CN114290313A - Inspection robot, automatic navigation inspection robot system and control method - Google Patents
Inspection robot, automatic navigation inspection robot system and control method Download PDFInfo
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Abstract
The invention provides an inspection robot, which is used for actual inspection of a railway fixed equipment field and comprises: the robot comprises a robot main body, wheel sets, a driving device and a controller, wherein the robot main body is provided with a camera, a laser radar, a laser range finder, a temperature sensor, a smoke sensor and a satellite receiving antenna for collecting satellite GPS signals; the two sets of wheel sets are respectively positioned at the left side and the right side of the robot main body; the wheel set comprises a crawler belt, a driving wheel, a guide wheel, a bearing wheel and a spring shock absorber; the driving wheel, the guide wheel and the spring shock absorber are arranged on the robot main body, the bearing wheel is arranged on the spring shock absorber, the crawler belt is sleeved on the driving wheel, the guide wheel and the bearing wheel, and the crawler belt is driven to rotate through the driving wheel; the driving device is used for driving the driving wheel to rotate. Also relates to an automatic navigation inspection robot system and a control method. The road surface adaptability is higher, the running is stable, and the road surface safety monitoring system has the advantages of high automation degree, automatic fault analysis and alarm and wide inspection range.
Description
Technical Field
The invention relates to the technical field of unmanned inspection of robots, in particular to an inspection robot, an automatic navigation inspection robot system and a control method.
Background
With the rapid development of automation technology, in recent years, railway enterprises continuously improve the intelligent level of electrified lines, and the opening mileage of high-speed railways breaks 40000km, so that a large number of basic-level routing inspection demands are generated. Therefore, the intelligent robot capable of replacing manual work to finish the routing inspection of the railway fixed equipment is a product which needs to be developed urgently.
Disclosure of Invention
Based on the above, the invention aims to provide the inspection robot which is higher in road surface adaptability, stable in driving, high in automation degree and wide in inspection range. In order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides a patrol and examine robot for the on-the-spot actual of railway fixed equipment is patrolled and examined, includes:
the robot comprises a robot main body, wherein a camera, a laser radar, a laser range finder, a temperature sensor, a smoke sensor and a satellite receiving antenna for collecting satellite GPS signals are arranged on the robot main body;
the two sets of wheel sets are respectively positioned on the left side and the right side of the robot main body; the wheel set comprises a crawler belt, a driving wheel, a guide wheel, a bearing wheel and a spring shock absorber; the driving wheel, the guide wheel and the spring shock absorber are arranged on the robot main body, the bearing wheel is arranged on the spring shock absorber, the crawler belt is sleeved on the driving wheel, the guide wheel and the bearing wheel, and the crawler belt is driven to rotate by the driving wheel;
the driving device is arranged on the robot main body and used for driving the driving wheels to rotate;
and the controller is in communication connection with the camera, the laser radar, the laser range finder, the temperature sensor, the smoke sensor and the satellite receiving antenna respectively.
Furthermore, the camera comprises a first camera and a second camera, the first camera is a fixed camera and is arranged at the front end of the robot main body, and the second camera is a tripod head camera and is arranged at the top end of the robot main body; the first camera and/or the second camera are/is a 3D depth camera.
Furthermore, the crawler belt is respectively meshed with the driving wheel and the guide wheel, and two parallel grooves, namely a first groove and a second groove, are arranged on the inner teeth of the crawler belt;
the bearing wheels are multiple groups, the number of each group of bearing wheels is two, the two bearing wheels of each group are coaxially arranged, one of the two bearing wheels of each group is arranged in the first groove, and the other bearing wheel of each group is arranged in the second groove.
Furthermore, the wheel set also comprises a belt supporting wheel arranged on the robot main body, and the belt supporting wheel is positioned on the upper side of the bearing wheel and is arranged between the driving wheel and the guide wheel;
in each group of wheel sets, the number of the carrier rollers is two, the two carrier rollers in each group are coaxially arranged, one of the two carrier rollers in each group is arranged in the first groove, and the other carrier roller in each group is arranged in the second groove.
Further, the driving device comprises a first driving device and a second driving device, and the first driving device is used for driving the driving wheels in the first group of wheel sets to rotate; the second driving device is used for driving the driving wheels in the second group of wheel sets to rotate.
