CN114326741A - Seawater desalination monitoring control system based on quadruped robot - Google Patents
Seawater desalination monitoring control system based on quadruped robot Download PDFInfo
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Abstract
The invention discloses a seawater desalination monitoring control system based on a quadruped robot, which constructs a preset path plan of the quadruped robot according to a trackless positioning navigation system, controls the quadruped robot to patrol to a detection station of a to-be-detected area of seawater desalination equipment according to the preset path plan, and obtains image data and noise data of the seawater desalination equipment; the defect identification module extracts sample data of normal operation of the equipment from a preset database, and performs defect feature identification on the data according to the sample and a preset defect identification algorithm to obtain a defect detection result; and the remote intelligent inspection management platform classifies the defects of the defect detection result, acquires the fault grade corresponding to the classified defects, and takes corresponding measures to perform fault control operation according to the fault grade, so that the stable and safe operation of the seawater desalination water production workshop is ensured.
Description
Technical Field
The invention relates to the technical field of equipment detection, in particular to a seawater desalination monitoring control system based on a quadruped robot.
Background
The water production equipment, the water pump, the pipe network and the water filtering system of the seawater desalination water production workshop are basic facilities for supplying industrial water, desalted water, domestic water and fire-fighting water for the whole plant, are important links for connecting all parts of the production system, and the safety of the water production equipment, the water pump, the pipe network and the water filtering system is the basis for normal operation of the production equipment, the domestic equipment and the facilities, so that once a fault occurs, the chemical water production system is interrupted, the production line is stopped for a long time, and the economic loss caused is huge.
The existing factory equipment inspection mode of the seawater desalination water making workshop is manual inspection, namely a mode of watching by a 24-hour shift specially-assigned person is adopted, workers need to inspect the infrastructure of the workshop on time and inspect, check and analyze basic operation data, the mode is time-consuming and labor-consuming, low in production efficiency and relatively low in inspection standardization degree, and meanwhile, acid and alkali liquor used in the seawater desalination water making workshop acts on human bodies for a long time under the condition of low concentration to cause damage, namely typical occupational disease damage; the inspection of a seawater desalination water production workshop is difficult: the types of the workshop equipment are large, the quantity of the workshop equipment is large, inspection personnel are required to have a considerable professional knowledge background, it is not easy to recruit and cultivate new people, and the quantity of the personnel configured in the prior art cannot keep up with the actual production requirement.
Disclosure of Invention
The invention mainly aims to provide a seawater desalination monitoring control system based on a quadruped robot, and aims to solve the technical problems that in the prior art, a seawater desalination water production workshop is difficult to inspect, the manual inspection efficiency is low, the wrong inspection and the omission are easy to detect, the production line is easy to stop after equipment failure, and the great economic loss is caused.
In a first aspect, the present invention provides a quadruped robot-based seawater desalination monitoring and control system, comprising:
the image data acquisition module is used for constructing a preset path plan of the quadruped robot according to the trackless positioning navigation system, controlling the quadruped robot to patrol to a detection station of a to-be-detected area of the seawater desalination equipment according to the preset path plan, and acquiring image data of the seawater desalination equipment;
the image defect identification module is used for extracting a sample image of normal operation of equipment from a preset database, performing image positioning segmentation and defect feature identification on the image data according to the sample image and a preset defect image identification algorithm to obtain a defect detection result, and feeding the defect detection result back to the remote intelligent inspection management platform;
the noise detection data acquisition module is used for controlling the quadruped robot to perform noise detection on the current seawater desalination equipment at a detection station by a preset detection action, performing decompression and resampling operation on the obtained noise data to obtain a target audio frequency, performing audio stream segmentation on the target audio frequency, extracting sound features, and detecting, identifying and positioning the sound features to obtain audio data of the seawater desalination equipment;
the noise defect identification module is also used for analyzing the time-frequency domain of the audio data, judging the equipment fault type according to the time-frequency domain analysis result and feeding back the equipment fault type;
and the remote intelligent inspection management platform is used for classifying the defects of the defect detection result, acquiring the fault grade corresponding to the classified defects, and taking corresponding measures to perform fault control operation according to the fault grade.
Optionally, the image data acquiring module includes:
the area determining module is used for constructing a routing inspection map of the quadruped robot according to the trackless positioning navigation system and determining a detectable area and a forbidden area according to a preset electronic fence;
the route determining module is used for acquiring the existing inspection route of the seawater desalination equipment corresponding to the workshop and generating a preset route plan of the quadruped robot according to the existing inspection route, the inspection map, the detectable area and the inspection forbidden area;
the inspection control module is used for controlling the quadruped robot to inspect to each area to be detected among a seawater desalination pump room, a seawater desalination workshop, a water island dosing room, a domestic water dosing room, a boiler supply workshop and a boiler supply pump room corresponding to the seawater desalination equipment according to the preset path plan;
and the perception module is used for controlling the quadruped robot to perform AI perception on the detection stations of the areas to be detected by preset detection actions to obtain the image data of the seawater desalination equipment.
Optionally, the sensing module comprises:
the station determining module is used for acquiring the characteristics and the detection requirements of each device of each area to be detected, determining the detection station of each area to be detected according to the characteristics and the detection requirements of each device, and controlling the quadruped robot to move to the detection station;
the action determining module is used for acquiring the detection item types of the areas to be detected and selecting corresponding actions from a preset database as preset detection actions according to the detection item types;
the image perception module is used for controlling the quadruped robot to perform AI perception on a detection station by a preset detection action to obtain image data of the seawater desalination equipment;
and the external control module is used for adjusting the current motion posture and the detection action of the quadruped robot according to the action operation instruction after receiving the action operation instruction of the remote control deployment terminal, controlling the quadruped robot to perform AI perception at a detection station according to the adjusted detection action, and obtaining the image data of the seawater desalination equipment.
