CN115278063A - Inspection method, inspection device and inspection robot - Google Patents
Inspection method, inspection device and inspection robot Download PDFInfo
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- CN115278063A CN115278063A CN202210805147.2A CN202210805147A CN115278063A CN 115278063 A CN115278063 A CN 115278063A CN 202210805147 A CN202210805147 A CN 202210805147A CN 115278063 A CN115278063 A CN 115278063A
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- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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Abstract
The invention provides a polling method, a polling device and a polling robot, and belongs to the technical field of track polling. The inspection method comprises the steps that the current position of a vehicle body is obtained, when the vehicle body moves to a preset position on an inspection guide rail, an image collector takes a picture at the 1 st shooting position to obtain an image corresponding to the 1 st shooting position; the image collector takes a picture at the next shooting position to obtain an image corresponding to the shooting position; when the image collector moves to the Nth shooting position, obtaining an image corresponding to the Nth shooting position; the image collector moves to the next shooting position on the supporting rod along the second direction to obtain an image corresponding to the shooting position; when the image collector moves to the 1 st shooting position, an image corresponding to the 1 st shooting position is obtained to form a U-shaped image shooting path. The images are acquired through the U-shaped image shooting path, so that the images are continuously collected, the image collection efficiency is improved, and the inspection efficiency is improved.
Description
Technical Field
The invention relates to the technical field of rail inspection, in particular to an inspection method, an inspection device and an inspection robot.
Background
The automatic inspection robot integrates embedded technology, sensor technology, electronic and electrical technology, path planning, artificial intelligence, automatic control technology and the like, and attracts the attention of a plurality of scientists in recent years. The automatic inspection trolley has wide application fields including automatic driving, nuclear power station maintenance, unknown area detection, unmanned engineering product transportation and the like, and the development of an automatic control technology can generate far-reaching influence on the production and the life of people.
Along with the development and progress of the technology, the automatic inspection robot is applied to a machine room and used for monitoring the state of a cabinet in the machine room and the like, the existing inspection robot acquires the state in the machine room in a video recording mode, data on an instrument panel in the machine room can not be accurately acquired through videos, and after the videos are shot, the data processing amount in the videos is very large, the requirement on a processor is high, the cost is high, and the efficiency of acquiring the data is low.
Disclosure of Invention
In view of the above, the present invention provides an inspection method, an inspection device and an inspection robot to overcome the disadvantages of the prior art.
The invention provides the following technical scheme: the inspection robot comprises a vehicle body, a supporting rod, an image collector and a driving device for driving the image collector to move on the supporting rod, and the inspection method comprises the following steps:
s1, marking P preset positions on an inspection guide rail in which a vehicle body moves, and sequentially marking 1, 2 and 3 \8230ona supporting rod along the axis direction of the supporting rod from a position close to the vehicle body to a position far away from the vehicle body, wherein P and N are integers more than or equal to 2;
the method comprises the steps that the current position of a vehicle body on an inspection guide rail is obtained, and when the obtained current position is any one of P preset positions, the vehicle body is controlled to be stopped on the inspection guide rail for a first preset time;
s2, the driving device drives the image collector to move on the supporting rod along a first direction, when the image collector moves to a 1 st shooting position, the driving device stops driving the image collector to move, and an image corresponding to the 1 st shooting position is obtained through the image collector;
s3, after the image corresponding to the 1 st shooting position is obtained, the driving device is started to control the image collector to move to the 2 nd shooting position on the supporting rod along the first direction, the driving device stops driving the image collector to move, and the image corresponding to the 2 nd shooting position is obtained through the image collector;
s4, after the image corresponding to the No. 2 shooting position is obtained, the driving device is started to control the image collector to move to the Nth shooting position on the supporting rod along the first direction, the driving device stops driving the image collector to move, and the image corresponding to the Nth shooting position is obtained through the image collector;
s5, after the image corresponding to the Nth shooting position is obtained, controlling the vehicle body to move to the next preset position on the inspection guide rail, and controlling the vehicle body to stop on the inspection guide rail for a first preset time;
s6, the driving device drives the image collector to move on the supporting rod along a second direction, when the image collector moves to an Nth shooting position, the driving device stops driving the image collector to move, and an image corresponding to the Nth shooting position is obtained through the image collector;
s7, after the image corresponding to the Nth shooting position is obtained, the driving device is started to control the image collector to move to the (N-1) th shooting position on the supporting rod along the second direction, the driving device stops driving the image collector to move, and the image corresponding to the (N-1) th shooting position is obtained through the image collector;
s8, after the image corresponding to the N-1 th shooting position is obtained, the driving device is started to control the image collector to move to the 1 st shooting position on the supporting rod along the second direction, the driving device stops driving the image collector to move, and the image corresponding to the 1 st shooting position is obtained through the image collector, so that the image collector forms a U-shaped image shooting path in one period;
s9, repeating the steps from S1 to S8 in sequence to obtain an image corresponding to each shooting position;
and S10, sending the acquired image information to a background processor through a signal by an image collector.
