CN115439949A - Automatic robot inspection method, device, equipment and storage medium - Google Patents
Automatic robot inspection method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a robot automatic inspection method, a device, equipment and a storage medium, wherein the method comprises the steps of erecting an RTK base station and carrying out function detection on the RTK base station; when the RTK base station functions normally operate, acquiring course and site information to obtain a routing inspection map; based on patrol and examine the map and utilize and patrol and examine the robot and detect the stock yard building materials of current building site, obtain the article type and the quantity of target building materials, can realize utilizing the full-automatic building site and the statistics building materials of patrolling and examining of robot, make the field management of building site intelligent, improve the automatic accuracy of patrolling and examining of robot, avoided the manual work to patrol and examine the error of patrolling and examining of building site, the consumption of manpower and materials has been reduced, can be applicable to the building site building materials of most scenes and patrol and examine, the speed and the efficiency that the building site was patrolled and examined have been improved, the safe intelligent management to the building site has been ensured.
Description
Technical Field
The invention relates to the technical field of intelligent construction site inspection, in particular to a robot automatic inspection method, device, equipment and storage medium.
Background
The existing inspection mode for building materials of a construction site is that the inspection is carried out manually, however, the field construction and management of the construction site are large in labor consumption, high in labor intensity and multiple in personnel safety hidden danger, particularly, the inspection in the construction site is more in building materials and insufficient in personnel configuration, the inspection in the construction site is long in time consumption, the inspection management efficiency is low, the safe and intelligent management of the construction site cannot be guaranteed, and the field management development trend of the modern construction site is not met.
Disclosure of Invention
The invention mainly aims to provide a robot automatic inspection method, a device, equipment and a storage medium, and aims to solve the technical problems that in the prior art, the construction site inspection depends on manual inspection, a large amount of manpower and material resources are consumed, the inspection management efficiency is low, and the safe and intelligent management of the construction site cannot be guaranteed.
In a first aspect, the invention provides an automatic robot inspection method, which comprises the following steps:
erecting an RTK base station, and carrying out function detection on the RTK base station;
when the RTK base station functions normally operate, acquiring course and site information to obtain a patrol map;
and detecting the yard building materials of the current construction site by using the inspection robot based on the inspection map to obtain the types and the quantity of the target building materials.
Optionally, the erecting an RTK base station and performing function detection on the RTK base station include:
determining a plurality of base station erection positions which accord with preset layout conditions according to the initial routing inspection plan, erecting the RTK base station at each base station erection position, and electrifying to open the RTK base station;
and performing static test and dynamic test of the positioning coverage function of the RTK base station according to the inspection robot.
Optionally, the performing a static test and a dynamic test of a positioning coverage function on the RTK base station according to the inspection robot includes:
controlling the inspection robot to move to a position to be tested, acquiring a current positioning value, and matching the current positioning value with a preset RTK (real-time kinematic) fixing solution;
when the current positioning value is the same as a preset RTK fixed solution, judging that the static test of the positioning coverage of the RTK base station is successful;
controlling the inspection robot to move according to a preset inter-station route, and acquiring a dynamic positioning track of the inspection robot;
and judging whether the dynamic test of the RTK base station positioning coverage is successful or not according to the dynamic positioning track.
Optionally, the determining whether the dynamic test of the RTK base station positioning coverage is successful according to the dynamic positioning track includes:
matching the dynamic positioning track with a preset fixed positioning track, and judging that the dynamic test of the RTK base station positioning coverage is successful when the matching degree is greater than or equal to a preset matching threshold;
and when the matching degree is smaller than the preset matching threshold, judging that the dynamic test of the RTK base station positioning coverage fails.
Optionally, when the RTK base station functions normally operate, collecting airline and site information to obtain a patrol map, including:
when the RTK base station functions normally operate, collecting a charging station position and an arrival angle, and determining the current positioning and orientation error of the inspection robot according to the charging station position and the arrival angle;
when the current positioning and orientation error is smaller than a preset error threshold value, acquiring station information and route information of the charging station and each material detection station;
and generating a patrol map according to the site information and the route information.
Optionally, the generating a patrol map according to the site information and the route information includes:
performing curve fitting according to the route information to obtain a curve fitting result;
leading each charging station and each material detection station into the curve fitting result according to the station information to carry out interactive topology editing connection so as to obtain a connection communication network;
and screening out a target connecting line at least comprising one charging station and one material detection station from the connecting line communication network, and generating a routing inspection map according to the target connecting line.
Optionally, the detecting the yard building materials of the current construction site by using the patrol robot based on the patrol map to obtain the types and the quantity of the target building materials includes:
acquiring a polling task for detecting the yard building materials of the current construction site, and acquiring a polling period and a polling target from the polling task;
and controlling the inspection robot to detect according to the inspection period, the inspection target and the inspection map, obtaining the types and the quantity of target building materials, and judging whether the storage yard building materials have potential stacking safety hazards or not according to the detection result.
