RU2670548C1 - Intelligent inspection robotechnical system on a guidance guide, intended for indoor work - Google Patents

Abstract

FIELD: robotics.SUBSTANCE: robotic terminal system (42) comprises profile guidance guide (15) mounted on the inner wall, movable mechanism, the driving mechanism and the inspection mechanism are mounted on profile guidance guide (15); inspection mechanism comprises support head (13) and inspection unit (14), while the inspection mechanism is mounted on the movable mechanism, movable mechanism is driven by a driving mechanism, and the movable mechanism drives the inspection mechanism to move it up and down along profile guidance guide (15). Movable mechanism comprises a synchronous pulley unit and synchronous belt.EFFECT: compact design, quick and easy installation are provided, the system runs smoothly, without need for greater frictional force when moving a robot, reliable and has high positioning accuracy, wide range of inspected parameters and high degree of automation.28 cl, 16 dwg

Description

CROSS REFERENCE TO A RELATED APPLICATION

[0001] This application claims the priority of Chinese Patent Application No. 201410563491.0, entitled "INDOOR TRACK TYPE INTELLIGENT INSPECTION ROBOT SYSTEM" ("INTELLIGENT INTELLECTUAL PROPERTY SYSTEM INTENDED FOR OCTOBER 21)" 2014, the full disclosure of which is incorporated herein by reference.

FIELD OF THE INVENTION

[0002] This application relates to an intelligent inspection robot system on a rail designed for indoor use.

State of the art

[0003] The proper functioning of power equipment designed for indoor use is vital. In one aspect, power equipment intended for indoor use is required to have sufficient reliability, and in another aspect, timely inspection is required to detect potential equipment problems and perform maintenance and, in addition, to ensure the normal operation of the system. Real-time inspection of power equipment designed for indoor use is important to ensure its reliable and safe operation. When using the robot on the rail, it is possible to carry out a convenient and flexible way of real-time inspection of equipment designed for indoor use, and it is possible to ensure the working condition of the equipment.

[0004] Power equipment intended for indoor use is usually arranged in rows and layers, and the overall height of the equipment in each row differs depending on various technical requirements. Under normal conditions, it is necessary to control in real time the temperature of power equipment designed for indoor use. In addition to temperature control, it is also necessary to control the appearance, damage, noise and instrument readings.

[0005] Technical problems presented in a conventional intelligent inspection robotic system on a rail designed for indoor use are shown below.

[0006] 1. A traditional mobile robot for inspecting and collecting information about equipment intended for indoor use is driven mainly by wheels, tracks or in a combined manner. Limited to indoor space or the location of other controlled equipment, the robot must be moved in a vertical direction to achieve a comprehensive inspection of the equipment. A traditional wheeled mobile robot or a crawler mobile robot must overcome gravity to achieve vertical movement, but this is unlikely to be achieved, as this requires a lot of friction. In addition, due to limited indoor space, the battery cannot be replaced at any time, so a traditional wheeled mobile robot or a tracked mobile robot cannot have a battery.

[0007] 2. In one aspect, a traditional mobile robot for inspecting and collecting information about equipment intended for indoor use should create as little electromagnetic interference as possible for equipment having high electromagnetic compatibility, and in another aspect should have a relatively low susceptibility to external electromagnetic interference. When designing electronic devices, structural shielding is a common way to increase electromagnetic compatibility. Structural electromagnetic shielding requires reliable electrical continuity between connected surfaces. However, each of the elements of the metal structure is deformed during machining, especially for plate structures. Lamellar structures are significantly prone to deformation, which cannot be eliminated, which leads to the formation of a gap between the two structural elements in the connected state, which affects the screening effect.

[0008] 3. In a traditional mobile robot for inspecting and collecting information about equipment intended for indoor use, some disadvantages are presented in the ventilation and heat sink parts, for example, the shielding and ventilation window is located mainly in the necessary ventilation openings of the electronic device and may have dual purpose - electromagnetic interference shielding (EMI) and good ventilation. The traditional electromagnetic shielding window has the following disadvantages: (a) the traditional electromagnetic shielding window does not have a dustproof function, and dust can accumulate in the housing due to ventilation, and subsequently dust can significantly reduce the life of the equipment; (b) the traditional electromagnetic shielding window and the housing have a poor sealing effect between them, and there is a gap between the electromagnetic shielding window and the housing, which adversely affects the effect of electromagnetic shielding.

[0009] 4. In a traditional mobile robot for inspecting and collecting information about equipment intended for indoor use, some of the accessories used by the robot must be mounted on the ground or wall, however, the traditional ground stud passing through the wall has a problem, associated with inconvenient installation, since it must be screwed on both sides of the cabinet wall through which the grounding stud passes. In addition, since there is no anti-fall design, the screwed nut of the grounding stud is prone to spontaneous unscrewing after loosening it, which may lead to its fall or loss.

Disclosure of invention

[0010] The objective of this application is to eliminate the above technical problems and offer an intelligent inspection robot system on a rail designed for indoor use, the advantage of which is that it meets the requirements of guaranteeing inspection of equipment designed for indoor use, without human presence in real time.

[0011] In order to solve the above problem, technical solutions are provided below in accordance with this application.

[0012] An intelligent inspection robotic system on a rail designed for indoor use includes a remote control system. The remote control system is connected to at least one robotic terminal system via the Internet, the robotic terminal system includes a profile rail that is mounted on the wall of the room, a movable mechanism, a driving mechanism and an inspection mechanism are mounted on the profile rail; the inspection mechanism includes a support head and an inspection unit, the inspection mechanism is mounted on a movable mechanism, the movable mechanism is driven by a driving mechanism, the movable mechanism allows the inspection mechanism to move up and down along the profile guide, and together with the operation of the support head is achieved inspection of equipment intended for indoor use, subject to inspection in a wide range of parameters.

[0013] The means for supplying power and communicating with the robotic terminal system is selected from any of three cases:

case one: power supply and communication are carried out by means of a traction chain;

case two: power is supplied by means of a sliding contact line and communication is performed by means of a power line; and

case three: power is supplied by means of a sliding contact line, and communication is carried out through the use of a radiating cable or microwave technology.

[0014] The remote control system is connected to the robotic terminal system via a special power cable.

[0015] The movable mechanism includes a synchronous pulley assembly and a synchronous belt. The synchronous pulley assembly includes synchronous pulley housings and synchronous pulleys. The cases of synchronous pulleys are mounted on the upper end and lower end of the profile guide, respectively. The synchronous pulleys are installed in the housings of the synchronous pulleys, respectively, and the synchronous belt rotates around the synchronous pulleys.

[0016] The propulsion mechanism allows the inspection mechanism to be moved up and down. The drive mechanism includes an AC servo motor and a speed reducer. The AC servomotor is installed with the synchronous pulley through a speed reducer. The speed reducer is mounted on the synchronous pulley case at the bottom of the profile rail.

[0017] The inspection mechanism includes a first control unit. The first control unit communicates, controls and supplies power to the inspection unit and the support head. The first control unit is mounted on the carriage, and the carriage is rigidly connected to the synchronous belt. The carriage is mounted on the profile rail using a sliding contact, the synchronous belt allows the carriage to be moved up and down along the profile rail, and the support head is mounted on the first control unit. The first control unit is also used as a console, and the inspection unit is mounted on the support head.

