CN106532946A - Robot power station tour-inspection system and method - Google Patents
Robot power station tour-inspection system and method Download PDFInfo
- Publication number
- CN106532946A CN106532946A CN201611086008.XA CN201611086008A CN106532946A CN 106532946 A CN106532946 A CN 106532946A CN 201611086008 A CN201611086008 A CN 201611086008A CN 106532946 A CN106532946 A CN 106532946A
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- China
- Prior art keywords
- robot
- crusing robot
- base station
- anchor point
- patrol
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
Abstract
The invention discloses a robot power station tour-inspection system and method. The system comprises a robot base station, a main control room, a tour-inspection robot and tour-inspection points. According to the robot power station tour-inspection system, the tour-inspection robot can enter an tour-inspection point area according to a satellite navigation and positioning system, and then an image recognition system installed on the left and right feet of the tour-inspection robot is used to recognize the images of tour-inspection positioning points pre-embedded in the ground, a mechanical guide device guides the tour-inspection robot in order that the left and right feet of the robot fully match and the left and right positioning points of each tour-inspection point so as to achieve secondary accurate positioning of the tour-inspection robot. A temperature detector, a decibel detector and a camera installed on the robot collect relevant data and transmit the data to a master compute through a signal remote switch, the master computer analyze and processes the data. The robot power station tour-inspection system can guide the inspection robot through the image recognition system and the mechanical guide device so as to guide the tour-inspection robot to secondary accurate positioning, and fully guarantees the accuracy and consistency of the relevant data collected by the tour-inspection robot, and has a wide application prospect.
Description
Technical field
The present invention relates to a kind of service robot, and in particular to a kind of robot power station cruising inspection system and method, belong to
Electrically and field of electromechanical technology.
Background technology
At present, work is patrolled and examined mainly by the patrol officer in power station completing in power station, due to workload that power station is patrolled and examined it is big,
Environment is complicated, and especially in the case of atrocious weather, such as, the weather condition such as strong wind and heavy rain, thunder and lightning, patrol officer also have one
Fixed danger, so, it is considered to it is an extraordinary idea to replace patrol officer to complete to patrol and examine using crusing robot.Patrol and examine
Robot replaces patrol officer to carry out patrolling and examining work, and the problem of most critical is how crusing robot is just determined patrolling and examining a realization
Position.
The content of the invention
Robot power station proposed by the present invention cruising inspection system, crusing robot can be entered according to satellite navigation and location system
Patrol and examine a region, then by the image identification system installed in crusing robot or so foot to pre-plugged on the ground patrol and examine fixed
Site carries out image recognition, is oriented to by mechanical guiding device, guides the left and right foot of crusing robot and patrols and examines and a little or so positions
Point fits like a glove, and realizes the secondary accurate positioning of crusing robot, and by the temperature sounder on crusing robot,
Decibel survey meter and the first-class collection related data of shooting, then main control computer is transferred to by signal remote switch device, there is master control electricity
Brain is analyzed process.
The present invention be arranged on the image identification system of crusing robot or so foot to pre-plugged on the ground patrol and examine fixed
Site carries out image recognition and mechanical guiding device and is oriented to, and guides the left and right foot of crusing robot and to patrol and examine a little or so anchor point complete
It is complete to coincide, the secondary accurate positioning of crusing robot is realized, the related data that crusing robot is collected can be fully ensured that
Accuracy and concordance, have a extensive future.
It is an object of the invention to provide a kind of robot power station cruising inspection system and method.