In a second aspect, to achieve the above object, the present invention further provides an automatic robot inspection device, including:
the function detection module is used for erecting an RTK base station and carrying out function detection on the RTK base station;
the map generation module is used for acquiring route and site information to obtain a routing inspection map when the RTK base station functions normally operate;
and the inspection module is used for detecting the storage yard building materials of the current construction site by using the inspection robot based on the inspection map to obtain the types and the quantity of the target building materials.
In a third aspect, to achieve the above object, the present invention further provides an automatic robot inspection device, including: a memory, a processor and a robot automatic inspection program stored on the memory and operable on the processor, the robot automatic inspection program being configured to implement the steps of the robot automatic inspection method as described above.
In a fourth aspect, to achieve the above object, the present invention further provides a storage medium, where a robot automatic inspection program is stored, and the robot automatic inspection program implements the steps of the robot automatic inspection method as described above when executed by a processor.
The robot automatic inspection method provided by the invention has the advantages that an RTK base station is erected, and the function of the RTK base station is detected; when the RTK base station functions normally operate, acquiring course and site information to obtain a routing inspection map; based on patrol and examine the map and utilize and patrol and examine the robot and detect the stock yard building materials of current building site, obtain the article type and the quantity of target building materials, can realize utilizing the full-automatic building site and the statistics building materials of patrolling and examining of robot, make the field management of building site intelligent, improve the automatic accuracy of patrolling and examining of robot, avoided the manual work to patrol and examine the error of patrolling and examining of building site, the consumption of manpower and materials has been reduced, can be applicable to the building site building materials of most scenes and patrol and examine, the speed and the efficiency that the building site was patrolled and examined have been improved, the safe intelligent management to the building site has been ensured.
Drawings
Fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the robot automatic inspection method according to the present invention;
FIG. 3 is a schematic flow chart diagram of a robot automatic inspection method according to a second embodiment of the present invention;
FIG. 4 is a schematic flow chart of a third embodiment of the robot automatic inspection method according to the present invention;
FIG. 5 is a schematic flow chart of a fourth embodiment of the robot automatic inspection method according to the present invention;
FIG. 6 is a schematic flow chart of a fifth embodiment of the robot automatic inspection method according to the present invention;
fig. 7 is a functional block diagram of the robot automatic inspection device according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The solution of the embodiment of the invention is mainly as follows: erecting an RTK base station, and carrying out function detection on the RTK base station; when the RTK base station functions normally operate, acquiring course and site information to obtain a routing inspection map; the inspection robot is used for detecting the yard building materials of the current construction site based on the inspection map to obtain the types and the quantity of target building materials, the full-automatic inspection of the construction site and the statistic of the building materials can be realized by using the robot, the site management of the construction site is intelligentized, the automatic inspection accuracy of the robot is improved, the inspection error of the manual inspection construction site is avoided, the consumption of manpower and material resources is reduced, the building site building materials which can be suitable for most scenes are patrolled and examined, the speed and the efficiency of patrolling and examining the building site are improved, the safe intelligent management of the building site is ensured, the problems that the building site patrols and examines and depends on manual patrol and examine, a large amount of manpower and material resources are consumed, the patrol and examine management efficiency is low, and the safe intelligent management of the building site cannot be ensured in the prior art are solved.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, e.g. a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The Memory 1005 may be a high-speed RAM Memory or a Non-Volatile Memory (Non-Volatile Memory), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the device shown in fig. 1 is not intended to be limiting of the device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include an operating device, a network communication module, a user interface module, and a robot automatic inspection program therein.
The apparatus of the present invention calls the robot automatic inspection program stored in the memory 1005 through the processor 1001, and performs the following operations:
erecting an RTK base station, and carrying out function detection on the RTK base station;
when the RTK base station functions normally operate, acquiring course and site information to obtain a routing inspection map;
and detecting the yard building materials of the current construction site by using the inspection robot based on the inspection map to obtain the types and the quantity of the target building materials.
The apparatus of the present invention calls the robot automatic inspection program stored in the memory 1005 through the processor 1001, and also performs the following operations:
determining a plurality of base station erection positions which accord with a preset layout condition according to the initial routing inspection plan, erecting an RTK base station at each base station erection position, and electrifying to open the RTK base station;
and performing static test and dynamic test of the positioning coverage function of the RTK base station according to the inspection robot.
The apparatus of the present invention calls the robot automatic inspection program stored in the memory 1005 through the processor 1001, and also performs the following operations:
controlling the inspection robot to move to a position to be tested, acquiring a current positioning value, and matching the current positioning value with a preset RTK (real-time kinematic) fixing solution;
when the current positioning value is the same as a preset RTK fixed solution, judging that the static test of the positioning coverage of the RTK base station is successful;
controlling the inspection robot to move according to a preset inter-station route, and acquiring a dynamic positioning track of the inspection robot;
and judging whether the dynamic test of the RTK base station positioning coverage is successful or not according to the dynamic positioning track.
The apparatus of the present invention calls the robot automatic inspection program stored in the memory 1005 through the processor 1001, and also performs the following operations:
matching the dynamic positioning track with a preset fixed positioning track, and judging that the dynamic test of the RTK base station positioning coverage is successful when the matching degree is greater than or equal to a preset matching threshold;
and when the matching degree is smaller than the preset matching threshold, judging that the dynamic test of the RTK base station positioning coverage fails.
