CN114689385A - Movable detection device, system and detection method - Google Patents
Movable detection device, system and detection method Download PDFInfo
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- CN114689385A CN114689385A CN202011637326.7A CN202011637326A CN114689385A CN 114689385 A CN114689385 A CN 114689385A CN 202011637326 A CN202011637326 A CN 202011637326A CN 114689385 A CN114689385 A CN 114689385A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/22—Devices for withdrawing samples in the gaseous state
- G01N1/2226—Sampling from a closed space, e.g. food package, head space
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Abstract
The application discloses a movable detection device, a system and a detection method, wherein the detection device comprises a main body; a robot arm connected to the main body; the sampling unit is arranged on the mechanical arm and used for collecting a sample in the object to be detected; a sensing unit for sensing data relating to an environment and/or an object to be detected; the control unit is arranged in the main body and used for receiving the data sent by the sensing unit, controlling the mechanical arm to move to the target detection position of the object to be detected according to the data, and controlling the sampling unit to enter the interior of the object to be detected from the target detection position to collect a sample so as to detect the object to be detected. The detection device can be moved and sampled automatically, and the analysis results in detection, so that manual field operation equipment is not needed, the detection efficiency is improved, and the safety of personnel is guaranteed.
Description
Technical Field
The present invention relates generally to the field of probing devices, and more particularly to a movable probing device, system and method.
Background
At present, on-line or hand-held detection devices are often used for detecting toxic and harmful gases in objects (such as containers) with closed spaces in ports, customs and other places. The online equipment can work only by being fixedly installed in the container or in a closed space for detecting an object, and the handheld detection device needs to be manually carried to the site to finish gas detection by manual operation.
The existing detection equipment has the advantages that when a plurality of objects need to be detected, the working strength of detection personnel is high, the efficiency is low, and the personnel can contact poisonous and harmful gas to cause harm to the operators through manual field operation.
Disclosure of Invention
In view of the above-mentioned defects or shortcomings in the prior art, it is desirable to provide a movable detection device, system and detection method, which can realize autonomous detection, liberate manpower, improve detection efficiency, and do not cause physical injury to personnel.
In a first aspect, the present invention provides a mobile detection apparatus, including: a main body;
a robot arm connected to the main body;
the sampling unit is arranged on the mechanical arm and used for collecting a sample in the object to be detected;
a sensing unit for sensing data relating to an environment and/or an object to be detected;
the control unit is arranged in the main body and used for receiving the data sent by the sensing unit, controlling the mechanical arm to move to the target detection position of the object to be detected according to the data, and controlling the sampling unit to collect gas samples entering the interior of the object to be detected from the target detection position so as to perform gas detection on the object to be detected.
Optionally, the sampling unit comprises an air tube and a probe connected with the air tube;
the probe is located at the front end of the mechanical arm and can be automatically inserted into an object to be detected to collect a gas sample according to requirements.
As an optional scheme, the sampling unit further comprises a tube collecting device, and the tube collecting device is connected with the air tube and used for automatically stretching and retracting and recovering the air tube.
Optionally, the sensing unit includes an environment sensing unit and a sensing guide unit, and the environment sensing unit is disposed on the main body and is configured to sense environment-related data where the gas detection device is located and guide the main body to move; the sensing guide unit is arranged at the front end of the mechanical arm and used for sensing the relative position between the mechanical arm and the target detection position and/or the state information of the probe inserted into the object to be detected and guiding the mechanical arm to move.
Optionally, the sensing and guiding unit includes at least one of a visual sensor and a distance sensor, and is used for providing guidance for the mechanical arm to move the sampling unit to the target detection position.
As an optional scheme, the environment sensing unit is configured to acquire obstacle information of an environment where the object to be detected is located, and the control unit is further configured to plan or change a moving path of the moving unit according to the obstacle information.
Optionally, the environment sensing unit or the sensing and guiding unit includes at least one of a pan-tilt camera, a depth camera, a laser radar, an ultrasonic device, and an infrared distance measuring sensor.
As an optional scheme, the control unit comprises a main control unit and a navigation control unit, and information interaction is performed between the main control unit and the navigation control unit; the navigation control unit is used for receiving the data of the sensing unit and processing the data to obtain the path information of the movement of the main body and the mechanical arm; the control unit is used for controlling the mechanical arm to move to the target detection position of the object to be detected according to the path information and controlling the sampling unit to enter the object to be detected from the target detection position to collect the gas sample.
Alternatively, the control unit transmits the image data acquired by the sensing unit to the remote control terminal through the communication unit,
a user operates the remote control terminal according to the image data to remotely control the main body to move and/or control the sampling unit on the mechanical arm to enter the object to be detected from the target detection position for sampling; or the remote control terminal automatically controls the main body to move and/or controls the sampling unit on the mechanical arm to enter the object to be detected from the target detection position for sampling according to the image data.
As an optional scheme, the detection device further comprises:
and the movable chassis is arranged at the bottom of the main body and used for moving the main body.
As an optional solution, the detection device further comprises:
and the analysis unit is arranged on the main body and used for analyzing the gas sample collected by the sampling unit to obtain a detection result and sending the detection result to the control unit.
Optionally, the detection device further comprises an alarm unit, configured to receive and respond to an alarm instruction, and perform an alarm action;
the control unit is used for sending an alarm instruction to the alarm unit when the gas detection result exceeds the safety threshold value.