The technical solution used in the present invention is：A kind of robot power station cruising inspection system, including robot base station, master control room,
Crusing robot, patrol and examine a little；Base station cradle and base station charging anchor point is provided with the robot base station, and the base station is filled
Electric anchor point includes that left anchor point is charged in base station and base station is charged right anchor point, the base station charge left anchor point top in the middle of
The surrounding shape of the left guide ledges, the surrounding shape of the left anchor point of base station charging and crusing robot left foot bottom surface of charging with base station
Shape is identical, the base station charge right anchor point top in the middle of charge right guide ledges with base station, charge right anchor point for base station
Surrounding shape it is identical with the surrounding shape of crusing robot right crus of diaphragm bottom surface；The left foot of the crusing robot is provided with robot
Left foot image identification system, the left foot bottom middle setting of crusing robot have left foot to be oriented to concave surface, the right crus of diaphragm of crusing robot
Robot right crus of diaphragm image identification system is provided with, the right crus of diaphragm bottom middle setting of crusing robot has right crus of diaphragm to be oriented to concave surface；It is described
Main control computer and master control room signal remote switch device is provided with master control room；The left foot of the crusing robot is provided with robot
Left foot image identification system, the left foot bottom middle setting of crusing robot have left foot to be oriented to concave surface, the right crus of diaphragm of crusing robot
Robot right crus of diaphragm image identification system is provided with, the right crus of diaphragm bottom middle setting of crusing robot has right crus of diaphragm to be oriented to concave surface, patrols and examines
Crusing robot charging head is provided with the left of the middle part of robot, and the left side of head of crusing robot is provided with crusing robot letter
Number remote switch device, the crusing robot signal remote switch device are connected with the communication of master control room signal remote switch device；It is described
The right side of head of crusing robot is provided with crusing robot satellite navigation positioning device, the head front left part of crusing robot
Temperature sounder is provided with, the head front right part of crusing robot is provided with a decibel survey meter, and the head of crusing robot is just
Middle face is provided with photographic head；On the ground patrolled and examined a little, pre-plugged patrols and examines anchor point, and patrolling and examining anchor point includes patrolling and examining
Left anchor point and right anchor point is patrolled and examined, with left anchor point guide ledges are patrolled and examined in the middle of the top for patrolling and examining left anchor point, patrolled
The surrounding shape for examining the surrounding shape of left anchor point and the left foot bottom surface of crusing robot is identical, described to patrol and examine the upper of right anchor point
With right anchor point guide ledges are patrolled and examined in the middle of portion, the surrounding shape of right anchor point and the left foot bottom of crusing robot is patrolled and examined
The surrounding shape in face is identical.
Many set base station cradles and base station charging anchor point can be set in robot base station.
One main control computer can control multiple stage crusing robot.
A kind of robot power station method for inspecting, using said system, its step is as follows：
（1）, crusing robot initial condition in the robot base station, crusing robot passes through robot left foot image recognition
System, and the charge base station left guide ledges that charge of left anchor point of concave surface and base station are oriented to by the left foot of crusing robot are formed
Mechanical guiding device guiding, it is ensured that the crusing robot left foot bottom surface and base station left anchor point that charges mutually coincide, and just realizes
It is determined that position, meanwhile, crusing robot is by robot right crus of diaphragm image identification system, and is oriented to by the right crus of diaphragm of crusing robot recessed
The guiding of the mechanical guiding device that the right guide ledges of base station charging of face and the right anchor point of base station charging are formed, it is ensured that inspection machine
People's right crus of diaphragm bottom surface and the right anchor point of base station charging mutually coincide, and realize being properly positioned, it is ensured that crusing robot is in tram,
And the correct docking of crusing robot charging head and base station cradle is realized, it is charged.
（2）, base station cradle can be left automatically after crusing robot charging complete, cut off the electricity supply, into base station task dispatching
Treat area.
（3）, when needing crusing robot to be patrolled and examined, the main control computer of master control room passes through master control room signal remote switch
Device sends assignment instructions to crusing robot, and crusing robot receives task by crusing robot signal remote switch device, presses
According to mission requirements, crusing robot satellite navigation positioning device receives the navigator fix service of satellite navigation and location system, reaches
Patrol and examine region of patrolling and examining a little, pre-plugged on the ground patrol and examine patrolling and examining left anchor point and patrolling and examining right anchor point difference for anchor point
Pass through robot left foot image identification system and robot right crus of diaphragm image identification system respectively with crusing robot, guide survey monitor
Device people is close to and patrols and examines a little, meanwhile, the left foot of crusing robot is oriented to concave surface and right crus of diaphragm be oriented to concave surface respectively with patrol and examine left anchor point
Guide ledges form mechanical guide with right anchor point guide ledges are patrolled and examined, and realize crusing robot left foot bottom surface and right crus of diaphragm bottom respectively
Face mutually coincide with patrolling and examining left anchor point and patrolling and examining right anchor point, completes secondary accurate positioning, realizes crusing robot or so foot
Be properly positioned.