Furthermore, the number of the laser range finders is multiple, and the laser range finders are arranged on the front, the rear, the left and the right of the robot main body; wherein, the height of the laser range finder arranged on the left and right sides of the robot main body is greater than the height of the laser range finder arranged on the front and back sides of the robot main body.
The robot control host is in communication connection with a controller of the inspection robot, and is used for issuing a robot control instruction to the controller of the inspection robot, receiving various detection data and state data sent back by the controller of the inspection robot, and automatically analyzing and labeling the detection data; the detection data comprises information collected by a camera, a laser radar, a laser range finder, a temperature sensor, a smoke sensor and a satellite receiving antenna for collecting satellite GPS signals; the state data comprises information of the motion state of the inspection robot;
the automatic navigation inspection robot system further comprises a remote control receiving device in communication connection with the robot control host, wherein the remote control receiving device is used for receiving remote control instructions sent by the remote control device and sending the remote control instructions to the robot control host.
Further, the remote control device is a mobile phone or a remote controller.
The control method of the automatic navigation inspection robot system adopting any technical scheme comprises the following steps:
step S1, initializing the system;
step S2, the inspection robot self-checks;
step S3, selecting a corresponding working mode according to the received instruction, entering a manual operation mode if the robot control host receives a remote control instruction of the remote control device, and remotely controlling the inspection robot in real time through the remote control device to complete an inspection task in the manual operation mode;
if the robot control host receives a task instruction which is input by an operator through a human-computer interaction interface and issued to the robot control host, entering an automatic operation mode, and sending a preset inspection task instruction to the inspection robot by the robot control host in the automatic operation mode; the inspection robot executes inspection work according to the inspection task instruction; in the inspection process, the inspection robot utilizes a laser radar and a camera to analyze and position the field environment in real time, and utilizes a satellite receiving antenna to obtain the coordinates of the inspection robot in real time, so that unmanned automatic navigation is realized;
under a manual operation mode and an automatic operation mode, the inspection robot carries out timestamp marking on the acquired information and transmits the information with the timestamp to the robot control host; the information is video information, GPS information, smoke alarm information and temperature information; and the robot management system of the robot control host judges whether a fault exists or not by analyzing and comparing the information with the time stamp with preset information, marks the severity level and the place corresponding to the fault if the fault exists, and performs alarm processing and interface display.
The invention has the beneficial effects that:
the inspection robot can ensure sufficient ground gripping force under the condition of a field road surface and ensure the walking stability; the inspection robot has stronger obstacle crossing capability, higher pavement adaptability and more stable walking; the working pressure of line operators on duty is greatly reduced, and all-weather intelligent inspection of unattended electrified lines is realized in a real sense.
The automatic navigation inspection robot system and the control method have the characteristics of high automation degree, no need of drawing in advance, automatic fault analysis and alarm, stable driving and wide inspection range.
Drawings
Fig. 1 is a schematic perspective view of an inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic front view of the inspection robot shown in fig. 1;
FIG. 3 is a side view of the inspection robot of FIG. 1;
FIG. 4 is a schematic top view of the inspection robot of FIG. 1;
in the figure, the position of the upper end of the main shaft,
1 a robot main body; 2, a crawler belt; 3 driving the wheels; 4, a guide wheel; 5, a bearing wheel; 6, a supporting belt wheel;
11, a laser radar; 12 laser range finders; 13 a first camera; 14 a second camera;
21 a first groove; 22 second recess.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the inspection robot, the automatic navigation inspection robot system and the control method of the present invention are further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 4, the inspection robot according to an embodiment of the present invention is used for actual inspection of a railway fixed equipment site. The inspection robot comprises a robot main body 1, a wheel set, a driving device and a controller.
The robot main body 1 is provided with a camera, a laser radar 11, a laser range finder 12, a temperature sensor, a smoke sensor and a satellite receiving antenna for collecting satellite GPS signals.
The wheel sets are two sets of, and two sets of the wheel set is located the left and right sides of robot main part 1 respectively.
The wheel set comprises a crawler belt 2, a driving wheel 3, a guide wheel 4, a bearing wheel 5 and a spring shock absorber.
The drive wheel 3, the guide wheel 4, and the spring damper are provided in the robot main body 1. Bearing wheel 5 sets up spring damper, track 1 cover are established on drive wheel 3, leading wheel 4 and bearing wheel 5, drive track 2 through drive wheel 3 and rotate.