As an optional scheme, the detection device further comprises: the charging unit is used for sending a charging instruction when the electric quantity of the detection device is lower than a threshold value;
the control unit is used for acquiring a charging instruction, and planning a moving path of the main body according to the charging instruction and preset charging pile position information so that the detection device moves to the position of the charging pile to realize charging.
As an optional scheme, the detection device further comprises: the human-computer interaction unit is used for executing human-computer interaction between the detection device and a user;
the control unit is used for controlling the human-computer interaction unit and processing data and/or signals from the human-computer interaction unit.
In a second aspect, the present invention provides a detection system comprising the detection apparatus obtained in the first aspect, the detection system comprising:
the monitoring center is away from the object to be detected by a certain distance, communicates with the control unit of the detection device through the communication unit of the detection device, and transmits the working state and the detected data of the detection device in real time;
and the remote control terminal is operated by a user on the site of the object to be detected so as to control the movement of the main body of the detection device and/or the mechanical arm.
In a second aspect, the present invention provides a detection method, including:
the sensing unit senses position and image data related to an environment and an object to be detected;
the control unit obtains target detection information according to the position and the image data, wherein the target detection information comprises the path information from the detection device to the object to be detected and the related information of the target detection position of the object to be detected;
the control unit controls the main body to move to the object to be detected according to the path information;
the control unit controls the mechanical arm to move to the target detection position, and drives the sampling unit to enter the object to be detected from the target detection position to collect a gas sample so as to detect the object to be detected.
As an optional scheme, the process of controlling the main body to move to the object to be detected by the control unit according to the path information includes:
the sensing unit collects barrier information of the environment where the object to be detected is located;
the control unit plans or changes the moving path of the main body according to the obstacle information;
the control unit drives the object to be detected to move according to the moving path.
As an optional scheme, after the control unit controls the main body to move to the object to be detected according to the path information, the method further includes:
the control unit controls the main body to move around the periphery of the object to be detected until the vision sensor in the sensing unit identifies the target detection position.
As an optional scheme, the method further comprises:
the analysis unit analyzes the gas sample to obtain a detection result and sends the detection result to the control unit.
As an optional scheme, the method further comprises the following steps:
the control unit judges whether the gas detection result exceeds a safety threshold value;
if the safety threshold value is exceeded, the control unit sends out an alarm instruction;
the alarm unit receives and responds to the alarm instruction and makes an alarm action.
According to the movable detection device, the movable detection system and the detection method, the detection device control unit controls the mechanical arm to move to the target detection position of the object to be detected through data sensed by the sensing unit, and the mechanical arm drives the sampling unit to enter the object to be detected from the target detection position to collect the gas sample. The detection device can be driven by the mechanical arm to sample the sample unit, so that an operator and the device to be detected do not need to enter the object to be detected, gas detection can be carried out automatically, manpower is liberated, personnel safety is guaranteed, operation is convenient, and detection efficiency is improved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a movable detection device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an external perspective structure of a movable detection device according to an embodiment of the present invention (the control unit, the analysis unit and the communication unit are located inside, not shown);
FIG. 3 is a schematic diagram of a movable detection device according to another embodiment of the present invention;
fig. 4 is a flow chart of a detection method according to an embodiment of the invention.
In the figure, 100 is a main body, 101 is a mechanical arm;
110. a sampling unit, 111, an air pipe, 112, a probe;
120. the system comprises a sensing unit, a 121 environment sensing unit, a 122 sensing guide unit, a 123 laser radar, a 124 first ultrasonic device, a 125 tripod head camera, a 126 second ultrasonic device, a 127 obstacle avoidance ultrasonic array, a 128 camera and a camera, wherein the sensing unit is used for sensing the position of a target object;
130. the control unit 131, the main control unit 132, the navigation control unit;
140. the mobile chassis, 150, the analysis unit, 160, the alarm unit;
170. a charging unit 171, a power monitoring module 172, a power management module 173, a contact point;
180. a man-machine interaction unit, 181, a display screen, 182, a touch button;
190. a communication unit.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The current detection equipment needs manual hand-held carrying, if bring more burden for the field personnel when the container that once needs the monitoring is more, simultaneously, artifical entrance operation in case detect poisonous and harmful gas, probably causes the injury to personnel.
In view of the above problems, an embodiment of the present application provides a movable detection device, which can be applied to a harbor, a customs, an airport, or a station, etc., and is necessary to be equipped with a device for detecting toxic and harmful gases as a security inspection. The movable detection device of the embodiment can be applied to objects with closed spaces, such as containers, luggage, isolation boxes and the like.
A mobile detection device, as shown in fig. 1-3, comprising:
a main body 100;
a robot arm 101, the robot arm 101 being connected to the main body 100;
the sampling unit 110 is arranged on the mechanical arm 101, and is used for collecting a gas sample in the object to be detected;
a sensing unit 120, the sensing unit 120 being configured to sense data related to an environment and/or an object to be detected;
and the control unit 130 is used for receiving the data sent by the sensing unit 120, controlling the mechanical arm 101 to move to the target detection position of the object to be detected according to the received data, and controlling the sampling unit 110 to enter the object to be detected from the target detection position to collect a gas sample so as to perform gas detection on the object to be detected.