Optionally, the station determining module includes:
the detection condition determining module is used for acquiring the characteristics and detection requirements of each device of each area to be detected and determining a detection object, a background environment and a detection mode according to the characteristics and the detection requirements of each device;
and the station generating module is used for determining the detection station of each area to be detected according to the detection object, the background environment and the detection mode and controlling the quadruped robot to move to the detection station.
Optionally, the image perception module includes:
and the visual detection module is used for controlling the quadruped robot to perform AI perception visual detection of water leakage, oil leakage, overheating and meter counting at a detection station by preset detection actions to obtain visual detection data of the seawater desalination equipment.
Optionally, the visual inspection module comprises:
the meter identification module is used for controlling the quadruped robot to perform AI perception visual detection on the state of a switch valve, the state of an indicator light and a meter of the current seawater desalination equipment at a detection station by preset detection actions, so as to obtain a meter image and a meter value of the current seawater desalination equipment, and the meter image and the meter value are used as meter identification visual detection data of the current seawater desalination equipment;
the overheating detection module is used for controlling the quadruped robot to perform overheating detection on each preset temperature measuring point of the current seawater desalination equipment at a detection station by preset detection actions so as to obtain infrared visual detection data formed by infrared thermal imaging of the seawater desalination equipment;
the water leakage detection module is used for controlling the quadruped robot to perform water leakage visual detection at a detection station by preset detection actions to obtain water leakage visual detection data of the seawater desalination equipment;
and the oil leakage detection module is used for controlling the quadruped robot to perform oil leakage visual detection at a detection station by preset detection actions to obtain oil leakage visual detection data of the seawater desalination equipment.
Optionally, the water leakage detection module includes:
the infrared image shooting module is used for controlling the quadruped robot to carry out ponding shooting at different distances at a detection station by using an infrared camera according to preset detection actions so as to obtain an infrared image;
the segmentation module is used for performing RGB channel segmentation on the infrared image, performing threshold segmentation processing on the screened R channel image, calculating all connected domains in the image subjected to threshold segmentation, and segmenting unconnected domains into separate regions;
the screening module is used for carrying out area screening on the water mass in each area, wherein the area of the water mass is larger than the preset area, and removing holes in the water mass after the area screening to obtain the characteristics of the water mass;
the characteristic enhancement module is used for carrying out characteristic enhancement processing on the water mass characteristics, comparing the enhanced water mass characteristics with the environmental interference characteristics and determining the final water mass characteristics;
and the water leakage area judging module is used for judging whether a water leakage area exists according to the final water mass characteristics, generating water leakage visual detection data of the seawater desalination equipment, and giving an alarm or early warning when the water leakage area exists.
Optionally, the oil leakage detection module includes:
and the ultraviolet light supplementing module is used for controlling the quadruped robot to start an ultraviolet lamp at a detection station for oil leakage visual detection through a preset detection action, and the obtained fluorescence development is used as oil leakage visual detection data of the seawater desalination equipment.
Optionally, the quadruped robot carries a visible light camera, an infrared thermal imager, a pickup, an AI camera, a laser scanner and an ultraviolet lamp through an external expansion port.
The seawater desalination monitoring control system based on the quadruped robot provided by the invention constructs a preset path plan of the quadruped robot according to a trackless positioning navigation system through an image data acquisition module, and controls the quadruped robot to patrol to a detection station of a to-be-detected area of seawater desalination equipment according to the preset path plan so as to obtain image data of the seawater desalination equipment; the image defect identification module extracts a sample image of normal operation of equipment from a preset database, performs image positioning segmentation and defect feature identification on the image data according to the sample image and a preset defect image identification algorithm to obtain a defect detection result, and feeds the defect detection result back to a remote intelligent inspection management platform; the noise detection data acquisition module is used for controlling the quadruped robot to perform noise detection on the current seawater desalination equipment at a detection station by a preset detection action, performing decompression and resampling operation on the obtained noise data to obtain a target audio frequency, performing audio stream segmentation on the target audio frequency, extracting sound features, and detecting, identifying and positioning the sound features to obtain audio data of the seawater desalination equipment; and the noise defect identification module is used for analyzing the time-frequency domain of the audio data, judging the equipment fault type according to the time-frequency domain analysis result and feeding back the equipment fault type. And the remote intelligent inspection management platform classifies the defects of the defect detection result, acquires the fault grade corresponding to the classified defects, and takes corresponding measures to perform fault control operation according to the fault grade. The seawater desalination monitoring control system based on the quadruped robot can reduce the manual workload, improve the inspection frequency of factory equipment, ensure the equipment safety, solve the problems of less operators, high working strength, manual error detection, omission and the like of a seawater desalination water making workshop, monitor equipment such as a water pump, a pipe network, a water filtering system and the like in the area of the seawater desalination water making workshop, improve the speed and the efficiency of seawater desalination monitoring control, timely perform fault treatment when the seawater desalination equipment has defects, and effectively ensure the stable and safe operation of the seawater desalination water making workshop.
