Intelligent patrol robot inspection system

Abstract

The invention discloses an intelligent patrol robot inspection system, which relates to the technical field of computers and comprises an inspection module, a parameter extraction module, a communication module and an upper computer management module. The inspection module is electrically connected with the parameter extraction module and is used for controlling movement and autonomous inspection of the inspection robot; the parameter extraction module is electrically connected with the communication module and is used for acquiring environment data through a plurality of sensors and sending the acquired environment data to the upper computer management module through the data processing module and the communication module; and the upper computer management module is used for receiving the environment data from the parameter extraction module, displaying the environment data and the moving path of the inspection robot, comparing the obtained environment data with a preset threshold value, and triggering the alarm module to give an alarm when the environment data exceeds the preset threshold value.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to an intelligent patrol robot inspection system. Background Art

[0002] Warehousing is an important part of today's enterprises and logistics. Most of the storage environments are closed spaces, and the large accumulation of stored items also increases the risk factor in the warehouse management process. In particular, warehouses that contain mostly flammable items are highly dangerous. Fires can occur if you are not careful, causing immeasurable damage to materials and personnel.

[0003] Traditional warehouse management inspection methods are mostly fixed monitoring plus manual management or patrolling. This management method requires a certain amount of manpower, and people will inevitably get tired and fail to detect dangers in time, resulting in poor inspection efficiency. Summary of the invention

[0004] The present invention provides an intelligent patrol robot inspection system to solve the above-mentioned problem existing in the prior art, that is, the problem of how to improve the inspection efficiency of the inspection robot in the prior art. The present invention provides an intelligent patrol robot inspection system, which includes: Parameter extraction module, communication module, inspection module and host computer management module; The parameter extraction module is electrically connected to the communication module, and is used to obtain the environmental data collected by the sensor, process it, obtain the processing result, and send instructions or data to the inspection module according to the processing result; The inspection module includes a data processing module, a plurality of infrared tracking modules and a motor control module; wherein the data processing module is electrically connected to the parameter extraction module, and is used to obtain and process instructions or data from the parameter extraction module to control the movement or static state of the inspection robot; the plurality of infrared tracking modules are used to detect whether the inspection robot moves along a preset trajectory and obtain a corresponding output state; the motor control module is used to obtain the output states of the plurality of infrared tracking modules, and dynamically adjust the speed and direction of the motor according to the output states of the plurality of infrared tracking modules to control the movement direction of the inspection robot; The upper computer management module is used to receive the environmental data from the parameter extraction module and the moving path of the inspection robot through the communication module, display the environmental data and the moving path of the inspection robot, and compare and analyze the acquired environmental data with the preset threshold. When the acquired environmental data exceeds the preset threshold, early warning processing is performed, and the corresponding position information of the inspection robot is displayed.

[0005] Optionally, the parameter extraction module includes a data acquisition module and a data processing module; wherein the data acquisition module is used to collect environmental data through multiple sensors; the data processing module is used to process the collected environmental data to obtain processing results, and send instructions or data to the inspection module according to the processing results, and send the acquired environmental data to the upper computer management module through the communication module.

[0006] Optionally, the host computer management module is built based on LabVIEW.

[0007] Optionally, the model selected for the temperature and humidity sensor is DHT11, the model selected for the smoke sensor is MQ-2, and a LoRa module is used as a communication module.

[0008] Optionally, EP4CE6E22C8 is selected as the main control chip of the inspection module, and STM32F103C8T6 is used as the main control chip of the data processing module in the parameter extraction module.

[0009] Optionally, the parameter extraction module is electrically connected to the communication module, and includes a data acquisition module and a data processing module; the data acquisition module is used to collect environmental data through multiple sensors, and the data processing module is used to send the acquired environmental data to the upper computer management module through the communication module.

[0010] Optionally, the parameter extraction module also includes a data display module for displaying the acquired environmental data in real time; wherein the environmental data includes temperature and humidity data acquired by a temperature and humidity sensor, and combustible gas concentration acquired by a smoke sensor.

[0011] Optionally, the host computer management module specifically includes: Display module and alarm module; the display module is used to display the environmental data received from the parameter extraction module; the alarm module is used to alarm when the environmental data exceeds a preset threshold.

