CN111913478A - Inspection system, track platform and inspection equipment - Google Patents

Inspection system, track platform and inspection equipment Download PDF

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Publication number
CN111913478A
CN111913478A CN201910381822.1A CN201910381822A CN111913478A CN 111913478 A CN111913478 A CN 111913478A CN 201910381822 A CN201910381822 A CN 201910381822A CN 111913478 A CN111913478 A CN 111913478A
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track
equipment
inspection
inspection equipment
platform
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CN201910381822.1A
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Chinese (zh)
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雷宗雄
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Alibaba Group Holding Ltd
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Alibaba Group Holding Ltd
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Priority to CN201910381822.1A priority Critical patent/CN111913478A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0248—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 in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

The embodiment of the disclosure discloses system of patrolling and examining, track platform and equipment of patrolling and examining, the system of patrolling and examining includes: the track platform is provided with a support frame and a track arranged on the support frame; equipment of patrolling and examining, it includes: the moving device is used for moving the inspection equipment on the track; at least one data acquisition device, it is used for gathering the data of target object, can make to patrol and examine equipment and remove more high-efficient and stable on the track platform to the duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.

Description

Inspection system, track platform and inspection equipment
Technical Field
The present disclosure relates to the field of computer technology, and more particularly to an inspection system, a track platform, and an inspection apparatus.
Background
The current inspection scheme applied to environments such as factories, farms, goods yards and the like can generally utilize walking robots to inspect. The walking robot is a robot that walks on the ground with mechanical feet or wheels. The walking robot has the following disadvantages.
1. The stability is not high: the ground inside an environment such as a factory or a farm is usually composed of a grating floor and/or a retaining fence, obstacles are arranged on the floor, and people, equipment or animals often walk in the channel. This requires that the walking robot need very high obstacle avoidance and stability ability when patrolling and examining, and in the actual place experiment, the walking robot is stumbled or someone, equipment or the animal of passageway are knocked over by the spacing fence iron wire most easily.
2. The endurance is poor: the walking robot is loaded (a battery, a camera, a heat sensing device and other devices) to walk on the ground, physical electric quantity and calculated power consumption are generally consumed when the walking robot walks every time, and the cruising ability is poor.
3. The customization flexibility is weak: due to the complex control procedures of the walking robot and the complexity of the ground environment, the customization of the special inspection requirements of the walking robot requires enormous development and design effort.
4. The cost is high: because the robots need complex control programs to identify and process complex ground environments, the cost of each robot is very high in an industrial scene, and the pressure on large-scale breeding enterprises is huge.
Disclosure of Invention
In order to solve problems in the related art, the embodiments of the present disclosure provide an inspection system, a track platform, and an inspection apparatus.
In a first aspect, an embodiment of the present disclosure provides an inspection system, including:
the track platform is provided with a support frame and a track arranged on the support frame;
equipment of patrolling and examining, it includes:
a moving device for moving the inspection equipment on the track;
at least one data acquisition device for acquiring data of a target object.
With reference to the first aspect, in a first implementation manner of the first aspect, the track platform includes:
and the track guard plate is arranged on two sides of the track and used for preventing the routing inspection equipment from being separated from the track.
With reference to the first implementation manner of the first aspect, in a second implementation manner of the first aspect, the inspection device further includes:
the flat pulley is arranged at the position, close to the side face, of the side face and/or the bottom of the inspection equipment, abuts or clamps the track protection plate and rolls along the track protection plate, and therefore friction between the inspection equipment and the track protection plate is reduced.
With reference to the first aspect, in a third implementation manner of the first aspect, the inspection device further includes:
the first positioning device is used for determining the position of the inspection equipment on the track;
and the moving device enables the inspection equipment to move on the track according to the positioning result of the first positioning device.
With reference to the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the track platform includes:
and the second positioning device is arranged on the track or in the track and is used for enabling the first positioning device and the second positioning device to work cooperatively so as to determine the position of the inspection equipment on the track.
With reference to the fourth implementation manner of the first aspect, in a fifth implementation manner of the first aspect, the first positioning device cooperates with the second positioning device by sensing the second positioning device or by receiving positioning information provided by the second positioning device to determine the position of the inspection apparatus on the track.
With reference to the fourth implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the second positioning device includes a magnetic strip, and the magnetic strip is laid on the upper surface of the track, or embedded in the track, or disposed below the upper surface of the track.
With reference to the sixth implementation manner of the first aspect, in a seventh implementation manner of the first aspect, the first positioning device is a magnetic sensor, and is configured to sense the magnetic stripe to determine the position of the inspection device on the track.
With reference to the sixth implementation manner of the first aspect, in an eighth implementation manner of the first aspect, the second positioning device further includes at least one magnetic positioning mark disposed along the magnetic stripe, where specific information related to a position where the magnetic positioning mark is located is recorded, so that the first positioning device senses and reads the specific information, and the inspection apparatus performs an operation corresponding to the specific information.
With reference to the eighth implementation manner of the first aspect, in a ninth implementation manner of the first aspect, when the first positioning device senses the at least one magnetic mark, the moving device decelerates to move along the magnetic stripe and stops.
With reference to the eighth or ninth implementation manner of the first aspect, in a tenth implementation manner of the first aspect, the inspection device further includes:
a path planning device for planning a moving path of the inspection equipment according to the coordinates of the preset position on the track and the at least one magnetic positioning mark sensed by the first positioning device,
and the mobile device moves according to the movement path planned by the path planning device.
With reference to the first aspect, the present disclosure provides in an eleventh implementation manner of the first aspect, the at least one data collecting device protrudes from the main body of the inspection apparatus to below the rail to collect data of a target object located below the rail.
With reference to the eleventh implementation manner of the first aspect, in a twelfth implementation manner of the first aspect, the inspection apparatus further includes:
scalable arm, its follow telescopically stretch out in the main part of equipment of patrolling and examining, at least one data acquisition device install in the end of scalable arm, through scalable arm stretches out to the track below is in order to gather the data that are located the target object of track below.
With reference to the twelfth implementation manner of the first aspect, in a thirteenth implementation manner of the first aspect, the retractable mechanical arm includes:
a horizontal retractable robot arm portion telescopically and horizontally extendable from a main body of the inspection apparatus;
a vertical telescopic arm part which is telescopically extended vertically downward from an end of the horizontal telescopic arm part remote from the main body of the inspection apparatus, and whose lower end is mounted with the at least one data collecting device.
With reference to the first aspect, in a fourteenth implementation manner of the first aspect, the at least one data acquisition apparatus includes at least one of a camera, a thermal imaging device, and a radar device.
With reference to the first aspect, the present disclosure provides in a fifteenth implementation manner of the first aspect, the moving device includes a motor and a plurality of wheels located at a bottom of the inspection apparatus and driven by the motor.
With reference to the first aspect, in a sixteenth implementation manner of the first aspect, the rail is a curved horizontal rail formed by splicing one U-shaped horizontal rail or a plurality of U-shaped smooth rails.
With reference to the first aspect, in a seventeenth implementation manner of the first aspect, the support frame is a height-adjustable support frame disposed on a reference plane, so that a height of the rail from the reference plane is adjustable.
In a second aspect, an embodiment of the present disclosure provides a track platform, including:
a support frame;
the track, it sets up on the support frame to it is in to supply to patrol and examine equipment removal on the track.
With reference to the second aspect, in a first implementation manner of the second aspect, the present disclosure further includes:
and the track guard plate is arranged on two sides of the track and used for preventing the routing inspection equipment from being separated from the track.
With reference to the second aspect, in a second implementation manner of the second aspect, the present disclosure further includes:
and the track positioning device is arranged on the track or in the track and used for enabling the inspection equipment to determine the position of the inspection equipment on the track.
With reference to the second implementation manner of the second aspect, in a third implementation manner of the second aspect, the track positioning device includes a magnetic strip, and the magnetic strip is laid on the upper surface of the track, or embedded in the track, or disposed below the upper surface of the track.
With reference to the third implementation manner of the second aspect, in a fourth implementation manner of the second aspect, the track positioning device further includes at least one magnetic positioning mark disposed along the magnetic stripe, where specific information related to a position where the magnetic positioning mark is located is recorded, so that the inspection equipment senses and reads the specific information to perform an operation corresponding to the specific information.
With reference to the second aspect, in a fifth implementation manner of the second aspect, the support frame is a height-adjustable support frame disposed on a reference surface, so that a height of the rail from the reference surface is adjustable.
In a third aspect, an embodiment of the present disclosure provides an inspection device, including:
a moving device for moving the inspection equipment;
at least one data acquisition device for acquiring data of a target object.
