CN115237131A - Inspection control method and device of inspection robot and storage medium - Google Patents
Inspection control method and device of inspection robot and storage medium Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- 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
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention relates to a patrol control method of a patrol robot, which comprises the following steps: receiving an original route map of a power plant; receiving a preset inspection point of the inspection work, and planning a preset inspection path; and the robot reaches each preset inspection point, records inspection data of each preset inspection point and sends the inspection data to the host end. The invention has the beneficial effects that: the invention screens out the predetermined inspection points from the inspection points and plans the predetermined inspection path, thereby reducing the inspection workload, and the robot automatically inspects according to the predetermined inspection path, thereby improving the inspection efficiency; when the distance between the robot and the route does not exceed the first separation threshold, the invention judges that the robot operates in the normal error range, does not give an alarm and can avoid the influence of frequent alarm on the inspection efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for controlling routing inspection of a routing inspection robot and a storage medium.
Background
The existing power plant operation management usually needs to check and maintain the equipment in the power plant according to the actual conditions of the power plant, such as equipment updating, etc., so as to prevent the equipment from accidental faults and keep the equipment in a good operation state.
The original inspection method mainly depends on manual inspection, and workers inspect positions needing inspection in a power plant one by one and maintain the positions needing maintenance. However, with the development of the technology, in consideration of saving manpower and improving operation safety, a robot is generally used for inspection, and after a worker operates the robot to reach a position to be inspected, the inspection position is recorded, and the recorded condition is fed back to the worker.
Although the workers do not need to walk to all positions in the conventional robot inspection work, the workers still need to operate the robot, the environment in a power plant is complex, the efficiency of operating the robot by the workers is low, and the inspection efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method and a device for controlling the inspection of an inspection robot and a storage medium.
In a first aspect, a method for controlling inspection of an inspection robot is provided, including:
s100, receiving an original route map: receiving an original route map of a power plant, wherein at least one routing route which can be patrolled is recorded in the original route map, and a plurality of routing points which can be patrolled are marked on the routing route;
s200, routing inspection planning: receiving a preset inspection point of the inspection work, wherein the preset inspection point is at least one of the plurality of inspection points, and planning a preset inspection path according to the position of the preset inspection point in the original route map;
s300, robot inspection: and according to the preset routing inspection path, the vehicle travels at a first speed to reach each preset routing inspection point, the routing inspection data of each preset routing inspection point is recorded, and the routing inspection data are sent to a host end.
Preferably, the method further comprises:
s400, actual route recording: recording the position of the robot in the polling process in real time, judging whether the robot is separated from a preset polling path according to a first separation condition, if the real-time position of the robot is separated from the preset polling path, stopping polling work, and sending a warning signal to the host terminal.
Preferably, in S400, the first release condition is: the distance between the real-time position of the robot and the preset routing inspection path is larger than the first separation threshold value.
Preferably, in S300, the robot monitors whether an obstacle appears on the predetermined inspection path in real time according to the obstacle judgment condition during the traveling process; if yes, the robot receives a first separation threshold value and calculates the distance X from two sides of the barrier to the travelling route 1 And X 2 Comparison of X 1 And X 2 Size of (2), calculating X 1 And X 2 Whether the sum of the medium and small values and the width of the robot is smaller than the first separation threshold value or not, and if so, sending a passing request to the host end; and if the position of the obstacle is larger than or equal to the position of the obstacle, recording the position of the obstacle, updating the original route map, and marking the road section where the position of the obstacle is located as a road section which cannot be passed through.
Preferably, in S300, the robot is provided with an obstacle distance threshold, and the obstacle determination condition is: and an object exists on the preset routing inspection path, and the distance between the object and the robot is smaller than the obstacle distance threshold value.
Preferably, in S300, if the host confirms that the robot passes, the robot passes at a second rate, and the second rate is maintained until no obstacle exists around the robot, and the second rate is lower than the first rate; and if the host end does not pass the confirmation, marking the position of the obstacle as an obstacle position, and performing secondary path planning.
Preferably, in S300, the step of planning the secondary path includes:
marking the current position of the robot, wherein the current position is the initial point of the secondary path;
receiving the rest preset polling points of the polling work;
and planning a secondary path according to the starting point, the remaining preset inspection points and the original route map, and continuously inspecting by the robot through the secondary path.