[0018] The robotic terminal system further includes a second control unit mounted adjacent to the guide, the second control unit communicates with the first control unit and supplies power to the first control unit. The second control unit additionally serves to control the movement of the AC servomotor; and

the robotic terminal system may be energized and coupled via stretched cables, or may be energized via a sliding contact line and communicated via a power line depending on various requirements.

[0019] The switch between the power source connected through the stretched cables and the power source connected through the sliding contact line is made using an uninterruptible power supply system (UPS).

[0020] In the event that the robot is energized and communicates via the traction circuit, an inspection device controller, a video server, a first switch and a first power supply module are installed in the first control unit, the video server communicates, respectively, with an infrared thermal imager and an optical camera and the first switch communicates with the video server, the first switch communicates with the controller of the inspection device, and the controller of the inspection device suschestvlyaet connection with the supporting head, an infrared thermal imager and the optical chamber, respectively, and the first power supply module provides power to the powered device in the first control unit;

the AC servo motor motion controller, the servo drive, the second power supply module, the second switch and the first photoelectric converter are installed in the second control unit, the photoelectric converter communicates with the second switch, and the second switch communicates with the motion controller, the motion controller communicates with the servo, the first photoelectric the converter communicates with the remote control system, the motion controller communicates with a zero switch, a first position limiting switch and a second position limiting switch, the servo communicates with the AC servomotor, and the second power supply module supplies power to various electrical modules in the second control unit and supplies power to the first control unit.

[0021] If the system is supplied with energy through the traction circuit, separate cables are provided, respectively, for supplying power and communicating with the first control unit, a cable for supplying power comes out of the second control unit, and a cable for communicating is connected to the switch in the second unit management. The plate covering the traction chain and the traction chain are mounted on the profile rail. The plate closing the traction chain is fixed to the profile guide by means of a fastening element of the plate closing the traction chain, and the power cable and the communication cable are placed on the traction chain, and the traction chain is used to protect the cables.

[0022] In the event that the robot is powered by a sliding contact line and communicates via a power line, an inspection device controller, a video server, a first switch, a first power line communication modem and a first power supply module are installed in the first control unit, the video server communicates respectively, with an infrared thermal imager and an optical camera in the inspection node, and the first switch communicates with the video server, the first comm the tripod communicates with the controller of the inspection device, and the controller of the inspection device communicates with the reference head, infrared thermal imager and optical camera, respectively, and the first power supply module supplies power to various power devices in the first control unit;

a motion controller of an AC servo motor, a servo drive, a second power supply module, a second switch and a first photoelectric converter and a second communication modem via a power line are installed in the second control unit, the first photoelectric converter communicates with the second switch, and the second switch communicates with the motion controller, controller motion communicates with the servo, the first photoelectric converter communicates with the remote control, the motion controller communicates with the zero switch, the first position limiting switch and the second position limiting switch, the servo communicates with the AC servomotor, and the second power supply module supplies power to various electric modules of the second control unit, and supplies power to the first control unit; and

the first power line communication modem has one end connected to the first switch, and the other end connected to one end of the second power line communication modem, and the other end of the second power line communication modem is connected to the second switch.

[0023] In the event that the system is supplied with energy through a sliding contact line, the communication means used by the inspection mechanism in performing the control is a power line connection. The current collector is mounted on the first control unit using the mounting plate of the current collector. The mounting point of the sliding contact line is mounted on the profile rail, and the sliding contact line is installed in the mounting location of the sliding contact line. The current collector has two contact plates providing contact with a sliding contact line. Two poles of the current collector are connected to the two ends of the first communication modem via the power line of the first control unit, and also connected to the two ends of the first power supply module of the first control unit.

[0024] Two poles of the sliding contact line are connected to the communication modem via the power line in the second control unit, and also connected to the two ends of the second power supply unit of the second control unit.

[0025] A sliding contact line includes a copper conductor and an insulating coating. The copper conductor is made in the form of a sleeve. The current collector has conductors, the number of which coincides with the number of conductors of the sliding contact line, which are connected to the conductors of the sliding contact line by the sliding contact method.

[0026] The robotic terminal system further includes a position limiting mechanism, and the position limiting mechanism includes position limiting switches mounted on two ends of the profile rail, a locking element of the position limiting switch is mounted on a rear surface of the control unit that is in contact with the profile guide, and the locking element of the position limit switch is in interaction with the polo limit switch to prevent collisions due to emergency power outages.

[0027] The first photoelectric converter of the second control unit converts all the detected video signals, and image signals and control signals into optical signals, and then transmits the optical signals to the remote control system through an optical fiber that implements the processing of the detected information regarding the entire system and perform the remote control operation in regarding inspection and traffic conditions.

[0028] An AC servo motor position sensor is connected to a servo drive that controls the carriage on the rail by counting pulses and moves the inspection unit to a precisely defined position to perform the inspection.

[0029] The AC servomotor is equipped with an electromagnetic brake that allows braking in the event of a power failure.

[0030] A profile rail is mounted vertically on the surface of the inner wall by means of a rail mount structure.

[0031] A synchronous belt that cooperates with synchronous pulleys is mounted in the groove of the profile guide.

[0032] The inspection unit includes an infrared camera, a visible range camera, a fire alarm sensor, an electromagnetic field sensor, and an ultraviolet sensor.

[0033] The speed reducer is attached to the second synchronous pulley housing located at the bottom of the profile rail using a flange assembly.

[0034] The plate closing the traction chain is an L-shaped aluminum profile, and the L-shaped aluminum profile and the profile guide form a guide groove for fixing and guiding the traction chain.

[0035] The lower end of the profile rail is mounted with a zero switch as the starting point of the robot, and each time before applying power to the inspection robot, the robot automatically returns to the starting point and then performs the assigned inspection task.

[0036] The second control unit supplies power and serves as a communication repeater for the entire terminal of the robotic system, controls the movement of the AC servomotor, and converts the communication control signal into a photoelectric signal in order to achieve remote communication.

[0037] The remote control system includes a second photoelectric converter and an upper computer, the communication signals are converted photoelectricly using a second photoelectric converter in order to achieve communication between the remote control system and the robotic terminal system.

[0038] In each of the first control unit and the second control unit, an electromagnetic shielding module housing is provided, and the electromagnetic shielding module housing accommodates a mounting plate. A hole for mounting the plug connector is formed in the housing in accordance with the requirement of external connection of the interface of the circuit board or the electronic component installed in the housing, and a hole for installing the plug connector is used to install the plug connector of the type providing electromagnetic compatibility.

[0039] The housing of the electromagnetic shielding module includes a housing and a shielding cover plate disposed on the housing. The shielding cover plate includes a metal plate, a flexible gasket, and metal foil, which are arranged one above the other in the indicated sequence in the direction from the outside to the inside. The inner space of the housing is a cavity, and the inner wall of the housing is made with a ledge.

[0040] A mounting hole is made in the shielding cover plate, and the threaded hole is made on the ledge, the housing and the shielding cover plate are fixedly connected using a standard fastener through the mounting hole and the threaded hole.

[0041] The second control unit is configured with a ventilation and dustproof window of electromagnetic shielding on the side. The ventilation and dustproof window of the electromagnetic shielding includes a first frame and a second frame, each of the two frames is made with a ledge formed along the inner contour for fixing the ventilation metal plate; the second frame is made with a shallow rectangular groove formed along the inner contour, the gasket of conductive rubber is glued in the rectangular groove of the second frame using conductive glue, the mesh ventilation metal plate and the dust shield are sequentially inserted into the upper metal frame and the lower metal frame.