With reference to the third aspect, in a first implementation manner of the third aspect, the present disclosure further includes:
at least one flat pulley, it sets up in the side of patrolling and examining the equipment and/or the bottom is close to the position of side, supports or presss from both sides and prevents to patrol and examine the skew moving direction's of equipment outside backplate and extend the outside backplate rolls, in order to reduce patrol and examine equipment with the friction between the outside backplate.
With reference to the third aspect, in a second implementation manner of the third aspect, the present disclosure further includes:
the equipment positioning device is used for determining the position of the inspection equipment on the track;
and the moving device enables the inspection equipment to move on the track according to the positioning result of the equipment positioning device.
With reference to the second implementation manner of the third aspect, in a third implementation manner of the third aspect, the equipment positioning device cooperates with an external positioning device to determine the position of the inspection equipment on the track.
With reference to the third implementation manner of the third aspect, in a fourth implementation manner of the third aspect, the device positioning apparatus cooperates with the external positioning apparatus by sensing the external positioning apparatus or by receiving positioning information provided by the external positioning apparatus to determine the position of the inspection device on the track.
With reference to the third implementation manner of the third aspect, in a fifth implementation manner of the third aspect, the device positioning apparatus is a magnetic sensor for sensing an external magnetic marker to determine the position of the inspection device on the track.
With reference to the fifth implementation manner of the third aspect, the present disclosure provides in a sixth implementation manner of the third aspect, when the device positioning apparatus senses at least one external magnetic mark, the moving apparatus moves at a reduced speed along the track and stops.
With reference to the sixth implementation manner of the third aspect, in a seventh implementation manner of the third aspect, the present disclosure further includes:
a path planning device for planning a moving path of the inspection equipment according to the coordinates of the preset position on the track and the at least one external magnetic positioning mark sensed by the equipment positioning device,
and the mobile device moves according to the movement path planned by the path planning device.
With reference to the third aspect, the present disclosure provides in an eighth implementation manner of the third aspect, the at least one data collecting device protrudes from the main body of the inspection apparatus to below the inspection apparatus to collect data of a target object located below the inspection apparatus.
With reference to the eighth implementation manner of the third aspect, in a ninth implementation manner of the third aspect, the present disclosure further includes:
scalable arm, it follows telescopically stretches out in the main part of equipment of patrolling and examining, at least one data acquisition device install in the end of scalable arm, through scalable arm stretches out patrol and examine the equipment below and lie in order to gather patrol and examine the data of the target object of equipment below.
With reference to the ninth implementation manner of the third aspect, in a tenth implementation manner of the third aspect, the retractable robot arm includes:
a horizontal retractable robot arm portion telescopically and horizontally extendable from a main body of the inspection apparatus;
a vertical telescopic arm part which is telescopically extended vertically downward from an end of the horizontal telescopic arm part remote from the main body of the inspection apparatus, and whose lower end is mounted with the at least one data collecting device.
With reference to the third aspect, the present disclosure provides in an eleventh implementation manner of the third aspect, wherein the at least one data acquisition apparatus includes at least one of a camera, a thermal imaging device, and a radar device.
With reference to the third aspect, the present disclosure provides in a twelfth implementation form of the third aspect, the moving device includes a motor and a plurality of wheels located at a bottom of the inspection apparatus and driven by the motor.
In a fourth aspect, an embodiment of the present disclosure provides a farm inspection system, including:
the track platform is provided with a support frame and a track arranged on the support frame;
equipment of patrolling and examining, it includes:
a moving device for moving the inspection equipment on the track;
at least one data acquisition device for acquiring data of the cultivated objects.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
according to the technical scheme provided by the embodiment of the disclosure, the track platform is provided with a support frame and a track arranged on the support frame; equipment of patrolling and examining, it includes: a moving device for moving the inspection equipment on the track; at least one data acquisition device, it is used for gathering the data of target object, can make to patrol and examine equipment and remove more high-efficient and stable on the track platform to the duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the track platform comprises: the track backplate, it set up in the track both sides are used for preventing patrol and examine equipment and break away from the track can the walking route of equipment is patrolled and examined in effectual protection. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosed embodiment provided, through equipment still includes patrolling and examining: at least one flat pulley, it set up in the side of patrolling and examining the equipment and/or the position that the bottom is close to the side support or clip the track backplate and prolong the track backplate rolls, in order to reduce patrol and examine the equipment with friction between the track backplate can effectually reduce the frictional force of patrolling and examining equipment and track backplate, and then the effectual energy consumption that reduces. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosed embodiment provided, through equipment still includes patrolling and examining: the first positioning device is used for determining the position of the inspection equipment on the track; the moving device enables the inspection equipment to move on the track according to the positioning result of the first positioning device, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the track platform comprises: and the second positioning device is arranged on the track or in the track and is used for enabling the first positioning device and the second positioning device to work cooperatively to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the first positioning device cooperates with the second positioning device by sensing the second positioning device or receiving the positioning information provided by the second positioning device to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosure provided, through second positioner includes the magnetic stripe, the magnetic stripe lay in the upper surface of track, or imbed the track, or set up under the upper surface of track, can make to patrol and examine equipment and accurately move on the track through sensing the magnetic stripe. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the first positioning device is a magnetic sensor and is used for sensing the magnetic strip to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track by sensing the magnetic strip. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the second positioning device further comprises at least one magnetic positioning mark arranged along the magnetic strip, wherein specific information related to the position of the magnetic positioning mark is recorded, so that the first positioning device can sense and read the specific information, and the inspection equipment performs an operation corresponding to the specific information, so that the inspection equipment can accurately move on the track by sensing the magnetic strip and the at least one magnetic positioning mark. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, when the first positioning device senses the at least one magnetic positioning mark, the moving device decelerates and moves along the magnetic strip and stops, so that the inspection equipment can accurately move on the track by sensing the magnetic strip and the at least one magnetic positioning mark. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosed embodiment provided, through equipment still includes patrolling and examining: the path planning device is used for planning the moving path of the inspection equipment according to the coordinates of the preset position on the track and the at least one magnetic positioning mark sensed by the first positioning device, wherein the moving device moves according to the moving path planned by the path planning device, so that the inspection scheme of the inspection equipment is simpler, easier and more flexible, the inspection equipment moves on a track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the data acquisition device extends out of the main body of the inspection equipment to the lower part of the track to acquire the data of the target object positioned below the track, so that the inspection scheme of the inspection equipment is simpler and more flexible, the inspection equipment moves on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosed embodiment provided, through equipment still includes patrolling and examining: scalable arm, it is followed telescopically stretches out in patrolling and examining the main part of equipment, at least one data acquisition device install in the end of scalable arm, through scalable arm stretches out the track below is located in order to gather the data of the target object of track below, can conveniently adjust the position relation between data acquisition device and the target object, gather the data of target object effectively. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosed embodiment provided, through scalable arm includes: a horizontal retractable robot arm portion telescopically and horizontally extendable from a main body of the inspection apparatus; and the vertical telescopic mechanical arm part is telescopically and vertically extended downwards from the end part of the horizontal telescopic mechanical arm part, which is far away from the main body of the inspection equipment, and the at least one data acquisition device is arranged at the lower end of the vertical telescopic mechanical arm part, so that the position relation between the data acquisition device and a target object can be conveniently adjusted, and the data of the target object can be effectively acquired. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the at least one data acquisition device comprises at least one of a camera, a thermal imaging device and a radar device, so that various forms of data of the target object can be effectively acquired. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosed embodiment provided, through mobile device includes the motor and is located patrol and examine equipment bottom by a plurality of wheels of motor drive, can make to patrol and examine equipment and remove more high-efficient and stable on the track platform to duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the track is a curved horizontal track formed by splicing a U-shaped horizontal track or a plurality of U-shaped smooth tracks, so that the patrol equipment can move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced. Moreover, a small amount of inspection equipment can be used for completing inspection in a large range.
