CN108694753B - Control method and control system for automatic inspection of cabinet - Google Patents
Control method and control system for automatic inspection of cabinet Download PDFInfo
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- CN108694753B CN108694753B CN201710228773.9A CN201710228773A CN108694753B CN 108694753 B CN108694753 B CN 108694753B CN 201710228773 A CN201710228773 A CN 201710228773A CN 108694753 B CN108694753 B CN 108694753B
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- 238000007689 inspection Methods 0.000 title claims abstract description 139
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 230000008569 process Effects 0.000 claims description 8
- 238000011084 recovery Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 230000003287 optical effect Effects 0.000 description 1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Abstract
The invention is suitable for the technical field of inspection equipment, and provides a control method and a control system for automatic inspection of a cabinet, wherein the control method comprises the following steps: A. acquiring the position of a lock of a cabinet door of the cabinet, and controlling the inspection equipment to move to a preset position corresponding to the position of the lock; B. when the inspection equipment reaches the preset position, controlling the inspection equipment to press down a lock switch and rotate a lock handle, and pulling the lock handle along the preset direction to open the cabinet door; C. controlling a detection mechanism of the inspection equipment to move to the internal area of the cabinet along a preset track, and inspecting the equipment in the cabinet; D. when the inspection work is finished, after the detection mechanism of the inspection equipment is controlled to return to the outer area of the cabinet along the preset track, the inspection equipment is controlled to push the lock handle along the opposite direction of the preset direction, and the lock handle is rotated and the lock switch is pressed down to close the cabinet door of the cabinet. Therefore, automatic inspection of the inspection equipment on the cabinet is realized, and manual participation is not needed.
Description
Technical Field
The invention belongs to the technical field of inspection equipment, and particularly relates to a control method and a control system for automatic inspection of a cabinet.
Background
At present, the function of robot (inspection equipment) is more and more intelligent, but still patrols and examines to opening or close rack cabinet door and patrol and examine to rack internal plant, and inspection equipment still can't accomplish voluntarily, and it can only shoot the surface outside the rack, but this mode of patrolling and examining can not satisfy the work of patrolling and examining of rack completely. Therefore, the problem that manpower and material resources are consumed is caused by the fact that the interior of the cabinet still needs to be patrolled manually.
Therefore, the prior art for patrolling and examining the cabinet has the problems that the equipment for patrolling and examining can not automatically open or close the cabinet door and the equipment inside the cabinet for patrolling and examining.
Disclosure of Invention
The invention aims to provide a control method and a control system for automatic inspection of a cabinet, and aims to solve the problems that inspection equipment cannot automatically open or close cabinet doors of the cabinet and the equipment inside the cabinet cannot be inspected in the conventional cabinet inspection technology.
The invention provides a control method for automatic inspection of a cabinet, which comprises the following steps:
A. acquiring a lock position of a cabinet door of the cabinet, and controlling the inspection equipment to move to a preset position corresponding to the lock position;
B. when the inspection equipment reaches the preset position, the inspection equipment is controlled to press down a lock switch and rotate a lock handle, and the lock handle is pulled along a preset direction to open the cabinet door;
C. controlling a detection mechanism of the inspection equipment to move to the internal area of the cabinet along a preset track, and inspecting the equipment in the cabinet;
D. when the completion is patrolled and examined the during operation, control patrol and examine the detection mechanism of equipment along predetermine the orbit and return after the outside region of rack, control patrol and examine equipment along predetermine the opposite direction of direction promotes the tool to lock handle, and rotate the tool to lock handle and press the tool to lock switch, in order to close the rack cabinet door.
The invention also provides a control system for automatic inspection of the cabinet, which comprises:
the moving module is used for acquiring the position of a lock of the cabinet door of the cabinet and controlling the inspection equipment to move to a preset position corresponding to the position of the lock;
the equipment cabinet door opening module is used for controlling the inspection equipment to press a lock switch and rotate a lock handle when the inspection equipment reaches the preset position, and pulling the lock handle along a preset direction to open the equipment cabinet door;
the inspection module is used for controlling a detection mechanism of the inspection equipment to move to the internal area of the cabinet along a preset track and inspecting the equipment in the cabinet;
the cabinet door closes the module for when accomplishing and patrol and examine the during operation, control patrol and examine the detection mechanism of equipment along predetermine the orbit and return after the outside region of rack, control patrol and examine the equipment along predetermine the opposite direction of direction promotes the tool to lock handle, and rotate the tool to lock handle and press the tool to lock switch, in order to close the cabinet door.
