CN111917157A - Automatic charging method, system, equipment and storage medium for inspection robot - Google Patents
Automatic charging method, system, equipment and storage medium for inspection robot Download PDFInfo
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- CN111917157A CN111917157A CN202010737640.6A CN202010737640A CN111917157A CN 111917157 A CN111917157 A CN 111917157A CN 202010737640 A CN202010737640 A CN 202010737640A CN 111917157 A CN111917157 A CN 111917157A
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- inspection robot
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- inspection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
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Abstract
The invention relates to an automatic charging method of an inspection robot, which comprises the steps of collecting image data of a charging pile according to a preset time interval; preprocessing the image data, and inputting the preprocessed image data into a trained deep learning network model to obtain distance information and angle information of the charging pile relative to the inspection robot; determining the angular speed and the traveling speed of the inspection robot according to the distance information and the angle information, and adjusting the running state of the inspection robot according to the angular speed and the traveling speed; and circularly executing the processing until the inspection robot reaches the charging pile to start charging. The invention realizes that the inspection robot automatically adjusts the posture and the advancing speed of the inspection robot according to the position of the charging pile, and can accurately reach the charging pile for automatic charging. The invention also relates to an automatic charging system of the inspection robot, a storage medium and equipment.
Description
Technical Field
The invention relates to the technical field of information, in particular to an automatic charging method, system, equipment and storage medium for an inspection robot.
Background
In an electric power system, substations are concentrated in a power generation area, and in order to enable the substations to work for a long time, workers need to perform routing inspection at irregular time. With the development of the technology, in order to reduce safety accidents, inspection robots are used on the market to replace workers to inspect the transformer substation, namely, the laser scanners of the inspection robots scan the transformer substation to detect the states of the equipment of the transformer substation. How to provide an automatic charging method for an inspection robot instead of charging by manual operation is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides an automatic charging method, device, equipment and storage medium for an inspection robot.
The technical scheme for solving the technical problems is as follows:
an automatic charging method for an inspection robot comprises the following steps:
acquiring image data of the charging pile according to a preset time interval;
preprocessing the image data, and inputting the preprocessed image data into a trained deep learning network model to obtain position information of the charging pile relative to the inspection robot;
and adjusting the current rotation angle and the current running speed of the inspection robot according to the position information so that the inspection robot reaches the charging pile to start automatic charging.
The invention has the beneficial effects that: the automatic charging method for the inspection robot comprises the steps of collecting image data of a charging pile according to a preset time interval, preprocessing the image data, inputting the preprocessed image data into a trained deep learning network model to obtain position information of the charging pile relative to the inspection robot, and adjusting the current rotation angle and the current running speed of the inspection robot according to the position information so that the inspection robot reaches the charging pile to start automatic charging. The invention realizes that the inspection robot automatically adjusts the posture and the advancing speed of the inspection robot according to the position of the charging pile, and can accurately reach the charging pile for automatic charging.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, according to the distance information and the angle information, the angular speed and the traveling speed of the inspection robot are determined, and the method specifically comprises the following steps:
establishing a space coordinate system, wherein the center of the space coordinate system is the charging pile;
according to the distance information and the angle information, marking coordinate information of the inspection robot in the space coordinate system;
and obtaining the angular speed and the advancing speed of the inspection robot according to the coordinate of the inspection robot and the current electric quantity of the inspection robot.
The beneficial effect of adopting the further scheme is that: through the established space coordinate system, the position information of the inspection robot relative to the charging pile is accurately obtained, so that the inspection robot can accurately align to the charging pile.
Further, according to the coordinate information of the robot and the current electric quantity of the robot, the angular velocity and the traveling speed of the robot are obtained, and the method specifically comprises the following steps:
when the current electric quantity of the inspection robot is smaller than a first preset value, determining the angular speed and the advancing speed of the inspection robot according to the coordinate information of the inspection robot, the inspection and the first preset advancing speed of the robot;
and when the current electric quantity of the inspection robot is smaller than a second preset value, determining the angular speed and the traveling speed of the inspection robot according to the coordinate information of the inspection robot, the inspection robot and the second preset traveling speed of the inspection robot, wherein the first preset value is larger than the second preset value.