According to the technical scheme that this disclosure provided, through the support frame is the support frame of adjustable height of setting on the reference surface, so that the track distance the height-adjustable of reference surface can make and patrol and examine equipment and remove more high-efficient and stable on the track platform, and improved duration. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement, and a good data acquisition angle can be acquired. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the device comprises a support frame; the track, it sets up on the support frame to the equipment is in for patrolling and examining move on the track, can be so that to patrol and examine the equipment and remove more high-efficient and stable on the track platform, and improved duration. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosed embodiment provided, through the track backplate, it set up in the track both sides are used for preventing patrol and examine equipment and break away from the track, the walking route that equipment was patrolled and examined in effectual protection. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the track positioning device is arranged on the track or in the track and used for enabling the inspection equipment to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosed embodiment provided, through track positioner includes the magnetic stripe, the magnetic stripe lay in the upper surface of track, or imbed the track, or set up under the upper surface of track, can make to patrol and examine equipment and accurately move on the track through sensing the magnetic stripe. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the track positioning device further comprises at least one magnetic positioning mark arranged along the magnetic strip, wherein specific information related to the position of the magnetic positioning mark is recorded, so that the inspection equipment can sense and read the specific information to execute an operation corresponding to the specific information, and the inspection equipment can accurately move on the track by sensing the magnetic strip and the at least one magnetic positioning mark. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the support frame is the height-adjustable support frame arranged on the reference surface, so that the height of the track from the reference surface is adjustable, and the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement, and a good data acquisition angle can be acquired. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the inspection equipment is used for moving by the moving device; at least one data acquisition device, it is used for gathering the data of target object, can make to patrol and examine equipment and remove more high-efficient and stable on the track platform to the duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosure provided, through at least one flat pulley, it set up in the side of patrolling and examining equipment and/or the bottom are close to the position of side, support or clip and prevent the skew moving direction's of equipment outside backplate is patrolled and examined and extended outside backplate rolls, in order to reduce patrol and examine equipment with the friction between the outside backplate, can effectually reduce the frictional force of patrolling and examining equipment and track backplate, and then the effectual energy consumption that reduces. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the equipment positioning device is used for determining the position of the inspection equipment on the track; the moving device enables the inspection equipment to move on the track according to the positioning result of the equipment positioning device, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the equipment positioning device and the external positioning device work cooperatively to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the equipment positioning device cooperates with the external positioning device by sensing the external positioning device or receiving the positioning information provided by the external positioning device to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the equipment positioning device is a magnetic sensor and is used for sensing the external magnetic mark to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track by sensing the external magnetic mark. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, when the equipment positioning device senses at least one external magnetic mark, the moving device decelerates to move along the track and stops, so that the inspection equipment can accurately move on the track by sensing the at least one external magnetic mark. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the path planning device is used for planning the moving path of the inspection equipment according to the coordinates of the preset position on the track and the at least one external magnetic positioning mark sensed by the equipment positioning device, wherein the moving device moves according to the moving path planned by the path planning device, so that the inspection scheme of the inspection equipment is simpler and more flexible, the inspection equipment moves on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosed embodiment provided, through at least one data acquisition device follow the main part of patrolling and examining equipment stretches out to patrol and examine the equipment below in order to gather the data that are located patrol and examine the target object of equipment below, can make the scheme of patrolling and examining equipment simple and easy and nimble more to it is more high-efficient and stable to patrol and examine equipment and remove on the track platform, and improved duration. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosure provided, through scalable arm, it is followed telescopically stretch out in the main part of equipment of patrolling and examining, at least one data acquisition device install in scalable arm's end, through scalable arm stretches out patrol and examine the equipment below in order to gather and be located patrol and examine the data of the target object of equipment below, can conveniently adjust the position relation between data acquisition device and the target object, gather the data of target object effectively. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosed embodiment provided, through scalable arm includes: a horizontal retractable robot arm portion telescopically and horizontally extendable from a main body of the inspection apparatus; and the vertical telescopic mechanical arm part is telescopically and vertically extended downwards from the end part of the horizontal telescopic mechanical arm part, which is far away from the main body of the inspection equipment, and the at least one data acquisition device is arranged at the lower end of the vertical telescopic mechanical arm part, so that the position relation between the data acquisition device and a target object can be conveniently adjusted, and the data of the target object can be effectively acquired. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the at least one data acquisition device comprises at least one of a camera, a thermal imaging device and a radar device, so that various forms of data of the target object can be effectively acquired. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme that this disclosed embodiment provided, through mobile device includes the motor and is located patrol and examine equipment bottom by a plurality of wheels of motor drive, can make to patrol and examine equipment and remove more high-efficient and stable on the track platform to duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
According to the technical scheme provided by the embodiment of the disclosure, the track platform is provided with a support frame and a track arranged on the support frame; equipment of patrolling and examining, it includes: a moving device for moving the inspection equipment on the track; at least one data acquisition device, it is used for gathering the data of the object of being bred, can make and patrol and examine equipment and remove more high-efficient and stable on the track platform to duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing the inspection work of the farm is effectively reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
Other labels, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:
fig. 1 shows a schematic structural diagram of an inspection system according to an embodiment of the present disclosure;
fig. 2 shows a schematic structural diagram of an inspection system according to another embodiment of the present disclosure;
fig. 3 shows a partial schematic diagram of an inspection system according to another embodiment of the present disclosure;
fig. 4 shows a partial structural schematic diagram of an inspection system according to yet another embodiment of the present disclosure;
FIG. 5 illustrates a partial structural top view schematic diagram of one example of a track according to an embodiment of the present disclosure;
FIG. 6 shows a schematic partial structural top view of another example of a track according to an embodiment of the present disclosure;
FIG. 7 shows yet another exemplary schematic of a track according to an embodiment of the present disclosure;
FIG. 8 shows yet another exemplary schematic of a track according to an embodiment of the present disclosure;
fig. 9 shows a schematic block diagram of an inspection system according to an embodiment of the present disclosure;
fig. 10 is a schematic diagram illustrating an application scenario of the patrol system according to an embodiment of the present disclosure;
fig. 11 shows a schematic diagram of an inspection device according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.
In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of labels, numbers, steps, actions, components, parts, or combinations thereof disclosed in the present specification, and are not intended to preclude the possibility that one or more other labels, numbers, steps, actions, components, parts, or combinations thereof are present or added.
It should be further noted that the embodiments and labels in the embodiments of the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
According to the technical scheme provided by the embodiment of the disclosure, the track platform is provided with a support frame and a track arranged on the support frame; equipment of patrolling and examining, it includes: a moving device for moving the inspection equipment on the track; at least one data acquisition device, it is used for gathering the data of target object, can make to patrol and examine equipment and remove more high-efficient and stable on the track platform to the duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
Fig. 1 shows a schematic structural diagram of an inspection system 1000 according to an embodiment of the present disclosure. As shown in fig. 1, the inspection system 1000 includes a rail platform 100 and an inspection device 200.
As shown in fig. 1, the rail platform 100 has a supporting frame 110 and a rail 120 disposed on the supporting frame 110.
As shown in fig. 1, the inspection equipment 200 includes a mobile device 210 and at least one data acquisition device 220. The moving device 210 is used to move the inspection tour 200 equipment on the track 120. At least one data acquisition device 220 is used to acquire data of the target object.
According to the technical scheme provided by the embodiment of the disclosure, the track platform is provided with a support frame and a track arranged on the support frame; equipment of patrolling and examining, it includes: the moving device is used for moving the inspection equipment on the track; at least one data acquisition device, it is used for gathering the data of target object, can make to patrol and examine equipment and remove more high-efficient and stable on the track platform to the duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the disclosure, the inspection equipment can be powered by an external cable or a battery carried by the inspection equipment. Those skilled in the art will appreciate that when the track platform is long and relatively tortuous, it is desirable that the inspection device power the mobile device and the data acquisition device via its own battery.
In one embodiment of the present disclosure, at least one data collecting device 220 protrudes from the main body of the inspection equipment 200 to below the rail 120 to collect data of a target object located below the rail 120.
According to the technical scheme that this disclosure provided, stretch out the data of the target object in order to gather below the track through at least one data acquisition device from the main part of equipment of patrolling and examining, can make the scheme of patrolling and examining equipment simple and easy and nimble more to it is more high-efficient and stable to patrol and examine equipment removal on the track platform, and improved duration. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced. As will be appreciated by those skilled in the art, the track platform in the embodiments of the present disclosure may also be referred to as an aerial track platform, since the track is supported by the support frame to be located in the air.
As shown in fig. 1, in one embodiment of the present disclosure, the support stand 110 may be disposed on a reference plane 300. Below the rail 120 may refer to below the bottom level 121 of the rail 120. I.e. between the rail 120 and the reference plane 300. It is apparent that at least one data acquisition device 220 protrudes from the body of the inspection apparatus 200 (e.g., by the robotic arm 230) below the bottom level 121 of the rail 120, between the rail 120 and the reference plane 300. It will be appreciated that the target object may be located above the reference plane 300 or may be located above the reference plane 300, but should be below the track 120. That is, the target object is located between the track 120 and the reference plane 300. In one embodiment of the present disclosure, the reference surface may refer to a mounting surface in a space where the inspection system is mounted, and is generally a plane, for example, the ground of a farm or a warehouse.
In one embodiment of the present disclosure, the supporting frame 110 is a height-adjustable supporting frame disposed on the reference surface 300, so that the height of the rail 120 from the reference surface 300 is adjustable.