The apparatus of the present invention calls the robot automatic inspection program stored in the memory 1005 through the processor 1001, and also performs the following operations:
when the RTK base station functions normally operate, collecting a charging station position and an arrival angle, and determining the current positioning and orientation error of the inspection robot according to the charging station position and the arrival angle;
when the current positioning and orientation error is smaller than a preset error threshold value, acquiring station information and route information of the charging station and each material detection station;
and generating a routing inspection map according to the site information and the route information.
The apparatus of the present invention calls the robot automatic inspection program stored in the memory 1005 through the processor 1001, and also performs the following operations:
performing curve fitting according to the route information to obtain a curve fitting result;
leading each charging station and each material detection station into the curve fitting result according to the station information to carry out interactive topology editing connection, and obtaining a connection communication network;
and screening out a target connecting line at least comprising one charging station and one material detection station from the connecting line communication network, and generating a routing inspection map according to the target connecting line.
The apparatus of the present invention calls the robot automatic inspection program stored in the memory 1005 through the processor 1001, and also performs the following operations:
acquiring a polling task for detecting the yard building materials of the current construction site, and acquiring a polling period and a polling target from the polling task;
and controlling the inspection robot to detect according to the inspection period, the inspection target and the inspection map, obtaining the types and the quantity of target building materials, and judging whether the storage yard building materials have potential stacking safety hazards or not according to the detection result.
According to the scheme, the RTK base station is erected, and the function of the RTK base station is detected; when the RTK base station functions normally operate, acquiring course and site information to obtain a routing inspection map; based on patrol and examine the map and utilize and patrol and examine the robot and detect the stock yard building materials of current building site, obtain the article type and the quantity of target building materials, can realize utilizing the full-automatic building site and the statistics building materials of patrolling and examining of robot, make the field management of building site intelligent, improve the automatic accuracy of patrolling and examining of robot, avoided the manual work to patrol and examine the error of patrolling and examining of building site, the consumption of manpower and materials has been reduced, can be applicable to the building site building materials of most scenes and patrol and examine, the speed and the efficiency that the building site was patrolled and examined have been improved, the safe intelligent management to the building site has been ensured.
Based on the hardware structure, the embodiment of the automatic inspection method of the robot is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the robot automatic inspection method of the present invention.
In a first embodiment, the robot automatic inspection method comprises the following steps:
s10, erecting an RTK base station and carrying out function detection on the RTK base station.
It should be noted that after a Real-time kinematic (RTK) base station is erected, the function of the RTK base station needs to be detected in time, that is, the coverage function of the RTK base station needs to be detected.
In a specific implementation, the RTK base station generally has a GPS receiver, a built-in RTK resolving chip, and a 433MHZ radio data transmission station, and generally communicates with the RTK rover station through an external antenna, and can be erected on a higher ground by using a tripod.
And S20, acquiring course and site information when the RTK base station functions normally operate, and acquiring a patrol map.
It can be understood that when the RTK base station functions normally, the collection of the course and station information of the robot inspection can be carried out, and therefore an inspection map is generated according to collected data.
And S30, detecting the yard building materials of the current construction site by using an inspection robot based on the inspection map to obtain the types and the quantity of the target building materials.
It should be understood that the inspection robot can be controlled to inspect the current yard building material of the construction site according to the inspection map, so that the type and the quantity of the target building material can be obtained.
According to the scheme, the RTK base station is erected, and the function of the RTK base station is detected; when the RTK base station functions normally operate, acquiring course and site information to obtain a patrol map; based on patrol and examine the map and utilize and patrol and examine the robot and detect the stock yard building materials of current building site, obtain the article type and the quantity of target building materials, can realize utilizing the full-automatic building site and the statistics building materials of patrolling and examining of robot, make the field management of building site intelligent, improve the automatic accuracy of patrolling and examining of robot, avoided the manual work to patrol and examine the error of patrolling and examining of building site, the consumption of manpower and materials has been reduced, can be applicable to the building site building materials of most scenes and patrol and examine, the speed and the efficiency that the building site was patrolled and examined have been improved, the safe intelligent management to the building site has been ensured.
Further, fig. 3 is a schematic flow chart of a second embodiment of the robot automatic inspection method of the present invention, and as shown in fig. 3, the second embodiment of the robot automatic inspection method of the present invention is proposed based on the first embodiment, and in this embodiment, the step S10 specifically includes the following steps:
and S11, determining a plurality of base station erection positions meeting preset layout conditions according to the initial routing inspection plan, erecting the RTK base station on each base station erection position, and electrifying to start the RTK base station.
It should be noted that, a plurality of base station erection positions meeting the preset layout condition can be determined through the preset initial routing inspection plan, so as to erect the RTK base station on each base station erection position, the erection mode may be automatic installation and erection by a robot, or common installation and erection by a manually controlled mechanical arm, or manual installation and erection, which is not limited in this embodiment; after erection is completed, the RTK base station can be powered on and started.
