Inspection robot and control device and inspection method thereof
A technology of an inspection robot and a control device, which is applied in the field of robots and can solve problems such as the inability of the inspection robot to function.
Active Publication Date: 2021-07-02
CHINA JILIANG UNIV
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Problems solved by technology
[0005]
However, in view of the complexity of the working environment and working conditions of the inspection robot, the function of the inspection robot to use the communication network for positioning sometimes does not work
Method used
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[0073] The invention will be described below with reference to several examples. It should be understood that these embodiments are described to enable those skilled in the art to better understand and implement the present invention, without expressing or implying any limitation on the scope of the present invention.
[0074] figure 1 According to one embodiment of the present invention, the inspection robot detects faulty detected objects located on towering objects (including electric towers, tall poles, tall buildings, mountains, etc.) in a one-way manner under low communication conditions. Schematic diagram of how location targeting works. As shown in the figure, the inspection robot 101 inspects a towering object along a predetermined inspection path, and multiple detected objects are distributed on the towering object. The inspection robot 101 itself has the functions of detection, movement, search and distance measurement. As shown in the figure, the inspection robo...
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The invention relates to an inspection robot, which is configured to inspect a detected object on a towering object, and comprises a moving device, a detecting device, an exploring device, a distance measuring device, a fault judging unit, a communication condition detecting unit and a control device of a fault position calibrating unit. when the inspection robot is in the low communication state and the detected object has a fault, the inspection robot controls the exploring device to find at least three feature points within a certain distance range of the inspection robot at the position of the detected object, and controls the distance measuring device to measure and record the distance of the inspection robot relative to each feature point. Under the condition that positioning cannot be achieved through a communication network, the inspection robot can still find the feature points with the known or known positions in an exploring mode to determine the position of a fault object, so that the fault position of the detected target is calculated and recorded accordingly, repeated inspection is avoided, and the inspection efficiency is improved.
Description
technical field [0001] The invention relates to the field of robots, in particular to an inspection robot, a control device for the inspection robot and an inspection method. Background technique [0002] Compared with manual inspection, the use of inspection robots for safety monitoring has obvious advantages. Inspection robots not only have high inspection efficiency, but also can adapt to complex and high-risk environments. At present, they have been widely used in electric power, transportation, chemical industry, security, etc. Many fields, such as substations, power lines, railway lines, underground pipe networks, etc. According to different inspection environments and inspection requirements, inspection robots are very different. There is a type of inspection robot that is configured to inspect an area, and there are multiple inspected objects distributed in the inspection area. [0003] The positioning ability of the inspection robot is the basic requirement for the...
Claims
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IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0242G05D1/0246G05D1/0257G05D1/0278G05D1/0276
Inventor 金尚忠魏富强金怀洲徐睿程亮
Owner CHINA JILIANG UNIV