In some embodiments of the present invention, in step S2, the stop duration of the driving device is a second preset time, X,0 < X ≦ 3.
Further, in step S5, the first preset time is Y, and the first preset time is greater than the sum of N second preset times.
Further, the step S2 further includes, when the image collector obtains an image corresponding to any one of the shooting positions, sending the image to the background processor through a signal by the image collector.
Further, in step S8, an image corresponding to one shooting period is acquired, and the image of the period is sent to the background processor through a signal by the image collector.
Further, step S9 includes step S901, after the image corresponding to each shooting position is shot, determining whether the image collector is reset by the stoppers installed at the two ends of the supporting rod;
and S902, if not, sending a signal to a main control board in the vehicle body through the limiter, and controlling the driving device to drive the image acquisition module to reset through the main control board.
Further, step S9 further includes acquiring an image corresponding to each shooting position, and simultaneously sending each image to the background processor through the image collector.
Further, the first direction and the second direction are opposite, and the first direction and the second direction are respectively parallel to the axis of the support rod.
Furthermore, the number of the images shot by the image collector at each shooting position is at least one.
Some embodiments of the present invention further provide an inspection apparatus, including a first obtaining module to obtain a current position of a vehicle body;
the second acquisition module is used for acquiring the current position of the image collector;
the first control module is used for controlling the starting or stopping of the vehicle body;
and the second control module is used for controlling the starting or stopping of the driving device.
Some embodiments of the invention also provide a patrol robot, which comprises a control panel and the patrol device;
the first acquisition module, the second acquisition module, the first control module and the second control module are respectively and electrically connected to the control board.
The embodiment of the invention has the following advantages: the method comprises the steps of obtaining images of each shooting position and the preset position in a shooting mode, sending the obtained images to a background processor through an image collector in a signal mode, obtaining digital information in the images, improving obtaining efficiency of instrument panel information on a cabinet in the electric power machine room in the shooting mode, and achieving real-time monitoring of the state of the cabinet in the electric power machine room. The image collector obtains images through the U-shaped image shooting path to realize continuous collection of the images, and the collection efficiency of the images is improved, so that the inspection efficiency is improved.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible and comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 illustrates a first flowchart of a polling method according to some embodiments of the present invention;
FIG. 2 illustrates a second flow chart of a polling method provided by some embodiments of the invention;
fig. 3 is a flowchart illustrating a method for detecting whether an image collector is reset in a polling method according to some embodiments of the present invention;
fig. 4 is a schematic structural view illustrating a view of an inspection robot according to some embodiments of the present invention;
FIG. 5 shows an enlarged view of portion A of FIG. 4;
fig. 6 shows a module connection diagram in an inspection robot according to some embodiments of the present invention.
Description of the main element symbols:
100-a vehicle body; 200-routing inspection guide rails; 300-a drive device; 400-an image collector; 500-support rods; 600-a stop; 700-a first obtaining module; 800-a second obtaining module; 900-a first control module; 1000-a second control module; 1100-control panel.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, fig. 2, fig. 4, and fig. 5, some embodiments of the present invention provide a polling method, which is mainly applied to polling in an electric power room, so as to monitor data in each instrument panel in the electric power room in real time, and improve polling efficiency.
