CN115407762A - Inspection system, inspection control method and inspection robot for construction site - Google Patents
Inspection system, inspection control method and inspection robot for construction site Download PDFInfo
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The application relates to a construction site inspection system, an inspection control method and an inspection robot. The system comprises: the leakage cable is hung on a climbing frame of a building and is arranged at least one circle around the climbing frame of the building; the climbing frame is a lifting climbing frame; the leakage cable is provided with a wireless connector for realizing wireless connection; the guide rail is arranged around the climbing frame of the building for at least one circle; the guide rail is separated from the leakage cable by a preset distance; the inspection robot moves along the guide rail; video acquisition equipment sets up on patrolling and examining the robot for the video data of patrolling and examining of gathering building site, video acquisition equipment is provided with first communication module, and first communication module is connected with the server through leaking the cable, and video acquisition equipment sends the video data of patrolling and examining of gathering to the server through first communication module. The system realizes that the building is promoted to rise along with the construction progress, the inspection robot can monitor the latest construction site in real time around the periphery of the building, and the effectiveness of monitoring space and monitoring time is realized.
Description
Technical Field
The application relates to the technical field of communication, in particular to a construction site inspection system, an inspection control method and an inspection robot.
Background
With the increasing development of communication technology and building industry, the requirement for managing and controlling the overall construction condition of a building site or a construction site is increased. The whole construction condition of the construction site or the construction site can be actual conditions in different aspects such as current engineering progress, site safety and personnel safety.
At present, the application of the inspection robot in the safety field is relatively mature, but the inspection robot is limited by the complex working conditions and the severe environment of a construction site, and the inspection robot cannot be well utilized in the construction site. Therefore, the construction site usually adopts a fixed-point monitoring mode, namely, a positioning setting monitoring mode. However, the acquisition range of the method is limited, and the construction site is changed (for example, the more the floor is built, the higher the building is), and the method of fixed-point monitoring cannot effectively monitor the latest construction site. That is, existing construction sites are inefficient to monitor.
Disclosure of Invention
In view of the above, it is necessary to provide an inspection system, an inspection control method, and an inspection robot for a construction site, which can improve monitoring effectiveness.
A system for inspection of a construction site, the system comprising:
the first leakage cable is hung on a climbing frame of a building and is arranged at least one circle around the climbing frame of the building; the climbing frame is a lifting climbing frame; the first leakage cable is provided with a wireless connector for realizing wireless connection;
the guide rail is arranged around the climbing frame of the building for at least one circle; the guide rail is separated from the first leakage cable by a preset distance;
the inspection robot moves along the guide rail;
video acquisition equipment sets up on patrolling and examining the robot for what gather the building site patrols and examines video data, video acquisition equipment is provided with first communication module, first communication module is connected with the server through first leakage cable, video acquisition equipment passes through first communication module to the server sends the collection patrol and examine video data.
In one embodiment, the inspection robot comprises an inspection robot body, an industrial personal computer and a second communication module, wherein the industrial personal computer is connected with the second communication module, the second communication module is connected with the server through the first leakage cable, and the industrial personal computer receives a robot control instruction sent by the server through the second communication module and controls the inspection robot body to act.
In one embodiment, the construction site is provided with a wireless bridge transmitter which communicates with a wireless bridge receiver provided on the server side; the wireless connector is connected to the wireless bridge transmitter, and the video acquisition equipment transmits the acquired patrol inspection video data to the server through the first communication module, the first leaky cable, the wireless bridge transmitter and the wireless bridge receiver.
In one embodiment, the communication signals of the wireless bridge transmitter and the wireless bridge receiver are radio frequency signals.
In one embodiment, the wireless connector is connected to the server network through a wireless access point.
In one embodiment, the system further comprises:
the video acquisition equipment sends the routing inspection video data to the third-party storage equipment for storage through the first communication module.
In one embodiment, the system further comprises:
the dust detection sensor is arranged at a preset point of a building site, is connected with the server through a second leakage cable and sends a detected dust detection result to the server.
A method of routing inspection control of a construction site, the method comprising:
sending a video acquisition instruction to a first communication module of the inspection robot, wherein the video acquisition instruction is used for instructing the inspection robot to control a video acquisition device to acquire inspection video data of a construction site;
receiving and storing the inspection video data sent by the inspection robot;
sending a robot control instruction to a second communication module of the inspection robot, wherein the robot control instruction is used for indicating the inspection robot to control the inspection robot to act;
the first communication module and the second communication module are respectively in wireless connection with a server through first leakage cables, and the first communication module and the second communication module are different.
In one embodiment, the method further comprises:
acquiring a configuration instruction of third-party storage equipment;
and acquiring the internet protocol address of the video acquisition equipment according to the configuration instruction, and performing channel configuration on the third-party storage equipment according to the internet protocol address, wherein after configuration, the third-party storage equipment and the video acquisition equipment are in the same local area network.
A method of routing inspection control for a construction site, the method comprising:
the inspection robot receives a video acquisition instruction sent by a server through a first communication module, controls a video acquisition device to acquire inspection video data of a construction site, and sends the inspection video data to the server through the first communication module;
the inspection robot also receives a robot control instruction sent by the server through a second communication module, and the inspection robot controls the inspection robot body to act;
the first communication module and the second communication module are wirelessly connected with the server through first leaky cables respectively, and the first communication module and the second communication module are different.
