Anti-collision control system for engineering vehicle and inspection robot

Abstract

The invention discloses an anti-collision control system for an engineering vehicle and an inspection robot. The anti-collision control system comprises a vehicle-mounted information device, a comprehensive inspection device and a terminal control device, the comprehensive inspection device is arranged in the inspection robot and comprises a navigation positioning module, a wireless transmission module and an inspection execution module; the terminal control device is arranged in a control room and is used for sending the position of the inspection robot to the vehicle-mounted information device, generating an inspection task instruction and sending the inspection task instruction to the comprehensive inspection device; and the vehicle-mounted information device is arranged in the engineering vehicle and is used for displaying the position of the inspection robot in real time, so that a driver of the engineering vehicle can control the engineering vehicle to avoid the inspection robot. According to the anti-collision control system for the engineering vehicle and the inspection robot, through the vehicle-mounted information device, the comprehensive inspection device and the terminal control device, the position of the inspection robot can be displayed for a driver of the engineering vehicle in real time, and collision between the engineering vehicle and the inspection robot is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an anti-collision control system for an engineering vehicle and an inspection robot. Background Art

[0002] With the continuous development of nonferrous smelting enterprises at home and abroad, the logistics mode of hot slag in the slag discharge system of metal smelting engineering production lines is also being continuously optimized. Among them, U-shaped slag bag cars are the key tools for transporting hot slag in nonferrous smelting enterprises.

[0003] Usually, the slag cooling area is semi-enclosed, and pedestrians or vehicles are strictly prohibited from entering the slag cooling area and the dedicated passage for slag trucks at will. Since the slag trucks need to carry bags, place bags, turn bags, empty slag bags, and transport bags continuously in the slag cooling area, and the ground wheeled mobile inspection robot has a conflict with the slag truck in terms of time and space when inspecting and measuring the temperature of slag bags, the management of the cooling area has the following safety issues: (1) When the ground wheeled mobile inspection robot is working, it cannot effectively avoid obstacles; (2) At present, it mainly relies on dispatchers to verbally notify the slag trucks to avoid obstacles through radio stations, and the walking passages of the slag trucks in the cooling area lack warning signs, and intelligent dynamic channel isolation cannot be achieved, which easily causes safety hazards; (3) The slag truck driver cannot obtain the dynamic position of the inspection robot in real time, and cannot timely understand the specific location and current activity area of ​​the inspection robot in the cooling area. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the purpose of the present invention is to provide an anti-collision control system for an engineering vehicle and an inspection robot to prevent the engineering vehicle and the inspection robot from colliding when they are working at the same time.

[0005] To achieve the above-mentioned purpose, an embodiment of the present invention proposes an anti-collision control system for engineering vehicles and inspection robots, the system comprising: an on-board information device, an integrated inspection device and a terminal control device; the integrated inspection device is arranged in the inspection robot, comprising: a navigation and positioning module, a wireless transmission module and an inspection execution module, the navigation and positioning module is used to obtain the position of the inspection robot, the wireless transmission module is used to send the position of the inspection robot to the terminal control device and receive the inspection task instructions sent by the terminal control device, and the inspection execution module is used to control the inspection robot to perform inspections along a pre-set inspection channel according to the inspection task instructions; the terminal control device is arranged in a control room, and is used to send the position of the inspection robot to the on-board information device, generate the inspection task instructions and send them to the integrated inspection device; the on-board information device is arranged in the engineering vehicle, and is used to display the position of the inspection robot in real time, so that the driver of the engineering vehicle can control the engineering vehicle to avoid the inspection robot.

[0006] In addition, the anti-collision control system for engineering vehicles and inspection robots according to the embodiment of the present invention may also have the following additional technical features:

[0007] According to one embodiment of the present invention, the comprehensive inspection device also includes: a 3D laser radar module and a data processing module; the 3D laser radar module is used to obtain three-dimensional point cloud data in front of the inspection robot; the data processing module is used to process the three-dimensional point cloud data and output the detection result; wherein the inspection execution module is also used to control the inspection robot to maintain the current inspection channel and continue to drive when the detection result is that there is no obstacle, and control the inspection robot to bypass the obstacle when the detection result is that there is an obstacle.

[0008] According to an embodiment of the present invention, when the data processing module processes the three-dimensional point cloud data and outputs the detection result, it is used to:

[0009] Traverse all the bottom points P in the three-dimensional point cloud data j (X j , Y j , Z j ).

