CN112502784B - Tunnel bidirectional visual voice intercom method, robot and system - Google Patents
Tunnel bidirectional visual voice intercom method, robot and system Download PDFInfo
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Abstract
The invention discloses a tunnel bidirectional visual voice intercom method, a robot and a system, comprising a control module and a bidirectional voice intercom module connected with the control module; the bidirectional voice talkback module comprises an echo cancellation unit; the echo cancellation unit can detect voice information of remote monitoring personnel and/or maintenance personnel in the tunnel, and echo signals contained in the voice information of the maintenance personnel in the tunnel are filtered by generating predicted echo signals. The tunnel inspection robot has the bidirectional voice talkback function, bidirectional visual talkback can be performed between the inside and the outside of the tunnel without a mobile signal, the work exchange efficiency of maintenance and overhaul personnel and background monitoring personnel in the tunnel is effectively improved, and the personal safety of the inspection and maintenance personnel is guaranteed.
Description
Technical Field
The invention relates to the technical field of tunnel inspection robots, in particular to a tunnel bidirectional visual voice intercom method, a tunnel bidirectional visual voice intercom robot and a tunnel bidirectional visual voice intercom system.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
With the rapid development of urban intelligent power grid technology, power grid tunneling and networking become the characteristics and development directions of urban power grids, particularly modern large-scale urban power grids, and more medium-low power overhead lines and part of ultrahigh voltage cables enter underground tunnels. The cable is buried, so that the reliability of the urban power grid can be effectively enhanced, the transmission capability of the line is improved, the disordered power grid in the air of the city can be eliminated, the environment is beautified, and the utilization value of the land is improved. Urban cables are used as main carriers of power transportation, and the importance of the urban cables is higher and higher, so that daily inspection and maintenance work of cable tunnels is more and more important.
Because the environment is complicated in the cable tunnel, has potential safety hazards such as conflagration, ponding, harmful gas, and the tradition uses artifical mode of patrolling and examining as the main, has the shortcoming of inefficiency, feedback untimely. Therefore, the tunnel inspection robot is produced by the way of replacing manual inspection with robot inspection, the efficiency of inspection work in the tunnel is greatly improved, and the workload of manual inspection is reduced.
Although tunnel inspection robots have been introduced to replace manual inspection work, situations that require manual entry into the tunnel to perform special or emergency maintenance work cannot be completely avoided. One of the most important reasons is that many kinds of equipment, such as inspection robots, temperature sensors, humidity sensors, smoke monitoring, fire doors and the like, are installed in the tunnel, and once the equipment breaks down, workers need to enter the tunnel for maintenance.
Because the ground mobile signal can not cover the tunnel, the communication equipment of the equipment operation maintenance personnel, such as mobile phones, interphones and the like, can not be used in the cable tunnel, thereby bringing great trouble to the maintenance and repair work. When emergency happens, personnel in the tunnel cannot communicate with background monitoring personnel effectively in real time, and personal safety threats can be brought to inspection and maintenance personnel under the more serious condition.
Therefore, the bidirectional talkback function of the tunnel inspection robot becomes particularly important, and a background commander can be notified at the first time when a danger or an emergency occurs, so that a dangerous situation can be responded, and the personal safety of inspection maintainers can be fully guaranteed.
The inventor finds that most of the existing tunnel inspection robots do not have the bidirectional voice talkback function, and a few tunnel inspection robots only have the voice talkback function but do not support the bidirectional visual display function although a simple bidirectional talkback scheme is carried.
The existing two-way talkback method for the inspection robot in the tunnel has the following defects:
(1) The two-way talkback experience effect is very poor and is often accompanied by harsh sounds such as echoes, murmurs, howls and the like.
(2) The system does not have a bidirectional voice intercom fault abnormity error correction mechanism, and cannot monitor the working state of a bidirectional voice intercom circuit carried by the robot in real time.
(3) The system does not have a bidirectional visual function, and great inconvenience is brought to communication between maintenance personnel and background commanders in the tunnel.
Disclosure of Invention
In view of the above, the invention provides a tunnel bidirectional visual voice intercom method, a robot and a system, and the method can realize bidirectional visual display and can monitor the working state of a bidirectional voice intercom circuit in real time.