The driving device is arranged on the robot main body 1 and used for driving the driving wheel 3 to rotate; the driving device can comprise a first driving device and a second driving device, wherein the first driving device is used for driving the driving wheels 3 in the first group of wheel sets to rotate; the second driving device is used for driving the driving wheels 3 in the second group of wheel sets to rotate.
The controller is respectively connected with the camera, the laser radar 11, the laser range finder 12, the temperature sensor, the smoke sensor and the satellite receiving antenna in a communication mode. The height of the laser range finder 12 provided on the right and left sides of the robot main body 1 of the laser range finder 12 is larger than the height of the laser range finder 12 provided on the front and rear sides of the robot main body 1. The obstacle avoidance capability of the inspection robot can be further improved by the arrangement.
As a preferable embodiment, the camera includes a first camera 13 and a second camera 14. The first camera 13 is a fixed camera and is arranged at the front end of the robot main body 1; the second camera 14 is a pan-tilt camera and is arranged at the top end of the robot main body 1; the first camera 13 and/or the second camera 14 are 3D depth cameras.
As a preferred embodiment, the track 2 is engaged with the driving wheel 3 and the guide wheel 4, respectively, and the inner teeth of the track 2 are provided with two parallel grooves, a first groove 21 and a second groove 22, respectively. Of course, the outer circumferential surface of the crawler 2 may also be provided with external teeth for gripping the ground.
The bearing wheels 5 can be provided in multiple sets, in fig. 3, the bearing wheels 5 are provided in four sets, the number of the bearing wheels 5 in each set is two, the two bearing wheels 5 in each set are coaxially arranged, one of the two bearing wheels 5 in each set is disposed in the first groove 21, and the other is disposed in the second groove 22. So set up and can further prevent 2 off tracking of track for the walking is more steady.
In other embodiments, the driving wheel 3 can also be two coaxially arranged driving wheels, so that the walking is smoother.
Preferably, the wheel set further comprises a supporting roller 6 arranged on the robot main body 1, wherein the supporting roller 6 is positioned on the upper side of the bearing wheel 5 and is arranged between the driving wheel 3 and the guide wheel 4; the supporting belt wheel 6 can also be arranged on the robot main body 1 by adopting a spring damper, so that the tension of the crawler belt 2 can be adjusted more conveniently.
In each group of wheel sets, the carrier belts 6 are divided into two groups, the number of the carrier belts 6 in each group is two, the two carrier belts 6 in each group are coaxially arranged, one of the two carrier belts 6 in each group is arranged in the first groove 21, and the other is arranged in the second groove 22. The arrangement can further prevent the track 2 from deviating.
The spring shock absorber is one of the important parts of the crawler belt walking device in the prior art, and has the main function of attenuating impact shock generated by the device in motion so that the device can run more smoothly.
Preferably, the robot main body 1 is provided with a wireless communication antenna, and the wireless communication antenna is in communication connection with the controller; the wireless communication antenna is located at the rear side of the robot main body 1. The wireless communication antenna is arranged on the rear side of the robot main body 1, so that the communication quality of the inspection robot can be further improved.
As a preferable embodiment, referring to fig. 1 to 4, the robot main body includes an upper main body and a lower main body. The upper main body comprises a first plane, a second plane, a third plane, a fourth plane, a fifth plane, a sixth plane and a seventh plane.
The first plane, the second plane, the third plane, the fourth plane, the fifth plane and the sixth plane are sequentially connected to form a cavity with an upper opening and a lower opening; the first plane is positioned at the right end of the robot main body, the second plane is positioned at the rear end of the robot main body, the third plane is positioned at the left end of the robot main body, and the fourth plane, the fifth plane and the sixth plane are positioned at the front end of the robot main body; the seventh plane is positioned at the upper opening of the cavity and is respectively connected with the first plane, the second plane, the third plane, the fourth plane, the fifth plane and the sixth plane; the first plane, the second plane and the third plane are all in an isosceles trapezoid shape, the fourth plane and the sixth plane are in a triangular shape, and the fifth plane and the seventh plane are both in a rectangular shape.
The first camera 13 is disposed at a fifth plane; the second camera 14 is disposed at the seventh plane.