Further, the preprocessing the image data specifically includes:
and carrying out smooth denoising on the image data by adopting a neighborhood average method, and enhancing the edge information of the image data subjected to smooth denoising by adopting a histogram equalization method to obtain the preprocessed image data.
The beneficial effect of adopting the further scheme is that: by preprocessing the image data, the unnecessary background and noise are eliminated, and the image identification efficiency is improved.
Furthermore, the deep learning network model is obtained through training of a deep learning model based on a convolutional neural network through a charging pile sample set, and the charging pile sample set comprises charging pile pictures with different distances, different angles, different illumination conditions and different backgrounds.
Another technical solution of the present invention for solving the above technical problems is as follows:
an automatic charging system of inspection robot, includes:
the acquisition device is used for acquiring image data of the charging pile according to a preset time interval;
the processing device is used for preprocessing the image data and inputting the preprocessed image data into a trained deep learning network model to obtain distance information and angle information of the charging pile relative to the inspection robot;
and the adjusting device is used for determining the angular speed and the advancing speed of the inspection robot according to the distance information and the angle information, and adjusting the running state of the inspection robot according to the angular speed and the advancing speed so that the inspection robot reaches the charging pile to start automatic charging.
The invention has the beneficial effects that: the utility model provides an automatic charging system of robot patrols and examines, through the image data who fills electric pile of collection according to the time interval that predetermines, carry out the image data after the preliminary treatment, input in the degree of depth learning network model trained, obtain and fill electric pile for the positional information who patrols and examines the robot, according to positional information, adjust the current rotation angle and the current operating speed of patrolling and examining the robot to make and patrol and examine the robot and arrive and fill electric pile and begin the automatic charging. The invention realizes that the inspection robot automatically adjusts the posture and the advancing speed of the inspection robot according to the position of the charging pile, and can accurately reach the charging pile for automatic charging.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the adjusting device is specifically configured to establish a spatial coordinate system, and the center of the spatial coordinate system is the charging pile;
according to the distance information and the angle information, marking coordinate information of the inspection robot in the space coordinate system;
and obtaining the angular speed and the advancing speed of the inspection robot according to the coordinate of the inspection robot and the current electric quantity of the inspection robot.
Further, the adjusting device is specifically configured to determine an angular velocity and a traveling velocity of the inspection robot according to the coordinate information of the inspection robot and the first preset traveling velocity of the inspection robot when the current electric quantity of the inspection robot is smaller than a first preset value;
and when the current electric quantity of the inspection robot is smaller than a second preset value, determining the angular speed and the traveling speed of the inspection robot according to the coordinate information of the inspection robot and the second preset traveling speed of the inspection and robot, wherein the first preset value is larger than the second preset value.
The application also provides a computer-readable storage medium, which comprises instructions, and when the instructions are run on a computer, the instructions enable the computer to execute the steps of the inspection robot automatic charging method in any one of the technical schemes.
In addition, the present application further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the steps of the inspection robot automatic charging method according to any one of the above technical solutions when executing the program.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of an automatic charging method for an inspection robot according to an embodiment of the present invention;
fig. 2 is a block diagram of an automatic charging system for an inspection robot according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
As shown in fig. 1, an exemplary flowchart of an automatic charging method for an inspection robot according to an embodiment of the present invention is that the automatic charging method for an inspection robot includes:
110. and acquiring image data of the charging pile according to a preset time interval.
120. And preprocessing the image data, inputting the preprocessed image data into a trained deep learning network model, and obtaining distance information and angle information of the charging pile relative to the inspection robot.
130. And determining the angular speed and the traveling speed of the inspection robot according to the distance information and the angle information, and adjusting the running state of the inspection robot according to the angular speed and the traveling speed.
140. And circularly executing the processing until the inspection robot reaches the charging pile to start charging.
Based on the automatic charging method of the inspection robot provided by the embodiment,
the image data of the charging pile are collected according to the preset time interval, after the image data are preprocessed, the preprocessed image data are input into a trained deep learning network model, the position information of the charging pile relative to the inspection robot is obtained, and the current rotation angle and the current running speed of the inspection robot are adjusted according to the position information, so that the inspection robot reaches the charging pile and starts to automatically charge. The invention realizes that the inspection robot automatically adjusts the posture and the advancing speed of the inspection robot according to the position of the charging pile, and can accurately reach the charging pile for automatic charging.
