Outdoor Inspection Robot Control Method and Device Based on Thermal Imager Light Protection

Abstract

The present invention discloses a control method and device for an outdoor inspection robot based on light protection of a thermal imager. The method includes the steps of: detecting the temperature of the infrared thermal imager and the environmental temperature where the inspection robot is located; obtaining the monitoring screen of the environment where the outdoor inspection robot is currently located, and combining the current time, season, environmental temperature, size and shape of the light-emitting body in the monitoring screen to determine whether the sun is detected in the monitoring screen; determining whether the infrared thermal imager carried by the outdoor inspection robot has a light-shielding function; for different judgment results, combining the comparison results of the temperature of the infrared thermal imager, the environmental temperature and the high-temperature threshold, and adjusting the working modes of the infrared thermal imager and the outdoor inspection robot. The present invention can flexibly adjust the inspection strategy of the outdoor inspection robot, protect the infrared thermal imager and other components of the robot from damage caused by direct sunlight, is beneficial to extending the service life of the outdoor inspection robot, and reducing the operation cost.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and particularly to a control method, device and inspection robot for an outdoor inspection robot based on thermal imager light protection. Background Art

[0002] Two common problems affecting the service life of outdoor inspection robots are the burning of the camera's photosensitive element caused by direct sunlight outdoors and the aging of various components due to inspection in a high-temperature environment in summer.

[0003] A common problem with outdoor inspection robots is that they do not control the camera or themselves to avoid strong sunlight or a high-temperature environment in summer according to environmental conditions, such as the presence of the sun and the temperature of the robot's working environment, resulting in a reduced lifespan of the robot and increased operating costs. Although some manufacturers' infrared thermal imager cameras come with a light-shielding function, the robots equipped with the cameras do not have the ability to avoid high temperatures, resulting in the camera continuing to be invaded by high temperatures, thereby reducing its lifespan. Infrared cameras without a light-shielding function are more likely to be damaged in this case. Summary of the Invention

[0004] Technical Objective: To solve the above technical problems, the present invention proposes a control method, device and inspection robot for an outdoor inspection robot based on thermal imager light protection, which can flexibly adjust the inspection strategy of the outdoor inspection robot to protect the infrared thermal imager and other components of the robot from damage caused by direct sunlight.

[0005] Technical Solution: To achieve the above technical objective, the present invention adopts the following technical solution:

[0006] A control method for an outdoor inspection robot based on thermal imager light protection, wherein the inspection robot is equipped with an infrared thermal imager, and rest points with sunshades are set at preset intervals along the inspection track. The inspection method is characterized by including the following steps:

[0007] (1) Detect the temperature of the infrared thermal imager and the environmental temperature of the inspection robot.

[0008] (2) Obtain the monitoring screen of the current environment where the outdoor inspection robot is located, and combine the current time, season, environmental temperature, size and shape of the light-emitting body in the monitoring screen to determine whether the sun is detected in the monitoring screen.

[0009] (3) Determine whether the infrared thermal imager carried by the outdoor inspection robot has a light-shielding function. If so, proceed to step (4); otherwise, proceed to step (5).

[0010] (4) If the sun is detected in the monitoring screen, activate the light-shielding function of the infrared thermal imager, set the infrared thermal imager to the protection mode, and set a countdown for the protection time. After the protection time ends, the infrared thermal imager automatically resumes normal operation; when the infrared thermal imager is in the protection mode, adjust the working mode of the outdoor inspection robot according to the comparison result between the ambient temperature and the high-temperature threshold;

[0011] If the sun is not detected in the monitoring screen, the infrared thermal imager operates in the normal mode, and the outdoor robot conducts normal inspection runs;

[0012] (5) Adjust the working modes of the infrared thermal imager and the outdoor inspection robot according to the comparison results of the temperature of the infrared thermal imager and the ambient temperature compared with the high-temperature threshold respectively.

[0013] Preferably, the light-shielding function of the infrared thermal imager is achieved by setting a baffle; in step (4), when the infrared thermal imager is in the protection mode, open the baffle, and the infrared thermal imager performs a shooting operation;

[0014] After the shooting is completed, if the sun is detected in the monitoring screen, continue to close the baffle; if the sun is not detected in the monitoring screen, the outdoor inspection robot ignores the protection time countdown, resumes normal operation, and the infrared thermal imager enters the normal mode.

