CN111367296A - Automatic inspection system and automatic inspection control method - Google Patents
Automatic inspection system and automatic inspection control method Download PDFInfo
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- CN111367296A CN111367296A CN202010257867.0A CN202010257867A CN111367296A CN 111367296 A CN111367296 A CN 111367296A CN 202010257867 A CN202010257867 A CN 202010257867A CN 111367296 A CN111367296 A CN 111367296A
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- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000004033 plastic Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 2
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention relates to an automatic inspection system and an automatic inspection control method.A laser radar on an inspection robot acquires information of an obstacle in a traveling direction in real time, the laser radar moves according to a preset path after acquiring a road sign on the preset path, and simultaneously an infrared imager scans equipment on two sides of the path, so that parts which generate heat and have faults can be found in time, and a control platform is informed in time to enable maintenance personnel to find the parts which have the faults in the first time.
Description
Technical Field
The invention relates to the technical field of inspection equipment, in particular to an automatic inspection system and an automatic inspection control method.
Background
With the development of science and technology, places such as machine rooms, base stations and the like need to be regularly inspected to find and timely process existing hidden dangers in the fields such as communication, transformer substations, network services and the like, and conventional inspection is usually performed by arranging operators on duty for regular inspection, so that the labor cost is high, the accuracy of finding hidden dangers such as fire disasters and the like depends on the experience and the working state of the operators, and the accuracy is often difficult to guarantee; moreover, because the equipment is installed in a plurality of indoor equipment, the problems of high temperature, high electromagnetic radiation, electromagnetic interference and the like exist in a limited space, and irreversible damage exists on a human body.
Therefore, how to more effectively perform routing inspection is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides an automatic inspection system and an automatic inspection control method to improve inspection reliability and inspection efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic inspection system comprising: the system comprises an inspection robot, a road sign and a control platform;
the inspection robot includes: the device comprises a motion chassis, a laser radar and an infrared imager;
the bottom of the motion chassis is provided with a motion wheel;
a main control unit and a moving wheel driving unit are arranged inside the moving chassis, and the main control unit is used for acquiring a preset path sent by the control platform;
the road sign is arranged at the initial position of the preset path;
the laser radar is arranged above the moving chassis and used for scanning the road condition of the preset path in real time;
the main control unit is also used for receiving real-time scanning information sent by the laser radar and controlling the moving wheel driving unit to drive the moving wheel to move along the preset path after receiving the real-time scanning information containing the road sign;
the infrared imager is arranged above the motion chassis and used for acquiring thermal information of equipment beside the preset path and sending the thermal information to the control platform through the main control unit.
Further, the automatic inspection system further comprises: the ultrasonic probe is arranged on the moving chassis and used for detecting obstacles in the moving chassis moving direction and sending obstacle information to the main control unit.
Further, the automatic inspection system further comprises: the sound box is arranged on the motion chassis, connected with the main control unit and used for sending alarm information when the temperature of the equipment is too high and/or the equipment encounters an obstacle.
Further, the automatic inspection system further comprises: the indicating lamp is arranged on the moving floor and used for indicating the moving state of the moving floor and the working state of the main control unit.
Further, the road signs are two reflective beacons arranged at a distance of 340 mm.
Further, the automatic inspection system further comprises: and the temperature and humidity sensor is arranged on the motion chassis and used for monitoring temperature and humidity information and sending the temperature and humidity information to the control platform through the main control unit.
Further, the automatic inspection system further comprises: and the function key is connected with the main control unit and used for switching and selecting the state of the motion chassis.
Further, the function key includes: the emergency stop control device comprises an emergency stop switch and a starting switch, wherein the starting switch is used for controlling a power supply of the motion chassis, and the emergency stop switch is used for controlling the motion state of the motion chassis.
The automatic inspection control method according to the specific embodiment of the invention is applied to the automatic inspection system and comprises the following steps:
acquiring a scanning signal of the road sign acquired by the inspection robot;
the inspection robot is moved by taking the position of the obtained scanning signal as a starting point, so that the laser radar scans the road condition in real time to generate the preset path;
and sending the preset path into the main control unit to enable the moving chassis to move according to the preset path.
Further, the automatic inspection control method further comprises the following steps:
and modifying the preset path on the control platform, adding paths which are not related to the preset path and barrier lines to generate a new path, and enabling the inspection robot to move according to the new path.
