CN114290313B - 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 a patrol robot, which is used for actual patrol of railway fixed equipment on site and comprises the following components: the robot comprises a robot main body, a wheel set, 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 acquiring satellite GPS signals; the two groups 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 damper; the driving wheel, the guide wheel and the spring damper are arranged on the robot main body, the bearing wheel is arranged on the spring damper, 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. And 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 automatic analysis warning system has the advantages of high automation degree, automatic fault analysis warning 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
Along with the rapid development of automation technology, railway enterprises continuously improve the intelligent level of electrified lines in recent years, and the open mileage of high-speed railways breaks through 40000km, so that a great deal of basic level inspection requirements are generated, and as the solutions of the high-speed railways in cities and mountain areas are mainly overhead bridges, and the common speed electrified railways also have a great deal of bridge tunnels, the railway inspection is mainly in a railway outage 'skylight' period at night, the inspection position is higher, and inspection personnel have great potential safety hazards. Therefore, an intelligent robot capable of replacing manual inspection of 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 has higher pavement adaptability, stable running, high automation degree and wide inspection range. In order to achieve the above purpose, the technical scheme of the invention is as follows:
a patrol robot for actual patrol of a railway fixed equipment site, comprising:
the robot comprises a robot main body, 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 groups 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 damper; the driving wheel, the guide wheel and the spring damper are arranged on the robot main body, the bearing wheel is arranged on the spring damper, 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 wheel to rotate;
and the controller is respectively in communication connection with the camera, the laser radar, the laser range finder, the temperature sensor, the smoke sensor and the satellite receiving antenna.
Further, 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 pan-tilt camera and is arranged at the top end of the robot main body; the first camera and/or the second camera are/is 3D depth cameras.
Further, the crawler belt is meshed with the driving wheel and the guide wheel respectively, and two parallel grooves, namely a first groove and a second groove, are formed in the inner teeth of the crawler belt;
the bearing wheels are multiple groups, the number of the bearing wheels in each group is two, the two bearing wheels in each group are coaxially arranged, one bearing wheel in each group is arranged in the first groove, and the other bearing wheel in each group is arranged in the second groove.
Further, the wheel set further comprises a riding wheel arranged on the robot main body, wherein the riding 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 supporting pulleys in each group is two, the two supporting pulleys in each group are coaxially arranged, one supporting pulley in each group is arranged in the first groove, and the other supporting pulley 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 groups to rotate; the second driving device is used for driving the driving wheels in the second group of wheel groups to rotate.
Further, the number of the laser range finders is multiple, and the laser range finders are arranged on the front, back, left and right sides of the robot main body; the height of the laser range finders arranged on the left and right sides of the robot main body is larger than that of the laser range finders arranged on the front and rear 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 and receiving various detection data and state data sent back by the controller of the inspection robot, and can automatically analyze and mark the detection data; the detection data comprises information acquired by a camera, a laser radar, a laser range finder, a temperature sensor, a smoke sensor and a satellite receiving antenna for acquiring satellite GPS signals; 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 which is in communication connection with the robot control host, wherein the remote control receiving device is used for receiving a remote control instruction sent by the remote control device and sending the remote control instruction 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 of the technical schemes further comprises the following steps:
s1, initializing a system;
s2, self-checking of the inspection robot;
step S3, selecting a corresponding working mode according to the received instruction, if the robot control host receives a remote control instruction of the remote control device, entering a manual operation mode, and performing remote control on the inspection robot in real time through the remote control device in the manual operation mode to complete the inspection task;
if the robot control host receives a task instruction which is input by an operator through a man-machine 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 acquire coordinates of the inspection robot in real time, so that unmanned automatic navigation is realized;
in a manual operation mode and an automatic operation mode, the inspection robot carries out time stamp marking on the acquired information and transmits the information with the time stamp to a 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 carries out alarm processing and interface display.
The beneficial effects of the invention are as follows:
the inspection robot can ensure sufficient ground grabbing force under the condition of a field road surface and ensure walking stability; the inspection robot has stronger obstacle crossing capability, higher pavement adaptability and smoother walking; the working pressure of line operators is greatly reduced, and intelligent inspection of all-weather unattended electrified lines is truly realized.