According to the technical scheme that this disclosure provided, through the support frame for setting up the support frame of adjustable height on the reference surface to make the height-adjustable of track distance reference surface, can make and patrol and examine equipment and remove more high-efficient and stable on the track platform, and improved duration. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement, and a good data acquisition angle can be acquired. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the height of the supporting frame 110 is adjustable, so that the height of the rail 120 from the reference surface 300 is adjustable, and thus, the at least one data acquisition device 220 can acquire a good data acquisition angle. For example, data of the target object is acquired from a higher or lower position.
The inspection system 2000 in another embodiment of the present disclosure is described below with reference to fig. 2.
Fig. 2 shows a schematic diagram of an inspection system 2000 according to another embodiment of the present disclosure. In the inspection system 2000, the rail platform includes a rail cover 130 in addition to the support frame 119 and the rail 120 shown in fig. 1.
The rail guards 130 are provided at both sides of the rail 120 to prevent the inspection equipment 200 from being separated from the rail 120.
According to the technical scheme provided by the embodiment of the disclosure, the track platform comprises: the track backplate, it sets up in the track both sides for prevent to patrol and examine equipment and break away from the track, can effectual protection patrol and examine the walking route of equipment. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In the embodiment shown in fig. 2, the inspection device 200 further includes at least one flat pulley 241, 242. At least one flat pulley 241, 242 is disposed at a side and/or bottom of the inspection equipment 200 near the side to abut or clamp the rail cover 130 and roll along the rail cover 130 to reduce friction between the inspection equipment 200 and the rail cover 130.
According to the technical scheme that this disclosure embodiment provided, still include through equipment of patrolling and examining: at least one flat pulley, it sets up in the side of patrolling and examining equipment and/or the position that the bottom is close to the side, supports or presss from both sides the track backplate and prolongs the track backplate and roll to reduce the friction between patrolling and examining equipment and the track backplate, can effectually reduce the frictional force of patrolling and examining equipment and track backplate, and then effectual reduction energy consumption. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In the embodiment shown in fig. 2, the at least one flat pulley 241, 242 may include at least one flat pulley 241 located inside the track guard 130 (i.e., located on the side of the track guard 130 adjacent to the inspection device 200). Also, the at least one flat pulley 241, 242 may include at least one flat pulley 242 located on an outer side of the track guard 130 (i.e., on a side of the track guard 130 away from the inspection device 200). The flat pulleys 241, 242 of the present disclosure may abut or grip the track guard 130 and roll along the track guard 130. In the embodiment of the present disclosure, the size and the number of the flat pulleys 241, 242 are not limited. Furthermore, in an embodiment of the present disclosure, the inspection equipment 200 may include only the flat pulley 241 located inside the rail guard 130, only the flat pulley 242 located outside the rail guard 130, and both the flat pulley 241 located inside the rail guard 130 and the flat pulley 242 located outside the rail guard 130. The at least one flat pulley 241, 242 is provided at the side and/or the bottom of the inspection apparatus 200 near the side only by way of example. The at least one flat pulley 241, 242 may be mounted on the inspection equipment 200 in various ways, and the specific mounting manner is not limited thereto, and those skilled in the art may mount the at least one flat pulley 241, 242 on the inspection equipment 200 by using various technical means in the related art.
A partial structural schematic diagram of the inspection system 3000 in another embodiment of the present disclosure is described below with reference to fig. 3.
Fig. 3 shows a partial structural schematic diagram of an inspection system 3000 according to another embodiment of the present disclosure.
The partial structure of the inspection system 3000 shown in fig. 3 includes only the partial structure of the rails 120 of the rail platform 100 and the inspection equipment 200.
In the embodiment shown in fig. 3, the inspection equipment 200 includes a first positioning device 240 in addition to the moving device 210, the at least one data acquisition device 220, and the robotic arm 230 shown in fig. 1 or 2. The first positioning device 240 is used to determine the position of the inspection equipment 200 on the rail 120, wherein the moving device 210 moves the inspection equipment 200 on the rail 120 according to the positioning result of the first positioning device 240.
According to the technical scheme that this disclosure embodiment provided, still include through equipment of patrolling and examining: the first positioning device is used for determining the position of the inspection equipment on the track; the moving device enables the inspection equipment to move on the rail according to the positioning result of the first positioning device, so that the inspection equipment can accurately move on the rail. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the first positioning device 240 may be various positioning devices known in the related art, for example, a magnetic positioning device, a laser positioning device, a video positioning device, a wireless positioning device, and the like.
Although not shown, rail guards 130 may also be provided on both sides of the rail 120 in the embodiment shown in fig. 3. That is, the embodiment shown in fig. 3 is mainly used to explain a manner in which the inspection equipment 200 having the first positioning device 240 operates independently or in cooperation with a rail on which the second positioning device 140 is provided, and the remaining irrelevant parts are omitted herein.
In the embodiment shown in fig. 3, the rail platform 100 may include a second positioning device 140. The second positioning device 140 is disposed on or within the track 120 such that the first positioning device 240 cooperates with the second positioning device 140 to determine the position of the inspection apparatus 200 on the track 120.
According to the technical scheme provided by the embodiment of the disclosure, the track platform comprises: and the second positioning device is arranged on or in the track and is used for enabling the first positioning device and the second positioning device to work cooperatively so as to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the second positioning device 140 may be various positioning devices known in the related art, for example, a magnetic positioning device, a laser positioning device, a video positioning device, a wireless positioning device, etc., as long as it can cooperate with the first positioning device 240 to determine the position of the inspection apparatus 200 on the track 120.
Fig. 4 shows a partial structural schematic diagram of an inspection system 4000 according to still another embodiment of the present disclosure.
The embodiment shown in fig. 4 is different from the embodiment shown in fig. 3 in that the second positioning device 140' in fig. 4 is completely disposed on the surface of the rail 120. However, it should be understood that although the second positioning device 140 'of FIG. 4 has a different shape or configuration than the second positioning device 140 of FIG. 3 and is disposed on the track 120, the cooperation of the first positioning device 240 and the second positioning device 140' may be the same or similar.
In the embodiment shown in fig. 3 or 4, the first positioning device 240 cooperates with the second positioning device 140, 140 ' by sensing the second positioning device 140, 140 ' or by receiving positioning information provided by the second positioning device 140, 140 ' to determine the position of the inspection apparatus 200 on the track 120.
According to the technical scheme provided by the embodiment of the disclosure, the first positioning device and the second positioning device cooperate to determine the position of the inspection equipment on the track by sensing the second positioning device or receiving the positioning information provided by the second positioning device, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In the embodiment shown in fig. 3 or 4, the second positioning device 140, 140' includes a magnetic strip that is laid on the upper surface of the track 120, or embedded in the track 120, or disposed below the upper surface of the track 120.
According to the technical scheme that this disclosure embodiment provided, including the magnetic stripe through the second positioner, the magnetic stripe is laid at orbital upper surface, or is embedded into the track, or sets up under orbital upper surface, can make the equipment of patrolling and examining accurately remove on the track through sensing the magnetic stripe. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
Although not shown, rail guards 130 may also be provided on both sides of the rail 120 in the embodiment shown in fig. 4. That is, the embodiment shown in fig. 4 is mainly used to explain a manner in which the inspection equipment 200 having the first positioning device 240 operates independently or in cooperation with a rail on which the second positioning device 140' is provided, and the remaining irrelevant parts are omitted herein.
It will be appreciated by those skilled in the art that magnetic strips are known magnetic location means for locating a mobile device and will not be described in detail in this disclosure.
In the embodiment shown in fig. 3 or 4, the first positioning device 240 is a magnetic sensor for sensing the magnetic strip 140, 140' to determine the position of the inspection device 200 on the track 120.
According to the technical scheme that this disclosure provided, be magnetic sensor through first positioner for the position on the track is patrolled and examined in order to confirm to patrol and examine equipment in sensing magnetic stripe, can make to patrol and examine equipment through the sensing magnetic stripe accurately remove on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
A track according to an embodiment of the present disclosure is described below with reference to fig. 5.
Fig. 5 illustrates a partial structural top view schematic diagram of one example of a track 120 according to an embodiment of the present disclosure. In one embodiment of the present disclosure, the track shown in fig. 5 may correspond to the track shown in fig. 3, the track shown in fig. 5 being different from the track shown in fig. 3 in that a track guard 130 is shown.
As shown in fig. 5, rail guards 130 are provided at both sides of the rail 120, and a second positioning means 140, for example, a magnetic strip, is provided at the center of the rail 120 along the rail 120.