[0012] Optionally, the multiple infrared tracking modules specifically include: The first infrared tracking module, the second infrared tracking module, the third infrared tracking module and the fourth infrared tracking module are used to control the inspection robot to move forward, backward, turn left and turn right respectively.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides an intelligent patrol robot inspection system, which uses FPGA as the main chip and STM32 as the auxiliary chip combination. The FPGA chip controls multiple infrared tracking modules and a motor control module. The FPGA chip reads the PWM wave with different duty cycles output by the infrared tracking module to the motor control module, and then the motor control module converts the logic level into power output to drive the motor to move, thereby controlling the movement of the patrol robot; the temperature and humidity data are collected from the temperature and humidity sensor through the STM32, and the concentration of combustible gas is collected with the smoke sensor, so as to realize the real-time extraction of environmental parameters of the storage environment, and then the data is uploaded to the host computer by using the LoRa module, and the extracted key parameters are displayed, recorded and alarmed, so as to judge the fault point when the storage environment is abnormal, thereby realizing intelligent inspection and analysis of the storage environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0015] Figure 1 A framework diagram of an intelligent patrol robot inspection system provided by an embodiment of the present invention; Figure 2 A hardware circuit diagram of an intelligent patrol robot inspection system provided by an embodiment of the present invention; Figure 3 A program flow chart of an intelligent patrol robot inspection system provided by an embodiment of the present invention; Figure 4 A program flow chart of a host computer management system of an intelligent patrol robot inspection system provided by an embodiment of the present invention; Figure 5 The host computer LabVIEW interface and test diagram provided for the embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0017] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0018] Figure 1 is a framework diagram of an intelligent patrol robot inspection system provided by an embodiment of the present invention, such as Figure 1 As shown, an intelligent patrol robot inspection system shown in this embodiment includes a parameter extraction module, a communication module, an inspection module and a host computer management module; the parameter extraction module is electrically connected to the communication module, and is used to obtain environmental data collected by the sensor, and process it to obtain a processing result, and send instructions or data to the inspection module according to the processing result; the inspection module includes a data processing module, a plurality of infrared tracking modules and a motor control module; wherein the data processing module is electrically connected to the parameter extraction module, and is used to obtain and process instructions or data from the parameter extraction module to control the movement or static state of the inspection robot; the plurality of infrared tracking modules are used to control the inspection robot Whether the robot moves along the preset trajectory is detected to obtain the corresponding output state; the motor control module is used to obtain the output states of multiple infrared tracking modules, and dynamically adjust the speed and direction of the motor according to the output states of multiple infrared tracking modules to control the moving direction of the patrol robot; the upper computer management module is used to receive the environmental data from the parameter extraction module and the moving path of the patrol robot through the communication module, display the environmental data and the moving path of the patrol robot, and compare and analyze the obtained environmental data with the preset threshold value. When the obtained environmental data exceeds the preset threshold value, early warning processing is performed, and the corresponding position information of the patrol robot is displayed.

[0019] Optionally, the parameter extraction module also includes a data display module for displaying the acquired environmental data in real time; wherein the environmental data includes temperature and humidity data acquired by a temperature and humidity sensor, and combustible gas concentration acquired by a smoke sensor.

[0020] like Figure 1 As shown, the present invention adopts a solution of using FPGA as the main chip and STM32 as the auxiliary chip. The patrol robot is controlled by an FPGA chip, such as the EP4CE6E22C8 model chip, the motor is driven by a motor driver chip, the temperature and humidity sensor is used to collect temperature and humidity data, the smoke sensor is used to collect the concentration of combustible gas, the STM32F103C8T6 is used to read various sensor data, and the LoRa module is used as a communication module to upload the environmental data to the host computer.