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 warning, stable running 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 schematic side view of the inspection robot shown in FIG. 1;
FIG. 4 is a schematic top view of the inspection robot shown in FIG. 1;
in the drawing the view of the figure,
1 a robot body; 2, a crawler belt; 3, driving a wheel; 4, a guide wheel; 5 bearing wheels; 6, a supporting belt wheel;
11 laser radar; 12 laser rangefinder; 13 a first camera; a second camera 14;
21 a first groove; 22 second grooves.
Detailed Description
In order to make the objects, technical schemes and advantages of the present invention more clear, 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 for purposes of illustration only and are not intended to limit the scope of 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 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 two groups 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 damper.
The driving wheel 3, the guide wheel 4 and the spring damper are provided at the robot body 1. The bearing wheel 5 is arranged on the spring damper, 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; 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 groups to rotate; the second driving device is used for driving the driving wheel 3 in the second group of wheel sets to rotate.
The controller is respectively 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. The laser rangefinder 12 provided on the left and right sides of the robot body 1 has a height greater than that of the laser rangefinder 12 provided on the front and rear sides of the robot body 1. The obstacle avoidance capability of the inspection robot can be further improved through the arrangement.
As a preferred embodiment, the camera comprises 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 crawler belt 2 is meshed with the driving wheel 3 and the guiding wheel 4 respectively, and two parallel grooves, namely a first groove 21 and a second groove 22, are formed on the inner teeth of the crawler belt 2. Of course, the outer circumferential surface of the crawler belt 2 may also be provided with external teeth for gripping.
The number of the bearing wheels 5 may be plural, in fig. 3, four bearing wheels 5, and the number of the bearing wheels 5 in each group is two, and the two bearing wheels 5 in each group are coaxially arranged, one of the two bearing wheels 5 in each group is disposed in the first groove 21, and the other is disposed in the second groove 22. The arrangement can further prevent the track 2 from deviating, so that the walking is more stable.
In other embodiments, the driving wheel 3 may also be two coaxially arranged driving wheels, so that the running is smoother.
Preferably, the wheel set further comprises a riding wheel 6 arranged on the robot main body 1, wherein the riding wheel 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 riding 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 more conveniently adjusted.
In each group of wheel sets, the number of the supporting belts 6 is two, the number of the supporting belt wheels 6 in each group is two, the two supporting belt wheels 6 in each group are coaxially arranged, and one supporting belt wheel 6 in each group is arranged in the first groove 21, and the other supporting belt wheel 6 in each group is arranged in the second groove 22. This arrangement can further prevent the track 2 from deviating.
The spring shock absorber is one of important parts of the crawler running device in the prior art, and has the main function of attenuating impact shock generated by the device in movement, 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 body 1. The communication quality of the inspection robot can be further improved by arranging the wireless communication antenna at the rear side of the robot main body 1.
As a preferable embodiment, referring to fig. 1 to 4, the robot body includes an upper body and a lower body. The upper body includes 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 isosceles trapezoid shapes, the fourth plane and the sixth plane are all triangle shapes, and the fifth plane and the seventh plane are all rectangles.
The first camera 13 is disposed at the 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, i.e. 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 track 2, and the seventh plane is higher than the highest end of the track 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 positioned 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 just form the upper shell, so the arrangement can effectively improve the running stability of the inspection robot, reduce the wind resistance, and the inspection robot is good in stability, saves space, and is wide in inspection range, and further improves the obstacle avoidance capability.
The automatic navigation inspection robot system comprises the inspection robot 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 and receiving various detection data and state data sent back by the controller of the inspection robot, and can automatically analyze and mark the detection data; the detection data comprises information acquired by a camera, a laser radar, a laser range finder, a temperature sensor, a smoke sensor and a satellite receiving antenna for acquiring satellite GPS signals; the state data contains information which is the motion state of the inspection robot.
The automatic navigation inspection robot system further comprises a remote control receiving device which is in communication connection with the robot control host, wherein the remote control receiving device is used for receiving a remote control instruction sent by the remote control device and sending the remote control instruction to the robot control host. The remote control device can be mobile equipment such as a mobile phone or a remote controller.
