CN115922745A - Detection method and system of movable lifting gas inspection robot - Google Patents
Detection method and system of movable lifting gas inspection robot Download PDFInfo
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Abstract
The invention discloses a detection method and a system of a movable lifting gas inspection robot, wherein the detection method comprises the following steps: s1, receiving a detection signal, and moving to a specified position according to the detection signal; s2, after reaching the designated position, analyzing and scanning the environment of the designated position to obtain scanning data; s3: carrying out model construction by utilizing the scanning data to obtain a three-dimensional graph of the designated position; s4: comparing the obtained three-dimensional graph with a stored graph in a database to obtain detection parameter information; and S5, after receiving the detection parameter information, detecting the gas in the air according to the detection parameter information, scanning and modeling the detected position to acquire the pattern of the detected position, determining the related detection information according to the pattern, and detecting according to the detection information to ensure that the detection result is more accurate.
Description
Technical Field
The invention relates to the technical field of gas cruising, in particular to a detection method and a detection system of a movable lifting gas inspection robot.
Background
The gas is also called coal bed gas and coal bed gas. The mixed gas composed of methane, carbon dioxide and nitrogen, etc. escaped from coal and surrounding rock. The gas is a harmful factor in coal mine production, not only pollutes air, but also causes explosion when encountering fire when the gas content in the air is 5-16 percent, thereby causing accidents.
At present, most underground coal mines are inspected manually, and some conditional mines are possibly provided with inspection robots. The artifical in-process of patrolling and examining has personnel's safety risk and efficiency is lower, and is difficult to discover hidden danger point, and it is higher to the roughness requirement in tunnel to patrol and examine the robot, if the relief is uneven, when the road of marcing had the obstacle, patrols and examines the robot and will not advance, needs staff's clearance barrier in the pit, is difficult to adapt to complicated tunnel topography, patrols and examines the efficiency and lower.
The term "roadway" refers to various passages drilled between the ground and the ore body for carrying ore, ventilating, draining, pedestrian, and various necessary preparation works for mining ore for metallurgical facilities, and these passages are collectively referred to as "roadway". In order to safely and efficiently mine coal, the inspection of coal mines is an important means and measure for eliminating accident potential, preventing accidents and ensuring safe production of coal mines. In the prior art, two schemes are adopted to solve the problems; firstly, the inspection robot with a visual image is directly adopted, manual operation is carried out by workers, and the inspection robot is controlled to carry out inspection, so that the mode undoubtedly does not achieve real automation and high-safety inspection; secondly, a flight control unmanned aerial vehicle is adopted for cruising so as to solve the problem of uneven road; however, the method has large disturbance and interference on the air in the roadway, misjudgment of the inspection point positions is easy to occur, meanwhile, the flight control system is easy to erupt sparks when accidental collision occurs, and the potential safety hazard is large; when the inspection robot works, because the environment in a roadway is complex, the inspection robot has different heights and shapes, and different gases have different accumulated positions due to different molecular weights, so that how to accurately monitor the gases is a problem which needs to be solved urgently.
Disclosure of Invention
Aiming at the defects in the technology, the invention provides the detection method and the detection system of the movable lifting gas inspection robot, the relevant detection information is obtained by scanning and modeling the detected position, and then the detection is carried out according to the detection information, so that the detection result is more accurate.
In order to achieve the aim, the invention provides a detection method of a movable lifting gas inspection robot, which comprises the following steps:
s1, receiving a detection signal, and moving to a specified position according to the detection signal;
s2, after reaching the designated position, analyzing and scanning the environment of the designated position to obtain scanning data;
s3: carrying out model construction by utilizing the scanning data to obtain a three-dimensional graph of the designated position;
s4: comparing the obtained three-dimensional graph with the stored drawings in the database to obtain detection parameter information;
and S5, after receiving the detection parameter information, detecting the gas in the air according to the detection parameter information.
Preferably, in step S1, the robot moves according to the detection signal sent by the cloud server, and after moving to the designated position, the robot is connected to the identification unit at the designated position, and the identification unit transmits the data information of the robot to the cloud server to obtain the configuration information of the robot.
