CN108628347B - Inspection robot, and autonomous online method and device of inspection robot - Google Patents
Inspection robot, and autonomous online method and device of inspection robot Download PDFInfo
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Abstract
The invention relates to an inspection robot, and an autonomous online method and device of the inspection robot, wherein the inspection robot comprises a processing mechanism, a flying mechanism, a roller mechanism and a seeking online device; the seeking online device comprises coarse adjustment measurement sensing equipment and fine adjustment measurement sensing equipment; the processing mechanism comprises a processor arranged in the shell; one side end of the roller mechanism is arranged on one side surface of the shell; the other side surface of the shell is provided with a flying structure; the processor is respectively electrically connected with the flying mechanism, the roller mechanism, the coarse adjustment measurement sensing equipment and the fine adjustment measurement sensing equipment; according to the invention, the automatic online of the inspection robot can be realized by automatically identifying the position of the power transmission line, so that the manual remote control online is avoided, and the online cost of the inspection robot is reduced.
Description
Technical Field
The invention relates to the technical field of power transmission line inspection, in particular to an inspection robot, and an autonomous online method and device of the inspection robot.
Background
The reliability of the power transmission line is an important premise for guaranteeing safe operation of a power grid, and the reliability of the power transmission line can be improved by routing inspection of the power transmission line, so that possible hidden dangers or losses are effectively eliminated. The transmission line generally is located the field, need artifical periodic inspection, not only work load is great, also there is certain risk, unmanned aerial vehicle's development is more and more ripe at present, but adopt unmanned aerial vehicle to patrol and examine and have aviation control and time of endurance influence, so patrol and examine the robot and develop gradually, it is a difficult problem however to patrol and examine how the robot sends transmission line in the present, need to have a power failure to patrol and examine the robot and install, or need complicated equipment to transport the transmission line to the robot on, consume time and manpower.
In the implementation process, the inventor finds that at least the following problems exist in the conventional technology: when the existing inspection robot hangs the wheels of the inspection robot on a power transmission line for inspection operation, the line feeding operation is difficult and the cost is high.
Disclosure of Invention
Therefore, it is necessary to provide an inspection robot, and an autonomous online method and apparatus for the inspection robot, aiming at the problems of difficult online operation and high cost of the conventional inspection robot.
In order to achieve the above object, an embodiment of the present invention provides an inspection robot, including a processing mechanism, a flying mechanism, a roller mechanism, and a finding line-threading device; the seeking online device comprises coarse adjustment measurement sensing equipment and fine adjustment measurement sensing equipment; the processing mechanism comprises a processor arranged in the shell;
one side end of the roller mechanism is arranged on one side surface of the shell; the other side surface of the shell is provided with a flying structure; the processor is respectively electrically connected with the flying mechanism, the roller mechanism, the coarse adjustment measurement sensing equipment and the fine adjustment measurement sensing equipment;
when the processor obtains a power transmission line coarse adjustment coordinate value sensed by the coarse adjustment measurement sensing equipment, generating a first flight trajectory from the processor current coordinate value to the power transmission line coarse adjustment coordinate value according to the processor current coordinate value and the power transmission line coarse adjustment coordinate value, and transmitting a first flight instruction to the flight mechanism; the flying mechanism flies close to the power transmission line along the first flying track according to the first flying instruction;
when the flying mechanism flies to a position corresponding to the coarse adjustment coordinate value of the transmission line, the processor calls the fine adjustment measurement sensing equipment to obtain a fine adjustment coordinate value of the transmission line;
the processor generates a second flight trajectory from the power transmission line coarse adjustment coordinate value to the power transmission line fine adjustment coordinate value according to the power transmission line coarse adjustment coordinate value and the power transmission line fine adjustment coordinate value, and transmits a second flight instruction to the flight mechanism; and the flying mechanism carries out online flying of the roller along a second flying track according to a second flying instruction.
In one embodiment, the coarse measurement sensing device is a lidar device.
In one embodiment, the fine measurement sensing device is an optical imaging sensor device.
On the other hand, the embodiment of the invention also provides an autonomous online method of the inspection robot, which comprises the following steps:
when a power transmission line coarse adjustment coordinate value sensed by the coarse adjustment measurement sensing equipment is obtained, generating a first flight trajectory from the current coordinate value of the processor to the power transmission line coarse adjustment coordinate value according to the current coordinate value of the processor and the power transmission line coarse adjustment coordinate value, and transmitting a first flight instruction to a flight mechanism; the first flight instruction is used for indicating the flight mechanism to fly to a position corresponding to the coarse coordinate value along the first flight trajectory;
when the flying mechanism flies to a position corresponding to the coarse adjustment coordinate value of the transmission line, calling fine adjustment measurement sensing equipment to obtain a fine adjustment coordinate value of the transmission line;
generating a second flight trajectory from the power transmission line coarse adjustment coordinate value to the power transmission line fine adjustment coordinate value according to the power transmission line coarse adjustment coordinate value and the power transmission line fine adjustment coordinate value, and transmitting a second flight instruction to the flight mechanism; and the second flight instruction is used for indicating the flight mechanism to fly to the position corresponding to the fine adjustment coordinate value of the transmission line along the second flight track.