[0042] The body of the second control unit is fixed to the ground using a protective earth stud, the protective earth stud includes a double-threaded grounding stud, a hex nut, a flat washer and a manual tightening nut, and a flange is installed in the middle of the double-threaded grounding stud , and each of its two end parts has a thread. One of the two ends of the double-threaded grounding studs is made with a central hole for countersink and flattening, and the other of the two ends of the double-threaded grounding studs is machined and has a cross section in the form of a circle truncated on both sides or a D-shape. The hexagonal nut, flat washer and manual tightening nut are sequentially screwed onto an end portion made with a central hole of a double-threaded grounding stud.

[0043] The beneficial effects of the present application are as follows.

[0044] 1. The present application can be applied in the field of inspection of a substation intended for indoor use, the area of inspection of a small room of a substation, the area of inspection of a converter room of a converter electrical substation, and can be applied in the process of performing the inspection task for other enclosed spaces.

[0045] 2. This application uses a wall-mounted rail, and this application can satisfy the various and complex inspection requirements for inspecting equipment in a substation intended for indoor use or in a converter valve room of a converter electrical substation by combining multiple robots into guides.

[0046] 3. Profile guides and a conventional drive system are used in the rail in accordance with this application. The profile has high structural strength, great rigidity and provides smooth reliable operation of the guide. In addition, the material is lighter and the system can be installed much faster. The synchronous belt drive system used is highly accurate and can meet inspection requirements for any precisely defined positions. The guide can be extended by joining in order to meet the requirements of inspections with large movements.

[0047] 4. The AC servomotor according to the present application has a brake that can be locked reliably for braking in the event of a power failure.

[0048] 5. The present invention allows power and communication via a sliding contact line in conjunction with power line communication technology, or using stretched traction circuit cables that can withstand communication interference due to the complex electromagnetic environment in a substation designed to operate in indoors, or in the converter room of the converter electrical substation, when wireless is used, and transmission is performed in an increased bandwidth, which allows for reliable transmission of video and control signals and a compact design.

[0049] 6. In this application, power is supplied by cable so that the battery capacity does not limit the time of autonomous inspection, without, therefore, the inspection time is more flexible and a long continuous inspection can be achieved.

[0050] 7. The first control unit according to the present application can act as a cantilever unit for movement together with the carriage, and the control system is designed to be easily adaptable.

[0051] 8. The inspection unit according to the present application can be combined with an inspection device operating in the visible, infrared and ultraviolet regions of the spectrum, a capture device, a gas detector, an electromagnetic field sensor, etc. depending on the requirements for practical use, which facilitates the implementation of various requirements for the inspection of a substation intended for indoor use, or a hall of converting valves of a converting electrical substation.

[0052] 9. In the event that power is supplied by the stretched cables of the traction chain, the plate closing the traction chain is an L-shaped aluminum profile, and it is possible to install a plate closing the traction chain of a large size and it is easy to obtain material. The L-shaped aluminum profile and guide form a guide groove that not only locks the traction chain, but also guides the traction chain.

[0053] 10. The present application can also be applied in all cases where a vertical inspection is required for the indoor environment in order to eliminate manual operation, and the greatest amount of movement may be tens of meters.

[0054] 11. The housing of the electromagnetic shielding module according to the present application allows to enhance the sealing effect of the shielding cover plate due to the presence of a flexible gasket. The housing is made with a step for installing a shielding cover plate. The body can be formed by milling a single piece of metal, as a result of which a good shielding effect can be achieved. The shielding cover plate using a flexible gasket and a sheet of metal foil has a simple structure and lower cost compared to a structure in which an electrically conductive material is used for shielding.

[0055] 12. The ventilation and dustproof window of electromagnetic shielding is used in a shielding enclosure, which has high requirements for protection against electromagnetic radiation and ventilation. The electromagnetic shielding window is installed in a position where a hole is required, and the cellular metal structure forms a good electromagnetic shield. The second frame is installed with a gasket made of conductive rubber, which increases the sealing effect between the metal frame and the housing, prevents the formation of a gap between the shielding window and the housing and increases the effect of electromagnetic shielding. Dust can significantly reduce the life of the device, while the dust shield can effectively prevent dust from accumulating in the housing due to ventilation, thereby increasing the life of the device.

[0056] 13. The grounding stud according to the present application has a simple and compact structure, and the grounding stud material is a copper alloy that is easily machined. The standard elements used in conjunction with the grounding stud are made of copper, have good conductivity and low grounding resistance. One end of the grounding stud is made with a mounting hole having the same shape as the shape of the mounting hole made in the cabinet where the grounding stud is installed, thereby preventing the grounding stud from turning during installation and tightening. The other end of the grounding pin is made with a central hole, and this end is countersunk and flattened after screwing the wing nut onto it, which finally prevents the wing nut from unscrewing from it, so the wing nut cannot be easily lost.

Brief Description of the Drawings

[0057] To more clearly illustrate embodiments of the present application or technical solutions in traditional technology, the drawings necessary to describe embodiments or traditional technology will be briefly described below. Obviously, the drawings in the following description are only a few embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0058] FIG. 1 is a schematic view showing the construction of an inspection robotic terminal system on a rail in which power is supplied to the terminal through a sliding contact line;

[0059] FIG. 2 is a schematic view showing the construction of an inspection robotic terminal system on a rail, power is supplied to the terminal through a pull chain;

[0060] FIG. 3 is a schematic view showing a power supply structure along a sliding contact line of an inspection robotic terminal on a rail;

[0061] FIG. 4 is a schematic view showing a plate assembly of a traction chain and a mounting corner portion of a guide;

[0062] FIG. 5 shows an exemplary sectional view of a profile guide of an inspection robot on a guide that can be used;

[0063] FIG. 6 is a schematic view showing an appearance of a rail mounting structure;

[0064] Fig. 7 is a schematic sectional view of a plate of a traction chain;

[0065] Fig. 8 is a control block diagram of a robotic terminal system powered by a traction circuit;

[0066] Fig. 9 is an assembly diagram showing the construction of a shielding module;

[0067] figure 10 is a view showing the structure of the housing;

[0068] FIG. 11 is an exploded view of a cover plate;

[0069] FIG. 12 is an exploded view showing an assembly of an electromagnetic shielding ventilation and dustproof window;

[0070] FIG. 13 is an exploded view showing an assembly of an electromagnetic shielding ventilation and dust shield window;

[0071] FIG. 14 is a schematic view showing a ledge onto which a vent metal plate, an upper frame, and a lower frame are mounted;

[0072] FIG. 15 is a schematic view showing an assembly of a protective earth stud according to the present application;

[0073] FIG. 16 is a schematic view showing the structure of a double-threaded grounding stud according to the present application;

