Robot system based on adaptive cruise and remote operation and control method thereof

Abstract

The invention provides a robot system based on self-adaptive cruise and remote operation and a control method thereof, and belongs to the field of robot inspection, the system comprises a six-axis mechanical arm, an intelligent inspection robot, an automatic inspection task module and a remote teleoperation control unit; the intelligent inspection robot carries a six-axis mechanical arm and an automatic inspection task module, the automatic inspection task module comprises a preset inspection task, the remote teleoperation control unit sends a control instruction of an operator to the intelligent inspection robot through wireless communication, and the control instruction comprises inspection path planning and operation tasks. The intelligent inspection robot performs an inspection task according to a preset inspection task of the automatic inspection task module or a control instruction sent by the remote operation control unit, and the six-axis mechanical arm is used for executing a target operation task. Through integration of advanced sensor technology, image processing technology, artificial intelligence algorithm and wireless communication technology, efficient, accurate and safe inspection of a complex environment is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of robot inspection, and in particular to a robot system based on adaptive cruising and remote operation and a control method thereof. Background Art

[0002] With the continuous improvement of industrial automation and intelligence, traditional inspection methods can no longer meet the requirements of modern industry for inspection efficiency, accuracy and safety. Inspection work is particularly important in high-risk or difficult-to-reach environments such as power systems, chemical plants, and oil pipelines, but it is also full of challenges. Manual inspection is not only time-consuming and labor-intensive, but also has certain safety hazards, especially in bad weather or complex environments, where the safety of inspectors is difficult to guarantee. In addition, the accuracy and consistency of manual inspections are difficult to guarantee and are easily affected by human factors.

[0003] The existing robotic arm systems that combine intelligent self-patrol and remote operation still have some shortcomings. For example, some systems are not adaptable to the environment during autonomous inspections and cannot effectively cope with complex and changing on-site conditions; in remote operation mode, the operator's control accuracy and response speed of the robotic arm need to be improved; the system also has certain limitations in data management and information sharing.

[0004] The prior art document (CN118137355A) discloses an intelligent autonomous patrol system and method for a substation based on patrol paths, including a robot platform, an artificial intelligence module, a sensor, a communication module and a security module; the robot platform includes an environmental information acquisition module, a path planning and decision-making module, a motion control and execution module, a sensor data acquisition and processing module, a data transmission and remote control module, a fault diagnosis and exception handling module, and a task completion and return module; this technical solution reduces the number of people entering potential dangerous areas, reduces the risk of industrial accidents, and avoids missed detection and false detection; the security module ensures the security and privacy of data and prevents unauthorized access and data leakage. Its shortcomings include: (1) Insufficient environmental adaptability: Although the system uses a variety of sensors and advanced visual processing algorithms, its adaptability in certain extreme environments (such as low light, high noise or bad weather) still needs to be improved. In particular, in complex and changeable industrial environments, the environmental perception ability and navigation accuracy of the robot platform may be affected. (2) Low remote control accuracy and response speed: In the remote operation mode, the operator's control accuracy and response speed of the robot arm need to be improved to meet more sophisticated and fast operation requirements. (3) Limitations of data management and information sharing: The system has certain limitations in data management and information sharing. It cannot efficiently synchronize inspection data with the remote control center or other related systems in real time, which affects the coordination and decision-making efficiency of the overall system. Summary of the invention

[0005] The present invention proposes a robot system based on adaptive cruising and remote operation and a control method thereof, which further improves the environmental adaptability, operation accuracy and data management capability of the system to meet the higher requirements of modern industry for patrol inspection work.

[0006] A first aspect of the present invention provides a robot system based on adaptive cruising and remote operation, comprising:

[0007] Six-axis robotic arm, intelligent inspection robot, automatic inspection task module and remote teleoperation control unit;

[0008] The intelligent inspection robot is equipped with a six-axis robotic arm and an automatic inspection task module. The automatic inspection task module contains preset inspection tasks. The remote operation control unit sends the operator's control instructions to the intelligent inspection robot through wireless communication. The control instructions include inspection path planning and operation tasks. The intelligent inspection robot performs inspection tasks according to the preset inspection tasks of the automatic inspection task module or the control instructions sent by the remote operation control unit. The six-axis robotic arm is used to execute target operation tasks in the inspection tasks of the intelligent inspection robot.