In summary, the present invention provides a control method and a control system for automatic inspection of a cabinet, where the control method includes the following steps: A. acquiring the position of a lock of a cabinet door of the cabinet, and controlling the inspection equipment to move to a preset position corresponding to the position of the lock; B. when the inspection equipment reaches the preset position, controlling the inspection equipment to press down a lock switch and rotate a lock handle, and pulling the lock handle along the preset direction to open the cabinet door; C. controlling a detection mechanism of the inspection equipment to move to the internal area of the cabinet along a preset track, and inspecting the equipment in the cabinet; D. when the inspection work is finished, after the detection mechanism of the inspection equipment is controlled to return to the outer area of the cabinet along the preset track, the inspection equipment is controlled to push the lock handle along the opposite direction of the preset direction, and the lock handle is rotated and the lock switch is pressed down to close the cabinet door of the cabinet. Therefore, the automatic opening or closing of the cabinet door of the inspection equipment is realized, the inspection of the equipment inside the cabinet is performed, manual participation is not needed, manpower and material resources are saved, and the problems that the inspection equipment cannot be automatically opened or closed and the inspection of the equipment inside the cabinet is performed in the conventional inspection technology for the cabinet are solved.
Drawings
Fig. 1 is a flowchart of an implementation of a control method for automatic inspection of a cabinet according to an embodiment of the present invention.
Fig. 2 is a flowchart of a specific implementation of step S101 in the control method for automatic inspection of a cabinet according to the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a lock opening process in the control method for automatic inspection of the cabinet according to the embodiment of the present invention.
Fig. 4 is a flowchart illustrating opening of the cabinet door of the cabinet in step S102 in the control method for automatic inspection of the cabinet according to the embodiment of the present invention.
Fig. 5 is a flowchart illustrating closing of the cabinet door in step S104 in the control method for automatic inspection of the cabinet according to the embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a control system for automatic inspection of a cabinet according to another embodiment of the present invention.
Fig. 7 is a schematic structural diagram of inspection equipment and a cabinet in a control system for automatic inspection of a cabinet according to another embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The control method and the control system for automatic inspection of the cabinet provided by the embodiment of the invention can be used for inspecting and operating the equipment in the cabinet without manual intervention, thereby greatly improving the intelligence of the robot (inspection equipment) in the inspection of the cabinet and making up the vacancy of the robot (inspection equipment) in the inspection of the cabinet.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Fig. 1 shows an implementation flow of a control method for automatic inspection of a cabinet according to an embodiment of the present invention, and for convenience of description, only parts related to the embodiment of the present invention are shown, which are detailed as follows:
a control method for automatic inspection of a cabinet comprises the following steps:
s101, acquiring the position of a lock of a cabinet door of the cabinet, and controlling the inspection equipment to move to a preset position corresponding to the position of the lock;
s102, when the inspection equipment reaches a preset position, controlling the inspection equipment to press down a lock switch and rotate a lock handle, and pulling the lock handle along a preset direction to open a cabinet door of the cabinet;
s103, controlling a detection mechanism of the inspection equipment to move to the internal area of the cabinet along a preset track, and inspecting the equipment in the cabinet;
s104, when the inspection work is finished, after the detection mechanism of the inspection equipment is controlled to return to the outer area of the cabinet along the preset track, the inspection equipment is controlled to push the lock handle along the direction opposite to the preset direction, and the lock handle is rotated and the lock switch is pressed down to close the cabinet door of the cabinet.
As an embodiment of the present invention, after the lock handle is rotated in the step S102 and before the lock handle is pulled along the preset direction, the method further includes:
the lock is subjected to image shooting through the visible light camera and transmitted to the server, so that the server can identify and judge whether the lock is opened or not through an image algorithm.
As an embodiment of the present invention, the polling the equipment inside the cabinet in step S103 includes:
and carrying out any one or more of video shooting, mark identification, indicator light identification, pressing plate switching on and off, air switch operation and alarm recovery on equipment in the cabinet.