Preferably, the secondary path does not include the obstacle position.
Preferably, in S300, a dangerous area is marked in the original route map, the patrollable route covered by the dangerous area is marked as a dangerous route, when the robot passes through the dangerous route, the speed is changed to a third speed, the third speed is lower than the first speed, the camera recording is started, and the recording result is transmitted to the host end in real time.
Preferably, when the robot passes through a high-voltage area, a second deviation threshold is received, and whether the real-time position of the robot is deviated from the preset routing inspection path is judged according to a second deviation condition, wherein the second deviation condition is as follows: and the distance between the real-time position of the robot and the preset routing inspection path is greater than the second separation threshold value.
Preferably, the second threshold value is half of the first threshold value.
In a second aspect, there is provided an inspection control device for an inspection robot, comprising a memory, a processor and a computer program stored on the memory and operable on the processor, the processor implementing the inspection control method of the inspection robot according to any one of the first aspect when executing the program.
In a third aspect, a storage medium is provided, the storage medium comprising one or more programs executable by a processor to perform the inspection control method of the inspection robot according to any one of the first aspect
The invention has the beneficial effects that:
(1) The invention screens the predetermined inspection points from the inspection points and plans the predetermined inspection path, thereby reducing the inspection workload, and the robot automatically inspects according to the predetermined inspection path, thereby improving the inspection efficiency.
(2) When the distance between the robot and the route does not exceed the first separation threshold, the invention judges that the robot operates in the normal error range, does not give an alarm and can avoid the influence of frequent alarm on the inspection efficiency.
(3) The invention calculates when the robot has an obstacle in the process of inspection, if the sum of the smaller value of X1 and X2 and the width of the robot is less than the first separation threshold value, the possibility of passing exists, but the risk exists, and the invention can improve the protection of the robot by sending a passing request to the host end.
(4) In the inspection control method of the inspection robot, due to the fact that the voltage of a high-voltage area is large, high-voltage equipment possibly exists on two sides of an inspection path, and electromagnetic waves emitted by the high-voltage equipment can cause interference, so that the robot can be judged to be separated as long as the distance between the real-time position of the robot and a route is larger than a second separation threshold value, and the influence of signal interference on normal signal transmission of a host end is prevented.
Drawings
Fig. 1 is a flow chart of an inspection control method of an inspection robot according to the present invention;
fig. 2 is a flow chart of another inspection control method of the inspection robot provided by the invention;
FIG. 3 is a flowchart of a first embodiment of a robot inspection step provided by the present invention;
FIG. 4 is a flowchart of a second embodiment of the inspection step of the robot according to the present invention;
FIG. 5 is a flowchart of a third embodiment of the inspection step of the robot according to the present invention;
FIG. 6 is a schematic diagram of a comparison between an original route map and a predetermined patrol route;
FIG. 7 is a schematic diagram of an obstacle detection scenario;
fig. 8 is a schematic diagram of a hazardous area scenario.
Detailed Description
The present invention will be further described with reference to the following examples. The following examples are set forth merely to aid in the understanding of the invention. It should be noted that, for a person skilled in the art, several modifications can be made to the invention without departing from the principle of the invention, and these modifications and modifications also fall within the protection scope of the claims of the present invention.
Example 1:
in order to solve the problem of low inspection efficiency of the inspection robot in the prior art, the invention provides an inspection control method of the inspection robot, which comprises the following steps of:
s100, receiving an original route map: the method comprises the steps of receiving an original route map of the power plant, recording at least one routing inspection path in the original route map, and marking a plurality of routing inspection points on the routing inspection path.
The original route map can be a route map collected by staff in a power plant, and the original route map is composed of routing routes which can be patrolled.
S200, routing inspection planning: and receiving a preset inspection point of the inspection work, wherein the preset inspection point is at least one of a plurality of inspection points, and planning a preset inspection path according to the position of the preset inspection point in the original route map.