Preferably, the first plane, the second plane, the third plane, the fourth plane, the fifth plane, the sixth plane and the seventh plane may be integrally formed, that is, the upper housing is an integrally formed upper housing. Therefore, the strength and the production efficiency of the upper shell can be effectively improved, and the sealing performance is good.
Preferably, the lower edge of the first plane, the lower edge of the second plane, the lower edge of the third plane, the lower edge of the fourth plane, the lower edge of the fifth plane, and the lower edge of the sixth plane are all lower than the highest end of the crawler 2, and the seventh plane is higher than the highest end of the crawler 2.
The lower edge of the first plane, the lower edge of the second plane, the lower edge of the third plane, the lower edge of the fourth plane, the lower edge of the fifth plane and the lower edge of the sixth plane are all located on the same plane.
The first plane, the second plane, the third plane, the fourth plane, the fifth plane, the sixth plane and the seventh plane form an upper shell, so that the operation stability of the inspection robot can be effectively improved, the wind resistance is reduced, the stability is good, the space is saved, the inspection range is wide, and the obstacle avoidance capability is further improved.
The automatic navigation inspection robot system comprises an inspection robot in any embodiment and a robot control host arranged in a central control room, wherein the robot control host is in communication connection with a controller of the inspection robot, and is used for issuing a robot control instruction to the controller of the inspection robot, receiving various detection data and state data sent back by the controller of the inspection robot, and automatically analyzing and marking the detection data; the detection data comprises information collected by a camera, a laser radar, a laser range finder, a temperature sensor, a smoke sensor and a satellite receiving antenna for collecting satellite GPS signals; and the information contained in the state data is the motion state of the inspection robot.
The automatic navigation inspection robot system further comprises a remote control receiving device in communication connection with the robot control host, wherein the remote control receiving device is used for receiving remote control instructions sent by the remote control device and sending the remote control instructions to the robot control host. The remote control device can be a mobile device such as a mobile phone or a remote controller.
The automatic analysis and marking is to establish an analysis model of the inspection data by machine learning and establishing the relation between the inspection data and the actual working parameters through marking and sorting of the existing inspection data. The fault rating and/or fault location information may be noted.
When the inspection robot acquires target inspection data, the system can analyze the current actual condition of the corresponding target through the analysis model and automatically form a report according to the current condition to inform a user.
The control method of the automatic navigation inspection robot system of one embodiment of the invention adopts the automatic navigation inspection robot system of any one embodiment, and the control method comprises the following steps:
step S1, initializing the system; the system initialization refers to a process of performing system initial setting by a robot management system of the robot control host according to preset motion parameters and network parameters when the inspection robot is started.
Step S2, the inspection robot self-checks;
the inspection robot detects whether the electric quantity state, the system state and the system setting parameters of the inspection robot are lost or not, informs the robot management system of the current situation, and controls the inspection robot to enter a standby state after self-detection is correct.
In the system initialization process, the inspection robot needs to upload self information to the robot management system, then generates authentication in the robot management system, and then can perform self-inspection. The inspection robot detects whether the electric quantity state, the system state and the system setting parameters of the inspection robot are lost or not, informs the robot management system of the current condition, and the robot management system makes a corresponding instruction. After self-checking, the robot management system transmits the motion parameter instruction of the robot to the inspection robot, so that the robot enters a state (standby state) ready for receiving the system instruction.
Step S3, selecting a corresponding working mode according to the received instruction, entering a manual operation mode if the robot control host receives a remote control instruction of the remote control device, and remotely controlling the inspection robot in real time through the remote control device to complete an inspection task in the manual operation mode;
if a task instruction which is input by an operator through a human-computer interaction interface and issued to the robot control host is received, entering an automatic operation mode, and sending a preset inspection task instruction to the inspection robot by the robot control host in the automatic operation mode; the inspection robot executes inspection work according to the inspection task instruction; in the inspection process, the inspection robot utilizes a laser radar and a camera to analyze and position the field environment in real time, and utilizes a satellite receiving antenna to obtain the coordinates of the inspection robot in real time, so that unmanned automatic navigation is realized;
under a manual operation mode and an automatic operation mode, the inspection robot carries out timestamp marking on the acquired information and transmits the information with the timestamp to the robot control host; the information is video information, GPS information, smoke alarm information and temperature information; and the robot management system (robot management platform) of the robot control host machine analyzes and compares the information with the time stamp with preset information to judge whether a fault exists, marks the severity level and the place corresponding to the fault if the fault exists, and performs alarm processing and interface display.
