CN112781585B - 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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- CN112781585B CN112781585B CN202011544636.4A CN202011544636A CN112781585B CN 112781585 B CN112781585 B CN 112781585B CN 202011544636 A CN202011544636 A CN 202011544636A CN 112781585 B CN112781585 B CN 112781585B
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- 238000007689 inspection Methods 0.000 title claims abstract description 148
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000007613 environmental effect Effects 0.000 claims abstract description 6
- 239000000779 smoke Substances 0.000 claims description 22
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 5
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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
- G01C21/34—Route searching; Route guidance
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a method for connecting an intelligent inspection robot and a platform through a 5G network, and relates to the technical field of robots; the method comprises the following steps: acquiring a real-time position of the inspection robot; acquiring environmental data in the inspection range of the inspection robot; judging whether an obstacle exists on the moving path of the inspection robot; acquiring navigation information of the inspection robot; transmitting and receiving navigation data of the inspection robot; the embodiment of the invention provides a realization flow of a method for connecting an intelligent inspection robot and a platform through a 5G network, wherein the method acquires the real-time position of the inspection robot through a first acquisition unit, a network connection unit acquires the navigation information of the inspection robot, and a signal transmitting and receiving unit transmits the running state data of the inspection robot, so that the 5G signal navigation and the GPS locator navigation are matched to work, and the problem that the displacement deviation occurs when the inspection robot works due to shielding and interference of signals in the moving process of the existing inspection robot 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
Along with the continuous development of society, huge enterprise factories, high and new parks and huge markets are continuously appeared in national lives, and the places bring new special demands for security and protection work. In general, security tasks in these places are all completed by workers, but with the continuous expansion of the inspection range, the indoor and outdoor mixed environments, the continuous running of personnel cost and other factors, the workers cannot meet the increasingly complicated security requirements only by the workers, and in some dangerous inspection environments, the workers are not suitable for executing inspection work, such as high-voltage arcs in power substation factories, and are very dangerous to the workers. However, such similar places are related to a community, even a normal life of a city, and the security guard works at any moment in time.
The inspection robot is widely and widely applied to an electric power system, wherein one of key technologies for detecting high-voltage equipment by the inspection robot of unattended substation equipment is to provide continuous, real-time and accurate navigation information such as position, heading and the like for a motion control system of the robot, so that the robot runs along a preset path and completes a detection task, the existing inspection robot is connected with a navigation system mainly through GPS navigation, signals can be shielded and interfered in the moving process of the inspection robot, and displacement deviation occurs when the inspection robot works, and therefore, 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 above purpose, the present invention provides the following technical solutions:
a method of connecting an intelligent inspection robot and platform through a 5G network, the method comprising:
acquiring a real-time position of the inspection robot;
Acquiring environmental data in the inspection range of the inspection robot;
Judging whether an obstacle exists on the moving path of the inspection robot;
Acquiring navigation information of the inspection robot;
Transmitting and receiving navigation data of the inspection robot.
As a further scheme of the invention: the realization 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 still further aspects of the invention: and when the smoke concentration in the inspection range is monitored and is sent to the data conversion unit, an alarm control signal is sent out when the temperature value or the smoke concentration in the thermal imaging is larger than an alarm threshold value.
As still further aspects of the invention: the alarm signal is an audible alarm signal or a lamplight alarm signal, and the alarm control signal is an alarm tri-color lamp.
As still further aspects 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 the invalid real-time position data of the inspection robot;
verifying and comparing effective real-time position data of the inspection robot;
And accessing a background server.
As still further aspects of the invention: the realization of verifying and comparing the real-time position data of the effective inspection robot comprises the following steps:
Invoking and setting an initial value of a 5G navigation starting criterion;
According to the first-section, second-section and third-section thresholds of the navigation section positioning criteria, the first-section and second-section positioning reliability thresholds of the navigation section;
Judging whether the first section of the credibility navigation section is larger than a set threshold value, if so, starting the GPS positioner for positioning, outputting a positioning result, if not, judging whether the second section of the credibility navigation section is larger than the set threshold value, if so, starting the GPS positioner for positioning,
If not, comparing the real-time position data of the effective inspection robot;
And outputting a positioning result.
As still further aspects of the invention: the implementation method for transmitting and receiving the running navigation data of the inspection robot comprises the following steps:
Accessing navigation request demand data of a navigation platform;
matching a 5G navigation matching threshold value and positioning result data;
Storing a matching result of the 5G navigation matching threshold and the positioning result data for calling;
Accessing the effective data of the navigation request requirement of the navigation platform;
Outputting effective data required by the navigation request, and receiving a matching result of a 5G navigation matching threshold value and positioning result data of a database;
and 5G communication is carried out with an operator, and a correction result of GPS positioning is output.
