CN217861276U - Robot system is patrolled and examined to wisdom - Google Patents

Abstract

The utility model relates to a smart inspection robot system, which comprises a hanger rail, wherein an inspection robot is arranged on the hanger rail; the inspection robot comprises a horizontal travelling mechanism, a vertical lifting mechanism, a bearing mechanism and a control unit, wherein the bearing mechanism comprises a shell, the horizontal travelling mechanism comprises a driving wheel, the driving wheel is provided with a first motor, and a limiting mechanism is arranged between the shell and a hanging rail; one end of the vertical lifting mechanism is fixed with the shell, and the other end of the vertical lifting mechanism is fixed with the pan-tilt camera; the lower end of the hanging rail is provided with a plurality of IC cards which divide the hanging rail into a plurality of routing inspection areas, and the lower end of the hanging rail is also provided with a plurality of rubidium magnets which divide the hanging rail into equal parts; the control unit comprises a main control module, a communication module, an environment monitoring module and a position detection module, and the main control module is electrically connected with the first motor. The utility model discloses be provided with the hanger rail and patrol and examine the robot, patrol and examine the robot and drive the cloud platform camera and move on the hanger rail and accomplish the room machine room and patrol and examine, saved equipment cost, very big simplification system architecture.

Description

Robot system is patrolled and examined to wisdom

Technical Field

The utility model relates to an intelligence patrols and examines technical field, concretely relates to robot system is patrolled and examined to wisdom.

Background

The existing inspection method comprises manual inspection and machine inspection, the manual inspection is good in economy, meanwhile, maintenance of a room machine room is facilitated, the manual inspection is limited by operation scenes, and manual inspection cannot be carried out under some special environments (such as high temperature in the room machine room, sterility requirements, harmful gas and the like), so that the machine inspection equipment is arranged to realize machine inspection.

Most of the existing machine inspection equipment are monitoring system equipment, a plurality of pan-tilt cameras are arranged in a room machine room, the condition in the room machine room is detected, the positions of the pan-tilt cameras are fixed, the room machine room is divided into a plurality of areas by the pan-tilt cameras, monitoring at different angles is realized through adjusting the three-axis postures of the pan-tilt cameras outside the room machine room, and inspection effect is achieved.

Many pan-tilt cameras are needed under the condition that a mechanical room is large, the equipment cost is high, the maintenance cost is high, the workload of rear-end workers is increased rapidly, and the machine inspection cannot meet the production requirement.

Disclosure of Invention

The utility model discloses a solve current machine and patrol and examine the problem that equipment cost is high and the component system structure is complicated, provided a wisdom and patrol and examine robot system, the utility model discloses be provided with the hanger rail and patrol and examine the robot, patrol and examine the robot and drive the cloud platform camera and move on the hanger rail and accomplish room machinery room and patrol and examine, saved equipment cost, very big simplification system architecture to realize room machinery room area identification and patrol and examine robot position response through position detection module, improved the fineness of patrolling and examining.

In order to realize the purpose, the technical scheme of the utility model is that:

a smart inspection robot system comprises a pan-tilt camera arranged in a room machine room, wherein a plurality of cabinets are arranged in the room machine room, the cabinets are arrayed in an equidistant mode, hanging rails are arranged at positions close to the top of the room machine room, the hanging rails are arranged along the positions of the cabinets in a continuous zigzag mode, the cross sections of the hanging rails are in an I shape, and an inspection robot is arranged on the hanging rails;

the inspection robot comprises a horizontal travelling mechanism, a vertical lifting mechanism, a bearing mechanism and a control unit, wherein the bearing mechanism comprises a shell, an inverted T-shaped through groove is formed in the middle of the shell corresponding to an I-shaped structure of the hanger rail, the horizontal travelling mechanisms are symmetrically arranged on two sides of the inverted T-shaped through groove and comprise driving wheels, the driving wheels are in contact with the upper end faces of the lower transverse sections of the hanger rail, the driving wheels are provided with first motors, and a limiting mechanism is arranged between the shell and the hanger rail;

one end of the vertical lifting mechanism is fixed with the shell, and the other end of the vertical lifting mechanism is fixed with the pan-tilt camera;

the hanging rail is provided with a starting position a and a stopping position b, a first proximity switch and a second proximity switch are respectively installed at the starting position a and the stopping position b of the hanging rail, a plurality of IC cards are arranged at the lower end of the hanging rail, the hanging rail is divided into a plurality of routing inspection areas by the IC cards, a plurality of rubidium magnets are further arranged at the lower end of the hanging rail, and the rubidium magnets equally divide the hanging rail;

the control unit comprises a main control module, a communication module, an environment monitoring module and a position detection module, the first proximity switch and the second proximity switch are electrically connected with the control unit, the position detection module comprises an RFID card reader and a Hall sensor, the RFID card reader and the Hall sensor are electrically connected with the control unit, the control unit is electrically connected with the first motor, and the control unit controls the rotating speed of the first motor according to the position detection module.