In one embodiment, the first flight trajectory comprises a rising flight trajectory and a horizontal flight trajectory; the step of transmitting the first flight instruction to the flight mechanism includes:
transmitting a rising flight instruction corresponding to the rising flight track to a flight mechanism; the ascending flight instruction is used for indicating the flight mechanism to fly along the ascending flight track;
when the flying mechanism flies to the tail end position of the ascending flying track, transmitting a horizontal flying instruction corresponding to the horizontal flying track to the flying mechanism; the horizontal flight instruction is used for instructing the flight mechanism to fly along the horizontal flight track.
In one embodiment, the second flight path comprises a descent flight path; the step of transmitting the second flight instruction to the flight mechanism includes:
transmitting a descending flight instruction corresponding to the descending flight trajectory to a flight mechanism; the descending flight instruction is used for instructing the flight mechanism to fly along the descending flight path.
In one embodiment, the method further comprises the following steps:
when the flying mechanism flies to the position corresponding to the fine adjustment coordinate value of the transmission line, distance difference comparison is carried out on the fine adjustment coordinate value of the transmission line and a preset coordinate value of the identification point of the transmission line;
when the comparison result exceeds a safety threshold value, transmitting a third flight instruction to the flight mechanism; and the third flight instruction is used for indicating the flight mechanism to fly along the position of the coordinate value of the corresponding power transmission line identification point.
On the other hand, the embodiment of the invention also provides an autonomous online device of the inspection robot, which comprises:
the system comprises a coarse tuning flying unit, a flying mechanism and a coarse tuning flying unit, wherein the coarse tuning flying unit is used for generating a first flying track from a current coordinate value of a processor to a coarse tuning coordinate value of a transmission line according to the current coordinate value of the processor and the coarse tuning coordinate value of the transmission line when the coarse tuning coordinate value of the transmission line sensed by a coarse tuning measurement sensing device is obtained, and transmitting a first flying instruction to the flying mechanism; the first flight instruction is used for indicating the flight mechanism to fly to a position corresponding to the coarse coordinate value along the first flight trajectory;
the fine adjustment coordinate value acquisition unit is used for calling fine adjustment measurement sensing equipment to acquire a fine adjustment coordinate value of the transmission line when the flying mechanism flies to a position corresponding to the coarse adjustment coordinate value of the transmission line;
the fine adjustment flying unit is used for generating a second flying track from the power transmission line coarse adjustment coordinate value to the power transmission line fine adjustment coordinate value according to the power transmission line coarse adjustment coordinate value and the power transmission line fine adjustment coordinate value and transmitting a second flying instruction to the flying mechanism; and the second flight instruction is used for indicating the flight mechanism to fly to the position corresponding to the fine adjustment coordinate value of the transmission line along the second flight track.
In one embodiment, the coarse flying unit comprises:
the ascending flight unit is used for transmitting an ascending flight instruction corresponding to the ascending flight track to the flight mechanism; the ascending flight instruction is used for indicating the flight mechanism to fly along the ascending flight track;
the horizontal flying unit is used for transmitting a horizontal flying instruction corresponding to the horizontal flying track to the flying mechanism when the flying mechanism flies to the tail end position of the ascending flying track; the horizontal flight instruction is used for instructing the flight mechanism to fly along the horizontal flight track.
In one embodiment, the fine-tuning flight unit comprises:
the descending flight unit is used for transmitting a descending flight instruction corresponding to the descending flight track to the flight mechanism; the descending flight instruction is used for instructing the flight mechanism to fly along the descending flight path.
In another aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the following steps:
when a power transmission line coarse adjustment coordinate value sensed by the coarse adjustment measurement sensing equipment is obtained, generating a first flight trajectory from the current coordinate value of the processor to the power transmission line coarse adjustment coordinate value according to the current coordinate value of the processor and the power transmission line coarse adjustment coordinate value, and transmitting a first flight instruction to a flight mechanism; the first flight instruction is used for indicating the flight mechanism to fly to a position corresponding to the coarse coordinate value along the first flight trajectory;
when the flying mechanism flies to a position corresponding to the coarse adjustment coordinate value of the transmission line, calling fine adjustment measurement sensing equipment to obtain a fine adjustment coordinate value of the transmission line;
generating a second flight trajectory from the power transmission line coarse adjustment coordinate value to the power transmission line fine adjustment coordinate value according to the power transmission line coarse adjustment coordinate value and the power transmission line fine adjustment coordinate value, and transmitting a second flight instruction to the flight mechanism; and the second flight instruction is used for indicating the flight mechanism to fly to the position corresponding to the fine adjustment coordinate value of the transmission line along the second flight track.