Although not shown, the second positioning device 140 on the rail 120 in the embodiment shown in fig. 5 may also be arranged to have the same width as the rail 120, i.e., the same arrangement as the second positioning device 140' in the embodiment shown in fig. 4.
In one embodiment of the present disclosure, the second positioning device 140 may include a magnetic strip that is laid on, embedded in, or disposed below the upper surface of the track.
Another example of a track according to an embodiment of the present disclosure is described below with reference to fig. 6.
Fig. 6 shows a partial structural top view schematic diagram of another example of a track according to an embodiment of the present disclosure.
In the embodiment shown in fig. 6, when the second positioning device includes a magnetic strip 140, the embodiment shown in fig. 6 differs from the embodiment shown in fig. 5 in that a magnetic positioning mark 150 is further included. In the embodiment shown in fig. 6, the second locating means further includes at least one magnetic locating mark 150 disposed along the magnetic stripe 140, wherein specific information related to the position of the magnetic locating mark 150 is recorded for the first locating means 240 to sense and read the specific information, and the inspection apparatus 200 performs an operation corresponding to the specific information.
According to the technical scheme provided by the embodiment of the disclosure, the second positioning device further comprises at least one magnetic positioning mark arranged along the magnetic strip, wherein specific information related to the position of the magnetic positioning mark is recorded, so that the first positioning device can sense and read the specific information, and the inspection equipment performs an operation corresponding to the specific information, so that the inspection equipment can accurately move on the track by sensing the magnetic strip and the at least one magnetic positioning mark. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In an embodiment of the present disclosure, along the magnetic stripe 140 disposed on the track, a magnetic positioning mark 150 is disposed at a certain distance, so that the inspection device 200 can perform operations such as deceleration, stop, and data collection after detecting the magnetic positioning mark 150 when moving along the magnetic stripe 140, thereby making the movement and data collection operations of the inspection device 200 more accurate.
In one embodiment of the present disclosure, when the first positioning device 240 senses the at least one magnetic marker 150, the moving device 210 decelerates to move along the magnetic stripe and stops.
According to the technical scheme provided by the embodiment of the disclosure, when the first positioning device senses the at least one magnetic positioning mark, the moving device decelerates along the magnetic strip and stops, so that the inspection equipment can accurately move on the track by sensing the magnetic strip and the at least one magnetic positioning mark. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the inspection equipment 200 further includes a path planning device (not shown in the figures). The path planning device is used for planning a moving path of the inspection apparatus 200 according to the coordinates of the preset position on the track 140 and the at least one magnetic positioning mark sensed by the first positioning device 240, wherein the moving device 210 moves according to the moving path planned by the path planning device.
According to the technical scheme that this disclosure embodiment provided, still include through equipment of patrolling and examining: the route planning device, its at least one magnetism location mark planning that is used for according to the coordinate of the position of predetermineeing on the track and first positioner sensing patrols and examines equipment's removal route, and wherein, the removal route that the mobile device planned according to the route planning device removes, can make patrolling and examining equipment's the scheme of patrolling and examining simple and easy more and nimble to it moves more high-efficient and stable on the track platform to patrol and examine equipment, and improved duration. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In an embodiment of this disclosure, can take 10cm magnetic stripe to fix at orbital mode for patrol and examine equipment and detect target magnetism location mark after, can take the brake, patrol and examine equipment and can slowly stop on the magnetic stripe, revise through a plurality of magnetism location marks, can realize patrolling and examining the accurate positioning of equipment.
In an embodiment of the present disclosure, the moving manner of the inspection equipment 200 may be planned by using the first positioning device 240 and the second positioning device 140 according to the position of the target object to be actually inspected by the inspection equipment 200.
A robot arm of an inspection apparatus according to an embodiment of the present disclosure is described below with reference to fig. 1, 2, and 11.
Fig. 11 shows a schematic diagram of an inspection device according to an embodiment of the present disclosure.
In the embodiment shown in fig. 1 and 2, the inspection apparatus 200 further includes a retractable robotic arm 230. The retractable robot arm 230 is telescopically extended from the main body of the inspection apparatus 200. At least one data collecting device 121 is installed at the end of the retractable robot arm 230 to be extended below the rail 120 by the retractable robot arm 230 to collect data of the target object located below the rail 120.
According to the technical scheme that this disclosure embodiment provided, still include through equipment of patrolling and examining: the telescopic mechanical arm extends out of the main body of the inspection equipment in a telescopic mode, the at least one data acquisition device is installed at the tail end of the telescopic mechanical arm, the telescopic mechanical arm extends out of the lower portion of the track to acquire data of a target object located below the track, the position relation between the data acquisition device and the target object can be conveniently adjusted, and data of the target object can be effectively acquired. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In the inspection equipment shown in fig. 11, the retractable robot arm may extend from the main body of the inspection equipment to below the rail on which the inspection equipment is located, so that the data collecting device including a camera at the tip of the retractable robot arm collects data of the target object located below the rail.
In the embodiment shown in fig. 1 and 2, the retractable robot arm 230 comprises: a horizontal telescoping arm section and a vertical telescoping arm section. The horizontal retractable arm portion is telescopically extended horizontally from the main body of the inspection equipment 200, the vertical retractable arm portion is telescopically extended vertically downward from an end of the horizontal retractable arm portion remote from the main body of the inspection equipment 200, and at least one data collecting device 220 is installed at a lower end of the vertical retractable arm portion.
According to the technical scheme that this disclosed embodiment provided, include through scalable arm: a horizontal retractable arm portion which is telescopically extended horizontally from a main body of the inspection apparatus; the vertical telescopic mechanical arm part is telescopically and vertically extended downwards from the end part, far away from the main body of the inspection equipment, of the horizontal telescopic mechanical arm part, and the lower end of the vertical telescopic mechanical arm part is provided with at least one data acquisition device, so that the position relation between the data acquisition device and a target object can be conveniently adjusted, and the data of the target object can be effectively acquired. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In the inspection equipment shown in fig. 11, both the horizontal retractable arm portion and the vertical retractable arm portion of the retractable arm are retractable, so that the data collecting device including a camera mounted at the tip of the vertical retractable arm portion of the inspection equipment can be adjusted in position in the horizontal direction and the vertical direction.
In one embodiment of the present disclosure, the at least one data acquisition device includes at least one of a camera, a thermal imaging device, a radar device.
According to the technical scheme provided by the embodiment of the disclosure, the data of various forms of the target object can be effectively acquired through at least one data acquisition device comprising at least one of a camera, thermal imaging equipment and radar equipment. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the moving means includes a motor and a plurality of wheels driven by the motor at the bottom of the inspection equipment 200.
According to the technical scheme that this disclosed embodiment provided, include the motor through the mobile device and be located the equipment bottom of patrolling and examining by a plurality of wheels of motor drive, can be so that to patrol and examine equipment and remove more high-efficient and stable on the track platform to the duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In the inspection equipment as shown in fig. 11, the moving device of the inspection equipment includes 4 wheels. However, it will be appreciated by those skilled in the art that the number of wheels of the moving means of the inspection equipment is not limited thereto, and may be more or less.
Yet another example of a track according to an embodiment of the present disclosure is described below with reference to fig. 7 and 8.
Fig. 7 illustrates yet another example schematic of a track according to an embodiment of the present disclosure. Fig. 7 shows a top view of the track.
In the embodiment shown in fig. 7, the track is a U-shaped horizontal track.
Fig. 8 illustrates yet another example schematic of a track according to an embodiment of the present disclosure. Fig. 8 shows a top view of the track.
In the embodiment shown in fig. 8, the rail is a curved horizontal rail formed by splicing a plurality of U-shaped smooth rails. A curved horizontal rail spliced by 3U-shaped smooth rails is shown in fig. 8, but the present disclosure is not limited thereto and a curved horizontal rail spliced by more or less U-shaped smooth rails may be used.
According to the technical scheme provided by the embodiment of the disclosure, the rail is a curved horizontal rail formed by splicing a U-shaped horizontal rail or a plurality of U-shaped smooth rails, so that the patrol equipment can move on the rail platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced. Moreover, a small amount of inspection equipment can be used for completing inspection in a large range.
In the embodiment of the disclosure, a curved horizontal rail formed by splicing the U-shaped horizontal rail or the plurality of U-shaped horizontal rails is suitable for realizing multiplexing of the same set of inspection equipment for a plurality of target objects at different positions, and the U-shaped horizontal rail is similar to an urban road and is convenient for planning the walking path of the inspection equipment with higher efficiency.
In one embodiment of the present disclosure, the width of the rail platform may be 40cm of horizontal rail. For example, the track plane can be made of a smooth and low-cost material such as a wood board or a plastic board. For example, a 10cm magnetic strip may be used to secure the track.