According to the automatic inspection system and the automatic inspection control method, the laser radar on the inspection robot is used for acquiring the information of the obstacles in the advancing direction in real time, the laser radar moves according to the preset path after acquiring the road signs on the preset path, and meanwhile, the infrared imager scans the equipment on two sides of the path, so that the heating and fault parts can be found in time, the control platform is informed in time, so that maintenance personnel can find the fault parts at the first time, and compared with a manual inspection mode, the automatic inspection system and the automatic inspection control method are more reliable, safer and higher in efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a structural diagram of an inspection robot provided in an embodiment of the present invention;
fig. 2 is an exploded structural view of a main control unit according to an embodiment of the present invention;
fig. 3 is an exploded structural view of a sound box provided in an embodiment of the present invention;
FIG. 4 is an exploded view of a lidar incorporating an embodiment of the present invention;
FIG. 5 is a block diagram of a motion chassis provided by an embodiment of the present invention;
FIG. 6 is another block diagram of a motion chassis provided by embodiments of the present invention;
FIG. 7 is a block diagram of a crash panel provided in accordance with an embodiment of the present invention;
fig. 8 is another structural view of the crash panel according to the embodiment of the present invention.
FIG. 1-Infrared imager; 2-a control box; 3-a motion chassis; 4-a motion wheel; 5-function key; 6-anti-collision guard plate; 7-ultrasonic probe; 8-an indicator light; 9-laser radar; 10-sound equipment; 11-controlling the box cover; 12-a plug; 13-a control box; 14-an antenna; 15-an antenna housing; 16-an antenna mount; 17-a first fixture; 18-a second fixture; 19-sound fixture; 20-radar support; 21-a third fixing member; 22-emergency stop switch; 23-start switch; 24-three-gear selection switch; 25-a motor driver; 26-battery mounting upper base plate; 27-a motor assembly; 28-a pillar; 29-pressure switch box; 30-a master cartridge; 31-a voltage converter; 32-a battery; 33-a main control module box; 34-a contactor; 35-a temperature and humidity sensor; 36-battery mounting lower base plate; 37-brake resistance; 38-fixing plate; 39-sealing plate; 40-a first contact edge mounting plate; 41-safe contact edge; 42-a second contact edge mounting plate; 43-an elastic pad; 44-debugging a sealing plate; 45-starting the adapter;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides an automatic inspection system, including: the system comprises an inspection robot, a road sign and a control platform;
patrol and examine robot includes: the device comprises a motion chassis 3, a laser radar 9 and an infrared imager 1;
the bottom of the motion chassis 3 is provided with a motion wheel 4;
a main control unit and a moving wheel driving unit are arranged in the moving chassis 3, and the main control unit is used for acquiring a preset path sent by the control platform; the motion driving unit can drive the four motion wheels 4 to independently move, so that the adjustment of turning around, turning and other actions can be realized, the infrared imager can image the whole target in a 'surface' form in real time, an operator can preliminarily judge the heating condition and the fault part through the image color displayed on a screen and the hot spot tracking and displaying function, and then subsequent analysis is carried out, so that the problem can be confirmed with high efficiency and high accuracy; the whole height of robot patrols and examines is 965mm, and the width is 565mm, and length is 980mm, and laser radar 9 is 825mm apart from the height on ground, and the road sign setting can let laser radar 9 detect apart from ground height for 300mm, and laser radar 9 is with the radar system of characteristic quantity such as position, the speed of launching laser beam detection target. The method has the advantages of high resolution, good concealment, strong active interference resistance, small volume, light weight, good low-altitude detection performance and the like. The laser radar 9 continuously scans the surrounding environment and updates an online map of the control platform during operation, and simultaneously detects obstacles, when the distance between the obstacles is less than or equal to 1m and is in sight for 3 seconds and does not disappear, the main control unit makes a judgment to stop the trolley to move forward until the obstacles disappear or plan a new path, and the laser radar 9 is arranged above the motion chassis and used for scanning road conditions of the preset path in real time by arranging road signs at the initial position of the preset path;
the main control unit is also used for receiving real-time scanning information sent by the laser radar 9 and controlling the driving unit of the moving wheel 4 to drive the moving wheel to move along a preset path after receiving the real-time scanning information containing the road sign;
the infrared imager 1 is arranged above the moving chassis and used for acquiring thermal information of equipment beside a preset path and sending the thermal information to the control platform through the main control unit.
