CN113848923A - Robot automatic inspection error-preventing method, system, equipment and storage medium - Google Patents
Robot automatic inspection error-preventing method, system, equipment and storage medium Download PDFInfo
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- CN113848923A CN113848923A CN202111153348.0A CN202111153348A CN113848923A CN 113848923 A CN113848923 A CN 113848923A CN 202111153348 A CN202111153348 A CN 202111153348A CN 113848923 A CN113848923 A CN 113848923A
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- 238000007689 inspection Methods 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000002159 abnormal effect Effects 0.000 claims abstract description 11
- 238000004590 computer program Methods 0.000 claims description 11
- 238000001931 thermography Methods 0.000 claims description 11
- 230000002265 prevention Effects 0.000 claims description 9
- 238000012795 verification Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000010276 construction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000009977 dual effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses an automatic inspection error-preventing method, system, equipment and storage medium for a robot, which are used for encoding all inspection equipment; inputting the coded information into a two-dimensional code and an intelligent inspection system, wherein inspection equipment information and two-dimensional code information in the intelligent inspection system correspond to each other one by one; fixing the coded two-dimensional code on corresponding inspection equipment; the intelligent patrol mobile robot automatically navigates to equipment to be patrolled according to the spatial position sent by the intelligent patrol system, acquires an equipment picture and decodes the scanned two-dimensional code information; character checking is carried out on the two-dimensional code information and target equipment information in the inspection system, if the two-dimensional code information is inconsistent with the target equipment information, the scanned equipment is considered not to be the target equipment, and abnormal acquisition of the inspection equipment is judged; and if the images are consistent, transmitting the images to an intelligent inspection system, and calling a corresponding intelligent identification algorithm to judge the running state of the equipment. The consistency of the collected equipment and the system detection target equipment is ensured, and the equipment misdiagnosis can be effectively prevented.
Description
Technical Field
The invention belongs to the field of robot inspection, and relates to an automatic inspection error prevention method, system, equipment and storage medium for a robot.
Background
The electric energy construction is a foundation for regional construction. The electric energy covers every corner of the whole country, and the quantity of the transformation and distribution stations and the distribution rooms is very large due to the wide use of electricity. In order to ensure the electricity utilization safety of people, workers need to check equipment regularly in each power transformation and distribution station and each power distribution room, and the safety of the equipment is ensured. The transformer substation and the distribution room are high-risk places, and people inevitably generate errors when operating equipment, so that safety accidents are caused. In order to prevent or reduce the error of staff's operation in the distribution room, patrol and examine through utilizing electric power to patrol and examine the robot and replace the patrolling and examining of people, can in time effectual data of taking the distribution room equipment, improved work efficiency simultaneously.
When the power inspection robot system executes a power inspection task, the robot autonomously navigates to equipment to be inspected, a thermal imaging double-optical holder carried by the robot is started, equipment information data such as an indicator light, an instrument, a switching state, a liquid crystal display screen, temperature and the like are collected, then the equipment state is automatically judged to be in a normal or abnormal state through an intelligent algorithm, and the abnormal state is reported.
In the process of acquiring the image and temperature information of the equipment by the thermal imaging double-light lifting cloud platform, due to the fact that the mobile robot is positioned, the cloud platform is lifted, the cloud platform rotates, the camera zooms and other factor errors, the acquired equipment is inconsistent with system detection target equipment, equipment misdiagnosis is caused, and the inspection reliability of the intelligent inspection mobile robot in a power system is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic inspection error prevention method, an automatic inspection error prevention system, automatic inspection error prevention equipment and a storage medium for a robot, so that the consistency of collected equipment and system detection target equipment is ensured, and equipment misdiagnosis can be effectively prevented.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
an automatic inspection error prevention method for a robot comprises the following processes:
s1, encoding all the inspection equipment;
s2, the coded information is recorded into the two-dimensional code and the intelligent inspection system, and the inspection equipment information and the two-dimensional code information in the intelligent inspection system correspond to each other one by one;
s3, fixing the coded two-dimensional code on the corresponding inspection equipment;
s4, the intelligent patrol mobile robot automatically navigates to the equipment to be patrolled according to the spatial position sent by the intelligent patrol system, collects the equipment picture and decodes the scanned two-dimensional code information;
s5, character verification is carried out on the two-dimensional code information and target equipment information in the inspection system, if the two-dimensional code information and the target equipment information are inconsistent, the scanned equipment is not the target equipment, and abnormal collection of the inspection equipment is judged; and if the images are consistent, transmitting the images to an intelligent inspection system, and calling a corresponding intelligent identification algorithm to judge the running state of the equipment.
