CN113232044A - Self-cleaning control system of tunnel inspection robot - Google Patents
Self-cleaning control system of tunnel inspection robot Download PDFInfo
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- CN113232044A CN113232044A CN202110666652.9A CN202110666652A CN113232044A CN 113232044 A CN113232044 A CN 113232044A CN 202110666652 A CN202110666652 A CN 202110666652A CN 113232044 A CN113232044 A CN 113232044A
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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
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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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
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Abstract
The invention discloses a self-cleaning control system of a tunnel inspection robot, which relates to the field of tunnel robots and comprises a detection unit, a cleaning control unit and a signal processing unit, wherein the detection unit comprises an image shooting module, an ultrasonic generation module, an ultrasonic receiving module, an image analysis module, an illumination module, an ultrasonic emission time difference comparison module and a first signal transmission module, and the cleaning control unit comprises an image recording module, a dust removal module, a water spraying module, a cleaning agent spraying module, a scrubbing module and a second information transmission module. When the control system is used, the tunnel inspection robot can be controlled to perform self-detection, the cleanliness of the surface of the tunnel inspection robot is judged, the tunnel inspection robot can go to the cleaning platform to be cleaned when the surface is contaminated by dust and dirt, the influence of the dust and the dirt on the monitoring precision of the tunnel inspection robot is effectively prevented, and the service life of the tunnel inspection robot is greatly prolonged.
Description
Technical Field
The invention relates to the field of tunnel robots, in particular to a self-cleaning control system of a tunnel inspection robot.
Background
The tunnel inspection robot is generally used for comprehensive all-weather monitoring work of tunnels and is called as a safety guard for guarding traffic tunnels of tens of thousands of kilometers in China. The total mileage of the Chinese tunnel is the first in the world, a super channel network for passenger-cargo traffic is constructed in the tunnel, great convenience is brought to people, and the powerful intelligent inspection robot has great significance for social and economic development.
However, the control system of the existing tunnel inspection robot can only meet the existing monitoring function, and cannot realize the self-cleaning function, so that after the tunnel inspection robot is used for a period of time, dust and dirt on the whole body can be tied up due to the complex environment in the tunnel, the robot is easier to damage, the monitoring function is damaged, and the monitoring precision and the service life of the tunnel inspection robot are greatly reduced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: however, the control system of the existing tunnel inspection robot cannot realize a self-cleaning function, so that after the tunnel inspection robot is used for a period of time, the problem that dust and dirt in the tunnel affect monitoring precision and service life is solved due to the fact that the complex environment in the tunnel is adopted.
The invention solves the technical problems through the following technical scheme, and the invention provides a self-cleaning control system of a tunnel inspection robot, which comprises a detection unit, a cleaning control unit and a signal processing unit;
the detection unit comprises an image shooting module, an ultrasonic generation module, an ultrasonic receiving module, an image analysis module, an illumination module, an ultrasonic emission time difference comparison module and a first signal transmission module, wherein the first signal transmission module is in communication connection with the image shooting module, the ultrasonic generation module, the ultrasonic receiving module, the image analysis module, the illumination module and the ultrasonic emission time difference comparison module, and the ultrasonic emission time difference comparison module is in communication connection with the ultrasonic generation module and the ultrasonic receiving module;
the cleaning control unit comprises an image recording module, a dust removal module, a water spraying module, a cleaning agent spraying module, a scrubbing module and a second information transmission module, wherein the second information transmission module is in communication connection with the image recording module, the dust removal module, the water spraying module, the cleaning agent spraying module and the scrubbing module;
the signal processing unit comprises a processor module, a third information transmission module and a storage module, wherein the third information transmission module is in communication connection with the processor module and the storage module, and the processor module is in communication connection with the storage module;
the use steps of the system are as follows:
a. sending a detection request (A is more than or equal to 60) to the tunnel inspection robot at intervals of time A, enabling the tunnel inspection robot to obtain signals through the detection unit and transmit the signals to the signal processing unit to judge whether stains exist on the surface, entering the step b to operate when the detection unit detects that stains exist on the surface of the tunnel inspection robot, and continuing to work until the next detection request is sent when the detection unit detects that no stains exist on the surface of the tunnel inspection robot;
b. the signal processing unit sends a cleaning signal request to the tunnel inspection robot, the robot is driven to a cleaning platform to carry out cleaning preparation, sends a request for waiting cleaning to the signal processing unit, and the operation of the step c is carried out;
c. the signal processing unit obtains a request for waiting for cleaning, controls the robot to enter a dormant state and sends a cleaning signal to the cleaning control unit, the cleaning control unit obtains the signal to start working, the cleaning control unit stops cleaning after a certain time T (T is more than or equal to 10) and the operation of the step d is started;
d. the signal processing unit sends a starting signal to the tunnel inspection robot, the tunnel inspection robot is detected through the detection unit after being started, when the detection unit detects that stains exist on the surface of the tunnel inspection robot, the system is switched to the step c to operate, and when the detection unit detects that no stains exist on the surface of the tunnel inspection robot, the operation enters the step e to operate;
e. and the signal processing unit sends a stop signal to the cleaning control unit, the signal processing unit sends a work request to the tunnel inspection robot, the tunnel inspection robot returns to a working state and leaves from the cleaning platform, and the system jumps to the step a to operate.