[0074] the List of reference positions in figures 1-16

1 - the first node of the synchronous pulley,

2 - the first switch limit position

3 - structural element for mounting the guide,

4 - sliding contact line,

5 - carriage

6 - current collector,

7 - place of attachment of the sliding contact line,

8 - flange assembly

9 - AC servomotor,

10 - speed reducer,

11 - zero switch,

12 is a first control unit,

13 - supporting head,

14 - inspection site,

15 - profile guide,

16 - synchronous belt

17 - traction chain

18 is a plate that closes the traction chain,

19 is a locking element of the position limiting switch,

20 - mounting plate of the current collector,

21 - fastener of the plate closing the traction chain,

22 - the first groove,

23 - the second groove,

24 - the third groove,

25 - the fourth groove,

26 - the fifth groove,

27 is a second position limiting switch,

28 - the second node of the synchronous pulley,

29 - the second control unit,

30 - upper computer

31 - the first photoelectric converter,

32 - the second photoelectric converter,

33 is the first switch

34 - the second switch,

35 is a second power supply module,

36 - motion controller,

37 - servo

38 - video server,

39 - infrared thermal imager,

40 - optical camera

41 - remote control system,

42 - robotic terminal system,

43 - optical fiber

44 - controller inspection device

45 is a first power supply module,

46 - shielding cover plate,

47 - case,

48 is a standard fastener

68 - plug

46-1 - metal plate,

46-2 - flexible gasket,

46-3 - a sheet of metal foil;

47-1 - the outer wall of the housing,

47-2 - threaded hole,

47-3 - ledge,

47-4 - hole for installing the plug connector;

49 - frame

49-1 - the first frame,

49-2 - the second frame,

49-3 - ledge of the first frame and the second frame, where the ventilation metal plate is installed

50 - ventilation cellular metal plate,

51 - dust shield,

52 - gasket of conductive rubber;

53-1 - the first hex nut

53-2 - the second hex nut

53-3 - the third hex nut

54-1 - the first flat washer,

54-2 - the second flat washer,

54-3 - the third flat washer,

55 - grounding stud with double thread

56 - wing nut

57 - cabinet opening,

58 - cabinet wall,

59 - the Central hole at one end of the grounding stud,

60 - flange plate

61 is another machined end of a double-threaded grounding stud with a cross-sectional shape of a circle truncated on both sides or a D-shape.

DETAILED DESCRIPTION OF THE INVENTION

[0075] The present application will be described in detail with reference to the accompanying drawings and embodiments.

[0076] As shown in FIG. 1, an intelligent inspection robotic system on a rail designed for indoor use includes a robotic terminal system 42. A robotic terminal system 42 communicates with a remote control system 41. The robotic terminal system 42 includes a profile rail 15, which is mounted vertically on the inner surface of the wall. The movable mechanism, the propulsion mechanism and the inspection mechanism are mounted on the profile rail 15.

[0077] The movable mechanism includes a first synchronous pulley assembly 1, a second synchronous pulley assembly 28, and a synchronous belt 16. Each synchronous pulley assembly includes a synchronous pulley housing and a synchronous pulley. The cases of synchronous pulleys are mounted on the upper end and the lower end of the profile guide 15, respectively, and the synchronous pulleys are mounted in the cases of synchronous pulleys, respectively. The synchronous belt 16, in tension, rotates around the synchronous pulleys.

[0078] The driving mechanism allows the inspection mechanism to move up and down, and the driving mechanism includes an AC servo motor 9 and a speed reducer 10. The AC servomotor 9 is mounted together with a synchronous pulley through a speed reducer 10. The speed reducer 10 is attached to the second synchronous pulley housing located at the lower end of the profile guide 15 through the flange assembly 8.

[0079] The inspection mechanism includes a first control unit 12. The first control unit 12 communicates with the control system and supplies power to the inspection unit 14 and the support head 13. The first control unit 12 is mounted on the carriage 5, and the carriage 5 is fixedly attached to the synchronous belt 16. The carriage 5 is mounted on the guide rail 15 with the possibility of sliding contact with the profile guide 15. The synchronous belt 16 allows the carriage 5 to move up and down along the profile guide 15, and the support head 13 is mounted on the first control unit 12, so the first control unit 12 I also serves as a console. The inspection unit 14 is mounted on the support head 13, and the inspection unit 14 includes an infrared thermal imager 39, an optical camera 40, etc.

[0080] The robotic terminal system 42 further includes a second control unit 29 mounted adjacent to the rail. The second control unit 29 communicates with the first control unit 12 and transmits a signal detected by the first control unit 12 to the remote control system 41. The second control unit 29 additionally performs the function of controlling the movement of the driving unit on the guide.

[0081] The robotic terminal system 42, depending on various requirements, is energized and communicates by means of a traction cable or is energized by a sliding contact line and communicates by communication via a power line.

[0082] In the event that the robot is powered and communicates via a traction circuit, an inspection device controller 44, a video server 38, a first switch 33, a first power supply module 45, etc. mounted in the first control unit 12. The video server 38 communicates with the infrared thermal imager 39 and the optical camera 40, respectively, and the first switch 33 communicates with the video server 38. The first switch 33 communicates with the controller 44 of the inspection device, and the controller 44 of the inspection device communicates with the reference head 13, an infrared thermal imager 39 and an optical camera 40, respectively, and the first power supply unit 45 supplies power to the various powered devices.

[0083] The motion controller 36 of the AC servomotor 9, the servo 37, the second power supply module 35, the second switch 34 and the first photoelectric converter 31 are mounted in the second control unit 29. The first photoelectric converter 31 communicates with the second switch 34, and the second switch 34 communicates with the motion controller 36, and the motion controller 36 communicates with the servo drive 37. The first photoelectric converter 31 communicates with the remote control system 41. The motion controller 36 communicates with the zero switch 11, the first position limiting switch 2 and the second position limiting switch 27. The servo drive 37 communicates with the AC servomotor 9, and the second power supply module 35 supplies power to the various power modules.

[0084] In the event that the robot is powered by a sliding contact line and communicates via a power line, an inspection device controller 44, a video server 38, a first switch 33, a first power line communication modem and a first power supply unit 45 are mounted in the first block 12 management. The video server 38 communicates with the infrared thermal imager 39 and the optical camera 40 on the inspection unit 8, respectively, and the first switch 33 communicates with the video server 38. The first switch 33 communicates with the controller 44 of the inspection device, and the controller 44 of the inspection device communicates with a support head 13, an infrared thermal imager 39, and an optical camera 40, respectively, and the first power supply unit 45 supplies power to various power supplies roystva.

[0085] The motion controller 36 of the AC servomotor 9, the servo drive 37, the second power supply module 35, the second switch 34, the first photoelectric converter 31, and the second power line communication modem are mounted in the second control unit 29. The first photoelectric converter 31 communicates with the second converter 34, and the second converter 34 communicates with the motion controller 36, the motion controller 36 communicates with the servo drive 37, the first photoelectric converter 31 communicates with the remote control system 41. The motion controller 36 communicates with the zero switch 11, the first position limiting switch 2 and the second position limiting switch 27. The servo drive 37 communicates with the AC servomotor 9, and the second power supply module 35 supplies power to the various power modules.

[0086] The first power line communication modem has one end connected to the first switch 33, and the other end connected to one end of the second power line communication modem, and the other end of the second power line communication modem is connected to the second switch 34.

[0087] In the event that the system is supplied with energy through a sliding contact line, the communication means used by the inspection mechanism when performing the control is a power line connection. The current collector 6 is mounted on the first control unit 12 using the mounting plate 20 of the current collector. The attachment point 7 of the sliding contact line is mounted on the profile rail 15, and the sliding contact line 4 is mounted at the attachment point 7 of the sliding contact line. The current collector 6 has two sliding contact plates in contact with the sliding contact line 4. Two poles of the current collector 6 are connected to two ends of the first communication modem via the power line of the first control unit 12, and two poles of the current collector 6 are also connected to two ends of the first power supply unit 45 from the first control unit 12. Two poles of the sliding contact line 4 are connected to the power line communication modem in the second control unit 29, and two poles of the sliding contact line 4 are also connected to the two ends of the second power supply unit 35 from the second control unit 29.

