Obstacle monitoring and obstacle avoidance control system and method for inspection robot of water hydrogen production station
By designing the obstacle monitoring and obstacle avoidance control system of the inspection robot of water hydrogen production station, using real-time monitoring and dynamic adjustment technology, the problem of frequent stop and start of the robot is solved, the inspection efficiency and safety are improved, and energy consumption is reduced.
Patent Information
- Application Number
- CN202411791589.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-06
- Publication Date
- 2025-04-18
AI Technical Summary
Existing robot obstacle avoidance methods lead to frequent stopping and starting of robots, reducing patrol efficiency and increasing energy consumption.
A water hydrogen production station patrol robot obstacle monitoring and obstacle avoidance control system was designed, including a speed monitoring module, a scanning radius adjustment module, an obstacle detection module, a shortest distance calculation module and a path update module. By monitoring the robot speed and environmental information in real time, the scanning radius and obstacle avoidance path are dynamically adjusted to optimize the robot's travel path and speed.
It realizes efficient operation of robots in complex environments, avoids frequent start-stop problems, significantly improves patrol efficiency and safety, and effectively reduces energy consumption and extends the service life of robots.
Smart Images
Figure CN119847144A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of operation and maintenance of offshore water hydrogen production platforms, and in particular to an obstacle monitoring and obstacle avoidance control system and method for a water hydrogen production station inspection robot. Background Art
[0002] With the rapid development of my country's new energy power industry, the demand for inspection and maintenance of new energy, especially water electrolysis hydrogen production equipment, is growing. Inspection robots have been widely used in the inspection of water electrolysis hydrogen production equipment due to their advantages such as good flexibility, remote control, precise operation, high work efficiency, cost saving, convenient supervision and high safety. However, the existing robot obstacle avoidance methods often cause the robot to stop and start frequently, which not only reduces the inspection efficiency, but also increases energy consumption. Summary of the invention
[0003] In view of the deficiencies in the prior art, the present invention provides an obstacle monitoring and obstacle avoidance control system and method for a water hydrogen production station inspection robot. In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: An obstacle monitoring and avoidance control system for a water hydrogen production station inspection robot, comprising: Speed monitoring module, used to monitor the moving speed of the inspection robot in real time; The scanning radius adjustment module is connected to the speed monitoring module and is used to adjust the scanning radius of the obstacle according to the current moving speed of the inspection robot. The scanning radius R1 is calculated according to the following formula: R1=R(1+a%); Where R is the last scanning radius, a% is the change ratio of the current moving speed S1 relative to the average moving speed S, and the calculation formula is: a%=(S-S1) / S; an obstacle detection module, connected to the scanning radius adjustment module, for detecting obstacles within the adjusted scanning radius and determining the position of the obstacles within the scanning range; A shortest distance calculation module, connected to the obstacle detection module, for calculating the shortest distance between the robot and the obstacle; The path updating module is connected to the shortest distance calculation module and is used to determine whether obstacle avoidance is required based on the shortest distance, and to update the robot's travel path when obstacle avoidance is required: The dynamic environment adaptation module is connected to the path updating module and is used to dynamically adjust the obstacle avoidance strategy and optimize the robot's travel path and speed according to the real-time environmental information and historical data of the inspection robot.
[0004] Preferably, the dynamic environment adaptation module includes: The environmental perception submodule is used to collect the environmental information of the inspection robot in real time, including light intensity, temperature, and humidity, through sensors installed on the robot, and transmit it to the dynamic environment adaptation module in real time; The historical data analysis submodule is used to analyze the historical behavior data of the inspection robot under the same or similar environmental conditions and extract optimization parameters; The obstacle avoidance strategy adjustment submodule is used to dynamically adjust the obstacle avoidance strategy according to the outputs of the environment perception submodule and the historical data analysis submodule.
[0005] Preferably, the obstacle detection module further includes a sector range definition submodule, which is used to define an angle range of 120 degrees to 180 degrees with the current traveling route direction as the center line as the sector range for scanning.
