The obstacle alarm system for the inspection robot according to claim 1, wherein: extracting the ratio P of the obstacle distance Wtq to the obstacleRatio ofWhen the ratio of obstacles is PRatio ofIf the distance is greater than the preset value and the obstacle distance Wtq is greater than the preset value, obstacle avoidance warning information is generated;
obstacle avoidance alarm information is converted into an obstacle avoidance alarm instruction and sent to the robot control module, and the robot control module controls the robot to carry out obstacle avoidance operation after receiving the obstacle avoidance alarm instruction.
3. The obstacle alarm system for the inspection robot according to claim 1, wherein: the specific processing process of converting the illuminance information into the supplementary lighting information by the data processing module is as follows:
the method comprises the following steps: continuously collecting x-time illumination information, and marking the illumination information as Gx, wherein x is more than or equal to 3;
step two: by the formula G1+ G2+ … … + Gx = GAndobtaining the sum G of the illuminanceAnd；
step three: then by formula GAnd/x=Gare all made ofObtaining the average value G of illuminanceAre all made of；
Step four: mean value of illuminance GAre all made ofGenerating light supplement information when the light supplement information is smaller than a preset value;
the light supplement information is converted into a light supplement instruction by the master control module, the light supplement instruction is sent to the robot control module, and the robot control module controls the operation of a light supplement lamp installed on the robot to perform light supplement operation.
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| CN104865965B (en) * | 2015-05-20 | 2017-12-26 | 深圳市锐曼智能装备有限公司 | The avoidance obstacle method and system that robot depth camera is combined with ultrasonic wave |
| CN106275470B (en) * | 2015-06-29 | 2019-01-01 | 优利科技有限公司 | Aircraft and its barrier-avoiding method and system |
| US10016896B2 (en) * | 2016-06-30 | 2018-07-10 | Brain Corporation | Systems and methods for robotic behavior around moving bodies |
| CN106971627A (en) * | 2017-05-22 | 2017-07-21 | 佛山市神风航空科技有限公司 | A kind of avoidance prior-warning device and determination methods |
| KR102019338B1 (en) * | 2017-06-14 | 2019-09-06 | (주)에이랩스 | Ladar apparatus for autonomous driving robot |
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| CN109543509A (en) * | 2018-10-01 | 2019-03-29 | 厦门快商通信息技术有限公司 | A kind of security robot for station |
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