Drawings
FIG. 1 is a functional block diagram of a first embodiment of a four-legged robot-based seawater desalination monitoring and control system according to the present invention;
FIG. 2 is a functional block diagram of a seawater desalination monitoring control system based on a quadruped robot according to a second embodiment of the present invention;
FIG. 3 is a functional block diagram of a seawater desalination monitoring control system based on a quadruped robot according to a third embodiment of the present invention;
FIG. 4 is a functional block diagram of a fourth embodiment of the seawater desalination monitoring control system based on a quadruped robot according to the present invention;
FIG. 5 is a functional block diagram of a fifth embodiment of the seawater desalination monitoring control system based on a quadruped robot according to the present invention;
FIG. 6 is a functional block diagram of a seawater desalination monitoring control system based on a quadruped robot according to a sixth embodiment of the present invention;
fig. 7 is a schematic diagram of the inspection framework of the seawater desalination monitoring control system based on the quadruped robot.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The solution of the embodiment of the invention is mainly as follows: constructing a preset path plan of the quadruped robot according to a trackless positioning navigation system through an image data acquisition module, and controlling the quadruped robot to patrol to a detection station of a to-be-detected area of the seawater desalination equipment according to the preset path plan to obtain image data of the seawater desalination equipment; the image defect identification module extracts a sample image of normal operation of equipment from a preset database, performs image positioning segmentation and defect feature identification on the image data according to the sample image and a preset defect image identification algorithm to obtain a defect detection result, and feeds the defect detection result back to a remote intelligent inspection management platform; the noise detection data acquisition module is used for controlling the quadruped robot to perform noise detection on the current seawater desalination equipment at a detection station by a preset detection action, performing decompression and resampling operation on the obtained noise data to obtain a target audio frequency, performing audio stream segmentation on the target audio frequency, extracting sound features, and detecting, identifying and positioning the sound features to obtain audio data of the seawater desalination equipment; the noise defect identification module is used for analyzing the time-frequency domain of the audio data, judging the equipment fault type according to the time-frequency domain analysis result and feeding back the equipment fault type; and the remote intelligent inspection management platform classifies the defects of the defect detection result, acquires the fault grade corresponding to the classified defects, and takes corresponding measures to perform fault control operation according to the fault grade. The seawater desalination monitoring control system based on the quadruped robot can reduce the manual workload, improve the inspection frequency of factory equipment, ensure the equipment safety, and solve the problems of less operators, high working strength, manual error detection, missing detection and the like in a seawater desalination water preparation workshop.
Referring to fig. 1, fig. 1 is a functional block diagram of a first embodiment of a seawater desalination monitoring control system based on a quadruped robot according to the present invention.
In a first embodiment of the present invention, a four-legged robot based seawater desalination monitoring and control system comprises:
the image data acquisition module 10 is configured to construct a preset path plan of the quadruped robot according to the trackless positioning navigation system, control the quadruped robot to patrol to a detection station of a to-be-detected area of the seawater desalination equipment according to the preset path plan, and acquire image data of the seawater desalination equipment.
It should be noted that the trackless positioning navigation system can be preset for positioning navigation assistance of the quadruped robot, can realize autonomous obstacle avoidance or obstacle avoidance of the robot, the image data acquisition module can construct a preset path plan of the quadruped robot according to the trackless positioning navigation system, the preset path plan is a preset routing plan for the seawater desalination workshop, controlling the quadruped robot to patrol to a detection station of a to-be-detected area of the seawater desalination equipment through the preset path planning, the area to be detected is the area range of detection equipment of various preset seawater desalination equipment, the detection station is a station for carrying out equipment detection in the detection area, the specific detection point position is detected, and image data of corresponding equipment can be obtained by controlling the quadruped robot to patrol to the detection station.
The image defect identification module 20 is configured to extract a sample image of a device in normal operation from a preset database, perform image positioning segmentation and defect feature identification on the image data according to the sample image and a preset defect image identification algorithm to obtain a defect detection result, and feed the defect detection result back to the remote intelligent inspection management platform.
It can be understood that the preset database is a preset database used for storing various models and sample data, a sample image of normal operation of the equipment can be extracted from the preset database, the preset defect image recognition algorithm is a preset machine defect image recognition algorithm, and the image data image is subjected to image positioning, segmentation processing and defect feature recognition through the sample image and the preset defect image recognition algorithm, so that a corresponding defect detection result is obtained and can be fed back to the remote intelligent inspection management platform, and the remote intelligent inspection management platform is used for inspecting and monitoring the seawater desalination equipment and performing corresponding control management.
And the remote intelligent inspection management platform 30 is used for classifying the defects of the defect detection result, acquiring the fault grade corresponding to the classified defects, and performing fault control operation by taking corresponding measures according to the fault grade.
It should be understood that the remote intelligent inspection management platform is right the defect detection result is carried out defect classification to can confirm the defect of different types, and the defect of different types corresponds different fault grades, according to the fault grade take corresponding fault control operation, for example fault such as oil leak and water leak appear, according to the fault grade take alarm, issue artifical task of patrolling and examining, formulate fault control operation such as different fault rush repair schemes, this embodiment is not restricted to this.
The noise detection data acquisition module 40 is configured to control the quadruped robot to perform noise detection on the current seawater desalination equipment at a detection station by using a preset detection action, perform decompression and resampling operations on the obtained noise data to obtain a target audio frequency, perform audio stream segmentation on the target audio frequency, extract a sound feature, perform detection and identification positioning on the sound feature, and obtain audio data of the seawater desalination equipment.
And the noise defect identification module 50 is configured to analyze the time-frequency domain of the audio data, determine the type of the equipment fault according to the time-frequency domain analysis result, and feed back the type of the equipment fault.
It should be understood that in actual operation, sound interference occurs when plant equipment runs, whether collected sound is normal or not is judged, sound of various faults is stored in a classified mode, a sound automatic analysis function can be achieved, the quadruped robot is controlled to perform noise detection on current seawater desalination equipment at a detection station through a preset detection action according to analysis and calculation of time and frequency domains of noise, noise data can be obtained through a microphone or a sound sensor generally, then the noise data is preprocessed, namely, decompression and resampling operations are performed on the obtained noise data to obtain target audio, then audio stream segmentation is performed on the target audio, sound characteristics can be obtained, namely, sound detection, sound target identification and sound target positioning are performed on audio stream segmentation based on a deep learning sound identification and sound source positioning technology, so that corresponding audio data of the seawater desalination equipment are obtained, correspondingly, the collected audio data can be fed back to the remote intelligent inspection management platform for the platform to analyze, and a basis is provided for subsequent control operation.