The inspection robot comprises a horizontal travelling mechanism, a vertical lifting mechanism, a bearing mechanism and a control unit, wherein the hanging rail is arranged along the position of a cabinet, the hanging rail is distributed above the whole room machinery chamber, the horizontal travelling mechanism moves along the hanging rail to drive a pan-tilt camera to realize inspection, the pan-tilt camera is used for shooting video images in the room machinery chamber, the distance between the pan-tilt camera and the ground can be adjusted through the vertical lifting mechanism, and different inspection requirements are met;

in addition, a plurality of IC cards are arranged at the lower end of the hanging rail, the hanging rail is divided into a plurality of routing inspection areas, when the routing inspection robot moves to the position of the IC card, an RFID card reader reads the information of the IC card, and then the routing inspection robot is determined to enter the area, a plurality of rubidium magnets are arranged, the hanging rail is equally divided by the rubidium magnets, a Hall sensor outputs level signals when the routing inspection robot passes through the rubidium magnets, then a main control module can record the frequency of receiving the level signals, the later stage of convenience is provided with a foundation for determining the speed and the position of the routing inspection robot, and a hardware foundation is provided for a later-stage construction of an intelligent control system based on the Internet of things.

Further, the shell comprises a left part and a right part, the left part and the right part are combined to form a square structure with a hollow inner part, the left part and the right part are fixed through bolts, a partition board is transversely arranged between the left part and the right part, the shell is divided into an upper part and a lower part by the partition board, and the partition board is arranged at a position close to the lower part of the inverted T-shaped through groove;

a transmission mechanism is arranged between the two horizontal travelling mechanisms and comprises a first connecting rod, a first driving gear and two second driving gears, the two second driving gears are respectively arranged at two ends of the first connecting rod, the first driving gear is arranged on the first connecting rod and is positioned on the same straight line with an output shaft of a first motor, the first driving gear is rotationally connected with the output shaft of the first motor through a belt, and the two second driving gears and the first driving gear are both fixed with the first connecting rod;

the driving wheel is connected with a second connecting rod, a third driving gear is fixedly arranged at the other end of the second connecting rod, and the third driving gear is connected with the second driving gear through a belt in a transmission mode.

The shell is divided into an upper part and a lower part by the partition board, and the horizontal travelling mechanism and the vertical lifting mechanism are separated by the partition board, so that the horizontal travelling mechanism and the vertical lifting mechanism are mutually independent and convenient to maintain.

Furthermore, a bracket is arranged between the first connecting rod and the second connecting rod,

the support is arranged at the upper part of the partition board and comprises two upper support plates and two lower support plates, the upper support plates are of a convex structure, a round through hole is formed in the middle of each upper support plate, a second connecting rod is arranged in each round through hole and fixed with the upper support plates through bearings, the driving wheel is in contact with the upper end face of the transverse section at the lower part of the hanging rail through the upper support plates and is limited through the upper support plates,

the upper support plate is fixed with the lower support plate, the lower support plate is a U-shaped plate, a circular hole is formed in the middle of the arc section of the lower support plate, a first connecting rod is arranged in the circular hole, the first connecting rod is fixed with the lower support plate through a bearing, and the two second driving gears are arranged on the outer side of the lower support plate;

the bracket is fixed with the left part and the right part of the shell respectively.

In order to improve the stability of the horizontal walking process of the inspection robot, the first connecting rod and the second connecting rod are arranged to be connected with the two driving wheels in a transmission mode, the two driving wheels are equivalent to coaxial driving, and the structure enables the rotating speeds of the two driving wheels to be consistent, so that the stability of the horizontal walking process of the inspection robot is guaranteed.