[0021] For example, in the inspection module, the EP4CE6E22C8 chip of the FPGA chip is selected to read the state of the output composition of the four infrared tracking modules, and then four PWM waves with different duty cycles are output to the motor control module according to different states. The motor control module converts the logic level into power output to drive the motor movement. In the parameter extraction module, the data of the temperature and humidity sensor and the combustible gas concentration sensor are obtained through the STM32F103C8T6, the output voltage value of the combustible gas sensor is converted into a combustible gas concentration value, and the temperature, humidity, and combustible gas concentration values ​​are organized into a data packet in a certain format and uploaded to the host computer through the LoRa module. In the host computer management module, by using the real-time data transmitted by LoRa, a system panel is built based on the LabVIEW platform, including a data acquisition interface, a historical data interface, and a patrol robot motion control simulation interface, which mainly completes the functions of real-time data and waveform display, historical data display, patrol robot running trajectory and real-time status.

[0022] like Figure 2 As shown in the figure, the sensors used in the environmental data acquisition circuit are DHT11 temperature and humidity sensor, MQ-2 smoke sensor, the inspection robot uses infrared tracking module, and the data transmission circuit uses LoRa module.

[0023] Figure 2 (a) is the temperature and humidity acquisition module circuit, which completes the temperature and humidity data acquisition of the inspection environment. DATA is used for communication and synchronization between the microprocessor and DHT11, using a single bus communication protocol, a communication time of about 4ms, and the data is divided into a decimal part and an integer part.

[0024] Figure 2 (b) is the MQ-2 smoke sensor module circuit, in which LM393 forms a voltage comparator circuit, the same direction terminal is connected to the voltage comparator output terminal, and the reverse direction terminal is connected to the smoke sensor output. When the smoke concentration in the air is low, the smoke sensor output voltage is low, and when the smoke concentration in the air is high, the smoke sensor output is high. The ADC chip can be used to read the voltage at the AO terminal to calculate the smoke concentration value.

[0025] Figure 2(c) is the infrared tracking module circuit. The infrared tracking module emits infrared light from the infrared emitting tube, and the returned light is received by the photodiode, which converts the light signal into current output, and then into voltage signal by the resistor voltage divider circuit. The LM393 forms a voltage comparator circuit, and the inverting end is connected to the output end of the potentiometer as the reference voltage, and the same direction end is connected to the photodiode. The voltage converted by the phototransistor is compared with the reference voltage. If the photodiode receives strong light, the photocurrent generated is large. At this time, the voltage division on the resistor is large, so the voltage at the same direction end of the voltage comparator is small, and the comparator outputs a low level. If the photodiode receives weak light, the photocurrent generated is small. At this time, the voltage division on the resistor is small, so the voltage at the same direction end of the voltage comparator is large, and the comparator outputs a high level. The reference voltage can be adjusted by adjusting the point VR1. Among them, AO and DO are analog output and digital output terminals respectively. AO can be connected to the ADC chip to convert it into digital quantity, so as to calculate the specific voltage, and DO can be connected to the processor pin for status judgment.

[0026] Figure 2 (d) is a motor drive circuit, in which the power supply is connected to a 9V power supply, and there are two groups of input ports, the first group is INA1 and INB1, and the second group is INA2 and INB2, which are connected to the four I / O ports of the controller respectively. The VCC terminal is connected to a 3.3V-5V power supply. Connecting capacitors to the two terminals of the motor can prevent the sudden change of voltage from burning the motor. When two channels are working at the same time, the continuous output current capacity of each channel is 1.6A, and the peak output current capacity is 3.5A. When only one channel is working, the continuous output current capacity of each channel is 2.3A, and the peak output current capacity is 3.5A.

[0027] FPGA is responsible for path tracking and robot operation. STM32 is responsible for environmental data collection. When the environmental data is normal, FPGA runs normally and collects data at key locations. When the environmental data is abnormal, the host computer will alarm abnormally, and FPGA will stop running and stay at the abnormal point. The selected EP4CE6E22C8 is responsible for the operation of the patrol robot, and the STM32F103C8T6 is responsible for collecting and processing environmental data. The two controllers are interconnected and each performs its own duties. Figure 3 (a) is the STM32 workflow diagram. After starting, first determine whether to exit the loop. If the exit loop condition is met, the process ends. Otherwise, determine whether to turn left. If a left turn state is detected, enter the left turn state. Otherwise, determine whether to turn right. If a right turn state is detected, enter the right turn state. Otherwise, determine whether to move forward. If a forward state is detected, enter the forward state. Otherwise, determine whether to move backward. If a backward state is detected, enter the backward state. Figure 3(b) is the FPGA workflow diagram. After the start, the IO port, timer and serial port are initialized first, and then the loop is entered. In the loop, it is determined whether the exit condition is met. If it is met, the process ends. Otherwise, it reads the temperature and humidity data, reads the ADC data, and then converts the ADC data into combustible gas concentration. Then the temperature, humidity and combustible gas concentration are sent to the host computer, and then it returns to determine whether the exit condition is met.

