CN110757481A - Inspection robot and inspection method thereof - Google Patents
Inspection robot and inspection method thereof Download PDFInfo
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- CN110757481A CN110757481A CN201911166526.6A CN201911166526A CN110757481A CN 110757481 A CN110757481 A CN 110757481A CN 201911166526 A CN201911166526 A CN 201911166526A CN 110757481 A CN110757481 A CN 110757481A
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- 238000007689 inspection Methods 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007613 environmental effect Effects 0.000 claims abstract description 16
- 230000002159 abnormal effect Effects 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 2
- 229910052744 lithium Inorganic materials 0.000 claims description 2
- 238000013135 deep learning Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 238000005034 decoration Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The application provides an inspection robot and an inspection method thereof, and relates to the field of inspection. This robot patrols and examines includes: the chassis, set up in wheel, drive arrangement, processing apparatus, energy supply device, laser radar, the degree of depth camera on the chassis, energy supply device does do respectively wheel, processing apparatus, laser radar, the degree of depth camera provide the electric energy, and laser radar is used for acquireing environmental information, the degree of depth camera is used for acquireing face information, and processing apparatus is used for the basis environmental information generates the removal instruction to patrolling and examining the robot, according to face information carries out face identification, and wheel and drive arrangement basis removal instruction removes. This application can save and patrol and examine the cost, promotes the efficiency of patrolling and examining.
Description
Technical Field
The application belongs to the field of inspection, and particularly relates to an inspection robot and an inspection method thereof.
Background
With the continuous development of the technology, people's life is more and more convenient, and more fields can be replaced by the work of human by the robot, still there are many fields not replaced by the human by the robot, such as: the inspection field is generally carried out manually. However, the manual inspection not only wastes a large amount of expensive labor cost, but also has low efficiency.
Disclosure of Invention
The embodiment of the invention mainly aims to provide the inspection robot and the inspection method thereof.
In a first aspect, a patrol robot is provided, including:
In one possible implementation, the energy supply device is a lithium battery.
In another possible implementation manner, the inspection robot further includes a charging device 7 for charging the energy supply device.
In yet another possible implementation, the wheels are mecanum wheels.
In yet another possible implementation manner, the inspection robot further comprises an emergency stop device 6, which is arranged on the chassis and used for braking when the autonomous navigation robot has an emergency.
In yet another possible implementation, the inspection robot further includes a height bracket 3 disposed on the chassis, and the lidar and the depth camera may be disposed above the height bracket.
In yet another possible implementation, the height bracket is a telescoping bracket.
In yet another possible implementation manner, if the result of the face recognition is abnormal, the processing device invokes a voice recognition module to perform identity recognition in a question-answer, password, or voice information manner.
In a second aspect, a method for inspecting a robot is provided, including:
the method comprises the steps that a laser radar acquires environment information in real time, a depth camera acquires face information in real time, and the environment information and the face information are sent to a processing device;
the processing device generates a movement instruction according to the environment information, performs face recognition according to the face information, performs routing inspection according to the face recognition result, and sends the movement instruction to the wheels;
and the wheels move the inspection robot according to the moving instruction.
In a possible implementation manner, the performing inspection processing according to the result of the face recognition includes:
if the face recognition result is matching, the inspection robot avoids pedestrians; alternatively, the first and second electrodes may be,
and if the face recognition result is matching, calling a voice recognition module, and performing identity recognition in a question-answer, password and voice information mode.
The beneficial effect that technical scheme that this application provided brought is: the inspection cost can be saved, and the inspection efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 and fig. 2 are structural diagrams of an inspection robot according to an embodiment of the present invention;
in the figure: 1-a depth camera; 2-laser radar; 3-height support; 4-an energy supply device; 5-a processing device; 6-emergency stop device; 7-a charging device; 8-a drive device; 9-vehicle wheels; 10-chassis.
Fig. 3 is a flowchart of an inspection method of an inspection robot according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar modules or modules having the same or similar functionality throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, modules, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, modules, components, and/or groups thereof. It will be understood that when a module is referred to as being "connected" or "coupled" to another module, it can be directly connected or coupled to the other module or intervening modules may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The technical solutions of the present application and the technical solutions of the present application, for example, to solve the above technical problems, will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Example one
As shown in fig. 1 and fig. 2, a structure diagram of an inspection robot according to an embodiment of the present invention includes:
In an embodiment of the present invention, an inspection robot includes: the chassis, set up wheel, processing apparatus, energy supply device, laser radar, the degree of depth camera on the chassis, the energy supply device does respectively do wheel, processing apparatus, laser radar, the degree of depth camera provide the electric energy, and laser radar is used for acquireing environmental information, the degree of depth camera is used for acquireing face information, and processing apparatus is used for the basis environmental information generates the removal instruction to patrolling and examining the robot, according face information carries out face identification, and the wheel basis removal instruction removes.