In the concrete implementation, the erection quality of the reference station directly affects the positioning and orientation precision of the mobile station carried by the robot vehicle, and the preset layout condition can be set as: 1. the base station is erected at the high position of the visual distance coverage inspection path, and the space with the cut-off height angle of more than 10 degrees in the horizontal direction is free of obstacles; 2. no signal reflector around, such as large water area, large building, etc.; interference of traffic main roads and passing pedestrians is avoided as much as possible; 3. a strong electromagnetic radiation source such as a television transmitting tower, a radar television transmitting antenna and the like is not needed in the vicinity so as not to interfere with the differential RTK electrical signal, and the distance between the strong electromagnetic radiation source and the RTK electrical signal is not less than 200m; 4. the reference station is preferably selected at a place with relatively high terrain to facilitate the action distance of the radio station; 5. the ground of the erection position needs to be stable so as to ensure that the base station cannot shake in the use process; 6. if a station is arranged under an object with a large influence on electromagnetic propagation, such as a tree, when a receiver works, a received satellite signal is distorted, the difference quality of RTK is influenced, and a mobile station is difficult to enter a high-precision mode; 7. during RTK operation, the base station is not allowed to move or is shut down and restarted, and if the base station is restarted, the system needs to be corrected again; of course, the layout conditions may also be set to be different numerical parameters, which is not limited in this embodiment; the base station is supplied with stable power supply, and system fluctuation caused by unstable power supply can be avoided.
And S12, performing static test and dynamic test of the positioning coverage function on the RTK base station according to the inspection robot.
It can be understood that after the base station is erected, the high-precision positioning coverage capability of the base station needs to be detected, whether the erection position of the base station is reasonable or not and whether the whole range of the robot can be covered or not are checked and confirmed, and the RTK base station can be subjected to static test and dynamic test of the positioning coverage function according to the inspection robot.
According to the scheme, the RTK base station is erected, and the function of the RTK base station is detected; when the RTK base station functions normally operate, acquiring course and site information to obtain a routing inspection map; based on the map of patrolling and examining utilizes the robot of patrolling and examining to detect the stock dump building materials of current building site, obtains the article type and the quantity of target building materials, can ensure the rationality of basic station erection position, has reduced the automatic error of patrolling and examining of robot, improves the automatic accuracy of patrolling and examining of robot.
Further, fig. 4 is a schematic flow chart of a third embodiment of the robot automatic inspection method of the present invention, and as shown in fig. 4, the third embodiment of the robot automatic inspection method of the present invention is proposed based on the second embodiment, in this embodiment, the step S12 specifically includes the following steps:
and S121, controlling the inspection robot to move to a position to be tested, acquiring a current positioning value, and matching the current positioning value with a preset RTK fixing solution.
It should be noted that, generally, the robot may be controlled by the handle to move to the position to be tested, so as to obtain the current positioning value of the current position fed back by the inspection robot, and further match the current positioning value with the preset RTK fixation solution.
And S122, judging that the static test of the positioning coverage of the RTK base station is successful when the current positioning value is the same as the preset RTK fixing solution.
It is understood that the static test of the RTK base station positioning coverage may be determined to be successful when the current positioning value is the same as the preset RTK fixing solution, whereas the static test of the RTK base station positioning coverage may be determined to be failed when the current positioning value is different from the preset RTK fixing solution.
In the specific implementation, the high-precision positioning static test can call out a corresponding test interface on robot software, test a GPS positioning signal of an RTK mobile station on a robot, observe whether front and back GPS are both RTK fixed solutions (high-precision solutions), wait for more than 3 minutes after a base station and the robot are started, and obtain the high-precision RTK fixed solutions by the robot; after the RTK fixed solution appears, the refreshing speed is fast, the refreshing rate reaches 5Hz, and if the front and back positioning values are stable and are the RTK fixed solution, the detection can be carried out along the routing inspection route; otherwise, if a stable RTK fixation solution cannot be obtained for a long time, it is necessary to consider whether the positions of the base station and the charging station are proper, whether the charging station satisfies a straight-line non-blocking condition between the base station and the robot, between the base station and the satellite, and between the robot and the satellite, and whether the charging station satisfies the straight-line non-blocking condition.
And S123, controlling the inspection robot to move according to a preset inter-station route, and acquiring a dynamic positioning track of the inspection robot.
It should be understood that the inspection robot is controlled to move according to a preset inter-station route, so that a dynamic positioning track generated by the inspection robot in the moving process is acquired.
And step S124, judging whether the dynamic test of the RTK base station positioning coverage is successful according to the dynamic positioning track.
It is understood that, according to the dynamic positioning trajectory, the coverage capability of the RTK base station can be determined, i.e. whether the dynamic test of the positioning coverage of the RTK base station is successful or not is judged.
Further, the step S124 specifically includes the following steps:
matching the dynamic positioning track with a preset fixed positioning track, and judging that the dynamic test of the RTK base station positioning coverage is successful when the matching degree is greater than or equal to a preset matching threshold;
and when the matching degree is smaller than the preset matching threshold, judging that the dynamic test of the RTK base station positioning coverage fails.