In a specific implementation, the time domain and the frequency domain of the audio data can be analyzed and calculated, the equipment fault category can be judged according to the time-frequency domain analysis result obtained after the analysis and calculation, and the equipment fault category is fed back, so that workshop operators are informed to process the equipment fault category in time.
According to the scheme, the image data acquisition module is used for constructing the preset path plan of the quadruped robot according to the trackless positioning navigation system, and controlling the quadruped robot to patrol to the detection station of the area to be detected of the seawater desalination equipment according to the preset path plan so as to acquire the image data of the seawater desalination equipment; the image defect identification module extracts a sample image of normal operation of equipment from a preset database, performs image positioning segmentation and defect feature identification on the image data according to the sample image and a preset defect image identification algorithm to obtain a defect detection result, and feeds the defect detection result back to a remote intelligent inspection management platform; the noise detection data acquisition module is used for controlling the quadruped robot to perform noise detection on the current seawater desalination equipment at a detection station by a preset detection action, performing decompression and resampling operation on the obtained noise data to obtain a target audio frequency, performing audio stream segmentation on the target audio frequency, extracting sound features, and detecting, identifying and positioning the sound features to obtain audio data of the seawater desalination equipment; the noise defect identification module is used for analyzing the time-frequency domain of the audio data, judging the equipment fault type according to the time-frequency domain analysis result and feeding back the equipment fault type; and the remote intelligent inspection management platform classifies the defects of the defect detection result, acquires the fault grade corresponding to the classified defects, and takes corresponding measures to perform fault control operation according to the fault grade. The seawater desalination monitoring control system based on the quadruped robot can reduce the manual workload, improve the inspection frequency of factory equipment, ensure the equipment safety, solve the problems of less operators, high working strength, manual error detection, omission and the like of a seawater desalination water making workshop, monitor equipment such as a water pump, a pipe network, a water filtering system and the like in the area of the seawater desalination water making workshop, improve the speed and the efficiency of seawater desalination monitoring control, timely perform fault treatment when the seawater desalination equipment has defects, and effectively ensure the stable and safe operation of the seawater desalination water making workshop.
Further, fig. 2 is a functional block diagram of a fourth embodiment of the seawater desalination monitoring control system based on a quadruped robot of the present invention, and as shown in fig. 2, the third embodiment of the seawater desalination monitoring control system based on a quadruped robot of the present invention is proposed based on the first embodiment, and in this embodiment, the image data acquiring module 10 includes:
and the area determining module 11 is used for constructing a routing inspection map of the quadruped robot according to the trackless positioning navigation system and determining a detectable area and a forbidden area according to a preset electronic fence.
It should be noted that the inspection map is map information generated according to a trackless positioning navigation system and used for equipment inspection of the quadruped robot, the preset electronic fence is a preset virtual fence in an inspection simulation environment, the preset virtual wall is a preset virtual wall in a full-scene simulation environment, and a preset inspection area to be inspected and an inspection prohibition area to be prohibited can be determined according to the preset electronic fence and the preset virtual wall.
And the path determining module 12 is configured to obtain an existing inspection path of the seawater desalination equipment corresponding to the workshop, and generate a preset path plan of the quadruped robot according to the existing inspection path, the inspection map, the detectable area and the inspection forbidden area.
It can be understood that the existing routing inspection path is a routing inspection path in the existing path planning of a corresponding workshop of the seawater desalination equipment, and the preset path planning of the quadruped robot routing inspection equipment can be constructed through the existing routing inspection path, the routing inspection map, the detectable area and the forbidden inspection area.
And the inspection control module 13 is used for controlling the quadruped robot to inspect the areas to be detected among the seawater desalination pumps, the seawater desalination workshop, the water island dosing workshop, the domestic water dosing workshop, the boiler supply workshop and the boiler supply pumps corresponding to the seawater desalination equipment according to the preset path plan.
It should be understood that, according to the preset path plan, the quadruped robot may be controlled to patrol and examine the regions to be detected in the seawater desalination pump room, the seawater desalination plant, the water island chemical adding room, the domestic water chemical adding room, the boiler supply plant and the boiler supply pump room corresponding to the seawater desalination equipment, and each plant corresponds to each region to be detected.
And the perception module 14 is used for controlling the quadruped robot to perform AI perception on the detection stations of the areas to be detected by preset detection actions to obtain image data of the seawater desalination equipment.
It should be noted that the preset detection actions include corresponding robot gait actions and robot shooting actions, the robot gait actions include but are not limited to high-performance gaits such as walking, jumping, running, and the like, the robot shooting actions include but not limited to looking up, looking down, shooting to the left, shooting to the right, and the like, and each operation action corresponds to different deflection angles and deflection speeds, so that AI artificial intelligence perception is performed on detection stations of each area to be detected according to the preset detection actions, and image data of the seawater desalination equipment is obtained.
According to the scheme, the inspection map of the quadruped robot is constructed through the area determining module according to the trackless positioning navigation system, and the detectable area and the forbidden area are determined according to the preset electronic fence; the path determining module acquires the existing inspection path of the seawater desalination equipment corresponding to the workshop, and generates a preset path plan of the quadruped robot according to the existing inspection path, the inspection map, the detectable area and the inspection forbidden area; the inspection control module is used for controlling the quadruped robot to inspect to each area to be detected among a seawater desalination pump room, a seawater desalination workshop, a water island dosing room, a domestic water dosing room, a boiler supply workshop and a boiler supply pump room corresponding to the seawater desalination equipment according to the preset path plan; the sensing module controls the quadruped robot to perform AI sensing on the detection stations of the areas to be detected by preset detection actions to obtain image data of the seawater desalination equipment; the system can monitor each area of the seawater desalination and water production workshop, improves the speed and efficiency of seawater desalination monitoring control, and improves the timeliness and comprehensiveness of equipment inspection.