[0015] Preferably, in step (4), when the infrared thermal imager is in the protection mode, adjust the working mode of the outdoor inspection robot according to the comparison result between the ambient temperature and the high-temperature threshold, specifically including:

[0016] When the ambient temperature does not reach the high-temperature threshold, the outdoor inspection robot does not stop the inspection;

[0017] When the ambient temperature reaches the high-temperature threshold, the outdoor inspection robot records the current inspection progress, pauses the inspection, enters the nearest rest point equipped with a sunshade for standby. When the standby protection time ends and the ambient temperature drops to the safe temperature range, it returns to the original inspection point, opens the baffle, and resumes normal inspection operation.

[0018] Preferably, in step (5), adjust the working modes of the infrared thermal imager and the outdoor inspection robot according to the comparison results of the temperature of the infrared thermal imager and the ambient temperature compared with the high-temperature threshold respectively, specifically including:

[0019] If both the temperature of the infrared thermal imager and the ambient temperature are less than the high-temperature threshold, the outdoor inspection robot conducts normal inspection runs;

[0020] If the temperature of the infrared thermal imager is equal to or greater than the high-temperature threshold, drive the pan-tilt unit installed with the infrared thermal imager to rotate downward until the temperature of the infrared thermal imager drops to the safe temperature range, then the pan-tilt unit returns to its original position, and the infrared thermal imager enters the normal mode;

[0021] If the ambient temperature is equal to or greater than the high-temperature threshold, the outdoor inspection robot records the current inspection progress, pauses the inspection, and enters the nearest rest point with a sunshade for standby. When the standby protection time ends and the ambient temperature drops to the safe temperature range, the outdoor inspection robot returns to the original inspection point and resumes normal inspection operation;

[0022] If the temperature of the infrared thermal imager and the ambient temperature of the robot are both equal to or greater than the high-temperature threshold, the outdoor inspection robot records the current inspection progress, pauses the inspection, and enters the nearest rest point with a sunshade for standby. When the standby protection time ends and the temperature of the infrared thermal imager and the ambient temperature both drop to the safe temperature range, the pan-tilt head returns to its original position, and the outdoor inspection robot returns to the original inspection point and resumes normal inspection operation.

[0023] An outdoor inspection robot control device based on the light protection of a thermal imager, the inspection robot is equipped with an infrared thermal imager, and rest points with sunshades are set at preset intervals along the inspection track. It is characterized in that the device includes:

[0024] A temperature detection module for detecting the temperature of the infrared thermal imager and the ambient temperature of the inspection robot;

[0025] A sunlight direct irradiation judgment module for obtaining the monitoring image of the current environment where the outdoor inspection robot is located, and judging whether there is a sun in the monitoring image by combining the current time, season, ambient temperature, size and shape of the luminous body in the monitoring image;

[0026] A light avoidance function judgment module for judging whether the infrared thermal imager carried by the outdoor inspection robot has a light avoidance function;

[0027] A first adjustment module for adjusting the working modes of the infrared thermal imager and the outdoor inspection robot according to the processing results of the light avoidance function judgment module, the sunlight direct irradiation judgment module and the temperature detection module when the infrared thermal imager carried by the outdoor inspection robot has a light avoidance function;

[0028] A second adjustment module for adjusting the working modes of the infrared thermal imager and the outdoor inspection robot according to the processing results of the light avoidance function judgment module and the temperature detection module when the infrared thermal imager carried by the outdoor inspection robot does not have a light avoidance function.

[0029] Preferably, the light avoidance function of the infrared thermal imager is realized by setting a baffle.

[0030] Preferably, the outdoor inspection robot is provided with a rotatable pan-tilt head for installing the infrared thermal imager.

[0031] An outdoor inspection robot, characterized in that: the inspection robot is equipped with an infrared thermal imager and a control device for the outdoor inspection robot based on the light protection of the thermal imager.