Furthermore, the limiting mechanisms are symmetrically arranged on the front side and the rear side of the partition plate respectively, each limiting mechanism comprises two limiting plates which are arranged oppositely, each limiting plate is a cross-shaped plate, two first roller bearings are arranged in the vertical direction of each limiting plate, and the two first roller bearings clamp the lower transverse section of the hanger rail;

two second roller bearings are arranged at the edge position of the limiting plate in the horizontal direction, the two opposite second roller bearings clamp two side edges of the lower transverse section of the hanger rail, and the circumference of each second roller bearing is in contact with two side edges of the lower transverse section of the hanger rail.

In order to enable the inspection robot to 'bite' the hanger rail, the limiting mechanisms are arranged, the two groups of limiting mechanisms are used for respectively positioning the hanger rail from the front end to the rear end, the lower end 'linear' section of the hanger rail in the horizontal direction is arranged in the gap between the two first roller bearings, two side edges of the lower end 'linear' section of the hanger rail in the vertical direction are clamped by the two second roller bearings, the two first roller shafts continuously rotate during movement, the second roller bearings continuously rotate to realize limiting without movement interference, the positions of the hanger rail and the driving wheels are relatively fixed under the structure, and the horizontal walking stability of the inspection robot is further improved.

Further, the inspection robot further comprises a turning mechanism, the turning mechanism comprises a rotary table and a fixed column, the middle of the rotary table is annular, the two sides of the rotary table are provided with symmetrical strip plates, limiting plates are arranged on the strip plates, the limiting plates and the strip plates are of an integrated structure, the fixed column is an I-shaped cylinder, the rotary table is sleeved on the fixed column, the rotary table is connected with the fixed column in a rotating mode, and the fixed column is fixed with the partition plate.

Because the hanger rail has arc tracks such as turning, in order to improve the bending smoothness of the inspection robot and avoid the collision and abrasion of the inspection robot, the turning mechanism is arranged, and the cross section of the hanger rail is I-shaped all the time, the limiting mechanism can enable the inspection robot to 'bite' the hanger rail all the time, the hanger rail is made of rigid materials, the turntable is driven by the driving wheel to passively rotate along with the trend of the hanger rail structure, the bending smoothness is realized, the turntable is passively reset after being influenced by the shape of the hanger rail, and the inspection robot continues to move along a straight line.

Further, vertical lift mechanism includes sleeve, gear motor, gentle latch mechanism, connecting plate and I-shaped wheel, the sleeve includes urceolus and inner tube, the urceolus is fixed with the connecting plate, the connecting plate is square frame structure, and the left part and the right part of connecting plate and casing pass through the bolt fastening, and gear motor is fixed with the connecting plate, and gear motor's output shaft I-shaped wheel, the I-shaped wheel rotates with the connecting plate to be connected, and the winding has gentle latch mechanism on the I-shaped wheel, the gentle latch mechanism other end is fixed with the inner tube, the opposite side and the cloud platform camera of inner tube are fixed, gear motor electric connection host system.

The distance between the tripod head camera and the ground is adjusted through the vertical lifting mechanism, and the use flexibility of the inspection robot is improved.

The main control module comprises an MCU chip, an ADC pin of the MCU chip is connected with an environment monitoring module, and the environment monitoring module comprises a temperature sensor, an illumination sensor, a noise sensor and a smoke sensor;

the communication module comprises an RS485 serial port module, an RS232 serial port module and a WiFi module, and the MCU chip is in communication connection with the upper computer through the communication module.

The output end of the Hall sensor is connected with an IO pin of the MCU chip, and the RFID card reader is in communication connection with the MCU chip through a UART serial port.

The motor is controlled through the MCU chip to realize that the inspection robot circularly moves back and forth along the hanging rail, so that the automation degree of inspection equipment is improved, and a hardware basis is provided for constructing an intelligent control system based on the Internet of things in the later period.

Through the technical scheme, the beneficial effects of the utility model are that:

1. the utility model discloses set up the hanger rail and patrol and examine the robot and realize patrolling and examining the robot and do the back and forth motion along the hanger rail, fixed with cloud platform camera and patrol and examine the robot, cloud platform camera is clapped along the hanger rail and is got room machinery room video image, replaces the manual work and patrols and examines, and the flexible operation, the contrast current machine is patrolled and examined the system cost low, system simple structure.

2. The utility model discloses a lower extreme at the hanger rail sets up a plurality of IC cards, divide into a plurality of regions of patrolling and examining with the hanger rail, when patrolling and examining the robot and removing the IC card position, the RFID card reader reads IC card information, and then confirm to patrol and examine the robot and get into this region, set up a plurality of rubidium magnets, rubidium magnet will divide the hanger rail etc. hall sensor will export level signal when patrolling and examining the robot and passing through rubidium magnet, and then master control module can take notes the number of times of receiving level signal, confirms to patrol and examine the robot position.