Based on the above embodiment, further, the step 130 specifically includes the following steps:
establishing a space coordinate system, wherein the center of the space coordinate system is the charging pile;
according to the distance information and the angle information, marking coordinate information of the inspection robot in the space coordinate system;
and obtaining the angular speed and the advancing speed of the inspection robot according to the coordinate of the inspection robot and the current electric quantity of the inspection robot.
Based on above-mentioned embodiment through according to positional information, adjust the current rotation angle and the current operating speed of patrolling and examining the robot, the realization patrols and examines the robot and accomplish fast and fill the adjustment of electric pile's angular deviation.
Further, according to the coordinate information of the robot and the current electric quantity of the robot, the angular velocity and the traveling speed of the robot are obtained, and the method specifically comprises the following steps:
when the current electric quantity of the inspection robot is smaller than a first preset value, determining the angular speed and the advancing speed of the inspection robot according to the coordinate information of the inspection robot, the inspection and the first preset advancing speed of the robot;
and when the current electric quantity of the inspection robot is smaller than a second preset value, determining the angular speed and the traveling speed of the inspection robot according to the coordinate information of the inspection robot, the inspection robot and the second preset traveling speed of the inspection robot, wherein the first preset value is larger than the second preset value.
Further, step 120 specifically includes:
and carrying out smooth denoising on the image data by adopting a neighborhood average method, and enhancing the edge information of the image data subjected to smooth denoising by adopting a histogram equalization method to obtain the preprocessed image data.
Furthermore, the deep learning network model is obtained through training of a charging pile sample set through the deep learning model based on the convolutional neural network, and the charging pile sample set comprises charging pile pictures with different distances, different angles, different illumination conditions and different backgrounds.
As shown in fig. 2, a block diagram of an inspection robot automatic charging system according to another embodiment of the present invention includes:
the acquisition device is used for acquiring image data of the charging pile according to a preset time interval;
the processing device is used for preprocessing the image data and inputting the preprocessed image data into a trained deep learning network model to obtain distance information and angle information of the charging pile relative to the inspection robot;
and the adjusting device is used for determining the angular speed and the advancing speed of the inspection robot according to the distance information and the angle information, and adjusting the running state of the inspection robot according to the angular speed and the advancing speed so that the inspection robot reaches the charging pile to start automatic charging.
Based on the automatic charging system of the inspection robot provided by the embodiment,
the image data of the charging pile are collected according to the preset time interval, after the image data are preprocessed, the preprocessed image data are input into a trained deep learning network model, the position information of the charging pile relative to the inspection robot is obtained, and the current rotation angle and the current running speed of the inspection robot are adjusted according to the position information, so that the inspection robot reaches the charging pile and starts to automatically charge. The invention realizes that the inspection robot automatically adjusts the posture and the advancing speed of the inspection robot according to the position of the charging pile, and can accurately reach the charging pile for automatic charging.
Further, the adjusting device is specifically configured to establish a spatial coordinate system, and the center of the spatial coordinate system is the charging pile;
according to the distance information and the angle information, marking coordinate information of the inspection robot in the space coordinate system;
and obtaining the angular speed and the advancing speed of the inspection robot according to the coordinate of the inspection robot and the current electric quantity of the inspection robot.
Further, the adjusting device is specifically configured to determine an angular velocity and a traveling velocity of the inspection robot according to the coordinate information of the inspection robot and the first preset traveling velocity of the inspection robot when the current electric quantity of the inspection robot is smaller than a first preset value;
and when the current electric quantity of the inspection robot is smaller than a second preset value, determining the angular speed and the traveling speed of the inspection robot according to the coordinate information of the inspection robot and the second preset traveling speed of the inspection and robot, wherein the first preset value is larger than the second preset value.
In addition, the present application also provides a computer-readable storage medium, which includes instructions, and when the instructions are run on a computer, the instructions cause the computer to execute the steps of the inspection robot automatic charging method according to any one of the above technical solutions.