[0009] Optionally, the main body of the intelligent inspection robot includes a four-wheel steering chassis, an intelligent lifting platform and a self-stabilizing task platform, the self-stabilizing task platform is equipped with sensors and camera equipment, the self-stabilizing task platform is mounted on the intelligent lifting platform, and the intelligent lifting platform is arranged on the four-wheel steering chassis.

[0010] Optionally, the four-wheel steering chassis adopts a modular design, and the suspension system of the four-wheel steering chassis includes springs, shock absorbers and guide mechanisms, the springs are used to bear the weight of the vehicle body and provide elastic support, the shock absorbers are used to absorb and buffer vibration energy during driving, and the guide mechanisms are used to control the movement trajectory of the wheels;

[0011] The intelligent lifting platform adopts a scissor-type lifting platform, and the lifting movement of the platform is achieved by motor drive.

[0012] Optionally, the self-stabilizing mission gimbal is designed with three mutually perpendicular rotation axes, namely the pitch axis, the roll axis and the yaw axis, for attitude adjustment; the self-stabilizing mission gimbal is installed with an infrared camera, an ultraviolet camera and an optical camera, and the direction and angle of the gimbal are adjusted by controlling the rotation of the three rotation axes.

[0013] Optionally, the automatic inspection task module includes a task management submodule, a positioning and navigation submodule, and an environmental information collection and anomaly detection submodule. The task management submodule is used to centrally manage all inspection tasks. The positioning and navigation submodule is used to obtain the location information of the intelligent inspection robot and guide the intelligent inspection robot to perform inspections according to a preset path planning algorithm. The environmental information collection and anomaly detection submodule is used to automatically collect visual environment information of the target point and detect abnormal conditions of the equipment.

[0014] Optionally, the remote teleoperation control unit includes a map operation subunit, a driving control subunit and a data management subunit;

[0015] The map operation subunit allows users to create and edit maps and plan task execution paths and points;

[0016] The driving control subunit includes remote teleoperation and autonomous inspection functions to monitor the vehicle driving status in real time;

[0017] The data management subunit is used for system information settings, inspection information settings, and management of inspection task files, providing data support and information management for users.

[0018] The second aspect of the present invention provides a robot control method based on adaptive cruise control and remote operation, based on the robot system based on adaptive cruise control and remote operation described in the first aspect of the present invention, comprising:

[0019] The intelligent inspection robot performs inspection tasks according to the intelligent fusion inspection operation strategy. In different intelligent fusion inspection operation strategies, the intelligent inspection robot performs inspection tasks according to the preset inspection tasks of the automatic inspection task module or the control instructions sent by the remote teleoperation control unit, including automatically collecting environmental information and detecting abnormal conditions of equipment, and taking corresponding measures according to the detection conditions; the six-axis robotic arm mounted on the intelligent inspection robot performs corresponding operation tasks based on its inspection tasks.

[0020] Optionally, the intelligent fusion patrol operation strategy includes an autonomous patrol operation mode, a semi-automatic-specialized patrol operation mode, a multi-patrol point automatic + semi-automatic fusion operation mode and a specific remote operation mode;

[0021] In the autonomous patrol operation mode, the intelligent patrol robot automatically completes the patrol task according to the preset procedures and rules. In the case of no one on duty, the robot can independently complete various inspection tasks;

[0022] In the semi-automatic-specialized patrol operation mode, when the intelligent patrol robot automatically goes to the patrol point for patrol, if an abnormal situation occurs in a certain area, the system can respond in time, automatically plan the patrol route, control the intelligent patrol robot to reach the designated location and switch the robot to the remote operation mode to enter the special patrol operation;

[0023] In the multi-patrol point automatic + semi-automatic fusion operation mode, the intelligent patrol robot plans the best patrol route according to patrol requirements and on-site environment;

[0024] In the specific remote operation mode, the intelligent inspection robot can switch working modes according to specific inspection needs or to respond to emergency situations. During routine autonomous inspections, the intelligent inspection robot performs tasks according to preset procedures and rules. When encountering special situations and emergencies, the intelligent inspection robot can switch to remote operation mode, enter special patrol operations, and accept remote control from background managers.

