CN112781585A - Method for connecting intelligent inspection robot and platform through 5G network - Google Patents
Method for connecting intelligent inspection robot and platform through 5G network Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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Abstract
The invention discloses a method for connecting an intelligent inspection robot and a platform through a 5G network, relating to the technical field of robots; the method comprises the following steps: acquiring the real-time position of the inspection robot; acquiring environmental data within the inspection range of the inspection robot; judging whether an obstacle exists on a moving path of the inspection robot; acquiring navigation information of the inspection robot; transmitting and receiving operation navigation data of the inspection robot; the embodiment of the invention provides a flow for realizing a method for connecting an intelligent inspection robot and a platform through a 5G network, the method comprises the steps of acquiring the real-time position of the inspection robot through a first acquisition unit, acquiring navigation information of the inspection robot through a network connection unit, and simultaneously transmitting running state data of the inspection robot through a signal transmitting and receiving unit, so that the cooperation of 5G signal navigation and GPS locator navigation is realized, and the problem that signals are shielded and interfered in the moving process of the conventional inspection robot, so that the inspection robot generates displacement deviation in work is solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method for connecting an intelligent inspection robot and a platform through a 5G network.
Background
With the continuous development of society, the factory area, the high-new park and the giant market of the giant enterprise continuously appear in national life, and the places put new special requirements on safety protection work. The security tasks in these places are usually completed by the safety personnel, but with the continuous expansion of the inspection range, the factors such as the indoor and outdoor mixed environment, the continuous increase of the personnel cost and the like, the increasingly complicated security requirements cannot be met only by the safety personnel, and in some dangerous inspection environments, the safety personnel are not suitable for executing the inspection work, for example, in a substation area, high-voltage arcs are everywhere, and the danger is very dangerous for the safety personnel. However, such similar places are related to the normal life of a community, even a city, and need the security work all the time.
The inspection robot is applied to electric power systems more and more widely, wherein one of key technologies for detecting high-voltage equipment by the inspection robot for unattended substation equipment is to provide continuous, real-time and accurate navigation information such as position, course and the like for a motion control system of the robot so that the robot can run along a preset path and complete a detection task, the conventional inspection robot is accessed into the navigation system and mainly navigated by a GPS (global positioning system), signals can be shielded and interfered in the moving process of the inspection robot, and displacement deviation occurs when the inspection robot works, so that a method for connecting the intelligent inspection robot and a platform through a 5G network is provided.
Disclosure of Invention
The invention aims to provide a method for connecting an intelligent inspection robot and a platform through a 5G network, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a method of connecting a smart inspection robot to a platform via a 5G network, the method comprising:
acquiring the real-time position of the inspection robot;
acquiring environmental data within the inspection range of the inspection robot;
judging whether an obstacle exists on a moving path of the inspection robot;
acquiring navigation information of the inspection robot;
and transmitting and receiving the operation navigation data of the inspection robot.
As a further scheme of the invention: the implementation method for acquiring the real-time position of the inspection robot comprises the following steps:
collecting the temperature in the inspection range and converting the temperature into a temperature image;
monitoring the smoke concentration in the inspection range, and sending the smoke concentration to a data conversion unit;
and positioning the real-time position of the inspection robot.
As a still further scheme of the invention: and monitoring the smoke concentration in the inspection range, and sending an alarm control signal when the smoke concentration is sent to the data conversion unit and the temperature value or the smoke concentration in the thermal imaging is greater than an alarm threshold value.
As a still further scheme of the invention: the alarm signal is a sound alarm signal or a light alarm signal, and the alarm control signal is an alarm three-color lamp.
As a still further scheme of the invention: the implementation method for acquiring the navigation information of the inspection robot comprises the following steps:
acquiring real-time position data of the inspection robot;
traversing the real-time position data of the inspection robot, and screening out invalid real-time position data of the inspection robot;
verifying and comparing the real-time position data of the effective inspection robot;
and accessing the background server.
As a still further scheme of the invention: the realization of verifying and comparing the real-time position data of the effective inspection robot comprises the following steps:
calling and setting an initial value of a 5G navigation starting criterion;
according to the first-stage, second-stage and third-stage thresholds of the navigation section positioning criterion and the first-stage and second-stage positioning credibility thresholds of the navigation section;
judging whether the reliability of one section of the credibility navigation section is greater than a set threshold value, if so, starting the GPS locator for positioning and outputting a positioning result, if not, judging whether the reliability of the two sections of the credibility navigation section is greater than the set threshold value, if so, starting the GPS locator for positioning,
if not, comparing the real-time position data of the effective inspection robot;
and outputting a positioning result.