An inspection system according to an embodiment of the present disclosure is described below with reference to fig. 9 and 10.
Fig. 9 shows a schematic block diagram of the inspection system according to an embodiment of the present disclosure.
Fig. 10 shows a schematic diagram of an application scenario of the patrol system according to an embodiment of the present disclosure.
The inspection system shown in fig. 9 includes a rail platform and an inspection robot.
The rail platform shown in fig. 9 may have three key functions of a U-shaped rail, electromagnetic positioning, and an L-shaped protection groove (guard plate). The U-shaped rail and the L-shaped groves attached to the edge of the U-shaped rail are shown in fig. 10. Electromagnetic positioning may refer to a magnetic strip disposed on a track.
The inspection robot shown in fig. 9 may be embodied as an AGV (automatic guided vehicle) cart moving on rails as shown in fig. 10 and 11. The inspection robot shown in fig. 9 has a smoothing function for smoothing the movement of the inspection robot on the L-shaped grove (by means of small smoothing wheels that abut against or sandwich the L-shaped grove), and also has a data collection platform (e.g., a camera attached to a robot arm, a thermal imaging and radar apparatus, etc.) to collect data of a target object. The inspection robot has the functions of stable walking, accurate positioning, multifunctional inspection and multi-angle data acquisition. Those skilled in the art will appreciate that an AGV cart in the related art may be employed as the main body of the inspection apparatus according to the embodiments of the present disclosure.
The above-described functions of the inspection robot are described below with reference to fig. 10, with a pig in a piggery (farm) as a target object. Fig. 10 shows an example of a pig house with an inspection system installed in accordance with the surgical approach of the present disclosure. The inspection system includes an inspection robot 1010 and a track platform 1020. The rail platform 1020 includes a rail 1021 and a support 1022 for supporting the rail 1021. The monitored pigs are located in respective swineries 1030.
1) The walking stabilizing function: the whole inspection robot 1010 runs on the track platform 1020, adopts a horizontal floor for the track 1021 floor, adopts an L-shaped protection groove for protection, and limits a walking path.
2) Accurate locate function: in the pigsty of unmanned automatic patrolling and examining, it is first demand that robot 1010 patrols and examines realizes accurate location. Therefore, the problem of inaccurate positioning caused by inertia sliding after the inspection equipment is braked can be effectively solved by adopting a mode of a plurality of positioning points (magnetic positioning marks) of the long magnetic strip.
3) The multifunctional inspection function is as follows: besides the whole-field inspection for the predetermined times of each day, the piggery can also be designed with an inspection scheme aiming at sows in a specific stage. For example, the detailed protocol is: the method comprises the steps of inspecting the oestrus condition of weaning sows, inspecting the parturition condition of sows to be parturied, inspecting the body condition development condition of sows, and the like. In addition, the inspection robot can also provide an accurate inspection function. For example, entering a single inspection coordinate, the inspection robot 1010 will automatically direct the position of the data collected over the coordinate. For another example, when batch polling coordinates are input, the polling robot control program automatically plans a minimum walking path and sequentially polls for positioning.
4) The multi-angle data acquisition function: the telescopic function of the mechanical arm of the inspection robot 1010 is utilized, so that all-dimensional monitoring of the pigs can be realized. For example, the sites where pigs are harvested within the pig house 1030 include: the pig feed trough, the pig head, the pig back hip, the pig vulva and other key parts. In this way, full range data may be provided for subsequent AI applications.
The patrol inspection system utilizing the track platform and the patrol inspection equipment, which is provided by the embodiment of the disclosure, is more efficient and stable compared with the walking robot walking on the ground which is rugged, uneven and occasionally has transverse impact and direct impact on pigs. Because on the aerial track, the floor can adopt smooth plastics floor etc. and the L type of both sides protects the groove and can effectively protect the walking route of equipment of patrolling and examining. The wheels and the peripheral small smooth wheels of the inspection equipment can effectively reduce the walking friction. The routing inspection equipment is matched with the U-shaped rail, so that the optimization of a multifunctional routing inspection path can be realized, and the battery consumption is effectively reduced. For example, the cruising ability of the inspection robot running on the aerial track can be improved by 3 hours compared with the cruising ability of the walking robot under the condition of the same battery capacity. Therefore, compared with a walking robot, the inspection robot on the track platform has higher stability and stronger cruising ability.
For example, the core mobile platform of the aerial inspection robot can adopt an AGV to position a trolley, and as the path and the positioning can be planned, the development of a multifunctional inspection scheme is very simple, easy and flexible. Therefore, the multifunctional patrol inspection requirements of places such as factories, pig farms, goods yards and the like can be effectively met.
The walking robot in the related art needs very fine mechanical control equipment and a stabilizer, and particularly, a core vision algorithm analyzer carried by the robot is generally a relatively expensive GPU or FPGA device. Therefore, the cost of the walking robot is high. Compared with the prior art, the inspection robot running on the track platform adopts a cheap and mature AGV trolley, the aerial track adopts an angle steel bracket and a plastic track, and the cost can be reduced to be very low. Through the evaluation of the actual production environment, in a 120 m-25 m piggery, the walking robot needs the cost of 20 ten thousand RMB, and the cost of operating the inspection robot on the track platform can be controlled within 5 ten thousand RMB.
Although the embodiments of the present disclosure have been described above with a pigsty (farm) as an application scenario, it can be understood by those skilled in the art that the inspection system in the embodiments of the present disclosure may be applied not only to a farm, but also to an environment such as a factory or a goods yard.
A track platform according to one embodiment of the present disclosure is described below.
In one embodiment of the present disclosure, a rail platform comprises:
a support frame;
the track, it sets up on the support frame to it is in to supply to patrol and examine equipment removal on the track.
According to the technical scheme provided by the embodiment of the disclosure, the device comprises a support frame; the track, it sets up on the support frame to the equipment is in for patrolling and examining move on the track, can be so that to patrol and examine the equipment and remove more high-efficient and stable on the track platform, and improved duration. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the rail platform further comprises:
and the track guard plate is arranged on two sides of the track and used for preventing the routing inspection equipment from being separated from the track.
According to the technical scheme that this disclosed embodiment provided, through the track backplate, it set up in the track both sides are used for preventing patrol and examine equipment and break away from the track, the walking route that equipment was patrolled and examined in effectual protection. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the rail platform further comprises:
and the track positioning device is arranged on the track or in the track and used for enabling the inspection equipment to determine the position of the inspection equipment on the track.
According to the technical scheme provided by the embodiment of the disclosure, the track positioning device is arranged on the track or in the track and used for enabling the inspection equipment to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment shakes little, and the cost of completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the track positioning device includes a magnetic strip that is laid on, embedded in, or disposed below the upper surface of the track.
According to the technical scheme that this disclosed embodiment provided, through track positioner includes the magnetic stripe, the magnetic stripe lay in the upper surface of track, or imbed the track, or set up under the upper surface of track, can make to patrol and examine equipment and accurately move on the track through sensing the magnetic stripe. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the disclosure, the track positioning device further comprises at least one magnetic positioning mark arranged along the magnetic strip, wherein specific information related to the position of the magnetic positioning mark is recorded, so that the inspection equipment can sense and read the specific information to execute an operation corresponding to the specific information.
According to the technical scheme provided by the embodiment of the disclosure, the track positioning device further comprises at least one magnetic positioning mark arranged along the magnetic strip, wherein specific information related to the position of the magnetic positioning mark is recorded, so that the inspection equipment can sense and read the specific information to execute an operation corresponding to the specific information, and the inspection equipment can accurately move on the track by sensing the magnetic strip and the at least one magnetic positioning mark. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the support frame is an adjustable-height support frame disposed on a reference surface, so that the height of the rail from the reference surface is adjustable.
According to the technical scheme provided by the embodiment of the disclosure, the support frame is the height-adjustable support frame arranged on the reference surface, so that the height of the track from the reference surface is adjustable, and the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement, and a good data acquisition angle can be acquired. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
It will be appreciated by those skilled in the art that the above-described track platform may be combined with the embodiments described with reference to fig. 1 to 11 to achieve the technical effects achieved by the embodiments described with reference to fig. 1 to 11. For details, reference may be made to the description made above with reference to fig. 1 to 11, and details thereof are not repeated herein.
The following describes an inspection apparatus according to one embodiment of the present disclosure.
In one embodiment of the present disclosure, an inspection apparatus includes:
a moving device for moving the inspection equipment;
at least one data acquisition device for acquiring data of a target object.