It should be noted that the inspection robot includes a vehicle body 100, a support rod 500, an image collector 400, and a driving device 300 for driving the image collector to move on the support rod 500.
Wherein, the automobile body 100 slides and sets up on patrolling and examining guide rail 200, and the bracing piece 500 is installed on automobile body 100, and this bracing piece 500 is perpendicular to patrols and examines guide rail 200.
Specifically, the support rod 500 is disposed on a side of the vehicle body 100 away from the inspection guide rail 200.
In addition, a driving device 300 is mounted on the vehicle body 100, and the image collector 400 is slidably mounted on the support rod 500, and is driven by the driving device 300 to move along the axial direction of the support rod 500.
The inspection method comprises the following steps:
p preset positions are marked on the routing inspection guide rail 200 moving on the vehicle body 100, 1, 2, 3, 8230, N shooting positions are marked on the supporting rod 500 along the axial direction of the supporting rod in sequence from the position close to the vehicle body 100 to the position far away from the vehicle body 100, and P and N are integers more than or equal to 2.
Wherein each preset position is marked on the inspection guide rail 200 at intervals. In addition, the distance between any two adjacent preset positions can be equal, and the distance between each preset position can be specifically set according to the actual condition in the electric power machine room, so that when the vehicle body 100 walks on the inspection guide rail 200, each preset position can be accurately reached, and the inspection accuracy and the inspection efficiency are improved.
In addition, each photographing position is marked on the support bar 500 at intervals.
It should be noted that the number of the preset positions and the number of the shooting positions may be specifically set according to actual situations.
Step S1, acquiring the current position of the vehicle body 100 on the routing inspection guide rail 200, and controlling the vehicle body 100 to stagnate on the routing inspection guide rail 200 for a first preset time when the acquired current position is any one of the P preset positions.
Specifically, when the vehicle body 100 is at a preset position, the image collector 400 collects an image within a first preset time by controlling the vehicle body 100 to stop for the first preset time, so that the vehicle body 100 is prevented from moving, and the vehicle body 100 is kept stable. Meanwhile, the corresponding shooting area at the preset position is shot by the image collector 400 installed on the vehicle body 100 to obtain the image corresponding to the 1 st preset position of the vehicle body 100.
It should be noted that, when the obtained current position is not at any one preset position, the vehicle body 100 is controlled to move on the inspection guide rail 200, and when the vehicle body 100 moves to a preset position, the vehicle body 100 is controlled to stop on the inspection guide rail 200 for a first preset time.
Step S2, the driving device 300 drives the image collector 400 to move on the supporting rod 500 along a first direction, when the image collector 400 moves to the 1 st shooting position, the driving device 300 stops driving the image collector 400 to move, and the image collector 400 obtains an image corresponding to the 1 st shooting position.
It should be noted that the first direction is parallel to the axis of the supporting rod 500, and when the image capturing unit 400 moves along the first direction, the image capturing unit 400 gradually moves away from the vehicle body 100.
Specifically, when the image capturing unit 400 moves to the 1 st photographing position, the driving unit 300 drives the image capturing unit to stop moving.
It is understood that, based on step S1, at this time, the vehicle body 100 is in a stagnation state.
It should be noted that the image captured by the image capturing unit 400 is blurred during the movement. Therefore, in the present invention, when the image collector 400 moves to the 1 st photographing position, the driving device 300 stops driving the image collector 400 to move. At this time, the image collector 400 is in a relatively static state, and the image shot by the image collector 400 is more accurate and clear, so that the accuracy of image collection in the electric power machine room is improved.
In addition, the image captured by the image capturing unit 400 at the 1 st capturing position may be any one, two, or more than two, and may be specifically set according to actual conditions.
When the number of the images shot by the image collector 400 at the 1 st shooting position is multiple, the multiple images are compared and analyzed through the image collector 400 to obtain the best shot image, and therefore the inspection efficiency is improved.