[0032] Beneficial effects: Due to the adoption of the above technical solutions, the present invention has the following beneficial effects:

[0033] The present invention can, according to whether the camera has a self-protection function and in combination with real-time ambient temperature data, realize the prevention of sunburn of the camera and the adjustment of the inspection strategy of the robot itself, protect the camera and other components of the robot, extend the service life of the outdoor inspection robot, and reduce the operating cost. Description of the drawings

[0034] Figure 1 It is a flowchart of a control method for an outdoor inspection robot based on the light protection of a thermal imager;

[0035] Figure 2 It is a schematic diagram of an outdoor inspection robot equipped with a thermal imager;

[0036] Figure 3 It is a flowchart of a strategy for an infrared thermal imager with a self-protection function;

[0037] Figure 4 It is a flowchart of a strategy for an infrared thermal imager without a self-protection function. Detailed implementation manners

[0038] The following will make a detailed description of the embodiments of the present invention in conjunction with the drawings.

[0039] Embodiment 1

[0040] This embodiment proposes a thermal imager anti-sun protection and inspection planning strategy applied to an outdoor inspection robot. Applied to the robot, the robot is equipped with an infrared thermal imager and a temperature sensor. According to different requirements, the thermal imager is divided into models with an ambient temperature sensor, a sun detection function, and an anti-burning function, and models without the above functions. In the inspection track of the robot, unilateral or bilateral sunshades are provided at certain intervals according to actual needs to block excessive sunlight. Combining Figures 1 to 4 , the strategy proposed in this embodiment includes the following steps:

[0041] S1: Configure whether it is an infrared thermal imager with self-protection, such as whether the infrared thermal imager has a controllable light-shielding plate / baffle;

[0042] S2: If it is an infrared thermal imager with self-protection, execute the following strategy, as shown in the appendix Figure 3 as follows:

[0043] S21: During normal operation, the infrared thermal imager determines whether there is a sun in the monitoring screen based on the current time, season, ambient temperature, the size of the luminous body in the screen, and the image shape.

[0044] S22: When the sun is detected, lower the infrared thermal imager baffle, enable the protection mode, pause the recording and shooting functions of the infrared thermal imager, keep the last frame of the video screen, and add OSD information to the screen to indicate that the sun has been detected, avoid burns, and the baffle is in the shielding protection state, and provide a countdown for the protection time.

[0045] S23: After the preset protection time ends in the protection mode of the infrared thermal imager, it will automatically resume normal operation and reopen the recording and shooting functions of the infrared thermal imager.

[0046] S24: When the infrared thermal imager is in the protection state, the automatic task photographing function can be executed. At this time, open the baffle and quickly execute the photographing operation.

[0047] S25: After the photographing is completed, when the sun is detected, continue to close the baffle; when no sun is detected, it will resume normal operation under the premise that the protection time has not ended and continue with recording and photographing.

[0048] S26: When the infrared thermal imager enables the protection mode, the robot detects whether its own ambient temperature reaches the high temperature threshold based on the temperature sensor data. When the high temperature threshold is not reached, the robot does not stop the patrol inspection, and directly opens the baffle when the camera protection time ends and resumes normal operation; when the high temperature threshold is reached, the robot records the current patrol inspection progress, pauses the patrol inspection, enters the nearest rest point equipped with a sunshade for standby. When the standby protection time ends and the ambient temperature drops to the safety threshold, it returns to the original patrol inspection point, opens the baffle, and resumes normal patrol inspection operation.

[0049] S3: If it is an infrared thermal imager without self-protection function, execute the following strategy, as shown in the appendix Figure 4 as follows:

[0050] S31: During normal operation, the ambient temperature sensor carried by the robot detects whether the temperature of the infrared thermal imager and the ambient temperature reach the high temperature threshold.

[0051] S32: When neither the temperature of the infrared thermal imager nor the ambient temperature reaches the high temperature threshold, it operates normally.

[0052] S33: When the temperature of the infrared thermal imager reaches the high temperature threshold, rotate the pan-tilt downwards to face the ground and avoid sunlight. When the camera temperature drops to the normal range, the pan-tilt returns to its original position and operates normally.