Preferably, the operation process of the detection unit is as follows:
s1, under the condition that the surface of the tunnel inspection robot is clean, starting an ultrasonic wave generation module in the detection unit to emit ultrasonic waves, and recording the emitting time point of the ultrasonic waves as B1After a period of time, the ultrasonic receiving module is used for receiving the ultrasonic wave and the receiving time of the ultrasonic wave is recorded as C1Calculating the difference D between the receiving time and the transmitting time1＝C1－B1；
S2, repeating the operation S1N times (N is more than or equal to 60) to obtain the difference D between the N receiving time and the transmitting time1And calculate all D1Average value D ofAre all made ofAnd setting the preset value of the difference value between the receiving time and the transmitting time as DPreparation of，DPreparation of＝DAre all made ofAnd data D is combinedPreparation ofThe first signal transmission module transmits the data to a storage module in the signal processing unit for storage;
s3, when the dirt condition on the surface of the tunnel inspection robot is unknown, starting an ultrasonic wave generation module in the detection unit to emit ultrasonic waves, and recording the emission time point of the ultrasonic waves as B2After a period of time, the ultrasonic receiving module is used for receiving the ultrasonic wave and the receiving time of the ultrasonic wave is recorded as C2Calculating the difference D between the receiving time and the transmitting time2＝C2－B2(ii) a Repeating the above operation 10 times, and taking the average value D of the values obtained by the above operationAre all made of；
S4, data D2With a predetermined value D of the difference between the reception time and the transmission timePreparation ofComparing, when D isAre all made of≥DPreparation ofWhen the tunnel inspection robot is clean, the surface of the tunnel inspection robot is clear, and when D is reachedAre all made of<DPreparation ofWhen the tunnel inspection robot surface is dirtyAnd (5) soaking.
Preferably, the specific processing procedure of the detection unit is as follows:
s11, under the condition that the surface of the tunnel inspection robot is clean, starting the lighting module to illuminate the tunnel inspection robot, shooting the tunnel inspection robot through the image shooting module, and setting a shot picture as a base picture and transmitting the base picture to the storage module for storage;
s12, under the condition that stains on the surface of the tunnel inspection robot are unknown, starting an illumination module to illuminate the tunnel inspection robot, starting an image shooting module to shoot the tunnel inspection robot to obtain a current image, and comparing the current image with a base image, wherein the current image and the base image are color images and adopt a P3 color gamut format;
s13, comparing the pixel points of the current picture and the base picture one by one, setting the first pixel point at the lower corner of the picture as a coordinate, and marking the coordinate of each pixel point on the current picture and the base picture as (Xa, Ya) and (Xb, Yb) respectively;
s14, comparing the pixel points on the (Xa, Ya) and (Xb, Yb) coordinates through the image analysis module, setting the lightness of the pixel point color as L, the red chroma as S, the yellow chroma as y, and the cyan chroma as o, and obtaining the color image through a formula
Calculating the total color difference delta sigma of pixel points on coordinate axes of the current graph and the bottom graphabWhen the total color difference of the pixel points corresponding to the current image (Xa, Ya) and the bottom image (Xb, Yb) is greater than 0.1, the tunnel inspection robot is said to have the spot at the position of the pixel point;
s15, setting M pixel points in total on the current graph and the bottom graph, setting the stain points on the bottom graph (Xb, Yb) with the total color difference of the pixel points corresponding to the current graph (Xa, Ya) being greater than 0.1, setting the total amount of the stain points as V, when V/M is greater than or equal to 10%, indicating that the surface of the tunnel inspection robot is stained, otherwise, indicating that the surface of the tunnel inspection robot is clean.