[0088] The sliding contact line 4 consists of a copper conductor and an insulating coating. Copper conductor can be made in the form of a hollow tube. The current collector 6 has conductors, the number of which coincides with the number of conductors of the sliding contact line, and the conductors of the current collector 6 provide connection to the conductors of the sliding contact line by means of the sliding contact.

[0089] In the event that the system is supplied with energy through a traction circuit, the first control unit 12 is supplied with energy and communicates via separate cables. A power cable is provided for the second control unit 29. The communication cable is connected to the switch in the second control unit 29. The plate 18 closing the traction chain and the traction chain 17 are mounted on the profile guide 15, and the plate 18 closing the traction chain is attached to the profile guide 15 through the fastening element 21 of the plate closing the traction chain. The power cable and communication cable are located on the traction circuit 17, and the traction circuit 17 performs the functions of protecting cables.

[0090] The remote control system 41 includes a second photoelectric converter 32 and an upper computer 30. The communication signal between the remote control system 41 and the robotic terminal system 42 is photoelectricly converted by the second photoelectric converter 32 and transmitted to the upper computer 30.

[0091] The robotic terminal system 42 further includes a position limiting mechanism. The position limiting mechanism includes a position limiting switch mounted on two ends of the profile rail 15. The locking element 19 of the position limiting switch is mounted on a rear surface of the control unit that is in contact with the profile rail 15. The locking element 19 of the position limiting switch is used together with the switch position limits to prevent collisions caused by an emergency power outage.

[0092] The first photoelectric converter 31 from the second control unit converts the fully detected images and video signals and control signals into optical signals, and then the optical signals are transmitted to the remote control system 41 through the optical fiber 43 so that the detected content can be processed relative to the entire system and perform a remote control operation for inspection and movement status.

[0093] The position sensor of the AC servomotor 9 is connected to the servo drive 37 in the second control unit 29, which can accurately control the carriage 5 on the rail using counting pulses and, in addition, move the inspection unit 14 to a predetermined position for inspection.

[0094] The AC servomotor 9 is equipped with an electromagnetic brake that provides braking in the event of a power failure.

[0095] The profile rail 15 is mounted vertically on the inner surface of the wall through a structural member for attaching the profile rail 3.

[0096] The synchronous belt 16 interacting with the synchronous pulleys is mounted in the groove of the profile guide 15.

[0097] The inspection unit 14 includes an infrared camera and a camera operating in the visible range of the spectrum.

[0098] The traction chain closing plate 18 is an L-shaped aluminum profile, and the L-shaped aluminum profile and profile guide 15 form a guide groove for securing and guiding the traction chain.

[0099] At the lower end of the profile rail 15, a zero switch 11 is mounted as a starting point for the robot. Before each power is supplied to the inspection robot, the robot first automatically returns to the starting point and then performs the assigned inspection task.

[0100] The second control unit supplies power and serves as a communication repeater for the entire terminal of the robotic system, controls the movement of the AC servomotor, and converts the communication control signal into a photoelectric signal.

[0101] As shown in FIG. 4, the traction chain closing plate 18 and the traction chain 17 are mounted on the profile guide 15, and the traction chain closing plate 18 is fixed to the profile guide 15 by the fastener 21 of the plate closing the traction chain .

[0102] The traction chain closing plate 18 is an L-shaped aluminum profile, and the L-shaped aluminum profile and profile guide 15 form a guide groove for securing and guiding the traction chain 17.

[0103] At the lower end of the profile rail 15, a zero switch 11 is mounted as a starting point for the operation of the robot. Before each power is supplied to the inspection robot, the robot first automatically returns to the starting point and then performs the assigned inspection task.

[0104] The rail travel system in this application includes a vertical profile rail 15, a synchronous belt drive system (first synchronous pulley assembly 1, second synchronous pulley assembly 28, carriage 5, AC servomotor 9, speed reducer 10, and flange assembly 8 ) etc.

[0105] The length of the profile rail 15 can be determined depending on the requirements for the inspection range of the inspection robot, and the length of the profile rail 15 can reach several tens of meters due to the connection. The first synchronous pulley assembly 1 and the second synchronous pulley assembly 28, respectively, are mounted on two ends of the profile rail, and the synchronous belt 16 and carriage 5 are also mounted on the profile rail. The carriage 5 is fixedly attached to the synchronous belt 16. FIG. 5 shows an exemplary section of a profile guide, which can be used as a profile guide 15. In particular, the third groove 24 is a T-shaped groove, so that it can be used to firmly attach other devices to the rail by means of a T-nut, and a fourth groove 25 can be provided for mounting rectangular elements, such as the zero switch 11. The second groove 23 and the fifth groove 26 provide spaces for mounting the sync onnogo belt and the first grooves 22 on the left and right sides may be provided to mount guides round smooth shafts. Bearings for supporting and guiding the carriage 5 are mounted on the carriage 5 for interaction with smooth shafts. At the lower end of the guide, the AC servomotor 9 and the speed reducer 10 are mounted together with the second synchronous pulley assembly 28 at the lower end of the guide using the flange assembly 8. The AC servomotor 9 rotates and allows the synchronous pulley to rotate, and the synchronous pulley allows the synchronous belt to move together 16 and the carriage 5 up and down, which forms a drive system in motion along the guide of the inspection robot.

[0106] The first control unit 12 is mounted on the carriage 5, and the software and hardware controls for the inspection robot are mounted in the first control unit 12, and the first control unit 12 can also serve as a console for the support head 13 and the inspection unit 14. The inspection unit 14 driven by the carriage 5 can be moved up and down together with a rotational movement in the horizontal plane and the tilt movement of the support head 13, so that the requirements of a comprehensive inspection can be satisfied section for equipment.

[0107] In the present application, a rail-mounted robot can be energized and can communicate via a line that can be implemented in the following two ways: the first method involves the use of a sliding contact line 4 and communication technology over a power line, as shown in FIG. 1, and another the method involves the use of a traction chain that pulls the cables, as shown in figure 2.

[0108] In the method of supplying power and communicating via the sliding contact line 4, as shown in FIG. 1, the sliding contact line 4 includes two or more supports for conductors having in the cross section a tongue shape or other irregular shape, and a place 7 fastening a sliding contact line. The attachment point 7 of the sliding contact line is mounted on the vertical profile rail 15, and the sliding contact line 4 is pressed into the clamping groove of the attachment point 7 of the sliding contact line with plastic insulation in order to achieve the mounting of the sliding contact line 4. The current collector 6 is mounted on the first control unit 12 using the mounting plate 20 of the current collector. The first power supply module 45 and the first power line communication modem or the like. installed in the first control unit 12, which provides power to the inspection robot and communicates with the inspection robot via a line.

[0109] The sliding contact line 4 can be implemented in the form of two or more supports. In the event that the sliding contact line 4 is embodied in the form of two supports, a power line communication technology is used, and a power line communication modem is provided in the first control unit 12 to achieve power supply and reliable communication without stretched cables during movement. In the event that the sliding contact line 4 is embodied in the form of more than two supports, the communication technology via the power line cannot be used, and the signal line and the power line can be directly separated. The use of a sliding contact line of a particular type depends on practical needs.