[0053] S34: When the temperatures of the infrared thermal imager and the robot's environment both reach the high-temperature threshold, the robot records the current inspection progress, pauses the inspection, enters standby at the nearest rest point equipped with a sunshade, and when the standby protection time ends and the environmental temperature drops to the safety threshold, returns to the original inspection point, the pan-tilt head returns to its original position, and normal inspection operation resumes.

[0054] The control strategy provided by the present invention can be executed by the controller configured in the inspection robot itself or implemented by a remote monitor.

[0055] Embodiment 2

[0056] This embodiment provides an outdoor inspection robot control device based on the light protection of a thermal imager. The inspection robot is equipped with an infrared thermal imager, and rest points with sunshades are arranged at preset intervals along the inspection track. The device includes:

[0057] A temperature detection module for detecting the temperature of the infrared thermal imager and the environmental temperature where the inspection robot is located;

[0058] A direct sunlight judgment module for obtaining the monitoring image of the current environment where the outdoor inspection robot is located, and judging whether there is a sun in the monitoring image by combining the current time, season, environmental temperature, size and shape of the luminous body in the monitoring image;

[0059] A light avoidance function judgment module for judging whether the infrared thermal imager carried by the outdoor inspection robot has a light avoidance function; the light avoidance function of the infrared thermal imager can be realized by setting a baffle;

[0060] A first adjustment module for adjusting the working modes of the infrared thermal imager and the outdoor inspection robot according to the processing results of the light avoidance function judgment module, the direct sunlight judgment module and the temperature detection module when the infrared thermal imager carried by the outdoor inspection robot has a light avoidance function;

[0061] A second adjustment module for adjusting the working modes of the infrared thermal imager and the outdoor inspection robot according to the processing results of the light avoidance function judgment module and the temperature detection module when the infrared thermal imager carried by the outdoor inspection robot does not have a light avoidance function.

[0062] Among them, the outdoor inspection robot is provided with a rotatable pan-tilt head for installing the infrared thermal imager.

[0063] Embodiment 3

[0064] This embodiment proposes an outdoor inspection robot, which is equipped with an infrared thermal imager and the outdoor inspection robot control device based on the light protection of the thermal imager as described in Embodiment 2.

[0065] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A control method for an outdoor inspection robot based on the light protection of a thermal imager. The inspection robot is equipped with an infrared thermal imager, and rest points with sunshades are set at preset intervals along the inspection track. It is characterized in that, The control method includes the steps of: (1) Detecting the temperature of the infrared thermal imager and the ambient temperature where the inspection robot is located; (2) Obtaining the monitoring picture of the current environment where the outdoor inspection robot is located, and judging whether the sun is detected in the monitoring picture by combining the current time, season, ambient temperature, size and shape of the luminous body in the monitoring picture; (3) Judging whether the infrared thermal imager carried by the outdoor inspection robot has a light-shielding function. If so, go to step (4); otherwise, go to step (5); (4) If the sun is detected in the monitoring picture, start the light-shielding function of the infrared thermal imager, adjust the infrared thermal imager to the protection mode, and set the protection time countdown. After the protection time ends, the infrared thermal imager automatically resumes normal operation; When the infrared thermal imager is in the protection mode, adjust the working mode of the outdoor inspection robot according to the comparison result between the ambient temperature and the high-temperature threshold; If the sun is not detected in the monitoring picture, the infrared thermal imager works in the normal mode, and the outdoor robot conducts normal inspection operations; (5) Adjust the working modes of the infrared thermal imager and the outdoor inspection robot according to the comparison results of the temperature of the infrared thermal imager and the ambient temperature compared with the high-temperature threshold respectively.

2. The control method of the outdoor inspection robot based on the light protection of the thermal imager according to claim 1, wherein, The light-shielding function of the infrared thermal imager is realized by setting a baffle. In step (4), when the infrared thermal imager is in the protection mode, the baffle is opened, and the infrared thermal imager performs a shooting operation; After the shooting is completed, if the sun is detected in the monitoring picture, continue to close the baffle. If the sun is not detected in the monitoring picture, the outdoor inspection robot ignores the protection time countdown, resumes normal operation, and the infrared thermal imager enters the normal mode.