The inspection robot utilizes the laser radar and the camera to analyze and position the field environment in real time, and simultaneously builds the map and navigates by utilizing the depth camera and the laser radar. By combining with the SLAM mapping technology, the real-time navigation of the inspection robot can be completed in the mapping process.
The SLAM mapping technology generally means that a laser radar performs distance mapping on target points at different positions of a field, the laser SLAM adopts a 2D or 3D laser radar (also called a single-line or multi-line laser radar), the 2D laser radar is generally used for indoor robots (such as a sweeping robot), and the 3D laser radar is generally used in the field of unmanned driving. The emergence and popularization of laser radars enable measurement to be faster and more accurate, and information is richer. Object information collected by the lidar exhibits a series of dispersed points with accurate angle and distance information, called point clouds. The laser SLAM system calculates the change of the relative movement distance and the posture of the laser radar through matching and comparing two point clouds at different moments, thereby completing the positioning of the robot.
The 3D depth camera is different from a general camera in that depth information of a photographed object, that is, three-dimensional position and size information, can be obtained in addition to a planar image, so that the entire computing system obtains three-dimensional stereo data of an environment and an object, which can be used in the fields of human body tracking, three-dimensional reconstruction, human-computer interaction, SLAM, and the like.
According to the inspection robot, the automatic navigation inspection robot system and the control method in the embodiments, the inspection robot can ensure sufficient ground holding force under the condition of a field road surface, and the walking stability is ensured; the inspection robot has stronger obstacle crossing capability, higher pavement adaptability and more stable walking; the working pressure of line operators on duty is greatly reduced, and all-weather intelligent inspection of unattended electrified lines is realized in a real sense.
The automatic navigation inspection robot system and the control method have the characteristics of high automation degree, no need of drawing in advance, automatic fault analysis and alarm, stable driving and wide inspection range.
The robot management system software program and the laser radar are used for building a diagram to realize automatic navigation control on the robot, so that the robot can automatically cruise and patrol and realize fault positioning;
the automatic navigation inspection robot is researched and developed aiming at the characteristics of high risk and severe environment of railway bridges and tunnels, the problems of difficult inspection and low inspection quality which are puzzled on railway systems for a long time are thoroughly changed, and the intelligent electric railway is realized in a real sense.
The robot management system (robot management platform) is a set of software program developed aiming at the actual field inspection process of the railway fixed equipment, the program is installed and operated in a robot control host in a central control room, an operator uses the software program to communicate with a field robot in real time through a wireless network, sends a robot control command and receives various detection data and state data sent back by the robot, and carries out automatic analysis and standard aiming at the detection data so as to facilitate the operator to find out a fault position in time. The robot management system has a human-computer interaction interface.
It should be noted that the features of the above embodiments and examples may be combined with each other without conflict.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (9)
1. The utility model provides a patrol and examine robot for the on-the-spot actual of railway fixed equipment patrols and examines, its characterized in that includes:
the robot comprises a robot main body (1), wherein a camera, a laser radar (11), a laser range finder (12), a temperature sensor, a smoke sensor and a satellite receiving antenna for collecting satellite GPS signals are arranged on the robot main body (1);
the two sets of wheel sets are respectively positioned at the left side and the right side of the robot main body (1); the wheel set comprises a crawler belt (2), a driving wheel (3), a guide wheel (4), a bearing wheel (5) and a spring shock absorber; the driving wheel (3), the guide wheel (4) and the spring shock absorber are arranged on the robot main body (1), the bearing wheel (5) is arranged on the spring shock absorber, the crawler belt (1) is sleeved on the driving wheel (3), the guide wheel (4) and the bearing wheel (5), and the crawler belt (2) is driven to rotate through the driving wheel (3);
the driving device is arranged on the robot main body (1) and is used for driving the driving wheel (3) to rotate;
and the controller is in communication connection with the camera, the laser radar (11), the laser range finder (12), the temperature sensor, the smoke sensor and the satellite receiving antenna respectively.
2. The inspection robot according to the claim 1, wherein the cameras comprise a first camera (13) and a second camera (14), the first camera (13) is a fixed camera and is arranged at the front end of the robot main body (1), and the second camera (14) is a pan-tilt camera and is arranged at the top end of the robot main body (1); the first camera (13) and/or the second camera (14) are/is a 3D depth camera.