[0028] For example, when the STM32 detects that the smoke concentration in the environment exceeds a preset threshold, it can send an emergency signal to the FPGA, and the FPGA can formulate the movement strategy of the car or trigger a corresponding alarm response, such as instructing the inspection robot to immediately stop the current task and return to a safe area.

[0029] Exemplarily, the upper computer management module can be built by LabVIEW. The main body of the software system is a switch-case structure, which switches different branches by shift registers. The system mainly consists of five branches, including init, wait, readdata, run, and exit. The init branch is responsible for setting the initial value of each control; the wait branch mainly cooperates with the event structure to process the events of each button being pressed, and then jumps to the corresponding branch to execute the program; the readdata branch is mainly responsible for reading the saved historical data from the Excel table; the run branch is mainly responsible for judging whether the temperature and humidity data and the combustible gas data exceed the set value, and parsing the string sent by the lower computer and converting it into data that can be displayed by the waveform chart and display control; the exit branch is to stop the operation of the entire program.

[0030] like Figure 4 As described above, the overall process of the host computer begins with entering the init branch, which is responsible for initializing the status of each control, including the initial value of the temperature upper limit, the humidity upper limit, the initial value of the combustible gas concentration upper limit, the temperature display, the humidity display, the initial value of the combustible concentration display, the serial port status indicator, the left turn indicator, the right turn indicator, the forward indicator, the initial state of the backward indicator, the initial state of the serial port, the serial port switch, the exit system button, the read data button, the forward button, and the initial state of the left turn button. After the initialization program is executed, it enters the wait branch, and determines whether the timeout function has timed out in the wait branch. If it has timed out, it enters the run branch, and returns to the wait branch after executing the run branch; if it has not timed out, it determines whether the exit button has been pressed. If the exit button has been pressed, it jumps to the exit branch to exit the entire program. If it has not been pressed, it continues to execute the wait branch.

[0031] For example, before the system is tested, the motor drive board, temperature and humidity sensor, combustible gas sensor, infrared sensor and processor are connected according to the schematic diagram, the battery is connected to the motor drive board for high-power power supply, the program is debugged in Keil software and downloaded to the microcontroller, and a pof file for burning is generated in QuartusII software. Since sof is stored in RAM, data will be lost when power is off, so a pof file needs to be generated and solidified in FLASH. After startup, observe that the indicator lights of each module light up, and there is an LED on the STM32F103 development board that flashes at intervals of 400ms, indicating that the system starts to operate normally. After the system is running, the microcontroller part collects the temperature and humidity values ​​and the combustible gas concentration values ​​every 200ms, and uploads them to the host computer through the LoRa module. The FPGA part reads the value output by the infrared sensor module, and determines whether to go straight or turn according to the values ​​output by the four infrared sensors.

[0032] For example, when the output indicator lights of the four infrared tracking modules are all on, the wheels on both sides of the patrol robot are in a rotating state, which proves that the patrol robot is in a straight-walking state at this time; when the two infrared tracking modules on the right scan the black line, the patrol robot turns right, and similarly, when the two infrared tracking modules on the left scan the black line, the patrol robot turns left.

[0033] like Figure 5 As shown, it is the LabVIEW interface and test diagram of the host computer.

[0034] Figure 5 (a) is a schematic diagram of the automatic mode state of the patrol robot operation interface. At this time, the mode switch button is gray and the automatic mode is displayed. It can be seen that the interface displays the coordinates of the upper left corner of the patrol robot in pixels. In this state, the patrol robot automatically runs along the black track, and then the patrol robot moves from (0,0) pixels to (12,-122) pixels.

[0035] Figure 5 (b) is a schematic diagram of the state when the movement mode is set to manual mode. In manual mode, the forward button is pressed and the corresponding indicator light turns light green. It can be seen that the patrol robot moves from (12, -122) to (12, -152).