Preferably, in S1, the encoded information includes a number unique to the device, a device corresponding name, or spatial location information.
Further, in S4, the two-dimensional code information obtained by decoding and scanning includes a device number, a device corresponding name, or spatial location information.
Further, in S5, the device number, the device corresponding name, or the location information in the two-dimensional code is character-checked with the target device number, the device corresponding name, or the spatial location information in the inspection system.
Further, after S5 is finished, the intelligent inspection mobile robot re-plans the motion route and the thermal imaging double-optical pan-tilt parameters according to the relative spatial distance calculated by the equipment spatial position information in the currently scanned two-dimensional code and the set target equipment spatial position information, repeats S4 and S5 until the scanned equipment is the target equipment, and executes the next inspection task after intelligently judging the equipment operation state.
Further, in S4, the thermal imaging dual optical pan-tilt is adjusted to lift and rotate and the camera parameter is adjusted to acquire the device picture.
And further, in S5, after the abnormal collection of the routing inspection equipment is judged, a fault is reported, and the lifting and rotating of the thermal imaging double-optical pan-tilt and the parameters of the camera return to the initial state.
An automatic system of preventing mistake of patrolling and examining of robot includes:
the coding module is used for coding all the inspection equipment;
the information corresponding module is used for recording the coded information into the two-dimensional code and the intelligent inspection system, and the inspection equipment information and the two-dimensional code information in the intelligent inspection system are in one-to-one correspondence;
the two-dimensional code fixing module is used for fixing the coded two-dimensional code on corresponding inspection equipment;
the two-dimensional code information scanning module is used for automatically navigating the intelligent inspection mobile robot to the equipment to be inspected according to the space position sent by the intelligent inspection system, acquiring the picture of the equipment and decoding the scanned two-dimensional code information;
the information judgment module is used for carrying out character verification on the two-dimensional code information and target equipment information in the inspection system, if the two-dimensional code information is inconsistent with the target equipment information, the scanned equipment is considered not to be the target equipment, and the inspection equipment is judged to be abnormal in acquisition; and if the images are consistent, transmitting the images to an intelligent inspection system, and calling a corresponding intelligent identification algorithm to judge the running state of the equipment.
A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the automatic inspection anti-error method for a robot when executing the computer program.
A computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the automatic inspection anti-error method for robots according to any one of the above.
Compared with the prior art, the invention has the following beneficial effects:
the invention codes the unique digital number of the equipment, the corresponding name of the equipment and the spatial position information, records the coded information into the two-dimensional code and the intelligent inspection system, and verifies the scanned two-dimensional code information and the information in the inspection system, thereby ensuring that the collected equipment is consistent with the system detection target equipment and effectively preventing the equipment from being diagnosed by mistake.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1, the automatic inspection error prevention method for a robot according to the present invention includes the following steps:
(1) and coding all the inspection equipment, wherein the coding information comprises a unique digital number of the equipment, and a corresponding name or spatial position information of the equipment.
(2) And inputting the coded information into the two-dimension code and the intelligent inspection system, wherein the inspection equipment information and the two-dimension code information correspond to each other in the intelligent inspection system.
(3) And fixing the coded two-dimensional code on the corresponding inspection equipment.
(4) The intelligent patrol mobile robot automatically navigates to equipment to be patrolled according to the spatial position sent by the intelligent patrol system, adjusts the lifting and the rotation of the thermal imaging double-optical holder and the picture of the camera parameter acquisition equipment, and decodes the scanned two-dimensional code equipment number, the equipment corresponding name or the spatial position information.