Preferably, in step S2, after receiving the analysis scanning instruction sent by the cloud server, the robot performs position locking, and when the position of the robot changes passively, the robot performs an early warning prompt, and at the same time, the cloud server issues the scanning instruction again to control the robot to work.
Preferably, the cloud server receives the scanning information of the robot, performs modeling processing to obtain a three-dimensional map of the designated position, then performs retrieval and comparison from a database to obtain a closest drawing, then identifies detection information corresponding to the drawing, and transmits the detection information to the robot, wherein the detection information comprises a detection position and a detection height.
Preferably, in step S4, if the scanned three-dimensional graph cannot obtain the closest drawing in the database, an early warning is performed, and after a professional inputs specific detection information, the professional performs subsequent work, and at the same time, the three-dimensional graph and the corresponding detection information are packaged and recorded in the database for storage.
The invention also discloses a detection system of the movable lifting gas inspection tour robot, which comprises a cloud server, an identification module and a processing module, wherein the identification module comprises a first identification unit and a second identification unit which are respectively arranged on the robot and a designated place; the processing module comprises a scanning unit and a detection unit and is arranged on the robot;
the cloud server sends a detection signal to the robot, the robot receiving the detection signal moves, and the robot moves to a specified position according to the instruction information;
the method comprises the steps that a scanning unit scans the environment of a specified position and transmits scanning information to a cloud server, the cloud server receives the scanning information and then conducts model construction to obtain a three-dimensional image of the specified position, the three-dimensional image is compared with three-dimensional images stored in a database, the closest three-dimensional image is selected from the database, detection information corresponding to the three-dimensional image is obtained, and the detection information is transmitted to a robot;
and after receiving the detection information, the robot performs gas detection on the specified position by using the detection unit to obtain detection data.
Preferably, after the robot moves to the designated position, the first recognition unit and the second recognition unit are connected with each other, the position information and the parameter information of the current robot are determined, and the position information and the parameter information are transmitted into the cloud server, so that the cloud server obtains the relevant information of the robot.
Preferably, the robot locks the position after receiving an analysis scanning instruction sent by the cloud server, and scans the current position by using the scanning unit to obtain the current environment information; when the position of the robot is passively changed, early warning prompt is carried out and scanning is stopped; and after the position of the standby robot is not changed any more, the cloud server issues a scanning instruction again to control the robot to work.
Preferably, the cloud server constructs a three-dimensional graph according to the scanning information, then selects a drawing close to the three-dimensional graph from the database, obtains detection information of the drawing, and transmits the detection information to the robot, and the robot works according to the detection information.
Preferably, a storage unit is further arranged in the cloud server, when the constructed three-dimensional graph cannot search drawings close to the three-dimensional graph in the database, the cloud server performs early warning, and after a professional inputs specific detection information, the storage unit packages and records the three-dimensional graph and the corresponding detection information into the database for storage.
The invention has the beneficial effects that: compared with the prior art, the detection method and the detection system of the movable lifting gas inspection robot provided by the invention have the advantages that firstly, the detection position is scanned and modeled to obtain the three-dimensional graph of the position, so that different detection means can be adopted according to different position conditions, and the detection result is more accurate; meanwhile, in the working process of the robot, in order to prevent the robot from moving, the recognition unit is specially arranged for accurately positioning the position of the robot, and after the robot is displaced, all programs and instructions restart to work, so that the accuracy of information collection is ensured.
Drawings
FIG. 1 is a flow chart of the steps of the present invention.
Detailed Description
In order to make the invention clearer, the invention is further described below with reference to the attached drawings, but it is understood that the scope of the invention is not limited thereto, and that modifications which can be changed by those skilled in the art without inventive efforts belong to the scope of the present application.
