Rail type inspection robot control method

Abstract

This invention discloses a control method for a track-mounted inspection robot. The specific steps are as follows: The inspection robot acquires a photo of a worker, inputs the photo into a model, and retrieves the control commands expressed by the photo from the model. After acquiring the corresponding commands, the inspection robot executes the actions according to the commands. This invention is applicable to the control of inspection robots. In this control method, the worker only needs to carry a light source tool. When controlling the inspection robot, the worker simply places the light source tool at a corresponding position on their body. At this time, the inspection robot can automatically capture and acquire the worker's movements, then identify and analyze the commands the worker needs to express based on the movements, and then execute the current command. Therefore, the control method in this invention only requires simple training for the worker to control the inspection robot, making it convenient and quick.

Description

Technical Field

[0001] This invention relates to the field of inspection robot control technology, and in particular to a control method for a track-type inspection robot. Background Technology

[0002] Track-mounted inspection robots have been widely used in coal conveying corridors. These robots can perform safety monitoring of equipment and personnel at the coal conveying site, achieving the purpose of inspection without human intervention. In addition, the lighting equipment carried by the inspection robots can provide auxiliary lighting for on-site maintenance personnel. Sometimes, it is also necessary for the inspection robots to follow on-site workers during operations.

[0003] In the existing control methods, operators in the control room or on-site workers need to use a host computer or remote control to control the robot's motion. The actual user experience is not very convenient, as workers need to hold the remote control all the time, which brings a lot of unnecessary workload. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing control methods, which require operators in the control room or on-site workers to use a host computer or remote control to control the robot's motion. This is not very convenient in actual use, and the workers need to hold the remote control all the time, resulting in a lot of unnecessary workload. This invention provides a track-type inspection robot control method. With the inspection robot control method of this invention, the workers do not need to use a remote control device to control the inspection robot, that is, they do not need to carry a remote control device with them, thus reducing the workload of the workers.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] This invention discloses a control method for a track-type inspection robot, the specific steps of which are as follows:

[0007] The inspection robot acquires photos of staff, inputs the photos into a model, and extracts the control commands expressed by the photos from the model. The model is trained using multiple sets of training data, each set of training data including several categories of data. These categories of data include photos of the location of the staff's light source tools and labels that identify the control commands expressed by the photos.

[0008] After receiving the corresponding command, the inspection robot executes the action according to the command.

[0009] Preferably, the inspection robot has a built-in command database, an upload module, and a comparison and analysis module, wherein...

[0010] The command database stores several types of data, including several photos, each with a command, and the command expressed by the photo.

[0011] The upload module is used to upload data to the command database, the data including photos with commands and the commands expressed by the photos;

[0012] The comparison and analysis module is used to analyze and compare the acquired photos to determine the command expressed by the photos.

[0013] Preferably, the photograph with commands shows a worker holding a light source tool and turning on the flash. The flash is positioned relative to the worker's body, including the chest, head, left hand, and right hand positions. The commands include forward, backward, turn on the light, and turn off the light commands.

[0014] Preferably, the comparison analysis module includes an image analysis and processing unit and a comparison unit, wherein:

[0015] The image analysis and processing unit is used to analyze and process the acquired photos and upload the processed images to the comparison unit;

[0016] The comparison unit is used to compare the processed image with images in the command database to determine the command expressed by the image.

[0017] Preferably, the specific processing steps of the image analysis and processing unit for the photograph are as follows:

[0018] Add outlines to the images of people in the photo;

[0019] The location of the marker light is where the outlined figure image is located;

[0020] Upload the outlined human figure image with the light position marked to the comparison unit.

[0021] Preferably, the specific comparison steps of the comparison unit are as follows:

[0022] The image analysis and processing unit uploads an image of a person with outlines marked with light positions, and compares it with the images in the command database. It then searches for the image in the command database that best matches the image of the person with outlines marked with light positions, and reads the command expressed by that photo.

[0023] Preferably, the inspection robot is equipped with a camera to take pictures of the staff.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] With the inspection robot control method of this invention, staff do not need to use a remote control device to control the inspection robot, that is, they do not need to carry a remote control device with them, which reduces the workload of staff. In the control method of this invention, staff only need to carry a light source tool, such as a mobile phone or flashlight. When it is necessary to control the inspection robot, staff only need to place the light source tool in the corresponding position on their body. At this time, the inspection robot can automatically capture the staff's movements, and then identify and analyze the commands that the staff needs to express based on the staff's movements, and then execute the current commands. Therefore, the control method of this invention only requires simple training for staff to control the inspection robot, which is convenient and fast. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0027] Figure 1 A system block diagram of the control method provided in the embodiments of the present invention; Detailed Implementation

[0028] The following is in conjunction with the appendix Figure 1 This invention further illustrates the specific implementation of a track-mounted inspection robot control method, overcoming the shortcomings of existing control methods that require operators in a control room or on-site workers to use a host computer or remote control to control the robot's movement. This is inconvenient in practice, as operators need to constantly hold the remote control, resulting in unnecessary workload. With the inspection robot control method of this invention, workers do not need to use a remote control device to control the inspection robot, thus eliminating the need to carry a remote control device and reducing their workload. This invention's track-mounted inspection robot control method is not limited to the description in the following embodiments.