[0010] Judgment point P j With point P j Adjacent points P in the X column direction i (X i , Y i , Z i ) satisfies the following formula:

[0011]

[0012] If satisfied, point P i Mark it as an obstacle point, and output the detection result according to the obstacle point.

[0013] Among them, X j , X i Respectively represent the origin coordinates of the 3D laser radar module to point P j , P i Projected height on the ground plane, Y j , Y i Respectively represent the origin coordinates of the 3D laser radar module to point P j , P i Projected distance on the ground plane, Z j , Z i Respectively represent the origin coordinates of the 3D laser radar module to point P j , P i The projected lateral distance on the ground plane, α represents the preset maximum inclination of the obstacle.

[0014] According to an embodiment of the present invention, when the data processing module processes the three-dimensional point cloud data and outputs the detection result, it is also used to: determine the point P j With point P j Whether the absolute value of the difference in projection heights of adjacent obstacle points in the X-column direction is less than a height difference threshold; if not, removing the obstacle point from the detection result; looping through all obstacle points in turn, and outputting an updated detection result.

[0015] According to one embodiment of the present invention, the system further includes: a signal light assembly and a signal light control unit; the signal light assembly is arranged at both ends of the inspection channel; the signal light control unit is used to control the state of the signal light assembly according to a signal control instruction; wherein the terminal control device is also used to generate the signal control instruction according to the position of the inspection robot and send it to the signal light control unit.

[0016] According to one embodiment of the present invention, the signal control instruction includes a first signal control instruction, and the signal light control unit is used to: set the signal light assembly of the inspection channel where the inspection robot is located to a first light state according to the first signal control instruction.

[0017] According to one embodiment of the present invention, the signal control instruction includes a second signal control instruction, and the signal light control unit is used to: set the signal light assembly of the inspection channel left by the inspection robot to a second light state according to the second signal control instruction.

[0018] According to one embodiment of the present invention, the vehicle-mounted information device includes: a display module, and the display module is used to display the position of the inspection robot through a map interface.

[0019] According to one embodiment of the present invention, the system further includes: a WIFI transmission unit, which is used to receive and send wireless network signals; wherein the signal light control unit and the vehicle-mounted information device establish a WIFI network connection with the terminal control device through the WIFI transmission unit.

[0020] According to an embodiment of the present invention, the number of the WIFI transmission units is no less than 4, which are respectively arranged corresponding to the four corners of the inspection area to which the inspection channel belongs.

[0021] The anti-collision control system for engineering vehicles and inspection robots in the embodiment of the present invention can display the position of the inspection robot to the driver of the engineering vehicle in real time through the on-board information device, the comprehensive inspection device and the terminal control device, thereby preventing the engineering vehicle from colliding with the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of an anti-collision control system for an engineering vehicle and an inspection robot according to an embodiment of the present invention;

[0023] Figure 2 is a schematic structural diagram of an anti-collision control system for an engineering vehicle and an inspection robot according to another embodiment of the present invention;

[0024] Figure 3 is a schematic diagram of a scanning area of ​​a 3D laser radar module according to an embodiment of the present invention;

[0025] Figure 4 It is a structural schematic diagram of an anti-collision control system for an engineering vehicle and an inspection robot according to another embodiment of the present invention;

[0026] Figure 5 is a schematic diagram of a slag bag region according to an embodiment of the present invention;

[0027] Figure 6 It is a flowchart of a specific working process of an anti-collision control system for an engineering vehicle and an inspection robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0029] The following describes an anti-collision control system for an engineering vehicle and an inspection robot according to an embodiment of the present invention with reference to the accompanying drawings.

[0030] Figure 1 It is a structural schematic diagram of an anti-collision control system for an engineering vehicle and an inspection robot according to an embodiment of the present invention.

[0031] like Figure 1 As shown, the anti-collision control system 10 for engineering vehicles and inspection robots includes: an on-board information device 101, an integrated inspection device 102 and a terminal control device 103; the integrated inspection device 102 is arranged in the inspection robot, and includes: a navigation and positioning module 1021, a wireless transmission module 1022 and an inspection execution module 1023, the navigation and positioning module 1021 is used to obtain the position of the inspection robot, the wireless transmission module 1022 is used to send the position of the inspection robot to the terminal control device 103 and receive the inspection task instructions sent by the terminal control device 103, and the inspection execution module 1023 is used to control the inspection robot to perform inspections along a pre-set inspection channel according to the inspection task instructions; the terminal control device 103 is arranged in the control room, and is used to send the position of the inspection robot to the on-board information device 101, generate the inspection task instructions and send them to the integrated inspection device 102; the on-board information device 101 is arranged in the engineering vehicle, and is used to display the position of the inspection robot in real time, so that the driver of the engineering vehicle can control the engineering vehicle to avoid the inspection robot.