[0025] Optionally, the special patrol operation specifically includes:

[0026] During special patrol operations, backstage managers remotely control the robot through teleoperation mode to patrol the equipment, allowing managers to obtain real-time data and information on site at the first time, and make corresponding judgments and decisions; at the same time, the robot can also report abnormal data detected in real time and send alarm information to the background in time, so that operators can respond and take measures to deal with abnormal events.

[0027] Optionally, the collecting of environmental information and detecting abnormal conditions of equipment specifically include:

[0028] According to the current positioning information, the posture recorded during teaching in the task management submodule is retrieved and the robot's orientation and the angle of the self-stabilizing task gimbal are automatically controlled;

[0029] Use the six-axis robot arm to open the cabinet door and trigger the button according to the preset actions;

[0030] Record and archive the voiceprint, light, and gas sensor data information in sequence;

[0031] Voiceprint and gas sensors detect abnormalities based on thresholds, and image detection algorithms are used to detect whether there are abnormalities in the equipment and whether personnel have violated regulations.

[0032] Beneficial effects of the invention: The invention realizes the automation, intelligence and efficiency of power system equipment inspection by combining advanced robot technology, intelligent lifting platform, self-stabilizing task PTZ, task management submodule, positioning and navigation submodule, visual information collection and abnormality detection submodule and other technologies, significantly improves the efficiency and quality of inspection work, reduces operating costs, and enhances the safety, adaptability and data management capabilities of inspection work. The specific advantages are as follows:

[0033] (1) Improve inspection efficiency: Through the combined use of the intelligent lifting platform and the self-stabilizing task pan / tilt, the robot can flexibly adapt to various inspection environments, achieve fast and efficient inspection tasks, and significantly reduce manpower requirements and inspection time;

[0034] (2) Improve inspection quality: The various sensors and high-precision camera equipment can conduct all-round and multi-angle inspections of power system equipment, ensuring the accuracy and reliability of inspection data, thereby improving inspection quality;

[0035] (3) Enhanced safety: The combination of autonomous patrol operation mode and specific teleoperation mode enables the robot to complete patrol tasks safely and accurately even when unattended. At the same time, it can quickly switch to teleoperation mode in an emergency to ensure the safety of personnel and equipment.

[0036] (4) Reduce operating costs: Through intelligent path planning and task management, the robot can optimize the inspection route and reduce unnecessary movement, thereby reducing energy consumption and maintenance costs and improving the economic benefits of inspection work;

[0037] (5) Improve data management capabilities: The data management subunit can effectively manage inspection information, provide users with comprehensive data support and information management, facilitate analysis and decision-making of inspection data, and improve the scientificity and systematicness of inspection work;

[0038] (6) Enhanced adaptability: The multi-patrol point automatic + semi-automatic fusion operation mode enables the robot to intelligently plan the inspection route according to the on-site environment and inspection needs, adapt to various complex and changeable inspection scenarios, and improve the flexibility and adaptability of the inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a design block diagram of an intelligent inspection robot based on an adaptive cruise and remotely operated robot system and a control method thereof of the present invention;

[0040] Figure 2 It is a design block diagram of an automatic inspection task module of a robot system based on adaptive cruise and remote operation and a control method thereof of the present invention;

[0041] Figure 3It is a design block diagram of a remote teleoperation control unit of a robot system based on adaptive cruise and remote operation and a control method thereof of the present invention;

[0042] Figure 4 It is a system architecture diagram of a robot system based on adaptive cruise control and remote operation and a control method thereof of the present invention;

[0043] Figure 5 It is a design diagram of a four-wheel steering chassis of a robot system based on adaptive cruise control and remote operation and a control method thereof of the present invention;

[0044] Figure 6 It is a design drawing of an intelligent lifting platform based on a robot system of adaptive cruising and remote operation and a control method thereof of the present invention;

[0045] Figure 7 It is a design diagram of a self-stabilizing task gimbal based on a robot system of adaptive cruise and remote operation and a control method thereof of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the spirit of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0047] In embodiment 1, the present invention provides a robot system based on adaptive cruising and remote operation, including a six-axis robotic arm, an intelligent inspection robot, an automatic inspection task module and a remote teleoperation control unit;

[0048] The intelligent inspection robot serves as a core platform and is equipped with a six-axis robotic arm for performing specific operation tasks. The six-axis robotic arm has high flexibility and precision and can perform a variety of complex operation tasks. The automatic inspection task module is used to control the intelligent inspection robot to perform inspection tasks. The remote operation control unit is connected to the intelligent inspection robot via wireless communication, allowing staff to remotely control the operation of the intelligent inspection robot.