Energy supply unit is the whole energy supply equipment who patrols and examines the robot, and it provides sufficient electric energy for functions such as the removal of patrolling and examining the robot, face identification, environmental information collection, and this energy supply unit is the battery, still is provided with charging device 7 simultaneously on patrolling and examining the robot, can charge for energy supply unit through this charging device, guarantees to patrol and examine the lasting, the operation of relapseing of robot.
The wheels are the basis for the movement of the whole inspection robot, the movement instruction generated by the processing device can be sent to the wheels, and the wheels realize the movement of the inspection robot according to the movement instruction. It should be noted that the type of the wheel may be set according to the actual use requirement, and the present invention is not limited. Preferably, the wheels are Mecanum wheels.
The depth camera can collect the face information of surrounding pedestrians in real time when the inspection robot runs, the face information is transmitted to the processing device, the collected face information is compared and identified through the database in the processing device, and the automatic inspection function of the inspection robot is achieved.
After the inspection robot is started, the laser radar acquires surrounding environment information in real time, the acquired environment information is sent to the processing device, and the processing device judges surrounding environment according to the environment information and generates a moving instruction.
The processing device is the core of the whole inspection robot, and a deep learning module, a human face information database and a voice recognition module are arranged on the processing device. The deep learning module can carry out deep learning on the surrounding environment, generates different moving instructions according to different environments, and generates the moving instructions according to real environment information when receiving the real environment information sent by the laser radar. The face information database stores a large amount of face data, when the face information sent by the depth camera is received, the face information is compared with the face data to realize face recognition, when the face recognition result is abnormal, the voice recognition module is started, and the purpose of inspection is realized through the modes of question answering, password, voice information and the like.
The inspection robot is further provided with an emergency stop device 6 which is arranged on the chassis 10 and used for braking when an emergency occurs in the autonomous navigation robot, so that the autonomous navigation robot is guaranteed to run.
The inspection robot further comprises a height bracket 3 arranged on the chassis 10, and the laser radar and the depth camera can be arranged on the height bracket. The laser radar and the depth camera are arranged on the height support, so that the visual fields of the laser radar and the depth camera can be improved, and the range for collecting environmental data and face information is enlarged. The height support is a telescopic support.
According to the embodiment of the invention, the laser radar and the depth camera are arranged on the robot, the face information is collected through the depth camera, the environment information is collected through the laser radar, the face information is sent to the processing device for face recognition, the environment information is sent to the processing device to realize automatic movement of the robot, the robot capable of automatically moving and automatically inspecting is provided, the cost of manpower inspection is saved, and the inspection efficiency is improved.
Example two
As shown in fig. 3, an inspection method of an inspection robot according to an embodiment of the present invention includes:
step S101, a laser radar acquires environment information in real time, a depth camera acquires face information in real time, and the environment information and the face information are sent to a processing device;
step S102, a processing device generates a movement instruction according to the environment information, performs face recognition according to the face information, performs routing inspection according to the face recognition result, and sends the movement instruction to wheels;
and S103, moving the inspection robot by the wheels and the driving device according to the movement instruction.
In an embodiment of the present invention, an inspection robot includes: the chassis, set up wheel, processing apparatus, energy supply device, laser radar, the degree of depth camera on the chassis, the energy supply device does respectively do wheel, processing apparatus, laser radar, the degree of depth camera provide the electric energy, and laser radar is used for acquireing environmental information, the degree of depth camera is used for acquireing face information, and processing apparatus is used for the basis environmental information generates the removal instruction to patrolling and examining the robot, according face information carries out face identification, and the wheel basis removal instruction removes.
Energy supply unit is the whole energy supply equipment who patrols and examines the robot, and it provides sufficient electric energy for functions such as the removal of patrolling and examining the robot, face identification, environmental information collection, and this energy supply unit is the battery, still is provided with charging device 7 simultaneously on patrolling and examining the robot, can charge for energy supply unit through this charging device, guarantees to patrol and examine the lasting, the operation of relapseing of robot.
The wheels are the basis for the movement of the whole inspection robot, the movement instruction generated by the processing device can be sent to the wheels, and the wheels realize the movement of the inspection robot according to the movement instruction. It should be noted that the type of the wheel may be set according to the actual use requirement, and the present invention is not limited. Preferably, the wheels are Mecanum wheels.