According to a first aspect of the embodiment of the invention, a tunnel inspection robot is provided, which comprises a control module and a two-way voice talkback module connected with the control module; the bidirectional voice talkback module comprises an echo cancellation unit; the echo eliminating unit can detect voice information of remote monitoring personnel and/or maintenance personnel in the tunnel, and echo signals contained in the voice information of the maintenance personnel in the tunnel are filtered by generating predicted echo signals.
According to a second aspect of the embodiments of the present invention, there is provided a two-way visual voice intercom system for a tunnel inspection robot, including:
the tunnel inspection robot;
the AP bridges are distributed at the preset positions in the tunnel and are communicated with the tunnel inspection robot;
a tunnel switch for connecting various network devices within the tunnel;
the background switch is used for being connected with the tunnel switch through a long-distance optical fiber or a network cable;
and the background computer is connected with the background switch and is respectively connected with the voice input equipment and the voice output equipment.
According to a third aspect of the embodiment of the invention, a bidirectional visual voice intercom method for a tunnel inspection robot is provided, which comprises the following steps:
collecting voice information of a background monitoring end, transmitting the voice information to a tunnel robot through a network, decoding the voice information into a far-end signal by the tunnel robot, amplifying and outputting the far-end signal;
the method comprises the following steps that a tunnel robot collects voice information in a tunnel, and the voice information is decoded into a reply signal; the reply signal, the noise signal in the tunnel and the echo signal of the far-end signal in the tunnel are superposed to form a near-end signal;
and after filtering the echo signal in the near-end signal, transmitting the echo signal to a background monitoring end and outputting and playing the echo signal.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention provides a bidirectional visual intercom technology in a tunnel closed space, develops a related device, constructs a video stream data buffering optimization model, applies a low-power-consumption liquid crystal display module, realizes bidirectional visual operation between two terminals through an audio and video stream data processing algorithm, and improves the emergency management level and efficiency of the tunnel.
(2) The tunnel inspection robot has the two-way voice talkback function, so that the two-way visual talkback between the inside and the outside of the tunnel without a mobile signal can be realized, the working communication efficiency of maintenance and overhaul personnel and background monitoring personnel in the tunnel is effectively improved, and the personal safety of the inspection and maintenance personnel is guaranteed.
(3) The invention provides a two-way voice intercom technology for a robot in a tunnel enclosed space, and designs a tunnel echo cancellation method, wherein a magnetic induction current detection unit is used for monitoring the driving current of a power amplifier in real time, a power amplifier failure detection algorithm and a two-way voice intercom fault abnormity error correction technology are used, and based on an echo cancellation self-adaptive filter, noise and echo are eliminated, so that the problems of echo, noise, scream, unsmooth and the like of the two-way voice intercom in the tunnel are solved, and the clear, bright and smooth effects of the two-way voice intercom sound are realized.
(4) The invention designs a fault abnormity error correction technology, and the magnetic induction current detection unit is used for collecting the output current value of the power amplification unit so as to monitor the working state of the bidirectional voice talkback module in real time and find out faults in time.
(5) The invention designs a ping-pong operation mechanism to realize the control of video and audio data streams, has a bidirectional visual display function, and is more powerful in the efficient communication between tunnel maintainers and background monitoring commanders.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic diagram of a hardware circuit of a tunnel inspection robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a two-way voice intercom echo cancellation unit according to an embodiment of the present invention;
FIG. 3 is a hardware circuit diagram of a magnetic induction current detection unit according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a bidirectional visual voice intercom system according to an embodiment of the present invention.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure herein. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it should be understood that the terms "comprises" and "comprising", and any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
According to an embodiment of the present invention, there is provided an embodiment of a tunnel inspection robot, referring to fig. 1, including: ZYNQ7020 control module and with two-way pronunciation intercommunication module, power management module, drive module, the environmental sensor module of unifying more, fault judgement module and OLED display module that ZYNQ7020 control module is connected respectively.
Wherein,
(1) And the ZYNQ7020 control module is responsible for controlling the whole tunnel inspection robot, and simultaneously performs communication interaction with the background through two wireless bridges. The ZYNQ7020 control module comprises a complete ARM Processing Subsystem (PS) and a programmable logic unit (PL), and is responsible for completing the whole control of the tunnel inspection robot after receiving an instruction sent by the background.