[0049] In a further preferred but non-limiting embodiment, the main body of the intelligent inspection robot includes a four-wheel steering chassis, an intelligent lifting platform and a self-stabilizing task platform. The self-stabilizing task platform is mounted on the intelligent lifting platform, which is arranged on the four-wheel steering chassis. Sensors and camera equipment are installed on the self-stabilizing task platform. The self-stabilizing task platform is used to ensure the stability of the equipment, the intelligent lifting platform is responsible for height adjustment, and the four-wheel steering chassis is used to provide a mobile foundation.

[0050] In a further preferred but non-limiting embodiment, the four-wheel steering chassis has good terrain adaptability and can travel flexibly under different terrains and road conditions while having higher driving speed and stability, and is suitable for fast movement and task execution in complex environments; the four-wheel steering chassis adopts a modular design to facilitate maintenance and replacement of parts; the suspension system of the four-wheel steering chassis includes springs, shock absorbers and guide mechanisms, the springs are used to bear the weight of the vehicle body and provide elastic support, the shock absorbers are used to absorb and buffer vibration energy during driving, and the guide mechanism is used to control the motion trajectory of the wheels to determine the stiffness and damping parameters of the suspension system, thereby optimizing the driving performance of the robot.

[0051] In a further preferred but non-limiting embodiment, the intelligent lifting platform is used to carry various sensors and equipment to achieve high-precision detection and identification; the intelligent lifting platform adopts a scissors-type lifting platform, which has the advantages of stability, reliability, and strong carrying capacity. It is driven by a motor to achieve the lifting movement of the platform and adjust the height to meet the needs of different inspection tasks.

[0052] In a further preferred but non-limiting embodiment, the self-stabilizing task gimbal is designed with three mutually perpendicular rotation axes, namely the pitch axis, the roll axis and the yaw axis, to achieve all-round posture adjustment to meet the needs of various inspection tasks; the self-stabilizing task gimbal is equipped with an infrared camera, an ultraviolet camera and an optical camera, and by controlling the rotation of the three rotation axes, the direction and angle of the gimbal can be precisely adjusted to ensure the stability and accuracy of the sensor and camera equipment.

[0053] In a further preferred but non-limiting embodiment, the automatic inspection task module includes a task management submodule, a positioning and navigation submodule, and an environmental information collection and anomaly detection submodule. The task management submodule is used to centrally manage all inspection tasks. The positioning and navigation submodule is used to obtain the position information of the intelligent inspection robot and guide the intelligent inspection robot to perform inspections according to a preset path planning algorithm. The environmental information collection and anomaly detection submodule is used to automatically collect visual environment information of the target point and detect abnormal conditions of the equipment.

[0054] In a further preferred but non-limiting embodiment, the task management submodule mainly manages all inspection tasks in a centralized manner, allowing users to add, edit and delete inspection tasks, and set corresponding execution plans, while also supporting custom task templates to facilitate users to quickly create similar tasks;

[0055] In a further preferred but non-limiting embodiment, the positioning and navigation submodule has precise positioning and navigation functions, and can obtain the location information of the device in real time through 3D laser SLAM technology, and guide the unmanned vehicle to perform inspections according to a preset path planning algorithm, and at the same time, combine map data to intuitively display the location of the device, the planned inspection route and the historical walking trajectory;

[0056] In a further preferred but non-limiting embodiment, the visual information acquisition and anomaly detection submodule can automatically acquire visual environment information of the target point and perform real-time analysis and processing, and automatically detect abnormal conditions of the equipment through preset algorithms and rules. Once an abnormality is detected, the submodule will immediately issue an alarm to notify relevant personnel to handle it, and record the abnormal information for subsequent analysis. Through information acquisition and processing analysis, it helps users to timely understand the operating status and environment of the power system equipment.

[0057] In a further preferred but non-limiting embodiment, the remote teleoperation control unit includes a map operation subunit, a driving control subunit and a data management subunit, and the remote teleoperation control unit integrates three subunits to achieve efficient and accurate remote patrol operations; wherein,

[0058] The map operation subunit allows users to create and edit maps and plan task execution paths and points;

[0059] The driving control subunit includes remote teleoperation and autonomous inspection functions, which are used to monitor the vehicle driving status in real time to ensure the safety and accuracy of task execution;

[0060] The data management subunit is responsible for system information settings, inspection information settings, and management of inspection task files, providing users with comprehensive data support and information management.