Preferably, the application process of the cleaning control unit is as follows:
s111, firstly, shooting the tunnel inspection robot before cleaning through an image recording module on the cleaning platform, and transmitting the shot image to a storage module for storage;
s112, blowing air to the tunnel inspection robot through the dust removal module to blow off dust on the surface of the robot, wherein the operation time of the dust removal module is t1(t1 is more than or equal to 50S);
s113, after the dust removal module stops working, the water spraying module washes the tunnel inspection robot, after the water spraying module works for 3S, the cleaning agent spraying module sprays the cleaning agent, the cleaning agent spraying module stops working when the working time of the cleaning agent spraying module reaches t2 (t2 is more than or equal to 200S), and the water spraying module stops working when the working time of the water spraying module reaches t3 (t3 is more than or equal to 250S);
and S114, after the water spraying module stops working, starting the scrubbing module to scrub the tunnel inspection robot, starting the dust removal device to blow air to the tunnel inspection robot, and stopping working when the working time of the scrubbing module reaches t4 (t4 is more than or equal to 100S).
Preferably, the tunnel inspection robot comprises a bottom plate, two caterpillar tracks are mounted on the bottom plate for driving, a detection head is mounted on the bottom plate, a lifting rod is mounted on the bottom plate, an LED illuminating lamp is mounted on the lifting rod, a mounting plate is fixedly mounted on the lifting rod, and an ultrasonic transceiver and a first camera are mounted on the mounting plate.
Preferably, the cleaning platform comprises a perforated plate, a support is mounted on the perforated plate, a first slide rail is fixedly mounted on one side of the support, a scrubbing roller is slidably mounted on the first slide rail, fluff is arranged on the scrubbing roller, a second camera is mounted on the support, a second slide rail is fixedly mounted on the support, a sliding plate is mounted on the second slide rail in a matched mode, a water nozzle and a cleaning agent nozzle are mounted on the sliding plate, two water pumps are arranged in the sliding plate and respectively correspond to the water nozzle and the cleaning agent nozzle, the water nozzle is connected with a water tank, the cleaning agent nozzle is connected with the cleaning agent tank, and a blowing and air suction integrated machine is mounted on the support.
Compared with the prior art, the invention has the following advantages:
1. when the control system is used, the tunnel inspection robot can be controlled to perform self-detection, the cleanliness of the surface of the tunnel inspection robot is judged, the tunnel inspection robot can go to the cleaning platform to be cleaned when the surface is contaminated by dust and dirt, the influence of the dust and the dirt on the monitoring precision of the tunnel inspection robot is effectively prevented, and the service life of the tunnel inspection robot is greatly prolonged.
2. When the detection unit works, two detection modes of ultrasonic detection and image detection are adopted, when any one of the detection modes is damaged, the other detection mode still can complete preset work, the reactivity of the device is greatly improved, plentiful time is provided for emergency repair work, the ultrasonic detection mainly adopts a mode of calculating the difference value between the receiving time and the transmitting time of ultrasonic waves, the mode is more stable and efficient, the work can still be completed under the condition of limited illumination, the universality of the control system is improved, the image detection mode is mainly realized by comparing the total chromatic aberration of a current shot image with a single pixel point of a base map, when the illumination is recombined, the detection operation can be more effectively and quickly carried out, workers outside a tunnel can obtain the type information of dust and stain from the shot image, and the corresponding image layer of a robot is selected according to the type information of the dust and the stain, the service life of the robot is greatly prolonged.
3. After the cleaning operation is carried out, the detection unit carries out a new round of detection, and when the detection unit detects that dust and dirt are not cleaned, the cleaning operation can be directly carried out again, so that the tunnel inspection robot is kept clean all the time, the condition that the cleaning is not in place once is prevented, the monitoring precision is improved, and the service life of the robot is prolonged.
Drawings
FIG. 1 is a system diagram of the present invention.
FIG. 2 is a system block diagram of the detection unit of the present invention.
Fig. 3 is a system block diagram of the cleaning control unit of the present invention.
Fig. 4 is a system block diagram of a signal processing unit of the present invention.
Fig. 5 is a basic structural diagram of the tunnel inspection robot of the present invention.
Fig. 6 is a schematic diagram of the basic structure of the cleaning platform of the present invention.
