CN112388629A - Tunnel robot inspection system and method based on 5G data transmission - Google Patents
Tunnel robot inspection system and method based on 5G data transmission Download PDFInfo
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- CN112388629A CN112388629A CN202010938074.5A CN202010938074A CN112388629A CN 112388629 A CN112388629 A CN 112388629A CN 202010938074 A CN202010938074 A CN 202010938074A CN 112388629 A CN112388629 A CN 112388629A
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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
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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
- B25J9/1689—Teleoperation
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The system comprises a plurality of 5G relay nodes arranged in the tunnel and used for carrying out full coverage on 5G signals in the tunnel; the inspection robot is provided with a camera; the server is used for carrying out data transmission with the inspection robot through the 5G relay node, and the data comprises a first control signal for controlling the inspection robot to move, a second control signal for controlling the camera to carry out information acquisition and camera information data; and the control terminal is used for remotely accessing the server. The method and the device can reduce the complex degree of wiring, and each device can be flexibly networked, and have the advantages of low time delay of real-time transmission of video information and the like.
Description
Technical Field
The application belongs to the technical field of tunnel inspection, and particularly relates to a tunnel robot inspection system and method based on 5G data transmission.
Background
The intelligent tunnel inspection robot is an intelligent platform applied to on-line detection of underground tunnels. The robot independently moves in the tunnel, realizes functions such as tunnel cable body running state monitoring, cable tunnel internal environment monitoring, multisensor linkage in the cable tunnel, cable tunnel security protection, synthesizes promotion to pipeline operational environment perception and operating condition aassessment ability, promotes the convenience and the quick response ability of tunnel management.
The tunnel intelligent inspection robot of the existing traffic system generally realizes the movement by being mounted on a cable, the information transmission mode basically adopts an optical fiber mode or a 4g mode, the road traffic monitoring system is still continuously perfected nowadays, the requirements of the number of cameras and the definition are also improved year by year, 4g cannot meet the transmission requirement of real-time performance, the optical fiber wiring area is more and more, and the concrete expression is as follows:
optical fiber transmission wiring is relatively cumbersome;
the optical fibers need to be rearranged when the position of the camera is changed;
the pixels of the camera are gradually increased, the transmission quantity is sharply increased, and the 4g transmission rate cannot meet the requirement of real-time transmission.
Disclosure of Invention
In order to solve at least one of the above technical problems, the present application provides in a first aspect a tunnel robot inspection system based on 5G data transmission, including:
the system comprises a plurality of 5G relay nodes arranged in a tunnel, a plurality of control units and a plurality of control units, wherein the 5G relay nodes are used for carrying out full coverage on 5G signals in the tunnel;
the inspection robot is provided with a camera;
the server is used for carrying out data transmission with the inspection robot through the 5G relay node, and the data comprises a first control signal for controlling the inspection robot to move, a second control signal for controlling the camera to carry out information acquisition and camera information data;
and the control terminal is used for remotely accessing the server.
Preferably, the camera comprises a visible light camera.
Preferably, the camera comprises an infrared camera.
Preferably, the server includes:
the instruction receiving unit is used for acquiring a control instruction sent by the control terminal;
the instruction analysis unit is used for analyzing the control instruction into a first control signal of the inspection robot or a second control signal of the camera for information acquisition;
the instruction sending unit is used for sending the first control signal or the second control signal to the inspection robot;
and the data receiving unit is used for receiving the image data acquired by the inspection robot in real time.
Preferably, the server further includes:
a data display unit for displaying the received image data; or
And the data sending unit is used for sending the received image data to the control terminal.
Preferably, the server further includes:
and the security verification unit is used for determining the access right of the control terminal.
The second aspect of the application provides a tunnel robot inspection method based on 5G data transmission, adopts as above tunnel robot inspection system based on 5G data transmission, the inspection method includes:
receiving a polling request carrying a polling position sent by a control terminal;
determining a second control signal for adjusting the orientation of the camera according to the position of the inspection robot and the inspection position, wherein the first control signal is used for moving the inspection robot;
controlling the direction adjustment of a camera of the mobile machine of the inspection robot; and
and collecting image or video information.
Preferably, the image or video information acquisition is further performed by:
displaying the image or video information; or
And sending the image or video information to a control terminal.
Preferably, before receiving the polling request carrying the polling location sent by the control terminal, the method includes:
receiving a control terminal access request carrying an account number and a password;
and verifying the access authority of the control terminal.