After the mechanical arm reaches the position, the pressing plate is pushed to move left and right by the pressing plate executing mechanism to complete the pressing plate operation; the air switch operation is that after the mechanical arm reaches the position, the air switch actuating mechanism is pushed to move up and down to complete the air switch operation; after the alarm is reset to the alarm of the equipment, a reset button is arranged, for example, a button in the attached drawing is arranged, and after the mechanical arm reaches the position, the mechanical arm only needs to apply force to the switch and then leaves the switch, so that the button pressing operation can be completed.
According to the embodiment of the invention, the inspection equipment (robot) is connected to the server in a wired or wireless mode, and the server can be connected with a plurality of inspection equipment (robots) simultaneously, so that the functions of centralized control and centralized management are realized.
Fig. 2 shows a specific implementation flow of step S101 in the control method for automatic inspection of a cabinet according to the embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, and the detailed description is as follows:
as an embodiment of the present invention, the step S101 specifically includes the following steps:
s1011, acquiring the position of a lock of the cabinet door of the cabinet, and generating a two-dimensional coordinate parameter;
s1012, controlling a mechanical arm of the inspection equipment to move to the position of the lock, and storing the position state value of the mechanical arm;
s1013, acquiring and storing the image of the lockset through a visible light camera;
s1014, comparing the acquired image with a preset image, and calculating the offset of the actual position of the mechanical arm and the preset position;
and S1015, adjusting the position of the mechanical arm according to the offset to ensure that the mechanical arm reaches the preset position.
Fig. 3 shows a structure of a lock opening process in a control method for automatic inspection of a cabinet according to an embodiment of the present invention, and for convenience of description, only parts related to the embodiment of the present invention are shown, which is detailed as follows:
as an embodiment of the invention, the lock handle is connected with the lock bolt, and the lock handle and the lock bolt are in a right-angle relationship, and the lock bolt can rotate along with the rotation of the lock handle. In the initial state, the lock handle is in the vertical direction, and the lock bolt is in the horizontal direction; in the rotating process, the lock handle rotates along the anticlockwise direction, and the lock bolt also rotates along with the lock handle along the anticlockwise direction; when the lock handle rotates to the horizontal direction, the lock bolt is in the vertical direction at the moment, namely, the lock is in the unlocking state.
Fig. 4 shows a cabinet door opening process in step S102 of the control method for automatic inspection of a cabinet according to the embodiment of the present invention, and for convenience of description, only the portions related to the embodiment of the present invention are shown, and the details are as follows:
according to the embodiment of the invention, the mechanical arm is controlled to reach the preset position corresponding to the lock position through the servo of the visible light camera, then the lock switch is pressed, and at the moment, the lock handle naturally pops out; after the mechanical arm is controlled to grasp a handle of the lock, the mechanical arm rotates in the direction of opening the lock until the lock is unlocked, and then the mechanical arm is pulled towards the direction of opening the cabinet door to open the cabinet door; if the cabinet is a double-cabinet door, the opening operation of the cabinet door can be finished by only the cooperation of the two mechanical arms.
Fig. 5 shows a closing flow of the cabinet door of the cabinet in step S104 in the control method for automatic inspection of the cabinet provided by the embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:
through the servo of visible light camera, control robotic arm promotes the cabinet door and closes to making the cabinet door, ensures that the cabinet door reachs normal closed position after, control robotic arm grasps the tool to lock handle of cabinet door, rotates the tool to lock handle according to the direction of tool to lock locking and makes the cabinet door locking, then presses the tool to lock handle, and the tool to lock will be automatic to be locked.
The working principle of the control method for automatic inspection of the cabinet is described in the following with reference to fig. 1 to 5:
firstly, acquiring a lock position of a cabinet door of a cabinet, and controlling routing inspection equipment to move to a preset position corresponding to the lock position; then, when the inspection equipment reaches a preset position, controlling the inspection equipment to press down a lock switch and rotate a lock handle, and pulling the lock handle along a preset direction to open a cabinet door of the cabinet; then, controlling a detection mechanism of the inspection equipment to move to the internal area of the cabinet along a preset track, and inspecting the equipment in the cabinet; and finally, when the inspection work is finished, after the detection mechanism of the inspection equipment is controlled to return to the external area of the cabinet along a preset track, the inspection equipment is controlled to push the lock handle along the opposite direction of the preset direction, and the lock handle is rotated and the lock switch is pressed down to close the cabinet door of the cabinet. Therefore, through the effective matching of the two mechanical arms of the inspection equipment, the opening and closing work of a single cabinet door and a double cabinet door can be completed; the equipment inspection and operation work in the cabinet can be finished through the matching of the mechanical arm and the camera.