In the figure, 101, the bottom plate; 102. a crawler belt; 103. a detection head; 104. a lifting rod; 105. an LED lighting lamp; 106. mounting a plate; 107. a first camera; 108. an ultrasonic transceiver; 201. a support; 202. a first slide rail; 203. a scrubbing roller; 204. an air blowing and sucking integrated machine; 205. a second camera; 206. a second slide rail; 207. a slide plate; 208. a water spray head; 209. a cleaning agent spray head; 210. a perforated plate;
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 to 6, the present embodiment provides a technical solution: a self-cleaning control system of a tunnel inspection robot comprises a detection unit, a cleaning control unit and a signal processing unit;
the tunnel inspection robot comprises a bottom plate 101, two caterpillar tracks 102 are installed on the bottom plate 101 for driving, a detection head 103 is installed on the bottom plate 101, a lifting rod 104 is installed on the bottom plate 101, an LED illuminating lamp 105 is installed on the lifting rod 104, an installation plate 106 is fixedly installed on the lifting rod 104, and an ultrasonic transceiver 108 and a first camera 107 are installed on the installation plate 106.
Cleaning platform includes foraminiferous board 210, install support 201 on foraminiferous board 210, fixed mounting has first slide rail 202 in support 201 one side, slidable mounting has on first slide rail 202 cleans roller 203, be equipped with fine hair on cleaning roller 203, install second camera 205 on support 201, fixed mounting has second slide rail 206 on support 201, the cooperation is installed slide 207 on second slide rail 206, install water shower nozzle 208 and cleaning agent shower nozzle 209 on slide 207, be equipped with two water pumps in slide 207 and correspond the setting in water shower nozzle 208 and cleaning agent shower nozzle 209 respectively, the water tank is connected to water shower nozzle 208, cleaning agent shower nozzle 209 connects the cleaning agent case, install the all-in-one 204 that induced drafts of blowing on support 201.
The detection unit comprises an image shooting module, an ultrasonic generation module, an ultrasonic receiving module, an image analysis module, an illumination module, an ultrasonic emission time difference comparison module and a first signal transmission module, wherein the first signal transmission module is in communication connection with the image shooting module, the ultrasonic generation module, the ultrasonic receiving module, the image analysis module, the illumination module and the ultrasonic emission time difference comparison module;
the cleaning control unit comprises an image recording module, a dust removal module, a water spraying module, a cleaning agent spraying module, a scrubbing module and a second information transmission module, the second information transmission module is in communication connection with the image recording module, the dust removal module, the water spraying module, the cleaning agent spraying module and the scrubbing module, the scrubbing module is in communication connection with the dust removal module, the water spraying module is in communication connection with the cleaning agent spraying module, in the embodiment, the image recording module is a second camera 205 and also selects a high-definition camera with 2560p pixels, the dust removal module selects an air blowing and sucking integrated machine 204, the water spraying module selects the water spraying head 108, the cleaning agent spraying module selects the cleaning agent spraying head 107, and the scrubbing module selects the scrubbing roller 203;
the signal processing unit comprises a processor module, a third information transmission module and a storage module, wherein the third information transmission module is in communication connection with the processor module and the storage module, the processor module is in communication connection with the storage module, the processor module adopts a processor with an X86 architecture for programming, the storage module adopts a stable mechanical hard disk, and the first information transmission module, the second information transmission module and the third information transmission module all use WiFi communication modules;
the use steps of the system are as follows:
a. sending a detection request (A is more than or equal to 60) to the tunnel inspection robot at intervals of time A, enabling the tunnel inspection robot to obtain signals through the detection unit and transmit the signals to the signal processing unit to judge whether stains exist on the surface, entering the step b to operate when the detection unit detects that stains exist on the surface of the tunnel inspection robot, and continuing to work until the next detection request is sent when the detection unit detects that no stains exist on the surface of the tunnel inspection robot;
b. the signal processing unit sends a cleaning signal request to the tunnel inspection robot, the robot is driven to a cleaning platform to carry out cleaning preparation, sends a request for waiting cleaning to the signal processing unit, and the operation of the step c is carried out;
c. the signal processing unit obtains a request for waiting for cleaning, controls the robot to enter a dormant state and sends a cleaning signal to the cleaning control unit, the cleaning control unit obtains the signal to start working, the cleaning control unit stops cleaning after a certain time T (T is more than or equal to 10) and the operation of the step d is started;
d. the signal processing unit sends a starting signal to the tunnel inspection robot, the tunnel inspection robot is detected through the detection unit after being started, when the detection unit detects that stains exist on the surface of the tunnel inspection robot, the system is switched to the step c to operate, and when the detection unit detects that no stains exist on the surface of the tunnel inspection robot, the operation enters the step e to operate;
e. and the signal processing unit sends a stop signal to the cleaning control unit, the signal processing unit sends a work request to the tunnel inspection robot, the tunnel inspection robot returns to a working state and leaves from the cleaning platform, and the system jumps to the step a to operate.
