CN114997359A - 一种基于仿生机器狗的堤防险情巡查成套技术装备 - Google Patents
一种基于仿生机器狗的堤防险情巡查成套技术装备 Download PDFInfo
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Abstract
一种基于仿生机器狗的堤防险情巡查成套技术装备,属于堤防险情巡查技术领域。它结合智能机器人技术,能够加强堤防险情巡查力度,具有多种探查手段排查地底隐患,利用网络云技术实现终端数据处理和实时检测的功能。四足仿生机器狗上集成多种探测***,用于获取堤防数据,将数据传入数据层,数据层通过网络层将数据输入深度学习卷积神经网络,深度学习卷积神经网络进行病害特征分析,识别应用层中的堤防隐患病害,由决策层进行堤防边坡安全的预警决策。本发明集成双目立体视觉、点云激光雷达和红外热成像三种技术实现机器狗昼夜工作不间断,在一定范围内设置充电仓为机器狗提供昼夜不间歇工作的动力,具有实时监测、反馈、预警的技术优势。
Description
技术领域
本发明属于堤防险情巡查技术领域,具体涉及一种基于仿生机器狗的堤防险情巡查成套技术装备。
背景技术
现今,堤防隐患巡查消耗了大量的人力物力财力,但仍存在漏查或无法查明的堤防内部隐患病害。通过人工拉网式巡查仅仅只能实现堤防表面信息反馈,结合抽样式机械钻探也只是进行部分边坡地底渗漏排查,且对地破坏性高、效率低;少数堤防采用了人工进行物理无损探测,但探测范围小无法实现堤防深处的隐患排查。目前,先进的堤防巡检采用了基于红外热成像的无人机技术,但仍存在距离太远数据处理有误差、工作时间受限、任务单一只能进行监测等问题。
发明内容
本发明为了解决上述堤防巡检存在的问题,进而提供一种基于仿生机器狗的堤防险情巡查成套技术装备,它结合智能机器人技术,能够加强堤防险情巡查力度,具有多种探查手段排查地底隐患,利用网络云技术实现终端数据处理和实时检测的功能。
本发明所采取的技术方案是:一种基于仿生机器狗的堤防险情巡查成套技术装备,其特征在于:包括四足仿生机器狗以及管理***;所述管理***包括数据层、网络层、应用层和决策层;所述四足仿生机器狗上集成多种探测***,用于获取堤防处的数据,并将数据传入数据层,数据层通过网络层将数据输入深度学习卷积神经网络,深度学习卷积神经网络进行病害特征分析,识别应用层中的堤防隐患病害,并由决策层进行堤防边坡安全的预警决策。
本发明与现有技术相比具有以下有益效果:
1、本发明基于四足仿生机器狗集成多种对地探查传感器,利用机器狗灵活、越野性能强的结构优势应用于复杂环境下堤防巡检,将极大程度上扩大堤防巡查范围、减少人为巡检可能面临的危险。
2.本发明基于四足仿生机器狗形成的堤防险情巡查成套技术装备具有较强的野外适应能力,通过编队协作扩大了巡检范围、减小了人为疏忽漏查的可能性。
3.本发明建立了后台终端对多源多尺度多维度异构宏数据进行管理,利用点云激光雷达、红外热成像和电磁回波成像三种技术,实现了地质表征现象可视化和地下潜在病害预警相结合的独特功能。
4.本发明集成双目立体视觉、点云激光雷达和红外热成像三种技术实现机器狗昼夜工作不间断,在一定范围内设置充电仓为机器狗提供昼夜不间歇工作的动力,具有实时监测、反馈、预警的技术优势。
附图说明
图1是本发明结构框图;
图2是本发明流程框图;
图3是本发明多种探测***安装位置示意图;
其中:1、双目立体视觉传感器;2、红外热成像传感器;3、点云激光雷达传感器;4、储备电源;5、伸缩机构。
具体实施方式
为了更好地了解本发明的目的、结构及功能,下面结合附图,对本发明的做进一步详细的描述。
参照图1~3,本发明的一种基于仿生机器狗的堤防险情巡查成套技术装备,包括四足仿生机器狗以及管理***;所述管理***包括数据层、网络层、应用层和决策层;所述四足仿生机器狗上集成多种探测***,用于获取堤防处的数据,并将数据传入数据层,数据层通过网络层将数据输入深度学习卷积神经网络,深度学习卷积神经网络进行病害特征分析,识别应用层中的堤防隐患病害,并由决策层进行堤防边坡安全的预警决策。