[0006] Preferably, the shortest distance calculation module further includes: The position point acquisition submodule is used to acquire multiple position points in the direction of the planned route within the sector range at the same interval that is less than the distance the robot travels per second, until the edge of the sector area; The distance calculation submodule is used to calculate the distance from each location point to the obstacle and filter out the minimum distance.
[0007] Preferably, the path updating module further includes: The judgment submodule is used to determine whether the shortest distance is greater than or equal to the width of the robot plus half the length of the obstacle. If so, there is no need to avoid the obstacle; otherwise, the route from the current position of the robot to the obstacle is modified to ensure that the minimum distance is greater than or equal to the width of the robot.
[0008] Preferably, a new obstacle scanning module is also included, which is used to continue scanning new obstacles during the obstacle avoidance process and update the obstacle avoidance path after passing the obstacle.
[0009] A method for obstacle monitoring and obstacle avoidance control of a water hydrogen production station inspection robot, using the control system as described above, comprises the following steps: Monitor the movement speed of the inspection robot in real time and adjust the scanning radius of obstacles according to the change of movement speed; Detect obstacles within the adjusted scanning radius and determine the location of the obstacles within the scanning range; Calculate the shortest distance between the robot and the obstacle; Determine whether obstacle avoidance is needed based on the shortest distance, and update the robot's path when obstacle avoidance is needed; The dynamic environment adaptation module collects the inspection robot's lighting, temperature, and humidity environmental information in real time, and combines it with historical data analysis to automatically adjust the scanning radius, change the travel speed, select a better obstacle avoidance path, and dynamically adjust the obstacle avoidance strategy.
[0010] Preferably, the step of calculating the shortest distance between the robot and the obstacle comprises: Collect multiple position points in the direction of the planned route within the fan-shaped range at the same interval that is less than the distance the robot travels per second, until the edge of the fan-shaped area; Calculate the distance from each location point to the obstacle and select the minimum distance.
[0011] Preferably, the step of determining whether obstacle avoidance is needed includes: determining whether the shortest distance is greater than or equal to the width of the robot plus half the length of the obstacle; if so, no obstacle avoidance is needed; otherwise, modifying the route from the current position of the robot to the obstacle to ensure that the minimum distance is greater than or equal to the width of the robot.
[0012] Preferably, the method further includes continuing to scan new obstacles during the obstacle avoidance process and updating the obstacle avoidance path after passing the obstacle.
[0013] Compared with the prior art, the present invention has the following beneficial effects: By adopting the system and method provided by the present invention, the inspection robot can maintain an efficient operating state in a complex environment, avoiding the frequent start-stop problem caused by the traditional obstacle avoidance method, and significantly improving the inspection efficiency and safety. At the same time, this method can also effectively reduce energy consumption and extend the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is the work flow chart of the present invention. DETAILED DESCRIPTION
[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0016] See also Figure 1 , the present invention provides a technical solution: An obstacle monitoring and avoidance control system for a water hydrogen production station inspection robot, comprising: Speed monitoring module, used to monitor the moving speed of the inspection robot in real time; A scanning radius adjustment module, connected to the speed monitoring module, for adjusting the scanning radius of obstacles according to the current moving speed of the inspection robot; an obstacle detection module, connected to the scanning radius adjustment module, for detecting obstacles within the adjusted scanning radius and determining the position of the obstacles within the scanning range; The shortest distance calculation module, connected to the obstacle detection module, is used to calculate the shortest distance between the robot and the obstacle; The path update module, connected to the shortest distance calculation module, is used to determine whether obstacle avoidance is required based on the shortest distance, and update the robot's traveling path when obstacle avoidance is required.
[0017] These modules work together to achieve efficient management and control of the inspection robot. During the robot's movement, first, the speed monitoring module obtains the robot's moving speed in real time, and then the scanning radius adjustment module dynamically adjusts the scanning range of the obstacle according to the current speed. Next, the obstacle detection module searches for potential obstacles within the adjusted scanning range, and the shortest distance calculation module calculates the shortest distance between the robot and the obstacle. Finally, the path update module decides whether to adjust the robot's traveling route to avoid obstacles based on the calculation result.