In one embodiment, the method further comprises the following steps:
the video acquisition equipment is arranged on an inspection robot of the building site, the inspection robot moves along a guide rail, and the guide rail is arranged at least one circle around a climbing frame of the building; the guide rail is separated from the first leakage cable by a preset distance; the first leakage cable is hung on a climbing frame of a building and is arranged at least one circle around the climbing frame of the building; the climbing frame is a lifting climbing frame.
The utility model provides an inspection robot, inspection robot carries out following step and patrols and examines at the building site:
the inspection robot receives a video acquisition instruction sent by a server through a first communication module, controls a video acquisition device to acquire inspection video data of a building site, and sends the inspection video data to the server through the first communication module;
the inspection robot also receives a robot control instruction sent by the server through a second communication module, and the inspection robot controls the inspection robot body to act;
the first communication module and the second communication module are wirelessly connected with the server through first leaky cables respectively, and the first communication module and the second communication module are different.
A computer-readable storage medium, having stored thereon a computer program which, when executed by an inspection robot, performs inspection of a construction site by:
the inspection robot receives a video acquisition instruction sent by a server through a first communication module, controls a video acquisition device to acquire inspection video data of a construction site, and sends the inspection video data to the server through the first communication module;
the inspection robot also receives a robot control instruction sent by the server through a second communication module, and the inspection robot controls the inspection robot body to act;
the first communication module and the second communication module are wirelessly connected with the server through first leaky cables respectively, and the first communication module and the second communication module are different.
In the inspection system, the inspection control method and the inspection robot for the construction site, the first leakage cable provides a communication function, and the guide rail provides a movable path for the inspection robot on the construction site with complex working conditions, so that the inspection robot can not be influenced by the complex working conditions of the construction site. First leakage cable all sets up at least a week around climbing the frame with the guide rail, to patrolling and examining the robot, can monitor around the building periphery, has enlarged monitoring range, has the validity in control space. Moreover, the climbing frame can be lifted along with the construction progress, the height of the climbing frame can be adjusted, so that the first leakage cable and the guide rail can be lifted or lowered along with the progress of building construction, when the construction progress is advanced, the building continuously ascends, when the climbing frame ascends, the guide rail ascends, the inspection robot can monitor the construction site of the latest progress, and the first leakage cable can provide communication support for the inspection robot along with the ascending, and the inspection video data are sent to the server. Therefore, the construction progress of the building can be increased, the construction site of the latest construction site can be monitored, and the monitoring time is effective.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an inspection system for a construction site;
FIG. 2 is a schematic diagram of the construction of another embodiment of the inspection system for a construction site;
FIG. 3 is a schematic view of the installation of a leaky cable in one embodiment;
FIG. 4 is a schematic diagram of the network communications at the construction site and server side in one embodiment;
FIG. 5 is a schematic diagram of the construction of a routing inspection system for a construction site in accordance with yet another embodiment;
FIG. 6 is a schematic flow chart of a method for controlling inspection of a construction site according to one embodiment;
FIG. 7 is a schematic flow chart of a construction site routing inspection control method according to another embodiment;
fig. 8 is an internal structural view of the inspection robot in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a system architecture of an inspection system for a construction site, which, as can be seen from fig. 1, includes: first leaky cable 102, guide rail 104, climbing frame 106, inspection robot 108 and video capture device 110, wherein:
the first leakage cable 102 is hung on a climbing frame 106 of a building, and is arranged at least one circle around the climbing frame 106 of the building, and the climbing frame 106 is a lifting climbing frame. Wherein the first leaky cable 102 is further provided with a wireless connector for enabling a wireless connection.
The guide rail 104 is disposed at least one revolution around a scaffold 106 of the building, wherein the guide rail 104 and the first leaky cable 102 are separated by a predetermined distance.
The inspection robot 108 moves along the guide rail 104.
And the video acquisition equipment 110 is arranged on the inspection robot 108 and is used for acquiring the inspection video data of the construction site. The video capture device 110 is provided with a first communication module 112, the first communication module 112 is connected to the server through the first leaky cable 102, and the video capture device 110 can send the captured patrol video data to the server through the first communication module 112.
Specifically, the climbing frame 106, also called a lifting frame, can be classified into several types, such as hydraulic type, electric type, manual pull type, etc., according to the power source thereof, and is a novel scaffold system developed in recent years, mainly applied to a high-rise shear wall type building, and capable of ascending or descending along a building. Since the first leaky cable 102 is hung on the climbing frame 106 of the building and is arranged at least one circle around the climbing frame 106 of the building, when the building is constructed, the climbing frame 106 rises and the first leaky cable 102 also rises.
Wherein the wireless connector of the first leaky cable 102 may be connected to the server network through a wireless access point. The first leaky cable 102 includes a load, a wireless connector and a ground card, and the first leaky cable 102 represents a high frequency cable for leaky communication, wherein a part of signals transmitted inside the first leaky cable 102 can leak to an external space near the cable through a leaky slot or a sparsely woven hole to be provided to a mobile receiver, thereby achieving the purpose of sending radio signals into a closed space.
The guide rail 104 is a movable path of the inspection robot 108, and specifically, the inspection robot 108 moves along a laying trajectory of the guide rail 104, that is, the inspection robot 108 can move along a climbing frame 106 of a building where the guide rail 104 is laid. Wherein, because guide rail 104 sets up at least a week around climbing frame 106 to patrol and examine the periphery outside robot 108's the home range is the building, can monitor around the building periphery.