[0036] The intelligent patrol robot inspection system designed by the present invention based on the storage environment realizes the functions of data collection and automatic tracking through the parameter extraction module and the inspection module, and can use the LoRa module to upload the data to the host computer at a speed of 5 times per second. The sub-panels and modules of the host computer were tested in detail. The data acquisition interface can display waveforms, specific data and warnings. After testing, the temperature accuracy reached ±0.5°C, the humidity accuracy reached ±2RH, and the combustible gas accuracy reached 1%PPM. The historical data interface can read historical data from the excel table and display it on the front panel. The patrol robot motion control simulation interface can simulate the automatic operation and manual control of the patrol robot. Error analysis and fitting are performed on the collected data. The data collected by the system are fitted using the MATLAB data fitting toolbox to obtain the fitting function formula, and the fitting curve is compared with the curve of the original data. The maximum error between the measured curve and the fitting curve is 0.44°C for temperature, 0.86%RH for humidity, and 1.57PPM for combustible gas concentration. The system greatly improves the intelligent management level and fault diagnosis ability of real-time parameter monitoring in the work of the intelligent patrol robot, and has good sensor scalability.

[0037] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present invention.

Claims

1. An intelligent patrol robot inspection system, characterized in that: It includes parameter extraction module, communication module, inspection module and host computer management module; The parameter extraction module is electrically connected to the communication module, and is used to obtain the environmental data collected by the sensor, process it, obtain the processing result, and send instructions or data to the inspection module according to the processing result; The inspection module includes a data processing module, a plurality of infrared tracking modules and a motor control module; wherein the data processing module is electrically connected to the parameter extraction module, and is used to obtain and process instructions or data from the parameter extraction module to control the movement or static state of the inspection robot; the plurality of infrared tracking modules are used to detect whether the inspection robot moves along a preset trajectory and obtain a corresponding output state; the motor control module is used to obtain the output states of the plurality of infrared tracking modules, and dynamically adjust the speed and direction of the motor according to the output states of the plurality of infrared tracking modules to control the movement direction of the inspection robot; By selecting EP4CE6E22C8 as the main control chip of the inspection module, STM32F103C8T6 is used as the main control chip of the data processing module in the parameter extraction module; The multiple infrared tracking modules specifically include: The first infrared tracking module, the second infrared tracking module, the third infrared tracking module and the fourth infrared tracking module are used to control the inspection robot to move forward, backward, turn left and turn right respectively; The upper computer management module is used to receive the environmental data and the moving path of the inspection robot from the parameter extraction module through the communication module, display the environmental data and the moving path of the inspection robot, and compare and analyze the acquired environmental data with the preset threshold value. When the acquired environmental data exceeds the preset threshold value, an early warning process is performed, and the position information corresponding to the inspection robot is displayed; the upper computer management module is built based on LabVIEW; The host computer management module specifically includes: A display module and an alarm module, wherein the display module is used to display the environmental data received from the parameter extraction module; and the alarm module is used to give an alarm when the environmental data exceeds a preset threshold.

2. The intelligent patrol robot inspection system as claimed in claim 1, characterized in that: The parameter extraction module includes a data acquisition module and a data processing module; wherein the data acquisition module is used to collect environmental data through multiple sensors; the data processing module is used to process the collected environmental data to obtain processing results, and send instructions or data to the inspection module according to the processing results, and send the acquired environmental data to the upper computer management module through the communication module.

3. The intelligent patrol robot inspection system as claimed in claim 1, characterized in that: The sensors include a temperature and humidity sensor and a smoke sensor.

4. The intelligent patrol robot inspection system as claimed in claim 1, characterized in that: The LoRa module is used as the communication module.

5. The intelligent patrol robot inspection system as claimed in claim 1, characterized in that: The parameter extraction module also includes a data display module, which is used to display the acquired environmental data in real time; wherein the environmental data includes temperature and humidity data acquired by a temperature and humidity sensor, and combustible gas concentration acquired by a smoke sensor.

6. The intelligent patrol robot inspection system as claimed in claim 1, characterized in that: Also includes: The positioning module is used to obtain the position information of the inspection robot during the inspection process.

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