[0110] As shown in FIG. 2, if the profile rail 15 is short, the system can be powered by a traction chain and an extended cable. In this case, as shown in FIG. 7, the L-shaped plate 18 closing the traction chain is mounted on the vertical profile guide 15 through the fastener 21 of the plate closing the traction chain. The traction chain 17 has a fixed end mounted in the plate 18, which covers the traction chain, and a movable end mounted in the lower part of the control unit 12 by means of an L-shaped design. The cable is mounted on the traction chain 17, and the cable moves with the traction chain 17 as the control unit 12 moves up and down.

[0111] In the traction motor used in the system, an AC servo motor 9 with an incremental position sensor is used, and the motion control system in the second control unit can accurately control the inspection unit 14 to achieve any desired position in the range of movement by counting pulses.

[0112] The position limiting switch 2 is mounted at both ends of the profile rail 15, and the position limiting switch locking element 19 (as shown in FIG. 3) cooperates with the position limiting switch 2 mounted at the rear of the first control unit 12. In the event that the position limiting switch is started by the carriage 5 during sliding, the power supply will be turned off and the AC servomotor will brake, thereby preventing a collision during movement.

[0113] At the lower end of the profile rail 15, a zero switch 11 is mounted as a starting point for the operation of the robot. Before each power is supplied to the inspection robot, the robot first automatically returns to the starting point and then performs the assigned inspection task.

[0114] The profile rail 15 can be easily mounted by means of the mounting structure 3 of the L-shaped rail, as shown in Fig.6.

[0115] As shown in FIG. 8, the hardware and software that are required to control the inspection robot are mounted in the first control unit 12. The plug extending in the wall can be mounted on the wall of the control unit to communicate with the second control unit 29.

[0116] A motion control device for controlling the movement of the AC servomotor 9, and a communication device for communicating with the first control unit 12, and a remote control system 41 are mounted in the second control unit 29 in order to achieve AC motion control of the AC motor and processing repeater signals and provide power to the second control unit.

[0117] The inspection unit 14 may be equipped with various devices, such as an infrared thermal imager 39, a visible camera, a toxic gas sensor, an ultraviolet sensor, an electromagnetic field sensor, depending on various detection requirements, to satisfy various detection requirements.

[0118] The power supply and communication of the system can be achieved by two means, that is, by means of a sliding contact line or a traction circuit. In the event that the robot needs to carry out inspection over a long distance, the moving contact line tool and power line communication technology can be used to supply power and make communication without using a cable. In the event that the robot is to inspect at a short distance, a traction chain means can be used in which power and communication are achieved by cable. In the event that the sliding contact line means is used, the sliding contact line 4 is mounted on the profile rail 15, and the current collector 6 is mounted on the first control unit 12, which will be in sliding interaction with the sliding contact line 4. In the event that the means is used the traction chain, the traction chain plate and the traction chain can be mounted directly on the vertical rail.

[0119] The housing of the electromagnetic shielding module, as shown in FIGS. 9-11, includes a housing 47 and a shielding cover plate 46 located on the housing 47. The shielding cover plate 46 includes a metal plate 46-1, a flexible gasket 46- 2 and metal foil 46-3, which are arranged one above the other in the indicated sequence from the outside to the inside. The inner space of the housing 47 is a cavity, and the inner wall of the housing 47 is made with a ledge 47-3.

[0120] A mounting hole is formed in the shield cover plate 46, and a threaded hole 47-2 is formed on the step 47-3. The housing 47 and the shielding cover plate 46 are rigidly connected using a standard fastener 48 through a mounting hole and a threaded hole 47-2.

[0121] The metal plate 46-1 may be a steel plate, an aluminum plate, or a copper plate. Flexible pad material 46-2 is a flexible foam material with an adhesive layer on the back side. The metal foil 46-3 is an aluminum foil or a copper foil having a thickness of 0.01 mm to 0.1 mm with an adhesive layer on the back side.

[0122] The housing material 47 is an aluminum alloy or a copper alloy. The metal plate 46-1, the flexible gasket 46-2 and the metal foil 46-3 are rectangular in shape with the same length and width, and the housing 47 is parallelepiped-shaped. The housing 47 is a structure made as a whole and formed by milling a solid metal billet. The housing 47 includes an outer wall 47-1 of the housing. The mounting hole 47-4 of the plug connector can be formed in the housing in accordance with the requirements for external connection of the interface of the printed circuit board or the electronic component mounted inside the housing, and the mounting hole 47-4 of the plug connector is configured to mount the type 68 plug connector providing electromagnetic compatibility.

[0123] The present application mainly consists of a shielding cover plate 46 and a housing 47. The shielding cover plate 46 is a unitary part. Before use, the flexible gasket 46-2 and the metal foil 46-3 are glued to the metal plate 46-1 to form a part made as a whole. The shielding cover plate 46 and the housing 47 are then mounted together using a standard fastener 48 to form an enclosed space with reliable electromagnetic shielding. If necessary, an electronic component can be placed in the shielded cavity.

[0124] In the case of using the housing of the electromagnetic shielding module, first, before using it, the flexible strip is glued to the metal plate, and then the metal foil is glued to the flexible strip, as a result of which the above three parts in assembled form form a part made as a whole. A cavity is formed in the housing. A step is formed on the wall of the housing to provide good sealing properties after mounting the cover plate. A threaded hole for mounting the cover plate is made on the ledge.

[0125] As shown in FIGS. 12-14, the frame 49 is assembled from a first frame 49-1 and a second frame 49-2, which are joined by welding, gluing, or screws. A rectangular groove made in the form of a closed loop is formed on the second frame 49-2, and a gasket 52 made of conductive rubber is glued in the rectangular groove of the second frame 49-2 using conductive glue. The ventilation honeycomb metal plate 50 and the dust shield 51 on the first and second frame are inserted into the metal frame 49 in order to form a complete ventilation window of electromagnetic shielding. Before assembling the first and second frames, the ventilation metal plate 50 and the dust shield 51 should be mounted on the ledges 47-3 of the two frames, as shown in Fig. 14.

[0126] An electromagnetic shielding ventilation and dust window is used in a shielding enclosure that requires highly efficient electromagnetic shielding and ventilation. The electromagnetic shielding window is mounted in the position in which the hole is to be provided, and due to the cellular metal structure, a good electromagnetic shielding property is obtained. The conductive rubber gasket 52 is mounted on the second frame, which enhances the sealing effect between the frame and the housing, prevents the formation of a gap between the shielding window and the housing, thereby increasing the effect of electromagnetic shielding.

[0127] Dust can significantly reduce the life of the device. The dust shield 51 can effectively prevent the accumulation of dust in the housing due to ventilation, thereby increasing the life of the device.

[0128] As shown in FIG. 15, the protective earth stud consists of a double-threaded ground stud 55 and a standard copper element. The double-threaded earthing pin 55 is made of copper alloy and has good electrical conductivity and corrosion resistance. The double-threaded grounding pin 55 includes three sections. The flange plate 60 is mounted in the middle portion and the double threaded stud is located in the two end portions. One end of the double-threaded grounding stud is machined to form an elliptical or D-shape 61, and the other end of the double-threaded grounding stud is machined to produce a central hole 59, as shown in FIG. 16.