One of the above technical solutions has the following advantages and beneficial effects:
the processor is electrically connected with the flying mechanism, the roller mechanism, the coarse adjustment measurement sensing equipment and the fine adjustment measurement sensing equipment respectively. When the processor obtains a power transmission line coarse adjustment coordinate value sensed by the coarse adjustment measurement sensing equipment, a first flight track from the current coordinate value of the processor to the power transmission line coarse adjustment coordinate value can be generated, and a first flight instruction is transmitted to the flight mechanism, so that the flight mechanism flies close to the power transmission line along the first flight track according to the first flight instruction; the processor can generate a second flight trajectory from the power transmission line coarse adjustment coordinate value to the power transmission line fine adjustment coordinate value according to the power transmission line coarse adjustment coordinate value and the power transmission line fine adjustment coordinate value, and transmits a second flight instruction to the flight mechanism, so that the flight mechanism carries out online flight of the roller along the second flight trajectory according to the second flight instruction. According to the embodiment of the invention, the automatic online of the inspection robot can be realized by automatically identifying the position of the power transmission line, so that the manual remote control online is avoided, and the online cost of the inspection robot is reduced.
Drawings
FIG. 1 is a schematic diagram of the inspection robot in one embodiment;
FIG. 2 is a schematic diagram of a first circuit configuration of the inspection robot in one embodiment;
FIG. 3 is a schematic diagram of a second circuit configuration of the inspection robot in one embodiment;
fig. 4 is a first flow diagram of an autonomous online method of the inspection robot in one embodiment;
FIG. 5 is a schematic flow chart illustrating a step of following a first flight trajectory in one embodiment;
FIG. 6 is a second flowchart of an autonomous online method of an inspection robot in one embodiment;
fig. 7 is a schematic structural diagram of the autonomous on-line device of the inspection robot in one embodiment.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In order to solve the problems that the traditional inspection robot is difficult to operate online and high in cost, the embodiment of the invention provides an inspection robot. Fig. 1 is a first structural schematic diagram of an inspection robot. As shown in fig. 1, may include a processing mechanism 110, a flying mechanism 120, a roller mechanism 130, and a line seeking device 140; the seeking online device 140 includes a coarse measurement sensing device 142 and a fine measurement sensing device 144; the processing mechanism 110 includes a processor 114 housed within a housing 112. One side end of the roller mechanism 130 is arranged at one side of the shell 112; the other side of the housing 112 is provided with a flight structure 120; the processor 114 is electrically coupled to the flight mechanism 120, the roller mechanism 130, the coarse measurement sensing device 142, and the fine measurement sensing device 144, respectively.
When the processor 114 obtains a power line coarse tuning coordinate value sensed by the coarse tuning measurement sensing device 142, a first flight trajectory from the processor current coordinate value to the power line coarse tuning coordinate value is generated according to the processor 114 current coordinate value and the power line coarse tuning coordinate value, and a first flight instruction is transmitted to the flight mechanism 120; the flying mechanism 120 flies along the first flight trajectory near the power line according to the first flight instruction. Processor 114 invokes fine measurement sensing device 144 to obtain fine powerline tuning coordinate values when flying mechanism 120 flies to a location corresponding to the coarse powerline tuning coordinate values. Processor 114 generates a second flight trajectory from the power line coarse tuning coordinate value to the power line fine tuning coordinate value based on the power line coarse tuning coordinate value and the power line fine tuning coordinate value, and transmits a second flight command to flight mechanism 120; and the flying mechanism 120 flies the rollers on line along the second flying track according to the second flying instruction.
The processor 114 refers to a device having functions of signal processing, signal transmission, and the like. Optionally, the processor 114 may be a single chip, an ARM (Advanced RISC Machine, RISC microprocessor), a DSP (Digital Signal Processing), or an FPGA (Field-Programmable Gate Array). The housing 112 may be a metal housing or a non-metal housing. The flying mechanism 120 refers to a mechanism that can carry a certain weight for flying. Flight mechanism 120 may be a four-rotor flight mechanism, a six-rotor flight mechanism, or the like. The flight mechanism 120 can fly according to the corresponding flight instructions transmitted by the processor. The roller mechanism 130 may include a roller bracket and a roller. One end of the roller bracket is disposed at a side of the housing 112, and the other end of the roller bracket is provided with a roller. Preferably, the roller mechanism 130 may include 2 rollers. The wire-seeking device 140 refers to a device having functions of inductively recognizing a power line and locating a coordinate position. Coarse measurement sensing device 142 may be used to sense coarse coordinate values for the power line. Fine measurement sensing device 144 may be used to sense fine coordinate values of the transmission line. It should be noted that the fine measurement sensing device 144 has a greater coordinate value sensing accuracy than the coarse measurement sensing device 142.
Power line coarse tuning coordinate values refer to coordinate values near the power line measured by coarse tuning measurement sensing device 142. The transmission line fine tuning coordinate values refer to coordinate values near the transmission line measured by the fine tuning measurement sensing device 144. Preferably, the coordinate locations corresponding to the fine power line coordinate values are closer to the power line than the coordinate locations corresponding to the coarse power line coordinate values. Further, the power line coarse adjustment coordinate value, the power line fine adjustment coordinate value and the current coordinate value of the processor are three-dimensional coordinate values. The processor current coordinate value refers to a coordinate value of the current position of the processor 110. For example, when the inspection robot is started, the processor 110 may currently have the coordinate value of (0, 0, 0). The shape of the first flight trajectory may be a trajectory shape pre-stored by the processor 110. For example, the first flight path may have a straight line shape or a rectangular line shape. The first flight command may be used to drive the flight mechanism 120 to fly along a first flight trajectory. The shape of the second flight trajectory may be a trajectory shape pre-stored by the processor 110. For example, the second flight path may be a linear shape or a curved shape. The second flight instructions may be used to drive the flight mechanism 120 to fly along a second flight trajectory.