[0032] As an example, the navigation and positioning module 1021 may use Beidou fusion navigation to improve the accuracy of navigation and positioning. After the inspection is completed, the inspection robot may send the relevant inspection situation to the terminal control device 103 through the wireless transmission module 1022.

[0033] As another example, when the inspection robot is low on power, it can send the power status to the terminal control device 103 through the wireless transmission module 1022. The terminal control device 103 generates a charging instruction based on the position of the inspection robot and the status of the charging device, and sends the charging instruction to the inspection robot and the charging device. The inspection robot travels to the target charging device for charging according to the charging instruction.

[0034] The anti-collision control system for engineering vehicles and inspection robots in the embodiment of the present invention can display the position of the inspection robot to the driver of the engineering vehicle in real time through the on-board information device 101, the comprehensive inspection device 102 and the terminal control device 103, thereby preventing the engineering vehicle from colliding with the inspection robot.

[0035] In some embodiments of the present invention, Figure 2As shown, the comprehensive inspection device 102 also includes: a 3D laser radar module 1024 and a data processing module 1025; the 3D laser radar module 1024 is used to obtain three-dimensional point cloud data in front of the inspection robot; the data processing module 1025 is used to process the three-dimensional point cloud data and output the detection result; wherein, the inspection execution module 1023 is also used to control the inspection robot to maintain the current inspection channel and continue to drive when the detection result is that there is no obstacle, and control the inspection robot to bypass the obstacle when the detection result is that there is an obstacle.

[0036] As an example, the data processing module 1025 may use a dynamic obstacle avoidance algorithm to effectively detect obstacles.

[0037] It should be noted that if Figure 3 As shown, the scanning angle of the 3D lidar module 1024 can reach 270° and can scan within the range of -45° to 225°.

[0038] In this embodiment, by using the 3D laser radar module 1024, the three-dimensional point cloud data in front of the inspection robot can be quickly and accurately acquired. The data processing module 1025 processes the three-dimensional point cloud data to realize intelligent obstacle avoidance, thereby enhancing the safety and reliability of the inspection equipment and better meeting the needs of industrial production equipment inspection.

[0039] In some embodiments of the present invention, when the data processing module processes the three-dimensional point cloud data and outputs the detection result, it is used to:

[0040] S1, traverse all the bottom points P in the three-dimensional point cloud data j (X j , Y j , Z j ).

[0041] S2, judgment point P j With point P j Adjacent points P in the X column direction i (X i , Y i , Z i ) satisfies the following formula:

[0042]

[0043] S3, if satisfied, then point P i Mark it as an obstacle point, and output the detection result according to the obstacle point.

[0044] Among them, X j , X i Respectively represent the origin coordinates of the 3D laser radar module to point Pj , P i Projected height on the ground plane, Y j , Y i Respectively represent the origin coordinates of the 3D laser radar module to point P j , P i Projected distance on the ground plane, Z j , Z i Respectively represent the origin coordinates of the 3D laser radar module to point P j , P i The projected lateral distance on the ground plane, α represents the preset maximum inclination of the obstacle.

[0045] In this embodiment, the data processing module 1025 can accurately determine the obstacles in front of the inspection robot, ensuring the safe driving of the inspection robot.

[0046] In some embodiments of the present invention, when processing the three-dimensional point cloud data and outputting the detection results, the data processing module 1025 is further used to:

[0047] S41, judgment point P j With point P j Whether the absolute value of the difference in projection heights of adjacent obstacle points in the X column direction is less than the height difference threshold.

[0048] S42: If it is not less than , the obstacle point is removed from the detection result.

[0049] S43, looping through all obstacle points in sequence and outputting updated detection results.

[0050] As an example, if point P j With point P j If the absolute value of the difference in the projection heights of adjacent obstacle points in the X column direction is less than the height difference threshold, then point P is determined. j is the obstacle point.

[0051] In this embodiment, by adding the step of determining the obstacle point, misjudgment can be avoided and the accuracy of detection can be improved.

