CN112712198A - Intelligent management system of inspection robot - Google Patents
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Abstract
The invention relates to an intelligent management system of an inspection robot, which comprises a management background, a service application unit, a system management unit, a navigation unit and a driving unit, wherein the service application unit is used for providing service for a plurality of inspection robots; the management background is used for issuing a polling task of the polling robot; the driving unit is used for being connected with the inspection robot and setting different driving programs and interfaces; the navigation unit is used for acquiring data uploaded by an interface of the driving unit, receiving a target point sequence transmitted by the service application unit, generating speed information by combining the data and the target point sequence, and feeding back the speed data to the driving unit; the system management unit is used for managing the power supply of the robot and processing the abnormal states of the service application unit, the navigation unit and the driving unit; and the service application unit is used for analyzing, warehousing, scheduling and executing the routing inspection task issued by the management background and issuing a target point sequence to the navigation unit. The invention reduces the development difficulty and time of the service application unit and can enlarge the application range.
Description
Technical Field
The invention relates to a robot, in particular to an intelligent management system of an inspection robot.
Background
At present, the robot industry is developed vigorously and mainly used in the industries of inspection, security, public service and the like, the main technical difficulty of the inspection robot is navigation and positioning, most products in the market basically adopt a single navigation mode, the inspection robot cannot adapt to complex and variable environments, the software compatibility is poor, and in the aspect of software compatibility, most of products integrate business application and system management together, so that the development difficulty and time of the business application are increased, and a management system can only manage a single robot, but cannot expand the application range.
Therefore, it is necessary to design a new system, which realizes the separate design of the service application unit and the system management unit of the management system, reduces the development difficulty and time of the service application unit, and can expand the application range.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an intelligent management system of an inspection robot.
In order to achieve the purpose, the invention adopts the following technical scheme: the intelligent management system of the inspection robot comprises a management background, a service application unit, a system management unit, a navigation unit and a driving unit;
the management background is used for issuing a polling task of the polling robot;
the driving unit is used for being connected with the inspection robot and setting different driving programs and interfaces;
the navigation unit is used for acquiring data uploaded by an interface of the driving unit, receiving a target point sequence transmitted by the service application unit, generating speed information by combining the data and the target point sequence, and feeding back the speed information to the driving unit;
the system management unit is used for managing the power supply of the robot and processing the abnormal states of the service application unit, the navigation unit and the driving unit;
and the service application unit is used for analyzing, warehousing, scheduling and executing the routing inspection task issued by the management background and issuing a target point sequence to the navigation unit.
The further technical scheme is as follows: the system management unit comprises a state acquisition subunit and a state analysis subunit;
the state acquisition subunit is used for acquiring the running states of the service application unit, the navigation unit and the driving unit;
and the state analysis subunit is used for analyzing whether the business application unit, the navigation unit and the driving unit are abnormal or not according to the running state.
The further technical scheme is as follows: the system management unit also comprises a prompt subunit;
and the prompting subunit is used for displaying the result obtained by the state analysis subunit in a light and voice prompting mode.
The further technical scheme is as follows: the system management unit further comprises a battery management unit;
the battery management unit is used for detecting the electric quantity of the inspection robot, when the electric quantity is smaller than a set threshold value, the battery management unit drives the inspection robot to stop executing the task and requests the navigation unit and the driving unit to send instructions so that the inspection robot can return to the home for charging.
The further technical scheme is as follows: the system management unit also comprises a permission management subunit;
and the authority management subunit is used for receiving the execution requests of the service application unit, the navigation unit and the drive unit and authorizing according to the execution requests.
The further technical scheme is as follows: the service application unit comprises an inspection service subunit;
and the polling service subunit is used for acquiring polling tasks issued by the management background and scheduling, executing and processing the tasks.
The further technical scheme is as follows: the navigation unit comprises a magnetic stripe navigation positioning subunit;
and the magnetic stripe navigation positioning subunit is used for acquiring data of the robot during operation through the photoelectric switch sensor and the RFID tag and performing navigation.
The further technical scheme is as follows: the navigation unit comprises a path planning subunit;
and the path planning subunit is configured to acquire data uploaded by the interface of the driving unit, receive the target point sequence transmitted by the service application unit, and perform path planning to generate speed information.
The further technical scheme is as follows: the path planning comprises global route optimization, local route planning and guidance planning.