Step S3, after the image corresponding to the 1 st shooting position is acquired, the driving device 300 is started to control the image collector 400 to move to the 2 nd shooting position on the supporting rod 500 along the first direction, the driving device 300 stops driving the image collector 400 to move, and the image corresponding to the 2 nd shooting position is acquired through the image collector 400.
It should be noted that, after the image capturing of the image capturing device 400 at the 1 st capturing position is completed, the driving device 300 controls the image capturing device 400 to move to the 2 nd capturing position along the first direction.
Step S4, after the image corresponding to the 2 nd shooting position is obtained, when the driving device 300 is started to control the image collector 400 to move to the nth shooting position on the supporting rod 500 along the first direction, the driving device 300 stops driving the image collector 400 to move, and the image corresponding to the nth shooting position is obtained through the image collector 400;
specifically, after the image collector 400 obtains an image corresponding to the 2 nd photographing position, the driving device 300 is activated to control the image collector 400 to move to a next photographing position on the supporting rod 500 along the first direction.
When the image collector 400 moves to the next shooting position along the first direction, the driving device 300 stops driving the image collector 400 to move, so that the image collector 400 photographs the shooting position to obtain an image corresponding to the shooting position, and the steps are repeated until the image collector 400 moves to the nth shooting position on the supporting rod 500 along the first direction.
N denotes the last imaging position of the vehicle body 100 at the preset position. For example, when the value of N is five, the image acquirer 400 moves to the nth shooting position, which represents that the image acquirer 400 moves to the fifth shooting position, and it can be understood that the fifth position is the last shooting position of the vehicle body 100 in the preset position at this time.
Specifically, when the image capturing unit 400 moves to the nth shooting position, the image capturing unit 400 captures an area corresponding to the shooting position to obtain an image corresponding to the shooting position.
And S5, after the image corresponding to the Nth shooting position is obtained, when the vehicle body 100 is controlled to move to the next preset position on the inspection guide rail 200, the vehicle body 100 is controlled to stop on the inspection guide rail 200 for a first preset time.
Specifically, when the vehicle body 100 is at a preset position, and the image collector 400 finishes capturing the images at the N capturing positions corresponding to the preset position, that is, the image collector 400 finishes capturing all the images of the vehicle body 100 at the preset position.
At this time, the driving device 300 is turned off, the vehicle body 100 is turned on, and the vehicle body 100 is controlled to move to the next preset position along the inspection rail 200. When the vehicle body 100 moves to the next preset position, the vehicle body 100 is controlled to be stopped at the preset position for a first preset time, so that the image acquisition is performed on each shooting position at the preset position through the image acquirer 400.
It is understood that the image capturing unit 400 is located at the nth photographing position on the preset position of the vehicle body 100. Meanwhile, the image acquirer 400 starts to capture an area corresponding to the capturing position to acquire an image corresponding to the capturing position.
Step S6, the driving device 300 drives the image collector 400 to move on the supporting rod 500 along the second direction, when the image collector 400 moves to the nth shooting position, the driving device 300 stops driving the image collector 400 to move, and the image collector 400 obtains an image corresponding to the nth shooting position.
It should be noted that the first direction is opposite to the second direction, and specifically, the first direction and the second direction are both parallel to the axis of the supporting rod 500.
Specifically, when the image acquirer 400 moves to the nth photographing position, the image acquirer 400 photographs an area corresponding to the photographing position to acquire an image.
It can be understood that when the vehicle body 100 moves to the next preset position and the image collector 400 stays at the nth photographing position, the image corresponding to the nth photographing position can be directly photographed by the image collector 400.
Step S7, after the image corresponding to the nth shooting position is obtained, when the driving device 300 is started to control the image collector 400 to move to the nth-1 shooting position on the supporting rod 500 along the second direction, the driving device 300 stops driving the image collector 400 to move, and the image corresponding to the nth-1 shooting position is obtained through the image collector 400.
It should be noted that, after the image capturing of the image capturing unit 400 at the nth photographing position is completed, the driving device 300 controls the image capturing unit 400 to move to the (N-1) th photographing position along the second direction.