The operation of the detection unit is as follows:
s1, under the condition that the surface of the tunnel inspection robot is clean, starting an ultrasonic wave generation module in the detection unit to emit ultrasonic waves, and recording the emitting time point of the ultrasonic waves as B1After a period of time, the ultrasonic receiving module is used for receiving the ultrasonic wave and the receiving time of the ultrasonic wave is recorded as C1Calculating the difference D between the receiving time and the transmitting time1＝C1－B1；
S2, operation S1 repeating N times (N is more than or equal to 60) to obtain the difference D between N receiving time and transmitting time1And calculate all D1Average value D ofAre all made ofAnd setting the preset value of the difference value between the receiving time and the transmitting time as DPreparation of，DPreparation of＝DAre all made ofAnd data D is combinedPreparation ofThe first signal transmission module transmits the data to a storage module in the signal processing unit for storage;
s3, when the dirt condition on the surface of the tunnel inspection robot is unknown, starting an ultrasonic wave generation module in the detection unit to emit ultrasonic waves, and recording the emission time point of the ultrasonic waves as B2After a period of time, the ultrasonic receiving module is used for receiving the ultrasonic wave and the receiving time of the ultrasonic wave is recorded as C2Calculating the difference D between the receiving time and the transmitting time2＝C2－B2(ii) a Repeating the above operation 10 times, and taking the average value D of the values obtained by the above operationAre all made of；
S4, data D2With a predetermined value D of the difference between the reception time and the transmission timePreparation ofComparing, when D isAre all made of≥DPreparation ofWhen the tunnel inspection robot is clean, the surface of the tunnel inspection robot is clear, and when D is reachedAre all made of<DPreparation ofAnd when the tunnel inspection robot is detected to be dirty, the tunnel inspection robot is indicated to be dirty on the surface.
The specific processing procedure of the detection unit is as follows:
s11, under the condition that the surface of the tunnel inspection robot is clean, starting the lighting module to illuminate the tunnel inspection robot, shooting the tunnel inspection robot through the image shooting module, and setting a shot picture as a base picture and transmitting the base picture to the storage module for storage;
s12, under the condition that stains on the surface of the tunnel inspection robot are unknown, starting an illumination module to illuminate the tunnel inspection robot, starting an image shooting module to shoot the tunnel inspection robot to obtain a current image, and comparing the current image with a base image, wherein the current image and the base image are color images and adopt a P3 color gamut format;
s13, comparing the pixel points of the current picture and the base picture one by one, setting the first pixel point at the lower corner of the picture as a coordinate, and marking the coordinate of each pixel point on the current picture and the base picture as (Xa, Ya) and (Xb, Yb) respectively;
s14, comparing the pixel points on the (Xa, Ya) and (Xb, Yb) coordinates through the image analysis module, setting the lightness of the pixel point color as L, the red chroma as S, the yellow chroma as y, and the cyan chroma as o, and obtaining the color image through a formula
Calculating the total color difference delta sigma of pixel points on coordinate axes of the current graph and the bottom graphabWhen the total color difference of the pixel points corresponding to the current image (Xa, Ya) and the bottom image (Xb, Yb) is greater than 0.1, the tunnel inspection robot is said to have the spot at the position of the pixel point;
s15, setting M pixel points in total on the current graph and the bottom graph, setting the stain points on the bottom graph (Xb, Yb) with the total color difference of the pixel points corresponding to the current graph (Xa, Ya) being greater than 0.1, setting the total amount of the stain points as V, when V/M is greater than or equal to 10%, indicating that the surface of the tunnel inspection robot is stained, otherwise, indicating that the surface of the tunnel inspection robot is clean.
The application process of the cleaning control unit is as follows:
s111, firstly, shooting the tunnel inspection robot before cleaning through an image recording module on the cleaning platform, and transmitting the shot image to a storage module for storage;
s112, blowing air to the tunnel inspection robot through the dust removal module to blow off dust on the surface of the robot, wherein the operation time of the dust removal module is t1(t1 is more than or equal to 50S);
s113, after the dust removal module stops working, the water spraying module washes the tunnel inspection robot, after the water spraying module works for 3S, the cleaning agent spraying module sprays the cleaning agent, the cleaning agent spraying module stops working when the working time of the cleaning agent spraying module reaches t2 (t2 is more than or equal to 200S), and the water spraying module stops working when the working time of the water spraying module reaches t3 (t3 is more than or equal to 250S);
and S114, after the water spraying module stops working, starting the scrubbing module to scrub the tunnel inspection robot, starting the dust removal device to blow air to the tunnel inspection robot, and stopping working when the working time of the scrubbing module reaches t4 (t4 is more than or equal to 100S).