Further, since the guide rail 104 is also provided around the climbing frame 106, when the construction progress advances, the building rises continuously, and the climbing frame 106 rises, the guide rail 104 rises, and the inspection robot 108 can monitor the construction site of the latest progress. That is, the monitoring range of the inspection robot 108 has time variability, and as the construction work advances, the monitoring range rises along with the building, and the latest construction site is monitored.
The guide rail 104 is made of metal, and if the distance between the guide rail 104 and the first leaky cable 102 is too close, the signal of the first leaky cable 102 is affected. Thus, the guide rail 104 and the first leaky cable 102 are disposed at a predetermined distance apart. The preset distance should be a safe distance that can prevent the guide rail 104 from affecting the communication signal of the first leaky cable 102, and may be set according to experience and the size and material of the guide rail 104. For example, the preset distance may be a different value from 20 to 40 centimeters, and preferably, the preset distance may be 30 centimeters, that is, when the guideway 104 and the first leaky cable 102 are laid, the distance between the guideway 104 and the first leaky cable 102 is set to be 30 centimeters, so as to avoid the guideway 104 from affecting signal transmission or data transmission through the first leaky cable 102.
In one embodiment, the first communication module 112 of the video capture device 110 may be a wireless communication module built in the video capture device 110, such as a wifi communication module, which may establish a connection with a server through the first leaky cable 102.
In one embodiment, the video capture device 110 receives a video capture instruction sent by the server through the first communication module 112, where the video capture instruction is used to instruct the video capture device 110 to capture patrol video data of the construction site, and send the captured patrol video data to the server through the first communication module 112.
The server can be arranged in a monitoring room and can monitor the construction progress of a construction site and the personnel safety condition of the construction site. The server can also play the received routing inspection video data of the construction site in real time or play the routing inspection video data back according to the user requirements at the terminal equipment of the monitoring room, so that the user can comprehensively know the construction process of the construction site and the personnel safety condition of the construction site.
Among the system of patrolling and examining of above-mentioned building site, first leakage cable provides communication function, and the guide rail provides movable route for patrolling and examining the building site of robot at complicated operating mode to it can not receive the influence of the complicated operating mode of building site to patrol and examine the robot. First leakage cable all sets up at least a week around climbing the frame with the guide rail, to patrolling and examining the robot, can monitor around the building periphery, has enlarged monitoring range, has the validity in control space. Moreover, the climbing frame can be lifted along with the construction progress, the height of the climbing frame can be adjusted, so that the first leakage cable and the guide rail can be lifted or lowered along with the progress of building construction, when the construction progress is advanced, the building continuously ascends, when the climbing frame ascends, the guide rail ascends, the inspection robot can monitor the construction site of the latest progress, and the first leakage cable can provide communication support for the inspection robot along with the ascending, and the inspection video data are sent to the server. Therefore, the construction progress of the building can be increased, the construction site of the latest construction site can be monitored, and the monitoring time validity is realized.
In one embodiment, a video capture device 110 is provided on the inspection robot 108 for capturing inspection video data of the construction site. The video capture device 110 is provided with a first communication module 112, the first communication module 112 is connected to the server through the first leaky cable 102, and the video capture device 110 can send the captured patrol video data to the server through the first communication module 112.
In the inspection system of the construction site shown in fig. 2, the inspection robot 108 includes an inspection robot body 1082, an industrial personal computer 1084, and a second communication module 1086. The industrial personal computer 1084 is connected with the second communication module 1086, and the second communication module 1086 is connected with the server through the first leaky cable 102. The industrial personal computer 1084 further receives a robot control instruction sent by the server through the second communication module 1086, and then controls the inspection robot body 1082 to act.
In one embodiment, the video capture device 110 is provided with a memory in advance, and is used for storing the captured patrol video data in real time, so as to ensure that the video data is not lost when the network is disconnected. The memory on the video capture device 110 may be a memory card, such as a 128G or 256G memory card, or a hard disk, such as a 128G or 256G hard disk.
The second communication module 1086 may be an ubuntu operating system built in the inspection robot 108, where the ubuntu operating system represents a Linux operating system based on desktop applications, and network setting may be performed based on the ubuntu operating system, so that the second communication module 1086 establishes a network connection with the server through the first leaky cable 102.
Specifically, through the frame of climbing at the building set up the guide rail to and hang and establish first leakage cable, climb the frame and can rise along with the construction process of building, thereby the guide rail also can rise along with climbing the frame with first leakage cable, then patrol and examine the robot and when patrolling and examining along the guide rail, patrol and examine the robot and can follow the rising of climbing the frame, in time patrol and examine the newest construction process.
The industrial personal computer 1084 can receive a robot control instruction sent by the server through the second communication module 1086, and control the inspection robot body 1082 to move. The video collecting device 110 arranged on the inspection robot 108 can move along the guide rail at the inspection robot body 1082 and collect inspection video data of the periphery of a building in a construction process in the process of acting according to a robot control instruction.
In one embodiment, after the industrial personal computer 1084 receives the robot control instruction through the second communication module 1086, the inspection robot body 1084 may be further controlled to turn according to the robot control instruction, that is, the advancing direction of the inspection robot body 1084 is controlled, for example, the inspection robot body 1082 is controlled to continue to advance according to the current direction, or the inspection robot body 1082 is controlled to automatically turn back. The robot control command may also be used to instruct the inspection robot 1082 to begin moving forward, or to stop moving, etc.