Drawings

Fig. 1 is one of the schematic structural diagrams of a smart inspection robot system of the present invention;

FIG. 2 is a side view of FIG. 1;

fig. 3 is one of the schematic structural diagrams of the inspection robot of the intelligent inspection robot system of the present invention;

FIG. 4 is an enlarged view at A of FIG. 3;

FIG. 5 is a top view of FIG. 3;

fig. 6 is a schematic structural view of a vertical lifting mechanism of the intelligent inspection robot system of the present invention;

fig. 7 is a schematic structural view of a horizontal traveling mechanism of the intelligent inspection robot system of the present invention;

fig. 8 is an electrical schematic diagram of the intelligent inspection robot system of the present invention;

fig. 9 is the utility model relates to a wisdom patrols and examines overhead rail of robot system and lays the schematic diagram.

The reference numbers in the drawings are as follows:

the camera comprises a pan-tilt camera 1, a hanging rail 2, a shell 3, a driving wheel 4, a first motor 5, a first proximity switch 6, a second proximity switch 7, an RFID card reader 8, a Hall sensor 9, a partition plate 10, a first connecting rod 11, a first driving gear 12, a second driving gear 13, a second connecting rod 14, a third driving gear 15, an upper supporting plate 16, a lower supporting plate 17, a limiting plate 18, a first roller bearing 19, a second roller bearing 20, a rotating disc 21, a fixing column 22, a speed reducing motor 23, a connecting plate 24, a spool 25, an outer cylinder 26, an inner cylinder 27, an MCU chip 28, an environment monitoring module 29, a communication module 30 and an infrared camera 31.

Detailed Description

The invention will be further explained with reference to the drawings and the detailed description below:

example one

As shown in fig. 1 to 9, a smart inspection robot system comprises a pan-tilt camera 1 arranged in a room machine room, wherein a plurality of cabinets are arranged in the room machine room, the cabinets are arranged in an equidistant manner, hanging rails 2 are arranged at positions close to the top of the room machine room, the hanging rails 2 are continuously arranged along the cabinets in a zigzag manner, the cross sections of the hanging rails 2 are in an i shape, and an inspection robot is arranged on the hanging rails 2;

the inspection robot comprises a horizontal travelling mechanism, a vertical lifting mechanism, a bearing mechanism and a control unit, wherein the bearing mechanism comprises a shell 3, an inverted T-shaped through groove is formed in the middle of the shell corresponding to an I-shaped structure of the hanger rail 2, the horizontal travelling mechanism is symmetrically arranged on two sides of the inverted T-shaped through groove and comprises a driving wheel 4, the driving wheel 4 is in contact with the upper end face of the lower transverse section of the hanger rail 2, the driving wheel 4 is provided with a first motor 5, and a limiting mechanism is arranged between the shell 3 and the hanger rail 2;

one end of the vertical lifting mechanism is fixed with the shell 3, and the other end of the vertical lifting mechanism is fixed with the pan-tilt camera 1;

the hanging rail 2 is provided with a starting position a and a stopping position b, a first proximity switch 6 and a second proximity switch 7 are respectively installed at the starting position a and the stopping position b of the hanging rail 2, a plurality of IC cards are arranged at the lower end of the hanging rail 2, the hanging rail 2 is divided into a plurality of routing inspection areas by the IC cards, a plurality of rubidium magnets are further arranged at the lower end of the hanging rail 2, and the rubidium magnets divide the hanging rail 2 into equal parts;

the control unit comprises a main control module, a communication module 30, an environment monitoring module 29 and a position detection module, the first proximity switch 6 and the second proximity switch 7 are electrically connected with the control unit, the position detection module comprises an RFID card reader 8 and a Hall sensor 9, the RFID card reader 8 and the Hall sensor 9 are electrically connected with the control unit, the control unit is electrically connected with the first motor 5, and the control unit controls the rotating speed of the first motor 5 according to the position detection module.