(2) Two-way pronunciation intercommunication module includes: echo cancellation unit, adapter, power amplifier unit and magnetic induction current detection unit. Wherein,
(1) the echo cancellation unit is used for canceling echo signals in voice information of maintainers in the tunnel;
in this embodiment, referring to fig. 2, a structure of the echo cancellation unit specifically includes:
the remote voice detection subunit is used for detecting voice information of the remote monitoring personnel and transmitting the voice information to the control module;
the near-end voice detection subunit is used for detecting voice information of a maintainer in the tunnel and transmitting the voice information to the control module;
the DTD double-end voice detection subunit is used for simultaneously detecting voice information of remote monitoring personnel and maintenance personnel in the tunnel and transmitting the voice information to the control module;
the NLMS adaptive filter subunit is used for outputting a predicted echo signal and enabling the predicted echo signal to be infinitely close to an echo signal in a tunnel by adjusting an adaptive filter coefficient; and echo signals in voice information of the maintainers in the tunnel are filtered out through the self-adaptive filtering subunit.
The adaptive filter can establish a voice model according to the sound signal output by the loudspeaker of the tunnel inspection robot, the voice model is established based on the multipath echo signal in the cable tunnel, and then the adaptive filter is debugged according to the echo path characteristic, so that the acoustic characteristic of the adaptive filter is close to that of the cable tunnel. The output predicted echo signal is an ideal echo model, based on which the following adaptive filter coefficient adjustments are made.
When the MIC of the far-end talkback has no voice input and only the sound pick-up of the near-end robot has voice input, the mode is judged to be a near-end input mode; when the near-end robot sound pick-up has no voice input and only the far-end talkback MIC has voice input, the mode is judged to be a far-end input mode; and when the MIC of the far-end talkback and the pickup of the near-end robot have voice input at the same time, the mode is judged to be a double-end input mode.
In this embodiment, the near end refers to the inspection robot end, and the far end refers to the background monitoring end.
Specifically, when the background monitoring end starts the two-way voice intercom function, the echo cancellation unit starts to work. Backstage control personnel initiate through the MIC of talkbacking to propaganda directed to communicate, and the MIC6 of talkbacking gathers speech information and finally transmits to the tunnel through the network and patrols and examines the robot, then decodes into far-end signal Y (t) through ZYNQ7020 control module's attached decoding circuit.
The inside adapter of robot is patrolled and examined in the tunnel is responsible for gathering maintainer's speech information in the tunnel, then decodes into reply signal U (t) through ZYNQ7020 control module's subsidiary decoding circuit.
Due to the relatively open space in the tunnel and the ventilation shaft, some noise signal V (t) is usually generated. Meanwhile, the far-end signal is amplified and output through a loudspeaker of the tunnel inspection robot, and an echo signal Y can be formed in the tunnel 2 (t)。
Reply signal U (t) of maintainer in tunnel, noise signal V (t) in tunnel, farEcho signal Y of terminal 2 (t) these three signals are added together to form the near-end signal D (t), D (t) = U (t) + V (t) + Y 2 (t)。
NLMS adaptive filter subunit outputs predicted echo signal Y 1 (t), E (t) is an error signal, E (t) = D (t) -Y 1 (t)＝U(t)+V(t)+Y 2 (t)-Y 1 (t) -U (t), ideally V (t) =0, so E (t) ≈ Y 2 (t)-Y 1 (t)。
The NLMS adaptive filter subunit adjusts the adaptive filter coefficient according to the error signal E (t), the error signal E (t) is fed back to the adaptive filter, and the remote signal Y (t) passes through the adaptive filter according to the error signal E (t) and then outputs an estimated value Y 1 (t) approach echo signal Y 2 (t) of (d). According to E (t) ≈ Y 2 (t)-Y 1 And (t) as can be seen, the error signal E (t) is approximately equal to 0, and echo interference is well eliminated.
When the maintainer does not call in the tunnel, and only the far-end monitoring person calls, the near-end voice detection subunit does not detect the voice signal, the far-end voice detection subunit normally detects the voice signal, and the NLMS controller ZYNQ7020 controls the echo cancellation unit to work in a far-end input mode, and simultaneously opens the filtering and coefficient updating functions of the NLMS self-adaptive filter.