According to the technical scheme provided by the embodiment of the disclosure, the inspection equipment is used for moving by the moving device; at least one data acquisition device, it is used for gathering the data of target object, can make to patrol and examine equipment and remove more high-efficient and stable on the track platform to the duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the inspection apparatus further includes:
at least one flat pulley, it sets up in the side of patrolling and examining the equipment and/or the bottom is close to the position of side, supports or presss from both sides and prevents to patrol and examine the skew moving direction's of equipment outside backplate and extend the outside backplate rolls, in order to reduce patrol and examine equipment with the friction between the outside backplate.
According to the technical scheme that this disclosure provided, through at least one flat pulley, it set up in the side of patrolling and examining equipment and/or the bottom are close to the position of side, support or clip and prevent the skew moving direction's of equipment outside backplate is patrolled and examined and extended outside backplate rolls, in order to reduce patrol and examine equipment with the friction between the outside backplate, can effectually reduce the frictional force of patrolling and examining equipment and track backplate, and then the effectual energy consumption that reduces. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the inspection apparatus further includes:
the equipment positioning device is used for determining the position of the inspection equipment on the track;
and the moving device enables the inspection equipment to move on the track according to the positioning result of the equipment positioning device.
According to the technical scheme provided by the embodiment of the disclosure, the equipment positioning device is used for determining the position of the inspection equipment on the track; the moving device enables the inspection equipment to move on the track according to the positioning result of the equipment positioning device, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the disclosure, the equipment locating device cooperates with an external locating device to determine the location of the inspection equipment on the track.
According to the technical scheme provided by the embodiment of the disclosure, the equipment positioning device and the external positioning device work cooperatively to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the disclosure, the equipment locating device cooperates with the external locating device by sensing the external locating device or by receiving location information provided by the external locating device to determine the location of the inspection equipment on the track.
According to the technical scheme provided by the embodiment of the disclosure, the equipment positioning device cooperates with the external positioning device by sensing the external positioning device or receiving the positioning information provided by the external positioning device to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the disclosure, the equipment positioning device is a magnetic sensor for sensing external magnetic markers to determine the position of the inspection equipment on the track.
According to the technical scheme provided by the embodiment of the disclosure, the equipment positioning device is a magnetic sensor and is used for sensing the external magnetic mark to determine the position of the inspection equipment on the track, so that the inspection equipment can accurately move on the track by sensing the external magnetic mark. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the moving means decelerates and stops along the track when the device positioning means senses at least one external magnetic marker.
According to the technical scheme provided by the embodiment of the disclosure, when the equipment positioning device senses at least one external magnetic mark, the moving device decelerates to move along the track and stops, so that the inspection equipment can accurately move on the track by sensing the at least one external magnetic mark. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the inspection apparatus further includes:
a path planning device for planning a moving path of the inspection equipment according to the coordinates of the preset position on the track and the at least one external magnetic positioning mark sensed by the equipment positioning device,
and the mobile device moves according to the movement path planned by the path planning device.
According to the technical scheme provided by the embodiment of the disclosure, the path planning device is used for planning the moving path of the inspection equipment according to the coordinates of the preset position on the track and the at least one external magnetic positioning mark sensed by the equipment positioning device, wherein the moving device moves according to the moving path planned by the path planning device, so that the inspection scheme of the inspection equipment is simpler and more flexible, the inspection equipment moves on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the at least one data collecting device protrudes from the main body of the inspection apparatus to below the inspection apparatus to collect data of a target object located below the inspection apparatus.
According to the technical scheme that this disclosed embodiment provided, through at least one data acquisition device follow the main part of patrolling and examining equipment stretches out to patrol and examine the equipment below in order to gather the data that are located patrol and examine the target object of equipment below, can make the scheme of patrolling and examining equipment simple and easy and nimble more to it is more high-efficient and stable to patrol and examine equipment and remove on the track platform, and improved duration. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the inspection apparatus further includes:
scalable arm, it follows telescopically stretches out in the main part of equipment of patrolling and examining, at least one data acquisition device install in the end of scalable arm, through scalable arm stretches out patrol and examine the equipment below and lie in order to gather patrol and examine the data of the target object of equipment below.
According to the technical scheme that this disclosure provided, through scalable arm, it is followed telescopically stretch out in the main part of equipment of patrolling and examining, at least one data acquisition device install in scalable arm's end, through scalable arm stretches out patrol and examine the equipment below in order to gather and be located patrol and examine the data of the target object of equipment below, can conveniently adjust the position relation between data acquisition device and the target object, gather the data of target object effectively. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the retractable robot arm includes:
a horizontal retractable robot arm portion telescopically and horizontally extendable from a main body of the inspection apparatus;
a vertical telescopic arm part which is telescopically extended vertically downward from an end of the horizontal telescopic arm part remote from the main body of the inspection apparatus, and whose lower end is mounted with the at least one data collecting device.
According to the technical scheme that this disclosed embodiment provided, through scalable arm includes: a horizontal retractable robot arm portion telescopically and horizontally extendable from a main body of the inspection apparatus; and the vertical telescopic mechanical arm part is telescopically and vertically extended downwards from the end part of the horizontal telescopic mechanical arm part, which is far away from the main body of the inspection equipment, and the at least one data acquisition device is arranged at the lower end of the vertical telescopic mechanical arm part, so that the position relation between the data acquisition device and a target object can be conveniently adjusted, and the data of the target object can be effectively acquired. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the at least one data acquisition device includes at least one of a camera, a thermal imaging device, and a radar device.
According to the technical scheme provided by the embodiment of the disclosure, the at least one data acquisition device comprises at least one of a camera, a thermal imaging device and a radar device, so that various forms of data of the target object can be effectively acquired. Moreover, the embodiment of the disclosure can enable the inspection equipment to move on the track platform more efficiently and stably, and the cruising ability is improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
In one embodiment of the present disclosure, the moving device includes a motor and a plurality of wheels driven by the motor at the bottom of the inspection apparatus.
According to the technical scheme that this disclosed embodiment provided, through mobile device includes the motor and is located patrol and examine equipment bottom by a plurality of wheels of motor drive, can make to patrol and examine equipment and remove more high-efficient and stable on the track platform to duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compared with the technical scheme of the walking robot, the combination of the track platform and the inspection equipment in the embodiment of the disclosure does not need to process complicated terrains and barriers on the ground to avoid the barriers, the resistance of the track platform is small, the running speed is high, the equipment jitter is small, and the cost for completing inspection work is effectively reduced.
Those skilled in the art will appreciate that the inspection equipment described above can be combined with the embodiments described with reference to fig. 1 to 11, thereby achieving the technical effects achieved by the embodiments described with reference to fig. 1 to 11. For details, reference may be made to the description made above with reference to fig. 1 to 11, and details thereof are not repeated herein.
A farm inspection system according to one embodiment of the present disclosure is described below.
In one embodiment of the present disclosure, an farm inspection system includes:
the track platform is provided with a support frame and a track arranged on the support frame;
equipment of patrolling and examining, it includes:
a moving device for moving the inspection equipment on the track;
at least one data acquisition device for acquiring data of the cultivated objects.
According to the technical scheme provided by the embodiment of the disclosure, the track platform is provided with a support frame and a track arranged on the support frame; equipment of patrolling and examining, it includes: a moving device for moving the inspection equipment on the track; at least one data acquisition device, it is used for gathering the data of the object of being bred, can make and patrol and examine equipment and remove more high-efficient and stable on the track platform to duration has been improved. In addition, the track platform can provide high setting flexibility so that the moving mode of the inspection equipment meets the requirement. Compare in walking robot's technical scheme, the track platform in the embodiment of this disclosure and the combination of equipment of patrolling and examining have reduced the cost of accomplishing the work of patrolling and examining to the plant effectively.
Those skilled in the art will appreciate that the farm inspection system described above may be combined with the embodiments described with reference to fig. 1 to 11 to achieve the technical effects achieved by the embodiments described with reference to fig. 1 to 11. For details, reference may be made to the description made above with reference to fig. 1 to 11, and details thereof are not repeated herein.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is possible without departing from the inventive concept. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims (38)

1. An inspection system, comprising:
the track platform is provided with a support frame and a track arranged on the support frame;
equipment of patrolling and examining, it includes:
a moving device for moving the inspection equipment on the track;
at least one data acquisition device for acquiring data of a target object.
2. The system of claim 1, wherein the rail platform comprises:
and the track guard plate is arranged on two sides of the track and used for preventing the routing inspection equipment from being separated from the track.
3. The system of claim 2, wherein the inspection device further comprises:
the flat pulley is arranged at the position, close to the side face, of the side face and/or the bottom of the inspection equipment, abuts or clamps the track protection plate and rolls along the track protection plate, and therefore friction between the inspection equipment and the track protection plate is reduced.