Referring to fig. 1, the invention discloses a detection method of a movable lifting gas inspection robot, comprising the following steps: s1, receiving a detection signal, and moving to a specified position according to the detection signal; s2, after reaching the designated position, analyzing and scanning the environment of the designated position to obtain scanning data; s3: carrying out model construction by utilizing the scanning data to obtain a three-dimensional graph of the designated position; s4: comparing the obtained three-dimensional graph with the stored drawings in the database to obtain detection parameter information; and S5, after receiving the detection parameter information, detecting the gas in the air according to the detection parameter information. In the specific implementation process, for example, gas in a mine is patrolled, and because the number of lanes in the mine is large, a plurality of robots can work simultaneously, so that data at different positions can be collected in a short time; therefore, after the cloud server generates a detection signal to the robot, the robot starts to work, moves to a designated position marked in advance according to the instruction information and carries out subsequent scanning and detection, so that the detection of the gas in the air is finished, and the roadway can be designed into different shapes, such as a rectangle, a triangle or an arch (namely, the upper end is a semicircle, the lower end is a rectangle, and the two are combined together) according to the geographic environment and the use requirement in the excavation process, and the accumulated positions of the gas are different for the roadway with different shapes, for the gas such as methane, carbon monoxide and the like, when the roadway is a rectangle, the methane and the like are located at the upper end and 20-30 cm away from the edge of the roadway, and for the arch, the methane and the like are located at the lower end of the top of the roadway and 20-30 cm; for hydrogen sulfide, carbon dioxide, etc., the gas with higher density is generally positioned at the bottom and 20-30 cm away from the ground; to the tunnel of different shapes, to different gas, just need adopt different detection position and detection height, and this application adopts the robot to scan the detection position to construct the three-dimensional map, thereby judge that the tunnel that obtains this detection position is rectangle or arch, thereby more accurate realization is to the gaseous detection of gas.
In order to achieve the above purpose, in step S1, the robot moves according to the detection signal sent by the cloud server, and after moving to the designated position, the robot is connected to the identification unit at the designated position, and the identification unit transmits data information of the robot to the cloud server to obtain configuration information of the robot. In this embodiment, in order to detect the gas at different positions in the roadway in a short time, a large number of robots are generally arranged for inspection, and the robots are uniformly controlled by a robot control system; the cloud server only sends a detection signal to the robot control system, then the robot control system sends an instruction to the corresponding robot, and after the robot moves to the designated position, the identification unit at the designated position is used for being in butt joint with the robot, so that the cloud server is directly connected with the robot, interaction between subsequent information is carried out, and the efficiency of information transmission is higher.
Preferably, in step S2, after receiving the analysis scanning instruction sent by the cloud server, the robot performs position locking, and when the position of the robot changes passively, the robot performs an early warning prompt, and the cloud server issues the scanning instruction again to control the robot to work. In this embodiment, since the robot is connected with the cloud server through the identification unit after moving to the designated position, the position of the robot is locked after the connection is established, and if the robot is displaced in a subsequent stage, data collected in the scanning or detecting process is inaccurate, for example, a tunnel at the designated position is arched, and a situation of manual carrying occurs in the scanning process of the robot, so that the tunnel obtained after scanning modeling is possibly rectangular, and a certain problem exists in the detected position or height in the subsequent gas inspection process, so that the detection result is affected; in order to avoid the situation, adaptive positioning units, such as an RFID unit, a laser ranging unit, an AI detection unit and the like, are arranged at the robot and the designated position, so that the position of the robot is locked, and when the position information of the robot changes, such as is moved, an early warning prompt is carried out, and the accuracy of the information collected by the robot in the whole process is ensured.
The cloud server receives the scanning information of the robot, carries out modeling processing to obtain a three-dimensional graph of a specified position, then carries out retrieval comparison from a database to obtain the closest drawing, then identifies and obtains detection information corresponding to the drawing, and transmits the detection information to the robot, wherein the detection information comprises a detection position and a detection height. In this embodiment, after the robot scans the specified position, the scanning information of the specified position is transmitted to the cloud server, the cloud server performs 3D modeling according to the received scanning information to obtain a three-dimensional graph of the specified position, then the three-dimensional graph is compared with a database built in the cloud server to screen out the closest graph, and after the closest graph is selected, the detection information corresponding to the graph is transmitted to the robot, so that the robot starts to detect the gas in the roadway.