When the far-end shouting mode is used, the echo eliminating unit starts to work to eliminate echoes formed by signals in the far-end shouting after the signals are output by the near-end loudspeaker.
The adaptive filter is used for filtering echo signals, and the adaptive filter can automatically adjust the update coefficient of the filter, so that the effect of eliminating echo can be better achieved.
If the echo cancellation unit does not work, an echo is formed; the speaker output of meeting on tunnel robot is shouted to the distal end, then sends back the speaker of distal end again through the robot adapter, will cause the distal end person of shouting to hear the echo of oneself like this, influences the effect that pronunciation were talkbacked.
When a far-end monitoring person does not call, and when a maintainer calls in a tunnel, the far-end voice detection subunit does not detect a voice signal, the near-end voice detection subunit normally detects the voice signal, the NLMS controller ZYNQ7020 controls the echo cancellation unit to work in a near-end input mode, and simultaneously, the filtering and coefficient updating functions of the NLMS self-adaptive filter are closed.
When the near-end speaks, no echo needs to be eliminated, so the echo eliminating unit does not need to work.
When a remote monitoring person and a maintainer in a tunnel call at the same time, the DTD double-end voice detection subunit detects a double-end voice signal, the NLMS controller ZYNQ7020 closes the coefficient updating function of the NLMS self-adaptive filter and opens the filtering function of the self-adaptive filter.
When double-ended simultaneous shouting is performed, the voice shout at the near end interferes with the expected output of the adaptive filter, so that the filter cannot converge, and therefore when double-ended shout is detected, the coefficient updating of the filter is stopped.
(2) The sound pickup is used for collecting sound information in the tunnel, converting the sound information into an analog signal and transmitting the analog signal to the control module for coding and decoding;
in this embodiment, the sound pickup is used for gathering the sound in the tunnel, is maintenance staff's speech information usually. The collected sound is converted into an analog signal and is transmitted to a ZYNQ7020 control module for coding and decoding, and then the ZYNQ7020 control module sends the coded and decoded sound information to a background computer through a network.
(3) The power amplification unit is used for amplifying and outputting the signal decoded by the control module;
the power amplification unit is used for amplifying voice signals output by the ZYNQ7020 control module, generally voice information of background commanders, and the signals are amplified and then drive the loudspeaker to sound.
(4) And the magnetic induction current detection unit is used for detecting the real-time output current of the power amplification unit and transmitting the real-time output current to the control module so that the control module performs impedance calculation according to the sampling value of the current and judges whether the bidirectional voice talkback module breaks down or not according to the impedance value.
When the power amplification unit works, a matching impedance value A exists, when the power amplification unit does not work, the impedance value is B, and when the detected resistance value is not A or B, the power amplification unit is judged to be in fault.
Specifically, referring to fig. 3, while the two-way voice intercom function is working normally, the magnetic induction current detection unit also starts working normally. The power amplifier unit drives a loudspeaker at the robot end to generate, the current detector TLI4971 detects the driving current of the power amplifier, and IP + and IP-are input and output pins of the power amplifier current. And an output pin of ADOUT as a current sampling is connected to an AD peripheral of the ZYNQ7020 control module, and the current of the power amplifier unit is detected in real time after AD conversion.
The embodiment proposes a two-way voice intercom fault anomaly correction mechanism, and uses the TLI4971 as a current detector. The TLI4971 current sensor is suitable for industrial applications and can achieve highly accurate and stable current measurement. The IP + and the IP-are used as input and output pins of the output current of the power amplifier chip, the ADOUT is used as an output pin of current sampling and is connected to an AD peripheral of a main chip ZYNQ7020 of the control module, and the current of the power amplifier unit can be detected in real time after AD conversion. And the control module main chip ZYNQ7020 performs impedance calculation according to the sampling value of the power amplifier current, and judges whether the bidirectional voice talkback network fails according to the impedance value.
(3) And the display module is configured to display the state information of the tunnel inspection robot and the real-time picture information of the remote monitoring end.
