CN106695747A - Valve hall inspection method and inspection robot based on laser radar - Google Patents

Abstract

The invention discloses a valve hall inspection method and a valve hall inspection robot based on laser radar. The inspection method includes: setting the measuring surface of the laser radar fixed on the inspection robot to be perpendicular to the ground; The device obtains the position information of the robot, and reports the reference data and position information to the database; the inspection robot travels along the preset track after accepting the inspection task of the valve hall, obtains the position information and reference data from the database, and obtains the radar data as Real-time data, comparing the real-time data with the reference data, and judging whether the target valve hall equipment corresponding to the position information is abnormal according to the difference between the two and the preset threshold. The valve hall inspection method and inspection robot can effectively detect whether the valve hall equipment is abnormal, and effectively improve the efficiency and accuracy of equipment inspection.

Description

A valve hall inspection method and inspection robot based on lidar

technical field

The invention relates to the technical field of automatic detection, in particular to a laser radar-based inspection method for valve halls and an inspection robot.

Background technique

The converter valve group in the valve hall is the key equipment in the process of direct current transmission. In order to ensure its reliable operation, regular inspections are required. The valve hall inspection robot is used in the inspection work of the valve hall.

The current technology can perform instrument reading or temperature measurement on instruments or vulnerable parts, and can also detect whether the valve hall is abnormal through image processing. The picture is compared with the normal picture, and the pattern recognition method is used to determine whether the area is abnormal. This method needs to take a picture of the area that may have problems in advance and make a template for pattern recognition. When the robot passes the position, it will pass the picture again, and compare it with the template picture through the method of pattern recognition. It takes a certain amount of time for the robot to stop capturing images. And prone to false positives.

In the prior art, it is impossible to accurately and timely judge whether the equipment is complete, whether the maintenance door of the equipment is closed, whether the position of the equipment changes, whether there are abnormal objects in the valve hall, etc.

Contents of the invention

Aiming at the deficiencies in the existing technology, a valve hall inspection method and inspection robot based on lidar are proposed to solve the problem that the abnormality of various valve hall equipment cannot be detected in the prior art.

The invention provides a laser radar-based valve hall inspection method, the method comprising: setting the measuring surface of the laser radar fixed on the inspection robot to be perpendicular to the ground; the inspection robot travels along a preset track after receiving the data collection task , during the driving process, the laser radar is used to detect the target valve hall equipment to obtain the radar data of the target valve hall equipment as reference data, and the position information of the robot during the detection operation is obtained through the positioning device, and the reference data and position information are reported Database; the inspection robot travels along the preset track after accepting the inspection task of the valve hall, obtains the position information and corresponding reference data from the database, and detects the position corresponding to the position information through laser radar to obtain radar data As real-time data, compare the real-time data with the reference data, and judge whether the target valve hall equipment corresponding to the position information is abnormal according to the difference between the two and the preset threshold.

Wherein, the radar data refers to the distance measured by a single laser beam.

Wherein, the radar data refers to the distances measured by multiple laser beams, and the difference between the two refers to the average or weighted average of the differences between the distances measured by the laser beams in the reference data and the real-time data.

Wherein, judging whether the target valve hall equipment corresponding to the position information is abnormal according to the difference between the two and the preset threshold value specifically refers to: when the difference between the two is greater than the preset threshold value, it is judged that the target valve hall equipment corresponding to the position information is abnormal. or when the difference is less than or equal to the preset threshold, it is judged that the target valve hall equipment corresponding to the location information is not abnormal; or, when the difference between the two is greater than or equal to the preset threshold, it is judged that the target valve hall equipment corresponding to the location information is abnormal, When the difference between the two is smaller than the preset threshold, it is determined that the target valve hall equipment corresponding to the position information is not abnormal.

Wherein, the inspection robot has a storage module, and the database is set in the storage module.

Wherein, the locating device is a GPS locating device, a pull wire encoder or an RFID card reader locator.

The present invention also provides a valve hall inspection robot based on laser radar, comprising: a robot body, a track connection device fixedly connected to the robot body, and a laser radar fixedly connected to the robot body; the robot body includes The body shell, the central processing unit fixed in the body shell, the memory, and the positioning device, the memory and the positioning device are all connected to the central processing unit; the central processing unit is connected to the track connecting device through a control line, and the The central processor is connected to the laser radar through a control line; the central processor is used to control the track connection device to travel along the preset track after the inspection robot accepts the data collection task, and is also used to control the laser during the driving process. The radar detects the target valve hall equipment to obtain the radar data of the target valve hall equipment as reference data, and obtains the position information of the laser radar during the detection operation through the positioning device, and stores the reference data and position information in the memory; After the inspection robot accepts the valve hall inspection task, it controls the track connection device to travel along the preset track, obtains position information and corresponding reference data from the memory, and passes through the laser radar at the position corresponding to the position information. Perform detection to obtain radar data as real-time data, compare the real-time data with the reference data, and judge whether the target valve hall equipment corresponding to the position information is abnormal according to the difference between the two and the preset threshold.