Step S8, after the image corresponding to the N-1 th photographing position is acquired, the driving device 300 is started to control the image collector 400 to move to the 1 st photographing position on the supporting rod 500 along the second direction, the driving device 300 stops driving the image collector 400 to move, and the image corresponding to the 1 st photographing position is acquired by the image collector 400, so that the image collector 400 forms a U-shaped image photographing path of one period.
It can be understood that, after the image collector 400 acquires the corresponding image of the N-1 th photographing position, the image collector 400 is driven to move to the next photographing position by the driving device 300.
When the image collector 400 moves to the next shooting position along the second direction, the driving device 300 stops driving the image collector 400 to move so that the image collector 400 photographs the shooting position to obtain an image corresponding to the shooting position, and the steps are repeated until the image collector 400 moves to the 1 st shooting position on the supporting rod 500 along the second direction so that the image collector 400 forms a U-shaped image shooting path, thereby completing a polling period.
And S9, repeating the steps S1 to S8 in sequence to acquire the image corresponding to each shooting position.
It can be understood that a plurality of U-shaped image shooting paths are formed, namely a plurality of polling periods are formed, so that the area corresponding to each shooting position is shot, and the polling efficiency is improved.
Wherein, the number of times of repeating step S1 to S8 in proper order can be once, twice or the number of times of arbitrary numerical value more than twice, can be according to the actual condition of patrolling and examining and the size of the place of patrolling and examining and decide.
And step S10, sending the acquired image information to a background processor through a signal by the image collector 400.
It should be noted that the digital information in each image is acquired through the background processor, so that the real-time monitoring of the area corresponding to each shooting position is realized, and the inspection efficiency is improved.
The mode through shooing can make the staff can acquire the image of shooting the position in real time to the efficiency of patrolling and examining to the electric power computer lab has been improved greatly.
In some embodiments of the present invention, the preset positions are multiple, and the preset positions are arranged at intervals.
Wherein, the interval between arbitrary two adjacent preset position can specifically be set for according to the condition of patrolling and examining of reality.
It is understood that when the distance between any two adjacent preset positions is equal, the time duration from one preset position to the next preset position of the vehicle body 100 is equal.
It should be noted that the distance between each shooting position can be specifically set according to the actual corresponding shooting position of the machine room.
It can be understood that when the distance between any two adjacent shooting positions is equal, the time duration from one shooting position to the next shooting position of the image acquirer 400 is equal.
In some embodiments of the present invention, in step S2, the stop duration of the driving device 300 is a second preset time, X,0 < X ≦ 3. It is understood that the value of X may be any of 0.5, 0.8, 1, 1.3, 1.5, 1.8, 2, 2.3, 2.5, 2.8 and 3, and may be specifically set according to actual conditions.
In some embodiments of the present invention, in step S4, the first preset time is Y, and the first preset time is greater than the sum of N second preset times, i.e. N X < Y.
Wherein N is the number of preset shooting positions, X is the shooting duration of the image acquirer 400 at each shooting position, and N X is the shooting duration of the image acquirer 400 at one preset position of the vehicle body 100.
It should be noted that the first preset time Y is greater than the total duration of the shooting of the image collector 400 at a preset position of the vehicle body 100.
Specifically, in some embodiments of the present invention, in order to reduce the polling time and improve the polling efficiency, the total time from when the image collector 400 starts to shoot at the 1 st shooting position to when the image collector 400 finishes shooting at the nth shooting position at a preset position of the vehicle body 100 is equal to the first preset time Y.
It is understood that the vehicle body 100 is stopped when the vehicle body 100 moves to a predetermined position. At this time, photographing is performed by the image pickup device 400 moving to each photographing position in the axial direction of the support rod 500, and when photographing is completed at each photographing position of the image pickup device 400 at the preset position of the vehicle body 100, the vehicle body 100 starts to move.
In some embodiments of the present invention, step S2 further includes, when the image collector 400 obtains an image corresponding to any shooting position, sending the image to the background processor through a signal by the image collector 400.
It can be understood that after the image collector 400 finishes shooting at each shooting position, the shot image is sent to the background processor through a signal in real time, so as to monitor the cabinet in the power room in real time.