Further, by arranging the first communication module 112 on the video acquisition device 110, data transmission between the video acquisition device 110 and the server is realized, and by connecting the industrial personal computer 1084 with the second communication module 1086, data transmission between the industrial personal computer 1084 and the server is realized, so that the problem that when a server sends a corresponding control instruction to the industrial personal computer 1084 or the video acquisition device 110, a control instruction sending error occurs when a single 4G network, a wifi network, a Bluetooth or ZigBee network and the like are adopted in the traditional robot inspection and inspection to realize the data transmission mode between the robot body 1082 and the video acquisition device 110 and the server is caused by the fact that the server sends a corresponding control instruction to the industrial personal computer 1084 or the video acquisition device 110 is adopted can be avoided.
Because the video acquisition module has set up different communication module respectively with patrolling and examining the robot, can realize that video acquisition equipment 110 sends video data and industrial computer 1084 feedback corresponding control command execution result's separation transmission, can feed back to the server through different communication module respectively, reduce the mutual influence when different data transmit, avoid appearing the chaotic condition of data, reduce retransmission, promote data transmission efficiency.
In one embodiment, as shown in fig. 3, an installation diagram of a first leaky cable is provided, and as can be seen from fig. 3, the first leaky cable comprises a load 302, a wireless connector 304 and a grounding card 306, wherein data transmission between the inspection robot and the server, and between the video capture device and the server can be realized by hanging the first leaky cable on a climbing shelf of a building.
In particular, wireless connector 304 is connected to a server network through a wireless access point 308.
The first leakage cable represents a high-frequency cable for leakage communication, wherein a cable outer conductor of the leakage cable is not fully shielded and is provided with a leakage groove or a sparse weaving structure, so that a part of signals transmitted in the leakage cable can be leaked to an external space near the cable through the leakage groove or a sparse weaving hole and provided for a mobile receiver, and the purpose of sending radio signals into a closed space is achieved. Similarly, the external mobile signal can also pass through the outer conductor of the cable through the leakage slot or the loosely woven hole to enter the leakage cable, and further can form a leakage communication system with the base station so as to satisfy mobile communication within a certain range along the leakage cable.
Further, the wireless access point 308 is provided with a connector 310, a lightning arrester 312 and an access point load 314, the wireless access point 308 accesses the internet through a twisted pair, and power supply is realized through a power supply system based on a local area network, i.e., a poe system.
In one embodiment, as shown in fig. 4, a network communication diagram of a building site and a server side is provided, and referring to fig. 4, a wireless bridge transmitter 402 is provided on the building site side, a wireless network bridge receiver 402 is provided on the server side of a monitoring room, and the wireless bridge transmitter 402 communicates with the wireless network bridge receiver 404. The communication signal of the wireless bridge transmitter 402 and the wireless bridge receiver 402 may be a radio frequency signal.
Specifically, the building rooftop of the construction site is provided with a wireless bridge transmitter 402, and the monitoring room in which the server 406 is installed is provided with a wireless bridge receiver 404. Because a long communication distance exists between the construction site and the monitoring room, and a wireless bridge is needed to realize long-distance signal transmission or data transmission, the wireless bridge transmitter 402 is arranged on the top floor of the construction site, and the wireless bridge receiver 404 is arranged in the monitoring room, so that the inspection video data of the construction site is transmitted to the server 406 of the monitoring room.
Wherein, because there is far communication distance between building site and the monitoring room, the wireless bridge transmitter 402 and the wireless bridge receiver 404 are respectively arranged on the building site and the monitoring room, and the radio frequency signal is adopted as the communication signal between the wireless bridge transmitter 402 and the wireless bridge receiver 402, so as to realize the long-distance signal or data transmission. The requirement of network communication can be met without laying a large number of network cables on the building, so that the network communication cost consumed by monitoring the building construction process can be reduced.
Further, the wireless connector of the first leaky cable 102 is connected to the wireless bridge transmitter 402 on the top floor of the building, and the video capture device 110 transmits the captured patrol video data of the construction site to the server through the first communication module 112, the first leaky cable 102, the wireless bridge transmitter 402 and the wireless bridge receiver 404.
Specifically, the wireless connector of the first leaky cable 102 is connected to the wireless bridge transmitter 402, the first communication module 112 of the video capture device 110 is connected to the first leaky cable 102, and data communication is performed between the wireless bridge transmitter 402 and the wireless bridge receiver 404, so that the video capture device 110 can transmit the captured video data for polling the building site to the server through the first communication module 112, the first leaky cable 102, the wireless bridge transmitter 402 and the wireless bridge receiver 404.
In the inspection system for the building site, the video data for inspection of the building site is acquired by controlling the video acquisition equipment, the first communication module of the video acquisition equipment is in communication connection with the server through the first leakage cable, and the acquired video data is sent to the server through the first leakage cable. The industrial personal computer of the inspection robot is connected with the second communication module, so that the second communication module is connected with the server through the first leakage cable, the industrial personal computer receives the robot control instruction sent by the server through the second communication module, and the inspection robot body is controlled to move. The industrial personal computer and the video acquisition equipment are respectively connected with the server through the first leakage cable, so that the collected video data and other data such as a robot control instruction can be separated and transmitted, the condition of data chaos is avoided, the stable connection of the signal of the inspection robot in the moving process is ensured, the stable transmission of the data is realized, and the working efficiency of the inspection robot in the inspection process is further improved.