The further technical scheme is as follows: the driving unit comprises a chassis driving subunit;
and the chassis driving subunit is used for being connected with the chassis of the inspection robot and driving the chassis of the inspection robot to work according to the speed information.
Compared with the prior art, the invention has the beneficial effects that: according to the robot and the method, the management background, the service application unit, the system management unit, the navigation unit and the driving unit are arranged, the navigation unit is compatible with magnetic navigation and laser navigation modes, the service application unit, the system management unit and the navigation unit are independently arranged, the service application unit and the system management unit of the robot are separated, the development difficulty and time of the service application unit are reduced, an interface arranged on the driving unit can realize replacement of similar function modules, the development difficulty and time of the service application unit are reduced, and the application range can be expanded.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic block diagram of an inspection robot intelligent management system provided by an embodiment of the invention;
fig. 2 is a schematic block diagram of a system management unit of the intelligent management system of the inspection robot according to the embodiment of the invention;
fig. 3 is a schematic block diagram of a navigation unit of the intelligent management system for the inspection robot according to the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, 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.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic block diagram of an inspection robot intelligent management system 300 according to an embodiment of the present invention. The inspection robot intelligent management system 300 is applied to a server, and the server performs data interaction with an inspection robot.
Fig. 1 is a schematic block diagram of an inspection robot intelligent management system 300 according to an embodiment of the present invention. As shown in fig. 1, the inspection robot intelligent management system 300 includes a management background 301, a business application unit 302, a system management unit 303, a navigation unit 304, and a driving unit 305.
The management background 301 is used for issuing an inspection task of the inspection robot.
A driving unit 305 for connecting with the inspection robot and setting different driving programs and interfaces; the driving unit 305 mainly implements driving programs of different units, and implements a universal interface externally, the most important thing in design is the reasonability of interface definition, a communication interface compatible with most of devices is defined by investigating data types and control interfaces of similar products, and a driving layer is taken as the most basic part in a system and should operate independently without being constrained by other parts of the system. In the iteration process of the subsequent product, if devices of the same kind of products need to be replaced, the upper-layer application is not influenced, the coupling degree of the software is reduced, and the software design complexity is reduced.
The navigation unit 304 is configured to acquire data uploaded by an interface of the driving unit 305, receive a target point sequence transmitted by the service application unit 302, generate speed information by combining the data and the target point sequence, and feed back the speed information to the driving unit 305; in particular, the navigation unit 304 combines magnetic navigation with laser navigation.
The navigation unit 304 is mainly used to implement different navigation modes, and is the core for implementing switching between different navigation modes. The navigation unit 304 calls the bottom hardware interface to obtain required data according to different navigation modes, performs path planning on a target point issued by the subscription service application unit 302, and finally outputs the linear velocity and the angular velocity to the chassis control interface through the operation of bottom control quantity deviation and navigation control. The navigation unit 304 receives the target point sequence issued by the service application unit 302, obtains the deviation through global or local route planning by matching map matching, takes the deviation as a control quantity, further calculates the linear velocity and angular velocity, outputs the linear velocity and angular velocity to the driving unit 305, and outputs the linear velocity and angular velocity to the chassis of the inspection robot through the driving unit 305.
A system management unit 303, which is used for managing the power supply of the robot and processing the abnormal states of the business application unit 302, the navigation unit 304 and the driving unit 305.
The system management unit 303 mainly implements system state output, exception handling, and power management. The system management unit 303 subscribes the states of other units, performs priority ranking, outputs the states in a mode of indicator light or voice playing, receives abnormal states of other units, finds and processes the abnormal states in time when some abnormal states occur, and provides the abnormal states. The system power management realizes the battery power detection, and the charger control provides guarantee for the long-term operation of the system.
The service application unit 302 is configured to analyze, store, schedule, and execute the inspection task issued by the management background 301, and issue a target point sequence to the navigation unit 304.
The service application unit 302 is located at the uppermost layer, the service application unit 302 can be divided into different application subunits according to different service applications, the application subunits are mutually independent and depend on the bottom layer, and different service modules can be switched through manual or other input channels. The polling tasks issued by the management background 301 are mainly analyzed, put in storage, scheduled and executed by the polling service, and polling data uploading and other control instructions are realized.