（4）, following crusing robot begin to work, each work component surface temperature is gathered by temperature sounder
And associated connections post surface temperature, noise data is gathered by decibel survey meter, by photographic head acquisition instrument data, due to patrolling
Inspection robot can realize being properly positioned, and the accuracy of its related data for collecting and concordance are greatly improved, inspection machine
The related data that people collects is transferred to master by crusing robot signal remote switch device, master control room signal remote switch device again
Control computer, is analyzed process by main control computer.
（5）, after crusing robot completes the task that first is patrolled and examined a little, according to the work order of main control computer, enter
The next one is patrolled and examined a little, and after all patrolling and examining end-of-job, crusing robot auto-returned robot base station carries out secondary fine determination
Position, realizes the correct docking of crusing robot charging head and base station cradle, is charged.
The invention has the beneficial effects as follows：
Robot power station proposed by the present invention cruising inspection system, crusing robot can be entered according to satellite navigation and location system and be patrolled and examined
Point region, then by the image identification system installed in crusing robot or so foot to pre-plugged on the ground patrol and examine anchor point
Image recognition is carried out, is oriented to by mechanical guiding device, guided the left and right foot of crusing robot and to patrol and examine a little or so anchor point complete
It is complete to coincide, the secondary accurate positioning of crusing robot is realized, and by the temperature sounder on crusing robot, decibel
Survey meter and the first-class collection related data of shooting, then main control computer is transferred to by signal remote switch device, there is main control computer to enter
Row analyzing and processing.
The present invention be arranged on the image identification system of crusing robot or so foot to pre-plugged on the ground patrol and examine fixed
Site carries out image recognition and mechanical guiding device and is oriented to, and guides the left and right foot of crusing robot and to patrol and examine a little or so anchor point complete
It is complete to coincide, the secondary accurate positioning of crusing robot is realized, the related data that crusing robot is collected can be fully ensured that
Accuracy and concordance, have a extensive future.
Description of the drawings
The embodiment for being given below in conjunction with the accompanying drawings is described in more detail to the present invention.
Fig. 1 is the structural representation of the present invention.
Specific embodiment
As shown in figure 1, a kind of robot power station cruising inspection system, including robot base station 1, master control room 2, crusing robot 3,
Patrol and examine a little 4；Base station cradle 1-1 and base station charging anchor point 1-4 is provided with the robot base station 1, and the base station is charged
Anchor point 1-4 includes the left anchor point 1-2 of the base station charging and right anchor point 1-3 of base station charging, and charge left anchor point 1-2 for the base station
Top in the middle of charge left guide ledges 1-5 with base station, base station charge left anchor point 1-2 surrounding shape and crusing robot
The surrounding shape of 3 left foot bottom surfaces is identical, the base station charge right anchor point 1-3 top in the middle of with base station charge it is right be oriented to it is convex
Platform 1-6, the surrounding shape of the right anchor point 1-3 of base station charging are identical with the surrounding shape of 3 right crus of diaphragm bottom surface of crusing robot；The master
Main control computer 2-1 and master control room signal remote switch device 2-2 is provided with control room 2；The left foot of the crusing robot 3 is provided with
Robot left foot image identification system 3-1, the left foot bottom middle setting of crusing robot 3 have left foot to be oriented to concave surface 3-9, patrol and examine
The right crus of diaphragm of robot 3 is provided with robot right crus of diaphragm image identification system 3-2, and the right crus of diaphragm bottom middle setting of crusing robot 3 has
Right crus of diaphragm is oriented to concave surface 3-10；Main control computer 2-1 and master control room signal remote switch device 2-2 is provided with the master control room 2；It is described
The left foot of crusing robot 3 is provided with robot left foot image identification system 3-1, sets in the middle of the left foot bottom of crusing robot 3
It is equipped with left foot and is oriented to concave surface 3-9, the right crus of diaphragm of crusing robot 3 is provided with robot right crus of diaphragm image identification system 3-2, inspection machine
The right crus of diaphragm bottom middle setting of people 3 has right crus of diaphragm to be oriented to concave surface 3-10, is provided with crusing robot on the left of the middle part of crusing robot 3
Charging head 3-3, the left side of head of crusing robot 3 are provided with crusing robot signal remote switch device 3-4, the inspection machine
People's signal remote switch device 3-4 is connected with master control room signal remote switch device 2-2 communications；The head of the crusing robot 3 is right
Side is provided with crusing robot satellite navigation positioning device 3-5, and the head front left part of crusing robot 3 is provided with temperature sensing
Instrument 3-6, the head front right part of crusing robot 3 are provided with a decibel survey meter 3-7, in the middle part of the head front of crusing robot 3
It is provided with photographic head 3-8；Described to patrol and examine pre-plugged on a little 4 ground and patrol and examine anchor point 4-1, patrolling and examining anchor point 4-1 includes
Patrol and examine left anchor point 4-2 and patrol and examine right anchor point 4-3, carry in the middle of the top for patrolling and examining left anchor point 4-2 and patrol and examine left positioning
Point guide ledges 4-4, the surrounding shape for patrolling and examining the surrounding shape of left anchor point 4-2 and the left foot bottom surface of crusing robot 3 are identical,
With right anchor point guide ledges 4-5 are patrolled and examined in the middle of the top for patrolling and examining right anchor point 4-3, right anchor point 4-3 is patrolled and examined
Surrounding shape it is identical with the surrounding shape of the left foot bottom surface of crusing robot 3.