In one embodiment, as shown in fig. 5, a patrol system of a construction site further includes:
the third-party storage device 114, the third-party storage device 114 and the video acquisition device 110 are in the same local area network, and the video acquisition device 110 sends the patrol video data to the third-party storage device 114 for storage through the first communication module 112.
The third storage device 114 may be a network hard disk recorder with a large capacity, or a local storage hard disk of a computer, and is configured to store the inspection video data acquired by the video acquisition device 110. When the third-party storage device 114 and the video capture device 110 are in the same local area network, the video capture device 110 sends the polling video data to the third-party storage device 114 for storage through the first communication module 112. And then can be because storage space is not enough at the memory that video acquisition equipment 110 set up, when the problem that can't preserve the newest video data of patrolling and examining appears, in time will patrol and examine video data and send to the third party storage device 114 of large capacity and save to guarantee that can completely preserve the video data of patrolling and examining of gathering, avoid appearing patrolling and examining video data and lose or preserve incomplete problem.
In another embodiment, the inspection system for a construction site further comprises:
the raise dust detection sensor 116 is arranged at a preset point of a building site, and the raise dust detection sensor 116 is connected with the server 120 through a second leakage cable 122 and sends a detected raise dust detection result to the server 120. The terminal device 118 is connected to the server 120 and the third-party storage device 116, and is configured to acquire video data stored in the third-party storage device 116 or the server 120, so as to implement preview and historical video playback of the video data.
In one embodiment, the network protocol addresses of the wireless access point, the inspection robot and the video acquisition equipment are configured, so that the wireless access point, the inspection robot and the video acquisition equipment form a local area network, and the network protocol addresses of the wireless access point, the inspection robot and the video acquisition equipment are in a first preset network segment, such as 192.168.1.X network segment. And the server and the third-party storage device are in a second preset network segment, such as a 10.1.8.X network segment, and are mapped on the switch through the internal and external network ports, so that the whole network intercommunication is realized, namely the network intercommunication among the wireless access point, the inspection robot body, the video acquisition device, the server and the third-party storage device is realized.
In one embodiment, the inspection system for the construction site further comprises a fixed point video capture device disposed at a second predetermined point of the construction site. Wherein, the fixed point video acquisition equipment is connected with the server through a second leaky cable. The fixed point video acquisition equipment analyzes and sends the building site video data to the server through acquiring the building site video data of a second preset point of the building site and a second leakage cable.
Among the system of patrolling and examining of above-mentioned building site, can realize patrolling and examining the storage of video data to what video acquisition equipment gathered through setting up third party storage device to and set up raise dust detection sensor and realize carrying out the raise dust to building site and detect, reduce environmental pollution. And subsequently, previewing and replaying historical videos of the routing inspection video data can be realized on the terminal equipment, so that the collected routing inspection video data can be further analyzed, the abnormal condition of the construction site can be determined, abnormal processing can be timely carried out, and the safety and stability of the construction site can be ensured.
In one embodiment, the patrol inspection system of the construction site is provided, wherein the server is further used for carrying out image recognition on patrol inspection video data to be recognized and generating a corresponding image recognition result.
Specifically, the server decompresses the received patrol video data to obtain decompressed patrol video data, performs image recognition on the decompressed patrol video data, namely to-be-recognized patrol video data, and generates a corresponding image recognition result.
The image identification can comprise high-altitude parabolic detection and portrait detection, wherein the inspection video data to be identified are subjected to the high-altitude parabolic detection to generate a corresponding high-altitude parabolic detection result, whether the high-altitude parabolic condition exists in the current building site can be determined based on the high-altitude parabolic detection result, and if the high-altitude parabolic condition exists, the high-altitude parabolic behavior needs to be warned, so that the personnel safety is guaranteed.
Similarly, the image detection is carried out on the routing inspection video data to be identified, a corresponding image detection result is generated, and then whether a worker in a construction site wears a safety helmet or not can be determined based on the corresponding image detection result, the worker wears a prescribed safety garment, and if the worker does not wear the safety garment or the safety helmet is detected, the worker warns to guarantee the safety of the worker.
In the inspection system for the building site, the inspection video data to be identified are subjected to image identification through the server, a corresponding image identification result is generated, and the construction site of the building site and the safety condition of constructors are determined according to the image identification result.
The various modules in the above-described construction site inspection system may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, as shown in fig. 6, a method for controlling inspection of a construction site is provided, and the embodiment is exemplified by applying the method to a server, and it is understood that the method can also be applied to an inspection robot, and can also be applied to a system including the inspection robot and the server, and is implemented by interaction between the inspection robot and the server. In this embodiment, the inspection control method for the construction site specifically includes the following steps:
step S602, sending a video acquisition instruction to a first communication module of the inspection robot, wherein the video acquisition instruction is used for instructing the inspection robot to control a video acquisition device to acquire inspection video data of a construction site.
Specifically, the server sends a video acquisition instruction to the inspection robot, the inspection robot receives the video acquisition instruction sent by the server through the first communication module, and the inspection robot controls the video acquisition equipment to acquire inspection video data of the building site according to the video acquisition instruction. The first communication module is connected with the server through a first leakage cable, and the inspection robot sends inspection video data acquired by the video acquisition equipment to the server through the first communication module.