Wherein, the radar data refers to the distance measured by a single laser beam, or the radar data refers to the distance measured by multiple laser beams, and the gap between the two refers to the distance measured by each laser beam in the reference data and real-time data. The average or weighted average of the differences in the measured distances.

The scheme of the present invention can effectively detect whether the valve hall equipment is abnormal, especially whether the equipment is complete, whether the equipment inspection door is closed, whether the position of the equipment changes, whether there are abnormal objects in the valve hall, etc., and effectively improves the efficiency and accuracy of equipment inspection .

Description of drawings

Fig. 1 is a flow chart of a valve hall inspection method based on laser radar;

Figure 2 is a structural diagram of a valve hall inspection robot based on lidar.

specific embodiment

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined arbitrarily with each other.

Fig. 1 is a flow chart of a valve hall inspection method based on lidar. Lidar valve hall inspection methods include:

Step 1, set the measurement surface of the fixed laser radar on the inspection robot to be perpendicular to the ground;

Step 2: After receiving the data collection task, the inspection robot drives along the preset track. During the driving process, it detects the target valve hall equipment through the laser radar to obtain the radar data of the target valve hall equipment as reference data, and obtains the robot through the positioning device. position information during detection operation, and report the reference data and position information to the database;

Step 3: After accepting the inspection task of the valve hall, the inspection robot travels along the preset track, obtains the position information and corresponding reference data from the database, and detects the position corresponding to the position information through the laser radar to obtain the radar The data is used as real-time data, and the real-time data is compared with the reference data, and it is judged whether the target valve hall equipment corresponding to the position information is abnormal according to the difference between the two and the preset threshold.

Radar data refers to the distance measured by a single laser beam. Alternatively, the radar data refers to the distances measured by multiple laser beams, and the gap between the two refers to the average or weighted average of the differences between the distances measured by each laser beam in the reference data and the real-time data.

In this method, judging whether the target valve hall equipment corresponding to the position information is abnormal according to the difference between the two and the preset threshold value specifically means: when the difference between the two is greater than the preset threshold value, judging that the target valve hall equipment corresponding to the position information is abnormal , when the difference between the two is less than or equal to the preset threshold, it is judged that the target valve hall equipment corresponding to the location information is not abnormal; or, when the difference between the two is greater than or equal to the preset threshold value, it is judged that the target valve hall equipment corresponding to the location information has Abnormal, when the difference between the two is less than the preset threshold, it is judged that the target valve hall equipment corresponding to this position information is not abnormal.

In this method, the inspection robot has a storage module, and the database is set in the storage module. The positioning device is a GPS positioning device, a pull-wire encoder or an RFID card reader locator.

The valve hall inspection robot based on lidar in the present invention can have the following configurations.

Fig. 2 is a structural diagram of the valve hall inspection robot based on lidar in the first method. This valve hall inspection robot includes: a robot body 1, a track connection device 2 fixedly connected to the robot body, a laser radar 3 fixedly connected to the robot body; the robot body includes a body shell 101, and a central processing unit 102 fixed in the body shell , the positioning device 103 , and the memory 104 , and the positioning device 103 and the memory 104 are all connected to the central processing unit 102 . The central processing unit 102 is connected to the track connection device 2 through a control line, and the central processing unit 102 is connected to the laser radar 3 through a control line.

The track connecting device 2 includes a connecting head for sliding connection with the track and a connecting rod for fixing with the robot body. The measurement surface of the lidar 3 is parallel to the connecting rod. When using the valve hall inspection robot, the measurement surface of the laser radar 3 is kept vertical to the ground.

The central processing unit 102 is used to control the track connection device to travel along the preset track after the inspection robot accepts the data collection task, and is also used to control the laser radar 3 to detect the target valve hall equipment to obtain the radar of the target valve hall equipment during the driving process The data is used as reference data, and the position information of the laser radar during the detection operation is obtained through the positioning device 103, and the reference data and position information are stored in the memory; it is also used to control the track connection device along the Preset track travel, obtain position information and corresponding reference data from the memory 104, detect and obtain radar data as real-time data by laser radar at the position corresponding to the position information, compare this real-time data with the reference data, according to the difference between the two and The preset threshold determines whether the target valve hall equipment corresponding to the location information is abnormal.

Radar data refers to the distance measured by a single laser beam, or radar data refers to the distance measured by multiple laser beams, and the gap between the two refers to the difference between the distances measured by each laser beam in the reference data and real-time data average or weighted average.

In the above implementation, the central processor specifically uses the following method to judge whether the target valve hall equipment corresponding to the location information is abnormal according to the difference between the two and the preset threshold: when the difference between the two is greater than the preset threshold, judge the target valve hall corresponding to the location information When the valve hall equipment is abnormal, and the difference between the two is less than or equal to the preset threshold, it is judged that the target valve hall equipment corresponding to the location information is not abnormal; or, when the difference between the two is greater than or equal to the preset threshold, it is judged that the location information corresponds to the When the target valve hall equipment is abnormal, and the difference between the two is less than the preset threshold, it is judged that the target valve hall equipment corresponding to the position information is not abnormal.

In the above implementation manner, the locating device is a GPS locating device, a wire encoder or an RFID card reader locator.