The whole system fully considers the compatibility of a software system and hardware with different navigation modes, a software Service layer is separated from a navigation layer, the necessary part common in the operation of system services is extracted, a Service application unit 302, a system management unit 303 and a navigation unit 304 are separated, the whole program framework is realized on an ROS application platform, the system is divided into four layers of a driving unit 305, the navigation unit 304, the system management unit 303 and the Service application unit 302 in the design process, and the whole system is realized through three different communication mechanisms of Topic, Service and Action in ROS.
The system runs in an Ubuntu18.04 system, is developed based on a mainstream robot software development platform ROS, is configured into a kernel i 77700, requires more than 12GB of memory, and runs slowly due to the fact that an image recognition algorithm occupies a large amount of memory, and data are stored by a MySql database system, so that map information and routing inspection data are stored. The ROS system adopts a Melodic version, the ROS is used as an open-source application platform, communication among different processes can be easily realized, the use difficulty is low, and a plurality of third-party open-source software packages are provided, so that the software reusability is greatly improved, and the development of the robot is quicker and easier. The system needs to construct a routing inspection map and mark routing inspection points before routing inspection, marking software of the system is developed based on a Windows platform and is realized by adopting a c # language, and the marking software and the routing inspection system use TCP/IP transmission to define a data format in a user-defined mode, so that the map and the routing inspection point data are put in storage. The management background 301 is presented in a webpage form, developed by using JAVA language, and used for storing polling data by using a MySql database, and the communication is realized by using ROS-Bridge software to realize the bridging of the ROS platform and the JAVA platform so as to realize data stream interaction.
The modular design concept is adopted, a standard universal control interface is adopted, the replacement of the similar functional modules is realized, the service application of the robot is separated from the system management and navigation unit 304, the development difficulty and time of the service application are reduced, the application range of the robot is greatly improved, the development and maintenance cost of software is reduced, the utilization rate of software and hardware is improved, and the interconnection and intercommunication among different robot varieties are improved.
In an embodiment, referring to fig. 2, the system management unit 303 includes a state obtaining sub-unit 3031 and a state analyzing sub-unit 3032;
a state obtaining subunit 3031, configured to obtain operation states of the service application unit 302, the navigation unit 304, and the driving unit 305;
and a state analyzing subunit 3032, configured to analyze whether the service application unit 302, the navigation unit 304, and the driving unit 305 are abnormal according to the running state.
In one embodiment, referring to fig. 2, the system management unit 303 further includes a prompt sub-unit 3033;
and the prompting subunit 3033 is configured to display the result obtained by the state analysis subunit 3032 in a light and voice prompting manner.
In one embodiment, referring to fig. 2, the system management unit 303 further includes a battery management unit 3034;
and a battery management unit 3034, configured to detect the power amount of the inspection robot, and when the power amount is smaller than a set threshold, drive to stop execution of the task and request the navigation unit 304 and the drive unit 305 to send instructions to enable the inspection robot to return to the home for charging.
In one embodiment, referring to fig. 2, the system management unit 303 further includes a rights management subunit 3035;
and a rights management subunit 3035, configured to receive execution requests of the service application unit 302, the navigation unit 304, and the drive unit 305, and perform authorization according to the execution requests.
The system management unit 303 is used as a core of the system, the system management unit 303 needs to subscribe the operating states of other units, analyze whether the unit is abnormal and take effective countermeasures, so as to reduce the loss caused by the problems as much as possible, and the system management unit 303 needs to express the states through an indicator light and a voice prompt mode, wherein the most important is power management which determines whether the system is stably operated for a long time.
When other units need to execute tasks, the system management unit 303 is requested firstly, when the execution authority is obtained, the other units can execute further, the battery power can be dynamically monitored when the tasks are executed, when the power is less than a certain threshold value, the system management unit 303 informs the other units to stop task execution firstly, and actively requests the navigation unit 304 and the driving unit 305 to drive the inspection robot to return to the air for charging, the execution authority of the whole service application unit 302 completely depends on the system management unit 303, the task cannot be obtained without the permission of the system management unit 303, the design of the service application unit 302 is greatly simplified, each service application unit 302 does not need to consider the system condition, and only needs to complete the service application with concentration; the flow for power management is as follows: firstly, judging whether the inspection robot is at an original point, if so, judging whether charging is needed, if so, starting a charger for charging, and if not, closing the charger; and if the inspection robot is not at the original point, judging whether the charger is closed, if the charger is closed, judging whether the electric quantity of the battery is sufficient, if the electric quantity of the battery is insufficient, stopping the task of the service application layer, issuing a command of charging back, and if the charger is not closed, closing the charger.