3. The control method of the outdoor inspection robot based on the light protection of the thermal imager according to claim 1, wherein, In step (4), when the infrared thermal imager is in the protection mode, adjust the working mode of the outdoor inspection robot according to the comparison result between the ambient temperature and the high-temperature threshold. Specifically, it includes: When the ambient temperature does not reach the high-temperature threshold, the outdoor inspection robot does not stop the inspection; When the ambient temperature reaches the high-temperature threshold, the outdoor inspection robot records the current inspection progress, pauses the inspection, enters the nearest rest point equipped with a sunshade for standby. When the standby protection time ends and the ambient temperature drops to the safe temperature range, it returns to the original inspection point, opens the baffle, and resumes normal inspection operations.

4. The control method of the outdoor inspection robot based on the light protection of the thermal imager according to claim 1, wherein, In step (5), adjust the working modes of the infrared thermal imager and the outdoor inspection robot according to the comparison results of the temperature of the infrared thermal imager and the ambient temperature compared with the high-temperature threshold respectively. Specifically, it includes: If both the temperature of the infrared thermal imager and the ambient temperature are less than the high-temperature threshold, the outdoor inspection robot conducts normal inspection operations; If the temperature of the infrared thermal imager is equal to or greater than the high-temperature threshold, drive the pan-tilt unit mounting the infrared thermal imager to rotate downward until the temperature of the infrared thermal imager drops to the safe temperature range, then the pan-tilt unit returns to its original position, and the infrared thermal imager enters the normal mode; If the ambient temperature is equal to or greater than the high-temperature threshold, the outdoor inspection robot records the current inspection progress, pauses the inspection, and enters the nearest rest point with a sunshade for standby. When the standby protection time ends and the ambient temperature drops to the safe temperature range, the outdoor inspection robot returns to the original inspection point and resumes normal inspection operations; If both the temperature of the infrared thermal imager and the temperature of the robot environment are equal to or greater than the high temperature threshold, the outdoor inspection robot records the current inspection progress, pauses the inspection, and enters standby at the nearest rest point with a sunshade. When the standby protection time ends and both the temperature of the infrared thermal imager and the ambient temperature drop to the safe temperature range, the pan-tilt head returns to its original position, and the outdoor inspection robot returns to the original inspection point and resumes normal inspection operation.

5. An outdoor inspection robot control device based on thermal imager light protection, wherein the inspection robot is equipped with an infrared thermal imager, and rest points with sunshades are arranged at preset intervals along the inspection track. It is characterized in that, The device includes: A temperature detection module for detecting the temperature of the infrared thermal imager and the ambient temperature of the inspection robot; A direct sunlight judgment module for obtaining the monitoring image of the current environment where the outdoor inspection robot is located, and judging whether there is a sun in the monitoring image by combining the current time, season, ambient temperature, size and shape of the light-emitting body in the monitoring image; A light-shielding function judgment module for judging whether the infrared thermal imager carried by the outdoor inspection robot has a light-shielding function; A first adjustment module for adjusting the working modes of the infrared thermal imager and the outdoor inspection robot according to the processing results of the light-shielding function judgment module, the direct sunlight judgment module and the temperature detection module when the infrared thermal imager carried by the outdoor inspection robot has a light-shielding function; A second adjustment module for adjusting the working modes of the infrared thermal imager and the outdoor inspection robot according to the processing results of the light-shielding function judgment module and the temperature detection module when the infrared thermal imager carried by the outdoor inspection robot does not have a light-shielding function.

6. The control device of the outdoor inspection robot based on the light protection of the thermal imager according to claim 5, wherein, The light-shielding function of the infrared thermal imager is realized by setting a baffle.

7. The control device for an outdoor inspection robot based on thermal imager light protection according to claim 5, characterized in that, The outdoor inspection robot is provided with a rotatable pan-tilt head for installing the infrared thermal imager.

8. An outdoor inspection robot, characterized in that: The inspection robot is equipped with an infrared thermal imager and the outdoor inspection robot control device based on the light protection of the thermal imager according to any one of claims 5-7.

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