As a still further scheme of the invention: the implementation method for transmitting and receiving the operation navigation data of the inspection robot comprises the following steps:
accessing navigation request demand data of a navigation platform;
matching 5G navigation matching threshold values and positioning result data;
storing the matching result of the 5G navigation matching threshold and the positioning result data for calling;
accessing a navigation request of a navigation platform to require effective data;
outputting effective data required by the navigation request, and receiving a 5G navigation matching threshold value of the database and a matching result of the positioning result data;
and 5G communication is carried out with an operator, and a correction result of GPS positioning is output.
The utility model provides a through 5G internet access intelligence inspection robot and platform system, the detail is as follows:
be applied to intelligence inspection robot that has navigation platform, including at least one robot terminal and backend server, the robot terminal passes through navigation platform and is connected with backend server, the robot terminal includes:
the first acquisition unit is used for acquiring the real-time position of the inspection robot;
the monitoring unit is used for acquiring environmental data within the inspection range of the inspection robot;
the driving unit is used for judging whether an obstacle exists on a moving path of the inspection robot or not;
the network connection unit is used for acquiring navigation information of the inspection robot;
in the embodiment of the invention, the network connection unit comprises a 5G signal controller and a GPS positioner; the 5G signal controller adopts Intel Celeron J1900 as a processor, and the 5G signal controller and the GPS positioner are respectively and electrically connected with a signal transmitting and receiving unit;
a signal transmitting and receiving unit for transmitting the navigation data of the inspection robot
As a still further scheme of the invention: the first acquisition unit includes:
the thermal imager is used for acquiring the temperature in the inspection range and converting the temperature into a temperature image;
the smoke sensor is used for monitoring the smoke concentration in the inspection range and sending the smoke concentration to the data conversion unit, and the data conversion unit is used for comparing the smoke concentration with the corresponding alarm threshold value to judge whether the smoke concentration is greater than the alarm threshold value;
and the positioning unit is used for positioning the real-time position of the inspection robot.
As a still further scheme of the invention: the navigation platform comprises:
the second acquisition unit is used for acquiring real-time position data of the inspection robot;
the screening unit is used for traversing the real-time position data of the inspection robot and screening out invalid real-time position data of the inspection robot;
the data comparison unit is used for verifying and comparing the real-time position data of the effective inspection robot;
the first access unit is used for accessing the background server;
when the real-time position data of the inspection robot is verified and compared, calling and setting an initial value of a 5G navigation starting criterion, and positioning first-stage, second-stage and third-stage thresholds of the criterion according to a navigation section, and positioning first-stage and second-stage credibility thresholds of the navigation section; judging whether the reliability of one section of the reliability navigation section is greater than a set threshold value or not, if so, starting a GPS positioner for positioning, and executing the GPS positioning; if not, judging whether the reliability of the two sections of the reliability navigation section is greater than a set threshold value, if so, starting a GPS positioner for positioning, executing the GPS positioning, if not, comparing the effective real-time position data of the inspection robot, and outputting a positioning result.
As a still further scheme of the invention: the background server 110 includes:
the database is used for storing the 5G navigation matching threshold value;
the database includes:
the matching unit is used for matching the 5G navigation matching threshold value and the positioning result data;
the storage unit is used for storing the matching result of the 5G navigation matching threshold and the positioning result data for calling;
and the navigation unit is used for receiving the navigation request requirement from the navigation platform.
The navigation unit includes:
the second access unit is used for accessing effective data required by the navigation request of the navigation platform;
the positioning service unit is used for outputting effective data required by the navigation request and receiving a 5G navigation matching threshold value of the database and a matching result of the positioning result data;
a navigation service unit for performing 5G communication with the operator and outputting the correction result of GPS positioning
Compared with the prior art, the invention has the beneficial effects that: the embodiment of the invention provides a flow for realizing a method for connecting an intelligent inspection robot and a platform through a 5G network, the method comprises the steps of acquiring the real-time position of the inspection robot through a first acquisition unit, acquiring navigation information of the inspection robot through a network connection unit, and simultaneously transmitting running state data of the inspection robot through a signal transmitting and receiving unit, so that the cooperation of 5G signal navigation and GPS locator navigation is realized, and the problem that signals are shielded and interfered in the moving process of the conventional inspection robot, so that the inspection robot generates displacement deviation in work is solved.