It can be understood that the dynamic positioning track is matched with a preset fixed positioning track, and when the matching degree is greater than or equal to a preset matching threshold, it can be determined that the dynamic test of the positioning coverage of the RTK base station is successful, otherwise, it can be determined that the dynamic test is failed.
In the concrete implementation, the high-precision positioning dynamic test is that after the front and back static tests of the GPS are stabilized as an RTK fixed solution, the function of acquiring inter-station routes is started on robot software, then the robot is controlled by a handle to start from a charging station and traverse each material monitoring station along a road, track graphs in the software also synchronously change in the advancing process of the robot, and a matching proportion value for matching the dynamic positioning track and a preset fixed positioning track is obtained, namely when the matching degree is greater than or equal to a preset matching threshold value, the dynamic positioning track and the preset fixed positioning track are basically consistent, so that the robot is proved to have high-precision positioning on the whole route, otherwise, the accuracy of point position signals is further determined and the reason is analyzed.
According to the scheme, the inspection robot is controlled to move to the position to be tested, the current positioning value is obtained, and the current positioning value is matched with the preset RTK fixing solution; when the current positioning value is the same as a preset RTK fixed solution, judging that the static test of the positioning coverage of the RTK base station is successful; controlling the inspection robot to move according to a lane between preset stations to obtain a dynamic positioning track of the inspection robot; and judging whether the dynamic test of the RTK base station positioning coverage is successful or not according to the dynamic positioning track, detecting the high-precision positioning coverage capability of the base station, ensuring the reasonability of the base station erection position, reducing the automatic inspection error of the robot and improving the automatic inspection accuracy of the robot.
Further, fig. 5 is a schematic flow chart of a fourth embodiment of the robot automatic inspection method according to the present invention, and as shown in fig. 5, the fourth embodiment of the robot automatic inspection method according to the present invention is proposed based on the first embodiment, in this embodiment, the step S20 specifically includes the following steps:
and S21, when the RTK base station functions normally operate, acquiring a charging station position and a station-entering angle, and determining the current positioning and orientation error of the inspection robot according to the charging station position and the station-entering angle.
It should be noted that, when the RTK base station functions normally, the position and the arrival angle of the charging station may be acquired, and the positioning error of the inspection robot may be determined according to the position and the arrival angle of the charging station.
It will be appreciated that the inspection robot can be determined from the charging station position and the approach angle to determine the positioning and orientation statistical errors.
And S22, when the current positioning and orientation error is smaller than a preset error threshold value, acquiring station information and route information of the charging station and each material detection station.
It can be understood that when the current positioning and orientation error is smaller than a preset error threshold value, the station information and route information of the charging station and each material detection station can be collected.
It should be understood that when the current positioning and orientation error is smaller than a preset error threshold, for example, the current positioning error is smaller than 0.01 meter, and the current orientation error is smaller than 0.05 degree, it may be determined that the current positioning and orientation accuracy is sufficiently accurate, and the preset error threshold may be set according to an actual situation, which is not limited in this embodiment; and further confirming and acquiring station information and route information of the charging station and each material detection station.
In the concrete implementation, after the information of the charging station is collected, the inter-station route can be collected, and the inter-station route is divided into two types: a route from the charging station to a first material monitoring station; if a plurality of material monitoring stations exist, the air routes from the monitoring station to the next monitoring station are collected, the air routes between the two stations are connected, the air route terminal is connected with one monitoring station, and the air route collection mode is the same.
The monitoring station is a material detection station on a material yard for short, when the robot automatically patrols and arrives at the monitoring station, the robot can carry out rotary shooting on the material to obtain coverage information, and the quantity of various materials is counted through automatic identification; therefore, the information of the monitoring station to be collected includes not only the parking position and angle of the robot to the material yard, but also the initial angle (initial preset position) and the termination angle (termination preset position) of the rotational shooting of the pan-tilt camera, and the attribute parameters such as the number of the monitoring station.
A monitoring station is associated with each route near the terminus. Assuming that a whole construction site has N material monitoring stations, acquiring information of the monitoring station 1 after the 1 st inter-station route is acquired; after the 2 nd inter-station route is collected, collecting information of the monitoring station 2; 8230, collecting the inter-station route of the Nth section, and then collecting the N information of the monitoring station.
The orientation of the monitoring station, that is, the coordinates of the center of the parking position and the direction angle when the robot arrives at the material yard and prepares to photograph the material group drawing, may be simply referred to as: and (4) shooting the pose of the robot at a fixed point.
Technical requirements for determining the orientation of the monitoring station: the robot is required to be in the forward direction consistent with the direction of the robot in the pose, the visual field of the camera seen in the monitoring picture can cover the detected material pile, the distribution range of the detected material pile is horizontally centered in the image, the distance between the robot and the nearest material is 3-5 meters (generally, the wide-angle lens is clear at the distance) or the picture is clear, and the ring of the reinforcing ring, the bundle number of the reinforcing steel bundles and the edge of the masonry are clear in the picture. If the detection requirements of all materials cannot be met simultaneously, one monitoring station is divided into a plurality of monitoring stations, and different materials are counted respectively.
And S23, generating a routing inspection map according to the site information and the route information.