Further, fig. 3 is a functional block diagram of a fourth embodiment of the seawater desalination monitoring control system based on a quadruped robot of the present invention, and as shown in fig. 3, the fourth embodiment of the seawater desalination monitoring control system based on a quadruped robot of the present invention is proposed based on the third embodiment, in this embodiment, the sensing module 14 includes:
and the station determining module 141 is configured to obtain characteristics and detection requirements of each device in each area to be detected, determine a detection station of each area to be detected according to the characteristics and the detection requirements of each device, and control the quadruped robot to move to the detection station.
It should be noted that the detection station is a station for performing equipment detection in the detection area, that is, a specific detection point, inspection stations of different areas to be detected can be determined according to the characteristics of each piece of equipment and detection requirements, the quadruped robot is controlled to patrol to the detection station, and image data of corresponding equipment can be obtained by shooting.
And the action determining module 142 is configured to obtain the detection item type of each area to be detected, and select a corresponding action from a preset database as a preset detection action according to the detection item type.
It is to be understood that the detection item type is a type corresponding to different detection items, different item types correspond to different detection actions, and an action corresponding to the detection item type may be selected from a preset database as a preset detection action, where the detection item type includes, but is not limited to, a smoke fire, liquid leakage, drip and leak identification, infrared imaging temperature identification, noise frequency domain identification, that is, abnormal rotation of the device or steam leakage, and the like, and this embodiment does not limit this.
And the image sensing module 143 is configured to control the quadruped robot to perform AI sensing at a detection station by a preset detection action, so as to obtain image data of the seawater desalination equipment.
It should be understood that, controlling the quadruped robot to perform AI perception at a detection station by a preset detection action can generally obtain image data of the seawater desalination equipment by combining image acquisition equipment such as a high definition camera, an infrared camera, a laser scanner and the like to perform perception such as temperature measurement, sound discrimination, photographing and reading on the seawater desalination equipment.
And the external control module 144 is configured to, after receiving an action control instruction of the remote control deployment terminal, adjust the current motion posture and the detection action of the quadruped robot according to the action operation instruction, and control the quadruped robot to perform AI perception at a detection station according to the adjusted detection action, so as to obtain image data of the seawater desalination equipment.
It can be understood that the action operation command is an action control command that needs to be generated according to an action requirement executed by the quadruped robot, a user can generate different action operation commands according to different operation requirements through an external control device, for example, through a remote control deployment terminal, generally, a hand-held remote control deployment terminal can send a command, the current motion posture and detection action of the quadruped robot are adjusted through the action operation command, the quadruped robot is controlled to perform AI perception at a detection station according to the adjusted detection action, so as to obtain image data of the seawater desalination equipment, the deployment remote control terminal can also be used for completing necessary preparation processes before the inspection, such as establishing an environment map, deploying an inspection route and recording position information of the equipment to be inspected, and the like in a seawater desalination water plant in cooperation with the inspection robot, this embodiment is not limited in this regard.
According to the scheme, the station determining module is used for acquiring the characteristics and the detection requirements of each device of each area to be detected, determining the detection station of each area to be detected according to the characteristics and the detection requirements of each device, and controlling the quadruped robot to move to the detection station; the action determining module acquires the detection item types of the areas to be detected, and selects corresponding actions from a preset database as preset detection actions according to the detection item types; the image perception module controls the quadruped robot to conduct AI perception on a detection station through a preset detection action, and image data of the seawater desalination equipment are obtained; after the external control module receives an action control instruction of the remote control deployment terminal, the current motion posture and the detection action of the quadruped robot are adjusted according to the action operation instruction, the quadruped robot is controlled to conduct AI perception on a detection station according to the adjusted detection action, image data of the seawater desalination equipment are obtained, and each area of a seawater desalination water production workshop can be monitored on the detection station through corresponding action, so that the speed and the efficiency of seawater desalination monitoring control are improved, and the timeliness and the comprehensiveness of equipment inspection are improved.
Further, fig. 4 is a functional block diagram of a fifth embodiment of the seawater desalination monitoring control system based on a quadruped robot of the present invention, and as shown in fig. 4, the fifth embodiment of the seawater desalination monitoring control system based on a quadruped robot of the present invention is proposed based on the fourth embodiment, in this embodiment, the station determining module 141 includes:
the detection condition determining module 1411 is configured to obtain device characteristics and detection requirements of each to-be-detected region, and determine a detection object, a background environment, and a detection mode according to the device characteristics and the detection requirements.
And a station generating module 1412, configured to determine the detection station of each to-be-detected area according to the detection object, the background environment, and the detection mode, and control the quadruped robot to move to the detection station.
It should be understood that different devices correspond to different device characteristics, different detection requirements correspond to different detection contents, and a detection object, a background environment and a detection mode can be determined according to the device characteristics and the detection requirements of each region to be detected, wherein the background environment is a detection background environment where the quadruped robot is located, including but not limited to light, a background shading of a region, and the like, and an optimal detection point position of each region to be detected, namely the detection station, can be determined through the detection object, the background environment and the detection mode, so that the quadruped robot can be controlled to move to the detection station.
Further, fig. 5 is a functional block diagram of a sixth embodiment of the seawater desalination monitoring control system based on a quadruped robot of the present invention, and as shown in fig. 5, the sixth embodiment of the seawater desalination monitoring control system based on a quadruped robot of the present invention is proposed based on the third embodiment, in this embodiment, the image sensing module 143 includes:
and a vision detection module 1431, configured to control the quadruped robot to perform AI-aware vision detection on water leakage, oil leakage, overheating and meter counting at a detection station by using a preset detection action, so as to obtain vision detection data of the seawater desalination apparatus.
It can be understood that the quadruped robot is controlled to perform AI perception visual detection of water leakage, oil leakage, overheating and meter counting at a detection station by preset detection actions, namely liquid water leakage detection planning, oil leakage detection planning, steam leakage detection planning and smoke generation detection planning; generally, leakage data is continuously collected to identify factory leakage faults, so that visual detection data of the seawater desalination equipment is obtained, and the on-site water, acid, alkali, gas and steam leakage detection function is realized.