Fig. 6 shows a structure of a control system for automatic inspection of a cabinet according to another embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:
the control system for automatic inspection of the cabinet comprises:
the moving module 101 is used for acquiring the lock position of the cabinet door of the cabinet and controlling the inspection equipment to move to a preset position corresponding to the lock position;
the equipment cabinet door opening module 102 is used for controlling the inspection equipment to press down a lock switch and rotate a lock handle when the inspection equipment reaches a preset position, and pulling the lock handle along a preset direction to open the equipment cabinet door;
the inspection module 103 is used for controlling a detection mechanism of the inspection equipment to move to the internal area of the cabinet along a preset track and inspecting the equipment in the cabinet;
and the cabinet door closing module 104 is used for controlling the inspection equipment to push the lock handle along the opposite direction of the preset direction after the detection mechanism of the inspection equipment returns to the external area of the cabinet along the preset track when the inspection work is finished, and rotating the lock handle and pressing the lock switch to close the cabinet door.
As another embodiment of the present invention, the moving module 101 includes:
the acquiring unit 1011 is used for acquiring the lock position of the cabinet door of the cabinet and generating a two-dimensional coordinate parameter;
a storage unit 1012 for controlling the robot arm of the inspection equipment to move to the lock position and storing the position state value of the robot arm;
the shooting unit 1013 is used for acquiring and storing the image of the lock through the visible light camera;
the calculating unit 1014 is configured to compare the acquired image with a preset image, and calculate an offset between an actual position of the manipulator and the preset position;
the adjusting unit 1015 is configured to adjust the position of the robot arm according to the offset, so as to ensure that the robot arm reaches the preset position.
As another embodiment of the present invention, after the lock handle is rotated in the cabinet door opening module 102, and before the lock handle is pulled along the preset direction, the process further includes:
the lock is subjected to image shooting through the visible light camera and transmitted to the server, so that the server can identify and judge whether the lock is opened or not through an image algorithm.
As another embodiment of the present invention, the polling of the equipment inside the cabinet in the polling module 103 includes:
and carrying out any one or more of video shooting, mark identification, indicator light identification, pressing plate switching on and off, air switch operation and alarm recovery on equipment in the cabinet.
After the mechanical arm reaches the position, the pressing plate is pushed to move left and right by the pressing plate executing mechanism to complete the pressing plate operation; the air switch operation is that after the mechanical arm reaches the position, the air switch actuating mechanism is pushed to move up and down to complete the air switch operation; after the alarm is reset to the alarm of the equipment, a reset button is arranged, for example, a button in the attached drawing is arranged, and after the mechanical arm reaches the position, the mechanical arm only needs to apply force to the switch and then leaves the switch, so that the button pressing operation can be completed.
In another embodiment of the invention, the inspection equipment (robot) is connected to the server in a wired or wireless mode, and the server can be connected with a plurality of inspection equipment (robots) simultaneously, so that the functions of centralized control and centralized management are realized.
Fig. 7 shows the structures of inspection equipment and a cabinet in a control system for automatic inspection of a cabinet according to another embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:
as another embodiment of the invention, the control system comprises two parts, namely an inspection device (robot) and a monitoring background, wherein the inspection device is arranged right in front of the cabinet and comprises two horizontal slide rails 301 and three vertical slide rails 302, and the two horizontal slide rails 301 are respectively arranged on the ground and the top of the cabinet; the two ends of the vertical slide rail 302 are fixedly provided with slide blocks 303, and the integral horizontal movement of the vertical slide rail 302 is realized through the sliding of the slide blocks on the horizontal slide rail 301; a sliding block 303 is also arranged above the vertical sliding rail 302, and the sliding block 303 can freely slide on the vertical sliding rail 302; different modules are arranged on the sliding blocks of the vertical sliding rail 302 according to different functions, wherein the vertical sliding blocks on two sides are respectively provided with a mechanical arm 304, and the vertical sliding block in the middle is provided with a camera and a sensing device.