[0052] In some embodiments of the present invention, Figure 4 As shown, the anti-collision control system for engineering vehicles and inspection robots also includes: a signal light assembly 104 and a signal light control unit 105. The signal light assembly 104 is arranged at both ends of the inspection channel; the signal light control unit 105 is used to control the state of the signal light assembly 104 according to the signal control instruction; wherein the terminal control device 103 is also used to generate a signal control instruction according to the position of the inspection robot and send it to the signal light control unit 105.

[0053] As an example, the signal light assembly 104 may include indicator lights of different colors, where different colors represent different passage statuses.

[0054] In this embodiment, the signal light assembly 104 and the signal light control unit 105 are used to strengthen the dynamic safety isolation and warning in the slow cooling area, solve the problem that the information conveyed by manual dispatch instructions is not comprehensive, accurate and timely, and avoid the possibility of collision between engineering vehicles and inspection robots.

[0055] In some embodiments of the present invention, the signal control instruction includes a first signal control instruction, and the signal light control unit 105 is used to set the signal light assembly 104 of the inspection channel where the inspection robot is located to a first light state according to the first signal control instruction.

[0056] As an example, the first light state is a red light.

[0057] In some embodiments of the present invention, the signal control instruction includes a second signal control instruction, and the signal light control unit 105 is used to set the signal light assembly 104 of the inspection channel that the inspection robot leaves to the second light state according to the second signal control instruction.

[0058] As an example, the second light state is a green light.

[0059] In some embodiments of the present invention, the vehicle-mounted information device 101 includes: a display module; the display module is used to display the location of the inspection robot through a map interface.

[0060] As an example, the display device is installed in a cab of an engineering vehicle, and the scope of the map interface is the working area of ​​the engineering vehicle.

[0061] In this embodiment, the display module can intuitively display the position of the inspection robot through a map interface, so that the driver can grasp the position and movement direction of the inspection robot in real time.

[0062] In some embodiments of the present invention, the anti-collision control system between engineering vehicles and inspection robots also includes: a WIFI transmission unit; the WIFI transmission unit is used to receive and send wireless network signals; wherein the signal light control unit 105 and the on-board information device 101 establish a WIFI network connection with the terminal control device 103 through the WIFI transmission unit.

[0063] Specifically, the number of WIFI transmission units is no less than 4, which are respectively arranged in correspondence with the four corners of the inspection area to which the inspection channel belongs.

[0064] As an example, Figure 5As shown, the WIFI transmission units (communication base stations) can be set at the four corners of the slag bag area, and the signal light components 104 are set at both ends of the inspection channel.

[0065] As another example, the WIFI transmission unit may be a 2.4G WIFI transmission unit.

[0066] In this embodiment, by using a WIFI transmission unit, work efficiency can be effectively improved and more accurate inspection tasks can be achieved.

[0067] Next, if Figure 6 As shown, the specific working process of the anti-collision control system of the engineering vehicle and the inspection robot of the present invention is illustrated by way of example:

[0068] S01, after receiving the inspection task, the inspection robot moves from the charging room to the pre-set inspection channel to perform slag package temperature measurement and package number identification operations.

[0069] S02, the terminal control device 103 obtains the location of the inspection robot through the navigation positioning module 1021, determines the inspection channel where the inspection robot is located, and sends the signal control instruction to the signal light control unit 105 through the 2.4G WIFI transmission unit to turn on the red lights in the signal light components 104 on both sides of the channel.

[0070] S03, when the inspection robot leaves the inspection channel where it is located, the terminal control device 103 obtains the location of the inspection robot through the navigation and positioning module 1021, determines the inspection channel where the inspection robot is located, and sends the signal light control signal to the signal light control unit 105 through the 2.4GWIFI transmission unit, turns off the red light in the signal light assembly 104 on both sides of the channel, and turns on the green light in the signal light assembly 104.

[0071] S04, the driver of the engineering vehicle obtains the dynamic position of the inspection robot through the display module in the cab, and determines whether backpack loading, bag placement, and bag carrying operations can be performed in combination with the signal light components 104 on both sides of the channel.

[0072] S05, when the engineering vehicle and the inspection robot are in a certain channel at the same time, the inspection robot uses the 3D laser radar it carries to perform real-time scanning for obstacle detection and identification. When a static or dynamic obstacle is detected ahead, it performs autonomous obstacle avoidance. The driver of the engineering vehicle can also actively avoid the obstacle based on the dynamic position of the inspection robot.

[0073] S06, when the inspection robot completes the preset inspection task, it returns to the charging room autonomously to charge and waits for the next inspection task.