It can be understood that after the information of the charging station, the monitoring station and the route between the stations is collected, the electronic map can be manufactured according to the information of the stations and the route information, and a routing inspection map corresponding to high-precision navigation map data is formed.
Further, the step S23 specifically includes the following steps:
performing curve fitting according to the route information to obtain a curve fitting result;
leading each charging station and each material detection station into the curve fitting result according to the station information to carry out interactive topology editing connection, and obtaining a connection communication network;
and screening out a target connecting line at least comprising one charging station and one material detection station from the connecting line communication network, and generating a routing inspection map according to the target connecting line.
It can be understood that, by performing curve fitting on the route information based on the fitting tolerance, a curve fitting result can be obtained, before the curve fitting, the fitting accuracy needs to be set in a map editing option, and the selection of the fitting tolerance may be 0.05 to 0.1, or may be other numerical values, which is not limited in this embodiment; too small a fitting tolerance does not mean high positioning accuracy, but increases the fluctuation and complexity of the navigation route; the method has the advantages that curve fitting is carried out on the route data, on one hand, a large number of repeated points and unnecessary route jitter during manual collection of route information can be reduced, smooth navigation of the robot is facilitated, on the other hand, rapid map editing and generation are facilitated, in actual operation, a plurality of route data can be loaded in batches, and all fitting work can be completed by one key in the track preprocessing integrated panel.
It should be understood that, according to the station information, each charging station and each material detection station are led into the curve fitting result to perform interactive topology editing connection, that is, the route and the station are mutually communicated into a fully-communicated network, that is, a link-communicated network, through the interactive topology editing connection.
According to the scheme, when the RTK base station functions normally operate, the position of a charging station and the station entering angle are collected, and the current positioning and orientation error of the inspection robot is determined according to the position of the charging station and the station entering angle; when the current positioning and orientation error is smaller than a preset error threshold value, acquiring station information and route information of the charging station and each material detection station; according to the site information and the route information, the patrol map can be accurately obtained, the full-automatic patrol of the construction site and the statistics of building materials by the robot is realized, the site management of the construction site is intelligentized, the automatic patrol accuracy of the robot is improved, the patrol error of the manual patrol of the construction site is avoided, and the consumption of manpower and material resources is reduced.
Further, fig. 6 is a schematic flow chart of a fifth embodiment of the robot automatic inspection method according to the present invention, and as shown in fig. 6, the fifth embodiment of the robot automatic inspection method according to the present invention is proposed based on the first embodiment, in this embodiment, the step S30 specifically includes the following steps:
and S31, acquiring an inspection task for detecting the yard building materials of the current construction site, and acquiring an inspection period and an inspection target from the inspection task.
The method includes the steps that a polling task for detecting the yard building materials of the current construction site is obtained, the polling task comprises two tasks of immediately starting polling and regularly polling, and the immediately polling is a task of temporarily executing material polling; and route files and execution time can be pre-designated in the timing inspection, the inspection task is automatically executed at a timing, and an inspection period and an inspection target can be obtained from the inspection task.
And S32, controlling the inspection robot to detect according to the inspection period, the inspection target and the inspection map, obtaining the type and the quantity of the target building materials, and judging whether the storage yard building materials have potential safety hazards or not according to the detection result.
It should be understood that the inspection robot is controlled to detect according to the inspection period, the inspection target and the inspection map, namely the inspection map is used for controlling the inspection robot to inspect the inspection target according to the inspection period, the target building materials can be scanned and shot through the sensor and the camera, so that the types and the number of the target building materials are obtained, and whether stacking potential safety hazards exist in the yard building materials or not is judged according to the detection result.
According to the scheme, the inspection task for detecting the yard building materials of the current construction site is obtained, and the inspection period and the inspection target are obtained from the inspection task; according to patrol and examine the cycle patrol and examine the target with patrol and examine map control patrol and examine the robot and detect, obtain the article type and the quantity of target building materials, and judge according to the testing result whether there is the potential safety hazard of stacking in the yard building materials, can realize utilizing the robot to patrol and examine building site and statistics building materials full-automatically, make the site management intellectuality, improve the automatic accuracy of patrolling and examining of robot, avoided the artifical error of patrolling and examining the building site, reduced the consumption of manpower and materials, can be applicable to the building site building materials of most scenes and patrol and examine, improved the speed and the efficiency that the building site was patrolled and examined, ensured the safe intelligent management to the building site.
Correspondingly, the invention further provides an automatic inspection device of the robot.
Referring to fig. 7, fig. 7 is a functional block diagram of a first embodiment of the robot automatic inspection device of the present invention.
In a first embodiment of the robot automatic inspection device of the present invention, the robot automatic inspection device includes:
and the function detection module 10 is used for erecting the RTK base station and carrying out function detection on the RTK base station.
And the map generation module 20 is configured to acquire route and site information and obtain an inspection map when the RTK base station functions normally operate.
And the inspection module 30 is used for detecting the yard building materials of the current construction site by using the inspection robot based on the inspection map to obtain the types and the quantity of the target building materials.