Wherein, the main body 100 of the detecting device may be substantially similar to the main body structure of the robot. Fig. 2 is a schematic perspective view illustrating a detection apparatus, a hollow cavity is formed in the main body 100, and the shape of the main body 100 may be approximately a cylinder, a cube or other shapes, and the specific structure and shape of the main body 100 are not limited herein. The inner cavity is used for installing the analysis unit 150 of the detection device and other units such as a main control unit.
The robot arm 101 may be provided at one side of the main body 100 (as shown in fig. 2), or may be provided at both sides of the main body 100.
The sampling unit 110 is disposed on the mechanical arm 101, and the mechanical arm 101 can drive the sampling unit 110 to move to a target detection position of an object to be detected for gas sampling.
The sampling unit 110 is driven by the mechanical arm 101 to be inserted into the object to be detected for gas sampling. Different from the prior art, for an object to be detected with a closed space, the mechanical arm 101 may be located at the periphery of the object to be detected, only a part of the sampling unit 110 needs to enter the object to be detected, and the operator and the main body 100 (even the mechanical arm 101) of the detection device need not to enter the interior of the object to be detected, so as to complete the collection of the gas sample in the interior of the object to be detected. The gas detection efficiency is improved, and the safety of operators is guaranteed. The specific arrangement of the sampling unit 110 is not limited, and may be a connecting rod driving a suction tube or a telescopic trachea. It is only necessary to perform the mobile sampling under the driving of the robot arm 101.
As an implementable manner, the sampling unit 110 includes a trachea 111 and a probe 112 connected to the trachea 111;
the probe 112 is located at the front end of the mechanical arm 101 and can be automatically inserted into an object to be detected for gas sample collection as required. Among other things, the probe 112 is preferably sharp to facilitate insertion into the object to be inspected. For faster sampling, a diaphragm pump can be installed at the joint of the probe 112 and the air pipe 111. This scheme is favorable to detecting device (robot)'s main part 100 to wait to detect the object outside and only send into the probe 112 and wait to detect the object inside and sample, and inside detecting device's main part 100 need not to get into and wait to detect the object, and the gas pipe 111 can be along with the flexible conveying gas of arm 101 simultaneously safely convenient operation.
In an implementation manner, the sampling unit 110 further includes a tube collecting device disposed inside the main body 100, and the tube collecting device is connected to the air tube 111 for automatically extending and retracting the air tube 111.
Referring to fig. 2 and 3, the sensing unit 120 includes an environment sensing unit 121 and a sensing and guiding unit 122, the environment sensing unit 121 is disposed on the main body, and is configured to sense environment-related data (e.g., relative orientation data between the detecting device and an obstacle in the environment) of the gas detecting device and guide the main body to move; the sensing and guiding unit 122 is disposed at the front end of the robot arm, and is configured to sense a position between the robot arm and the object to be detected and status information of the probe inserted into the object to be detected, and guide the robot arm to move.
As an implementation manner, the sensing and guiding unit 122 includes at least one of a visual sensor and a distance sensor for providing guidance for the mechanical arm 101 to move the sampling unit 110 to the target detection position. Wherein the distance sensor may be a lidar, an ultrasonic device (e.g., the second ultrasonic device 126 disposed on the robotic arm 101), an infrared ranging sensor, or a combination thereof; the vision sensor may be a depth camera (not shown in the figures), a camera 128, or a combination thereof. The specific type of the sensor is not particularly limited, and the sensor can accurately acquire data (including distance, angle parameter data and image data) related to the object to be detected. The sensing and guiding unit 122 is used to detect the relative orientation between the robot arm 101 and the object to be inspected (container) and/or the status information of the gas probe inserted into the container, thereby finally providing guidance and safety protection for the automatic movement of the robot arm 101 through multi-sensor fusion. In another embodiment, the real-time images captured by the camera 128 are transmitted to the user via the control unit 130 and the communication unit 190, and the user remotely manipulates the probe 112 of the robotic arm 101 to insert into the target detection location of the object to be detected based on the real-time images.
As an implementable manner, the environment sensing unit 121 includes at least one of a distance sensor and a vision sensor. The distance sensor may be a radar (e.g., a laser radar 123 disposed on the body), an ultrasonic device (e.g., a first ultrasonic device 124 disposed on an upper portion of the body 100, an obstacle avoidance ultrasonic array 127 disposed on a bottom portion of the body 100). The visual sensors may be cameras mounted on a pan-tilt, such as a pan-tilt camera 125 provided on the main body, a depth camera (not shown in the drawings), and a camera 128 mounted on the robot arm 101. The specific type of sensor is not particularly limited in this example, as long as the data related to the environment (including distance, angle parameter data, and image data) can be accurately acquired. The environment sensing unit 121 is configured to acquire data such as obstacle information of an environment where the object to be detected is located, and a real-time image of the periphery, and transmit the relevant data to the control unit 130 (specifically, navigation in the control unit 130), and the control unit 130 may also plan or change a moving path of the main body 100 or the mechanical arm 101 according to the data such as the obstacle information.
Illustratively, the environment sensing unit 121 is disposed on the main body 100, and is configured to sense environment-related data where the gas detection device is located and guide the main body 100 to move; the sensing and guiding unit 122 is disposed at the front end of the robot arm 101, and is used for detecting the position between the robot arm 101 and the object to be detected and the state information of the probe 112 inserted into the object to be detected. The state information of the probe 112 inserted into the object to be detected refers to whether the probe 112 is inserted into the object to be detected and the depth of the probe inserted into the object to be detected.