In step S4, if the scanned three-dimensional graph cannot obtain the closest drawing in the database, performing an early warning, performing subsequent work after a professional inputs specific detection information, and simultaneously packaging and recording the three-dimensional graph and the corresponding detection information in the database for storage. Due to different geographic environments and different mining devices, the roadway patterns in the actual process are various, and the database of the cloud server cannot be completely covered in the process of data entry in advance, so that when the roadway which is not recorded in the database appears, a professional is required to determine the detection position of the gas according to the roadway pattern, and the information is packaged and stored to supplement the database, thereby realizing the continuous improvement of the database.
The invention also discloses a detection system of the movable lifting gas inspection robot, which comprises a cloud server, an identification module and a processing module, wherein the identification module comprises a first identification unit and a second identification unit which are respectively arranged at the robot and a designated place; the processing module comprises a scanning unit and a detection unit and is arranged on the robot;
the cloud server sends a detection signal to the robot, the robot receiving the detection signal moves, and the robot moves to a specified position according to the instruction information;
the method comprises the steps that a scanning unit scans the environment of a specified position and transmits scanning information to a cloud server, the cloud server receives the scanning information and then builds a model to obtain a three-dimensional image of the specified position, the three-dimensional image is compared with three-dimensional images stored in a database, the closest three-dimensional image is selected from the database, detection information corresponding to the three-dimensional image is obtained, and the detection information is transmitted to a robot;
and after receiving the detection information, the robot performs gas detection on the specified position by using the detection unit to obtain detection data. In this embodiment, the cloud server is used for processing data and formulating related instructions, and the identification module is arranged, so that the cloud server can know related parameters of the robot reaching the formulated position, and establish connection with the robot, transmission of the related instructions in the subsequent process is facilitated, and data transmission is more convenient without delay and loss.
After the robot moves to the designated position, the first identification unit and the second identification unit are connected with each other, the position information and the parameter information of the current robot are determined, and the position information and the parameter information are transmitted to the cloud server, so that the cloud server obtains the relevant information of the robot. In this embodiment, the identification unit at the designated position is used for docking with the robot, so that the cloud server is directly connected with the robot, interaction between subsequent information is performed, and the efficiency of information transmission is higher.
The robot locks the position after receiving an analysis scanning instruction sent by the cloud server, and scans the current position by using a scanning unit to obtain current environment information; when the position of the robot is passively changed, early warning prompt is carried out and scanning is stopped; and after the position of the standby robot is not changed any more, the cloud server issues a scanning instruction again to control the robot to work. The cloud server constructs a three-dimensional graph according to the scanning information, then selects a drawing close to the three-dimensional graph from a database, acquires detection information of the drawing and transmits the detection information to the robot, and the robot works according to the detection information; the cloud server is also internally provided with a storage unit, when the constructed three-dimensional graph cannot retrieve the drawing close to the three-dimensional graph from the database, the cloud server carries out early warning, and after a professional inputs specific detection information, the storage unit packs, records and stores the three-dimensional graph and the corresponding detection information into the database. In this embodiment, in order to ensure that no other accidents occur during the scanning process, an anti-moving unit may be further disposed on the robot, the anti-moving unit measures a distance between the robot and the current location point by using an RFID technology or a laser ranging technology, and when the distance between the robot and the current location point changes, it is determined that the robot has moved, and then sends an instruction to the robot to move the robot to the original location for scanning, so as to ensure accuracy of the obtained parameter information; then the cloud server builds a model according to the collected information, determines the shape of the roadway according to the built model diagram, determines a detection position according to the shape, and simultaneously drives the robot to detect the detection position; more specifically, can realize fixing a position the robot according to the use scene of difference, if to the region that the signal is good, can adopt GPS or big dipper to fix a position, if to the bad position of signal, for example in the mine cave, can arrange relevant positioning device in the mine cave in advance and carry out the ad hoc network, then insert the robot in this ad hoc network to the realization is patrolled and examined the robot and is carried out position determination.
The above disclosure is only for a few specific embodiments of the present invention, but the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (10)
1. The detection method of the movable lifting gas inspection robot is characterized by comprising the following steps:
s1, receiving a detection signal, and moving to a specified position according to the detection signal;
s2, after reaching the designated position, analyzing and scanning the environment of the designated position to obtain scanning data;
s3: carrying out model construction by utilizing the scanning data to obtain a three-dimensional graph of the designated position;
s4: comparing the obtained three-dimensional graph with a stored graph in a database to obtain detection parameter information;
and S5, after receiving the detection parameter information, detecting the gas in the air according to the detection parameter information.