An intelligent inspection robot and platform system connected through a 5G network is described in detail as follows:
be applied to intelligent inspection robot that has navigation platform, including at least one robot terminal and backstage server, robot terminal passes through navigation platform and is connected with the backstage server, 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 in the inspection range of the inspection robot;
a driving unit for judging whether an obstacle exists on the moving path of the inspection robot;
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;
the signal transmitting and receiving unit is used for transmitting the running navigation data of the inspection robot
As still further aspects of the invention: the first acquisition unit includes:
The thermal imager is used for collecting 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 larger than the alarm threshold value or not;
And the positioning unit is used for positioning the real-time position of the inspection robot.
As still further aspects 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 the 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 verifying and comparing effective real-time position data of the inspection robot, calling and setting a 5G navigation starting criterion initial value, and positioning a first-section threshold value, a second-section threshold value and a third-section threshold value according to a navigation section positioning criterion, and positioning reliability threshold values of the first-section and the second-section of the navigation section; judging whether the one-section reliability of the reliability navigation section is larger than a set threshold value or not, if so, starting a GPS positioner for positioning, and executing GPS positioning; if not, judging whether the two sections of credibility of the credibility navigation section are larger than a set threshold, if so, starting a GPS positioner for positioning, executing GPS positioning, and if not, comparing the real-time position data of the effective inspection robot, and outputting a positioning result.
As still further aspects of the invention: the background server 110 includes:
the database is used for storing the 5G navigation matching threshold value;
The database comprises:
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 value 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 the effective data of the navigation request requirement of the navigation platform;
The positioning service unit is used for outputting effective data of the navigation request requirement and receiving a matching result of a 5G navigation matching threshold value and positioning result data of the database;
the navigation service unit is used for carrying out 5G communication with an operator and outputting a correction result of GPS positioning
Compared with the prior art, the invention has the beneficial effects that: the embodiment of the invention provides a realization flow of a method for connecting an intelligent inspection robot and a platform through a 5G network, wherein the method acquires the real-time position of the inspection robot through a first acquisition unit, a network connection unit acquires the navigation information of the inspection robot, and a signal transmitting and receiving unit transmits the running state data of the inspection robot, so that the 5G signal navigation and the GPS locator navigation are matched to work, and the problem that the displacement deviation occurs when the inspection robot works due to shielding and interference of signals in the moving process of the existing inspection robot is solved.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent inspection robot and platform system connected by a 5G network.
Fig. 2 is a schematic structural diagram of a robot terminal in a system for connecting an intelligent inspection robot and a platform through a 5G network.
Fig. 3 is a schematic structural diagram of a first acquisition unit in a system for connecting an intelligent inspection robot and a platform through a 5G network.
Fig. 4 is a schematic structural diagram of a navigation platform in a system for connecting an intelligent inspection robot and the platform through a 5G network.
Fig. 5 is a schematic structural diagram of a background server in a system for connecting an intelligent inspection robot and a platform through a 5G network.
Fig. 6 is a schematic implementation flow diagram of a method for connecting an intelligent inspection robot and a platform through a 5G network.
Fig. 7 is a schematic diagram of an implementation flow for acquiring a real-time position of an inspection robot in a method for connecting the intelligent inspection robot and a platform through a 5G network.
Fig. 8 is a schematic implementation flow chart of acquiring navigation information of the inspection robot in a method of connecting the intelligent inspection robot and the platform through the 5G network.
Fig. 9 is a schematic diagram of a flow chart of implementing real-time position data of the inspection robot for verifying and comparing effective in a method of connecting the intelligent inspection robot and the platform through a 5G network.
Fig. 10 is a schematic diagram of an implementation flow of transmitting and receiving navigation data of the inspection robot in a method of connecting the intelligent inspection robot and the platform through a 5G network.
Detailed Description
The following description of the embodiments of the present invention will provide further details of the invention with reference to the detailed description, it being understood that the embodiments described are merely some, but not all, of the embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Fig. 1-2 show an intelligent inspection robot and platform system connected through a 5G network according to an embodiment of the present invention, which is described in detail below:
The embodiment of the invention provides an intelligent inspection robot and platform system connected through a 5G network, which is applied to an intelligent inspection robot with a navigation platform, and comprises 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;
A monitoring unit 211, configured to obtain environmental data within a patrol range of the patrol robot;
A driving unit 212 for judging whether there is an obstacle on the moving path of the inspection robot;
A network connection unit 213, configured to obtain 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;
the signal transmitting and receiving unit 214 is configured to transmit the navigation data of the inspection robot.