[0061] In Embodiment 2, the present invention provides a robot control method based on adaptive cruise control and remote operation, based on the robot system based on adaptive cruise control and remote operation described in Embodiment 1, comprising:

[0062] The intelligent inspection robot performs inspection tasks according to the intelligent fusion inspection operation strategy. In different intelligent fusion inspection operation strategies, the intelligent inspection robot performs inspection tasks according to the preset inspection tasks of the automatic inspection task module or the control instructions sent by the remote teleoperation control unit, including automatically collecting environmental information and detecting abnormal conditions of the equipment, and taking corresponding measures according to the detection conditions; the six-axis robotic arm mounted on the intelligent inspection robot performs corresponding operation tasks based on its inspection tasks. In a further preferred but non-restrictive embodiment, the intelligent fusion inspection operation strategy includes an autonomous inspection operation mode, a semi-automatic-specialized inspection operation mode, a multi-inspection point automatic + semi-automatic fusion operation mode, and a specific teleoperation mode; by combining the functions of the automatic inspection task module and the remote teleoperation control unit, a variety of intelligent fusion inspection operation strategies are formed.

[0063] Specifically, the intelligent fusion patrol operation strategy achieves efficient operation and precise control in complex environments by combining intelligent self-patrol and remote operation technologies.

[0064] In the autonomous inspection operation mode, the intelligent inspection robot can automatically complete the inspection tasks according to the preset procedures and rules. In the case of unattended operation, the robot can independently complete various inspection tasks and ensure that all tasks are handled in a timely and accurate manner, greatly improving work efficiency.

[0065] In the semi-automatic-specialized patrol operation mode, when the robot automatically goes to the patrol point for inspection, when an abnormal situation or emergency occurs in a certain area, the system can respond quickly, automatically plan the patrol route, quickly reach the designated location and switch the robot to the remote operation mode to enter the special patrol operation, ensuring the timely discovery and handling of abnormal events, effectively reducing losses and preventing the situation from further escalating;

[0066] In the multi-patrol point automatic + semi-automatic fusion operation mode, the intelligent inspection robot can intelligently plan the best inspection path according to the inspection needs and on-site environment to avoid repeated and unnecessary movements. Through intelligent path planning, it not only improves work efficiency, but also minimizes resource waste. It can complete the tasks of multiple inspection points more efficiently, making the inspection work more accurate and efficient.

[0067] In a specific remote operation mode, the intelligent inspection robot can quickly switch working modes according to specific inspection needs or to respond to emergencies. During routine autonomous inspections, the robot performs tasks according to preset procedures and rules. When encountering special circumstances and emergencies, the robot can quickly switch to remote operation mode, enter special inspection operations, and accept remote control from back-end managers.

[0068] In a further preferred but non-limiting embodiment, the special training operation includes:

[0069] In the special patrol operation of the present invention, the backstage management personnel remotely controls the robot through the teleoperation mode to conduct an all-round and detailed patrol of the equipment, so that the management personnel can obtain the real-time data and information of the scene at the first time, so as to make accurate judgments and decisions; at the same time, the robot can also report the monitored abnormal data in real time, and send alarm information to the backstage in time, so that the operator can respond quickly and take effective measures to deal with abnormal events, thereby improving the efficiency and accuracy of the special patrol operation and enhancing the objectivity and fairness of the patrol process.

[0070] Specifically, in the remote operation mode of the present invention, the backend management personnel can control the robot to conduct inspections in a more meticulous and professional manner, thereby meeting various inspection needs and improving the efficiency and effectiveness of the inspection work. At the same time, when dealing with complex and changing environments, the efficiency and accuracy of the inspection work can be significantly improved, the response speed and processing capabilities to abnormal events can be enhanced, and costs and resource waste can be reduced.