Further, fig. 6 is a functional block diagram of a seventh embodiment of the four-legged robot-based seawater desalination monitoring and control system according to the present invention, and as shown in fig. 6, the seventh embodiment of the four-legged robot-based seawater desalination monitoring and control system according to the present invention is proposed based on the fifth embodiment, in this embodiment, the visual detection module 1431 includes:
the meter recognition module 14311 is configured to control the quadruped robot to perform AI perception visual detection on a switch valve state, an indicator lamp state and a meter of a current seawater desalination equipment at a detection station by a preset detection action, obtain a meter image and a meter value of the current seawater desalination equipment, and use the meter image and the meter value as meter recognition visual detection data of the current seawater desalination equipment.
It should be noted that the quadruped robot is controlled to perform intelligent meter AI perception visual detection at a detection station by a preset detection action, that is, the switch state of a routing inspection area, meter meters and the like are detected, and the position of a pointer and the numerical value are identified for displaying, so that meter identification visual detection data of the current seawater desalination equipment are obtained.
It should be understood that, the quadruped robot is controlled to perform a preset detection action at a detection station to detect the switch state (indicator light, switch, valve position, etc.), the meter (pressure gauge, thermometer, digital display, liquid level gauge, etc.) of the current inspection area of the seawater desalination equipment, identify the pointer position and display the value, so as to obtain the meter image and the meter value of the current seawater desalination equipment, and use the meter image and the meter value as the meter identification visual detection data of the current seawater desalination equipment.
The overheating detection module 14312 is configured to control the quadruped robot to perform overheating detection on each preset temperature measurement point of the current seawater desalination equipment at a detection station by using a preset detection action, so as to obtain infrared visual detection data formed by infrared thermal imaging of the seawater desalination equipment.
It can be understood that the preset temperature measuring points are preset position points of the temperature measurement of each seawater desalination device, overheat detection is performed at the preset temperature measuring points, and generally, an online infrared thermal imager can be equipped on the quadruped robot, so that the temperature of the device can be collected, and the temperature of the plant device can be measured and identified, thereby performing device heating field detection and defect diagnosis.
It should be noted that power equipment in a seawater desalination water production workshop is easy to generate heat, if the power equipment depends on manual inspection, the heat is difficult to observe at the beginning, when the temperature of the equipment reaches a critical value, the damage of the equipment is relatively high, actual investigation results and statistical data show that the defect proportion of abnormal heat generation exceeds half in the whole equipment fault, the infrared temperature measurement diagnosis of the four-foot inspection robot is applied to equipment detection work, the problem can be effectively solved, the capability of technical personnel for finding potential safety hazards of the equipment is improved, the detection work is improved, and the workshop operation is safer and more stable.
In the specific implementation, thousands of temperature measuring points can be detected simultaneously through an infrared thermal imager carried by the inspection robot, the visualization of thermal images is realized, the temperature and the like of equipment such as a water pump, a pipe network, a water filtering system and the like in a seawater desalination and water production workshop area can be measured and identified, and equipment heating field detection and defect diagnosis can be carried out. And diagnosis and analysis are carried out according to the operation condition of the heating equipment, and the alarm can be given in real time under the condition of abnormal temperature, and operation personnel can be prompted to carry out timely treatment.
And the water leakage detection module 14313 is used for controlling the quadruped robot to perform water leakage visual detection at a detection station by preset detection actions to obtain water leakage visual detection data of the seawater desalination equipment.
It can be understood that, by controlling the quadruped robot to perform the water leakage visual detection at the detection station by the preset detection action, the image detection data corresponding to the detection of the water accumulation area or the water leakage area of the seawater desalination equipment can be obtained.
An oil leakage detection module 14314, configured to control the quadruped robot to perform visual oil leakage detection at a detection station by using a preset detection action, so as to obtain visual oil leakage detection data of the seawater desalination apparatus.
It should be understood that, by controlling the quadruped robot to perform visual detection of oil leakage at a detection station by a preset detection action, image detection data corresponding to detection of oil leakage of the seawater desalination equipment can be acquired.
Further, the water leakage detecting module 14313 includes:
the infrared image shooting module 01 is used for controlling the quadruped robot to carry out ponding shooting at different distances at a detection station by using an infrared camera according to preset detection actions so as to obtain an infrared image;
the segmentation module 02 is used for performing RGB channel segmentation on the infrared image, performing threshold segmentation processing on the screened R channel image, calculating all connected domains in the image subjected to threshold segmentation, and segmenting unconnected domains into separate regions;
the screening module 03 is used for performing area screening on the water mass in each area, wherein the area of the water mass is larger than a preset area, and removing holes in the water mass after the area screening to obtain water mass characteristics;
the characteristic enhancement module 04 is used for performing characteristic enhancement processing on the water mass characteristic, comparing the enhanced water mass characteristic with the environmental interference characteristic, and determining the final water mass characteristic;
and the water leakage area judging module 05 is used for judging whether a water leakage area exists according to the final water mass characteristics, generating water leakage visual detection data of the seawater desalination equipment, and giving an alarm or early warning when the water leakage area exists.
It is understood that the infrared camera is used for shooting the accumulated water at different distances, the infrared image can be obtained, in the actual operation, the accumulated water with water leakage presents low-temperature characteristics in the environment temperature field in the equipment operation field, and the accumulated water liquid characteristics can be detected through the infrared camera.
Further, the oil leakage detection module 14314 includes:
and the ultraviolet light supplementing module 06 is used for controlling the quadruped robot to start an ultraviolet lamp at a detection station for oil leakage visual detection through a preset detection action, and the obtained fluorescence development is used as oil leakage visual detection data of the seawater desalination equipment.