In summary, the five using steps of the control system are as follows:
a. sending a detection request (A is more than or equal to 60) to the tunnel inspection robot at intervals of A, the tunnel inspection robot obtaining signals through the detection unit and transmitting the signals into the signal processing unit to judge whether stains exist on the surface, when the detection unit detects that stains exist on the surface of the tunnel inspection robot, the operation of the step b is carried out, when the detection unit detects that no stains exist on the surface of the tunnel inspection robot, the tunnel inspection robot continues to work until the next detection request is sent, two detection modes of ultrasonic detection and image detection are adopted, when any one is damaged, the other detection mode can still complete the preset work, the reactivity of the device is greatly improved, abundant time is provided for emergency repair work, the ultrasonic detection mainly adopts a mode of calculating the difference value of the ultrasonic receiving time and the ultrasonic transmitting time, and the mode is more stable and efficient, the method can still complete work under the condition of limited illumination, improves the universality of the control system, is mainly realized by comparing the total chromatic aberration of a current shot image with a single pixel point of a base map in an image detection mode, can more effectively and quickly carry out detection operation when the illumination is recombined, can also enable workers outside a tunnel to obtain the type information of dust and stain from the shot image, and selects the corresponding image layer of the robot according to the type information of the dust and the stain, thereby greatly prolonging the service life of the robot;
b. the signal processing unit sends a cleaning signal request to the tunnel inspection robot, the robot is driven to a cleaning platform to carry out cleaning preparation, sends a request for waiting cleaning to the signal processing unit, and the operation of the step c is carried out;
c. the signal processing unit obtains a request for waiting for cleaning, controls the robot to enter a dormant state and sends a cleaning signal to the cleaning control unit, the cleaning control unit obtains the signal to start working, the cleaning control unit stops cleaning after a certain time T (T is more than or equal to 10) and the operation of the step d is started;
d. the signal processing unit sends a starting signal to the tunnel inspection robot, the tunnel inspection robot is started and then is detected through the detection unit, when the detection unit detects that stains exist on the surface of the tunnel inspection robot, the system is transferred to the step c to operate, when the detection unit detects that no stains exist on the surface of the tunnel inspection robot, the operation of the step e is performed, after the cleaning operation is performed, the detection unit performs a new round of detection, when the detection unit detects that dust and stains are not cleaned, the cleaning operation can be directly performed again, the tunnel inspection robot is kept clean all the time, the situation that single cleaning is not in place is prevented, the monitoring precision is improved, and the service life of the robot is prolonged;
e. the signal processing unit sends a stop signal to the cleaning control unit, the signal processing unit sends a work request to the tunnel inspection robot, the tunnel inspection robot returns to a working state and leaves from the cleaning platform, and the system jumps to the step a to operate when the control system disclosed by the invention is used, the tunnel inspection robot can be controlled to carry out self detection, the cleanliness of the surface of the tunnel inspection robot is judged, when the surface is contaminated by dust and dirt, the tunnel inspection robot can go to the cleaning platform to be cleaned, the influence of the dust and the dirt on the monitoring precision of the tunnel inspection robot is effectively prevented, and the service life of the tunnel inspection robot is greatly prolonged.