Drawings
Fig. 1 is a schematic structural diagram of the intelligent inspection robot and the platform system connected through a 5G network.
Fig. 2 is a schematic structural diagram of a robot terminal in a system in which an intelligent inspection robot and a platform are connected through a 5G network.
Fig. 3 is a schematic structural diagram of a first obtaining unit in a system in which the intelligent inspection robot and the platform are connected through a 5G network.
Fig. 4 is a schematic structural diagram of a navigation platform in the system in which the intelligent inspection robot and the platform are connected through a 5G network.
Fig. 5 is a schematic structural diagram of a background server in a system in which the intelligent inspection robot and the platform are connected through a 5G network.
Fig. 6 is a schematic flow chart of the implementation of the method for connecting the intelligent inspection robot and the platform through the 5G network.
Fig. 7 is a schematic view of an implementation flow for acquiring a real-time position of the inspection robot in the method for connecting the intelligent inspection robot and the platform through the 5G network.
Fig. 8 is a schematic view of an implementation flow of acquiring navigation information of the inspection robot in the method of connecting the intelligent inspection robot and the platform through the 5G network.
Fig. 9 is a schematic diagram of a process of implementing real-time position data of the inspection robot, which is verified and compared effectively in the method of connecting the intelligent inspection robot and the platform through the 5G network.
Fig. 10 is a schematic diagram of an implementation flow of transmitting and receiving inspection robot operation navigation data in a method of connecting an intelligent inspection robot and a platform through a 5G network.
Detailed Description
The technical solutions of the present invention will be described in further detail with reference to specific embodiments, and it should be apparent that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Fig. 1-2 show an intelligent inspection robot and a platform system connected via a 5G network according to an embodiment of the present invention, which are detailed as follows:
the intelligent inspection robot and the platform system connected through the 5G network provided by the embodiment of the invention are applied to the intelligent inspection robot with a navigation platform, and comprise at least one robot terminal 112 and a background server 110, wherein the robot terminal 112 is connected with the background server 110 through the navigation platform 111, and the robot terminal 112 comprises:
a first obtaining unit 210, configured to obtain a real-time position of the inspection robot;
the monitoring unit 211 is used for acquiring environmental data within the inspection range of the inspection robot;
a driving unit 212 for judging whether there is an obstacle on a moving path of the inspection robot;
a network connection unit 213 for acquiring navigation information of the inspection robot;
in the embodiment of the present invention, the network connection unit 213 includes a 5G signal controller and a GPS locator; the 5G signal controller adopts Intel Celeron J1900 as a processor, and the 5G signal controller and the GPS positioner are respectively and electrically connected with a signal transmitting and receiving unit 214;
and a signal transmitting and receiving unit 214 for transmitting the inspection robot operation navigation data.
Fig. 3 shows a module configuration diagram of the first obtaining unit 210 according to an embodiment of the present invention, where the first obtaining unit 210 includes:
the thermal imager 310 is used for acquiring the temperature in the inspection range and converting the temperature into a temperature image;
the smoke sensor 311 is configured to monitor the smoke concentration within the inspection range and send the smoke concentration to the data conversion unit 314, and the data conversion unit 314 is configured to compare the smoke concentration with the corresponding alarm threshold value to determine whether the smoke concentration is greater than the alarm threshold value;
and a positioning unit 312 for positioning the real-time position of the inspection robot.
Fig. 4 shows a module configuration diagram of the navigation platform 111 provided by the embodiment of the present invention, and the navigation platform 111 includes:
a second obtaining unit 410, configured to obtain real-time position data of the inspection robot;
the screening unit 411 is used for traversing the real-time position data of the inspection robot and screening out invalid real-time position data of the inspection robot;
the data comparison unit 412 is used for verifying and comparing the real-time position data of the effective inspection robot;
a first accessing unit 413, configured to access the backend server 110.