Many set base station cradle 1-1 and base station charging anchor point 1-4 can be set in robot base station 1.
One main control computer 2-1 can control multiple stage crusing robot 3.
A kind of robot power station method for inspecting, using said system, its step is as follows：
1st, the initial condition of crusing robot 3 in robot base station 1, known by robot left foot image by crusing robot 3
Other system 3-1, and a base station charging left side of concave surface 3-9 and the left anchor point 1-2 of base station charging is oriented to by the left foot of crusing robot 3
The guiding of the mechanical guiding device that guide ledges 1-5 are formed, it is ensured that charge left anchor point for 3 left foot bottom surface of crusing robot and base station
1-2 mutually coincide, and realizes being properly positioned, meanwhile, crusing robot 3 passes through robot right crus of diaphragm image identification system 3-2, Yi Jiyou
The right crus of diaphragm of crusing robot 3 is oriented to concave surface 3-10 and right guide ledges 1-6 of base station charging of the right anchor point 1-3 of base station charging are formed
Mechanical guiding device guiding, it is ensured that 3 right crus of diaphragm bottom surface of the crusing robot and base station right anchor point 1-3 that charges mutually coincide, real
Now it is properly positioned, it is ensured that crusing robot 3 is in tram, and realizes crusing robot charging head 3-3 and base station cradle
The correct docking of 1-1, is charged.
2nd, base station cradle 1-1 can be left automatically after 3 charging complete of crusing robot, is cut off the electricity supply, into base station task
Accreditation Waiting Area.
3rd, when needing crusing robot 3 to be patrolled and examined, the main control computer 2-1 of master control room 2 is long-range by master control room signal
Exchanger 2-2 sends assignment instructions to crusing robot 3, and crusing robot 3 passes through crusing robot signal remote switch device 3-4
Reception task, according to mission requirements, crusing robot satellite navigation positioning device 3-5 receives the navigation of satellite navigation and location system
A little 4 region of patrolling and examining is patrolled and examined in positioning service, arrival, pre-plugged on the ground patrol and examine anchor point 4-1 patrol and examine left anchor point
4-2 and right anchor point 4-3 is patrolled and examined respectively with crusing robot 3 respectively by robot left foot image identification system 3-1 and machine
People right crus of diaphragm image identification system 3-2, guiding crusing robot 3 is close to patrols and examines a little 4, meanwhile, the left foot guiding of crusing robot 3 is recessed
Face 3-9 and right crus of diaphragm be oriented to concave surface 3-10 respectively with patrol and examine left anchor point guide ledges 4-4 and patrol and examine right anchor point guide ledges 4-5
Mechanical guide is formed, 3 left foot bottom surface of crusing robot and right crus of diaphragm bottom surface is realized respectively and is patrolled and examined left anchor point 4-2 and patrol and examine right fixed
Site 4-3 mutually coincide, and completes secondary accurate positioning, realizes being properly positioned for 3 or so foot of crusing robot.
4th, following crusing robot 3 begins to work, gathers each work component surface temperature by temperature sounder 3-6
Degree and associated connections post surface temperature, gather noise data by decibel survey meter 3-7, by photographic head 3-8 acquisition instrument numbers
According to as crusing robot 3 can be realized being properly positioned, the accuracy of its related data for collecting and concordance are carried significantly
Height, the related data that crusing robot 3 is collected are remote by crusing robot signal remote switch device 3-4, master control room signal again
Journey exchanger 2-2 is transferred to main control computer 2-1, is analyzed process by main control computer 2-1.