The video acquisition equipment is arranged on an inspection robot on a building site, the inspection robot moves along the guide rail, the guide rail is arranged for at least one circle around a climbing frame of a building, and the guide rail is separated from the first leakage cable by a preset distance. Wherein, first leaking cable is hung and is established on the frame of climbing of building, sets up at least a week around the frame of climbing of building, and first leaking cable is provided with the wireless connector for realize wireless connection.
Further, as the climbing frame of the building can ascend or descend along with the building, and the first leakage cable and the guide rail are arranged at least one circle around the climbing frame of the building, when the building ascends along with the building construction, the climbing frame ascends, and the first leakage cable and the guide rail also ascend along with the building construction. When the inspection robot moves on the guide rail, the inspection robot can ascend along with the climbing frame, the video acquisition equipment arranged on the inspection robot also ascends along with the climbing frame, the inspection robot can ascend along with the building along with the propulsion of the building engineering, the latest construction site is monitored, the video acquisition equipment can acquire the inspection video data of the latest construction site in real time, the first communication module can pass through the first leakage cable, and the latest acquired inspection video data are sent to the server.
And step S604, receiving and storing the inspection video data sent by the inspection robot.
Specifically, since the first communication module is connected to the server through the first leaky cable, the server can receive the patrol video data sent by the patrol robot through the first communication module and store the patrol video data.
In one embodiment, after receiving and storing the patrol video data, the server further includes:
and carrying out image recognition on the inspection video data to be recognized to generate a corresponding image recognition result.
Specifically, the server decompresses the received patrol inspection video data to obtain decompressed patrol inspection video data, performs image recognition on the decompressed patrol inspection video data, namely the patrol inspection video data to be recognized, and generates a corresponding image recognition result.
The image identification can comprise high-altitude parabolic detection and portrait detection, wherein the inspection video data to be identified are subjected to the high-altitude parabolic detection to generate a corresponding high-altitude parabolic detection result, whether the high-altitude parabolic condition exists in the current building site can be determined based on the high-altitude parabolic detection result, and if the high-altitude parabolic condition exists, the high-altitude parabolic behavior needs to be warned, so that the personnel safety is guaranteed.
Similarly, the image detection is carried out on the routing inspection video data to be identified, a corresponding image detection result is generated, and then whether a worker in a construction site wears a safety helmet or not can be determined based on the corresponding image detection result, the worker wears a prescribed safety garment, and if the worker does not wear the safety garment or the safety helmet is detected, the worker warns to guarantee the safety of the worker.
In one embodiment, the server is further operable to send a collection control instruction to the video capture device, wherein the collection control instruction is operable to instruct the video capture device to turn to more fully patrol video data collection for the construction site.
And step S606, sending a robot control instruction to a second communication module of the inspection robot, wherein the robot control instruction is used for indicating the inspection robot to control the inspection robot to act.
Specifically, the server sends a robot control instruction to the inspection robot, the inspection robot receives the robot control instruction through the second communication module, and the inspection robot body is controlled to act according to the robot control instruction.
The first communication module and the second communication module are respectively in wireless connection with the server through first leakage cables, and the first communication module and the second communication module are different.
According to the method for patrolling the building site, the video acquisition instruction is sent to the patrolling robot, and after the patrolling robot receives the video acquisition instruction through the first communication module, the patrolling robot controls the video acquisition equipment to acquire patrolling video data of the building site according to the video acquisition instruction, and sends the acquired patrolling video data to the server through the first communication module. The robot control instruction is sent to the inspection robot, and after the inspection robot receives the robot control instruction through the second communication module, the inspection robot controls the inspection robot body to act according to the robot control instruction. The communication connection with the server is realized respectively through first leakage cable with first communication module and second communication module, can realize the separation transmission with other data such as video data and the robot control command that gather, avoids appearing the circumstances of data confusion, guarantees to patrol and examine the signal stability of robot at the removal in-process and connects, and the stable transmission of data has further promoted to patrol and examine the work efficiency of robot at the in-process of patrolling and examining.
In one embodiment, a method for controlling inspection of a construction site is provided, which further includes:
acquiring a configuration instruction of third-party storage equipment;
and acquiring the Internet protocol address of the video acquisition equipment according to the configuration instruction, and performing channel configuration on the third-party storage equipment according to the Internet protocol address, wherein after configuration, the third-party storage equipment and the video acquisition equipment are in the same local area network.
Specifically, a configuration instruction of the third-party storage device is obtained, and a network protocol address of the video acquisition device is obtained according to the configuration instruction. And further, channel configuration is carried out on the third-party storage device according to the internet protocol address of the video acquisition device, so that the third-party storage device and the video acquisition device are in the same local area network.
Further, according to the configuration instruction, a network protocol address of the video acquisition device and a network protocol address of the third-party storage device are obtained, the network protocol address of the third-party storage device is accessed, a configuration page of the third-party storage device is obtained, channel configuration is performed in the configuration page of the third-party storage device, the network protocol address of the video acquisition device is written in and stored, and then communication connection between the third-party storage device and the video acquisition device can be established.
In an embodiment, the server may further modify the network protocol address of the terminal device according to the network protocol address of the video capture device, and access the network protocol address of the video capture device based on a browser of the terminal device to obtain a configuration interface of the video capture device. Based on the configuration interface of the video acquisition equipment, a wifi communication module built in the video acquisition equipment is triggered, different networks in the current environment are scanned through the wifi communication module, a wireless signal of a wireless access point is accessed, and network connection between the video acquisition equipment and a server is achieved.