In concrete realization, because fluid reveals when discerning, the interior environment of workshop is complicated, and difficult discovery is in the time of the position manual detection of oil leak for a bit, leads to the artifical condition that can not see fluid and reveal, and fluid self characteristic is not obvious moreover, and fluid colour is translucent faint yellow, can appear on the bottom surface of different colours very close with the background colour, and it is difficult to gain good effect to polish through general light source to fluid does not have regular shape and area as liquid, also does not have specific texture. The color feature, the shape feature, the area feature and the texture feature are not obvious, the oil liquid is not beneficial to being accurately and quickly observed, the possibility of false detection can be increased, the oil liquid can be subjected to fluorescence reaction under the irradiation of an ultraviolet lamp to show bluish-purple light, so that the oil liquid is detected by utilizing the fluorescence effect, the quadruped robot is controlled to start the ultraviolet lamp at a detection station for oil leakage visual detection through preset detection actions, and the corresponding fluorescence development can be obtained to serve as the oil leakage visual detection data of the seawater desalination equipment.
Further, fig. 7 is a schematic diagram of an inspection framework of the seawater desalination monitoring control system based on the quadruped robot of the present invention, as shown in fig. 7, the inspection framework of the seawater desalination monitoring control system based on the quadruped robot of the present invention is proposed based on the first embodiment, referring to fig. 7, the inspection framework includes an inspection robot service end, an inspection robot system, a robot automatic charging station and a handheld remote control deployment terminal; wherein, it includes four-footed robot and external extension port to patrol and examine the robot system, the four-footed robot carries on visible light camera, infrared thermal imager, adapter, AI camera, laser scanner and ultraviolet lamp through external extension port.
The inspection robot server, the inspection robot system, the robot automatic charging station and the handheld remote control deployment terminal are in communication connection through a Wireless Access Point (AP), and the inspection robot server comprises an AI data server, a hard disk video recorder and a local client, wherein a local client computer provides a front-end interactive interface of a remote intelligent inspection management platform for operation and maintenance personnel; the network hard disk camera is used for recording video data of various network cameras for a long time for playback and viewing when needed; the AI data server is used for training and reasoning the AI model and provides system service for the whole management platform.
The quadruped robot carries a visible light camera, an infrared thermal imager, a pickup, an AI camera, a laser scanner and an ultraviolet lamp through an external expansion port, wherein the visible light camera can be a high-definition AI camera, oil leakage detection and field instrument reading identification are realized by mainly adopting a high-definition image identification technology, defects such as oil spots of power plant equipment are considered to have high sensitivity, color, noise points and pixel resolution requirements, a CMOS color industrial camera can be selected, a kilomega data interface is provided, and rapid data transmission is realized.
The thermal image shooting method has the advantages that the thermal image shooting is carried out by the thermal infrared imager, high-temperature fault areas including leakage of high-temperature steam and heating conditions of the high-speed bearing connecting portion can be identified efficiently and safely, the thermal infrared imager is used for shooting infrared images of equipment at a patrol inspection point, temperature values of all points are scanned, and whether temperature overtemperature early warning is carried out or not is judged by comparing set temperature thresholds. The steam leakage has special temperature characteristics, the thermal infrared imager is used for shooting steam characteristics, and the display and the recognition of steam leakage defects are enhanced by combining image characteristic processing.
In the concrete implementation, the sound pickup can be used for picking up the sound of the equipment in real time, measuring whether the sound frequency is normal or not, judging whether the equipment has mechanical faults or not, identifying and counting the running state of the equipment, storing the sounds of various faults in a classification manner through subsequent database modeling and secondary development, realizing the automatic sound analysis function, and judging the fault types according to the time-frequency domain analysis and calculation of noise so as to inform workshop operators to process.
The quadruped robot comprises a motion control host, an autonomous navigation host and an Artificial Intelligence (AI) perception host which are interconnected through a gigabit internet access switch, wherein in actual operation, the motion control host is connected with an Inertial Measurement Unit (IMU) and 12 motor-driven joint modules and is responsible for robot motion control resolving and state prediction; the autonomous navigation host is connected with the laser radar and the 4 depth cameras and is responsible for map building, positioning, navigation, task and path planning; the AI perception application host is connected with the thermal infrared imager, the visible light camera and the sound pick-up and is responsible for functions of visual identification, thermal infrared detection, sound detection and the like.
The hand-held remote control deployment terminal is used for being matched with the inspection robot to complete some necessary preparation processes before inspection, such as establishing an environment map, deploying an inspection route, recording position information of equipment to be inspected and the like in a seawater desalination and water production workshop.
The robot automatic charging station provides charging endurance service for the quadruped robot, the quadruped robot can automatically recognize the homing position for charging, manual intervention is not needed, and a foundation is laid for realizing 7-24-hour unattended inspection.
The patrol robot server is an AI brain of an unattended platform of a seawater desalination and water production workshop, and provides data, computing power and service for the stable operation of the whole set of system. The software part of the inspection robot server is a remote intelligent inspection management platform, and a service framework of the whole inspection system is realized.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only the listed elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A quadruped robot-based seawater desalination monitoring control system, characterized by comprising:
the image data acquisition module is used for constructing a preset path plan of the quadruped robot according to the trackless positioning navigation system, controlling the quadruped robot to patrol to a detection station of a to-be-detected area of the seawater desalination equipment according to the preset path plan, and acquiring image data of the seawater desalination equipment;
the image defect identification module is used for extracting a sample image of normal operation of equipment from a preset database, performing image positioning segmentation and defect feature identification on the image data according to the sample image and a preset defect image identification algorithm to obtain a defect detection result, and feeding the defect detection result back to the remote intelligent inspection management platform;
the noise detection data acquisition module is used for controlling the quadruped robot to perform noise detection on the current seawater desalination equipment at a detection station by a preset detection action, performing decompression and resampling operation on the obtained noise data to obtain a target audio frequency, performing audio stream segmentation on the target audio frequency, extracting sound features, and detecting, identifying and positioning the sound features to obtain audio data of the seawater desalination equipment;
the noise defect identification module is used for analyzing the time-frequency domain of the audio data, judging the equipment fault type according to the time-frequency domain analysis result and feeding back the equipment fault type;
and the remote intelligent inspection management platform is used for classifying the defects of the defect detection result, acquiring the fault grade corresponding to the classified defects, and taking corresponding measures to perform fault control operation according to the fault grade.