[0029] Example 1:

[0030] This embodiment provides a control method for a track-type inspection robot, such as... Figure 1 As shown, the specific steps are as follows: The inspection robot acquires photos of the staff, inputs the photos into the model, and obtains the control commands expressed by the photos from the model. The model is trained using multiple sets of training data, each set of training data including several classes of data. These classes of data include photos of the location of the staff's light source tools and labels that identify the control commands expressed by the photos.

[0031] After receiving the corresponding command, the inspection robot executes the action according to the command.

[0032] Example 2

[0033] Based on Example 1, in this example, the inspection robot has a built-in command database, upload module, and comparison and analysis module, wherein...

[0034] The command database stores several types of data, including several photos, each with a command, and the command expressed by the photo.

[0035] The upload module is used to upload data to the command database, which includes photos with commands and the commands expressed by the photos;

[0036] The comparison and analysis module is used to analyze and compare the acquired photos to determine the commands expressed by the photos.

[0037] The photo with commands shows a worker holding a light source and turning on the flash. The flash is positioned relative to the worker's body, including chest, head, left hand, and right hand positions. The commands include forward, backward, turn on the light, and turn off the light (other commands can be added by uploading the corresponding command data to the command database in the upload module box: i.e., the photo with commands and the commands expressed by the photo).

[0038] The comparison and analysis module includes an image analysis and processing unit and a comparison unit, wherein:

[0039] The image analysis and processing unit is used to analyze and process the acquired photos and upload the processed images to the comparison unit;

[0040] The comparison unit is used to compare the processed image with the images in the command database to determine the command expressed by the image.

[0041] Example 3

[0042] Based on Example 1, in this example, the specific processing steps of the image analysis and processing unit for the photograph are as follows:

[0043] Add outlines to the images of people in the photo;

[0044] The location of the marker light is where the outlined figure image is located;

[0045] Upload the outlined human figure image with the light position marked to the comparison unit.

[0046] The specific comparison steps for the comparison unit are as follows:

[0047] The image analysis and processing unit uploads an image of a person with outlines marked with light positions, and compares it with the images in the command database. It then searches for the image in the command database that best matches the image of the person with outlines marked with light positions, and reads the command expressed by that photo.

[0048] The inspection robot is equipped with a camera that takes pictures of the staff.

[0049] Combining Examples 1-3, and combining Figure 1 The working principle of this application is as follows:

[0050] With the inspection robot control method of this invention, staff do not need to use a remote control device to control the inspection robot, that is, they do not need to carry a remote control device with them, which reduces the workload of staff. In the control method of this invention, staff only need to carry a light source tool, such as a mobile phone or flashlight. When it is necessary to control the inspection robot, staff only need to place the light source tool in the corresponding position on their body. At this time, the inspection robot can automatically capture the staff's movements, and then identify and analyze the commands that the staff needs to express based on the staff's movements, and then execute the current commands. Therefore, the control method of this invention only requires simple training for staff to control the inspection robot, which is convenient and fast.

[0051] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A control method for a track-mounted inspection robot, characterized in that: The specific steps are as follows: The inspection robot acquires photos of the staff, inputs the photos into the model, and obtains the control commands expressed by the photos from the model. The model is trained using multiple sets of training data, each set of training data including several classes of data. These classes of data include photos of the location of the staff's light source tools and labels indicating the control commands expressed by the photos. After the inspection robot obtains the corresponding commands, it executes the actions according to the commands. The inspection robot has a built-in command database, an upload module, and a comparison and analysis module. The command database stores several types of data, including several photos, each with a command, and the command expressed by the photo. The upload module is used to upload data to the command database, including photos with commands and the command expressed by the photo. The comparison and analysis module is used to analyze and compare the acquired photos to determine the command expressed by the photo. The photograph with commands shows a worker holding a light source and turning on the flash. The flash is positioned relative to the worker's body, including the chest, head, left hand, and right hand positions. The commands include forward, backward, turn on the light, and turn off the light. The comparison and analysis module includes an image analysis and processing unit and a comparison unit, wherein: the image analysis and processing unit is used to analyze and process the acquired photos and upload the processed images to the comparison unit; the comparison unit is used to compare the processed images with images in the command database to determine the command expressed by the images; The specific processing steps of the image analysis and processing unit for the photo are as follows: outlining the image of the person in the photo; marking the location of the light source in the outlined image of the person; and uploading the outlined image of the person with the marked light source to the comparison unit.

2. The control method for a track-type inspection robot according to claim 1, characterized in that: The specific comparison steps of the comparison unit are as follows: compare the outlined image of a person with the marked light position uploaded by the image analysis and processing unit with the images in the command database, search for the image in the command database that has the highest matching degree with the outlined image of a person with the marked light position, and then read the command expressed by the photo.

3. The control method for a track-type inspection robot according to claim 1, characterized in that: The inspection robot is equipped with a camera, which takes pictures of the staff.

Images