The automatic analysis and labeling are achieved by labeling and sorting of the existing inspection data, an inspection data analysis model is built by machine learning, and a model connection is built for the inspection data and actual working parameters. Fault level and/or fault location information may be noted.
When the inspection robot collects the inspection data of the target, the system can analyze the current actual condition of the corresponding target through the analysis model, and the system can automatically form a report according to the current condition to inform a user.
The control method of the automatic navigation inspection robot system according to an embodiment of the present invention adopts the automatic navigation inspection robot system according to any one of the embodiments, and the control method includes:
s1, initializing a system; the system initialization refers to a process that when the inspection robot is started, a robot management system of a robot control host performs system initial setting according to preset motion parameters and network parameters.
S2, self-checking of the inspection robot;
the inspection robot detects the state of electric quantity, the state of the system and the presence or absence of system setting parameters, and informs the current condition to the robot management system, and the robot management system controls the inspection robot to enter a standby state after the self-inspection is correct.
In the system initialization process, the inspection robot needs to upload the information of the inspection robot to the robot management system, then authentication is generated in the robot management system, and then the inspection robot can perform self-inspection. The inspection robot detects the state of charge, the state of the system and the presence or absence of system setting parameters, and informs the robot management system of the current situation, and the robot management system gives corresponding instructions. After the self-checking is correct, the robot management system transmits the robot motion parameter instruction to the inspection robot, so that the robot enters a state (standby state) of being ready to accept the system instruction.
Step S3, selecting a corresponding working mode according to the received instruction, if the robot control host receives a remote control instruction of the remote control device, entering a manual operation mode, and performing remote control on the inspection robot in real time through the remote control device in the manual operation mode to complete the inspection task;
if a task instruction which is input by an operator through a man-machine 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 acquire coordinates of the inspection robot in real time, so that unmanned automatic navigation is realized;
in a manual operation mode and an automatic operation mode, the inspection robot carries out time stamp marking on the acquired information and transmits the information with the time stamp to a 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 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 carries out 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 a map and navigates by utilizing the depth camera and the laser radar. By combining with SLAM mapping technology, real-time navigation of the inspection robot can be completed in the mapping process.
SLAM mapping technology generally refers to laser radar that performs distance characterization on target points at different positions of a field, where a 2D or 3D laser radar (also called a single-line or multi-line laser radar) is used for laser SLAM, the 2D laser radar is generally used on an indoor robot (such as a sweeping robot), and the 3D laser radar is generally used in the unmanned field. The laser radar has the advantages of faster and more accurate measurement and richer information due to the appearance and popularization of the laser radar. The object information acquired by the lidar presents a series of discrete points with accurate angle and distance information, referred to as a point cloud. The laser SLAM system calculates the change of the distance and the posture of the laser radar relative motion through matching and comparing two point clouds at different moments, so that the robot is positioned.
The 3D depth camera is different from a general camera in that, besides being capable of acquiring a planar image, depth information of a photographed object, that is, three-dimensional position and size information, can be obtained, so that the whole computing system obtains three-dimensional data of an environment and an object, and the information can be used in the fields of human body tracking, three-dimensional reconstruction, man-machine interaction, SLAM and the like.
The inspection robot, the automatic navigation inspection robot system and the control method can ensure sufficient ground grabbing force under the condition of a field road surface and ensure walking stability; the inspection robot has stronger obstacle crossing capability, higher pavement adaptability and smoother walking; the working pressure of line operators is greatly reduced, and intelligent inspection of all-weather unattended electrified lines is truly realized.
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 warning, stable running and wide inspection range.
The robot management system software program and the laser radar map are utilized to realize automatic navigation control of the robot, so that the robot can automatically cruise, patrol and realize fault positioning;
the automatic navigation inspection robot is developed aiming at the characteristics of high risk and severe environment of a railway bridge tunnel, thoroughly solves the problems of difficult inspection and low inspection quality which have plagued a railway system for a long time, and truly realizes an intelligent electric railway.