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 (6)
1. A self-cleaning control system of a tunnel inspection robot is characterized by comprising a detection unit, a cleaning control unit and a signal processing unit;
the detection unit comprises an image shooting module, an ultrasonic generation module, an ultrasonic receiving module, an image analysis module, an illumination module, an ultrasonic emission time difference comparison module and a first signal transmission module, wherein the first signal transmission module is in communication connection with the image shooting module, the ultrasonic generation module, the ultrasonic receiving module, the image analysis module, the illumination module and the ultrasonic emission time difference comparison module, and the ultrasonic emission time difference comparison module is in communication connection with the ultrasonic generation module and the ultrasonic receiving module;
the cleaning control unit comprises an image recording module, a dust removal module, a water spraying module, a cleaning agent spraying module, a scrubbing module and a second information transmission module, the second information transmission module is in communication connection with the image recording module, the dust removal module, the water spraying module, the cleaning agent spraying module and the scrubbing module, the scrubbing module is in communication connection with the dust removal module, and the water spraying module is in communication connection with the cleaning agent spraying module;
the signal processing unit comprises a processor module, a third information transmission module and a storage module, wherein the third information transmission module is in communication connection with the processor module and the storage module, and the processor module is in communication connection with the storage module;
the use steps of the system are as follows:
a. sending a detection request (A is more than or equal to 60) to the tunnel inspection robot at intervals of time A, enabling the tunnel inspection robot to obtain signals through the detection unit and transmit the signals to the signal processing unit to judge whether stains exist on the surface, entering the step b to operate when the detection unit detects that stains exist on the surface of the tunnel inspection robot, and continuing to work until the next detection request is sent when the detection unit detects that no stains exist on the surface of the tunnel inspection robot;
b. the signal processing unit sends a cleaning signal request to the tunnel inspection robot, the robot is driven to a cleaning platform to carry out cleaning preparation, sends a request for waiting cleaning to the signal processing unit, and the operation of the step c is carried out;
c. the signal processing unit obtains a request for waiting for cleaning, controls the robot to enter a dormant state and sends a cleaning signal to the cleaning control unit, the cleaning control unit obtains the signal to start working, the cleaning control unit stops cleaning after a certain time T (T is more than or equal to 10) and the operation of the step d is started;
d. the signal processing unit sends a starting signal to the tunnel inspection robot, the tunnel inspection robot is detected through the detection unit after being started, when the detection unit detects that stains exist on the surface of the tunnel inspection robot, the system is switched to the step c to operate, and when the detection unit detects that no stains exist on the surface of the tunnel inspection robot, the operation enters the step e to operate;
e. and the signal processing unit sends a stop signal to the cleaning control unit, the signal processing unit sends a work request to the tunnel inspection robot, the tunnel inspection robot returns to a working state and leaves from the cleaning platform, and the system jumps to the step a to operate.
2. The self-cleaning control system of the tunnel inspection robot according to claim 1, characterized in that: the operation process of the detection unit is as follows:
s1, under the condition that the surface of the tunnel inspection robot is clean, starting an ultrasonic wave generation module in the detection unit to emit ultrasonic waves, and recording the emitting time point of the ultrasonic waves as B1Pass through aAfter a period of time, the ultrasonic receiving module is used for receiving the ultrasonic waves, and the receiving time of the ultrasonic waves is recorded as C1Calculating the difference D between the receiving time and the transmitting time1＝C1－B1；
S2, repeating the operation S1N times (N is more than or equal to 60) to obtain the difference D between the N receiving time and the transmitting time1And calculate all D1Average value D ofAre all made ofAnd setting the preset value of the difference value between the receiving time and the transmitting time as DPreparation of，DPreparation of＝DAre all made ofAnd data D is combinedPreparation ofThe first signal transmission module transmits the data to a storage module in the signal processing unit for storage;
s3, when the dirt condition on the surface of the tunnel inspection robot is unknown, starting an ultrasonic wave generation module in the detection unit to emit ultrasonic waves, and recording the emission time point of the ultrasonic waves as B2After a period of time, the ultrasonic receiving module is used for receiving the ultrasonic wave and the receiving time of the ultrasonic wave is recorded as C2Calculating the difference D between the receiving time and the transmitting time2＝C2－B2(ii) a Repeating the above operation 10 times, and taking the average value D of the values obtained by the above operationAre all made of；
S4, data D2With a predetermined value D of the difference between the reception time and the transmission timePreparation ofComparing, when D isAre all made of≥DPreparation ofWhen the tunnel inspection robot is clean, the surface of the tunnel inspection robot is clear, and when D is reachedAre all made of<DPreparation ofAnd when the tunnel inspection robot is detected to be dirty, the tunnel inspection robot is indicated to be dirty on the surface.