The inspection point is the position where the robot needs to stay for inspection in the inspection work, and the predetermined inspection point is the position where the robot needs to stay for inspection this time. As shown in fig. 6, a is an original route map, B is a predetermined routing inspection path, and the robot automatically performs routing inspection according to the predetermined routing inspection path instead of performing routing inspection according to all routing inspection-available paths in the original route map, so that the workload of routing inspection can be reduced, and the routing inspection efficiency is improved.
S300, robot inspection: and the system advances at a first speed according to the preset routing inspection path, reaches each preset routing inspection point, records routing inspection data of each preset routing inspection point, and sends the routing inspection data to the host end.
The first speed is the normal driving speed of the robot, and the host end is the operation end of the staff and can be a computer or a mobile phone and other equipment.
By adopting the scheme, the patrolling path in the original route map is a path for the robot to walk, and the patrolling points are all the points in daily patrolling work.
In the specific implementation process, the inspection robot is preset with a shooting angle at an inspection point, and after the inspection robot reaches the preset inspection point, the inspection robot acquires inspection data according to the preset shooting angle and sends the acquired inspection data to the host. Wherein, the data of patrolling and examining is the picture data that the shooting obtained.
In addition, as shown in fig. 2, the inspection control method for the inspection robot according to the present invention may further include:
s400, actual route recording: recording the position of the robot in the polling process in real time, judging whether the robot is separated from the preset polling path or not according to a first separation condition, stopping polling if the real-time position of the robot is separated from the preset polling path, and sending a warning signal to a host end.
In the specific implementation process, the position of the inspection robot is located through the radar, and the real-time position of the inspection robot is recorded to form an actual route of the inspection robot. However, since the internal environment of the power plant is complicated, if the robot is out of the predetermined inspection path, it may collide with the internal facilities, causing a danger.
The step of judging whether the real-time position of the robot is deviated from the predetermined routing inspection path comprises the following steps:
and receiving a first separation threshold value, and calculating whether the distance between the real-time position of the robot and the route is greater than the first separation threshold value (namely whether a first separation condition is met). The real-time position of the robot is a positioning point of the inspection robot radar, and the distance between the real-time position of the robot and the route is a linear distance between the positioning point and a nearest point connecting line on the route.
By adopting the scheme, when the real-time position of the robot and the distance of the route exceed the first separation threshold value, the robot is judged to be separated from the routing inspection path, if the robot and the distance of the route do not exceed the first separation threshold value, the operation of the robot is in a normal error range, and the inspection efficiency is prevented from being influenced by frequent warning.
In a specific implementation process, the step of recording the actual route further includes sending a running path in the actual inspection work of the robot to the host end.
As shown in fig. 3, the robot patrol further includes S310, obstacle detection and S311, and obstacle confirmation. The robot judges the condition according to the barrier, whether the barrier appears on the predetermined route of patrolling and examining of real-time detection, and exemplarily, the robot is provided with the barrier distance threshold value, and the barrier judgement condition is: an object exists on the preset routing inspection path, and the distance between the object and the robot is smaller than the obstacle distance threshold value. Wherein the obstacle distance threshold may be 3, 4 or 5 meters. If the distance between the object around the robot and the robot is smaller than the obstacle distance threshold value, a potential collision possibility exists, namely the robot is an obstacle.
When an obstacle appears on a traveling route of the robot, the obstacle is photographed and uploaded to a host side for confirmation, and if the host side confirms the obstacle, the distance from two sides of the obstacle to the route is calculated; if the host end does not determine that the obstacle exists, the host end directly passes through the obstacle.
Specifically, as shown in fig. 7, if an obstacle a is detected, the robot receives a first departure threshold, and calculates distances X from both sides of the obstacle to a travel route b 1 And X 2 Comparison of X 1 And X 2 Size of (2), calculate X 1 And X 2 And if the sum of the medium and small values and the width of the robot is smaller than a first separation threshold value C, sending a passing request to the host end.
In a specific implementation process, whether the position of an object is on a travel route of the robot is judged through a radar, the first escape threshold value can be 1 meter, 1.5 meters or 2 meters, and the width of the robot can be 0.4 meter, 0.5 meter or 0.6 meter.
By adopting the scheme, if the robot patrols and examines the obstacle appearing in the process, calculation is carried out, and if X is 1 And X 2 If the sum of the medium and small values and the width of the robot is smaller than the first separation threshold value, the possibility of passing exists, but the risk exists, and a passing request is sent to the host end, so that the protection of the robot is improved.