After the cabinet door is opened, the sliding rail with the detection mechanism moves to the middle of the cabinet body, and the position of the detection mechanism in the cabinet body is controlled through the position of the sliding block in the XY direction, so that inspection of equipment in the cabinet body is completed. The current specific position of the sliding block can be obtained through the pulse position of the stepping motor, an external encoder and the like; the equipment position in the cabinet body is determined invariable, so the position can be determined in a preset position mode.
In summary, the embodiment of the present invention provides a control method and a control system for automatic inspection of a cabinet, where the control method includes the following steps: A. acquiring the position of a lock of a cabinet door of the cabinet, and controlling the inspection equipment to move to a preset position corresponding to the position of the lock; B. when the inspection equipment reaches the preset position, controlling the inspection equipment to press down a lock switch and rotate a lock handle, and pulling the lock handle along the preset direction to open the cabinet door; C. controlling a detection mechanism of the inspection equipment to move to the internal area of the cabinet along a preset track, and inspecting the equipment in the cabinet; D. when the inspection work is finished, after the detection mechanism of the inspection equipment is controlled to return to the outer area of the cabinet along the preset track, the inspection equipment is controlled to push the lock handle along the opposite direction of the preset direction, and the lock handle is rotated and the lock switch is pressed down to close the cabinet door of the cabinet. Therefore, the automatic opening or closing of the cabinet door of the inspection equipment is realized, the inspection of the equipment inside the cabinet is performed, manual participation is not needed, manpower and material resources are saved, and the problems that the inspection equipment cannot be automatically opened or closed and the inspection of the equipment inside the cabinet is performed in the conventional inspection technology for the cabinet are solved.
Those of ordinary skill in the art will understand that: the steps or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, the program may be stored in a computer-readable storage medium, and when executed, the program performs the steps including the above method embodiments, and the storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A control method for automatic inspection of a cabinet is characterized by comprising the following steps:
A. acquiring a lock position of a cabinet door of the cabinet, and controlling the inspection equipment to move to a preset position corresponding to the lock position;
B. when the inspection equipment reaches the preset position, the inspection equipment is controlled to press down a lock switch and rotate a lock handle, and the lock handle is pulled along a preset direction to open the cabinet door;
C. controlling a detection mechanism of the inspection equipment to move to the inner area of the cabinet along a preset track and inspecting the equipment in the cabinet, wherein after the cabinet door is opened, a sliding rail with the detection mechanism moves to the middle of the cabinet body, and the position of the detection mechanism in the cabinet body is controlled through the position of a sliding block in the XY direction, so that the inspection of the equipment in the cabinet body is completed;
D. when the inspection work is finished, after the detection mechanism of the inspection equipment is controlled to return to the external area of the cabinet along the preset track, the inspection equipment is controlled to push the lock handle along the direction opposite to the preset direction, and the lock handle is rotated and the lock switch is pressed down to close the cabinet door of the cabinet; the plurality of inspection devices are connected to a server in a wired or wireless mode so as to be simultaneously controlled by the server;
the step A specifically comprises the following steps:
A1. acquiring the position of a lockset of the cabinet door of the cabinet and generating a two-dimensional coordinate parameter;
A2. controlling a mechanical arm of the inspection equipment to move to the position of the lock, and storing a position state value of the mechanical arm;
A3. acquiring and storing an image of the lockset through a visible light camera;
A4. comparing the acquired image with a preset image, and calculating the offset of the actual position of the mechanical arm and the preset position;
A5. adjusting the position of the mechanical arm according to the offset to ensure that the mechanical arm reaches the preset position;
the lock handle is connected with the lock bolt, the lock handle and the lock bolt form a right-angle relationship, the lock bolt can rotate along with the rotation of the lock handle, and in an initial state, the lock handle is in a vertical direction, and the lock bolt is in a horizontal direction; in the rotating process, the lock handle rotates along the anticlockwise direction, and the lock bolt also rotates along with the lock handle along the anticlockwise direction; when the lock handle rotates to the horizontal direction, the lock bolt is in the vertical direction at the moment, namely, the lock is in the unlocking state.
2. The control method of claim 1, wherein after rotating the lock handle in step B and before pulling the lock handle in the predetermined direction, the method further comprises:
the lock is subjected to image shooting through the visible light camera and transmitted to the server, so that the server can identify and judge whether the lock is opened or not through an image algorithm.