The function detection module 10 is further configured to determine a plurality of base station erection positions meeting a preset layout condition according to the initial routing inspection plan, erect the RTK base station at each base station erection position, and power on the RTK base station; and performing static test and dynamic test of the positioning coverage function of the RTK base station according to the inspection robot.
The function detection module 10 is further configured to control the inspection robot to move to a position to be tested, obtain a current positioning value, and match the current positioning value with a preset RTK fixation solution; when the current positioning value is the same as a preset RTK fixed solution, judging that the static test of the positioning coverage of the RTK base station is successful; controlling the inspection robot to move according to a preset inter-station route, and acquiring a dynamic positioning track of the inspection robot; and judging whether the dynamic test of the RTK base station positioning coverage is successful or not according to the dynamic positioning track.
The function detection module 10 is further configured to match the dynamic positioning trajectory with a preset fixed positioning trajectory, and when the matching degree is greater than or equal to a preset matching threshold, determine that the dynamic test of the RTK base station positioning coverage is successful; and when the matching degree is smaller than the preset matching threshold, judging that the dynamic test of the RTK base station positioning coverage fails.
The map generation module 20 is further configured to, when the RTK base station functions are normally operated, acquire a charging station position and an entry angle, and determine a current positioning and orientation error of the inspection robot according to the charging station position and the entry angle; when the current positioning and orientation error is smaller than a preset error threshold value, acquiring station information and route information of the charging station and each material detection station; and generating a patrol map according to the site information and the route information.
The map generation module 20 is further configured to perform curve fitting according to the route information to obtain a curve fitting result; leading each charging station and each material detection station into the curve fitting result according to the station information to carry out interactive topology editing connection so as to obtain a connection communication network; and screening out a target connecting line at least comprising one charging station and one material detection station from the connecting line communication network, and generating a routing inspection map according to the target connecting line.
The inspection module 30 is further configured to obtain an inspection task for detecting the yard building materials of the current construction site, and obtain an inspection period and an inspection target from the inspection task; and controlling the inspection robot to detect according to the inspection period, the inspection target and the inspection map, obtaining the types and the quantity of target building materials, and judging whether the storage yard building materials have potential stacking safety hazards or not according to the detection result.
The steps implemented by each functional module of the automatic robot inspection device can refer to each embodiment of the automatic robot inspection method of the present invention, and are not described herein again.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores an automatic robot inspection program, and when the automatic robot inspection program is executed by a processor, the automatic robot inspection program implements the following operations:
erecting an RTK base station, and carrying out function detection on the RTK base station;
when the RTK base station functions normally operate, acquiring course and site information to obtain a patrol map;
and detecting the yard building materials of the current construction site by using the inspection robot based on the inspection map to obtain the types and the quantity of the target building materials.
Further, when executed by the processor, the robot automatic inspection program further implements the following operations:
determining a plurality of base station erection positions which accord with a preset layout condition according to the initial routing inspection plan, erecting an RTK base station at each base station erection position, and electrifying to open the RTK base station;
and performing static test and dynamic test of the positioning coverage function of the RTK base station according to the inspection robot.
Further, when executed by the processor, the robot automatic inspection program further implements the following operations:
controlling the inspection robot to move to a position to be tested, acquiring a current positioning value, and matching the current positioning value with a preset RTK (real-time kinematic) fixing solution;
when the current positioning value is the same as a preset RTK fixed solution, judging that the static test of the positioning coverage of the RTK base station is successful;
controlling the inspection robot to move according to a lane between preset stations to obtain a dynamic positioning track of the inspection robot;
and judging whether the dynamic test of the RTK base station positioning coverage is successful or not according to the dynamic positioning track.
Further, when executed by the processor, the robot automatic inspection program further implements the following operations:
matching the dynamic positioning track with a preset fixed positioning track, and judging that the dynamic test of the RTK base station positioning coverage is successful when the matching degree is greater than or equal to a preset matching threshold;
and when the matching degree is smaller than the preset matching threshold, judging that the dynamic test of the RTK base station positioning coverage fails.
Further, when executed by the processor, the robot automatic inspection program further implements the following operations:
when the RTK base station functions normally operate, collecting a charging station position and an arrival angle, and determining the current positioning and orientation error of the inspection robot according to the charging station position and the arrival angle;
when the current positioning and orientation error is smaller than a preset error threshold value, acquiring station information and route information of the charging station and each material detection station;
and generating a patrol map according to the site information and the route information.
Further, when executed by the processor, the robot automatic inspection program further implements the following operations:
performing curve fitting according to the route information to obtain a curve fitting result;
leading each charging station and each material detection station into the curve fitting result according to the station information to carry out interactive topology editing connection, and obtaining a connection communication network;
and screening out a target connecting line at least comprising one charging station and one material detection station from the connecting line communication network, and generating a routing inspection map according to the target connecting line.
Further, when executed by the processor, the robot automatic inspection program further implements the following operations:
acquiring a polling task for detecting the yard building materials of the current construction site, and acquiring a polling period and a polling target from the polling task;
and controlling the inspection robot to detect according to the inspection period, the inspection target and the inspection map, obtaining the types and the quantity of target building materials, and judging whether the storage yard building materials have potential safety hazards or not according to the detection result.