The method and the device can reduce the complex degree of wiring, and each device can be flexibly networked, and have the advantages of low time delay of real-time transmission of video information and the like.
Drawings
Fig. 1 is a schematic diagram of a tunnel robot inspection system based on 5G data transmission.
Fig. 2 is a flowchart of a tunnel robot inspection method based on 5G data transmission.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application, and should not be construed as limiting the present application. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Embodiments of the present application will be described in detail below with reference to the drawings.
This application first aspect provides a tunnel robot system of patrolling and examining based on 5G data transmission, as shown in fig. 1, mainly includes:
the system comprises a plurality of 5G relay nodes arranged in a tunnel, a plurality of control units and a plurality of control units, wherein the 5G relay nodes are used for carrying out full coverage on 5G signals in the tunnel;
the inspection robot is provided with a camera;
the server is used for carrying out data transmission with the inspection robot through the 5G relay node, and the data comprises a first control signal for controlling the inspection robot to move, a second control signal for controlling the camera to carry out information acquisition and camera information data;
and the control terminal is used for remotely accessing the server.
Carry out 5G wireless transmission through 5Gcpe in this application inside the tunnel, 5Gcpe fixes at several position, makes the wireless all standing in tunnel, and the robot can freely remove inside the tunnel, and does not have the influence to information transmission.
The utility model provides a 5gcpe meets with optic fibre, according to 5 gcpe's coverage, set up 5 gcpe's the safety position, ensure 5g signal total coverage in the tunnel, adopt 5g wireless transmission between robot and the 5gcpe, through installing server, industrial computer software on high in the clouds (server), realize an arbitrary computer, need not install each control software, as long as visit and patrol and examine the website, through safety verification back, all can carry out data check and basic control to patrolling and examining the robot. And the cloud terminal is used as a data transmission channel and a data storage area.
In some alternative embodiments, the camera comprises a visible light camera.
In some alternative embodiments, the camera comprises an infrared camera.
In some optional embodiments, the server comprises:
the instruction receiving unit is used for acquiring a control instruction sent by the control terminal;
the instruction analysis unit is used for analyzing the control instruction into a first control signal of the inspection robot or a second control signal of the camera for information acquisition;
the instruction sending unit is used for sending the first control signal or the second control signal to the inspection robot;
and the data receiving unit is used for receiving the image data acquired by the inspection robot in real time.
In some optional embodiments, the server further comprises:
a data display unit for displaying the received image data; or
And the data sending unit is used for sending the received image data to the control terminal.
In some optional embodiments, the server further comprises:
and the security verification unit is used for determining the access right of the control terminal.
The second aspect of the application provides a tunnel robot inspection method based on 5G data transmission, adopts as above the tunnel robot inspection system based on 5G data transmission, as shown in fig. 2, the inspection method includes:
receiving a polling request carrying a polling position sent by a control terminal;
determining a second control signal for adjusting the orientation of the camera according to the position of the inspection robot and the inspection position, wherein the first control signal is used for moving the inspection robot;
controlling the direction adjustment of a camera of the mobile machine of the inspection robot; and
and collecting image or video information.
In some alternative embodiments, the capturing of image or video information is further followed by:
displaying the image or video information; or
And sending the image or video information to a control terminal.
In some optional embodiments, before receiving the patrol request carrying the patrol location sent by the control terminal, the method includes:
receiving a control terminal access request carrying an account number and a password;
and verifying the access authority of the control terminal.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. The utility model provides a tunnel robot system of patrolling and examining based on 5G data transmission which characterized in that includes:
the system comprises a plurality of 5G relay nodes arranged in a tunnel, a plurality of control units and a plurality of control units, wherein the 5G relay nodes are used for carrying out full coverage on 5G signals in the tunnel;
the inspection robot is provided with a camera;
the server is used for carrying out data transmission with the inspection robot through the 5G relay node, and the data comprises a first control signal for controlling the inspection robot to move, a second control signal for controlling the camera to carry out information acquisition and camera information data;
and the control terminal is used for remotely accessing the server.
2. The tunnel robot inspection system based on 5G data transmission according to claim 1, wherein the camera comprises a visible light camera.
3. The tunnel robot inspection system based on 5G data transmission according to claim 1, wherein the camera comprises an infrared camera.