3. The control method according to claim 1, wherein the inspecting the equipment inside the cabinet in the step C includes:
and carrying out any one or more of video shooting, mark identification, indicator light identification, pressing plate switching, air switch operation and alarm recovery on equipment in the cabinet.
4. A control system for automatic inspection of a cabinet, the control system comprising:
the moving module is used for acquiring the position of a lock of the cabinet door of the cabinet and controlling the inspection equipment to move to a preset position corresponding to the position of the lock;
the equipment cabinet door opening module is used for controlling the inspection equipment to press a lock switch and rotate a lock handle when the inspection equipment reaches the preset position, and pulling the lock handle along a preset direction to open the equipment cabinet door;
the inspection module is used for controlling the detection mechanism of the inspection equipment to move to the inner area of the cabinet along a preset track and inspecting the equipment in the cabinet, wherein after the cabinet door is opened, the sliding rail with the detection mechanism moves to the middle of the cabinet body, and the position of the detection mechanism in the cabinet body is controlled through the position of the sliding block in the XY direction, so that the inspection of the equipment in the cabinet body is completed;
the equipment cabinet door closing module is used for controlling the inspection equipment to push the lock handle along the opposite direction of the preset direction after the detection mechanism of the inspection equipment returns to the external area of the equipment cabinet along the preset track when the inspection work is finished, and rotating the lock handle and pressing down the lock switch to close the equipment cabinet door; the plurality of inspection devices are connected to a server in a wired or wireless mode so as to be simultaneously controlled by the server;
the moving module includes:
the acquisition unit is used for acquiring the position of a lockset of the cabinet door of the cabinet and generating a two-dimensional coordinate parameter;
the storage unit is used for controlling the mechanical arm of the inspection equipment to move to the position of the lock and storing the position state value of the mechanical arm;
the shooting unit is used for acquiring and storing the image of the lockset through the visible camera;
the calculation unit is used for comparing the acquired image with a preset image and calculating the offset of the actual position of the mechanical arm and the preset position;
the adjusting unit is used for adjusting the position of the mechanical arm according to the offset to ensure that the mechanical arm reaches the preset position;
the lock handle is connected with the lock bolt, the lock handle and the lock bolt form a right-angle relationship, the lock bolt can rotate along with the rotation of the lock handle, and in an initial state, the lock handle is in a vertical direction, and the lock bolt is in a horizontal direction; in the rotating process, the lock handle rotates along the anticlockwise direction, and the lock bolt also rotates along with the lock handle along the anticlockwise direction; when the lock handle rotates to the horizontal direction, the lock bolt is in the vertical direction at the moment, namely, the lock is in the unlocking state.
5. The control system of claim 4, wherein the process after rotating the latch handle in the cabinet door opening module and before pulling the latch handle in the predetermined direction further comprises:
the lock is subjected to image shooting through the visible light camera and transmitted to the server, so that the server can identify and judge whether the lock is opened or not through an image algorithm.
6. The control system of claim 4, wherein routing inspection of the equipment inside the cabinet in the routing inspection module comprises:
and carrying out any one or more of video shooting, mark identification, indicator light identification, pressing plate switching, air switch operation and alarm recovery on equipment in the cabinet.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710228773.9A CN108694753B (en) | 2017-04-10 | 2017-04-10 | Control method and control system for automatic inspection of cabinet |
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| CN201710228773.9A CN108694753B (en) | 2017-04-10 | 2017-04-10 | Control method and control system for automatic inspection of cabinet |
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| CN108694753A CN108694753A (en) | 2018-10-23 |
| CN108694753B true CN108694753B (en) | 2021-06-01 |
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| CN111899373B (en) * | 2020-08-05 | 2022-09-30 | 中国工商银行股份有限公司 | Method and device for determining inspection points of machine room, robot and storage medium |
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| CN204883369U (en) * | 2015-09-11 | 2015-12-16 | 国网安徽省电力公司检修公司 | Unattended substation protection device operation machine people |
| CN105415380B (en) * | 2015-12-11 | 2017-05-24 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot system for detecting equipment in box and method thereof |
| CN205721365U (en) * | 2016-04-29 | 2016-11-23 | 国家电网公司 | Automatic detecting control system inside and outside a kind of robot chamber |
| CN106054883A (en) * | 2016-06-13 | 2016-10-26 | 国家电网公司 | Robot patrol path control system |
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