[0018] In this embodiment, the scanning radius R1 is calculated according to the following formula: R1 = R(1 + a%); where R is the previous scanning radius, and a% is the change ratio of the current moving speed S1 relative to the average moving speed S, and the calculation formula is: a% = (S - S1) / S.
[0019] For example, when the moving speed is 1 m / s and the scanning radius is 2 m, when the moving speed is 1.5 m / s, which is equivalent to a 50% increase in speed, the updated scanning radius is 3 m.
[0020] In this embodiment, the obstacle detection module further includes a fan-shaped range definition sub-module, which is used to define an angular range of 120 degrees to 180 degrees with the current traveling route direction as the midline as the scanned fan-shaped range.
[0021] The specific method is as follows: The scanning range is defined as an angular range of 120 degrees - 180 degrees with the current traveling route direction as the midline. The scanning radius R1 is determined according to the output of the speed adjustment module. Within the fan-shaped range, a plurality of position points are collected at the same interval less than the distance traveled by the robot per second until the edge of the fan-shaped area. The collection interval d can be adaptively updated according to the current traveling speed S1, and usually d < S1. For each collected position point, an obstacle position point is generated.
[0022] In this embodiment, the shortest distance calculation module further includes: The position point collection sub-module is used to collect a plurality of position points in the forward direction of the planned route at the same interval less than the distance traveled by the robot per second within the fan-shaped range until the edge of the fan-shaped area; The distance calculation submodule is used to calculate the distance from each location point to the obstacle and filter out the minimum distance.
[0023] The calculation method of the shortest distance calculation module is as follows: 1. Calculate the distance from each position point to the obstacle: For each collected position point, calculate the distance from the center of gravity of the robot to the center of the obstacle; 2. Filter the shortest distance: Filter the minimum distance Dmin from all calculated distances. The calculation formula for the distance D from the center of gravity of the robot to the center of the obstacle is: ; in, are the coordinates of the robot's center of gravity, are the coordinates of the obstacle center.
[0024] In this embodiment, the path updating module further includes: The judgment submodule is used to determine whether the shortest distance is greater than or equal to the width of the robot plus half the length of the obstacle. If so, there is no need to avoid the obstacle; otherwise, the route from the current position of the robot to the obstacle is modified to ensure that the minimum distance is greater than or equal to the width of the robot.
[0025] The path update module is calculated as follows: 1. Determine whether obstacle avoidance is needed: compare the shortest distance Dmin, the robot's width W, and half the obstacle length L / 2; if Dmin ≥ W + L / 2, then obstacle avoidance is not necessary; otherwise, the route from the robot's current position to the obstacle needs to be modified to ensure that the minimum distance is greater than or equal to the robot's width W.
[0026] 2. Update path: Modify the route from the robot's current position to the obstacle, ensuring that the minimum distance is greater than or equal to the robot's width W; keep the current moving speed unchanged until the original route is restored after passing the obstacle.
[0027] In this embodiment, a new obstacle scanning module is also included, which is used to continue scanning new obstacles during the obstacle avoidance process and update the obstacle avoidance path after passing the obstacle.
[0028] New obstacle scanning module calculation method: Continuously scan for new obstacles: From the time the robot scans the first obstacle to the time it passes the obstacle, it continuously scans for new obstacles; new obstacles are objects that are farther from the robot than the current obstacle. Update path: Between two obstacles, it calculates and determines whether it needs to be avoided based on the original planned route and the new minimum distance; if necessary, it designs a new route after passing the previous obstacle until passing the next obstacle, and continues to avoid obstacles. The calculation formula for the distance to the new obstacle is:
[0029] in, are the coordinates of the center point of the new obstacle.
[0030] The dynamic environment adaptation module is introduced. This module collects the environmental information of the inspection robot in real time (such as light intensity, temperature, humidity, wind speed, etc.), and combines historical data analysis to dynamically adjust the obstacle avoidance strategy and optimize the robot's travel path and speed. Specifically, the module can automatically adjust the scanning radius, change the travel speed, and select a better obstacle avoidance path under different environmental conditions, thereby ensuring the efficient operation of the robot in various complex environments.