[0071] In a further preferred but non-limiting embodiment, in the method, collecting environmental information and detecting abnormal conditions of equipment specifically include:

[0072] Posture adjustment: retrieve the posture recorded during teaching in the task management system according to the current positioning information and automatically control the robot's orientation and the vehicle-mounted gimbal angle;

[0073] Execute actions: Use the six-axis robot arm to open the cabinet door and trigger the button according to the preset actions;

[0074] Record data: record voiceprint, light, and gas sensor data information in sequence and archive them;

[0075] Abnormality detection: Voiceprint and gas sensors detect abnormalities based on thresholds, and visual environment information uses image detection algorithms to detect whether there are abnormalities in the equipment and whether personnel have violated regulations.

[0076] Example 3. In this example, the robot system based on adaptive cruising and remote operation of the present application is applied to a large industrial plant. Multiple intelligent inspection robots are deployed in the plant. Each robot is equipped with advanced sensors and camera equipment, which can monitor the equipment and environment in the plant in real time.

[0077] Intelligent inspection robots conduct regular inspections within the factory through autonomous inspection mode. These robots are equipped with a variety of sensors, including temperature sensors, humidity sensors, gas detectors, etc., which can monitor environmental parameters within the factory in real time. At the same time, high-definition cameras and infrared cameras can visually monitor the operating status of the equipment to ensure the normal operation and safety of the equipment.

[0078] During the autonomous inspection process, the robot uses the built-in navigation system and 3D laser SLAM technology to build a real-time map of the factory area and conduct efficient inspections based on the preset path planning algorithm. When the robot detects an abnormal situation, such as abnormal temperature rise or gas leakage, the system will immediately start the abnormal detection submodule, automatically record the abnormal data, and send the alarm information to the background management center through the wireless communication module.

[0079] Through the remote operation mode, the staff of the back-end management center can receive data and alarm information from the robot in real time. When necessary, the staff can remotely control the robot to conduct detailed inspections of specific areas, and even perform remote intervention operations, such as shutting down dangerous equipment or adjusting operating parameters. This mode not only improves inspection efficiency, but also ensures a quick response in emergency situations, effectively preventing accidents.

[0080] In addition, the system also supports multi-patrol point automatic + semi-automatic fusion operation mode. In this mode, the robot can intelligently plan the inspection path according to different patrol points and task requirements in the factory area to avoid repeated and unnecessary movements. For example, during the inspection process, the robot will give priority to those devices with high abnormal frequency shown in historical data, and dynamically adjust the inspection order according to real-time data to ensure timely monitoring of key equipment.

[0081] In a specific teleoperation mode, the robot can also quickly switch to a specific area for detailed inspection according to the instructions of the background management center. For example, after receiving a report of equipment failure, the robot can immediately go to the fault point, conduct a detailed inspection of the faulty equipment through high-definition cameras and sensors, and transmit the inspection results back to the management center in real time so that the staff can make accurate judgments and decisions.

[0082] The robot system based on adaptive cruise and remote operation in the embodiment not only improves the inspection efficiency and safety of large industrial plants, but also greatly enhances the ability to handle abnormal events through real-time data monitoring and remote intervention functions, ensuring the stable operation of plant equipment and the safety of employees.

[0083] In this embodiment, the robot system based on adaptive cruise and remote operation of the present application is applied to the inspection of a power transmission line. Since power transmission lines often span a wide geographical area, including complex terrains such as mountains, deserts and cities, traditional inspection methods are not only time-consuming and labor-intensive, but also have certain safety risks. By deploying intelligent inspection robots, these problems can be effectively solved.

[0084] The intelligent inspection robot is designed to adapt to various complex environments. It is equipped with a high-precision GPS positioning system, a multi-axis stabilized pan-tilt camera, and a variety of sensors such as infrared thermal imagers, ultrasonic detectors, and laser rangefinders. These devices enable the robot to conduct precise inspections of power transmission lines in severe weather and complex terrain conditions.

[0085] In autonomous inspection mode, the robot automatically drives along the predetermined inspection route and monitors the line status in real time. When the robot detects an abnormality in the line, such as broken insulators, loose wires, or hanging foreign objects, the system automatically records the abnormal data and sends the alarm information to the background management center through the wireless communication module. At the same time, the robot can also dynamically adjust the inspection route based on real-time data, giving priority to inspecting areas that may have hidden dangers.