Specifically, the tunnel inspection robot is provided with an OLED display module on the side surface, and the OLED display module is generally used for displaying state information of the tunnel inspection robot, including electric quantity of a lithium battery pack, environmental smoke concentration, various gas contents in the tunnel, operation speed of the robot, operation task name, current position information and the like. When the bidirectional voice talkback function is started, the OLED display module is used for displaying the picture of the background monitoring end, so that the intention of background commanders can be understood more vividly.
The ZYNQ7020 control module adopts a ping-pong operation mechanism to complete video and audio data stream control, and a buffer unit for receiving data streams is switched with beats according to a certain rule, so that the data is transmitted very smoothly without loss, pause or blockage.
(4) And the power management module is connected with the lithium battery pack and is responsible for monitoring the real-time electric quantity of the lithium battery pack. The electric quantity management module is communicated with the ZYNQ7020 control module through an I2C bus, electric quantity information of the lithium battery pack is monitored and managed constantly, and a polling task of the robot is reasonably scheduled.
(5) And the driving module is connected with a BLDC motor (direct current brushless motor) with 170 watts. The driving module is communicated with the ZYNQ7020 control module through a CAN bus, executes a motion instruction sent by the ZYNQ7020 control module, drives the BLDC motor to operate, and completes motion and stop action of the tunnel inspection robot. When the system calls the polling task, the robot starts to move, the BLDC motor 105 starts to move under the driving of the driving module, and the robot is executed according to a movement instruction sent by a CAN interface of the ZYNQ7020 control module.
(6) The all-in-one environmental sensor module comprises a smoke detection sensor, a temperature and humidity sensor, an oxygen concentration detection sensor, a methane concentration detection sensor, a carbon monoxide concentration detection sensor, a combustible gas concentration detection sensor and a hydrogen sulfide concentration detection sensor.
The tunnel inspection robot utilizes the all-in-one environmental sensor module to communicate with the ZYNQ7020 control module through an RS485 bus when executing an inspection task, transmits the collected environmental gas concentration information to the ZYNQ7020 control module, and the ZYNQ7020 control module receives the environmental gas concentration information sent by the all-in-one environmental sensor module, then performs analysis and operation, and completes the next detection task according to the operation result.
(7) And the robot static bridge is communicated with the ZYNQ7020 control module through an RJ45 network port. And the robot static network bridge performs wireless communication with the AP network bridge in the tunnel to complete the communication between the background monitoring end and the tunnel inspection robot.
Example two
According to an embodiment of the present invention, an embodiment of a bidirectional visual voice intercom system based on a tunnel inspection robot is provided, referring to fig. 4, including: the tunnel inspection robot in the first embodiment comprises an intra-tunnel switch, an AP wireless network bridge, a background switch, a background computer, an intercom MIC and a loudspeaker.
The tunnel patrol robot is internally provided with a two-way voice intercom system, runs on a track in the tunnel and executes a daily power patrol task. The tunnel inspection robot is internally provided with a robot static network bridge and can perform seamless roaming communication with the AP network bridge distributed in the tunnel. The tunnel inspection robot analyzes and forwards the communication instruction through the robot STATION network bridge and the ZYNQ7020 control module, the ZYNQ7020 control module is responsible for controlling the whole tunnel inspection robot, and meanwhile, communication interaction is carried out with the background through the two wireless network bridges. The switch is used for connecting various network equipment in the tunnel, and the switch is connected with backstage switch through remote optic fibre or net twine in the tunnel, and backstage computer passes through net twine connection to backstage switch, and backstage computer connects talkback MIC and speaker simultaneously. And the background commander completes real-time service content communication with the personnel in the tunnel charge for performing maintenance work through the talkback MIC6 and the loudspeaker 7 connected with the background computer.
The bidirectional visual voice intercom system for the tunnel inspection robot solves the problems of echo, noise, squeal and the like of the bidirectional voice intercom of the traditional tunnel inspection robot, can be provided with a fault abnormity error correction mechanism to monitor the working state of a bidirectional voice intercom circuit in real time, has a bidirectional visual display function, and is more powerful in efficient communication between tunnel maintainers and background monitoring commanders.