[0074] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0075] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0076] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0077] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0078] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0079] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An anti-collision control system for an engineering vehicle and an inspection robot, characterized in that: The system includes: an on-board information device, a comprehensive inspection device and a terminal control device; The comprehensive inspection device is arranged in the inspection robot, and includes: a navigation and positioning module, a wireless transmission module and an inspection execution module, wherein the navigation and positioning module is used to obtain the position of the inspection robot, the wireless transmission module is used to send the position of the inspection robot to the terminal control device and receive the inspection task instruction sent by the terminal control device, and the inspection execution module is used to control the inspection robot to perform inspection according to the preset inspection channel according to the inspection task instruction; The terminal control device is arranged in the control room and is used to send the position of the inspection robot to the vehicle-mounted information device, generate the inspection task instruction and send it to the comprehensive inspection device; The vehicle-mounted information device is installed in the engineering vehicle and is used to display the position of the inspection robot in real time so that the driver of the engineering vehicle can control the engineering vehicle to avoid the inspection robot.

2. The anti-collision control system for an engineering vehicle and an inspection robot according to claim 1, characterized in that: The comprehensive inspection device further comprises: A 3D laser radar module, used to obtain three-dimensional point cloud data in front of the inspection robot; A data processing module, used to process the three-dimensional point cloud data and output the detection results; The inspection execution module is further used to control the inspection robot to maintain the current inspection channel and continue to travel when the detection result shows that there is no obstacle, and to control the inspection robot to travel around the obstacle when the detection result shows that there is an obstacle.

3. The anti-collision control system for an engineering vehicle and an inspection robot according to claim 2, characterized in that: When the data processing module processes the three-dimensional point cloud data and outputs the detection results, it is used to: Traverse all the bottom points P in the three-dimensional point cloud data j (X j , Y j , Z j ); Judgment point P j With point P j Adjacent points P in the X column direction i (X i , Y i , Z i ) satisfies the following formula: If satisfied, point P i Marking as an obstacle point, and outputting the detection result according to the obstacle point; Among them, X j , X i Respectively represent the origin coordinates of the 3D laser radar module to point P j , P i Projected height on the ground plane, Y j , Y i Respectively represent the origin coordinates of the 3D laser radar module to point P j , P i Projected distance on the ground plane, Z j , Z i Respectively represent the origin coordinates of the 3D laser radar module to point P j , P i The projected lateral distance on the ground plane, α represents the preset maximum inclination of the obstacle.

4. The anti-collision control system for an engineering vehicle and an inspection robot according to claim 3, characterized in that: When the data processing module processes the three-dimensional point cloud data and outputs the detection result, it is also used to: Judgment point P j With point P j Whether the absolute value of the difference between the projection heights of adjacent obstacle points in the X-column direction is less than a height difference threshold; If it is not less than, removing the obstacle point from the detection result; Loop through all obstacle points in sequence and output the updated detection results.

5. The anti-collision control system for an engineering vehicle and an inspection robot according to claim 1, characterized in that: The system further comprises: Signal light components are located at both ends of the inspection channel; A signal light control unit, used to control the state of the signal light assembly according to a signal control instruction; Wherein, the terminal control device is also used to generate the signal control instruction according to the position of the inspection robot and send it to the signal light control unit.

6. The anti-collision control system for an engineering vehicle and an inspection robot according to claim 5, characterized in that: The signal control instruction includes a first signal control instruction, and the signal light control unit is used to: The signal light assembly of the inspection channel where the inspection robot is located is set to a first light state according to the first signal control instruction.

7. The anti-collision control system for an engineering vehicle and an inspection robot according to claim 5, characterized in that: The signal control instruction includes a second signal control instruction, and the signal light control unit is used to: The signal light assembly of the inspection passage that the inspection robot leaves is set to a second light state according to the second signal control instruction.

8. The anti-collision control system for an engineering vehicle and an inspection robot according to claim 1, characterized in that: The vehicle-mounted information device comprises: The display module is used to display the location of the inspection robot through a map interface.

9. The anti-collision control system for an engineering vehicle and an inspection robot according to claim 5, characterized in that: The system further comprises: WIFI transmission unit, used for receiving and sending wireless network signals; Wherein, the signal light control unit and the vehicle-mounted information device establish a WIFI network connection with the terminal control device through the WIFI transmission unit.

10. The anti-collision control system for an engineering vehicle and an inspection robot according to claim 9, characterized in that: The number of the WIFI transmission units is no less than 4, which are respectively arranged corresponding to the four corners of the inspection area to which the inspection channel belongs.

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