According to the method for controlling the routing inspection of the building site, the configuration instruction of the third-party storage device is obtained, the internet protocol address of the video acquisition device is obtained according to the configuration instruction, the channel configuration is carried out on the third-party storage device according to the internet protocol address, the third-party storage device and the video acquisition device are enabled to be in the same local area network, and therefore the video acquisition device can store the acquired routing inspection video data in the third-party storage device through the first communication module, and the condition that the storage space of the video acquisition device is insufficient, so that the storage of the routing inspection video data is incomplete or the data is lost is avoided.
In one embodiment, a method for controlling inspection of a construction site is provided, which further includes:
and receiving a raise dust detection result sent by a raise dust detection sensor at a preset point of the building site.
Specifically, raise dust detection sensor sets up at building site preset point, and raise dust detection sensor leaks the cable through the second and is connected with the server, sends the raise dust testing result that detects to the server. Building site still is provided with raise dust processing apparatus, like water injection system, when raise dust testing result is unqualified, control raise dust processing system and carry out processing such as water spray.
Further, the server is through receiving the raise dust testing result that raise dust detector sent to carry out further analysis based on the raise dust testing result, generate corresponding analysis result, confirm the current environmental pollution index of building site based on the analysis result, if the environmental pollution index is greater than when the environmental pollution index threshold value of presetting, then need warn, or trigger corresponding raise dust processing apparatus, for example trigger water spray system and spray water, in order to reduce the raise dust of building site, the environmental protection.
In the inspection control method for the building site, the dust detection sensor receiving the preset points of the building site sends the dust detection result, and then the environment of the current building site is known according to the dust detection result, whether warning is needed or not is further determined, or a corresponding dust treatment device is triggered, so that the dust of the building site is reduced, and the environment is protected.
In an embodiment, as shown in fig. 7, an inspection control method for a construction site is provided, which is exemplified by applying the method to an inspection robot, and the inspection control method for a construction site specifically includes the following steps:
step S702, the inspection robot receives a video acquisition instruction sent by the server through the first communication module, the inspection robot controls the video acquisition equipment to acquire inspection video data of the construction site, and the inspection robot sends the inspection video data to the server through the first communication module.
Specifically, the inspection robot is provided with a video acquisition device and a first communication module, and the inspection robot can receive a video acquisition instruction sent by the server through the first communication module. The video acquisition instruction is used for indicating the inspection robot to control the video acquisition equipment to acquire inspection video data of the construction site.
Furthermore, the inspection robot controls the video acquisition equipment to acquire inspection video data of the building site according to the video acquisition instruction, the inspection video data are sent to the server through the first communication module, and the inspection video data are stored after the inspection video data are received by the server.
The video acquisition equipment is arranged on the inspection robot of the building site, and after the inspection robot receives the video acquisition instruction, the video acquisition equipment is controlled to acquire inspection video data of the building site. Wherein, patrolling and examining robot and following the guide rail motion, the guide rail sets up at least a week around the frame that climbs of building, and guide rail and first leakage cable are separated by preset distance. Wherein, first leakage cable hangs and establishes on the frame of climbing of building, sets up at least a week around the frame of climbing of building, and the frame of climbing is the liftable frame of climbing.
Wherein, first leaking the cable and being provided with the wireless connector for realize wireless connection, and patrol and examine the first communication module that the robot set up, the first cable that leaks of accessible is connected with the server.
Further, as the climbing frame of the building can ascend or descend along with the building, and the first leakage cable and the guide rail are arranged at least one circle around the climbing frame of the building, when the building ascends along with the building construction, the climbing frame ascends, and the first leakage cable and the guide rail also ascend along with the building construction. When the inspection robot moves on the guide rail, the inspection robot can ascend along with the climbing frame, the video acquisition equipment arranged on the inspection robot also ascends along with the climbing frame, the inspection robot can ascend along with the building along with the propulsion of the building engineering to monitor the latest construction site, and the video acquisition equipment can also acquire the inspection video data of the latest construction site in real time
And step S704, the inspection robot receives a robot control instruction sent by the server through the second communication module, and the inspection robot controls the body of the inspection robot to act.
Specifically, the inspection robot receives a robot control instruction sent by the server through the second communication module, and controls the inspection robot body to act according to the robot control instruction.
The first communication module and the second communication module are respectively in wireless connection with the server through first leakage cables, and the first communication module and the second communication module are different.
In the inspection control method for the building site, the inspection robot receives a video acquisition instruction sent by the server through the first communication module, the inspection robot controls the video acquisition equipment to acquire inspection video data of the building site, and the inspection robot sends the inspection video data to the server through the first communication module. The inspection robot also receives a robot control instruction sent by the server through the second communication module, and the inspection robot controls the inspection robot to act. Realized respectively with first communication module and second communication module through first leakage cable realize with the communication connection of server, can realize the separation transmission with other data such as video data and the robot control instruction of gathering, avoid appearing the chaotic condition of data, guarantee to patrol and examine the signal stable connection of robot at the removal in-process, the stable transmission of data has further promoted and has patrolled and examined the work efficiency of robot at the in-process of patrolling and examining.