Specifically, when the inspection robot is powered on and started, the processor 110 may obtain a current processor coordinate value according to a preset coordinate establishment rule (e.g., the current processor coordinate value is (0, 0, 0)). By activating coarse tuning measurement sensing device 142 via processor 110, coarse tuning measurement sensing device 142 can sense a transmission line coarse tuning coordinate value for a nearest transmission line based on current environment and transmit the transmission line coarse tuning coordinate value to processor 110. When the processor 110 obtains the power line coarse tuning coordinate value, a first flight trajectory from the processor current coordinate value to the power line coarse tuning coordinate value is generated according to the processor current coordinate value and the power line coarse tuning coordinate value, and a first flight instruction is transmitted to the flight mechanism 120, so that the flight mechanism 120 flies close to the power line along the first flight trajectory according to the first flight instruction. When the processor 110 detects that the flying mechanism 120 flies to a position corresponding to the coarse power transmission line coordinate value, the fine adjustment sensing device 144 is started, and the fine adjustment sensing device 144 can sense and measure the fine power transmission line coordinate value of the nearest power transmission line in the current environment and transmit the fine power transmission line coordinate value to the processor 110. Processor 110 generates a second flight trajectory from the coarse power line coordinate value to the fine power line coordinate value according to the coarse power line coordinate value and the fine power line coordinate value, and transmits a second flight command to flight mechanism 120, so that flight mechanism 120 performs online flight of the roller along the second flight trajectory according to the second flight command.
It should be noted that the finding threading device 140 may be installed at one side end of the housing of the inspection robot. Preferably, the seeking line-up device 140 is mounted on a foot rest of the inspection robot.
In the above embodiments, the processor is electrically connected to the flying mechanism, the roller mechanism, the coarse measurement sensing device, and the fine measurement sensing device, respectively. When the processor obtains a power transmission line coarse adjustment coordinate value sensed by the coarse adjustment measurement sensing equipment, a first flight track from the current coordinate value of the processor to the power transmission line coarse adjustment coordinate value can be generated, and a first flight instruction is transmitted to the flight mechanism, so that the flight mechanism flies close to the power transmission line along the first flight track according to the first flight instruction; the processor can generate a second flight trajectory from the power transmission line coarse adjustment coordinate value to the power transmission line fine adjustment coordinate value according to the power transmission line coarse adjustment coordinate value and the power transmission line fine adjustment coordinate value, and transmits a second flight instruction to the flight mechanism, so that the flight mechanism carries out online flight of the roller along the second flight trajectory according to the second flight instruction. According to the embodiment of the invention, the automatic online of the inspection robot can be realized by automatically identifying the position of the power transmission line, so that the manual remote control online is avoided, and the online cost of the inspection robot is reduced.
In one embodiment, a flying mechanism may include a rotor, a first motor, and a first driver. A rotary shaft of the first motor is provided with a rotor wing; the first driver is electrically connected with the first motor, and the processor is connected with the first driver. The treater can transmit the instruction (like first flight instruction and second flight instruction etc.) for first driver, rotates through first driver drive first motor, and then drives the rotor and rotate, realizes patrolling and examining the flight operation of robot.
In one embodiment, the roller mechanism may include a second drive and a second motor coupled to the second drive. The rotating shaft of the second motor is provided with a rear roller. The processor can transmit an operation instruction to the second driver, and the second driver drives the second motor to rotate so as to drive the roller to roll, so that the inspection robot can walk on the power transmission line.
In one embodiment, as shown in fig. 2, the inspection robot is a first circuit structure diagram of the inspection robot. The processor 210 is connected to the flying mechanism 220, the roller mechanism 230, the coarse measurement sensing device 242, and the fine measurement sensing device 244, respectively. Wherein, the autonomic process of going on the line of patrolling and examining the robot does:
when the inspection robot is powered on and started, the processor 210 obtains the current coordinate value of the processor, and starts the coarse tuning measurement sensing device 242 to obtain the coarse tuning coordinate value of the transmission line. When the processor 210 obtains the power line coarse tuning coordinate value, a first flight trajectory from the processor current coordinate value to the power line coarse tuning coordinate value is generated according to the processor current coordinate value and the power line coarse tuning coordinate value, and a first flight instruction is transmitted to the flight mechanism 220, so that the flight mechanism 220 flies close to the power line along the first flight trajectory according to the first flight instruction.
In the above embodiment, through obtaining the position coordinate, the robot can take off voluntarily, flies to the position coordinate who obtains after, through the position coordinate of independently discernment power transmission line, realizes that the robot that patrols and examines independently walks on line. The manual remote control line feeding and tower climbing installation are avoided, the line feeding cost of the inspection robot is reduced, and the work inspection efficiency can be effectively improved.
In one embodiment, as shown in fig. 3, the inspection robot is a second circuit structure diagram of the inspection robot. Where the coarse measurement sensing device is a lidar device 342. The fine tuning measurement sensing device is an optical imaging sensor device 344. The processor 310 is connected to the flying mechanism 320, the roller mechanism 330, the lidar device 342, and the optical imaging sensor device 344, respectively.