The application also provides computer equipment which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the program to realize the steps of the automatic charging method of the inspection robot in any one of the technical schemes.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The automatic charging method for the inspection robot is characterized by comprising the following steps:
acquiring image data of the charging pile according to a preset time interval;
preprocessing the image data, and inputting the preprocessed image data into a trained deep learning network model to obtain distance information and angle information of the charging pile relative to the inspection robot;
determining the angular speed and the traveling speed of the inspection robot according to the distance information and the angle information, and adjusting the running state of the inspection robot according to the angular speed and the traveling speed;
and circularly executing the processing until the inspection robot reaches the charging pile to start charging.
2. The automatic charging method for the inspection robot according to claim 1, wherein the determining of the angular speed and the traveling speed of the inspection robot according to the distance information and the angle information specifically comprises:
establishing a space coordinate system, wherein the center of the space coordinate system is the charging pile;
according to the distance information and the angle information, marking coordinate information of the inspection robot in the space coordinate system;
and obtaining the angular speed and the advancing speed of the inspection robot according to the coordinate of the inspection robot and the current electric quantity of the inspection robot.
3. The inspection robot automatic charging method according to claim 2, wherein the obtaining of the angular velocity and the traveling velocity of the inspection robot according to the coordinate information of the inspection robot and the current electric quantity of the inspection robot specifically comprises:
when the current electric quantity of the inspection robot is smaller than a first preset value, determining the angular speed and the advancing speed of the inspection robot according to the coordinate information of the inspection robot and the first preset advancing speed of the inspection and robot;
and when the current electric quantity of the inspection robot is smaller than a second preset value, determining the angular speed and the traveling speed of the inspection robot according to the coordinate information of the inspection robot and the second preset traveling speed of the inspection and robot, wherein the first preset value is larger than the second preset value.
4. The inspection robot automatic charging method according to claim 1, wherein the preprocessing of the image data specifically includes:
and carrying out smooth denoising on the image data by adopting a neighborhood average method, and enhancing the edge information of the image data subjected to smooth denoising by adopting a histogram equalization method to obtain the preprocessed image data.
5. The inspection robot automatic charging method according to claim 1, further including a training step of the deep learning network model:
the deep learning model based on the convolutional neural network is trained through a charging pile sample set, wherein the charging pile sample set comprises charging pile pictures of different distances, different angles, different illumination conditions and different backgrounds.
6. The utility model provides an automatic charging system of robot patrols and examines which characterized in that includes:
the acquisition device is used for acquiring image data of the charging pile according to a preset time interval;
the processing device is used for preprocessing the image data and inputting the preprocessed image data into a trained deep learning network model to obtain distance information and angle information of the charging pile relative to the inspection robot;
and the adjusting device is used for determining the angular speed and the advancing speed of the inspection robot according to the distance information and the angle information, and adjusting the running state of the inspection robot according to the angular speed and the advancing speed so that the inspection robot reaches the charging pile to start automatic charging.
7. The inspection robot automatic charging system according to claim 6,
the adjusting device is specifically used for establishing a space coordinate system, and the center of the space coordinate system is the charging pile;
according to the distance information and the angle information, marking coordinate information of the inspection robot in the space coordinate system;
and obtaining the angular speed and the advancing speed of the inspection robot according to the coordinate of the inspection robot and the current electric quantity of the inspection robot.
8. The inspection robot automatic charging system according to claim 6,
the adjusting device is specifically used for determining the angular speed and the advancing speed of the inspection robot according to the coordinate information of the inspection robot and the first preset advancing speed of the inspection and robot when the current electric quantity of the inspection robot is smaller than a first preset value;
and when the current electric quantity of the inspection robot is smaller than a second preset value, determining the angular speed and the traveling speed of the inspection robot according to the coordinate information of the inspection robot and the second preset traveling speed of the inspection and robot, wherein the first preset value is larger than the second preset value.
9. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, causes the processor to perform the steps of the inspection robot automatic charging method according to any one of claims 1 to 5.
10. A computer device comprising a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the steps of the inspection robot automatic charging method according to any one of claims 1 to 5.
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Cited By (1)
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Application publication date: 20201110 |