[0031] Environmental perception submodule: This submodule is responsible for real-time collection of environmental information of the inspection robot, including but not limited to light intensity, temperature, humidity, wind speed, etc. This information can be obtained through sensors installed on the robot and transmitted to the dynamic environment adaptation module in real time.
[0032] Historical data analysis submodule: This submodule is responsible for analyzing the historical behavior data of the inspection robot under the same or similar environmental conditions and extracting optimization parameters. By analyzing historical data, the most effective obstacle avoidance strategy and travel path under specific environmental conditions can be identified, thus providing a reference for subsequent obstacle avoidance decisions.
[0033] Obstacle avoidance strategy adjustment submodule: This submodule dynamically adjusts the obstacle avoidance strategy based on the output of the environmental perception submodule and the historical data analysis submodule. For example, when the light intensity is low, the robot's travel speed may be reduced to ensure the accuracy of the sensor; when the temperature is high, the scanning radius may be shortened to reduce energy consumption; when encountering strong winds, a more stable obstacle avoidance path may be selected. In this way, the robot can always maintain efficient operation under different environmental conditions.
[0034] This module enables the robot to always maintain the best working condition under different environmental conditions, further meeting the actual needs of water hydrogen production station operation and maintenance.
[0035] The present invention also provides a technical solution: A method for obstacle monitoring and obstacle avoidance control of a water hydrogen production station inspection robot, using the control system as described above, comprises the following steps: Monitor the movement speed of the inspection robot in real time and adjust the scanning radius of obstacles according to the change of movement speed; Detect obstacles within the adjusted scanning radius and determine the location of the obstacles within the scanning range; Calculate the shortest distance between the robot and the obstacle; Determine whether obstacle avoidance is needed based on the shortest distance, and update the robot's travel path when obstacle avoidance is needed.
[0036] In this embodiment, the step of calculating the shortest distance between the robot and the obstacle includes: Collect multiple position points in the direction of the planned route within the fan-shaped range at the same interval that is less than the distance the robot travels per second, until the edge of the fan-shaped area; Calculate the distance from each location point to the obstacle and select the minimum distance; The dynamic environment adaptation module collects the inspection robot's lighting, temperature, and humidity environmental information in real time, and combines it with historical data analysis to automatically adjust the scanning radius, change the travel speed, select a better obstacle avoidance path, and dynamically adjust the obstacle avoidance strategy.
[0037] In this embodiment, the step of determining whether obstacle avoidance is needed includes: determining whether the shortest distance is greater than or equal to the width of the robot plus half the length of the obstacle. If so, no obstacle avoidance is needed; otherwise, modifying the route from the current position of the robot to the obstacle to ensure that the minimum distance is greater than or equal to the width of the robot.
[0038] In this embodiment, it also includes continuing to scan new obstacles during the obstacle avoidance process and updating the obstacle avoidance path after passing the obstacle.
[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.
Claims
1. An obstacle monitoring and avoidance control system for a water hydrogen production station inspection robot, characterized in that: include: Speed monitoring module, used to monitor the moving speed of the inspection robot in real time; The scanning radius adjustment module is connected to the speed monitoring module and is used to adjust the scanning radius of the obstacle according to the current moving speed of the inspection robot. The scanning radius R1 is calculated according to the following formula: R1=R(1+a%); Where R is the last scanning radius, a% is the change ratio of the current moving speed S1 relative to the average moving speed S, and the calculation formula is: a%=(S-S1) / S; an obstacle detection module, connected to the scanning radius adjustment module, for detecting obstacles within the adjusted scanning radius and determining the position of the obstacles within the scanning range; A shortest distance calculation module, connected to the obstacle detection module, for calculating the shortest distance between the robot and the obstacle; A path updating module, connected to the shortest distance calculation module, for determining whether obstacle avoidance is required based on the shortest distance, and updating the robot's travel path when obstacle avoidance is required; The dynamic environment adaptation module is connected to the path updating module and is used to dynamically adjust the obstacle avoidance strategy and optimize the robot's travel path and speed according to the real-time environmental information and historical data of the inspection robot.