Here, the laser radar device 342 refers to a radar device that can detect the position of the power line based on the laser beam and can identify the power line. The lidar device 342 may transmit a detection signal (laser beam) to the power line, and then compare the received signal (target echo) reflected from the power line with the transmission signal, thereby obtaining information on the distance, coordinate position, attitude, shape, and the like of the power line. The optical imaging sensor device 344 refers to a sensing device capable of accurately measuring the coordinate position and attitude of the power transmission line.
Specifically, when the inspection robot is powered on and started, the processor 310 obtains the current coordinate value of the processor, and starts the laser radar device 342 to obtain the coarse coordinate value of the power transmission line. When obtaining the coarse power line coordinate value, the processor 310 generates a first flight trajectory from the current processor coordinate value to the coarse power line coordinate value according to the current processor coordinate value and the coarse power line coordinate value, and transmits a first flight instruction to the flight mechanism 320, so that the flight mechanism 320 flies close to the power line along the first flight trajectory according to the first flight instruction.
Further, the coarse power line coordinate values measured by lidar device 342 may be coordinate values of the closest position of lidar device 342 to the power line. The fine tuning coordinate values of the power lines measured by the optical imaging sensor 344 may be coordinate values of the nearest position of the optical imaging sensor 344 from the power lines.
Based on this embodiment, through the position coordinate of independently discerning the power transmission line, realize that inspection robot independently walks on line. The manual remote control line feeding and tower climbing installation are avoided, the line feeding cost of the inspection robot is reduced, and the work inspection efficiency can be effectively improved.
In order to solve the problems of difficult online operation and high cost of the traditional inspection robot, the embodiment of the invention provides an autonomous online method of the inspection robot. As shown in fig. 4, the method comprises the following steps:
s110, when a power transmission line coarse adjustment coordinate value sensed by the coarse adjustment measurement sensing equipment is obtained, generating a first flight trajectory from a processor current coordinate value to the power transmission line coarse adjustment coordinate value according to the processor current coordinate value and the power transmission line coarse adjustment coordinate value, and transmitting a first flight instruction to a flight mechanism; the first flight instruction is used for indicating the flight mechanism to fly to a position corresponding to the coarse coordinate value along the first flight path.
Specifically, when the processor obtains a power transmission line coarse adjustment coordinate value sensed by the coarse adjustment measurement sensing equipment, a first flight trajectory is generated according to the current coordinate value of the processor and the power transmission line coarse adjustment coordinate value, and a first flight instruction is transmitted to the flight mechanism, so that the flight mechanism flies to a position corresponding to the coarse adjustment coordinate value along the first flight trajectory according to the first flight instruction, and autonomous flight of the inspection robot close to the power transmission line is achieved.
And S120, when the flying mechanism flies to the position corresponding to the coarse adjustment coordinate value of the transmission line, calling fine adjustment measurement sensing equipment to obtain the fine adjustment coordinate value of the transmission line.
Specifically, when the processor confirms that the flying mechanism flies to the position corresponding to the coarse adjustment coordinate value of the transmission line, the fine adjustment measurement sensing equipment is called, and then the fine adjustment coordinate value of the transmission line is obtained through the fine adjustment measurement sensing equipment.
S130, generating a second flight trajectory from the power transmission line coarse adjustment coordinate value to the power transmission line fine adjustment coordinate value according to the power transmission line coarse adjustment coordinate value and the power transmission line fine adjustment coordinate value, and transmitting a second flight instruction to the flight mechanism; and the second flight instruction is used for indicating the flight mechanism to fly to the position corresponding to the fine adjustment coordinate value of the transmission line along the second flight track.
Specifically, the processor generates a second flight trajectory according to the coarse adjustment coordinate value and the fine adjustment coordinate value of the power transmission line, and transmits a first flight instruction to the flight mechanism, so that the flight mechanism flies to a position corresponding to the fine adjustment coordinate value of the power transmission line along the second flight trajectory according to the second flight instruction, and autonomous flight of the rollers of the inspection robot is achieved.
Further, the first flight path comprises a rising flight path and a horizontal flight path; as shown in fig. 5, the step of flying along the first flight path includes:
step S210, transmitting a rising flight instruction corresponding to the rising flight trajectory to a flight mechanism; the ascending flight command is used for instructing the flight mechanism to fly along the ascending flight path.
Step S220, when the flying mechanism flies to the tail end position of the ascending flying track, transmitting a horizontal flying command corresponding to the horizontal flying track to the flying mechanism; the horizontal flight instruction is used for instructing the flight mechanism to fly along the horizontal flight track.
In particular, the ascending flight trajectory may be a vertical ascending flight trajectory. The horizontal flight path may be a horizontal straight flight path. And the processor transmits the ascending flight instruction to the flight mechanism, so that the flight mechanism flies along the ascending flight track according to the ascending flight instruction. And when the flying mechanism flies to the tail end position of the ascending flying track, the processor transmits the horizontal flying instruction to the flying mechanism, so that the flying mechanism flies along the horizontal flying track according to the horizontal flying instruction.