EXAMPLE III
According to the embodiment of the invention, the embodiment of the bidirectional visual voice talkback method based on the tunnel inspection robot is provided, and comprises the following steps:
collecting voice information of a background monitoring end, transmitting the voice information to a tunnel robot through a network, decoding the voice information into a far-end signal by the tunnel robot, amplifying and outputting the far-end signal;
the method comprises the steps that a tunnel robot collects voice information in a tunnel, and the voice information is decoded into a reply signal; the reply signal, the noise signal in the tunnel and the echo signal of the far-end signal in the tunnel are superposed to form a near-end signal;
and after filtering the echo signal in the near-end signal by an NLMS self-adaptive filter, transmitting the echo signal to a background monitoring end and outputting and playing the echo signal.
As an optional implementation manner, the output current of a power amplification unit for amplifying the output voice signal in the tunnel robot is detected in real time, impedance calculation is performed according to a sampling value of the current, and whether the two-way voice intercom module has a fault or not is judged according to the magnitude of the impedance value.
The specific implementation process of the method is implemented by using the specific process disclosed in the first embodiment, and is not described again.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (9)
1. A tunnel inspection robot is characterized by comprising a control module and a bidirectional voice talkback module connected with the control module; the bidirectional voice talkback module comprises an echo cancellation unit; the echo cancellation unit can detect voice information of remote monitoring personnel and/or personnel in the tunnel, and filters echo signals contained in the voice information of the personnel in the tunnel by generating predicted echo signals;
the echo cancellation unit includes:
the remote voice detection subunit is used for detecting voice information of the remote monitoring personnel and transmitting the voice information to the control module;
the near-end voice detection subunit is used for detecting voice information of the personnel in the tunnel and transmitting the voice information to the control module;
the DTD double-end voice detection subunit is used for simultaneously detecting voice information of remote monitoring personnel and the voice information of the personnel in the tunnel and transmitting the voice information to the control module;
the adaptive filtering subunit is used for generating a predicted echo signal through an adaptive filter and filtering the echo signal contained in the voice information of the personnel in the tunnel based on the predicted echo signal;
the near-end voice detection subunit does not detect the voice signal, the far-end voice detection subunit normally detects the voice signal, the controller controls the echo cancellation unit to work in a far-end input mode, and meanwhile, the filtering and coefficient updating functions of the adaptive filter are started;
when the far-end input mode is carried out, the echo eliminating unit starts to work to eliminate echoes in the far-end shouting formed after signals are output by the near-end loudspeaker;
the far-end voice detection subunit does not detect the voice signal, and the near-end voice detection subunit normally detects the voice signal; the controller controls the echo cancellation unit to work in a near-end input mode, and simultaneously closes the filtering and coefficient updating functions of the adaptive filter;
when the near-end input mode is adopted, the echo cancellation unit does not need to work;
the DTD double-end voice detection subunit detects double-end voice signals, the controller closes the coefficient updating function of the adaptive filter and opens the filtering function of the adaptive filter;
the two-way voice intercom module further comprises:
the sound pick-up is used for collecting sound information in the tunnel, converting the sound information into analog signals and transmitting the analog signals to the control module for coding and decoding;
the power amplification unit is used for amplifying and outputting the signal decoded by the control module;
and the magnetic induction current detection unit is used for detecting the real-time output current of the power amplification unit and transmitting the real-time output current to the control module so that the control module performs impedance calculation according to the sampling value of the current and judges whether the two-way voice intercom system breaks down or not according to the impedance value.
2. A tunnel inspection robot according to claim 1, wherein the voice messages of the persons in the tunnel include: the reply signal of the person in the tunnel, the noise signal in the tunnel and the echo signal formed in the tunnel by the voice information of the remote monitoring person.
3. The tunnel inspection robot according to claim 1, further comprising:
and the display module is configured to display the state information of the tunnel inspection robot and the real-time picture information of the remote monitoring end.
4. The tunnel inspection robot according to claim 3, wherein the display module employs a ping-pong operation mechanism to perform video and audio data stream control, and the buffer unit receiving the data stream is switched in accordance with a set rule with a beat.
5. The tunnel inspection robot according to claim 1, further comprising:
the robot bridge is used for carrying out seamless roaming communication with the AP bridges distributed in the tunnel;
the power management module is used for monitoring the electric quantity of the robot battery in real time and scheduling the inspection task of the robot according to the electric quantity;
and the driving module is used for executing the motion instruction sent by the control module and driving the robot to move.