[0129] The first hex nut 53-1, the first flat washer 54-1, and the wing nut 56 are screwed respectively to the end of the ground stud with a double-threaded thread formed with a central hole 59. An external ground wire can be manually connected by screwing the wing nut 56. First the hex nut 53-1 can provide a plane having a certain height, and the external ground wire can be screwed between the wing nut 56 and the first flat washer 54-1 by manually screwing the wing nut 56 dl I have to form a reliable external ground.

[0130] In use, the cabinet opening 57, having a cross-sectional shape of a circle truncated on both sides or a D-shape, is made in the cabinet wall 58 in accordance with the shape of the grounding stud with double-thread. A machined portion 61 of the grounding pin 55, which has a cross section in the form of a circle truncated on both sides or a D-shape, is inserted into the inside of the cabinet, and a second hex nut 53-2, a second flat washer 54-2, a third flat washer 54 -3 and the third hex nut 53-3, made of copper, are sequentially screwed on the inside of the cabinet. The inner second hex nut 53-2 performs the function of attaching the ground stud 55, and the outer third hex nut 53-3 moves freely, and the cable and the like. in the cabinet, which (e) must be grounded, can be connected to the grounding stud and tightened by tightening the nut.

[0131] One end of the double-threaded grounding stud 55 is machined to obtain a central hole 59, and the central hole 59 is used for countersink and flattening. The end is flattened after mounting the wing nut 56, which can completely prevent spontaneous unscrewing of the wing nut. The threaded portion at the other end of the double-threaded grounding stud 55 is cut to form a plane that can be cut to form a single D-shaped plane, or can be cut to symmetrically form two planes in the form of a circle Wall cabinet 58 truncated on both sides of the cabinet, where a grounding stud with double-sided thread is mounted, equipped with a hole 57 in the cabinet, slightly larger than the size of a double-threaded stud with a cross-section in the shape of a circle truncated on both sides or D-shaped.

[0132] In the middle portion of the double-threaded grounding stud 55, a flange plate 60 is mounted having a cross-sectional shape of a circle truncated on both sides, which is cut to form two planes, and can be used to tighten the double-threaded grounding stud 55 to the cabinet, equipped with a round hole.

[0133] The wing nut 56 or knurled nut is used as a hand tightening nut when the double-threaded ground stud 55 is tightened tightly.

[0134] Each of the grounding stud 55, the first hex nut 53-1, the second hex nut 53-2, the third hex nut 53-3, the first flat washer 54-1, the second flat washer 54-2, the third flat washer 54-3 and wing nut 56 is a standard element made of copper.

[0135] Although specific embodiments of the present application have been described above with reference to the drawings, the above specific embodiments should not be interpreted as limiting the scope of the present application. The person skilled in the art should understand that various modifications or variations made on the basis of the technical solution of this application by a person skilled in the art without any creative effort should fall within the scope of this application.

Claims (44)

