CN111571599A - Explosion-proof inspection robot and inspection method thereof - Google Patents
Explosion-proof inspection robot and inspection method thereof Download PDFInfo
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- CN111571599A CN111571599A CN202010475155.6A CN202010475155A CN111571599A CN 111571599 A CN111571599 A CN 111571599A CN 202010475155 A CN202010475155 A CN 202010475155A CN 111571599 A CN111571599 A CN 111571599A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses an explosion-proof inspection robot which comprises a robot main body, and a traveling mechanism, a holder mechanism, an information acquisition mechanism, a communication module, a power supply mechanism and a control mechanism which are arranged on the robot main body, wherein a pressure relief device is arranged between the robot main body and the traveling mechanism, and the pressure relief device is vertical to the ground; the invention also provides a polling method of the explosion-proof polling robot, which mainly comprises the steps of acquiring information, planning a path and detecting an obstacle in the planned path. The explosion-proof inspection robot can adapt to a smooth road surface and an uneven road surface, can effectively avoid obstacles, plans a path in real time and improves inspection efficiency.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to an explosion-proof inspection robot and an inspection method thereof.
Background
The special occasions such as electric power, open air all are provided with specially to patrol and examine the workman generally, regularly patrols and examines to equipment, high-risk place, but the manual work is patrolled and examined the in-process, patrols and examines the workman and probably meets danger at any time, especially in high-risk place. With the enhancement of public safety consciousness, the special robot represented by the explosion-proof inspection robot gradually replaces the manual inspection work.
Under the general condition, the action ground of patrolling and examining the robot is for leveling ground, but in the actual conditions, in the scene of patrolling and examining that the patrolling and examining robot faces, unevenness's action ground can appear, can influence the normal work of patrolling and examining the robot this moment, can damage when serious and patrol and examine the robot.
Disclosure of Invention
The invention provides an explosion-proof inspection robot and an inspection method thereof, aiming at making up the defects of the prior art.
In order to solve the technical problems, the following technical scheme is adopted:
an explosion-proof inspection robot comprises a robot main body, wherein a walking mechanism, a holder mechanism, an information acquisition mechanism, a communication module, a power supply mechanism and a control mechanism are arranged on the robot main body; the information acquisition mechanism comprises an image acquisition module, a gas sensor, a temperature sensor and a humidity sensor, the image acquisition module is arranged on the holder mechanism, and the gas sensor, the temperature sensor and the humidity sensor are respectively arranged around the robot main body; a pressure relief device is arranged between the robot main body and the travelling mechanism, the upper end of the pressure relief device is fixedly connected with the robot main body through a fixing piece, the lower end of the pressure relief device is fixedly connected with the travelling mechanism, and the pressure relief device is vertical to the ground; the holder mechanism comprises a holder execution module, a holder communication module, a holder driving module and a holder sensor module; the holder executing module is electrically connected with the holder driving module and is used for adjusting the position of the holder mechanism; the holder driving module provides power for the holder executing module; the holder mechanism is in communication connection with the control mechanism through a holder communication module; the control mechanism controls the work of the information acquisition mechanism and the walking mechanism and is in communication connection with the remote control console through the communication module; and the power supply mechanism provides electric energy for each part of the explosion-proof inspection robot.
Further, the image acquisition module comprises an infrared camera, a binocular camera and a variable focal length camera.
Further, the pressure relief device is a spring damper.
An inspection method of an explosion-proof inspection robot comprises the following steps in the information acquisition process:
step S1: after the explosion-proof inspection robot reaches a specified inspection place, the control mechanism controls the gas sensor, the temperature sensor and the humidity sensor to be started, and controls the holder mechanism to rotate and lift, so that the image acquisition module can comprehensively scan the inspection place and feed acquired information back to the control mechanism;
step S2: the control mechanism preprocesses the information acquired by the information acquisition mechanism and identifies a target object to be detected;
step S3: when the explosion-proof inspection robot reaches a target object place, the control mechanism controls the variable focus camera to collect the target object by adopting a proper focal length, further processes the collected information, stores the information at the same time, and feeds back target point information with abnormal data to the remote control console through the communication module;
step S4: the remote control console performs manual rechecking on the received target point information with abnormal data and feeds back a processing instruction to the control mechanism.