Fig. 3 shows a block architecture diagram of a first acquisition unit 210 according to an embodiment of the present invention, where the first acquisition unit 210 includes:
A thermal imager 310 for acquiring the temperature in the inspection range and converting it into a temperature image;
a smoke sensor 311, configured to monitor a smoke concentration in the inspection range, and send the smoke concentration to a data conversion unit 314, where the data conversion unit 314 is configured to compare the smoke concentration with the corresponding alarm threshold to determine whether the smoke concentration is greater than the alarm threshold;
and a positioning unit 312, configured to position the real-time position of the inspection robot.
Fig. 4 shows a block architecture diagram of a navigation platform 111 according to an embodiment of the present invention, where the navigation platform 111 includes:
a second acquiring unit 410, configured to acquire real-time position data of the inspection robot;
a screening unit 411, configured to traverse real-time position data of the inspection robot, and screen out invalid real-time position data of the inspection robot;
the data comparison unit 412 is configured to verify and compare the real-time position data of the inspection robot;
A first access unit 413, configured to access the background server 110.
In the embodiment of the invention, when verifying and comparing effective real-time position data of the inspection robot, the initial value of the 5G navigation starting criterion is called and set, and the first-section, second-section and third-section thresholds and the first-section and second-section positioning reliability thresholds of the navigation section are used according to the positioning criterion of the navigation section; judging whether the one-section reliability of the reliability navigation section is larger than a set threshold value or not, if so, starting a GPS positioner for positioning, and executing GPS positioning; if not, judging whether the two sections of credibility of the credibility navigation section are larger than a set threshold, if so, starting a GPS positioner for positioning, executing GPS positioning, and if not, comparing the real-time position data of the effective inspection robot, and outputting a positioning result.
Fig. 5 shows a module architecture diagram of a background server 110 provided by an embodiment of the present invention, where the background server 110 includes:
a database 510 for storing 5G navigation matching thresholds;
Database 510 includes:
A matching unit 512, configured to match the 5G navigation matching threshold value and the positioning result data;
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 (Random Access Memory, RAM), a programmable Read-Only Memory (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 (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, a magnetic tape Memory, or any other medium that can be used to carry or store data.
A navigation unit 511 for receiving navigation request requirements from the navigation platform 111;
the navigation unit 511 includes:
a second access unit 514, configured to access the navigation request requirement valid data of the navigation platform 111;
A positioning service unit 515, configured to output valid data of the navigation request requirement, and receive a matching result of the 5G navigation matching threshold and the positioning result data of the database 510;
the navigation service unit 516 is configured to perform 5G communication with an operator, and output a correction result for GPS positioning.
Example 2
Fig. 6 shows a realization flow of a method for connecting an intelligent inspection robot and a platform through a 5G network, which is provided by the embodiment of the invention, and is applied to an intelligent inspection robot with a navigation platform, and is described in detail as follows:
step S100, acquiring the real-time position of the inspection robot;
Step S200, environmental data in the inspection range of the inspection robot is obtained;
Step S300, judging whether an obstacle exists on a moving path of the inspection robot;
Step S400, navigation information of the inspection robot is obtained;
Step S500, transmitting and receiving navigation data of the inspection robot.
Fig. 7 shows an implementation flow for acquiring a real-time position of a patrol robot according to an embodiment of the present invention, and a detailed implementation method for acquiring a real-time position of a patrol robot is as follows:
s101, collecting the temperature in the 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;
Step S103, positioning the real-time position of the inspection robot.
In step S102, when the temperature value or smoke concentration in thermal imaging is greater 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 tri-color lamp;
fig. 8 shows an implementation flow of obtaining navigation information of a patrol robot according to an embodiment of the present invention, and a detailed implementation method of obtaining navigation information of a patrol robot is 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 the invalid real-time position data of the inspection robot;
Step S203, verifying and comparing effective real-time position data of the inspection robot;
In step S204, the background server 110 is accessed.