The control unit 130 includes a main control unit 131 and a navigation control unit 132, and information interaction is performed between the main control unit 131 and the navigation control unit 132; the navigation control unit 132 is used for receiving the data of the sensing unit 120 and processing the data to obtain the path information of the movement of the main body 100 and the mechanical arm 101; the main control unit 131 is configured to control the mechanical arm 101 to move to a target detection position of the object to be detected according to the path information, and control the sampling unit 110 to enter the object to be detected from the target detection position to perform gas sample collection.
The main control unit 131 and the navigation control unit 132 may be a single hardware component in which program codes or logic circuits for implementing different functions are respectively disposed; alternatively, the main control unit 131 and the navigation control unit 132 may be two independent hardware components, and both cases are within the scope of the present application.
The navigation control unit 132 includes a stand-alone device related to navigation control, such as a motion controller, a motor driver, and a safety protection module. The navigation control unit processes data and finally completes the bottom layer navigation functions of SLAM, navigation positioning, path planning, obstacle and fall avoidance detection, moving and walking, safe emergency stop and the like; the main control unit 131 may further include a core controller for supporting all system related business functions, such as human-computer interaction, control, task management and planning, gas sensor data management, visual guidance algorithm control, and robot arm control.
The main control unit 131 may also send a control instruction to the navigation control unit, where the control instruction may be an instruction to obtain target detection position information, or an instruction to obtain path information from the current position to the object to be detected; the navigation control unit 132 locates the object detection position according to the control instruction and transmits the object detection position information to the main control unit 131. The main control unit 131 controls the main body 100 to move according to the target detection position, and controls the robot arm 101 to drive the sampling unit 110 to move to the target detection position with appropriate adjustment, so as to perform gas sampling. The main control unit 131 is further configured to obtain the detection result, and send the detection result to other devices for use, for example, the main control unit 131 may send the detection result to a background server of the detection apparatus, so as to facilitate management of detection result data.
It should be noted that, in the process that the main control unit 131 controls the main body 100, the navigation control unit 132 may also plan or change the moving path of the main body 100 according to the obstacle information data sent by the environment sensing unit 121 or the sensing and guiding unit 122, so as to avoid damage caused by collision between the detection device and the obstacle in the moving process.
In an implementation manner, the control unit 130 further includes a visual recognition module, which is configured to process the image data collected by the sensing unit 120 to identify the target detection position on the object to be detected. For example, the vision recognition module can automatically recognize the container tail, and identify the best detection position according to the container tail position, and guide the robot arm 101 to complete the work. In actual operation, the gas detection device (robot) moves around an object to be detected (e.g., a container) after reaching the object to be detected, while performing a visual scan until the movement is stopped after the target detection position is recognized, and then the visual recognition module directs the robot arm 101 to move toward the target detection position.
For example, the navigation control unit 132 first locates the position of the object to be detected, further determines how to move from the current position to the periphery of the object to be detected, and finally locates the target detection position from the object to be detected. The target detection position can be a door gap, a window gap or a vent hole of an object to be detected. For example, a port needs to perform gas detection on a cargo container, and needs to locate the position of the cargo container (where the container is), how the detection device moves to the periphery of the container (path information), and finally locate a target detection position on the cargo container (e.g., a door slot or a window slot of the container). Generally, a container is provided with a door, and a gap position of the door on the container is a target detection position. The container may be provided with a vent hole outside, and the position of the vent hole is the target detection position.
According to the embodiment of the invention, the main control unit of the movable detection device controls the mechanical arm to move to the target detection position of the object to be detected through the data sensed by the sensing and guiding unit, and the mechanical arm drives the sampling unit to enter the object to be detected from the target detection position to collect the gas sample. The detection device can be driven by the mechanical arm to sample the sample by the sampling unit. The detection device of this example can remove the sampling by oneself, and when the detection task volume was big, detection device can improve detection efficiency, does not need operating personnel or detection device to get into to wait to detect inside the object, and the liberation manual work has avoided bodily injury simultaneously, and the operation is safe convenient. Of course, in another embodiment, the user may take a picture according to a camera mounted at the front end of the robot arm in the sensing guide unit.
As an implementable manner, the detection device further comprises: a movable chassis 140, the movable chassis 140 being provided at the bottom of the main body 100 for moving the main body 100. Wherein the movable chassis 140 is connected to the driving assembly, and the control unit 130 is electrically connected to the movable chassis 140 and the driving assembly. The control unit 130 may send a control command to the driving component, and the driving component drives the movable chassis 140 to move according to the received command, so as to realize the movement of the main body 100.
It will be appreciated that the mobile unit may incorporate functions such as transmission, travel, steering, damping and braking, subject to dynamic forces to ensure proper travel of the detection device. The moving unit may move in various ways, and is not limited herein, and may move via wheels (e.g., universal wheels, rollers), tracks, and the like.
As an implementable manner, the detection device further comprises: the analysis unit 150 is disposed on the main body 100, and the analysis unit 150 is configured to analyze the gas sample collected by the sampling unit 110, obtain a detection result, and send the detection result to the control unit 130, which may be specifically a main control unit 131 in the control unit. The main control unit 131 can transmit the detection result to a remote server or a user through the communication unit.