When processing the service request of the service application unit 302, firstly, it is determined whether the battery power meets the operation condition, and secondly, it is detected whether the operation conditions of other units meet the operation condition, and the processing flow of the service application unit 302 executing the task request callback function is as follows: judging whether the electric quantity allows the task to be executed, if the electric quantity allows the task to be executed, judging whether other units are abnormal in operation, and if the other units are not abnormal in operation, allowing the service application unit 302 to execute the task; and if the electric quantity does not allow the task to be executed or other units are abnormal in operation, the service application unit 302 is refused to request the task to be executed.
In an embodiment, the service application unit 302 includes a patrol service subunit;
and the inspection service subunit is used for acquiring the inspection task issued by the management background 301, and scheduling, executing and processing the task.
The patrol service subunit mainly implements the processing of tasks issued by the management background 301 and other special instructions, the processing of the tasks includes task execution, task scheduling, task suspension, task recovery, task preemption, task deletion and other operations, the issued tasks are also subjected to warehousing processing each time, and the tasks are loaded from the database when the system is started. The special control command comprises operations of scram, returning to the original point and the like.
Task scheduling and execution are the core of the routing inspection service subunit, task scheduling is mainly to update task states and execute tasks with the highest priority in ready tasks according to different task types, the execution of the tasks in the service application unit 302 is mainly related to time, the routing inspection tasks mainly comprise periodic tasks, periodic tasks and main types of immediate tasks, wherein the periodic tasks are the most complex, the periodic tasks comprise repeated execution and periodic execution, the periodic types are divided into several types, namely daily, weekly, monthly and fixed dates, and therefore the effective judgment of the execution time of the tasks is the problem mainly solved by task scheduling and processing.
In the implementation process, task processing is realized through two classes, wherein a TaskBlock class is used for realizing data recording of each task and realizing some operations related to the task, the most important method is to update the task state, whether the task reaches the execution time is mainly judged according to the task type and parameters, and the method needs to be executed once per second to update the task state. The other task manager class realizes the scheduling and management of all tasks, the task manager can contain a list for storing all tasks and start a 1s timer, all tasks are traversed in a callback function of the timer, and a method for updating the task state in each task is called to update a task state co-task scheduling module according to the task type and the execution time for scheduling processing, because the time at the moment needs to be acquired when the task state is updated to judge whether the task reaches the execution time, the operation for acquiring the time for improving the efficiency is put into the callback function of the timer, and the time is transmitted into the state updating method of each task through parameters for use, only one time needs to be acquired, because the task updating does not consume a long time, the general task magnitude cannot reach the second-level delay, the time transmitted into the task updating method cannot be inconsistent with the actual time, the flow of the timer callback function is to acquire a timestamp, convert the timestamp into local time, calculate the zero-point timestamp of the current day to update the task, traverse the task list and update the states of all task objects.
The task processing and execution are also core functions of the routing inspection service subunit, and include that the task execution which is more important for processing the task issued by the management background 301 is executed, a task pointer is used to indicate the task which is currently executed in the task execution and point to a certain task in the task list, if the current task pointer is empty, the task which is not currently executed is indicated, and the task which needs to be executed is acquired by traversing the task list. The task processing main function flow is used for judging whether a current task pointer is empty or not, detecting whether a task is to be executed or not if the current task pointer is empty, judging whether the task is allowed to be executed or not if the task is to be executed, starting to execute the task if the task is allowed to be executed, issuing a task fixed point and waiting for an end signal; and if the current task pointer is not null, or no task to be executed exists or the system does not allow the task to be executed, entering an ending step.
For the task issuing of the management background 301 and the processing with different priorities, the processing is performed according to the current task pointer, when the priority of the newly issued task is greater than that of the current task, the current task is set to be in an interrupt state, the current task pointer is set to be NULL, then the task scheduling process assigns the task pointer with the highest priority in the tasks to be executed to the current task pointer so as to realize the switching of the tasks with different priorities, because the task records the running state of the task in the execution process, when the interrupted task obtains the execution right of the task again, the interrupted state is continued to be executed.