According to the scheme, the RTK base station is erected, and the function of the RTK base station is detected; when the RTK base station functions normally operate, acquiring course and site information to obtain a routing inspection map; based on patrol and examine the map and utilize and patrol and examine the robot and detect the stock yard building materials of current building site, obtain the article type and the quantity of target building materials, can realize utilizing the full-automatic building site and the statistics building materials of patrolling and examining of robot, make the field management of building site intelligent, improve the automatic accuracy of patrolling and examining of robot, avoided the manual work to patrol and examine the error of patrolling and examining of building site, the consumption of manpower and materials has been reduced, can be applicable to the building site building materials of most scenes and patrol and examine, the speed and the efficiency that the building site was patrolled and examined have been improved, the safe intelligent management to the building site has been ensured.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one of 8230, and" comprising 8230does not exclude the presence of additional like elements in a process, method, article, or apparatus comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The automatic robot inspection method is characterized by comprising the following steps:
erecting an RTK base station, and carrying out function detection on the RTK base station;
when the RTK base station functions normally operate, acquiring course and site information to obtain a routing inspection map;
and detecting the yard building materials of the current construction site by using the inspection robot based on the inspection map to obtain the types and the quantity of the target building materials.
2. The robot automatic inspection method according to claim 1, wherein the erecting an RTK base station and performing a function test on the RTK base station includes:
determining a plurality of base station erection positions which accord with preset layout conditions according to the initial routing inspection plan, erecting the RTK base station at each base station erection position, and electrifying to open the RTK base station;
and performing static test and dynamic test of the positioning coverage function of the RTK base station according to the inspection robot.
3. The robot automatic inspection method according to claim 2, wherein the performing of the static test and the dynamic test of the positioning coverage function of the RTK base station according to the inspection robot includes:
controlling the inspection robot to move to a position to be tested, acquiring a current positioning value, and matching the current positioning value with a preset RTK fixed solution;
when the current positioning value is the same as a preset RTK fixed solution, judging that the static test of the positioning coverage of the RTK base station is successful;
controlling the inspection robot to move according to a preset inter-station route, and acquiring a dynamic positioning track of the inspection robot;
and judging whether the dynamic test of the RTK base station positioning coverage is successful or not according to the dynamic positioning track.
4. The robot automatic inspection method according to claim 3, wherein the determining whether the dynamic testing of the RTK base station positioning coverage is successful according to the dynamic positioning trajectory includes:
matching the dynamic positioning track with a preset fixed positioning track, and judging that the dynamic test of the RTK base station positioning coverage is successful when the matching degree is greater than or equal to a preset matching threshold;
and when the matching degree is smaller than the preset matching threshold, judging that the dynamic test of the RTK base station positioning coverage fails.
5. The automatic inspection method for robots according to claim 1, wherein the acquiring of course and station information to obtain the inspection map when the RTK base station functions normally comprises:
when the RTK base station functions normally operate, collecting a charging station position and an entrance angle, and determining the current positioning and orientation error of the inspection robot according to the charging station position and the entrance angle;
when the current positioning and orientation error is smaller than a preset error threshold value, acquiring station information and route information of the charging station and each material detection station;
and generating a patrol map according to the site information and the route information.
6. The robot automated inspection method according to claim 5, wherein the generating an inspection map based on the site information and the route information includes:
performing curve fitting according to the route information to obtain a curve fitting result;
leading each charging station and each material detection station into the curve fitting result according to the station information to carry out interactive topology editing connection, and obtaining a connection communication network;
and screening out a target connecting line at least comprising one charging station and one material detection station from the connecting line communication network, and generating a routing inspection map according to the target connecting line.
7. The automatic inspection method for robots according to claim 1, wherein the inspection of the yard building materials of the current construction site by the inspection robot based on the inspection map to obtain the types and the quantity of target building materials comprises the following steps:
acquiring a polling task for detecting the yard building materials of the current construction site, and acquiring a polling period and a polling target from the polling task;
and controlling the inspection robot to detect according to the inspection period, the inspection target and the inspection map, obtaining the types and the quantity of target building materials, and judging whether the storage yard building materials have potential safety hazards or not according to the detection result.
8. The utility model provides an automatic inspection device of robot, its characterized in that, automatic inspection device of robot includes:
the function detection module is used for erecting an RTK base station and carrying out function detection on the RTK base station;
the map generation module is used for acquiring route and site information to obtain a routing inspection map when the RTK base station functions normally operate;
and the inspection module is used for detecting the storage yard building materials of the current construction site by using the inspection robot based on the inspection map to obtain the types and the quantity of the target building materials.
9. The utility model provides an automatic equipment of patrolling and examining of robot which characterized in that, the automatic equipment of patrolling and examining of robot includes: a memory, a processor, and a robot automated inspection program stored on the memory and executable on the processor, the robot automated inspection program configured to implement the steps of the robot automated inspection method of any one of claims 1 to 7.
10. A storage medium having stored thereon a robot automatic inspection program which, when executed by a processor, implements the steps of the robot automatic inspection method according to any one of claims 1 to 7.
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