Further, the path planning method of the explosion-proof inspection robot comprises the following steps:
step S1: the control mechanism analyzes the acquired data information and judges whether the detection site is a historical inspection site;
step S2: if the inspection place is the primary inspection place, the path starting information is fed back to the remote control console, the remote control console calculates the shortest path to the target object according to the path starting information and the data information acquired by the image acquisition module, and the explosion-proof inspection robot feeds the surrounding image information back to the remote control console in real time in the walking process so as to adjust the path in time and achieve the purpose of avoiding obstacles;
step S3: if the inspection location is a historical inspection location, the control mechanism calculates the shortest path to the target object according to the historical path.
Further, the steps of detecting the obstacle of the explosion-proof inspection robot in the path planning process are as follows:
step S1: converting the color image into a gray image, and denoising the gray image by adopting a mean value filtering method;
step S2: respectively carrying out differential processing on three continuously collected frame images f (x, y, z, t-2), f (x, y, z, t-1), f (x, y, z, t) and calculating a differential image d between any two frame imagesiWherein
Step S3: will diAnd performing the phase comparison to obtain a final difference image d, wherein the area of the difference image d is the position of the obstacle.
By adopting the technical scheme, the method has the following beneficial effects:
the invention provides an explosion-proof inspection robot and an inspection method thereof, wherein the explosion-proof inspection robot can effectively solve the problem of jolt caused by uneven ground in the traveling process, improves the stability of the inspection robot in the traveling process, can effectively identify obstacles, plans an inspection path again in real time and improves the inspection efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings.
FIG. 1 is a block diagram of the information acquisition process of the explosion-proof inspection robot of the present invention;
fig. 2 is a flow chart of path planning of the explosion-proof inspection robot in the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
An explosion-proof inspection robot comprises a robot main body, wherein a walking mechanism, a holder mechanism, an information acquisition mechanism, a communication module, a power supply mechanism and a control mechanism are arranged on the robot main body; the information acquisition mechanism comprises an image acquisition module, a gas sensor, a temperature sensor and a humidity sensor, the image acquisition module is arranged on the holder mechanism, and the gas sensor, the temperature sensor and the humidity sensor are respectively arranged around the robot main body; a pressure relief device is arranged between the robot main body and the travelling mechanism, the upper end of the pressure relief device is fixedly connected with the robot main body through a fixing piece, the lower end of the pressure relief device is fixedly connected with the travelling mechanism, and the pressure relief device is vertical to the ground; the holder mechanism comprises a holder execution module, a holder communication module, a holder driving module and a holder sensor module; the holder executing module is electrically connected with the holder driving module and is used for adjusting the position of the holder mechanism; the holder driving module provides power for the holder executing module, and the holder mechanism is in communication connection with the control mechanism through a holder communication module; the control mechanism controls the work of the information acquisition mechanism and the walking mechanism and is in communication connection with the remote control console through the communication module; and the power supply mechanism provides electric energy for each part of the explosion-proof inspection robot.
Further, the image acquisition module comprises an infrared camera, a binocular camera and a variable focal length camera.
Further, the pressure relief device is a spring damper.
Referring to fig. 1, the inspection method of the explosion-proof inspection robot comprises the following steps:
step S1: after the explosion-proof inspection robot reaches a specified inspection place, the control mechanism controls the gas sensor, the temperature sensor and the humidity sensor to be started, and controls the holder mechanism to rotate and lift, so that the image acquisition module can comprehensively scan the inspection place and feed acquired information back to the control mechanism;
step S2: the control mechanism preprocesses the information acquired by the information acquisition mechanism and identifies a target object to be detected;
step S3: when the explosion-proof inspection robot reaches a target object place, the control mechanism controls the variable focus camera to collect the target object by adopting a proper focal length, further processes the collected information, stores the information at the same time, and feeds back target point information with abnormal data to the remote control console through the communication module;
step S4: the remote control console performs manual rechecking on the received target point information with abnormal data and feeds back a processing instruction to the control mechanism.
Referring to fig. 2, further, the path planning step of the explosion-proof inspection robot is as follows:
step S1: the control mechanism analyzes the acquired data information and judges whether the detection site is a historical inspection site;
step S2: if the inspection place is the primary inspection place, the path starting information is fed back to the remote control console, the remote control console calculates the shortest path to the target object according to the path starting information and the data information acquired by the image acquisition module, and the explosion-proof inspection robot feeds the surrounding image information back to the remote control console in real time in the walking process so as to adjust the path in time and achieve the purpose of avoiding obstacles;
step S3: if the inspection location is a historical inspection location, the control mechanism calculates the shortest path to the target object according to the historical path.