In the above implementation manner, the track connecting device 2 includes a connecting head for sliding connection with the track and a connecting rod for fixing with the robot body. The measurement surface of the lidar 3 is parallel to the connecting rod. When using the valve hall inspection robot, the measurement surface of the laser radar 3 is kept vertical to the ground.

In the above implementation manner, the robot body further includes an alarm module connected to the central processing unit, and the alarm module includes a sound player and/or a light prompter. When the central processing unit detects that the equipment is abnormal, it sends a control signal to the alarm module, so that the alarm module emits sound and/or light prompts.

The scheme of the present invention can effectively detect whether the valve hall equipment is abnormal, especially whether the equipment is complete, whether the equipment inspection door is closed, whether the position of the equipment changes, whether there are abnormal objects in the valve hall, etc., and effectively improves the efficiency and accuracy of equipment inspection .

In addition, it should be noted that the specific embodiments described in this specification may be different in parts, shapes and names of parts, and the above content described in this specification is only an illustration of the structure of the present invention.

The content described above can be implemented alone or combined in various ways, and these variants are all within the protection scope of the present invention.

As used herein, the terms "comprises", "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion such that an article or device comprising a set of elements includes not only those elements but also other elements not expressly listed. elements, or also elements inherent in such articles or equipment. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the article or device comprising said element.

The above embodiments are only used to illustrate the technical solutions of the present invention rather than limit them, and the present invention is described in detail with reference to preferred embodiments. Those skilled in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and all should be covered by the claims of the present invention.

Claims (8)

1. A valve hall inspection method based on lidar, characterized in that the method comprises: Set the measurement surface of the fixed laser radar on the inspection robot to be perpendicular to the ground; After receiving the data collection task, the inspection robot drives along the preset track. During the driving process, the laser radar is used to detect the target valve hall equipment to obtain the radar data of the target valve hall equipment as reference data, and the positioning device obtains the time when the robot performs detection operations. the location information, and report the reference data and location information to the database; After accepting the inspection task of the valve hall, the inspection robot travels along the preset track, obtains position information and corresponding reference data from the database, and detects the position corresponding to the position information through laser radar to obtain radar data as real-time data, compare the real-time data with the reference data, and judge whether the target valve hall equipment corresponding to the position information is abnormal according to the difference between the two and the preset threshold. 2. A laser radar-based valve hall inspection method according to claim 1, wherein the radar data refers to the distance measured by a single laser beam. 3. A kind of valve hall inspection method based on lidar as claimed in claim 1, is characterized in that, described radar data refers to the distance that a plurality of laser beams measure, and described two difference refers to reference data and real-time The average or weighted average of the differences in the distances measured by the individual laser beams in the data. 4. A lidar-based valve hall inspection method as claimed in claim 1, wherein judging whether the target valve hall equipment corresponding to the position information is abnormal according to the difference between the two and the preset threshold value specifically refers to: two When the difference between the two is greater than the preset threshold, it is judged that the target valve hall equipment corresponding to the location information is abnormal; when the difference between the two is less than or equal to the preset threshold, it is judged that the target valve hall equipment corresponding to the location information is not abnormal; When the difference is greater than or equal to the preset threshold, it is judged that the target valve hall equipment corresponding to the location information is abnormal; when the difference between the two is smaller than the preset threshold, it is judged that the target valve hall equipment corresponding to the location information is not abnormal. 5. A laser radar-based valve hall inspection method according to claim 1, wherein the inspection robot has a storage module, and the database is set in the storage module. 6 . A laser radar-based valve hall inspection method according to claim 1 , wherein the positioning device is a GPS positioning device, a pull wire encoder or an RFID card reader locator. 6 . 7. A valve hall inspection robot based on laser radar, characterized in that it comprises: a robot body, a track connection device fixedly connected to the robot body, a laser radar fixedly connected to the robot body; It includes a body shell, a central processing unit fixed in the body shell, a memory, and a positioning device, the memory and the positioning device are both connected to the central processing unit; the central processing unit is connected to the track connecting device through a control line, The central processing unit is connected to the laser radar through a control line; The central processing unit is used to control the track connection device to travel along the preset track after the inspection robot accepts the data collection task, and is also used to control the laser radar to detect the target valve hall equipment during the driving process to obtain the target valve hall equipment. The radar data of the equipment is used as reference data, and the location information of the lidar during the detection operation is obtained through the positioning device, and the reference data and location information are stored in the memory; it is also used to control the inspection robot after receiving the valve hall inspection task. The track connection device travels along the preset track, obtains position information and corresponding reference data from the memory, detects the position corresponding to the position information through laser radar to obtain radar data as real-time data, and converts the real-time The data is compared with the reference data, and it is judged whether the target valve hall equipment corresponding to the position information is abnormal according to the difference between the two and the preset threshold. 8. A valve hall inspection robot based on laser radar as claimed in claim 7, wherein the radar data refers to the distance measured by a single laser beam, or the radar data refers to a plurality of laser beams For the measured distance, the difference between the two refers to the average or weighted average of the difference between the distances measured by each laser beam in the reference data and the real-time data.