The depth camera can collect the face information of surrounding pedestrians in real time when the inspection robot runs, the face information is transmitted to the processing device, the collected face information is compared and identified through the database in the processing device, and the automatic inspection function of the inspection robot is achieved.
After the inspection robot is started, the laser radar acquires surrounding environment information in real time, the acquired environment information is sent to the processing device, and the processing device judges surrounding environment according to the environment information and generates a moving instruction.
The processing device is the core of the whole inspection robot, and a deep learning module, a human face information database and a voice recognition module are arranged on the processing device. The deep learning module can carry out deep learning on the surrounding environment, generates different moving instructions according to different environments, and generates the moving instructions according to real environment information when receiving the real environment information sent by the laser radar. The face information database stores a large amount of face data, when the face information sent by the depth camera is received, the face information is compared with the face data to realize face recognition, when the face recognition result is abnormal, the voice recognition module is started, and the purpose of inspection is realized through the modes of question answering, password, voice information and the like.
The inspection processing is carried out according to the result of the face recognition, and the method comprises the following steps:
if the face recognition result is matching, the inspection robot avoids pedestrians; alternatively, the first and second electrodes may be,
and if the face recognition result is matching, calling a voice recognition module, and performing identity recognition in a question-answer, password and voice information mode.
The inspection robot is further provided with an emergency stop device 6 which is arranged on the chassis 10 and used for braking when an emergency occurs in the autonomous navigation robot, so that the autonomous navigation robot is guaranteed to run.
The inspection robot further comprises a height bracket 3 arranged on the chassis 10, and the laser radar and the depth camera can be arranged on the height bracket. The laser radar and the depth camera are arranged on the height support, so that the visual fields of the laser radar and the depth camera can be improved, and the range for collecting environmental data and face information is enlarged.
According to the embodiment of the invention, the laser radar and the depth camera are arranged on the robot, the face information is collected through the depth camera, the environment information is collected through the laser radar, the face information is sent to the processing device for face recognition, the environment information is sent to the processing device to realize automatic movement of the robot, the robot capable of automatically moving and automatically inspecting is provided, the cost of manpower inspection is saved, and the inspection efficiency is improved.
It should be understood that, although the steps in the flowcharts of the figures 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 may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An inspection robot, comprising:
chassis (10), set up in wheel (9), drive arrangement (8), processing apparatus (5), energy supply device (4), laser radar (2), depth camera (1) on chassis (10), energy supply device (4) do respectively do wheel (9), processing apparatus (5), laser radar (2), depth camera (1) provide the electric energy, and laser radar (2) are used for acquireing environmental information, depth camera (1) and are used for acquireing face information, and processing apparatus (5) are used for the basis environmental information generates the removal instruction to patrolling and examining the robot, according to face information carries out face identification, wheel (9) and drive arrangement (8) basis removal instruction removes.
2. The inspection robot according to claim 1, wherein the energy supply device is a lithium battery.
3. The inspection robot according to claim 2, further including a charging device (7) for charging the power supply device.
4. The inspection robot according to claim 1, wherein the wheels are mecanum wheels.
5. The inspection robot according to claim 1, further including an emergency stop device (6) disposed on the chassis for braking in the event of an emergency with the autonomous navigation robot.
6. The inspection robot according to claim 1, further including a height support (3) disposed on the chassis, the lidar and the depth camera being positionable above the height support.
7. The inspection robot according to claim 1, wherein the height bracket is a telescoping bracket.
8. The inspection robot according to claim 1, wherein if the face recognition result is abnormal, the processing device invokes a voice recognition module to perform identity recognition in a question-answer, password, voice message manner.
9. A method for inspecting an inspection robot, comprising:
the method comprises the steps that a laser radar acquires environment information in real time, a depth camera acquires face information in real time, and the environment information and the face information are sent to a processing device;
the processing device generates a movement instruction according to the environment information, performs face recognition according to the face information, performs routing inspection according to the face recognition result, and sends the movement instruction to the wheels;
and the wheels move the inspection robot according to the moving instruction.
10. The inspection method according to claim 9, wherein the inspection process according to the result of the face recognition includes:
if the face recognition result is matching, the inspection robot avoids pedestrians; alternatively, the first and second electrodes may be,
and if the face recognition result is matching, calling a voice recognition module, and performing identity recognition in a question-answer, password and voice information mode.
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| CN201911166526.6A CN110757481A (en) | 2019-11-25 | 2019-11-25 | Inspection robot and inspection method thereof |
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| CN201911166526.6A CN110757481A (en) | 2019-11-25 | 2019-11-25 | Inspection robot and inspection method thereof |
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Application publication date: 20200207 |