In the embodiment of the invention, when the real-time position data of the inspection robot is verified and compared to be effective, the initial value of the 5G navigation starting criterion is called and set, and the first-stage, second-stage and third-stage thresholds of the navigation section positioning criterion and the first-stage and second-stage positioning credibility thresholds of the navigation section are taken; judging whether the reliability of one section of the reliability navigation section is greater than a set threshold value or not, if so, starting a GPS positioner for positioning, and executing the GPS positioning; if not, judging whether the reliability of the two sections of the reliability navigation section is greater than a set threshold value, if so, starting a GPS positioner for positioning, executing the GPS positioning, if not, comparing the effective real-time position data of the inspection robot, and outputting a positioning result.
Fig. 5 shows a module configuration diagram of the backend server 110 provided by the embodiment of the present invention, where the backend server 110 includes:
a database 510 for storing 5G navigation matching thresholds;
the database 510 includes:
a matching unit 512 for matching the 5G navigation matching threshold and the positioning result data;
and a storage unit 513, configured to store the matching result of the 5G navigation matching threshold and the positioning result data for retrieval.
The storage unit 513 may be, but is not limited to, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically Erasable rewritable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical Disc Memory, a magnetic disk Memory, a tape Memory, or any other medium readable by a computer capable of carrying or storing data.
A navigation unit 511, configured to receive a navigation request requirement from the navigation platform 111;
the navigation unit 511 includes:
a second accessing unit 514, configured to access the effective data required by the navigation request of the navigation platform 111;
a positioning service unit 515, configured to output effective data required by the navigation request, and receive a matching result of the 5G navigation matching threshold and the positioning result data of the database 510;
and a navigation service unit 516, configured to perform 5G communication with the operator, and output a correction result of the GPS positioning.
Example 2
Fig. 6 shows an implementation flow of a method for connecting an intelligent inspection robot and a platform through a 5G network according to an embodiment of the present invention, and the method for connecting an intelligent inspection robot and a platform through a 5G network according to an embodiment of the present invention is applied to an intelligent inspection robot having a navigation platform, and is described in detail as follows:
s100, acquiring the real-time position of the inspection robot;
s200, acquiring environmental data in the inspection range of the inspection robot;
step S300, judging whether an obstacle exists on the moving path of the inspection robot;
s400, acquiring navigation information of the inspection robot;
and step S500, transmitting and receiving the operation navigation data of the inspection robot.
Fig. 7 shows an implementation process of acquiring the real-time position of the inspection robot according to the embodiment of the present invention, and details of an implementation method of acquiring the real-time position of the inspection robot are as follows:
step S101, collecting temperature in an inspection range and converting the temperature into a temperature image;
step S102, monitoring the smoke concentration in the inspection range, and sending the smoke concentration to a data conversion unit 314;
and S103, positioning the real-time position of the inspection robot.
In step S102, when the temperature value or the smoke concentration in the thermal imaging is larger than an alarm threshold value, an alarm control signal is sent out; the alarm signal may be an audible alarm signal or a light alarm signal, but is not limited thereto. In this embodiment, the alarm control signal is an alarm three-color lamp;
fig. 8 shows an implementation flow of acquiring the navigation information of the inspection robot according to the embodiment of the present invention, and details of an implementation method of acquiring the navigation information of the inspection robot are as follows:
step S201, acquiring real-time position data of the inspection robot;
step S202, traversing the real-time position data of the inspection robot, and screening out invalid real-time position data of the inspection robot;
step S203, verifying and comparing the real-time position data of the effective inspection robot;
step S204, accessing the background server 110.
Fig. 9 shows an implementation process of verifying and comparing the valid real-time position data of the inspection robot according to the embodiment of the present invention, and details of an implementation method of verifying and comparing the valid real-time position data of the inspection robot are as follows:
step S2031, calling and setting an initial value of a 5G navigation starting criterion;
s2032, according to the first, second and third thresholds of the navigation section positioning criterion and the first and second positioning credibility thresholds of the navigation section;
step S2033, judging whether the reliability of one section of the reliability navigation section is greater than a set threshold value, if so, starting a GPS locator for positioning, and executing step S2036, otherwise, executing step S2034;
step S2034, judging whether the second-stage credibility of the credibility navigation section is greater than a set threshold value, if so, starting a GPS locator for positioning, step S2036, and if not, executing step S2035;
step S2035, comparing the real-time position data of the effective inspection robot;
and step S2036, outputting a positioning result.