The analysis unit 150 may employ various toxic and harmful gas sensors, online gas detection sensors, and the like. The toxic and harmful gas sensor or the online gas detection sensor can also use a contraband detection module, and various biochemical gas analysis algorithms are arranged in the contraband detection module, so that the type and the concentration of toxic and harmful gas can be identified and monitored. The gas analysis module may be disposed inside the gas collection box, or may be connected to the gas collection box through a pipeline, and analyzes the gas sample collected by the sampling unit 110 to obtain a detection result, where the detection result is generally a type and a concentration of the gas. The analysis unit 150 in this embodiment can analyze the types and concentrations of common fumigants (phosphine, methyl bromide, etc.), and industrial common toxic and harmful gases (nitric oxide, nitrogen dioxide, ammonia, hydrogen sulfide, combustible gas, and organic gas).
As an implementation manner, the control unit transmits the image data acquired by the sensing unit to the remote control terminal through the communication unit 190; a user operates the remote control terminal according to the image data to remotely control the main body to move and/or control the sampling unit on the mechanical arm to enter the object to be detected from the target detection position for sampling; or the remote control terminal automatically controls the main body to move and/or controls the sampling unit on the mechanical arm to enter the object to be detected from the target detection position for sampling according to the image data. The communication mode between the communication unit 190 and the remote control terminal may be a wireless or wired mode, wherein the wireless mode includes GPRS, WiFi, or ZigBee.
In an implementation manner, the detection device further comprises an alarm unit 160, which is used for receiving and responding to an alarm instruction and making an alarm action;
wherein, the control unit 130 is configured to send an alarm command to the alarm unit 160 when the gas detection result exceeds the safety threshold.
The detection result exceeding the safety threshold here means that the gas concentration exceeds the safety threshold. The alarm unit 160 is beneficial to the user to know the gas information of the object to be detected, and can quickly grasp the gas information of the object to be detected even when the customs detection task amount is large, so that the staff can make protection and follow-up inspection.
The alarm unit 160 in this embodiment may be disposed on the main body 100, or may be disposed in an area where an object to be detected is located outside the main body 100.
When the alarm unit 160 is located on the main body 100, the alarm unit 160 may be electrically connected with the control unit 130.
When the alarm unit 160 is located in the area where the object to be detected is located (in the field or the monitoring center where the object to be detected is located), the control unit 130 is in communication connection with the alarm unit 160, which may be wired communication or wireless communication, and the wireless communication mode may be bluetooth, WiFi, GPRS, or the like. The alarm information of the alarm unit 160 may be one or a combination of any of voice, light and interface display. It is understood that the alarm unit 160 may be an indicator light, a display screen, a speaker, a buzzer, etc., and is not limited thereto.
As an implementation manner, as shown in fig. 2 and fig. 3, the detecting device further includes a charging unit 170, the charging unit 170 sends a charging instruction when the electric quantity of the detecting device is lower than a threshold value, the control unit 130 is further configured to obtain the charging instruction, and the control unit 130 plans a moving path of the main body 100 according to the charging instruction and preset charging pile position information, so that the detecting device moves to the charging pile position to implement charging. This embodiment has the electric quantity of being convenient for and in time charges for detecting device when low excessively, guarantees detecting device normal work. The arrangement form of the charging unit 170 is not limited. For example, the charging unit 170 may include, but is not limited to, a power monitoring module 171, a power management module 172, and a contact 173, wherein the power monitoring module 171 is connected to the power management module 172, and the contact 173 is disposed on a side of the main body 100 near the ground for corresponding connection with the charging post. When the electric quantity monitoring module 171 monitors that the electric quantity of the battery is lower than the threshold value, the electric quantity monitoring unit 171 sends a signal with insufficient electric quantity to the electric quantity management module 172, the electric quantity management module 172 sends a charging instruction to the control unit 130 according to the received signal with insufficient electric quantity, the control unit 130 sends charging pile path information to the control unit 130 according to the received charging instruction, and the control unit 130 controls the main body 100 to move according to the charging pile path information, so that the contact points 173 and the metal contact points of the charging pile are correspondingly connected, and automatic charging of the detection device is realized.
In one embodiment, the main control unit 131 pre-stores image information of the position of the charging pile or the position of the charging pile, and the main control unit 131 plans the movement of the route control body 100 according to the position information of the detection device and the position information of the charging pile, which are located by the navigation control unit 132.
As another embodiment, the main control unit 131 may control the movement of the main body 100 by receiving the charging pile position information and the map information transmitted from the navigation control unit 132 and planning the route according to the charging pile position information and the map information.
As another embodiment, the user transmits charging pile position information and map information through a remote control terminal, and the main control unit 131 plans the movement of the route control body 100 according to the received charging pile position information and map information. Here can also be, user oneself fills electric pile position information according to the electric pile position information that eyes obtained, through the value of remote control terminal control main part 100 removal.
As an implementation manner, as shown in fig. 2 and fig. 3, a human-computer interaction unit 180 is further included, and the human-computer interaction unit 180 performs human-computer interaction between the detection apparatus and a user; the control unit 130 is configured to control the human-computer interaction unit 180, and process data and/or signals from the human-computer interaction unit 180.