Specifically, the inspection robot is controlled to move to the position of a road sign located at the initial position through a motion control key or software of the inspection robot in the control platform, and the road sign is two light-reflecting beacons arranged at a distance of 340 mm. Make laser radar 9 aim at the road sign, scan the road sign, just steerable robot of patrolling and examining moves according to the route of patrolling and examining of user's needs after scanning the road sign, thereby laser radar 9 carries out real-time scanning can form the map of route of marcing, the robot of patrolling and examining after preserving can carry out daily operation of patrolling and examining to the computer lab according to predetermineeing the route, and laser radar 9 can survey the security of guaranteeing to advance to the barrier at the robot motion in-process of patrolling and examining, compare in the artifical mode of patrolling and examining reliable and high-efficient more.
It should be noted that the communication mode between the main control unit and the control platform can be easily known by the prior art, and therefore, a detailed explanation is not provided.
Communication methods such as remote communication are often used in the prior art, and detailed description is not given in this embodiment, and those skilled in the art can also know from the prior art.
In order to further optimize the technical solution, another embodiment of the present invention further includes: the ultrasonic probe 7 is arranged on the moving chassis 3, and is used for detecting obstacles in the moving direction of the moving chassis 3 and sending obstacle information to the main control unit.
Specifically, referring to fig. 1, the ultrasonic probe 7 can emit sound waves with a frequency higher than 20000 hz, and has good directivity and strong penetration ability. It is based on this property to work. The front and the back of the moving chassis 3 are respectively provided with three ultrasonic probes 7, when the trolley runs, the six ultrasonic probes 7 can emit ultrasonic waves, when the ultrasonic waves meet obstacles, the ultrasonic waves can be emitted back, namely, the ultrasonic receivers are utilized to receive the reflected sound waves, and the reflected sound waves are converted into electric signals to be transmitted to the main control unit. The main control unit makes a prejudgment according to the distance of the object and avoids obstacles in time, so that the safety and the reliability of the motion of the inspection robot are improved.
Referring to fig. 3, in the specific implementation process, the method further includes: and the sound box 10 is arranged on the moving chassis 3, is connected with the main control unit and is used for sending alarm information when the temperature of the equipment is too high and/or an obstacle is met.
The sound 10 is fixed by the sound fixing frame 19 fixed on the moving chassis 3, and in the actual application process, the sound 10 can be used as an interphone, so that the situation that a worker exists in a machine room can be realized, the remote and on-site linkage inspection work can be better realized by establishing communication connection between the sound 10 and a remote monitoring person, and convenience is provided for remote control.
Referring to fig. 2 to 6, in some embodiments of the present invention, the method further includes: the indicator light 8 is arranged on the moving chassis 3 and used for indicating the moving state of the moving chassis 3 and the working state of the main control unit;
the temperature and humidity sensor 35 is arranged on the moving chassis 3, is used for monitoring temperature and humidity information and is sent to the control platform through the main control unit;
Specifically, the infrared imager 1 is fixed on a rotatable base through screws such as a plug 12 and the like so as to realize detection without a dead angle of 360 degrees, the control box 13 and the control box cover 11 are matched for installing and protecting a main control unit, and an antenna for signal transmission is fixed through the antenna housing 15 and the antenna base 16, wherein the control box 13 and the control box cover 11 can be fixed through a first fixing piece 17 and a second fixing piece 18; the laser radar 9 is fixed on the moving chassis 3 through a radar bracket 20 and is fixed through a third fixing piece 21; the function keys 5 comprise an emergency stop switch 22, a starting switch 23 and a three-gear selection switch 24, wherein the emergency stop switch 22 can be manually stopped when the inspection robot is not controlled, and the three-gear selection switch 24 can be used for setting the movement speed of the inspection robot and can be divided into three gears for advancing work; the indicator light 8 is a three-color indicator light which can indicate the running state and the moving state of the inspection robot, such as:
the state that inspection robot worked can be quick judgement through the observation staff to the 8 states of pilot lamp, provides the reference for judging whether inspection robot normally operates.