3. The inspection robot according to the claim 1, characterized in that the crawler belt (2) is respectively meshed with the driving wheel (3) and the guide wheel (4), and two parallel grooves, namely a first groove (21) and a second groove (22), are arranged on the inner teeth of the crawler belt (2);
the bearing wheels (5) are of multiple groups, the number of each group of bearing wheels (5) is two, the two bearing wheels (5) of each group are coaxially arranged, one of the two bearing wheels (5) of each group is arranged in the first groove (21), and the other bearing wheel is arranged in the second groove (22).
4. The inspection robot according to the claim 3, characterized in that the wheel set further comprises a carrier roller (6) arranged on the robot main body (1), wherein the carrier roller (6) is positioned on the upper side of the bearing wheel (5) and is arranged between the driving wheel (3) and the guide wheel (4);
in each group of wheel sets, the carrier rollers (6) are divided into two groups, the number of the carrier rollers (6) in each group is two, the two carrier rollers (6) in each group are coaxially arranged, one of the two carrier rollers (6) in each group is arranged in the first groove (21), and the other is arranged in the second groove (22).
5. The inspection robot according to claim 1, wherein the driving device comprises a first driving device and a second driving device, the first driving device is used for driving the driving wheels (3) in the first group of wheel sets to rotate; the second driving device is used for driving the driving wheels (3) in the second group of wheel sets to rotate.
6. The inspection robot according to the claim 1, characterized in that the number of the laser range finders (12) is multiple, and the laser range finders (12) are arranged on the front, the rear, the left and the right of the robot body (1); the height of the laser distance measuring instrument (12) arranged on the left side and the right side of the robot main body (1) is larger than the height of the laser distance measuring instrument (12) arranged on the front side and the rear side of the robot main body (1).
7. An automatic navigation inspection robot system is characterized by comprising an inspection robot according to any one of claims 1 to 6 and a robot control host arranged in a central control room, wherein the robot control host is in communication connection with a controller of the inspection robot and is used for issuing a robot control command to the controller of the inspection robot, receiving various detection data and state data sent back by the controller of the inspection robot and automatically analyzing and marking the detection data; the detection data comprises information collected by a camera, a laser radar, a laser range finder, a temperature sensor, a smoke sensor and a satellite receiving antenna for collecting satellite GPS signals; the state data comprises information of the motion state of the inspection robot;
the automatic navigation inspection robot system further comprises a remote control receiving device in communication connection with the robot control host, wherein the remote control receiving device is used for receiving remote control instructions sent by the remote control device and sending the remote control instructions to the robot control host.
8. The automated navigation inspection robot system according to claim 7, wherein the remote control device is a cell phone or a remote control.
9. A control method for an automated navigation inspection robot system according to claim 7 or 8, comprising:
step S1, initializing the system;
step S2, the inspection robot self-checks;
step S3, selecting a corresponding working mode according to the received instruction, entering a manual operation mode if the robot control host receives a remote control instruction of the remote control device, and remotely controlling the inspection robot in real time through the remote control device to complete an inspection task in the manual operation mode;
if the robot control host receives a task instruction which is input by an operator through a human-computer interaction interface and issued to the robot control host, entering an automatic operation mode, and sending a preset inspection task instruction to the inspection robot by the robot control host in the automatic operation mode; the inspection robot executes inspection work according to the inspection task instruction; in the inspection process, the inspection robot utilizes a laser radar and a camera to analyze and position the field environment in real time, and utilizes a satellite receiving antenna to obtain the coordinates of the inspection robot in real time, so that unmanned automatic navigation is realized;
under a manual operation mode and an automatic operation mode, the inspection robot carries out timestamp marking on the acquired information and transmits the information with the timestamp to the robot control host; the information is video information, GPS information, smoke alarm information and temperature information; and the robot management system of the robot control host judges whether a fault exists or not by analyzing and comparing the information with the time stamp with preset information, marks the severity level and the place corresponding to the fault if the fault exists, and performs alarm processing and interface display.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115847446A (en) * | 2023-01-16 | 2023-03-28 | 泉州通维科技有限责任公司 | Inspection robot in bridge compartment beam |
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| CN114290313B (en) | 2024-02-02 |
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