2. According to claim 1, the outdoor inspection robot safety control system for an offshore water hydrogen production platform is characterized in that: The dynamic environment adaptation module comprises: The environmental perception submodule is used to collect the environmental information of the inspection robot in real time, including light intensity, temperature, and humidity, through sensors installed on the robot, and transmit it to the dynamic environment adaptation module in real time; The historical data analysis submodule is used to analyze the historical behavior data of the inspection robot under the same or similar environmental conditions and extract optimization parameters; The obstacle avoidance strategy adjustment submodule is used to dynamically adjust the obstacle avoidance strategy according to the outputs of the environment perception submodule and the historical data analysis submodule.
3. According to claim 1, a safety control system for an outdoor inspection robot on an offshore water hydrogen production platform, characterized in that: The obstacle detection module also includes a sector range definition submodule, which is used to define an angle range of 120 degrees to 180 degrees with the current traveling route direction as the center line as the sector range of the scan.
4. According to claim 1, a safety control system for an outdoor inspection robot on an offshore water hydrogen production platform, characterized in that: The shortest distance calculation module also includes: The position point acquisition submodule is used to acquire multiple position points in the direction of the planned route within the sector range at the same interval that is less than the distance the robot travels per second, until the edge of the sector area; The distance calculation submodule is used to calculate the distance from each location point to the obstacle and filter out the minimum distance.
5. According to claim 1, a safety control system for an outdoor inspection robot on an offshore water hydrogen production platform, characterized in that: The path updating module also includes: The judgment submodule is used to determine whether the shortest distance is greater than or equal to the width of the robot plus half the length of the obstacle. If so, there is no need to avoid the obstacle; otherwise, the route from the current position of the robot to the obstacle is modified to ensure that the minimum distance is greater than or equal to the width of the robot.
6. According to claim 1, a safety control system for an outdoor inspection robot on an offshore water hydrogen production platform, characterized in that: A new obstacle scanning module is also included to continue scanning for new obstacles during obstacle avoidance and update the obstacle avoidance path after passing an obstacle.
7. A method for obstacle monitoring and obstacle avoidance control of a water hydrogen production station inspection robot, using the control system as described in any one of claims 1 to 6, characterized in that: The following steps are involved: Monitor the movement speed of the inspection robot in real time and adjust the scanning radius of obstacles according to the change of movement speed; Detect obstacles within the adjusted scanning radius and determine the location of obstacles within the scanning range; Calculate the shortest distance between the robot and the obstacle; Determine whether obstacle avoidance is needed based on the shortest distance, and update the robot's path when obstacle avoidance is needed; The dynamic environment adaptation module collects the inspection robot's lighting, temperature, and humidity environmental information in real time, and combines it with historical data analysis to automatically adjust the scanning radius, change the travel speed, select a better obstacle avoidance path, and dynamically adjust the obstacle avoidance strategy.
8. The obstacle monitoring and obstacle avoidance control method for a water hydrogen production station inspection robot according to claim 7, characterized in that: The step of calculating the shortest distance between the robot and the obstacle comprises: Collect multiple position points in the direction of the planned route within the fan-shaped range at the same interval that is less than the robot's travel distance per second, until the edge of the fan-shaped area; Calculate the distance from each location point to the obstacle and select the minimum distance.
9. The obstacle monitoring and obstacle avoidance control method for a water hydrogen production station inspection robot according to claim 7, characterized in that: The step of determining whether obstacle avoidance is required includes: determining whether the shortest distance is greater than or equal to the width of the robot plus half the length of the obstacle. If so, no obstacle avoidance is required; otherwise, modifying the route from the current position of the robot to the obstacle to ensure that the minimum distance is greater than or equal to the width of the robot.
10. The obstacle monitoring and obstacle avoidance control method for a water hydrogen production station inspection robot according to claim 7, characterized in that: It also includes continuing to scan for new obstacles during the obstacle avoidance process and updating the obstacle avoidance path after passing through the obstacle.