4. The system of claim 1, wherein the inspection device further comprises:
the first positioning device is used for determining the position of the inspection equipment on the track;
and the moving device enables the inspection equipment to move on the track according to the positioning result of the first positioning device.
5. The system of claim 4, wherein the rail platform comprises:
and the second positioning device is arranged on the track or in the track and is used for enabling the first positioning device and the second positioning device to work cooperatively so as to determine the position of the inspection equipment on the track.
6. The system of claim 5, wherein the first locating device cooperates with the second locating device by sensing the second locating device or by receiving location information provided by the second locating device to determine the location of the inspection equipment on the track.
7. The system of claim 5, wherein the second positioning device comprises a magnetic strip that is laid on or embedded in or disposed below the upper surface of the track.
8. The system of claim 7, wherein the first positioning device is a magnetic sensor for sensing the magnetic strip to determine the position of the inspection device on the track.
9. The system of claim 7, wherein the second positioning device further comprises at least one magnetic positioning mark arranged along the magnetic strip, wherein specific information related to the position of the magnetic positioning mark is recorded for the first positioning device to sense and read, and the inspection equipment performs an operation corresponding to the specific information.
10. The system of claim 9, wherein the moving means decelerates and stops moving along the magnetic strip when the first positioning means senses the at least one magnetic marker.
11. The system of claim 9 or 10, wherein the inspection device further comprises:
a path planning device for planning a moving path of the inspection equipment according to the coordinates of the preset position on the track and the at least one magnetic positioning mark sensed by the first positioning device,
and the mobile device moves according to the movement path planned by the path planning device.
12. The system of claim 1, wherein the at least one data acquisition device extends from the body of the inspection apparatus to below the track to acquire data of a target object located below the track.
13. The system of claim 12, wherein the inspection device further comprises:
scalable arm, its follow telescopically stretch out in the main part of equipment of patrolling and examining, at least one data acquisition device install in the end of scalable arm, through scalable arm stretches out to the track below is in order to gather the data that are located the target object of track below.
14. The system of claim 13, wherein the retractable robotic arm comprises:
a horizontal retractable robot arm portion telescopically and horizontally extendable from a main body of the inspection apparatus;
a vertical telescopic arm part which is telescopically extended vertically downward from an end of the horizontal telescopic arm part remote from the main body of the inspection apparatus, and whose lower end is mounted with the at least one data collecting device.
15. The system of claim 1, wherein the at least one data acquisition device comprises at least one of a camera, a thermal imaging device, and a radar device.
16. The system of claim 1, wherein the moving means includes a motor and a plurality of wheels driven by the motor located at a bottom of the inspection apparatus.
17. The system of claim 1, wherein the rail is a U-shaped horizontal rail or a curved horizontal rail formed by splicing a plurality of U-shaped smooth rails.
18. The system of claim 1, wherein the support is an adjustable height support disposed on a reference surface such that the height of the track from the reference surface is adjustable.
19. A rail platform, comprising:
a support frame;
the track, it sets up on the support frame to it is in to supply to patrol and examine equipment removal on the track.
20. The platform of claim 19, further comprising:
and the track guard plate is arranged on two sides of the track and used for preventing the routing inspection equipment from being separated from the track.
21. The platform of claim 19, further comprising:
and the track positioning device is arranged on the track or in the track and used for enabling the inspection equipment to determine the position of the inspection equipment on the track.
22. A platform as claimed in claim 21, wherein the track location means comprises a magnetic strip which is laid on, embedded in or disposed below the upper surface of the track.
23. The platform of claim 22, wherein the track positioning device further comprises at least one magnetic positioning mark arranged along the magnetic strip, wherein specific information related to the position of the magnetic positioning mark is recorded, so that the inspection equipment can sense and read the specific information to execute an operation corresponding to the specific information.
24. The platform of claim 19, wherein the support is an adjustable height support disposed on a datum level such that the height of the track from the datum level is adjustable.
25. An inspection device, comprising:
a moving device for moving the inspection equipment;
at least one data acquisition device for acquiring data of a target object.
26. The apparatus of claim 25, further comprising:
at least one flat pulley, it sets up in the side of patrolling and examining the equipment and/or the bottom is close to the position of side, supports or presss from both sides and prevents to patrol and examine the skew moving direction's of equipment outside backplate and extend the outside backplate rolls, in order to reduce patrol and examine equipment with the friction between the outside backplate.
27. The apparatus of claim 25, further comprising:
the equipment positioning device is used for determining the position of the inspection equipment on the track;
and the moving device enables the inspection equipment to move on the track according to the positioning result of the equipment positioning device.
28. The apparatus of claim 27, wherein the apparatus positioning device cooperates with an external positioning device to determine the position of the inspection apparatus on the track.
29. The apparatus of claim 28, wherein the apparatus positioning device cooperates with the external positioning device by sensing the external positioning device or by receiving positioning information provided by the external positioning device to determine the position of the inspection apparatus on the track.
30. The apparatus of claim 28, wherein the apparatus positioning device is a magnetic sensor for sensing external magnetic markers to determine the position of the inspection apparatus on the track.
31. The apparatus of claim 30, wherein the moving means decelerates and stops moving along the track when the apparatus positioning means senses at least one external magnetic marker.
32. The apparatus of claim 31, further comprising:
a path planning device for planning a moving path of the inspection equipment according to the coordinates of the preset position on the track and the at least one external magnetic positioning mark sensed by the equipment positioning device,
and the mobile device moves according to the movement path planned by the path planning device.
33. The apparatus of claim 25, wherein the at least one data collection device extends from the body of the inspection apparatus to below the inspection apparatus to collect data of a target object located below the inspection apparatus.
34. The apparatus of claim 33, further comprising:
scalable arm, it follows telescopically stretches out in the main part of equipment of patrolling and examining, at least one data acquisition device install in the end of scalable arm, through scalable arm stretches out patrol and examine the equipment below and lie in order to gather patrol and examine the data of the target object of equipment below.
35. The apparatus of claim 34, wherein the retractable robotic arm comprises:
a horizontal retractable robot arm portion telescopically and horizontally extendable from a main body of the inspection apparatus;
a vertical telescopic arm part which is telescopically extended vertically downward from an end of the horizontal telescopic arm part remote from the main body of the inspection apparatus, and whose lower end is mounted with the at least one data collecting device.
36. The apparatus of claim 25, wherein the at least one data acquisition device comprises at least one of a camera, a thermal imaging device, and a radar device.
37. The apparatus of claim 25, wherein the moving means includes a motor and a plurality of wheels driven by the motor located at a bottom of the inspection apparatus.
38. The utility model provides a system of patrolling and examining in plant which characterized in that includes:
the track platform is provided with a support frame and a track arranged on the support frame;
equipment of patrolling and examining, it includes:
a moving device for moving the inspection equipment on the track;
at least one data acquisition device for acquiring data of the cultivated objects.
CN201910381822.1A 2019-05-08 2019-05-08 Inspection system, track platform and inspection equipment Pending CN111913478A (en)

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Application Number Priority Date Filing Date Title
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Publication Number Publication Date
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Publication number Priority date Publication date Assignee Title
CN101984382A (en) * 2010-10-15 2011-03-09 重庆市电力公司超高压局 Method for intelligently inspection substation equipment by using robot
CN102063746A (en) * 2010-11-21 2011-05-18 沈阳华岩电力技术有限公司 Program-controlled patrol machine and program-controlled patrol method for transformer station
CN109346981A (en) * 2018-10-29 2019-02-15 国网浙江平湖市供电有限公司 A kind of intelligence shelf depreciation crusing robot
CN109571403A (en) * 2018-12-12 2019-04-05 杭州申昊科技股份有限公司 A kind of track trace navigation intelligent inspection robot and its air navigation aid
CN109725233A (en) * 2018-12-12 2019-05-07 杭州申昊科技股份有限公司 A kind of intelligent substation inspection system and its method for inspecting

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101984382A (en) * 2010-10-15 2011-03-09 重庆市电力公司超高压局 Method for intelligently inspection substation equipment by using robot
CN102063746A (en) * 2010-11-21 2011-05-18 沈阳华岩电力技术有限公司 Program-controlled patrol machine and program-controlled patrol method for transformer station
CN109346981A (en) * 2018-10-29 2019-02-15 国网浙江平湖市供电有限公司 A kind of intelligence shelf depreciation crusing robot
CN109571403A (en) * 2018-12-12 2019-04-05 杭州申昊科技股份有限公司 A kind of track trace navigation intelligent inspection robot and its air navigation aid
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