Further, the second flight trajectory comprises a descending flight trajectory; the step of flying along the second flight path comprises:
transmitting a descending flight instruction corresponding to the descending flight trajectory to a flight mechanism; the descending flight instruction is used for instructing the flight mechanism to fly along the descending flight path.
In particular, the descending flight trajectory may be a vertical descending flight trajectory. When the flight mechanism flies to the tail end position of the horizontal flight track, the processor transmits a descending flight instruction corresponding to the descending flight track to the flight mechanism, so that the flight mechanism flies along the descending flight track according to the descending flight, and the automatic on-line inspection of the inspection robot is realized.
In the above embodiment, through obtaining the position coordinate, the robot can take off voluntarily, flies to the position coordinate who obtains after, through the position coordinate of independently discernment power transmission line, realizes that the robot that patrols and examines independently walks on line. The manual remote control line feeding and tower climbing installation are avoided, the line feeding cost of the inspection robot is reduced, and the work inspection efficiency can be effectively improved.
In one embodiment, as shown in fig. 6, an autonomous online method of an inspection robot is provided, which includes the following steps:
step S310, when a power transmission line coarse adjustment coordinate value sensed by a coarse adjustment measurement sensing device is obtained, according to a current coordinate value of a processor and the power transmission line coarse adjustment coordinate value, a first flight trajectory from the current coordinate value of the processor to the power transmission line coarse adjustment coordinate value is generated, and a first flight instruction is transmitted to a flight mechanism; the first flight instruction is used for indicating the flight mechanism to fly to a position corresponding to the coarse coordinate value along the first flight trajectory;
step S320, when the flying mechanism flies to a position corresponding to the coarse adjustment coordinate value of the transmission line, calling fine adjustment measurement sensing equipment to obtain a fine adjustment coordinate value of the transmission line;
step S330, generating a second flight trajectory from the power transmission line coarse adjustment coordinate value to the power transmission line fine adjustment coordinate value according to the power transmission line coarse adjustment coordinate value and the power transmission line fine adjustment coordinate value, and transmitting a second flight instruction to the flight mechanism; and the second flight instruction is used for indicating the flight mechanism to fly to the position corresponding to the fine adjustment coordinate value of the transmission line along the second flight track.
Step S340, when the flying mechanism flies to the position corresponding to the fine adjustment coordinate value of the transmission line, comparing the fine adjustment coordinate value of the transmission line with a preset coordinate value of the identification point of the transmission line by a distance difference value;
step S350, when the comparison result exceeds a safety threshold value, transmitting a third flight instruction to the flight mechanism; and the third flight instruction is used for indicating the flight mechanism to fly along the position of the coordinate value of the corresponding power transmission line identification point.
The specific content processes of step S310, step S320 and step S330 may refer to the above contents, and are not described herein again.
Specifically, when the flying mechanism flies to the position corresponding to the fine adjustment coordinate value of the transmission line, the processor compares the fine adjustment coordinate value of the transmission line with a preset coordinate value of the identification point of the transmission line by the distance difference. And when the comparison result exceeds the safety threshold value, the processor transmits a third flight instruction to the flight mechanism, so that the flight mechanism flies along the position corresponding to the coordinate value of the power transmission line identification point according to the third flight instruction, and the roller of the inspection robot automatically walks on line.
It should be understood that although the various steps in the flow charts of fig. 4-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order 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 some of the steps in fig. 4-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, an autonomous on-line device of an inspection robot is provided, as shown in fig. 7, the device includes a coarse flight unit 710, a fine coordinate value acquisition unit 720, and a fine coordinate value acquisition unit 730, wherein:
a coarse tuning flight unit 710, configured to, when a power transmission line coarse tuning coordinate value sensed by the coarse tuning measurement sensing device is obtained, generate a first flight trajectory from a processor current coordinate value to the power transmission line coarse tuning coordinate value according to the processor current coordinate value and the power transmission line coarse tuning coordinate value, and transmit a first flight instruction to the flight mechanism; the first flight instruction is used for indicating the flight mechanism to fly to a position corresponding to the coarse coordinate value along the first flight path.
And the fine adjustment coordinate value acquisition unit 720 is used for calling the fine adjustment measurement sensing equipment to acquire the fine adjustment coordinate value of the transmission line when the flying mechanism flies to the position corresponding to the coarse adjustment coordinate value of the transmission line.
The fine-adjustment flying unit 730 is used for generating a second flying track from the power transmission line coarse-adjustment coordinate value to the power transmission line fine-adjustment coordinate value according to the power transmission line coarse-adjustment coordinate value and the power transmission line fine-adjustment coordinate value, and transmitting a second flying instruction to the flying mechanism; and the second flight instruction is used for indicating the flight mechanism to fly to the position corresponding to the fine adjustment coordinate value of the transmission line along the second flight track.
Further, the coarse flying unit comprises:
the ascending flight unit is used for transmitting an ascending flight instruction corresponding to the ascending flight track to the flight mechanism; the ascending flight command is used for instructing the flight mechanism to fly along the ascending flight path.
The horizontal flying unit is used for transmitting a horizontal flying instruction corresponding to the horizontal flying track to the flying mechanism when the flying mechanism flies to the tail end position of the ascending flying track; the horizontal flight instruction is used for instructing the flight mechanism to fly along the horizontal flight track.