In one embodiment, referring to fig. 3, the navigation unit 304 includes a magnetic stripe navigation positioning subunit 3041;
and the magnetic stripe navigation positioning subunit 3041 is configured to acquire data of the robot during operation through the photoelectric switch sensor and the RFID tag, and perform navigation.
The magnetic stripe navigation mode mainly needs to solve the problems of how to control the robot to walk along the magnetic stripe, how to turn at the branched intersection and how to accurately position the robot. Because the requirement on the walking speed of the robot is not large, the external environment is single, and a flexible and changeable control algorithm is not needed, the requirement can be met by adopting the traditional PID controller in the embodiment. The deviation value is used as a control target, the motor speed of the inspection robot is calculated through PD control, the values of the motor are output, the left wheel motor and the right wheel motor are controlled, a closed control loop is formed by reading the motor speed, until the deviation value of the magnetic strip approaches to zero, the PD controller needs to adjust parameters according to the speed and the inertia of the robot, the tracking of the robot on the magnetic strip is completed at the moment, and the robot can walk at the speed which is the same as the speed of the left wheel and the right wheel in a superposition mode only on the basis.
The steering function of the bifurcation crossing is an advantage of magnetic stripe navigation relative to a rail-mounted robot, and mainly solves two problems, namely acquiring the direction to which the robot needs to go in one case and knowing how to control the robot to select a corresponding bifurcation after the direction of the robot goes. When the robot calculates the path which the robot needs to travel according to the target point in the running process, and then calculates the next target point to be reached according to the path planning, the problem of route selection of any two-point robot needs to be solved fundamentally, so that the route from the starting point to the end point of the robot is determined when the map is constructed, the route information only needs to be stored in the database in a fixed format, and the route which needs to be selected when the trolley runs is dynamically obtained when the trolley reaches the target point. Setting a data table after map abstraction in the system, wherein the table comprises a point table and an edge table; an action field is arranged in the point table; the point table stores all patrol inspection points in a map, each point comprises a type, an absolute coordinate, a pixel point coordinate and an azimuth angle, the edge table stores a route, a starting point, an ending point and a distance of the route, an action field is used for storing steering information required from the starting point to the ending point, the map information can be completely stored by the two tables, data of the two targets can be written in patrol inspection map marking software, certainly, the data in the fields are slightly different for different navigation modes, the magnetic stripe navigation has no absolute coordinate concept, but an RFID tag value can be stored in a certain field in the absolute coordinate, the SLAM navigation has no limitation of a magnetic track, the route natural action field does not need to be selected and is not used, and the method can be actually used only by operating according to the navigation type.
The positioning and the positioning accuracy are also important technical indexes, the station identification is realized by basically adopting an RFID mode for the positioning in a magnetic navigation mode in the past, the positioning accuracy is not high in the field, but the requirement cannot be met for an indoor inspection robot, and because the positioning error is large, the meter image can cause large position error to influence the image recognition rate, the positioning accuracy needs to be improved. Therefore, the positioning method is improved, the RFID label is used for realizing station identification, a single photoelectric switch sensor is added, and processing is carried out in software according to the running characteristics of the robot so as to realize secondary positioning and greatly improve the positioning accuracy. Photoelectric switch sensor needs a reflection of light subsides as reflection medium, place reflection of light sticker in the use on the RFID label, the certain distance when RFID sensor on the RFID label and photoelectric switch sensor installation, when the robot moves forward, at first detect the label, can detect photoelectric signal immediately, drive unit 305 can drive when detecting the label and patrol and examine the robot and slow down, drive unit 305 can drive when detecting the power-off signal and patrol and examine the robot stop work, the deceleration of deceleration process is adjusted according to actual conditions and is guaranteed steadily when stopping, carry out the secondary positioning through photoelectric switch sensor and improved positioning accuracy greatly, the repeatability can reach the millimeter level during the actual operation, the processing flow in the positioning process is as follows: and performing label detection, judging whether the label is at a target station or not, executing deceleration operation if the label is at the target station, stopping the work of the inspection robot when the photoelectric signal is detected, and entering an ending step if the label is not at the target station.
In one embodiment, referring to fig. 3, the navigation unit 304 includes a routing subunit 3042;
the path planning subunit 3042 is configured to obtain data uploaded by the interface of the driving unit 305, receive the target point sequence transmitted by the service application unit 302, perform path planning, and generate speed information.
Specifically, path planning includes global route optimization, local route planning, and guidance planning.