(5) And carrying out character verification on the equipment number, the equipment corresponding name and the spatial position information in the two-dimensional code and the target equipment number, the equipment corresponding name or the spatial position information in the inspection system, if the equipment number, the equipment corresponding name and the spatial position information are not consistent, determining that the scanned equipment is not the target equipment, judging that the inspection equipment is abnormal in acquisition, reporting a fault, and enabling the thermal imaging double-optical tripod head to ascend and descend, rotate and the camera parameters to return to an initial state. And if the images are consistent, transmitting the images to an intelligent inspection system, and calling a corresponding intelligent identification algorithm to judge the running state of the equipment.
(6) And (4) the intelligent patrol mobile robot replans the motion route and the thermal imaging double-optical-platform parameters according to the relative spatial distance calculated by the equipment spatial position information in the currently scanned two-dimensional code and the set target equipment spatial position information, repeats the steps (4) and (5) until the scanned equipment is the target equipment, and executes the next patrol task after intelligently judging the equipment operation state.
The invention discloses an automatic inspection anti-misoperation system of a robot, which comprises:
and the coding module is used for coding all the inspection equipment.
And the information corresponding module is used for recording the coded information into the two-dimensional code and the intelligent inspection system, and the inspection equipment information and the two-dimensional code information in the intelligent inspection system are in one-to-one correspondence.
And the two-dimension code fixing module is used for fixing the coded two-dimension code on the corresponding inspection equipment.
And the two-dimension code information scanning module is used for automatically navigating the intelligent inspection mobile robot to the equipment to be inspected according to the space position sent by the intelligent inspection system, acquiring the picture of the equipment and decoding the scanned two-dimension code information.
The information judgment module is used for carrying out character verification on the two-dimensional code information and target equipment information in the inspection system, if the two-dimensional code information is inconsistent with the target equipment information, the scanned equipment is considered not to be the target equipment, and the inspection equipment is judged to be abnormal in acquisition; and if the images are consistent, transmitting the images to an intelligent inspection system, and calling a corresponding intelligent identification algorithm to judge the running state of the equipment.
The invention discloses 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 computer program to realize the steps of the robot automatic inspection anti-misoperation method.
The invention discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the robot automatic inspection anti-error method.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. An automatic inspection error prevention method for a robot is characterized by comprising the following processes:
s1, encoding all the inspection equipment;
s2, the coded information is recorded into the two-dimensional code and the intelligent inspection system, and the inspection equipment information and the two-dimensional code information in the intelligent inspection system correspond to each other one by one;
s3, fixing the coded two-dimensional code on the corresponding inspection equipment;
s4, the intelligent patrol mobile robot automatically navigates to the equipment to be patrolled according to the spatial position sent by the intelligent patrol system, collects the equipment picture and decodes the scanned two-dimensional code information;
s5, character verification is carried out on the two-dimensional code information and target equipment information in the inspection system, if the two-dimensional code information and the target equipment information are inconsistent, the scanned equipment is not the target equipment, and abnormal collection of the inspection equipment is judged; and if the images are consistent, transmitting the images to an intelligent inspection system, and calling a corresponding intelligent identification algorithm to judge the running state of the equipment.
2. The automatic inspection and anti-error method for the robot according to claim 1, wherein in S1, the coding information includes a unique number of the device, a corresponding name of the device, or spatial location information.
3. The automatic inspection and anti-error method for the robot according to claim 2, wherein in S4, the decoded and scanned two-dimensional code information includes a device number, a device corresponding name or spatial location information.
4. The automatic inspection and error prevention method for the robot according to claim 3, wherein in S5, the number of the device, the corresponding name of the device or the position information in the two-dimensional code and the number of the target device, the corresponding name of the device or the space position information in the inspection system are subjected to character verification.