In some embodiments, the human-computer interaction unit 180 further includes a display screen 181 and a touch button 182, where the display screen 181 is mainly used for target detection information, detection results, and power information; the touch button 182 is used to control the operating state of the detection device, including the on or off of the detection device, the movement or stop of the main body 100, the on or off of the control unit 130, the on and off of the sampling unit 110, and the like. To facilitate user operation. The specific arrangement of the touch buttons is not limited herein, for example, the touch buttons may include a touch button for controlling the operation or stop of the main body 100, and/or a touch button for controlling the on or off of the detection device, etc., as long as the user can control the operation state of the detection device through the touch buttons.
According to the movable detection device, the sensing and sensing unit and the main control unit are used for positioning the target detection position of the object to be detected, the detection device is controlled to move to the periphery of the object to be detected according to the target detection position, and the mechanical arm is driven to drive the sampling unit to enter the object to be detected to collect a gas sample so as to realize gas detection. The detection device can perform sampling detection without entering the object to be detected, ensures the safety of operators, can perform autonomous mobile sampling, and improves the detection efficiency. The detection device can also send alarm information through the alarm unit, so that workers can conveniently and quickly know the gas information of the object to be detected, and can automatically avoid obstacles in the moving process, thereby avoiding the damage caused by collision with other obstacles.
In another aspect, the present invention provides a detection system, including the above detection apparatus, further including:
the monitoring center is away from the object to be detected by a certain distance, communicates with the control unit of the detection device through the communication unit of the detection device, and transmits the working state and the detected data of the detection device in real time;
and the remote control terminal is operated by a user on the site of the object to be detected so as to control the movement of the main body of the detection device and/or the mechanical arm.
The monitoring center and/or the remote control terminal communicate with the control unit 130 to transmit the operation state of the detection device and the detection result in real time. The remote operation of the staff is ensured, the safety of the staff is guaranteed, and meanwhile, the detection data can be obtained in real time to provide reliable guidance for follow-up work.
As an implementable manner, the user manipulates the remote control terminal control body 100 to move, the remote control terminal may be a remote controller held by a user standing on the spot, or may be a computer operated by the user located in the monitoring center; in another embodiment, the movable detecting device body 100 may be automatically controlled to move by a remote control terminal (e.g., a computer located in a monitoring center).
As an implementation manner, a user can operate a remote control terminal, wherein the remote control terminal can be a remote controller held by a user standing on the site or a computer operated by the user in a monitoring center, and controls the mechanical arm 101 to move to a target detection position and drives the sampling unit 110 to enter the object to be detected from the target detection position for gas sample collection; in another embodiment, the robotic arm 101 may also be automatically controlled to move by a remote control terminal (e.g., a computer located in a monitoring center).
Specifically, a user may hold a remote control terminal, a receiver is disposed on the main body 100, the remote control terminal and the receiver may communicate with each other, the remote control terminal is configured to send a control instruction to the receiver, and the receiver is configured to receive the control instruction, where the control instruction may be used to obtain a target detection position, control the detection device to move, and/or collect a gas sample, and obtain a gas detection result. The receiver is electrically connected to the sampling unit 110, the sensing unit 120, and the control unit 130, respectively. The remote control terminal can also obtain the obstacle information and replan the moving path of the main body 100 according to the obstacle information, so that the damage caused by the collision between the detection device and the obstacle in the moving process is avoided.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
On the other hand, another embodiment of the present invention provides a detection method, based on the foregoing embodiment, as shown in fig. 4, the method specifically includes the following steps:
s101, sensing positions and image data related to an environment and an object to be detected by a sensing unit;
s102, the control unit obtains target detection information according to the position and the image data, wherein the target detection information comprises path information from the detection device to the object to be detected and related information of a target detection position of the object to be detected;
the specific control unit firstly positions the position of the object to be detected and the path from the detection device to the object to be detected, and then further positions a target detection position from the object to be detected.
S103, the control unit controls the main body to move to an object to be detected according to the path information;
and S104, the control unit controls the mechanical arm to move to a target detection position, and drives the sampling unit to enter the to-be-detected object from the target detection position to collect a gas sample so as to detect the to-be-detected object.
It should be noted that the method of the present embodiment may be applied to the technical solution for implementing the above-mentioned illustrated device embodiment, and the implementation principle and technical effect are similar. In this embodiment, the arrangement manner of the sensing unit is not particularly limited. The sensing unit can be one or more of a laser radar, an ultrasonic device, a vision camera and other sensors. The sampling unit is driven by the mechanical arm, and a target detection position positioned by the control unit based on the data of the sensing unit is inserted into an object to be detected for gas sampling. Different from the prior art, to waiting to detect the object that has airtight space, through the motion of arm and drive sampling unit and sample, detection device need not get into to wait to detect inside the object, can accomplish the collection of treating the inside gas sample of detecting the object. The gas detection efficiency is improved, and the safety of operators is guaranteed.
In an example, a port needs to perform gas detection on a cargo container, firstly, a sensing unit acquires an image of the container, an image of a port environment and the like, sends the acquired image book to a control unit, an algorithm built in the control unit processes the acquired image book to obtain the position of the cargo container, then plans path information from the current position to the cargo container, and finally positions a gap position of a container door on the cargo container. The detection device moves to the periphery of the container according to the path information, and the mechanical arm drives the sampling unit to insert a probe from a gap of a container door of the container to sample gas; of course, the detecting device may be moved to the periphery of the container, and then the gap position of the door of the object to be detected is positioned, and then the mechanical arm drives the sampling unit to be inserted from the gap position of the door of the container, and the probe performs gas sampling.