The moving wheel driving unit in the moving chassis 3 controls the independent operation of the four moving wheels 4 by four independent motor drivers 25 and a motor assembly 27 respectively, an upper battery mounting plate 26 and a lower battery mounting plate 36 are also arranged in the moving chassis 3 and used for fixing a rechargeable battery 32, the battery 32 can operate for 8 hours under the condition of full capacity, and when the state of the battery 32 in the system is lower than 20%, an indicator light 8 gives an early warning and the trolley automatically operates to a charging station to start charging (the charging pile needs to be installed in advance). And manual charging can be carried out through an external charging port. Standard charging time: charging is carried out according to the time specified by the special matched charger. The environment temperature is about 25 ℃, and the ternary lithium battery is 3-4 hours. And the charger is provided with an overcurrent protection device, so that the charging for a long time (generally not more than 18 hours) does not affect the service life of the battery and the charger, and the charging safety is ensured.
The main controller box 30 can be used for installing a main controller in the main control unit, and the pressure switch box 29 can be provided with corresponding function keys 5 for controlling functions of a power supply, an emergency stop and the like; the contactor 34 is used as a power supply switch of the battery 32 to control the battery power supply, and the temperature and humidity sensor 35 is used as a key sensor for collecting the temperature and humidity in the machine room to monitor the temperature and humidity in the machine room and provide data reference for emergency situations such as fire and the like; the battery fixing plate and the chassis are fixed through the support 28, and the brake resistor 37 is used for the main control unit to brake and control the four moving wheels 4 to realize the independent control of the four moving wheels 4; the main control module box 33 is fixed by the control fixing plate for processing data related to the laser radar 9, and the voltage converter 31 converts the voltage provided by the battery 32 into a stable working voltage for devices including the main controller and the main control module.
Referring to fig. 7 to 8, in other embodiments of the invention, in order to avoid the situation that the laser radar 9 and the ultrasonic probe 7 are used for barrier, the inspection robot is still easy to be damaged due to collision when braking is not timely, the front and the rear of the inspection robot chassis are respectively provided with an anti-collision guard plate, the anti-collision guard plates consist of a first contact edge mounting plate 40, a safe contact edge 41, a second contact edge mounting plate 42 and an elastic pad 43, the safe contact edge 41 consists of a rubber jacket and a submerged plastic pipe, the plastic pipe is connected with a barometer arranged in the motion chassis 3 through a starting adapter 45, the plastic pipe is a sealed pipeline, the interior of the pipeline is filled with gas, the external rubber can raise the gas pressure in the sealed plastic pipe after being extruded, and the main control unit can start corresponding control actions after detecting the data transmitted by the barometer, so that the inspection robot stops moving and is protected from being damaged. The reserved debugging sealing plate 44 can be used as a sealing plate of the debugging port to protect the debugging port, and the sealing plates 39 at the front and the rear of the vehicle body can be used for protecting the internal equipment of the moving chassis.
The embodiment of the invention also provides an automatic inspection control method, which is applied to the automatic inspection system in the embodiment and comprises the following steps:
101. acquiring a road sign scanning signal acquired by the inspection robot;
102. the inspection robot is moved by taking the position of the obtained scanning signal as a starting point, so that the laser radar scans the road conditions in real time to generate a preset path;
103. and sending the preset path into the main control unit to enable the moving chassis to move according to the preset path.
Specifically, debugging software in the control platform is used, after the IP address of the corresponding robot is input, communication connection is established with the corresponding robot, a new map is drawn in a new environment, and the initial position of drawing needs to be marked before drawing. The robot is required to be capable of seeing at least one wall near the initial position, and within one meter of the distance from the center of the radar, the robot faces the positive direction of the radar, two parallel reflecting stickers are attached to mark the initial position of drawing, and the distance between the outer sides of the reflecting stickers is 340 mm.
The robot can be controlled to move by pressing a start button (a round button in the middle of a PS3 handle) of the remote control handle and waiting for connection success, or by using a manual control function (a direction key of a key board) on software.
After the map is drawn, the robot is required to return to the initial position to ensure that the reflected light is attached within the visible range of 1m of the radar, and after the map is stored, the map can be opened by double clicking the map name in the map list.
Pressing a left mouse button at any position on a map, dragging the mouse for a distance and then releasing, wherein x and y values of a dragging starting point are used as x and y values of a site coordinate, and a dragging direction is used as t (deflection angle); when the user clicks on the road network, the station is a station related to the road network, and the road network route is preferentially selected during automatic navigation.