3. The self-cleaning control system of the tunnel inspection robot according to claim 2, characterized in that: the specific processing procedure of the detection unit is as follows:
s11, under the condition that the surface of the tunnel inspection robot is clean, starting the lighting module to illuminate the tunnel inspection robot, shooting the tunnel inspection robot through the image shooting module, and setting a shot picture as a base picture and transmitting the base picture to the storage module for storage;
s12, under the condition that stains on the surface of the tunnel inspection robot are unknown, starting an illumination module to illuminate the tunnel inspection robot, starting an image shooting module to shoot the tunnel inspection robot to obtain a current image, and comparing the current image with a base image, wherein the current image and the base image are color images and adopt a P3 color gamut format;
s13, comparing the pixel points of the current picture and the base picture one by one, setting the first pixel point at the lower corner of the picture as a coordinate, and marking the coordinate of each pixel point on the current picture and the base picture as (Xa, Ya) and (Xb, Yb) respectively;
s14, comparing the pixel points on the (Xa, Ya) and (Xb, Yb) coordinates through the image analysis module, setting the lightness of the pixel point color as L, the red chroma as S, the yellow chroma as y, and the cyan chroma as o, and obtaining the color image through a formula
Calculating the total color difference delta sigma of pixel points on coordinate axes of the current graph and the bottom graphabWhen the total color difference of the pixel points corresponding to the current image (Xa, Ya) and the bottom image (Xb, Yb) is greater than 0.1, the tunnel inspection robot is said to have the spot at the position of the pixel point;
s15, setting M pixel points in total on the current graph and the bottom graph, setting the stain points on the bottom graph (Xb, Yb) with the total color difference of the pixel points corresponding to the current graph (Xa, Ya) being greater than 0.1, setting the total amount of the stain points as V, when V/M is greater than or equal to 10%, indicating that the surface of the tunnel inspection robot is stained, otherwise, indicating that the surface of the tunnel inspection robot is clean.
4. The self-cleaning control system of the tunnel inspection robot according to claim 3, wherein: the application process of the cleaning control unit is as follows:
s111, firstly, shooting the tunnel inspection robot before cleaning through an image recording module on the cleaning platform, and transmitting the shot image to a storage module for storage;
s112, blowing air to the tunnel inspection robot through the dust removal module to blow off dust on the surface of the robot, wherein the operation time of the dust removal module is t1(t1 is more than or equal to 50S);
s113, after the dust removal module stops working, the water spraying module washes the tunnel inspection robot, after the water spraying module works for 3S, the cleaning agent spraying module sprays the cleaning agent, the cleaning agent spraying module stops working when the working time of the cleaning agent spraying module reaches t2 (t2 is more than or equal to 200S), and the water spraying module stops working when the working time of the water spraying module reaches t3 (t3 is more than or equal to 250S);
and S114, after the water spraying module stops working, starting the scrubbing module to scrub the tunnel inspection robot, starting the dust removal device to blow air to the tunnel inspection robot, and stopping working when the working time of the scrubbing module reaches t4 (t4 is more than or equal to 100S).
5. The tunnel inspection robot according to claim 4, wherein: the device comprises a bottom plate (101), two caterpillar tracks (102) are installed on the bottom plate (101) to drive the caterpillar tracks, a detection head (103) is installed on the bottom plate (101), a lifting rod (104) is installed on the bottom plate (101), an LED illuminating lamp (105) is installed on the lifting rod (104), an installation plate (106) is fixedly installed on the lifting rod (104), and an ultrasonic transceiver (108) and a first camera (107) are installed on the installation plate (106).
6. The cleaning platform of claim 4, wherein: including foraminiferous board (210), install support (201) on foraminiferous board (210), fixed mounting has first slide rail (202) in support (201) one side, slidable mounting has on first slide rail (202) cleans roller (203), be equipped with fine hair on cleaning roller (203), install second camera (205) on support (201), fixed mounting has second slide rail (206) on support (201), cooperation installation has slide (207) on second slide rail (206), install water shower nozzle (208) and cleaner shower nozzle (209) on slide (207), it corresponds the setting respectively in water shower nozzle (208) and cleaner shower nozzle (209) to be equipped with two water pumps in slide (207), the water tank is connected in water shower nozzle (208), cleaner shower nozzle (209) are connected the cleaner case, install induced draft all-in-one (204) on support (201).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110666652.9A CN113232044A (en) | 2021-06-16 | 2021-06-16 | Self-cleaning control system of tunnel inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110666652.9A CN113232044A (en) | 2021-06-16 | 2021-06-16 | Self-cleaning control system of tunnel inspection robot |
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| CN113232044A true CN113232044A (en) | 2021-08-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114184919A (en) * | 2022-02-17 | 2022-03-15 | 山东掌电电力科技有限公司 | Ultrasonic defect tracking and monitoring system for power inspection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114184919A (en) * | 2022-02-17 | 2022-03-15 | 山东掌电电力科技有限公司 | Ultrasonic defect tracking and monitoring system for power inspection |
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Application publication date: 20210810 |