2. The detection method of the movable lifting gas inspection tour robot according to claim 1, wherein in step S1, the robot moves according to the detection signal sent by the cloud server, and after moving to the designated position, the robot is connected with the identification unit at the designated position, and the identification unit transmits the data information of the robot to the cloud server to obtain the configuration information of the robot.
3. The detection method for the movable lifting gas inspection tour robot according to claim 1, wherein in step S2, the robot locks the position after receiving the analysis scanning command sent by the cloud server, and when the position of the robot changes passively, the robot gives an early warning prompt, and the cloud server sends the scanning command again to control the robot to work.
4. The detection method for the movable lifting gas inspection tour robot according to claim 1, wherein the cloud server performs modeling processing after receiving scanning information of the robot to obtain a three-dimensional drawing of a specified position, then performs retrieval and comparison from a database to obtain a closest drawing, then identifies detection information corresponding to the drawing, and transmits the detection information to the robot, wherein the detection information includes a detection position and a detection height.
5. The detection method of the movable lifting gas inspection robot according to claim 1, wherein in step S4, if the three-dimensional graph obtained by scanning cannot obtain the closest drawing in the database, an early warning is performed, a professional performs subsequent work after inputting specific detection information, and the three-dimensional graph and the corresponding detection information are packaged and recorded in the database for storage.
6. A detection system of a movable lifting gas inspection robot is characterized by comprising a cloud server, an identification module and a processing module, wherein the identification module comprises a first identification unit and a second identification unit which are respectively arranged at a robot and a designated place; the processing module comprises a scanning unit and a detection unit and is arranged on the robot;
the cloud server sends a detection signal to the robot, the robot receiving the detection signal moves, and the robot moves to a specified position according to the instruction information;
the method comprises the steps that a scanning unit scans the environment of a specified position and transmits scanning information to a cloud server, the cloud server receives the scanning information and then conducts model construction to obtain a three-dimensional image of the specified position, the three-dimensional image is compared with three-dimensional images stored in a database, the closest three-dimensional image is selected from the database, detection information corresponding to the three-dimensional image is obtained, and the detection information is transmitted to a robot;
and after receiving the detection information, the robot performs gas detection on the specified position by using the detection unit to obtain detection data.
7. The system for detecting the movable lifting gas inspection robot according to claim 6, wherein after the robot moves to a designated position, the first recognition unit and the second recognition unit are connected with each other, determine the position information and the parameter information of the current robot, and transmit the position information and the parameter information to the cloud server, so that the cloud server obtains the relevant information of the robot.
8. The detection system for the movable lifting gas inspection robot according to claim 6, wherein the robot locks the position after receiving an analysis scanning instruction sent by the cloud server, and scans the current position by using the scanning unit to obtain the current environmental information; when the position of the robot is passively changed, early warning prompt is carried out and scanning is stopped; and after the position of the standby robot is not changed any more, the cloud server issues a scanning instruction again to control the robot to work.
9. The system for detecting the movable lifting gas inspection tour robot according to claim 6, wherein the cloud server constructs a three-dimensional graph according to the scanning information, then selects a drawing close to the three-dimensional graph from the database, obtains the detection information of the drawing and transmits the detection information to the robot, and the robot works according to the detection information.
10. The detection system for the movable lifting gas inspection tour robot according to claim 6, wherein a storage unit is further arranged in the cloud server, when the constructed three-dimensional graph cannot retrieve a drawing close to the three-dimensional graph from the database, the cloud server gives an early warning, and after a professional inputs specific detection information, the storage unit packs and records the three-dimensional graph and the corresponding detection information into the database for storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211593283.6A CN115922745B (en) | 2022-12-13 | Detection method and system of movable lifting gas inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211593283.6A CN115922745B (en) | 2022-12-13 | Detection method and system of movable lifting gas inspection robot |
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| CN115922745A true CN115922745A (en) | 2023-04-07 |
| CN115922745B CN115922745B (en) | 2024-06-25 |
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