[0086] In teleoperation mode, the staff of the back-end management center can remotely control the robot to conduct detailed inspections of specific line sections. For example, after receiving a line fault report, the staff can immediately operate the robot to the fault point, use high-definition cameras and sensors to conduct a detailed analysis of the fault, and transmit the inspection results back to the management center in real time. In this way, the staff can quickly make judgments and take corresponding maintenance measures, greatly shortening the fault handling time and improving the stability and reliability of the power system.

[0087] In addition, the system also supports multi-patrol point automatic + semi-automatic fusion operation mode. In this mode, the robot can intelligently plan the best patrol route according to the patrol requirements of the line and the on-site environment to avoid repeated and unnecessary movements. For example, during the patrol process, the robot will give priority to those line sections where historical data shows a high frequency of failures, and dynamically adjust the patrol order according to real-time data to ensure timely monitoring of key line sections.

[0088] The robot system based on adaptive cruise and remote operation in this embodiment not only improves the efficiency and safety of power transmission line inspection, but also greatly enhances the ability to handle abnormal events through real-time data monitoring and remote intervention functions, thereby ensuring the stable operation and power supply safety of the power system.

[0089] Therefore, the robot system based on adaptive cruising and remote operation and the control method thereof of the present invention realize the automation, intelligence and efficiency of the inspection of power system equipment, significantly improve the efficiency and quality of the inspection work, reduce the operating costs, and enhance the safety, adaptability and data management capabilities of the inspection work.

[0090] The robot system based on adaptive cruise control and remote operation integrates advanced sensor technology, image processing technology, artificial intelligence algorithm and wireless communication technology to achieve efficient, accurate and safe inspection of complex environments. Compared with traditional inspection methods, this system has the following significant advantages:

[0091] (1) Improve inspection efficiency: Through the intelligent self-inspection function, the robotic arm system can complete inspection tasks autonomously without human intervention, greatly reducing the time and labor costs required for inspection.

[0092] (2) Improve inspection accuracy: The system is equipped with a variety of sensors and cameras that can collect environmental and equipment status information in real time, and accurately identify abnormal conditions of equipment through advanced image processing and data analysis technology, thereby improving the accuracy and reliability of inspections.

[0093] (3) Ensure inspection safety: In dangerous or difficult-to-reach environments, the robotic arm system can replace manual inspections, effectively avoiding safety risks to personnel.

[0094] (4) Remote monitoring and operation: The remote operation function allows managers to remotely control the robotic arm system at the control center, obtain field data and image information in real time, and quickly respond to and handle abnormal situations.

[0095] The present disclosure may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A robot system based on adaptive cruise control and remote operation, characterized in that: include: A six-axis robotic arm, an intelligent inspection robot, an automatic inspection task module and a remote operation control unit; the intelligent inspection robot is equipped with a six-axis robotic arm and an automatic inspection task module, the automatic inspection task module contains preset inspection tasks, the remote operation control unit sends the operator's control instructions to the intelligent inspection robot via wireless communication, and its control instructions include inspection path planning and operation tasks. The intelligent inspection robot performs inspection tasks according to the preset inspection tasks of the automatic inspection task module or the control instructions sent by the remote operation control unit, and the six-axis robotic arm is used to execute target operation tasks in the inspection tasks of the intelligent inspection robot.

2. The robot system based on adaptive cruise and remote operation according to claim 1, characterized in that: The main body of the intelligent inspection robot includes a four-wheel steering chassis, an intelligent lifting platform and a self-stabilizing task platform. The self-stabilizing task platform is equipped with sensors and camera equipment. The self-stabilizing task platform is mounted on the intelligent lifting platform, and the intelligent lifting platform is arranged on the four-wheel steering chassis.

3. The robot system based on adaptive cruise and remote operation according to claim 2, characterized in that: The four-wheel steering chassis adopts a modular design. The suspension system of the four-wheel steering chassis includes springs, shock absorbers and guide mechanisms. The springs are used to bear the weight of the vehicle body and provide elastic support. The shock absorbers are used to absorb and buffer vibration energy during driving. The guide mechanisms are used to control the movement trajectory of the wheels. The intelligent lifting platform adopts a scissor-type lifting platform, and the lifting movement of the platform is achieved by motor drive.