As shown in fig. 2 and 3, the housing 3 includes a left portion and a right portion, the left portion and the right portion are combined to form a square structure with a hollow interior, the left portion and the right portion are fixed by bolts, a partition plate 10 is transversely disposed between the left portion and the right portion, the partition plate 10 divides the housing 3 into an upper portion and a lower portion, and the partition plate 10 is disposed at a position close to the lower portion of the inverted T-shaped through groove;

a transmission mechanism is arranged between the two horizontal travelling mechanisms, the transmission mechanism comprises a first connecting rod 11, a first driving gear 12 and two second driving gears 13, the two second driving gears 13 are respectively arranged at two ends of the first connecting rod 11, the first driving gear 12 is arranged on the first connecting rod 11 and is positioned on the same straight line with the output shaft of the first motor 5, the first driving gear 12 is rotatably connected with the output shaft of the first motor 5 through a belt, and the two second driving gears 13 and the first driving gear 12 are both fixed with the first connecting rod 11;

the driving wheel 4 is connected with a second connecting rod 14, a third driving gear 15 is fixedly arranged at the other end of the second connecting rod 14, and the third driving gear 15 is in transmission connection with the second driving gear 13 through a belt.

As shown in fig. 2~4, a bracket is arranged between the first connecting rod 11 and the second connecting rod 14,

the support is arranged at the upper part of the partition board 10 and comprises two upper support plates 16 and two lower support plates 17, the upper support plate 16 is of a convex structure, a circular through hole is formed in the middle of the upper support plate 16, a second connecting rod 14 is arranged in the circular through hole, the second connecting rod 14 is fixed with the upper support plate 16 through a bearing, the driving wheel 4 is in contact with the upper end surface of the lower transverse section of the hanger rail 2 through the upper support plate 16, the driving wheel 4 is limited through the upper support plate 16,

the upper support plate 16 is fixed with the lower support plate 17, the lower support plate 17 is a U-shaped plate, a circular hole is formed in the middle of an arc section of the lower support plate 17, a first connecting rod 11 is arranged in the circular hole, the first connecting rod 11 is fixed with the lower support plate 17 through a bearing, and the two second driving gears 13 are arranged on the outer side of the lower support plate 17;

the brackets are fixed to the left and right portions of the housing 3, respectively.

As shown in fig. 2~4, the limiting mechanisms are symmetrically disposed on the front and rear sides of the partition board 10, each limiting mechanism includes two limiting plates 18 disposed in opposite directions, each limiting plate 18 is a cross-shaped plate, two first roller bearings 19 are disposed in the vertical direction of each limiting plate 18, and the two first roller bearings 19 clamp the lower transverse section of the hanger rail 2;

two second roller bearings 20 are arranged at the edge positions of the limiting plate 18 in the horizontal direction, the two opposite second roller bearings 20 clamp two sides of the lower transverse section of the hanger rail 2, and the circumference of the second roller bearings 20 is in contact with two sides of the lower transverse section of the hanger rail 2.

As shown in 2~5, the inspection robot further comprises a turning mechanism, the turning mechanism comprises a rotary table 21 and a fixing column 22, the middle of the rotary table 21 is annular, two sides of the rotary table 21 are provided with symmetrical strip plates, the strip plates are provided with limiting plates 18, the limiting plates 18 and the strip plates are of an integrated structure, the fixing column 22 is an I-shaped cylinder, the rotary table 21 is sleeved on the fixing column 22, the rotary table 21 is rotatably connected with the fixing column 22, and the fixing column 22 is fixed with the partition plate 10.

As shown in fig. 6, vertical lift mechanism includes sleeve, gear motor 23, gentle latch mechanism, connecting plate 24 and I-shaped wheel 25, the sleeve includes urceolus 26 and inner tube 27, urceolus 26 is fixed with connecting plate 24, connecting plate 24 is square frame structure, and the left part and the right part of connecting plate 24 and casing pass through the bolt fastening, and gear motor 23 is fixed with connecting plate 24, and gear motor 23's output shaft I-shaped wheel 25, I-shaped wheel 25 rotates with connecting plate 24 to be connected, and the last winding of I-shaped wheel 25 has gentle latch mechanism, the gentle latch mechanism other end is fixed with inner tube 27, the opposite side of inner tube 27 is fixed with cloud platform camera 1, gear motor 23 electric connection host system.

When the tripod head camera is vertically lowered, the reducing motor 23 rotates forwards, the spool 25 is used for releasing the rope, the inner cylinder 27 connected with the flexible locking mechanism is extended under the action of the gravity of the tripod head camera 1, the reducing motor 23 is protected by a locking shaft after being shut down, the spool 25 is locked, the spool 25 bears the gravity of the tripod head camera 1 to achieve stress balance, and the outer cylinder 26 limits the inner cylinder 27, so that the tripod head camera 1 cannot shake.