1. Intelligent inspection robotic system on the rail, designed for indoor use, containing a remote control system, wherein the remote control system is connected to at least one robotic terminal system via the Internet, and the robotic terminal system comprises a profile rail that is mounted on a wall indoors, wherein the movable mechanism, the propulsion mechanism and the inspection mechanism are mounted on a profile rail; the inspection mechanism comprises a support head and an inspection unit, the inspection mechanism is mounted on a movable mechanism, the movable mechanism is driven by a driving mechanism, the movable mechanism allows the inspection mechanism to move up and down along the profile guide, and, together with the operation of the support head, is achieved inspection of internal equipment to be inspected over a wide range of parameters, and wherein the movable mechanism comprises a synchronous pulley assembly and a synchronous belt, the synchronous pulley assembly comprising synchronous pulley bodies and synchronous pulleys, synchronous pulley cases mounted on the upper end and lower end of the profile rail, respectively, synchronous pulleys are mounted on synchronous pulley cases, respectively, and synchronous belt rotates around synchronous pulleys. 2. The intelligent inspection robot-based robotic system designed for indoor use according to claim 1, wherein the means for supplying power and communicating with the robotic terminal system is selected from any of the following three cases: the first case: power supply and communication are carried out by means of a traction chain; the second case: power is supplied by means of a sliding contact line designed to make a sliding contact, and communication is performed by means of a power line; and third case: power is supplied by means of a sliding contact line, and communication is carried out using a radiating cable or microwave technology. 3. The intelligent inspection robotic system on the rail, designed for indoor use, according to claim 1, in which the remote control system is connected to the robotic terminal system through a special power cable. 4. The intelligent inspection robotic system on the rail, designed to work indoors, according to claim 1, in which the driving mechanism drives the inspection mechanism to move up and down, and the driving mechanism includes an AC servo motor and a speed reducer, AC servo motor is mounted together with a synchronous pulley through a speed reducer; a speed reducer is mounted on the synchronous pulley case at the bottom of the profile rail. 5. Intelligent inspection robotic system on the rail, designed to work indoors, according to claim 1, in which the inspection mechanism comprises a first control unit, the first control unit communicating with, controlling and supplying power to the inspection unit and the support head; the first control unit is mounted on the carriage and the carriage is fixedly attached to the synchronous belt, the carriage is mounted on the profile rail with the possibility of sliding contact, the synchronous belt allows the carriage to be moved up and down along the profile guide, and the support head is mounted on the first control unit, the first control unit also acts as a console; and the inspection unit is mounted on a support head and the robotic terminal system further comprises a second control unit mounted adjacent to the guide, the second control unit communicating with the first control unit and supplying power to the first control unit; and the second control unit further controls the movement of the AC servomotor. 6. Intelligent inspection robotic system on the rail, designed to work indoors, according to claim 5, in which in the event that the robot is supplied with energy and communicates via a traction chain, the controller of the inspection device, the video server, the first switch and the first power supply module are mounted in the first control unit, the video server communicates with the infrared thermal imager and the optical camera, respectively, and the first switch communicates with the video server, the first switch communicates with the controller of the inspection device, and the controller of the inspection device communicates with the support head, infrared thermal imager and optical second compartment, respectively, and the first power supply module supplies power to various feed devices in the first control unit; and the AC servo motor motion controller, the servo drive, the second power supply module, the second switch and the first photoelectric converter are mounted in the second control unit, the first photoelectric converter communicates with the second switch, and the second switch communicates with the motion controller, the motion controller communicates with the servo, the first the photoelectric converter communicates with the remote control system, the motion controller carries out m communicate with zero switch, the first switch limit position and a second limit switch position, the actuator communicates with an AC servomotor and a second power supply unit supplies power to the various electrical units in the second control unit and supplies power to the first control unit. 7. The intelligent inspection robotic system on the rail, designed to work indoors, according to claim 5, in which, if the system is supplied with energy by means of a traction circuit, separate cables are provided, respectively, for supplying power and communicating with the first control unit, moreover, the power cable leaves the second control unit, the communication cable is connected to the switch in the second control unit; the plate closing the traction chain and the traction chain are mounted on the profile rail, the plate closing the traction chain is fixed to the profile rail by means of a fastening element of the plate closing the traction chain, and the power cable and communication cable are placed on the traction chain, and the traction chain protects the cables . 8. Intelligent inspection robotic system on the rail, designed to work indoors, according to claim 5, in which in the event that the robot is supplied with energy by means of a sliding contact line and communicates by means of a power line, an inspection device controller, a video server, a first switch, a first power line communication modem and a first power supply module are mounted in a first control unit, a video server communicates with an infrared thermal imager and an optical camera on an inspection unit, respectively, and a first switch communicates with a video server , the first switch communicates with the controller of the inspection device, and the controller of the inspection device communicates with the reference head with an infrared thermal imager and an optical camera, respectively, and the first power supply module supplies power to various power devices in the first control unit; a motion controller of the AC servomotor, a servo drive, a second power supply module, a second switch and a first photoelectric converter and a second communication modem via a power line are mounted in the second control unit, the first photoelectric converter communicates with the second switch, and the second switch communicates with the motion controller, controller motion communicates with a servo, the first photoelectric converter communicates with a remote control motion controller communicates with zero switch, the first switch limit position and a second switch limit position, the actuator communicates with an AC servo motor, and the second power module supplies power to the various electrical units of the second control unit and supplies power to the first control unit; and the first power line communication modem has one end connected to the first switch, and the other end connected to one end of the second power line communication modem, and the other end of the second power line communication modem is connected to the second switch. 9. The intelligent inspection robotic system on the rail, designed for indoor use, according to claim 5, in which, if the system is supplied with energy by means of a sliding contact line, the communication tool used by the inspection mechanism when performing control is a line connection power supply; the current collector is mounted on the first control unit using the mounting plate of the current collector, the mounting point of the sliding contact line is mounted on the profile rail, and the sliding contact line is mounted on the mounting point of the sliding contact line; the current collector has two sliding contact plates providing contact with the sliding contact line; two poles of the current collector are connected to the two ends of the first communication modem via the power line of the first control unit and are also connected to the two ends of the first power module of the first control unit. 10. The intelligent inspection robotic system on a rail and designed to work indoors, according to claim 8, in which two poles of the sliding contact line are connected to the communication modem via the power line in the second control unit and also connected to the two ends of the second power supply unit of the second control unit . 11. Intelligent inspection robotic system on the rail, designed to work indoors, according to claim 9, in which the sliding contact line comprises a copper conductor and an insulating coating, the copper conductor being made in the form of a hollow tube, the current collector has conductors, the number of which coincides with the number of conductors of the sliding contact line, which provides a connection with the conductors of the sliding contact line in the form of a sliding contact. 12. Intelligent inspection robot system on the rail, designed to work indoors, according to claim 5, in which the robotic terminal system further comprises a position limiting mechanism, and the position limiting mechanism comprises position limiting switches mounted on two ends of the profile rail, a locking element of the switch position restrictions mounted on the rear surface of the first control unit, which is in contact with the profile guide s, and the lock position limit switch element is in communication with the position limit switches to prevent collision due to a power failure. 13. The intelligent inspection robotic system on a rail designed for indoor use according to claim 6 or 8, in which the first photoelectric converter of the second control unit converts all detected image signals and video signals and control signals into optical signals and then transmits optical signals to the system remote control via optical fiber, which implements the processing of the detected content relative to the entire system and performs the remote control operation with respect to inspection and traffic conditions. 14. The intelligent inspection robotic system on a rail designed for indoor use according to claim 4, wherein the position sensor of the AC servo motor is connected to the servo drive and the carriage on the rail moves the inspection unit to a precisely defined position for performing an inspection by counting pulses. 15. The intelligent inspection robotic system on the rail, designed to work indoors, according to claim 4, in which the AC servomotor is equipped with an electromagnetic brake that allows braking in the event of a power failure. 16. The intelligent inspection robotic system on the rail, designed to work indoors, according to claim 1, in which a synchronous belt that interacts with synchronous pulleys is mounted in the groove of the profile rail. 17. The intelligent inspection robotic system on a rail designed for indoor use according to claim 5, wherein the inspection unit comprises an infrared camera, a camera operating in the visible range, a fire alarm sensor, an electromagnetic field sensor and an ultraviolet sensor. 18. The intelligent inspection robotic system on the rail, designed to work indoors, according to claim 4, in which the speed reducer is attached to the synchronous pulley housing located in the lower part of the profile rail using a flange assembly. 19. The intelligent inspection robot system on a rail designed for indoor use according to claim 7, wherein the plate closing the traction chain is an L-shaped aluminum profile, and the L-shaped aluminum profile and the profile guide form a guide groove for fixing and the direction of the traction chain. 20. The intelligent inspection robotic system on a rail designed for indoor use, according to claim 1, wherein a zero switch is mounted on the lower end of the profile rail as a starting point for the robot to work, before each power supply to the inspection robot, the robot first automatically returns to starting point and then performs the assigned inspection task. 21. The intelligent inspection robotic system on the rail, designed for indoor use, according to claim 6, in which the second control unit supplies power and serves as a communication repeater for the entire terminal of the robotic system, controls the movement of the AC servomotor and converts the communication control signal into photoelectric signal to provide remote communications. 22. The intelligent inspection robotic system on the rail, designed to work indoors, according to claim 6 or 8, in which the remote control system comprises a second photoelectric converter and an upper computer, and communication signals undergo photoelectric conversion using a second photoelectric converter to achieve communication between remote control system and robotic terminal system. 23. The intelligent inspection robotic system on a rail designed for indoor use according to claim 5, wherein the housing of the electromagnetic shielding module is provided in each of the first control unit and the second control unit, and the housing of the electromagnetic shielding module accommodates a control board. 24. The intelligent inspection robotic system on a rail designed for indoor use as claimed in claim 23, wherein the housing of the electromagnetic shielding module comprises a housing and a shielding cover plate disposed on the housing, the shielding cover plate comprising a metal plate, a flexible gasket, and a metal foil which are located one above the other in the indicated sequence from the outside to the inside, the internal space of the housing is a cavity, and the inner wall the housing is formed with a ledge. 25. The intelligent inspection robotic system on a rail designed for indoor use according to claim 24, wherein the mounting hole is made in a shielding cover plate and the threaded hole is made in a ledge, the body and the shielding cover plate are fixedly connected using a standard fastener, passing through the mounting hole and threaded hole. 26. The intelligent inspection robotic system on the rail, designed to work indoors, according to claim 5, in which the second control unit is made with a ventilation and dustproof window of electromagnetic shielding on the side, and the ventilation and dustproof window of electromagnetic shielding contains a first frame and a second frame , wherein each of the two frames is made with a ledge in the form of a closed loop for fixing the ventilation metal plate; the second frame is made with a rectangular shallow groove in the form of a closed loop, the gasket of conductive rubber is glued in the rectangular groove of the second frame using conductive glue, the mesh ventilation metal plate and the dust shield are inserted into the upper metal frame and the lower metal frame in the indicated sequence. 27. The intelligent inspection robotic system on a rail designed for indoor use, according to claim 5, in which the housing of the second control unit is attached to the ground using a protective ground stud, wherein the protective ground stud contains a double-threaded ground stud, a hex nut, a flat washer and a manual tightening nut, and a flange is mounted on the middle part of the grounding stud with double-sided thread, and each of the two end parts is threaded, with one of the two ends s parts ground stud BSP threaded central bore configured for flattening and countersink, and the other of the two end portions of the ground stud BSP thread machined and has a cross sectional shape of a truncated circle both sides or D-shaped; the hexagonal nut, flat washer and manual tightening nut are sequentially screwed on the end part provided with a central hole, grounding studs with double-threaded thread.

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