6. The tunnel inspection robot according to claim 1, further comprising:
and the all-in-one environment sensor module is used for acquiring gas concentration information of the environment in the tunnel and transmitting the gas concentration information to the control module.
7. The utility model provides a two-way visual pronunciation intercom system of robot is patrolled and examined in tunnel, a serial communication port, include:
the tunnel inspection robot of any one of claims 1-6;
the AP bridges are distributed at the preset positions in the tunnel and are communicated with the tunnel inspection robot;
a tunnel switch for connecting various network devices within the tunnel;
the background switch is used for being connected with the tunnel switch through a long-distance optical fiber or a network cable;
the background computer is connected with the background switch and is respectively connected with the voice input device and the voice output device.
8. The utility model provides a two-way visual pronunciation intercom method of tunnel inspection robot which characterized in that includes:
collecting voice information of a background monitoring end, transmitting the voice information to a tunnel robot through a network, and decoding the voice information into a far-end signal by the tunnel robot and amplifying and outputting the far-end signal;
the method comprises the following steps that a tunnel robot collects voice information in a tunnel, and the voice information is decoded into a reply signal; the reply signal, the noise signal in the tunnel and the echo signal of the far-end signal in the tunnel are superposed to form a near-end signal;
after filtering the echo signal in the near-end signal, transmitting the near-end signal to a background monitoring end and outputting and playing the near-end signal;
filtering echo signals in the near-end signals by using an echo cancellation unit;
the echo cancellation unit includes:
the remote voice detection subunit is used for detecting voice information of the remote monitoring personnel and transmitting the voice information to the control module;
the near-end voice detection subunit is used for detecting voice information of the personnel in the tunnel and transmitting the voice information to the control module;
the DTD double-end voice detection subunit is used for simultaneously detecting voice information of remote monitoring personnel and the voice information of the personnel in the tunnel and transmitting the voice information to the control module;
the adaptive filtering subunit is used for generating a predicted echo signal through an adaptive filter and filtering the echo signal contained in the voice information of the personnel in the tunnel based on the predicted echo signal;
the near-end voice detection subunit does not detect the voice signal, the far-end voice detection subunit normally detects the voice signal, the controller controls the echo cancellation unit to work in a far-end input mode, and meanwhile, the filtering and coefficient updating functions of the adaptive filter are started;
when the far-end input mode is carried out, the echo eliminating unit starts to work to eliminate echoes in the far-end shouting formed after signals are output by the near-end loudspeaker;
the far-end voice detection subunit does not detect the voice signal, and the near-end voice detection subunit normally detects the voice signal; the controller controls the echo cancellation unit to work in a near-end input mode, and simultaneously closes the filtering and coefficient updating functions of the adaptive filter;
when the near-end input mode is adopted, the echo cancellation unit does not need to work;
the DTD double-ended voice detection subunit detects a double-ended voice signal, the controller closes the coefficient updating function of the adaptive filter and opens the filtering function of the adaptive filter;
the method comprises the steps of detecting output current of a power amplification unit for amplifying an output voice signal in the tunnel robot in real time, carrying out impedance calculation according to a sampling value of the current, and judging whether a bidirectional voice talkback module breaks down or not according to the magnitude of an impedance value.
9. The tunnel inspection robot bidirectional visual voice intercom method according to claim 8, wherein voice information of the remote monitoring person and/or the person inside the tunnel is detected, and echo signals contained in the voice information of the person inside the tunnel are filtered out by generating predicted echo signals.
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| CN202011450797.7A CN112502784B (en) | 2020-12-11 | 2020-12-11 | Tunnel bidirectional visual voice intercom method, robot and system |
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| CN101217039B (en) * | 2008-01-08 | 2011-11-23 | 北京中星微电子有限公司 | A method, system and device for echo elimination |
| CN102811310A (en) * | 2011-12-08 | 2012-12-05 | 苏州科达科技有限公司 | Method and system for controlling voice echo cancellation on network video camera |
| CN205721367U (en) * | 2016-05-03 | 2016-11-23 | 袁孝红 | Electric power tunnel intelligent inspection robot |
| CN106571147B (en) * | 2016-11-13 | 2021-05-28 | 南京汉隆科技有限公司 | Method for suppressing acoustic echo of network telephone |
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