4. The tunnel robot inspection system based on 5G data transmission according to claim 1, wherein the server comprises:
the instruction receiving unit is used for acquiring a control instruction sent by the control terminal;
the instruction analysis unit is used for analyzing the control instruction into a first control signal of the inspection robot or a second control signal of the camera for information acquisition;
the instruction sending unit is used for sending the first control signal or the second control signal to the inspection robot;
and the data receiving unit is used for receiving the image data acquired by the inspection robot in real time.
5. The tunnel robot inspection system based on 5G data transmission according to claim 4, wherein the server further comprises:
a data display unit for displaying the received image data; or
And the data sending unit is used for sending the received image data to the control terminal.
6. The tunnel robot inspection system based on 5G data transmission according to claim 4, wherein the server further comprises:
and the security verification unit is used for determining the access right of the control terminal.
7. A5G data transmission-based tunnel robot inspection method, which is characterized in that the 5G data transmission-based tunnel robot inspection system according to claim 1 is adopted, and the inspection method comprises the following steps:
receiving a polling request carrying a polling position sent by a control terminal;
determining a second control signal for adjusting the orientation of the camera according to the position of the inspection robot and the inspection position, wherein the first control signal is used for moving the inspection robot;
controlling the direction adjustment of a camera of the mobile machine of the inspection robot; and
and collecting image or video information.
8. The 5G data transmission-based tunnel robot patrolling method according to claim 7, wherein the image or video information acquisition is further performed by:
displaying the image or video information; or
And sending the image or video information to a control terminal.
9. The 5G data transmission-based tunnel robot inspection method according to claim 7, wherein before receiving the inspection request carrying the inspection position sent by the control terminal, the method comprises:
receiving a control terminal access request carrying an account number and a password;
and verifying the access authority of the control terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010938074.5A CN112388629A (en) | 2020-09-09 | 2020-09-09 | Tunnel robot inspection system and method based on 5G data transmission |
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| CN202010938074.5A CN112388629A (en) | 2020-09-09 | 2020-09-09 | Tunnel robot inspection system and method based on 5G data transmission |
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| CN112388629A true CN112388629A (en) | 2021-02-23 |
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| CN202010938074.5A Pending CN112388629A (en) | 2020-09-09 | 2020-09-09 | Tunnel robot inspection system and method based on 5G data transmission |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113301297A (en) * | 2021-04-27 | 2021-08-24 | 北京工业大学 | Work information acquisition device for tunnel construction machine and tunnel boring machine |
| CN113720676A (en) * | 2021-08-16 | 2021-11-30 | 中国飞机强度研究所 | Deformation damage detection system that interior cabin was patrolled and examined among aircraft structure fatigue test |
| CN113740185A (en) * | 2021-08-16 | 2021-12-03 | 中国飞机强度研究所 | Structure is patrolled and examined to aircraft inner cabin structural damage among aircraft fatigue test |
| CN113873205A (en) * | 2021-10-18 | 2021-12-31 | 中国联合网络通信集团有限公司 | Robot monitoring system and method |
| CN114783077A (en) * | 2022-04-11 | 2022-07-22 | 云南电网有限责任公司电力科学研究院 | Blind area underground cable tunnel inspection system, method and medium |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113301297A (en) * | 2021-04-27 | 2021-08-24 | 北京工业大学 | Work information acquisition device for tunnel construction machine and tunnel boring machine |
| CN113720676A (en) * | 2021-08-16 | 2021-11-30 | 中国飞机强度研究所 | Deformation damage detection system that interior cabin was patrolled and examined among aircraft structure fatigue test |
| CN113740185A (en) * | 2021-08-16 | 2021-12-03 | 中国飞机强度研究所 | Structure is patrolled and examined to aircraft inner cabin structural damage among aircraft fatigue test |
| CN113740185B (en) * | 2021-08-16 | 2024-05-03 | 中国飞机强度研究所 | Aircraft inner cabin structural damage inspection framework in aircraft fatigue test |
| CN113720676B (en) * | 2021-08-16 | 2024-05-07 | 中国飞机强度研究所 | Deformation damage detecting system for inspection of inner cabin in aircraft structure fatigue test |
| CN113873205A (en) * | 2021-10-18 | 2021-12-31 | 中国联合网络通信集团有限公司 | Robot monitoring system and method |
| CN113873205B (en) * | 2021-10-18 | 2023-12-22 | 中国联合网络通信集团有限公司 | Robot monitoring system and method |
| CN114783077A (en) * | 2022-04-11 | 2022-07-22 | 云南电网有限责任公司电力科学研究院 | Blind area underground cable tunnel inspection system, method and medium |
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