The detection method of the embodiment does not need to enter the interior of the object to be detected and manual operation, can automatically move and/or sample, and can automatically analyze, so that the gas detection efficiency is improved, and the safety of operators is guaranteed.
As an implementation manner, the process of moving the main body to the object to be detected is controlled by the control unit according to the path information, and the process comprises the following steps:
acquiring barrier information of an environment where an object to be detected is located in a sensing unit;
the control unit plans or changes the moving path of the main body according to the obstacle information;
the control unit drives the object to be detected to move according to the moving path.
It should be noted that when the detection device encounters an obstacle during movement according to the target detection position information of the control unit, the obstacle can be recognized by the sensing unit and forms obstacle information. The control unit plans the moving path of the detection device according to the obstacle information, and avoids damage caused by collision between the detection device and the obstacle in the moving process.
As an achievable mode, after the control unit controls the main body to move to the object to be detected according to the path information, the method further comprises the following steps:
the control unit controls the main body to move around the periphery of the object to be detected until the vision sensor in the sensing unit identifies the target detection position.
As an implementable manner, the method further comprises:
the analysis unit analyzes the gas sample to obtain a detection result and sends the detection result to the control unit.
The gas sample collected by the sampling unit is analyzed by the analysis unit to obtain the type and concentration of the gas, so that gas detection is realized. The analysis unit can adopt various toxic and harmful gas sensors, online gas detection sensors and the like. The toxic and harmful gas sensor or the online gas detection sensor can also use a contraband detection module, and various biochemical gas analysis algorithms are arranged in the contraband detection module, so that the type and the concentration of toxic and harmful gas can be identified and monitored. The gas analysis module can be arranged in the gas collecting box and also can be connected with the gas collecting box through a pipeline to analyze the gas sample collected by the sampling unit to obtain a detection result, wherein the detection result is generally the type and concentration of the gas. The analysis unit in this embodiment can analyze the type and concentration of common fumigants (phosphine, methyl bromide, etc.), and industrial common toxic and harmful gases (nitric oxide, nitrogen dioxide, ammonia, hydrogen sulfide, combustible gas, and organic gas).
As an implementation manner, the method further comprises:
the control unit judges whether the gas detection result exceeds a safety threshold value;
if the safety threshold value is exceeded, the control unit sends out an alarm instruction;
the alarm unit receives and responds to the alarm instruction and gives an alarm action.
It should be noted that the detection result exceeding the safety threshold means that the gas concentration exceeds the safety threshold, and when the concentration of the gas sample exceeds the safety threshold, an alarm instruction is sent to the alarm unit, so that a user can know the gas information of the object to be detected, and even when the customs detection task amount is large, the gas information of the object to be detected can be rapidly mastered, so that a worker can make protection and follow-up inspection.
According to the detection method provided by the embodiment of the application, the control unit controls the mechanical arm to move to the target detection position of the object to be detected through the data sensed by the sensing unit, and the mechanical arm drives the sampling unit to enter the object to be detected from the target detection position to collect the gas sample. The detection device can be driven by the mechanical arm to sample the sample by the sampling unit. The detection device of this example can remove the sampling by oneself, and when the detection task volume was big, detection device can improve detection efficiency, does not need operating personnel or detection device to get into to wait to detect inside the object, and the liberation manual work has avoided bodily injury simultaneously, and the operation is safe convenient.
It should be noted that while the operations of the method of the present invention are depicted in the drawings in a particular order, this does not require or imply that the operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Rather, the steps depicted in the flowcharts may change the order of execution. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions. In addition, through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or may be implemented by software in combination with necessary hardware.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (20)
1. A movable detection device, comprising:
a main body;
a robotic arm connected to the body;
the sampling unit is arranged on the mechanical arm and used for collecting a sample in the object to be detected;
a sensing unit for sensing data relating to an environment and/or an object to be detected;
the control unit is arranged in the main body and used for receiving the data sent by the sensing unit, controlling the mechanical arm to move to a target detection position of the object to be detected according to the data, and controlling the sampling unit to enter the object to be detected from the target detection position to collect a sample so as to detect the object to be detected.
2. The detection device according to claim 1, wherein the sampling unit comprises an air tube and a probe connected to the air tube;
the probe is positioned at the front end of the mechanical arm and can be automatically inserted into an object to be detected according to requirements to collect a gas sample.
3. The apparatus according to claim 2, wherein the sampling unit further comprises a tube retractor connected to the gas tube for automatically retracting and recovering the gas tube.
4. The detection device according to claim 2, wherein the sensing unit comprises an environment sensing unit and a sensing and guiding unit, the environment sensing unit is arranged on the main body and is used for sensing environment-related data of the gas detection device and guiding the main body to move; the sensing and guiding unit is arranged at the front end of the mechanical arm and used for sensing the relative position between the mechanical arm and the target detection position and/or the state information of the probe inserted into the object to be detected and guiding the mechanical arm to move.
5. The detecting device according to claim 4, wherein the sensing and guiding unit comprises at least one of a visual sensor and a distance sensor for providing guidance for the mechanical arm to move the sampling unit to the target detecting position.
6. The detection device according to claim 1, wherein the environment sensing unit is configured to collect obstacle information of an environment in which the object to be detected is located, and the control unit is further configured to plan or change a movement path of the main body according to the obstacle information.