5th, after crusing robot 3 completes the task that first is patrolled and examined a little, according to the work order of main control computer 2-1, enter
Enter the next one to patrol and examine a little, after all patrolling and examining end-of-job, 3 auto-returned robot base station 1 of crusing robot is carried out secondary accurate
Positioning, realizes the correct docking of crusing robot charging head 3-3 and base station cradle 1-1, is charged.
Robot power station proposed by the present invention cruising inspection system, crusing robot can be entered according to satellite navigation and location system
Patrol and examine a region, then by the image identification system installed in crusing robot or so foot to pre-plugged on the ground patrol and examine fixed
Site carries out image recognition, is oriented to by mechanical guiding device, guides the left and right foot of crusing robot and patrols and examines and a little or so positions
Point fits like a glove, and realizes the secondary accurate positioning of crusing robot, and by the temperature sounder on crusing robot,
Decibel survey meter and the first-class collection related data of shooting, then main control computer is transferred to by signal remote switch device, there is master control electricity
Brain is analyzed process.
The present invention be arranged on the image identification system of crusing robot or so foot to pre-plugged on the ground patrol and examine fixed
Site carries out image recognition and mechanical guiding device and is oriented to, and guides the left and right foot of crusing robot and to patrol and examine a little or so anchor point complete
It is complete to coincide, the secondary accurate positioning of crusing robot is realized, the related data that crusing robot is collected can be fully ensured that
Accuracy and concordance, have a extensive future.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (4)
1. a kind of robot power station cruising inspection system, it is characterised in that：Including robot base station（1）, master control room（2）, inspection machine
People（3）, patrol and examine a little（4）；The robot base station（1）Base station cradle is provided with inside（1-1）With base station charging anchor point（1-
4）, the base station charging anchor point（1-4）Including the left anchor point of base station charging（1-2）With the right anchor point of base station charging（1-3）, institute
State the left anchor point of base station charging（1-2）Top in the middle of charge left guide ledges with base station（1-5）, charge left anchor point for base station
（1-2）Surrounding shape and crusing robot（3）The surrounding shape of left foot bottom surface is identical, and charge right anchor point for the base station（1-
3）Top in the middle of charge right guide ledges with base station（1-6）, charge right anchor point for base station（1-3）Surrounding shape and patrol and examine
Robot（3）The surrounding shape of right crus of diaphragm bottom surface is identical；The master control room（2）Main control computer is provided with inside（2-1）Believe with master control room
Number remote switch device（2-2）；The crusing robot（3）Left foot be provided with robot left foot image identification system（3-1）, patrol
Inspection robot（3）Left foot bottom middle setting have left foot be oriented to concave surface（3-9）, crusing robot（3）Right crus of diaphragm arrange it is organic
Device people's right crus of diaphragm image identification system（3-2）, crusing robot（3）Right crus of diaphragm bottom middle setting have right crus of diaphragm be oriented to concave surface（3-
10）, crusing robot（3）Middle part on the left of be provided with crusing robot charging head（3-3）, crusing robot（3）Head it is left
Side is provided with crusing robot signal remote switch device（3-4）, the crusing robot signal remote switch device（3-4）With master control
Room signal remote switch device（2-2）Communication connection；The crusing robot（3）Right side of head be provided with crusing robot satellite
Navigation positional device（3-5）, crusing robot（3）Head front left part be provided with temperature sounder（3-6）, crusing robot
（3）Head front right part be provided with a decibel survey meter（3-7）, crusing robot（3）Head front in the middle part of be provided with shooting
Head（3-8）；It is described to patrol and examine a little（4）Ground on pre-plugged patrol and examine anchor point（4-1）, patrol and examine anchor point（4-1）Including patrolling
Examine left anchor point（4-2）With patrol and examine right anchor point（4-3）, it is described to patrol and examine left anchor point（4-2）Top in the middle of with patrolling and examining a left side
Anchor point guide ledges（4-4）, patrol and examine left anchor point（4-2）Surrounding shape and crusing robot（3）Left foot bottom surface four
All shapes are identical, described to patrol and examine right anchor point（4-3）Top in the middle of with patrolling and examining right anchor point guide ledges（4-5）, patrol and examine
Patrol and examine right anchor point（4-3）Surrounding shape and crusing robot（3）Left foot bottom surface surrounding shape it is identical.