When the camera vertically rises, the speed reducing motor 23 reversely rotates, the spool 25 receives the line, and the pan-tilt camera 1 rises and resets.

Example 2

As shown in fig. 8, for convenience of control, the main control module includes an MCU chip 28, an ADC pin of the MCU chip 28 is connected to an environment monitoring module 29, and the environment monitoring module 29 includes a temperature sensor, an illumination sensor, a noise sensor, and a smoke sensor;

the communication module 30 comprises an RS485 serial port module, an RS232 serial port module and a WiFi module, and the MCU chip 28 is in communication connection with an upper computer through the communication module 30.

Further, the output end of the hall sensor 9 is connected with an IO pin of the MCU chip 28, and the RFID card reader 8 is in communication connection with the MCU chip 28 through a UART serial port.

In the embodiment, the IC card adopts a Mifare one S50 and S70 metal-resistant smart card conforming to ISO14443, the diameter of the IC card is 30mm, and the card reading distance is not less than 20mm; according to the condition that the inspection area is stuck at the entrance and exit of the area, the entrance and exit of the curve and the position of the upper and lower slopes, the data content in the card is a unique code number which can be identified. The diameter of the rubidium magnet is 20mm, and the thickness of the rubidium magnet is 3mm.

The MCU chip 28 adopts an STM32F407VE type singlechip, the RFID card reader 8 is a 13.56MHz high-frequency RFID read-write chip FM1701, the reading distance is generally 10 to 80mm, and the RFID card reader conforms to an ISO14443 protocol and can be read and written. The Hall sensor 9 adopts a UHE4913G-AE3-R chip, which belongs to a micro-power consumption Hall switch and is commonly used for upgrading a reed switch. The chip can detect the magnet distance to be 0-20mm, no magnet outputs high level, and a magnet outputs low level in a detection range.

The first motor 5 and the reduction motor 23 both adopt an M3508 direct-current brushless motor, the M3508 direct-current brushless motor is provided with a motor speed regulator RoboMaster C620, a CAN bus control mode and a PWM control mode are provided, and information such as motor temperature, rotor position and rotor speed is obtained from a CAN bus.

The temperature sensor adopts an SHTC3 temperature and humidity sensor, and communicates through an I2℃ bus, the temperature measurement range is-40 to 125 ℃, and the precision is 0.2 ℃; the humidity measurement range is 0-100% RH, precision 2%.

The illumination sensor adopts a BH1750FVI chip and communicates through an I2C bus, the illumination range is 1 to 65535lx, and the precision is 0.5lx.

The smoke sensor adopts an MQ-2 sensor to realize the detection of propane, natural gas and other combustible vapor, and adopts AD output to monitor the concentration of 300-10000 ppm.

The noise sensor adopts the all-directional electret microphone to collect sound, the sound is amplified by 100 times through the 2-level operational amplifier, and the signal output AD value is sent to the MUC chip 28.

During operation, the MCU chip 28 electrically controls the motor speed regulator, the motor speed regulator drives the first motor 5 to rotate forward, and with the mechanical structure of embodiment 1, the first motor 5 rotates to drive the driving wheel 4 to rotate, the driving wheel 4 rotates to move along the hanger rail 2 under the limit of the upper supporting plate 16 and the friction force, when the inspection robot touches the second proximity switch 7, it indicates that the inspection robot is in the stop position b of the hanger rail 2, the second proximity switch 7 outputs a level signal, the MCU chip 28 receives the input signal of the second proximity switch 7, the MCU chip 28 rotates the first motor 5 backward through the motor speed regulator, the inspection robot moves forward toward the start position a of the hanger rail 2, when the inspection robot touches the first proximity switch 6, the first proximity switch 6 outputs a level signal, the MCU chip 28 receives the input signal of the first proximity switch 6, the MCU chip 28 controls the motor speed regulator, and the motor speed regulator drives the first motor 5 to rotate forward to enter the next cycle.

During the moving period of the inspection robot, the IC card information can be read through the IC card position RFID card reader 8, the MCU chip 28 receives the written information and sends the read IC card information to the upper computer through the WiFi module for the staff to look up, meanwhile, the MCU chip 28 records the number of times that the Hall sensor 9 sends low level, and the position of the inspection robot can be calculated due to the fact that the distance between the plurality of rubidium magnets is fixed.