The path planning subunit 3042 mainly includes global route optimization, local route, i.e., point-to-point planning, and guidance for the planned route. The route planning part needs to plan all routing inspection points in a unified mode by combining map information, so that the total routing inspection route of a task is shortest, navigation control on the planned route is realized according to different navigation modes and by combining a positioning module and a robot walking mechanism, only a magnetic stripe navigation guidance process is provided below, and the principle of an SLAM guidance process is similar and is not repeated.
In each inspection task, any number of target points in an inspection map can be included, if all points are not planned globally, the inspection robot can generate repeated conditions in an inspection route, the work efficiency of the inspection robot is reduced, for magnetic stripe navigation, due to the fact that the map is similar to a special structure of a three-way tree, when the robot enters a fork, all the target points in the fork must be executed completely, the inspection robot can return from the fork, otherwise, the route repeated condition can occur, when a series of target points are issued, a point closest to the current point is obtained firstly, the target point is put into a route list, then one of the rest target points is taken out randomly, then a point closest to the point is found out from the route list, the taken point is inserted behind the point, and the process is repeated until all the targets are inserted into the route list, and the sorted points are the global optimum.
In the execution process of the algorithm, a step of obtaining the closest point is involved, namely, the distance from the current point to other points is calculated, and a point with the minimum distance is found. For point-to-point route planning, the shortest route between two points, namely the multisource shortest route, is found, and the map of the embodiment belongs to a directed graph without negative weight edges and can be realized through a classical Floeider algorithm. The shortest path from any node i to any node j is not limited to two possibilities, namely, the shortest path is directly from the node i to the node j, and the shortest path is from the node i to the node j through a plurality of nodes k. Assuming that arcs (i, j) is the distance between the shortest path from the node i to the node j, for each node k, checking whether arcs (i, k) + arcs (k, j) < arcs (i, j) is true, if true, proving that the path from the node i to the node k to the node j is shorter than the path from the node i to the node j directly, setting arcs (i, j) ═ arcs (i, k) + arcs (k, j), and when all nodes k are traversed, the recorded distance in arcs (i, j) is the distance between the shortest path from the node i to the node j. Since the dynamic programming algorithm needs to store a large number of temporary states, i.e. solutions of the small problems, in the execution process, it is suitable for using the matrix as its data structure, and therefore in this embodiment, the adjacency matrix is used as the data structure, and the route guidance flow is as follows: firstly, judging whether the current position is at an original point, if so, judging whether the previous point is a positioning point, and if not, entering an ending step; if the current point is not at the original point, judging whether an inspection task exists, if so, judging whether the current point is a stopping point, if so, decelerating and preparing to park, and if the previous point is a positioning point, executing the deceleration and preparing to park; if the routing inspection task is not available, the routing inspection robot is driven to arrive at the original point, the next arrival point is updated, whether the previous arrival point is the same as the previous arrival point or not is judged, if so, the routing inspection robot is driven to turn around, and if not, the turning sign is updated; and if the current point is not the stop point, executing the updating of the next arrival point.
In one embodiment, the driving unit 305 includes a chassis driving subunit;
and the chassis driving subunit is used for being connected with the chassis of the inspection robot and driving the chassis of the inspection robot to work according to the speed information.
In an embodiment, the service application unit 302 further includes a mapping subunit configured to map the route of the inspection robot, and a following service mode subunit configured to generate a task that is the same as a last task performed by the inspection robot.
The driving unit 305 includes an input interface conversion subunit, a camera driving subunit, a coprocessor, an RFID driving subunit, and a laser driving subunit, where the input interface conversion subunit is configured to convert a connection interface of the inspection robot, the camera driving subunit is configured to drive a camera of the inspection robot to work, and the coprocessor is configured to assist in processing the work of the inspection robot; the RFID driving subunit is used for driving the RFID sensor to work; and the laser driving subunit is used for driving the laser navigation.
This embodiment mainly adopts magnetic navigation and laser navigation mode, magnetic stripe navigation is with low costs and positioning accuracy is higher, and laser navigation flexibility is good, can change the route wantonly according to the demand, and compare in magnetic stripe navigation scientific and technological level height, be applicable to the higher application place of informationization level, the separation of business aspect and navigation mode is realized to compatible dual mode, can change corresponding hardware according to user's demand in practical application, and software only needs to carry out simple configuration can realize the switching of two kinds of navigation modes, improve the indoor range of application of patrolling and examining the robot greatly, adaptability is stronger.