2. a kind of robot power station cruising inspection system according to claim 1, it is characterised in that：The robot base station（1）
Covering base station cradle interior setting more（1-1）With base station charging anchor point（1-4）.
3. a kind of robot power station cruising inspection system according to claim 1, it is characterised in that：One main control computer
（2-1）Control multiple stage crusing robot（3）.
4. a kind of robot power station method for inspecting, it is characterised in that：Using the system described in claim 1, its step is as follows：
（1）, crusing robot（3）Initial condition be in robot base station（1）It is interior, crusing robot（3）It is left by robot
Foot image identification system（3-1）, and by crusing robot（3）Left foot be oriented to concave surface（3-9）With the left anchor point of base station charging
（1-2）Base station charge left guide ledges（1-5）The guiding of the mechanical guiding device of formation, it is ensured that crusing robot（3）Left foot
Charge left anchor point for bottom surface and base station（1-2）Mutually it coincide, realizes being properly positioned, meanwhile, crusing robot（3）By robot
Right crus of diaphragm image identification system（3-2）, and by crusing robot（3）Right crus of diaphragm be oriented to concave surface（3-10）With the right positioning of base station charging
Point（1-3）Base station charge right guide ledges（1-6）The guiding of the mechanical guiding device of formation, it is ensured that crusing robot（3）It is right
Charge right anchor point for foot plate surface and base station（1-3）Mutually it coincide, realizes being properly positioned, it is ensured that crusing robot（3）In correct
Position, and realize crusing robot charging head（3-3）With base station cradle（1-1）Correct docking, be charged；
（2）, crusing robot（3）Base station cradle is left automatically after charging complete can（1-1）, cut off the electricity supply, appoint into base station
Business Accreditation Waiting Area；
（3）, when needing crusing robot（3）When being patrolled and examined, master control room（2）Main control computer（2-1）By master control room signal
Remote switch device（2-2）To crusing robot（3）Send assignment instructions, crusing robot（3）It is remote by crusing robot signal
Journey exchanger（3-4）Reception task, according to mission requirements, crusing robot satellite navigation positioning device（3-5）Receive satellite to lead
The navigator fix service of boat alignment system, arrival are patrolled and examined a little（4）Region of patrolling and examining, pre-plugged on the ground patrol and examine anchor point
（4-1）Patrol and examine left anchor point（4-2）With patrol and examine right anchor point（4-3）Respectively with crusing robot（3）Pass through robot respectively
Left foot image identification system（3-1）With robot right crus of diaphragm image identification system（3-2）, guide crusing robot（3）It is close to and patrols and examines
Point（4）, meanwhile, crusing robot（3）Left foot be oriented to concave surface（3-9）Concave surface is oriented to right crus of diaphragm（3-10）Respectively with patrol and examine left fixed
Site guide ledges（4-4）With patrol and examine right anchor point guide ledges（4-5）Mechanical guide is formed, crusing robot is realized respectively
（3）Left foot bottom surface and right crus of diaphragm bottom surface with patrol and examine left anchor point（4-2）With patrol and examine right anchor point（4-3）Mutually it coincide, completes secondary
It is accurately positioned, realizes crusing robot（3）Left and right foot is properly positioned；
（4）, following crusing robot（3）Work is begun to, by temperature sounder（3-6）Gather each work component surface
Temperature and associated connections post surface temperature, by decibel survey meter（3-7）Collection noise data, by photographic head（3-8）Collection
Instrumented data, due to crusing robot（3）Can realize being properly positioned, the accuracy of its related data for collecting and concordance
Greatly improve, crusing robot（3）The related data for collecting passes through crusing robot signal remote switch device again（3-4）, it is main
Control room signal remote switch device（2-2）It is transferred to main control computer（2-1）, by main control computer（2-1）It is analyzed process；
（5）, work as crusing robot（3）After completing first patrolling and examining a little for task, according to main control computer（2-1）Work order,
Patrol and examine a little into the next one, after all patrolling and examining end-of-job, crusing robot（3）Auto-returned robot base station（1）, carry out two
It is secondary to be accurately positioned, realize crusing robot charging head（3-3）With base station cradle（1-1）Correct docking, be charged.
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| WO2020191536A1 (en) * | 2019-03-22 | 2020-10-01 | Zhong Xing | Systems and methods for charging mobile robots |
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