4. The robot system based on adaptive cruise and remote operation according to claim 2, characterized in that: The self-stabilizing mission gimbal is designed with three mutually perpendicular rotation axes, namely the pitch axis, the roll axis and the yaw axis, for attitude adjustment; an infrared camera, an ultraviolet camera and an optical camera are installed on the self-stabilizing mission gimbal, and the direction and angle of the gimbal are adjusted by controlling the rotation of the three rotation axes.

5. The robot system based on adaptive cruise and remote operation according to claim 1, characterized in that: The automatic inspection task module includes a task management submodule, a positioning and navigation submodule, and an environmental information collection and anomaly detection submodule. The task management submodule is used to centrally manage all inspection tasks. The positioning and navigation submodule is used to obtain the location information of the intelligent inspection robot and guide the intelligent inspection robot to perform inspections according to a preset path planning algorithm. The environmental information collection and anomaly detection submodule is used to automatically collect visual environment information of the target point and detect abnormal conditions of the equipment.

6. The robot system based on adaptive cruise and remote operation according to claim 1, characterized in that: The remote teleoperation control unit includes a map operation subunit, a driving control subunit and a data management subunit; The map operation subunit allows users to create and edit maps and plan task execution paths and points; The driving control subunit includes remote teleoperation and autonomous inspection functions to monitor the vehicle driving status in real time; The data management subunit is used for system information settings, inspection information settings, and management of inspection task files, providing data support and information management for users.

7. A robot control method based on adaptive cruise control and remote operation, based on a robot system based on adaptive cruise control and remote operation according to any one of claims 1 to 6, characterized in that: include: The intelligent inspection robot performs inspection tasks according to the intelligent fusion inspection operation strategy. In different intelligent fusion inspection operation strategies, the intelligent inspection robot performs inspection tasks according to the preset inspection tasks of the automatic inspection task module or the control instructions sent by the remote teleoperation control unit, including automatically collecting environmental information and detecting abnormal conditions of equipment, and taking corresponding measures according to the detection conditions; the six-axis robotic arm mounted on the intelligent inspection robot performs corresponding operation tasks based on its inspection tasks.

8. The robot control method based on adaptive cruise control and remote operation according to claim 7, characterized in that: The intelligent fusion patrol operation strategy includes an autonomous patrol operation mode, a semi-automatic-specialized patrol operation mode, a multi-patrol point automatic + semi-automatic fusion operation mode and a specific remote operation mode; In the autonomous patrol operation mode, the intelligent patrol robot automatically completes the patrol task according to the preset procedures and rules. In the case of no one on duty, the robot can independently complete various inspection tasks; In the semi-automatic-specialized patrol operation mode, when the intelligent patrol robot automatically goes to the patrol point for patrol, if an abnormal situation occurs in a certain area, the system can respond in time, automatically plan the patrol route, control the intelligent patrol robot to reach the designated location and switch the robot to the remote operation mode to enter the special patrol operation; In the multi-patrol point automatic + semi-automatic fusion operation mode, the intelligent patrol robot plans the best patrol route according to patrol requirements and on-site environment; In the specific remote operation mode, the intelligent inspection robot can switch working modes according to specific inspection needs or to respond to emergency situations. During routine autonomous inspections, the intelligent inspection robot performs tasks according to preset procedures and rules. When encountering special situations and emergencies, the intelligent inspection robot can switch to remote operation mode, enter special patrol operations, and accept remote control from background managers.

9. The robot control method based on adaptive cruise control and remote operation according to claim 8, characterized in that: The special patrol operations specifically include: During special patrol operations, backstage managers remotely control the robot through teleoperation mode to patrol the equipment, allowing managers to obtain real-time data and information on site at the first time, and make corresponding judgments and decisions; at the same time, the robot can also report abnormal data detected in real time and send alarm information to the background in time, so that operators can respond and take measures to deal with abnormal events.

10. The robot control method based on adaptive cruise and remote operation according to claim 7, characterized in that: The collection of environmental information and the abnormal conditions of the detection equipment specifically include: According to the current positioning information, the posture recorded during teaching in the task management submodule is retrieved and the robot's orientation and the angle of the self-stabilizing task gimbal are automatically controlled; Use the six-axis robot arm to open the cabinet door and trigger the button according to the preset actions; Record and archive the voiceprint, light, and gas sensor data information in sequence; Voiceprint and gas sensors detect abnormalities based on thresholds, and image detection algorithms are used to detect whether there are abnormalities in the equipment and whether personnel have violated regulations.

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