The three-axis attitude of the holder camera 1 can be adjusted through the upper computer. The upper computer sends a control instruction to the MCU chip 28 to make the MCU chip 28 control the deceleration motor 23 to rotate forward and backward through the motor speed regulator, as described in embodiment 1, the vertical lifting mechanism drives the pan-tilt camera 1 to perform lifting and lowering adjustment.

Example 3

An atmosphere lamp and a voice output module are further arranged for improving the human-computer interaction effect, the voice output is TTS voice output, a TTS voice chip is SYN6288E, the TTS voice chip is connected with the MCU chip 28 through a UART, audio amplification is carried out through a power amplifier chip LM4871, and the audio is output to an 8 ohm/2W loudspeaker. Speech and built-in sound effects can be output.

The inspection robot is provided with two ultrasonic ranging modules for monitoring obstacles, the ultrasonic ranging modules adopt DYP-A02YY4W-V2.0 type ultrasonic sensors, the measurement precision of the ultrasonic ranging modules is 1cm, the detection angle is 60 degrees, and temperature compensation is realized. The ultrasonic ranging module is in communication connection with the MCU chip 28 through the RS485 serial port module, and the Baud rate is 9600bps.

An infrared camera 31 is arranged on the side of the pan-tilt camera 1, the infrared camera 31 has a thermal imaging function, the infrared camera 31 is used for detecting invasion of people or mouse activities, the infrared camera 31 carries out three-axis adjustment along with the pan-tilt of the pan-tilt camera 1, and the infrared camera 31 is in communication connection with the MCU chip 28 through an RS485 serial port module.

The above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the present invention, so that equivalent changes or modifications made by the structure, features and principles of the present invention should be included in the claims of the present invention.

Claims (8)

1. A smart inspection robot system comprises a pan-tilt camera (1) arranged in a room machine room, wherein a plurality of cabinets are arranged in the room machine room and are arrayed in an equidistant mode, and the smart inspection robot system is characterized in that hanging rails (2) are arranged at positions close to the top of the room machine room, the hanging rails (2) are continuously arranged in a zigzag mode along the positions of the cabinets, the cross sections of the hanging rails (2) are in an I shape, and an inspection robot is arranged on the hanging rails (2);

the inspection robot comprises a horizontal walking mechanism, a vertical lifting mechanism, a bearing mechanism and a control unit, wherein the bearing mechanism comprises a shell (3), an inverted T-shaped through groove is formed in the middle of the shell corresponding to an I-shaped structure of the hanger rail (2), the horizontal walking mechanism is symmetrically arranged on two sides of the inverted T-shaped through groove and comprises a driving wheel (4), the driving wheel (4) is in contact with the upper end face of the lower transverse section of the hanger rail (2), a first motor (5) is arranged on the driving wheel (4), and a limiting mechanism is arranged between the shell (3) and the hanger rail (2);

one end of the vertical lifting mechanism is fixed with the shell (3), and the other end of the vertical lifting mechanism is fixed with the pan-tilt camera (1);

the system comprises a hanging rail (2), a first proximity switch (6) and a second proximity switch (7) which are arranged at the starting position a and the stopping position b of the hanging rail (2), a plurality of IC cards which divide the hanging rail (2) into a plurality of inspection areas are arranged at the lower end of the hanging rail (2), a plurality of rubidium magnets are arranged at the lower end of the hanging rail (2), and the rubidium magnets divide the hanging rail (2) into equal parts;

the control unit comprises a main control module, a communication module (30), an environment monitoring module (29) and a position detection module, the first proximity switch (6) and the second proximity switch (7) are electrically connected with the control unit, the position detection module comprises an RFID card reader (8) and a Hall sensor (9), the RFID card reader (8) and the Hall sensor (9) are electrically connected with a control unit package, the control unit is electrically connected with the first motor (5), and the control unit controls the rotating speed of the first motor (5) according to the position detection module.

2. The intelligent inspection robot system according to claim 1, wherein the housing (3) comprises a left part and a right part, the left part and the right part are combined to form a square structure with a hollow interior, the left part and the right part are fixed through bolts, a partition plate (10) is transversely arranged between the left part and the right part, the partition plate (10) divides the housing (3) into an upper part and a lower part, and the partition plate (10) is arranged at a position close to the lower part of the inverted T-shaped through groove;

a transmission mechanism is arranged between the two horizontal travelling mechanisms and comprises a first connecting rod (11), a first driving gear (12) and two second driving gears (13), the two second driving gears (13) are respectively arranged at two ends of the first connecting rod (11), the first driving gear (12) is arranged on the first connecting rod (11) and is positioned on the same straight line with an output shaft of the first motor (5), the first driving gear (12) is rotationally connected with the output shaft of the first motor (5) through a belt, and the two second driving gears (13) and the first driving gear (12) are both fixed with the first connecting rod (11);

the driving wheel (4) is connected with a second connecting rod (14), a third driving gear (15) is fixedly arranged at the other end of the second connecting rod (14), and the third driving gear (15) is connected with the second driving gear (13) through a belt in a transmission manner.