Further, the fine-tuning flight unit includes:
the descending flight unit is used for transmitting a descending flight instruction corresponding to the descending flight track to the flight mechanism; the descending flight instruction is used for instructing the flight mechanism to fly along the descending flight path.
Those skilled in the art will appreciate that the configuration shown in fig. 7 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the inspection robot to which the present application is applied, and a particular inspection robot may include more or less components than those shown in the drawings, or may combine some components, or have a different arrangement of components.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
when a power transmission line coarse adjustment coordinate value sensed by the coarse adjustment measurement sensing equipment is obtained, generating a first flight trajectory from the current coordinate value of the processor to the power transmission line coarse adjustment coordinate value according to the current coordinate value of the processor and the power transmission line coarse adjustment coordinate value, and transmitting a first flight instruction to a flight mechanism; the first flight instruction is used for indicating the flight mechanism to fly to a position corresponding to the coarse coordinate value along the first flight trajectory;
when the flying mechanism flies to a position corresponding to the coarse adjustment coordinate value of the transmission line, calling fine adjustment measurement sensing equipment to obtain a fine adjustment coordinate value of the transmission line;
generating a second flight trajectory from the power transmission line coarse adjustment coordinate value to the power transmission line fine adjustment coordinate value according to the power transmission line coarse adjustment coordinate value and the power transmission line fine adjustment coordinate value, and transmitting a second flight instruction to the flight mechanism; and the second flight instruction is used for indicating the flight mechanism to fly to the position corresponding to the fine adjustment coordinate value of the transmission line along the second flight track.
For a specific method for implementing the functions of the computer program stored in the computer-readable storage medium when the computer program is executed by the processor, reference may be made to the above description of the autonomous online method of the inspection robot, which is not described herein again. The respective modules in the above-described computer-readable storage medium may be implemented in whole or in part by software, hardware, and a combination thereof.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
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 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 division methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The above-mentioned embodiments only express several embodiments of the present invention, 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 inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A patrol robot is characterized by comprising a processing mechanism, a flying mechanism, a roller mechanism and a searching line-feeding device; the seeking online device comprises coarse adjustment measurement sensing equipment and fine adjustment measurement sensing equipment; the processing mechanism comprises a processor arranged in the shell;
one side end of the roller mechanism is arranged on one side surface of the shell; the other side surface of the shell is provided with the flying mechanism; the processor is respectively electrically connected with the flying mechanism, the roller mechanism, the coarse adjustment measurement sensing equipment and the fine adjustment measurement sensing equipment;
the coarse adjustment measurement sensing equipment is laser radar equipment; the rough-tuning measurement sensing equipment transmits laser beams to the power transmission line and compares the received target echo reflected from the power transmission line with the transmitted signal to obtain the distance, coordinate position, posture and shape information of the power transmission line;
when the processor obtains a power transmission line coarse adjustment coordinate value sensed by the coarse adjustment measurement sensing equipment, generating a first flight trajectory from the processor current coordinate value to the power transmission line coarse adjustment coordinate value according to the processor current coordinate value and the power transmission line coarse adjustment coordinate value, and transmitting a first flight instruction to the flight mechanism; the flying mechanism flies close to the power transmission line along the first flying track according to the first flying instruction;
the fine adjustment measurement sensing equipment is optical imaging sensor equipment; the fine adjustment measurement sensing equipment measures the coordinate position and the posture of the power transmission line;
when the flying mechanism flies to a position corresponding to the coarse adjustment coordinate value of the transmission line, the processor calls the fine adjustment measurement sensing equipment to obtain a fine adjustment coordinate value of the transmission line;
the processor generates a second flight trajectory from the power transmission line coarse tuning coordinate value to the power transmission line fine tuning coordinate value according to the power transmission line coarse tuning coordinate value and the power transmission line fine tuning coordinate value, and transmits a second flight instruction to the flight mechanism; and the flying mechanism carries out online flying of the roller along the second flying track according to the second flying instruction.
2. An autonomous online method of an inspection robot is characterized by comprising the following steps:
when a power transmission line coarse adjustment coordinate value sensed by a coarse adjustment measurement sensing device is obtained, generating a first flight trajectory from a processor current coordinate value to the power transmission line coarse adjustment coordinate value according to the processor current coordinate value and the power transmission line coarse adjustment coordinate value, and transmitting a first flight instruction to a flight mechanism; the first flight instruction is used for indicating the flight mechanism to fly to a position corresponding to the coarse coordinate value along the first flight trajectory; the coarse adjustment measurement sensing equipment is laser radar equipment; the coarse tuning measurement sensing equipment transmits a laser beam to the transmission line; comparing the received target echo reflected from the power transmission line with the transmitted signal to obtain the distance, coordinate position, posture and shape information of the power transmission line;
when the flying mechanism flies to the position corresponding to the coarse adjustment coordinate value of the transmission line, fine adjustment measurement sensing equipment is called to obtain a fine adjustment coordinate value of the transmission line; the fine adjustment measurement sensing equipment is optical imaging sensor equipment; the fine adjustment measurement sensing equipment measures the coordinate position and the posture of the power transmission line;
generating a second flight trajectory from the power transmission line coarse adjustment coordinate value to the power transmission line fine adjustment coordinate value according to the power transmission line coarse adjustment coordinate value and the power transmission line fine adjustment coordinate value, and transmitting a second flight instruction to the flight mechanism; and the second flight instruction is used for indicating the flight mechanism to fly to the position corresponding to the fine adjustment coordinate value of the transmission line along the second flight track.