The robot management system (robot management platform) is a set of software program developed for the actual inspection process of the railway fixed equipment on site, the program is installed and operated in a robot control host in a central control room, an operator utilizes the software program to communicate with the robot on site in real time through a wireless network, sends out a robot control instruction and receives various detection data and state data sent back by the robot, and performs automatic analysis and standard on the detection data so as to facilitate the operator to find the fault position in time. The robot management system is provided with a man-machine interaction interface.
It should be noted that the above embodiments and features in the embodiments may be combined with each other without conflict.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (7)
1. An inspection robot for actual inspection of a railway fixed equipment site, comprising:
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 acquiring satellite GPS signals are arranged on the robot main body (1);
the two groups 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 damper; the robot comprises a robot body (1), a driving wheel (3), a guide wheel (4) and a spring shock absorber, wherein the bearing wheel (5) is arranged on the spring shock absorber, the crawler belt (2) 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;
the controller is respectively 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;
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 formed in the inner teeth of the crawler belt (2);
the number of the bearing wheels (5) is two, the two bearing wheels (5) of each group are coaxially arranged, one bearing wheel (5) of each group is arranged in the first groove (21), and the other bearing wheel (5) of each group is arranged in the second groove (22);
the number of the laser range finders (12) is multiple, and the laser range finders (12) are arranged on the front, back, left and right sides of the robot main body (1); the height of the laser range finders (12) arranged on the left and right sides of the robot main body (1) is larger than the height of the laser range finders (12) arranged on the front and rear sides of the robot main body (1).
2. The inspection robot according to claim 1, wherein the camera comprises 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 3D depth cameras.
3. The inspection robot according to claim 1, characterized in that the wheel set further comprises a riding wheel (6) arranged on the robot body (1), the riding wheel (6) being located on the upper side of the bearing wheel (5) and being placed between the driving wheel (3) and the guiding wheel (4);
in each group of wheel sets, the number of the supporting pulleys (6) in each group is two, the two supporting pulleys (6) in each group are coaxially arranged, one supporting pulley (6) in each group is arranged in the first groove (21), and the other supporting pulley is arranged in the second groove (22).
4. The inspection robot according to claim 1, characterized in that the driving means comprise a first driving means for driving the driving wheels (3) of the first set of wheel sets in rotation and a second driving means; the second driving device is used for driving the driving wheels (3) in the second group of wheel groups to rotate.
5. An automatic navigation inspection robot system, which is characterized by comprising the inspection robot 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 and receiving various detection data and state data sent back by the controller of the inspection robot, and can automatically analyze and mark the detection data; the detection data comprises information acquired by a camera, a laser radar, a laser range finder, a temperature sensor, a smoke sensor and a satellite receiving antenna for acquiring satellite GPS signals; 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 which is in communication connection with the robot control host, wherein the remote control receiving device is used for receiving a remote control instruction sent by the remote control device and sending the remote control instruction to the robot control host.
6. The automated navigation inspection robot system of claim 5, wherein the remote control device is a cell phone or a remote control.
7. A control method employing the automatic navigation inspection robot system according to claim 5 or 6, comprising:
s1, initializing a system;
s2, self-checking of the inspection robot;
step S3, selecting a corresponding working mode according to the received instruction, if the robot control host receives a remote control instruction of the remote control device, entering a manual operation mode, and performing remote control on the inspection robot in real time through the remote control device in the manual operation mode to complete the inspection task;
if the robot control host receives a task instruction which is input by an operator through a man-machine 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 acquire coordinates of the inspection robot in real time, so that unmanned automatic navigation is realized;
in a manual operation mode and an automatic operation mode, the inspection robot carries out time stamp marking on the acquired information and transmits the information with the time stamp to a 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 carries out alarm processing and interface display.
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| JP2001001959A (en) * | 1999-06-23 | 2001-01-09 | Mitsubishi Agricult Mach Co Ltd | Crawler running gear |
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| CN111813130A (en) * | 2020-08-19 | 2020-10-23 | 江南大学 | Autonomous navigation obstacle avoidance system of intelligent patrol robot of power transmission and transformation station |
| CN215181580U (en) * | 2021-05-08 | 2021-12-14 | 南京洁源电力科技发展有限公司 | Automatic path recognition system of inspection robot |
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