3. The intelligent inspection robot system according to claim 2, wherein a bracket is disposed between the first connecting rod (11) and the second connecting rod (14),

the support is arranged at the upper part of the partition board (10) and comprises two upper support plates (16) and two lower support plates (17), the upper support plates (16) are of a convex structure, a circular through hole is formed in the middle of each upper support plate (16), a second connecting rod (14) is arranged in each circular through hole, each second connecting rod (14) is fixed with the corresponding upper support plate (16) through a bearing, the driving wheel (4) is in contact with the upper end face of the lower transverse section of the hanger rail (2) through the corresponding upper support plate (16), the driving wheel (4) is limited through the corresponding upper support plate (16),

the upper support plate (16) is fixed with the lower support plate (17), the lower support plate (17) is a U-shaped plate, a circular hole is formed in the middle of an arc section of the lower support plate (17), a first connecting rod (11) is arranged in the circular hole, the first connecting rod (11) is fixed with the lower support plate (17) through a bearing, and the two second driving gears (13) are arranged on the outer side of the lower support plate (17);

the bracket is fixed with the left part and the right part of the shell (3) respectively.

4. The intelligent inspection robot system according to claim 2, wherein the limiting mechanisms are symmetrically arranged on the front side and the rear side of the partition plate (10), each limiting mechanism comprises two limiting plates (18) arranged oppositely, each limiting plate (18) is a cross-shaped plate, two first roller bearings (19) are arranged in the vertical direction of each limiting plate (18), and the two first roller bearings (19) clamp the lower transverse section of the hanger rail (2);

two second roller bearings (20) are arranged at the edge positions of the limiting plate (18) in the horizontal direction, the two opposite second roller bearings (20) clamp two side edges of the lower transverse section of the hanger rail (2), and the circumference of each second roller bearing (20) is in contact with two side edges of the lower transverse section of the hanger rail (2).

5. The system according to claim 4, wherein the inspection robot further comprises a turning mechanism, the turning mechanism comprises a rotary table (21) and a fixing column (22), the middle of the rotary table (21) is annular, two symmetrical strip plates are arranged on two sides of the rotary table (21), a limiting plate (18) is arranged on each strip plate, the limiting plate (18) and the strip plates are of an integrated structure, the fixing column (22) is an I-shaped cylinder, the rotary table (21) is sleeved on the fixing column (22), the rotary table (21) is rotatably connected with the fixing column (22), and the fixing column (22) is fixed with the partition plate (10).

6. The robot system is patrolled and examined to wisdom according to claim 2, characterized in that, vertical lift mechanism includes sleeve, gear motor (23), gentle latch mechanism, connecting plate (24) and I-shaped wheel (25), the sleeve includes urceolus (26) and inner tube (27), urceolus (26) are fixed with connecting plate (24), connecting plate (24) are square frame structure, and bolt fastening is passed through with the left part and the right part of casing in connecting plate (24), and gear motor (23) are fixed with connecting plate (24), and output shaft I-shaped wheel (25) of gear motor (23), I-shaped wheel (25) rotate with connecting plate (24) and are connected, and the winding has gentle latch mechanism on I-shaped wheel (25), the gentle latch mechanism other end is fixed with inner tube (27), the opposite side of inner tube (27) is fixed with cloud platform camera (1), gear motor (23) electric connection master control module.

7. The intelligent inspection robot system according to claim 1, wherein the main control module comprises an MCU chip (28), an ADC pin of the MCU chip (28) is connected with an environment monitoring module (29), and the environment monitoring module (29) comprises a temperature sensor, an illumination sensor, a noise sensor and a smoke sensor;

the communication module (30) comprises an RS485 serial port module, an RS232 serial port module and a WiFi module, and the MCU chip (28) is in communication connection with an upper computer through the communication module (30).

8. The intelligent inspection robot system according to claim 1, wherein the output end of the hall sensor (9) is connected with the IO pin of the MCU chip (28), and the RFID card reader (8) is in communication connection with the MCU chip (28) through a UART serial port.

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