3. The autonomous online inspection robot method according to claim 2, wherein the first flight trajectory includes a rising flight trajectory and a horizontal flight trajectory;
the step of transmitting a first flight instruction to the flight mechanism comprises:
transmitting a rising flight instruction corresponding to the rising flight trajectory to the flight mechanism; the ascending flight instruction is used for instructing the flight mechanism to fly along the ascending flight track;
when the flying mechanism flies to the tail end position of the ascending flying track, transmitting a horizontal flying instruction corresponding to the horizontal flying track to the flying mechanism; the horizontal flight instruction is used for instructing the flight mechanism to fly along the horizontal flight track.
4. The autonomous online inspection robot method according to claim 2, wherein the second flight trajectory includes a descending flight trajectory;
the step of transmitting a second flight instruction to the flight mechanism comprises:
transmitting a descending flight instruction corresponding to the descending flight trajectory to the flight mechanism; the descending flight instruction is used for instructing the flight mechanism to fly along the descending flight trajectory.
5. The autonomous online inspection robot method according to claim 2, further comprising the steps of:
when the flying mechanism flies to the position corresponding to the fine adjustment coordinate value of the transmission line, comparing the fine adjustment coordinate value of the transmission line with a preset coordinate value of the identification point of the transmission line by a distance difference value;
when the comparison result exceeds a safety threshold value, transmitting a third flight instruction to the flight mechanism; and the third flight instruction is used for indicating the flight mechanism to fly along the position of the coordinate value of the corresponding power transmission line identification point.
6. The utility model provides a patrol and examine robot autonomic online device which characterized in that includes:
the system comprises a coarse tuning flying unit, a flying mechanism and a coarse tuning flying unit, wherein the coarse tuning flying unit is used for generating a first flying track from a current coordinate value of a processor to a coarse tuning coordinate value of a transmission line according to the current coordinate value of the processor and the coarse tuning coordinate value of the transmission line when the coarse tuning coordinate value of the transmission line sensed by a coarse tuning measurement sensing device is obtained, and transmitting a first flying instruction to the flying mechanism; the first flight instruction is used for indicating a flight mechanism to fly to a position corresponding to the coarse coordinate value along the first flight trajectory; the coarse adjustment measurement sensing equipment is laser radar equipment; the coarse tuning measurement sensing equipment transmits a laser beam to the transmission line; comparing the received target echo reflected from the power transmission line with the transmitted signal to obtain the distance, coordinate position, posture and shape information of the power transmission line;
the fine adjustment coordinate value acquisition unit is used for calling fine adjustment measurement sensing equipment to acquire a fine adjustment coordinate value of the transmission line when the flying mechanism flies to a position corresponding to the coarse adjustment coordinate value of the transmission line; the fine adjustment measurement sensing equipment is optical imaging sensor equipment; the fine adjustment measurement sensing equipment measures the coordinate position and the posture of the power transmission line;
the fine-tuning flying unit is used for generating a second flying track from the power transmission line coarse-tuning coordinate value to the power transmission line fine-tuning coordinate value according to the power transmission line coarse-tuning coordinate value and the power transmission line fine-tuning coordinate value, and transmitting a second flying instruction to the flying mechanism; and the second flight instruction is used for indicating the flight mechanism to fly to the position corresponding to the fine adjustment coordinate value of the transmission line along the second flight track.
7. The autonomous online inspection robot device according to claim 6, wherein the coarse flying unit includes:
the ascending flight unit is used for transmitting an ascending flight instruction corresponding to the ascending flight track to the flight mechanism; the ascending flight instruction is used for instructing the flight mechanism to fly along the ascending flight track;
the horizontal flying unit is used for transmitting a horizontal flying instruction corresponding to the horizontal flying track to the flying mechanism when the flying mechanism flies to the tail end position of the ascending flying track; the horizontal flight instruction is used for instructing the flight mechanism to fly along the horizontal flight track.
8. The autonomous online inspection robot device according to claim 6, wherein the fine-tuning flight unit includes:
the descending flight unit is used for transmitting a descending flight instruction corresponding to the descending flight track to the flight mechanism; the descending flight instruction is used for instructing the flight mechanism to fly along the descending flight trajectory.
9. The autonomous online inspection robot device according to claim 6, further comprising:
the comparison unit is used for comparing the distance difference between the fine adjustment coordinate value of the transmission line and a preset coordinate value of the identification point of the transmission line when the flying mechanism flies to the position corresponding to the fine adjustment coordinate value of the transmission line;
the flying unit is used for transmitting a third flying instruction to the flying mechanism when the comparison result exceeds a safety threshold value; and the third flight instruction is used for indicating the flight mechanism to fly along the position of the coordinate value of the corresponding power transmission line identification point.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 2 to 5.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 2 to 5.
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