Fig. 10 shows an implementation flow of transmitting and receiving the inspection robot operation navigation data according to the embodiment of the present invention, and details of an implementation method of transmitting and receiving the inspection robot operation navigation data are as follows:
step S301, accessing navigation request demand data of the navigation platform 111;
step S302, matching 5G navigation matching threshold values and positioning result data;
step S303, storing the matching result of the 5G navigation matching threshold and the positioning result data for calling;
step S304, accessing the navigation request requirement effective data of the navigation platform 111;
step S305, outputting effective data required by the navigation request, and receiving a matching result of the 5G navigation matching threshold and the positioning result data of the database 510;
and S306, carrying out 5G communication with an operator, and outputting a correction result of GPS positioning.
The invention has the beneficial effects that: the embodiment of the invention provides a flow for realizing a method for connecting an intelligent inspection robot and a platform through a 5G network, the method obtains the real-time position of the inspection robot through a first obtaining unit 210, a network connection unit 213 obtains navigation information of the inspection robot, and a signal transmitting and receiving unit 214 transmits running state data of the inspection robot at the same time, thereby realizing the cooperation of 5G signal navigation and GPS locator navigation, and solving the problem that the existing inspection robot generates displacement deviation when the inspection robot works because signals are shielded and interfered in the moving process.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. A method for connecting an intelligent inspection robot and a platform through a 5G network is characterized by comprising the following steps:
acquiring the real-time position of the inspection robot;
acquiring environmental data within the inspection range of the inspection robot;
judging whether an obstacle exists on a moving path of the inspection robot;
acquiring navigation information of the inspection robot;
and transmitting and receiving the operation navigation data of the inspection robot.
2. The method for connecting the intelligent inspection robot and the platform according to claim 1, wherein the method for acquiring the real-time position of the inspection robot comprises the following steps:
collecting the temperature in the inspection range and converting the temperature into a temperature image;
monitoring the smoke concentration in the inspection range, and sending the smoke concentration to a data conversion unit;
and positioning the real-time position of the inspection robot.
3. The method for connecting the intelligent inspection robot and the platform according to claim 2, wherein the smoke concentration in the inspection range is monitored, and when the smoke concentration is sent to the data conversion unit, and the temperature value or the smoke concentration in the thermal imaging is greater than the alarm threshold value, an alarm control signal is sent out.
4. The method for connecting the intelligent inspection robot and the platform according to claim 3, wherein the alarm signal is an audible alarm signal or a light alarm signal, and the alarm control signal is an alarm tri-color light.
5. The method for connecting the intelligent inspection robot and the platform according to any one of claims 1 to 4 through the 5G network, wherein the implementation method for acquiring the navigation information of the inspection robot comprises the following steps:
acquiring real-time position data of the inspection robot;
traversing the real-time position data of the inspection robot, and screening out invalid real-time position data of the inspection robot;
verifying and comparing the real-time position data of the effective inspection robot;
and accessing the background server.
6. The method for connecting the intelligent inspection robot and the platform according to claim 5G, wherein the verifying the real-time location data of the inspection robot that is valid for comparison includes:
calling and setting an initial value of a 5G navigation starting criterion;
according to the first-stage, second-stage and third-stage thresholds of the navigation section positioning criterion and the first-stage and second-stage positioning credibility thresholds of the navigation section;
judging whether the reliability of one section of the credibility navigation section is greater than a set threshold value, if so, starting the GPS locator for positioning and outputting a positioning result, if not, judging whether the reliability of the two sections of the credibility navigation section is greater than the set threshold value, if so, starting the GPS locator for positioning,
if not, comparing the real-time position data of the effective inspection robot;
and outputting a positioning result.
7. The method for connecting the intelligent inspection robot and the platform according to any one of claims 1 to 4 through the 5G network, wherein the method for transmitting and receiving the operation navigation data of the inspection robot comprises the following steps:
accessing navigation request demand data of a navigation platform;
matching 5G navigation matching threshold values and positioning result data;
storing the matching result of the 5G navigation matching threshold and the positioning result data for calling;
accessing a navigation request of a navigation platform to require effective data;
outputting effective data required by the navigation request, and receiving a 5G navigation matching threshold value of the database and a matching result of the positioning result data;
and 5G communication is carried out with an operator, and a correction result of GPS positioning is output.
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| CN114147696A (en) * | 2021-12-13 | 2022-03-08 | 国网福建省电力有限公司经济技术研究院 | Power grid inspection robot positioning system and method based on 5G and Beidou |
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