Further, the steps of detecting the obstacle of the explosion-proof inspection robot in the path planning process are as follows:
step S1: converting the color image into a gray image, and denoising the gray image by adopting a mean value filtering method;
step S2: respectively aiming at three continuously collected frames of imagesf (x, y, z, t-2), f (x, y, z, t-1) and f (x, y, z, t) are subjected to difference processing, and a difference image d between any two frame images is calculatediWherein
Step S3: will diAnd performing the phase comparison to obtain a final difference image d, wherein the area of the difference image d is the position of the obstacle.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered in the protection scope of the present invention.
Claims (6)
1. The utility model provides an explosion-proof robot of patrolling and examining which characterized in that: the explosion-proof inspection robot comprises a robot main body, wherein a walking mechanism, a holder mechanism, an information acquisition mechanism, a communication module, a power supply mechanism and a control mechanism are arranged on the robot main body; the information acquisition mechanism comprises an image acquisition module, a gas sensor, a temperature sensor and a humidity sensor, the image acquisition module is arranged on the holder mechanism, and the gas sensor, the temperature sensor and the humidity sensor are respectively arranged around the robot main body; a pressure relief device is arranged between the robot main body and the travelling mechanism, the upper end of the pressure relief device is fixedly connected with the robot main body through an upper fixing piece, the lower end of the pressure relief device is fixedly connected with the travelling mechanism, and the pressure relief device is vertical to the ground; the holder mechanism comprises a holder execution module, a holder communication module, a holder driving module and a holder sensor module; the holder executing module is electrically connected with the holder driving module and is used for adjusting the position of the holder mechanism; the holder driving module provides power for the holder executing module, and the holder mechanism is in communication connection with the control mechanism through a holder communication module; the control mechanism controls the work of the information acquisition mechanism and the walking mechanism and is in communication connection with the remote control console through the communication module; and the power supply mechanism provides electric energy for each part of the explosion-proof inspection robot.
2. The explosion-proof inspection robot according to claim 1, characterized in that: the image acquisition module comprises an infrared camera, a binocular camera and a variable focal length camera.
3. The explosion-proof inspection robot according to claim 2, wherein: the pressure-relieving device is a spring shock absorber.
4. The utility model provides an explosion-proof patrolling robot patrols and examines method which characterized in that: the information acquisition process of the explosion-proof inspection robot comprises the following steps:
step S1: after the explosion-proof inspection robot reaches a specified inspection place, the control mechanism controls the gas sensor, the temperature sensor and the humidity sensor to be started, and controls the holder mechanism to rotate and lift, so that the image acquisition module can comprehensively scan the inspection place and feed acquired information back to the control mechanism;
step S2: the control mechanism preprocesses the information acquired by the information acquisition mechanism and identifies a target object to be detected;
step S3: when the explosion-proof inspection robot reaches a target object place, the control mechanism controls the variable focus camera to collect the target object by adopting a proper focal length, further processes the collected information, stores the information at the same time, and feeds back target point information with abnormal data to the remote control console through the communication module;
step S4: the remote control console performs manual rechecking on the received target point information with abnormal data and feeds back a processing instruction to the control mechanism.
5. The inspection method of the explosion-proof inspection robot according to claim 4, wherein: the path planning method of the explosion-proof inspection robot comprises the following steps:
step S1: the control mechanism analyzes the acquired data information and judges whether the detection site is a historical inspection site;
step S2: if the inspection place is the primary inspection place, the path starting information is fed back to the remote control console, the remote control console calculates the shortest path to the target object according to the path starting information and the data information acquired by the image acquisition module, and the explosion-proof inspection robot feeds the surrounding image information back to the remote control console in real time in the walking process so as to adjust the path in time and achieve the purpose of avoiding obstacles;
step S3: if the inspection location is a historical inspection location, the control mechanism calculates the shortest path to the target object according to the historical path.
6. An inspection method according to claim 5, wherein the inspection method comprises the following steps: the steps of the obstacle detection of the explosion-proof inspection robot in the path planning process are as follows:
step S1: converting the color image into a gray image, and denoising the gray image by adopting a mean value filtering method;
step S2: respectively carrying out differential processing on three continuously collected frame images f (x, y, z, t-2), f (x, y, z, t-1), f (x, y, z, t) and calculating a differential image d between any two frame imagesiWherein
Step S3: will diAnd performing the phase comparison to obtain a final difference image d, wherein the area of the difference image d is the position of the obstacle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310937A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Explosion-proof inspection robot capable of being monitored in integrated mode |
| CN114310928A (en) * | 2021-11-30 | 2022-04-12 | 杭州申昊科技股份有限公司 | Intelligent inspection method of explosion-proof inspection robot |
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Application publication date: 20200825 |
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