Optionally, in some embodiments of the present invention, in step S7, after the image acquirer 400 completes one shooting cycle, each image corresponding to the U-shaped image shooting path is sent to the background processor, so that one cycle of shooting by the image acquirer 400 is monitored.
Optionally, in some embodiments of the present invention, the step S8 further includes that after the image collector 400 finishes capturing the area corresponding to each capturing position, each image is simultaneously sent to the background processor, so as to obtain real-time monitoring of all data in the power room in one time period.
As shown in fig. 3, in some embodiments of the present invention, step S8 further includes S801, after the image capturing corresponding to each capturing position is completed, determining whether the image capturing unit 400 is reset by using the stoppers 600 installed at two ends of the supporting rod 500.
It can be understood that stoppers 600 are respectively installed at both ends of the support rod 500 to acquire position information of the image acquirer 400 on the support rod 500 through the stoppers 600 and to determine whether the image acquirer 400 is reset.
And S802, if not, sending a signal to a main control board in the vehicle body 100 through the limiter 600, and controlling the driving device 300 to drive the image acquisition module to reset through the main control board.
Specifically, the driving device 300 drives the image capturing module to move close to the inspection guide rail 200 along the supporting rod 500, so that the image capturing module is reset.
In some embodiments of the present invention, the reset refers to the image collector 400 being located at the 1 st shooting position or at a side of the 1 st shooting position close to the inspection rail 200. It can be understood that, at this time, the image collector 400 is located at one end of the supporting rod 500 close to the car body 100 or the image collector 400 is located at one end of the supporting rod 500 close to the inspection guide rail 200, so as to avoid that the image collector 400 is located at one end of the supporting rod 500 far away from the inspection guide rail 200, which affects the stability of the image collector 400 on the supporting rod 500, so as to form protection for the image collector 400.
Meanwhile, when next inspection is performed, the image collector 400 still performs image shooting in the U-shaped image shooting path, so that the inspection efficiency is improved.
It should be noted that the position limiter 600 may be any one of a distance sensor, a contact sensor and a photoelectric sensor, and may be specifically set according to actual situations.
In some embodiments of the present invention, the first direction and the second direction are opposite, and the first direction and the second direction are respectively parallel to the axis of the support rod 500.
In some embodiments of the present invention, the image collector 400 captures at least one image at each capturing position.
It should be noted that the number of the images shot by the image collector 400 at each shooting position may be one, two, or more than two arbitrary values, and may be specifically set according to actual situations.
Some embodiments of the present invention also provide an inspection apparatus, including a first obtaining module 700 to obtain a current position of the vehicle body 100; a second obtaining module 800 to obtain the current position of the image collector 400; a first control module 900 to control starting or stopping of the vehicle body 100; the second control module 1000 controls the start or stop of the driving device 300.
In addition, the inspection device further includes a third obtaining module to obtain whether the image capturing of the N capturing positions is completed by the image capturing unit 400 through the third obtaining module.
Specifically, when the third acquiring module has acquired that the image collector 400 finishes capturing images at the N capturing positions, the first control module 900 controls the vehicle body 100 to start, so that the vehicle body 100 moves to the next preset position.
When the third acquiring module acquires that the image collector 400 finishes image shooting at less than N shooting positions, the vehicle body 100 keeps a stationary state, so that the image collector 400 continues to collect images at the preset position of the vehicle body 100.
As shown in fig. 6, some embodiments of the present invention also provide an inspection robot including a control board 1100 and the inspection apparatus.
The first obtaining module 700, the second obtaining module 800, the first control module 900 and the second control module 1000 are electrically connected to the control board 1100, respectively, so as to control the inspection device through the main control board.