It should be understood that, although the steps in the flowcharts related to the above embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in each flowchart related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
In one embodiment, a computer device is provided, which may be an inspection robot, and the internal structure thereof may be as shown in fig. 8. This computer equipment is including patrolling and examining the robot body, setting up in video acquisition equipment, industrial computer, memory and the communication interface who patrols and examines the robot body, and video acquisition equipment and industrial computer are connected with the server respectively through the first leakage cable of arranging on the building climbing frame at building site. Wherein, the industrial personal computer of the computer equipment is used for providing calculation and control capability. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of inspection control for a construction site.
It will be appreciated by those skilled in the art that the configuration shown in fig. 8 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the inspection robot performs the following steps to inspect the construction site:
the inspection robot receives a video acquisition instruction sent by the server through the first communication module, controls the video acquisition equipment to acquire inspection video data of the construction site, and sends the inspection video data to the server through the first communication module;
the inspection robot also receives a robot control instruction sent by the server through the second communication module, and the inspection robot controls the inspection robot to act;
the first communication module and the second communication module are respectively in wireless connection with the server through first leakage cables, and the first communication module and the second communication module are different.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, the computer program, when executed by an inspection robot, performs the following steps for inspection of a construction site:
the inspection robot receives a video acquisition instruction sent by the server through the first communication module, controls the video acquisition equipment to acquire inspection video data of the construction site, and sends the inspection video data to the server through the first communication module;
the inspection robot also receives a robot control instruction sent by the server through the second communication module, and the inspection robot controls the inspection robot body to act;
the first communication module and the second communication module are respectively in wireless connection with the server through first leakage cables, and the first communication module and the second communication module are different.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not 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 concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A system for inspection of a construction site, the system comprising:
the first leakage cable is hung on a climbing frame of a building and is arranged at least one circle around the climbing frame of the building; the climbing frame is a lifting climbing frame; the first leakage cable is provided with a wireless connector for realizing wireless connection;
the guide rail is arranged around the climbing frame of the building for at least one circle; the guide rail is separated from the first leakage cable by a preset distance;
the inspection robot moves along the guide rail;
video acquisition equipment sets up on patrolling and examining the robot for what gather building site patrols and examines video data, video acquisition equipment is provided with first communication module, first communication module is connected with the server through first leakage cable, video acquisition equipment passes through first communication module to the server sends the collection patrol and examine video data.
2. The system according to claim 1, wherein the inspection robot comprises an inspection robot body, an industrial personal computer and a second communication module, the industrial personal computer is connected with the second communication module, the second communication module is connected with the server through the first leakage cable, and the industrial personal computer receives a robot control command sent by the server through the second communication module to control the inspection robot body to act.
3. The system according to claim 1, characterized in that the construction site is provided with a wireless bridge transmitter communicating with a wireless bridge receiver provided on the server side; the wireless connector is connected to the wireless bridge transmitter, and the video acquisition equipment transmits the acquired patrol inspection video data to the server through the first communication module, the first leaky cable, the wireless bridge transmitter and the wireless bridge receiver.
4. The system of claim 3, wherein the communication signals of the wireless bridge transmitter and the wireless bridge receiver are radio frequency signals.
5. The system of claim 1, wherein the wireless connector is connected to the server network through a wireless access point.
6. The system of any one of claims 1 to 5, further comprising:
the video acquisition equipment transmits the patrol video data to the third-party storage equipment for storage through the first communication module.
7. The system of any one of claims 1 to 5, further comprising:
the dust detection sensor is arranged at a preset point of a building site, is connected with the server through a second leakage cable and sends a detected dust detection result to the server.
8. A method for controlling inspection of a construction site, the method comprising:
sending a video acquisition instruction to a first communication module of the inspection robot, wherein the video acquisition instruction is used for instructing the inspection robot to control a video acquisition device to acquire inspection video data of a construction site;
receiving and storing the inspection video data sent by the inspection robot;
sending a robot control instruction to a second communication module of the inspection robot, wherein the robot control instruction is used for indicating the inspection robot to control the inspection robot to act;
the first communication module and the second communication module are respectively in wireless connection with a server through first leakage cables, and the first communication module and the second communication module are different.
9. The method of claim 8, further comprising:
acquiring a configuration instruction of third-party storage equipment;
and acquiring the internet protocol address of the video acquisition equipment according to the configuration instruction, and performing channel configuration on the third-party storage equipment according to the internet protocol address, wherein after configuration, the third-party storage equipment and the video acquisition equipment are in the same local area network.
10. A method for controlling inspection of a construction site, the method comprising:
the inspection robot receives a video acquisition instruction sent by a server through a first communication module, controls a video acquisition device to acquire inspection video data of a construction site, and sends the inspection video data to the server through the first communication module;
the inspection robot also receives a robot control instruction sent by the server through a second communication module, and the inspection robot controls the inspection robot body to act;
the first communication module and the second communication module are wirelessly connected with the server through first leaky cables respectively, and the first communication module and the second communication module are different.
11. The method of claim 10, further comprising:
the video acquisition equipment is arranged on an inspection robot of the building site, the inspection robot moves along a guide rail, and the guide rail is arranged at least one circle around a climbing frame of the building; the guide rail is separated from the first leakage cable by a preset distance; the first leakage cable is hung on a climbing frame of a building and is arranged at least one circle around the climbing frame of the building; the climbing frame is a lifting climbing frame.
12. An inspection robot, characterized in that it performs the method of claim 10 or 11 for inspection of a construction site.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by an inspection robot, carries out the method of claim 10 or 11 for inspection of a construction site.
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