The whole system is designed hierarchically in the architectural design, the common part of the system is extracted to serve as a system management unit 303, and all units are mutually independent and switched under the control of the system management unit 303, so that the design reduces the design complexity of service software in the multi-service application system, and the development period of the system is effectively shortened. The ROS multi-process communication mechanism is fully utilized, the coupling degree of the driving unit 305 and the system management unit 303 is reduced by defining a general data interface and a general control interface, the replacement convenience of similar products is improved, and the software design complexity during device replacement is reduced. By defining a consistent navigation control interface, the system can be compatible with any navigation mode, and the application range of the robot is greatly improved compared with the traditional robot system with a single navigation mode.
In the inspection robot intelligent management system 300, by setting the management background 301, the service application unit 302, the system management unit 303, the navigation unit 304 and the driving unit 305, the navigation unit 304 is compatible with magnetic navigation and laser navigation modes, the service application unit 302, the system management unit 303 and the navigation unit 304 are independently arranged, the service application unit 302 and the system management unit 303 of the robot are separated, the development difficulty and time of the service application unit 302 are reduced, an interface arranged by the driving unit 305 can realize replacement of similar function modules, the development difficulty and time of the service application unit 302 are reduced, and the application range can be expanded.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
Each functional unit in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The intelligent management system of the inspection robot is characterized by comprising a management background, a business application unit, a system management unit, a navigation unit and a driving unit;
the management background is used for issuing a polling task of the polling robot;
the driving unit is used for being connected with the inspection robot and setting different driving programs and interfaces;
the navigation unit is used for acquiring data uploaded by an interface of the driving unit, receiving a target point sequence transmitted by the service application unit, generating speed information by combining the data and the target point sequence, and feeding back the speed information to the driving unit;
the system management unit is used for managing the power supply of the robot and processing the abnormal states of the service application unit, the navigation unit and the driving unit;
and the service application unit is used for analyzing, warehousing, scheduling and executing the routing inspection task issued by the management background and issuing a target point sequence to the navigation unit.
2. The inspection robot intelligent management system according to claim 1, wherein the system management unit includes a state acquisition subunit and a state analysis subunit;
the state acquisition subunit is used for acquiring the running states of the service application unit, the navigation unit and the driving unit;
and the state analysis subunit is used for analyzing whether the business application unit, the navigation unit and the driving unit are abnormal or not according to the running state.
3. The inspection robot intelligent management system according to claim 2, wherein the system management unit further includes a prompt subunit;
and the prompting subunit is used for displaying the result obtained by the state analysis subunit in a light and voice prompting mode.
4. The inspection robot intelligent management system according to claim 3, wherein the system management unit further includes a battery management unit;
the battery management unit is used for detecting the electric quantity of the inspection robot, when the electric quantity is smaller than a set threshold value, the battery management unit drives the inspection robot to stop executing the task and requests the navigation unit and the driving unit to send instructions so that the inspection robot can return to the home for charging.
5. The inspection robot intelligent management system according to claim 4, wherein the system management unit further includes a rights management subunit;
and the authority management subunit is used for receiving the execution requests of the service application unit, the navigation unit and the drive unit and authorizing according to the execution requests.
6. The inspection robot intelligent management system according to claim 1, wherein the service application unit includes an inspection service subunit;
and the polling service subunit is used for acquiring polling tasks issued by the management background and scheduling, executing and processing the tasks.
7. The inspection robot intelligent management system according to claim 1, wherein the navigation unit includes a magnetic stripe navigation positioning subunit;
and the magnetic stripe navigation positioning subunit is used for acquiring data of the robot during operation through the photoelectric switch sensor and the RFID tag and performing navigation.
8. The inspection robot intelligent management system according to claim 7, wherein the navigation unit includes a path planning subunit;
and the path planning subunit is configured to acquire data uploaded by the interface of the driving unit, receive the target point sequence transmitted by the service application unit, and perform path planning to generate speed information.
9. The inspection robot intelligent management system according to claim 8, wherein the path planning includes global route optimization, local route planning, and guidance planning.
10. The inspection robot intelligent management system according to claim 1, wherein the drive unit includes a chassis drive subunit;
and the chassis driving subunit is used for being connected with the chassis of the inspection robot and driving the chassis of the inspection robot to work according to the speed information.
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