In all examples shown and described herein, any particular value should be construed as exemplary only and not as a limitation, and thus other examples of example embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
The above examples are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (11)
1. The utility model provides a method of patrolling and examining, patrolling and examining robot includes automobile body, bracing piece, image collector and drive image collector and be in the drive arrangement who removes on the bracing piece, its characterized in that, the method of patrolling and examining includes:
s1, marking P preset positions on an inspection guide rail in which a vehicle body moves, and sequentially marking 1, 2 and 3 \8230ona supporting rod along the axis direction of the supporting rod from a position close to the vehicle body to a position far away from the vehicle body, wherein P and N are integers more than or equal to 2;
the method comprises the steps of obtaining the current position of a vehicle body on an inspection guide rail, and controlling the vehicle body to stop on the inspection guide rail for a first preset time when the obtained current position is any one of P preset positions;
s2, the driving device drives the image collector to move on the supporting rod along a first direction, when the image collector moves to a 1 st shooting position, the driving device stops driving the image collector to move, and an image corresponding to the 1 st shooting position is obtained through the image collector;
s3, after the image corresponding to the 1 st shooting position is obtained, the driving device is started to control the image collector to move to the 2 nd shooting position on the supporting rod along the first direction, the driving device stops driving the image collector to move, and the image corresponding to the 2 nd shooting position is obtained through the image collector;
s4, after the image corresponding to the 2 nd shooting position is obtained, the driving device is started to control the image collector to move to the Nth shooting position on the supporting rod along the first direction, the driving device stops driving the image collector to move, and the image corresponding to the Nth shooting position is obtained through the image collector;
s5, after the image corresponding to the Nth shooting position is obtained, controlling the vehicle body to move to the next preset position on the inspection guide rail, and controlling the vehicle body to stop on the inspection guide rail for a first preset time;
s6, the driving device drives the image collector to move on the supporting rod along a second direction, when the image collector moves to an Nth shooting position, the driving device stops driving the image collector to move, and an image corresponding to the Nth shooting position is obtained through the image collector;
s7, after the image corresponding to the Nth shooting position is obtained, the driving device is started to control the image collector to move to the (N-1) th shooting position on the supporting rod along the second direction, the driving device stops driving the image collector to move, and the image corresponding to the (N-1) th shooting position is obtained through the image collector;
s8, after the image corresponding to the N-1 th shooting position is obtained, the driving device is started to control the image collector to move to the 1 st shooting position on the supporting rod along the second direction, the driving device stops driving the image collector to move, and the image corresponding to the 1 st shooting position is obtained through the image collector, so that the image collector forms a U-shaped image shooting path in one period;
s9, repeating the steps from S1 to S8 in sequence to obtain an image corresponding to each shooting position;
and S10, sending the acquired image information to a background processor through a signal by an image collector.
2. The inspection method according to the claim 1, wherein in the step S2, the stop time of the driving device is a second preset time, X,0 < X ≦ 3.
3. The inspection method according to the claim 1, wherein in the step S5, the first preset time is Y, and the first preset time is greater than the sum of the N second preset times.
4. The inspection method according to the claim 1, wherein the step S2 further includes the step of sending the image to the background processor through a signal by the image collector when the image collector obtains the image corresponding to any one of the shooting positions.
5. The inspection method according to claim 1, wherein in step S8, images corresponding to one shooting period are acquired, and the images of the period are sent to the background processor through signals by the image collector.
6. The inspection method according to claim 1, wherein the step S9 further includes S901, after the image corresponding to each shooting position is shot, whether the image collector is reset is judged through the limiters installed at the two ends of the supporting rod;
and S902, if not, sending a signal to a main control board in the vehicle body through the limiter, and controlling the driving device to drive the image acquisition module to reset through the main control board.
7. The inspection method according to the claim 1, wherein the step S9 further includes acquiring images corresponding to each shooting position, and sending each image to the background processor through the image collector.
8. The inspection method according to claim 1, wherein the first direction and the second direction are opposite and are respectively parallel to the axis of the support bar.
9. The inspection method according to claim 1, wherein the image collector captures at least one image at each capture position.
10. The inspection device is characterized by comprising a first acquisition module for acquiring the current position of a vehicle body;
the second acquisition module is used for acquiring the current position of the image acquisition device;
the first control module is used for controlling the starting or stopping of the vehicle body;
and the second control module is used for controlling the starting or stopping of the driving device.
11. An inspection robot comprising a control board and the inspection apparatus of claim 10;
the first acquisition module, the second acquisition module, the first control module and the second control module are respectively and electrically connected to the control board.
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Application publication date: 20221101 |