所述多种探测***包括:
双目立体视觉***用于获取图像数据,四足仿生机器狗通过双目立体视觉***实现极端危险环境下的自主规划巡检路线、自主避障、自主复位和编队巡检;
高密度激光点云成像***用于获取电磁回波数据,四足仿生机器狗利用电磁回波成像技术获得堤防边坡地下土层变化特征,结合后台终端储备的堤防边坡数据库判断是否存在病害;
高密度激光点云成像***用于获取激光点云数据,
红外热成像***用于获取温差数据,红外热成像***和高密度激光点云成像***能够使四足仿生机器狗满足全天候昼夜巡检工作。
四足仿生机器狗上建立机械电子与信息融合的多源智慧感知***,实现快速实时监测和预警。
四足仿生机器狗上集成多种对地探查传感器,具体为:
双目立体视觉***中的双目立体视觉传感器1安装在四足仿生机器狗的头部前端,并在四足仿生机器狗的背部上安装高密度激光点云成像***中的点云激光雷达传感器3、红外热成像***的红外热成像传感器2以及外置储备电源4,由储备电源4为四足仿生机器狗和管理***提供电力支持,所述四足仿生机器狗的腹部安装有内腔,并在内腔安装有能够向下探出的伸缩机构5,所述伸缩机构5上安装有自适应探地雷达装置和高密度激光点云成像***的电磁波成像传感器。
伸缩机构5为现有技术,能够伸缩的机构如图中所示的剪叉升降以及油缸、气缸等均可。
四足仿生机器狗在面临即将发生的险情时,将基于三维环境感知以及安全监控模型进行紧急避险,其中包括双目视觉技术融合雷达扫描进行环境感知和探测、利用标定匹配重建等技术对环境进行三维重建、基于蚁群优化算法做出避障路径规划。
为即时应对机器狗遇险后跌倒的问题,管理***中搭建了DNN框架、学习执行器网络和训练控制器,通过设置机器人姿态及建立机器人跌倒初始位置模型,搭建DNN框架,输出关节执行动作,模拟输出位置轨迹并判断是否超出空间可用范围,如果未超出空间范围,通过训练的控制器控制底层运动执行***执行跌倒后自主复位。
四足仿生机器狗的数量设置为多个,并设立领航机器狗和多个跟随机器狗进行编队协作巡检,在管理***中建立Leader-fllower队形控制框架和马丹妮模糊模型逻辑控制器实现相对协作定位。
基于双目立体视觉技术结合红外热成像技术和激光雷达光速测距技术,保证了四足仿生机器狗不受光照影响实现昼夜不间断工作。为达到四足仿生机器狗实时检测的目的,在四足仿生机器狗巡检范围内设有充电仓为机器狗提供足够的动力。
所述数据层为多源异构数据库,由视觉图像数据库、电磁回波数据库、激光点云数据库以及温差数据库构成。
管理***的台终端将基于多源多尺度多维度异构宏数据进行管理,对海量数据资源进行综合、归纳和抽象的表征,形成一个独立于具体硬件环境和宏数据库管理***的概念模型,实现双向数据交换、保证数据时效性。
所述网络层基于5G云技术构建,由多种传感器、PLC和数据处理***、数据可视化***、报警***之间进行数据实时传输。
网络层基于5G云技术构建堤防、边坡工程主要构筑物的多源海量数据实时汇聚、信息共享和决策协同方法,形成物联网环境下的立体化异构数据实时传输。
建立堤防、边坡性态与环境状态的“推演-反馈-自学习”动态耦合机制,通过终端多源异构数据库推演物理规律,演化形成人工智能机器狗。
所述决策层为多源异构数据管理***,由数据管理单元、监测预警单元、决策支持单元、应急处理单元、数据汇聚单元和数据分享单元构成。
将深度学习的神经网络作为堤坝渗透图像处理模块的基础框架,结合红外热成像采集和海量数据库进行病害特征分析,判断是否存在渗漏水现象;同时基于点云深度学习网络建立PointNet框架,对滑塌、鼓胀等表观病害特征进行深度学习,实现点云自动识别预测;利用三维点云对堤防边坡工程建立数字高程地图,实时监测堤防边坡变形和强降雨洪涝发生的地质危害;采用高频电磁回波技术进行对地耦合,排除堤防边坡地下可能出现或已经出现的潜在病害,实现堤防边坡安全的预警决策。