In addition, if the host selects to pass through, the host can select manual control to pass through or automatically bypass to pass through.
Adopt above-mentioned scheme, the barrier that the robot was discovered probably is waste paper etc. can not influence the object of robot normal operating, can directly pass through, improves and patrols and examines efficiency. In the implementation process, if the host end confirms that the robot passes through, the robot passes through at the second speed, and the second speed is maintained until no obstacle exists around the robot.
In the specific implementation process, the inspection robot moves at a second speed, the distance between the inspection robot and the obstacle is monitored through a radar, and the obstacle is avoided. The second speed is smaller than the normal running speed of the robot, the speed is reduced to pass through at the second speed, the running accuracy of the robot can be improved, and collision is prevented.
As shown in fig. 4, if the host confirms that the vehicle does not pass, the position of the obstacle is marked as the obstacle position, and S312 and secondary path planning are performed. The secondary path planning method comprises the following steps:
marking the current position of the robot, wherein the current position is the initial point of the secondary path;
receiving the rest preset inspection points of the inspection work;
and planning a secondary path according to the starting point, the remaining scheduled inspection points and the original route map, and continuously inspecting by the robot through the secondary path.
By adopting the scheme, if the host end does not confirm the passing, the safe passing possibility is low, the route is re-planned, and the flexibility of the robot in the actual inspection work is improved.
It should be noted that the secondary path may be a path automatically analyzed by the robot, or may be a path retransmitted by the host. Further, the secondary path does not include an obstacle position.
As shown in FIG. 5, if X 1 And X 2 The sum of the smaller value and the width of the robot is greater than or equal to a first separation threshold value, and the method further comprises the following steps: and S320, updating the original route map. At the moment, the robot records the position of the obstacle, updates the original route map and marks the road section where the position of the obstacle is located as the non-passable road section.
By adopting the scheme, when X is 1 And X 2 When the sum of the smaller value and the width of the robot is not less than the first separation threshold value, the robot cannot pass through the road section, the original route map is updated, the road section where the obstacle position is located is marked as the road section which cannot pass through, the original route map is updated in the routing inspection process, and the accuracy of the original route map is improved.
In the specific implementation process, the road section where the obstacle position is located is a road section which is connected with two adjacent intersections of the obstacle and passes through the obstacle position.
In addition, a dangerous area can be marked in the original route map, the routing-patrollable path covered by the dangerous area is marked as a dangerous path, when the robot passes through the dangerous path, the speed is changed to be the third speed, the shooting record is started, and the record result is transmitted to the host end in real time. Wherein the first rate > the third rate > the second rate. The third rate is less than the first rate, which may provide more reaction time for the worker.
The danger area is the high-pressure area of power plant, and when the robot passed through the high-pressure area, danger was great, reduce speed to record of making a video recording in real time, and upload, the staff can in time react if see dangerous condition and take place at the host computer end, improves the security.
Specifically, when the robot passes through a high-voltage area, the second separation threshold value is received, whether the real-time position of the robot is separated from the predetermined routing inspection path or not is judged according to the second separation condition, and the second separation condition is as follows: the distance between the real-time position of the robot and the preset routing inspection path is larger than a second separation threshold value.
By adopting the scheme, because the voltage of the high-voltage area is large, high-voltage equipment possibly exists on two sides of the routing inspection path, and the electromagnetic waves emitted by the high-voltage equipment can cause interference, so that the robot can be judged to be separated as long as the distance between the real-time position of the robot and the route is greater than a second separation threshold value, and the influence of signal interference on normal signal transmission with a host end is prevented. As shown in fig. 8, the second drop-off threshold D may be half of the first drop-off threshold C.
Example 2:
the invention provides an inspection control device of an inspection robot, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the inspection control method of the inspection robot is realized when the processor executes the program.
Example 3:
the present invention provides a storage medium including one or more programs executable by a processor to perform the inspection control method of an inspection robot described above.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product comprising one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or can comprise one or more data storage devices, such as a server, a data center, etc., integrated with the available medium. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium, or a semiconductor medium (e.g., solid state disk), among others.