Fig. 9 shows a flow of implementing real-time position data of an inspection robot with effective verification and comparison, and the method for implementing real-time position data of an inspection robot with effective verification and comparison is detailed as follows:
Step S2031, retrieving and setting an initial value of a 5G navigation starting criterion;
Step S2032, determining a first-segment, a second-segment and a third-segment thresholds according to the navigation segment positioning criteria, and a first-segment and a second-segment positioning reliability threshold of the navigation segment;
Step S2033, judging whether the reliability of a section of the reliability navigation section is greater than a set threshold, if yes, starting the GPS positioner for positioning, executing step S2036, and if not, executing step S2034;
Step S2034, judging whether the second section of reliability of the reliability navigation section is greater than a set threshold, if yes, turning on the GPS locator for positioning, step S2036, if no, executing step S2035;
Step S2035, comparing effective real-time position data of the inspection robot;
Step S2036, outputting a positioning result.
Fig. 10 shows a flow of implementing the method for transmitting and receiving the running navigation data of the inspection robot according to the embodiment of the present invention, and the method for implementing the method for transmitting and receiving the running navigation data of the inspection robot is detailed as follows:
step S301, accessing the navigation request requirement data of the navigation platform 111;
step S302, matching a 5G navigation matching threshold value and positioning result data;
step S303, storing the matching result of the 5G navigation matching threshold and the positioning result data for retrieval;
step S304, accessing the effective data of the navigation request requirement of the navigation platform 111;
Step S305, outputting effective data of the navigation request requirement, and receiving a matching result of the 5G navigation matching threshold value and the positioning result data of the database 510;
step S306, 5G communication is carried out with the operator, and a correction result of GPS positioning is output.
The beneficial effects of the invention are as follows: the embodiment of the invention provides a realization flow of a method for connecting an intelligent inspection robot and a platform through a 5G network, which comprises the steps of acquiring the real-time position of the inspection robot through a first acquisition unit 210, acquiring the navigation information of the inspection robot through a network connection unit 213, transmitting the running state data of the inspection robot through a signal transmitting and receiving unit 214, realizing the coordination work of 5G signal navigation and GPS (global positioning system) locator navigation, and solving the problem that the displacement deviation occurs when the inspection robot works because signals are shielded and interfered in the moving process of the existing inspection robot.
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 characteristics 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 disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (4)
1.A method for connecting an intelligent inspection robot and a platform through a 5G network, the method comprising:
acquiring a real-time position of the inspection robot;
Acquiring environmental data in the inspection range of the inspection robot;
Judging whether an obstacle exists on the moving path of the inspection robot;
Acquiring navigation information of the inspection robot;
Transmitting and receiving navigation data of the inspection robot;
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 the invalid real-time position data of the inspection robot;
verifying and comparing effective real-time position data of the inspection robot;
Accessing a background server;
the realization of verifying and comparing the real-time position data of the effective inspection robot comprises the following steps:
Invoking and setting an initial value of a 5G navigation starting criterion;
According to the first-section, second-section and third-section thresholds of the navigation section positioning criteria, the first-section and second-section positioning reliability thresholds of the navigation section;
Judging whether the first section of the credibility navigation section is larger than a set threshold value, if so, starting the GPS positioner for positioning, outputting a positioning result, if not, judging whether the second section of the credibility navigation section is larger than the set threshold value, if so, starting the GPS positioner for positioning,
If not, comparing the real-time position data of the effective inspection robot;
Outputting a positioning result;
the implementation method for transmitting and receiving the running navigation data of the inspection robot comprises the following steps:
Accessing navigation request demand data of a navigation platform;
matching a 5G navigation matching threshold value and positioning result data;
Storing a matching result of the 5G navigation matching threshold and the positioning result data for calling;
Accessing the effective data of the navigation request requirement of the navigation platform;
Outputting effective data required by the navigation request, and receiving a matching result of a 5G navigation matching threshold value and positioning result data of a database;
and 5G communication is carried out with an operator, and a correction result of GPS positioning is output.
2. The method for connecting an intelligent inspection robot and a platform through a 5G network according to claim 1, wherein the method for obtaining the real-time position of the inspection robot comprises:
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 an intelligent inspection robot and a platform through a 5G network according to claim 2, wherein when the smoke concentration in the inspection range is monitored and the smoke concentration is sent to the data conversion unit, an alarm control signal is sent when the temperature value or the smoke concentration in thermal imaging is greater than an alarm threshold value.
4. The method for connecting an intelligent inspection robot and a platform through a 5G network according to claim 3, wherein the alarm control signal is an audible alarm signal or a light alarm signal.
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| CN102280826A (en) * | 2011-07-30 | 2011-12-14 | 山东鲁能智能技术有限公司 | Intelligent robot inspection system and intelligent robot inspection method for transformer station |
| CN111438700A (en) * | 2020-04-16 | 2020-07-24 | 哈尔滨锅炉厂有限责任公司 | A robot is patrolled and examined to 5G crawler-type intelligence for power plant |
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