7. The detection device according to claim 4, wherein the environment sensing unit or the sensing guide unit comprises at least one of a pan-tilt camera, a depth camera, a lidar, an ultrasonic device, an infrared ranging sensor.
8. The detection device according to claim 1, wherein the control unit comprises a main control unit and a navigation control unit, and information interaction is performed between the main control unit and the navigation control unit; the navigation control unit is used for receiving the data of the sensing unit and processing the data to obtain the path information of the movement of the main body and the mechanical arm; the control unit is used for controlling the mechanical arm to move to the target detection position of the object to be detected according to the path information, and controlling the sampling unit to enter the object to be detected from the target detection position to collect a gas sample.
9. The detection apparatus according to claim 1, wherein the control unit transmits the image data acquired by the sensing unit to a remote control terminal through a communication unit,
a user operates a remote control terminal according to the image data to remotely control the main body to move and/or control a sampling unit on the mechanical arm to enter the object to be detected from the target detection position for sampling; or the remote control terminal automatically controls the main body to move and/or controls a sampling unit on the mechanical arm to enter the object to be detected from the target detection position for sampling according to the image data.
10. The probe apparatus of claim 1, further comprising:
a movable chassis disposed at a bottom of the main body for moving the main body.
11. The probe apparatus of claim 1, further comprising:
and the analysis unit is arranged on the main body and used for analyzing the gas sample collected by the sampling unit to obtain a detection result and sending the detection result to the control unit.
12. The detection device according to any one of claims 1-10, wherein the detection device further comprises an alarm unit for receiving and responding to an alarm instruction to perform an alarm action;
the control unit is used for sending an alarm instruction to the alarm unit when the gas detection result exceeds a safety threshold value.
13. The probe apparatus of any one of claims 1-10, further comprising: the charging unit is used for sending a charging instruction when the electric quantity of the detection device is lower than a threshold value;
the control unit is used for acquiring the charging instruction, and planning a moving path of the main body according to the charging instruction and preset charging pile position information so as to enable the detection device to move to a charging pile position to realize charging.
14. The probe apparatus of any one of claims 1-10, further comprising: the human-computer interaction unit is used for executing human-computer interaction between the detection device and a user;
the control unit is used for controlling the human-computer interaction unit and processing data and/or signals from the human-computer interaction unit.
15. A detection system comprising a detection apparatus according to any of claims 1-14, wherein the detection system further comprises:
the monitoring center is away from the object to be detected by a certain distance, and communicates with the control unit of the detection device through the communication unit of the detection device to transmit the working state and the detected data of the detection device in real time;
and the remote control terminal is operated by a user on the site of the object to be detected so as to control the movement of the main body of the detection device and/or the mechanical arm.
16. A method of probing, comprising:
the sensing unit senses position and image data related to an environment and an object to be detected;
the control unit obtains target detection information according to the position and the image data, wherein the target detection information comprises path information from the detection device to the object to be detected and related information of a target detection position of the object to be detected;
the control unit controls the main body to move to the object to be detected according to the path information;
the control unit controls the mechanical arm to move to the target detection position and drives the sampling unit to enter the object to be detected from the target detection position to collect a sample so as to detect the object to be detected.
17. The detection method according to claim 16, wherein a control unit controls a process of moving the main body to the object to be detected according to the path information, including:
the sensing unit collects barrier information of the environment where the object to be detected is located;
the control unit plans or changes a moving path of the main body according to the obstacle information;
the control unit drives the object to be detected to move according to the moving path.
18. The detection method according to claim 16, further comprising, after the control unit controls the main body to move to the object to be detected according to the path information:
the control unit controls the main body to move around the object to be detected until the vision sensor in the sensing unit identifies the target detection position.
19. The detection method of claim 16, further comprising:
the analysis unit analyzes the gas sample to obtain a detection result and sends the detection result to the control unit.
20. The detection method according to claim 16, further comprising:
the control unit judges whether the gas detection result exceeds a safety threshold value;
if the safety threshold value is exceeded, the control unit sends out an alarm instruction;
and the alarm unit receives and responds to the alarm instruction to perform alarm action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011637326.7A CN114689385A (en) | 2020-12-31 | 2020-12-31 | Movable detection device, system and detection method |
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| CN202011637326.7A CN114689385A (en) | 2020-12-31 | 2020-12-31 | Movable detection device, system and detection method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115165429A (en) * | 2022-09-08 | 2022-10-11 | 津海威视技术(天津)有限公司 | Sampling robot for port safety monitoring |
| CN115824694A (en) * | 2022-11-16 | 2023-03-21 | 英飞智信(北京)科技有限公司 | Fixed-point sampling calibration device and method for sampler |
-
2020
- 2020-12-31 CN CN202011637326.7A patent/CN114689385A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115165429A (en) * | 2022-09-08 | 2022-10-11 | 津海威视技术(天津)有限公司 | Sampling robot for port safety monitoring |
| CN115824694A (en) * | 2022-11-16 | 2023-03-21 | 英飞智信(北京)科技有限公司 | Fixed-point sampling calibration device and method for sampler |
| CN115824694B (en) * | 2022-11-16 | 2023-07-25 | 英飞智信(北京)科技有限公司 | Sampler fixed-point sampling calibration device and method |
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