Claims (10)
1. A patrol inspection control method of a patrol inspection robot is characterized by comprising the following steps:
s100, receiving an original route map: receiving an original route map of a power plant, wherein at least one routing route which can be patrolled is recorded in the original route map, and a plurality of routing points which can be patrolled are marked on the routing route;
s200, routing inspection planning: receiving a preset inspection point of the inspection work, wherein the preset inspection point is at least one of the plurality of inspection points, and planning a preset inspection path according to the position of the preset inspection point in the original route map;
s300, robot inspection: and according to the preset routing inspection path, the vehicle travels at a first speed to reach each preset routing inspection point, the routing inspection data of each preset routing inspection point is recorded, and the routing inspection data are sent to a host end.
2. The inspection control method of an inspection robot according to claim 1, further including:
s400, actual route recording: recording the position of the robot in the polling process in real time, judging whether the robot is separated from a preset polling path according to a first separation condition, if the real-time position of the robot is separated from the preset polling path, stopping polling work, and sending a warning signal to the host terminal.
3. The inspection control method of the inspection robot according to the claim 1 or 2, characterized in that in the S300, the robot monitors whether an obstacle appears on the preset inspection path in real time according to the obstacle judgment condition during the traveling process; if so, the robot receives a first separation threshold value, calculates the distances X1 and X2 from the two sides of the barrier to the travelling route, compares the sizes of the X1 and the X2, calculates whether the sum of the smaller value of the X1 and the X2 and the width of the robot is smaller than the first separation threshold value, and if so, sends a passing request to the host end; and if the position of the obstacle is larger than or equal to the position of the obstacle, recording the position of the obstacle, updating the original route map, and marking the road section where the position of the obstacle is located as a road section which cannot be passed through.
4. The inspection control method of the inspection robot according to claim 3, wherein in S400, the first detachment condition is: the distance between the real-time position of the robot and the preset routing inspection path is larger than the first separation threshold value.
5. The inspection control method of the inspection robot according to claim 4, wherein in S300, the robot is provided with an obstacle distance threshold, and the obstacle determination condition is: an object exists on the preset routing inspection path, and the distance between the object and the robot is smaller than the obstacle distance threshold value.
6. The inspection control method for the inspection robot according to claim 5, wherein in S300, if the host end confirms that the robot passes, the robot passes at a second rate, the second rate is maintained until no obstacles exist around the robot, and the second rate is less than the first rate; and if the host end does not pass the confirmation, marking the position of the obstacle as an obstacle position, and performing secondary path planning.
7. The inspection control method of the inspection robot according to claim 6, wherein in S300, the secondary path planning step includes:
marking the current position of the robot, wherein the current position is the initial point of the secondary path;
receiving the rest preset polling points of the polling work;
and planning a secondary path according to the starting point, the remaining preset inspection points and the original route map, and continuously inspecting by the robot through the secondary path.
8. The inspection control method for the inspection robot according to claim 7, wherein in S300, a dangerous area is marked in the original route map, the routing that can be inspected and covered by the dangerous area is marked as a dangerous path, when the robot passes through the dangerous path, the speed is changed to a third speed, the third speed is lower than the first speed, and a camera record is started, and the record result is transmitted to the host end in real time.
9. An inspection control apparatus for an inspection robot, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the inspection control method of the inspection robot according to any one of claims 1 to 8 when executing the program.
10. A storage medium comprising one or more programs executable by a processor to perform the inspection control method of an inspection robot according to any one of claims 1 to 8.
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| CN202210882605.2A CN115237131A (en) | 2022-07-26 | 2022-07-26 | Inspection control method and device of inspection robot and storage medium |
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| CN202210882605.2A CN115237131A (en) | 2022-07-26 | 2022-07-26 | Inspection control method and device of inspection robot and storage medium |
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| CN117786165A (en) * | 2023-10-12 | 2024-03-29 | 广州信邦智能装备股份有限公司 | Extraction processing method of inspection event, related server and medium program |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117786165A (en) * | 2023-10-12 | 2024-03-29 | 广州信邦智能装备股份有限公司 | Extraction processing method of inspection event, related server and medium program |
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