5. The automatic inspection anti-error method for the robot according to claim 2, wherein after the step S5 is completed, the intelligent inspection mobile robot re-plans the movement route and the thermal imaging dual-optical pan-tilt parameters according to the relative spatial distance calculated by the device spatial position information in the currently scanned two-dimensional code and the set target device spatial position information, repeats the steps S4 and S5 until the scanned device is the target device, and executes the next inspection task after intelligently judging the device operation status.
6. The automatic inspection and error prevention method for the robot according to claim 1 or 2, wherein in S4, the thermal imaging double optical pan-tilt head is adjusted to lift, rotate and acquire device pictures according to camera parameters.
7. The automatic inspection anti-error method for the robot according to claim 6, wherein in S5, after the inspection equipment is judged to have abnormal acquisition, a fault is reported, and the thermal imaging double-optical pan-tilt head is lifted and rotated, and the parameters of the camera return to the initial state.
8. The utility model provides an automatic system of preventing mistake of patrolling and examining of robot which characterized in that includes:
the coding module is used for coding all the inspection equipment;
the information corresponding module is used for recording the coded information into the two-dimensional code and the intelligent inspection system, and the inspection equipment information and the two-dimensional code information in the intelligent inspection system are in one-to-one correspondence;
the two-dimensional code fixing module is used for fixing the coded two-dimensional code on corresponding inspection equipment;
the two-dimensional code information scanning module is used for automatically navigating the intelligent inspection mobile robot to the equipment to be inspected according to the space position sent by the intelligent inspection system, acquiring the picture of the equipment and decoding the scanned two-dimensional code information;
the information judgment module is used for carrying out character verification on the two-dimensional code information and target equipment information in the inspection system, if the two-dimensional code information is inconsistent with the target equipment information, the scanned equipment is considered not to be the target equipment, and the inspection equipment is judged to be abnormal in acquisition; and if the images are consistent, transmitting the images to an intelligent inspection system, and calling a corresponding intelligent identification algorithm to judge the running state of the equipment.
9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of the automatic robot inspection anti-error method according to any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the method for preventing robot automatic inspection errors according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153348.0A CN113848923A (en) | 2021-09-29 | 2021-09-29 | Robot automatic inspection error-preventing method, system, equipment and storage medium |
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| CN202111153348.0A CN113848923A (en) | 2021-09-29 | 2021-09-29 | Robot automatic inspection error-preventing method, system, equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114677777A (en) * | 2022-03-16 | 2022-06-28 | 中车唐山机车车辆有限公司 | Equipment inspection method, inspection system and terminal equipment |
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| CN108890657A (en) * | 2018-07-11 | 2018-11-27 | 清华大学合肥公共安全研究院 | A kind of power distribution room intelligent inspection robot |
| CN209103372U (en) * | 2019-01-18 | 2019-07-12 | 广州信安数据有限公司 | A kind of electric power asset management patrol system |
| WO2020233155A1 (en) * | 2019-05-23 | 2020-11-26 | ***股份有限公司 | Apparatus inspection patrol method and device |
| CN112040175A (en) * | 2020-07-31 | 2020-12-04 | 深圳供电局有限公司 | Unmanned aerial vehicle inspection method and device, computer equipment and readable storage medium |
-
2021
- 2021-09-29 CN CN202111153348.0A patent/CN113848923A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1979519A (en) * | 2005-11-30 | 2007-06-13 | 中国科学院自动化研究所 | Automatic crusing robot system based on radio-frequency identification technology |
| CN202093536U (en) * | 2011-05-24 | 2011-12-28 | 福建省电力勘测设计院 | Intelligent routing inspection system for substation equipment |
| CN105929820A (en) * | 2016-04-19 | 2016-09-07 | 天津市道本致远科技有限公司 | Intelligent robot positioning method |
| CN108890657A (en) * | 2018-07-11 | 2018-11-27 | 清华大学合肥公共安全研究院 | A kind of power distribution room intelligent inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114677777A (en) * | 2022-03-16 | 2022-06-28 | 中车唐山机车车辆有限公司 | Equipment inspection method, inspection system and terminal equipment |
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