In addition, in the specific implementation process, in order to increase the controllability of the software and meet the design requirements of users, paths such as straight lines, tangent lines, circular arcs and the like can be added to the software, so that the robot can move according to the newly added paths. And modifying the preset path on the control platform, and adding the preset path to generate a new path for the related path and the barrier line so that the inspection robot moves according to the new path.
In the fixed path mode, the robot can move according to a manually edited path, and the path comprises three types: straight line, circular arc and in-situ rotation. And when the path is continuously added, the starting point of the path is the end point of the previous path, and the direction is the direction of the end point of the previous path. And after the navigation task is received, the available path is automatically planned and displayed on the map. And displaying the current task execution progress information in the status area, wherein the current task execution progress information comprises information such as total mileage, remaining execution time and the like.
In the drawing process, the speed range of the robot is 0.5 m/s; slowly accelerates and decelerates, keeps stable running and avoids the obstacle crossing of the robot. The angular speed of the robot is 0.3rad/s, the maximum angular speed does not exceed 0.4rad/s, and the slip is not allowed to occur.
And in the turning position, after the robot rotates 360 in place, the robot performs turning operation again to ensure that the robot can clearly see the surrounding environment.
If a longer wall surface exists, the walking is carried out along the wall edge, the distance from the wall edge is more than 1m, and the distance from a certain wall surface is not allowed to be less than 1 m.
The drawing route needs to form a closed loop, and from an initial position, before drawing is finished, the drawing route needs to return to the initial position, and the light reflecting strips are identified, so that the drawing can be finished to ensure the accuracy of drawing.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An automatic inspection system, comprising: the system comprises an inspection robot, a road sign and a control platform;
the inspection robot includes: the device comprises a motion chassis, a laser radar and an infrared imager;
the bottom of the motion chassis is provided with a motion wheel;
a main control unit and a moving wheel driving unit are arranged inside the moving chassis, and the main control unit is used for acquiring a preset path sent by the control platform;
the road sign is arranged at the initial position of the preset path;
the laser radar is arranged above the moving chassis and used for scanning the road condition of the preset path in real time;
the main control unit is also used for receiving real-time scanning information sent by the laser radar and controlling the moving wheel driving unit to drive the moving wheel to move along the preset path after receiving the real-time scanning information containing the road sign;
the infrared imager is arranged above the motion chassis and used for acquiring thermal information of equipment beside the preset path and sending the thermal information to the control platform through the main control unit.
2. The automatic inspection system according to claim 1, further comprising: the ultrasonic probe is arranged on the moving chassis and used for detecting obstacles in the moving chassis moving direction and sending obstacle information to the main control unit.
3. The automatic inspection system according to claim 1, further comprising: the sound box is arranged on the motion chassis, connected with the main control unit and used for sending alarm information when the temperature of the equipment is too high and/or the equipment encounters an obstacle.
4. The automatic inspection system according to claim 1, further comprising: the indicating lamp is arranged on the moving floor and used for indicating the moving state of the moving floor and the working state of the main control unit.
5. The automatic inspection system according to claim 1, wherein the road signs are two beacon lights spaced 340mm apart.
6. The automatic inspection system according to claim 1, further comprising: and the temperature and humidity sensor is arranged on the motion chassis and used for monitoring temperature and humidity information and sending the temperature and humidity information to the control platform through the main control unit.
7. The automatic inspection system according to claim 1, further comprising: and the function key is connected with the main control unit and used for switching and selecting the state of the motion chassis.
8. The automatic inspection system according to claim 7, wherein the function buttons include: the emergency stop control device comprises an emergency stop switch and a starting switch, wherein the starting switch is used for controlling a power supply of the motion chassis, and the emergency stop switch is used for controlling the motion state of the motion chassis.
9. An automatic inspection control method applied to the automatic inspection system according to any one of claims 1 to 8, characterized by comprising:
acquiring a scanning signal of the road sign acquired by the inspection robot;
the inspection robot is moved by taking the position of the obtained scanning signal as a starting point, so that the laser radar scans the road condition in real time to generate the preset path;
and sending the preset path into the main control unit to enable the moving chassis to move according to the preset path.
10. The automatic inspection control method according to claim 9, further comprising:
and modifying the preset path on the control platform, adding paths which are not related to the preset path and barrier lines to generate a new path, and enabling the inspection robot to move according to the new path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010257867.0A CN111367296A (en) | 2020-04-03 | 2020-04-03 | Automatic inspection system and automatic inspection control method |
Applications Claiming Priority (1)
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