可以理解,本发明是通过一些实施例进行描述的,本领域技术人员知悉的,在不脱离本发明的精神和范围的情况下,可以对这些特征和实施例进行各种改变或等效替换。另外,在本发明的教导下,可以对这些特征和实施例进行修改以适应具体的情况及材料而不会脱离本发明的精神和范围。因此,本发明不受此处所公开的具体实施例的限制,所有落入本申请的权利要求范围内的实施例都属于本发明所保护的范围内。
Claims (8)
1.一种基于仿生机器狗的堤防险情巡查成套技术装备,其特征在于:包括四足仿生机器狗以及管理***;所述管理***包括数据层、网络层、应用层和决策层;所述四足仿生机器狗上集成多种探测***,用于获取堤防处的数据,并将数据传入数据层,数据层通过网络层将数据输入深度学习卷积神经网络,深度学习卷积神经网络进行病害特征分析,识别应用层中的堤防隐患病害,并由决策层进行堤防边坡安全的预警决策。
2.根据权利要求1所述的一种基于仿生机器狗的堤防险情巡查成套技术装备,其特征在于:所述多种探测***包括:
双目立体视觉***用于获取图像数据,四足仿生机器狗通过双目立体视觉***实现极端危险环境下的自主规划巡检路线、自主避障、自主复位和编队巡检;
高密度激光点云成像***用于获取电磁回波数据,四足仿生机器狗利用电磁回波成像技术获得堤防边坡地下土层变化特征,结合后台终端储备的堤防边坡数据库判断是否存在病害;
高密度激光点云成像***用于获取激光点云数据,
红外热成像***用于获取温差数据,红外热成像***和高密度激光点云成像***能够使四足仿生机器狗满足全天候昼夜巡检工作。
3.根据权利要求2所述的一种基于仿生机器狗的堤防险情巡查成套技术装备,其特征在于:所述双目立体视觉***中的双目立体视觉传感器(1)安装在四足仿生机器狗的头部前端,并在四足仿生机器狗的背部上安装高密度激光点云成像***中的点云激光雷达传感器(3)、红外热成像***的红外热成像传感器(2)以及外置储备电源(4),由储备电源(4)为四足仿生机器狗和管理***提供电力支持,所述四足仿生机器狗的腹部安装有内腔,并在内腔安装有能够向下探出的伸缩机构(5),所述伸缩机构(5)上安装有自适应探地雷达装置和高密度激光点云成像***的电磁波成像传感器。
4.根据权利要求3所述的一种基于仿生机器狗的堤防险情巡查成套技术装备,其特征在于:所述管理***中搭建了DNN框架、学习执行器网络和训练控制器,通过设置机器人姿态及建立机器人跌倒初始位置模型,搭建DNN框架,输出关节执行动作,模拟输出位置轨迹并判断是否超出空间可用范围,如果未超出空间范围,通过训练的控制器控制底层运动执行***执行跌倒后自主复位。
5.根据权利要求4所述的一种基于仿生机器狗的堤防险情巡查成套技术装备,其特征在于:所述四足仿生机器狗的数量设置为多个,并设立领航机器狗和多个跟随机器狗进行编队协作巡检,在管理***中建立Leader-fllower队形控制框架和马丹妮模糊模型逻辑控制器实现相对协作定位。
6.根据权利要求1所述的一种基于仿生机器狗的堤防险情巡查成套技术装备,其特征在于:所述数据层为多源异构数据库,由视觉图像数据库、电磁回波数据库、激光点云数据库以及温差数据库构成。
7.根据权利要求6所述的一种基于仿生机器狗的堤防险情巡查成套技术装备,其特征在于:所述网络层基于5G云技术构建,由多种传感器、PLC和数据处理***、数据可视化***、报警***之间进行数据实时传输。
8.根据权利要求6所述的一种基于仿生机器狗的堤防险情巡查成套技术装备,其特征在于:所述决策层为多源异构数据管理***,由数据管理单元、监测预警单元、决策支持单元、应急处理单元、数据汇聚单元和数据分享单元构成。
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