2. The quadruped robot-based seawater desalination monitoring control system of claim 1 wherein the image data acquisition module comprises:
the area determining module is used for constructing a routing inspection map of the quadruped robot according to the trackless positioning navigation system and determining a detectable area and a forbidden area according to a preset electronic fence;
the route determining module is used for acquiring the existing inspection route of the seawater desalination equipment corresponding to the workshop and generating a preset route plan of the quadruped robot according to the existing inspection route, the inspection map, the detectable area and the inspection forbidden area;
the inspection control module is used for controlling the quadruped robot to inspect to each area to be detected among a seawater desalination pump room, a seawater desalination workshop, a water island dosing room, a domestic water dosing room, a boiler supply workshop and a boiler supply pump room corresponding to the seawater desalination equipment according to the preset path plan;
and the perception module is used for controlling the quadruped robot to perform AI perception on the detection stations of the areas to be detected by preset detection actions to obtain the image data of the seawater desalination equipment.
3. The quadruped robot-based seawater desalination monitoring control system of claim 2 wherein the perception module comprises:
the station determining module is used for acquiring the characteristics and the detection requirements of each device of each area to be detected, determining the detection station of each area to be detected according to the characteristics and the detection requirements of each device, and controlling the quadruped robot to move to the detection station;
the action determining module is used for acquiring the detection item types of the areas to be detected and selecting corresponding actions from a preset database as preset detection actions according to the detection item types;
the image perception module is used for controlling the quadruped robot to perform AI perception on a detection station by a preset detection action to obtain image data of the seawater desalination equipment;
and the external control module is used for adjusting the current motion posture and the detection action of the quadruped robot according to the action operation instruction after receiving the action operation instruction of the remote control deployment terminal, controlling the quadruped robot to perform AI perception at a detection station according to the adjusted detection action, and obtaining the image data of the seawater desalination equipment.
4. The quadruped robot-based seawater desalination supervisory control system of claim 3 wherein the station determination module comprises:
the detection condition determining module is used for acquiring the characteristics and detection requirements of each device of each area to be detected and determining a detection object, a background environment and a detection mode according to the characteristics and the detection requirements of each device;
and the station generating module is used for determining the detection station of each area to be detected according to the detection object, the background environment and the detection mode and controlling the quadruped robot to move to the detection station.
5. The quadruped robot-based seawater desalination monitoring control system of claim 3 wherein the image perception module comprises:
and the visual detection module is used for controlling the quadruped robot to perform AI perception visual detection of water leakage, oil leakage, overheating and meter counting at a detection station by preset detection actions to obtain visual detection data of the seawater desalination equipment.
6. The quadruped robot-based seawater desalination monitoring control system of claim 5 wherein the visual detection module comprises:
the meter identification module is used for controlling the quadruped robot to perform AI perception visual detection on the state of a switch valve, the state of an indicator light and a meter of the current seawater desalination equipment at a detection station by preset detection actions, so as to obtain a meter image and a meter value of the current seawater desalination equipment, and the meter image and the meter value are used as meter identification visual detection data of the current seawater desalination equipment;
the overheating detection module is used for controlling the quadruped robot to perform overheating detection on each preset temperature measuring point of the current seawater desalination equipment at a detection station by preset detection actions so as to obtain infrared visual detection data formed by infrared thermal imaging of the seawater desalination equipment;
the water leakage detection module is used for controlling the quadruped robot to perform water leakage visual detection at a detection station by preset detection actions to obtain water leakage visual detection data of the seawater desalination equipment;
and the oil leakage detection module is used for controlling the quadruped robot to perform oil leakage visual detection at a detection station by preset detection actions to obtain oil leakage visual detection data of the seawater desalination equipment.
7. The quadruped robot-based seawater desalination monitoring control system of claim 6 wherein the water leakage detection module comprises:
the infrared image shooting module is used for controlling the quadruped robot to carry out ponding shooting at different distances at a detection station by using an infrared camera according to preset detection actions so as to obtain an infrared image;
the segmentation module is used for performing RGB channel segmentation on the infrared image, performing threshold segmentation processing on the screened R channel image, calculating all connected domains in the image subjected to threshold segmentation, and segmenting unconnected domains into separate regions;
the screening module is used for carrying out area screening on the water mass in each area, wherein the area of the water mass is larger than the preset area, and removing holes in the water mass after the area screening to obtain the characteristics of the water mass;
the characteristic enhancement module is used for carrying out characteristic enhancement processing on the water mass characteristics, comparing the enhanced water mass characteristics with the environmental interference characteristics and determining the final water mass characteristics;
and the water leakage area judging module is used for judging whether a water leakage area exists according to the final water mass characteristics, generating water leakage visual detection data of the seawater desalination equipment, and giving an alarm or early warning when the water leakage area exists.
8. The quadruped robot-based seawater desalination monitoring control system of claim 6 wherein the oil leakage detection module comprises:
and the ultraviolet light supplementing module is used for controlling the quadruped robot to start an ultraviolet lamp at a detection station for oil leakage visual detection through a preset detection action, and the obtained fluorescence development is used as oil leakage visual detection data of the seawater desalination equipment.
9. The quadruped robot-based seawater desalination monitoring control system of any one of claims 1-8 wherein the quadruped robot carries a visible light camera, an infrared thermal imager, a pickup, an AI camera, a laser scanner and an ultraviolet lamp through an external expansion port.
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