System and method for indoor inspection robot passing through the door

Abstract

The invention discloses an indoor inspection robot door-passing system, which comprises a rolling door, an inspection robot, a rolling door controller, a rolling door motor, a rolling door wireless communication module, a laser transmitter and a laser receiver. The inspection robot includes a robot controller, a robot wireless Communication module and obstacle avoidance device; the present invention also discloses a door-passing method adopted by the indoor inspection robot door-passing system, including the following steps: when the inspection robot approaches the rolling door, start the door-passing mode; determine that the rolling door is completely closed; the laser emitter emits laser light; The laser receiver receives the laser light; the robot wireless communication module corrects the position; the robot controller sends the door opening command; the rolling door controller controls the opening of the rolling door; the inspection robot passes through the rolling door, and then controls the closing of the rolling door. The inspection robot of the invention can automatically judge and correct its own position, automatically control the opening of the rolling door, and automatically control the automatic control function of closing the rolling door after passing through.

Description

technical field [0001] The invention relates to the application field of an indoor inspection robot, in particular to an indoor inspection robot door-passing system and method applied to a power system. Background technique [0002] At present, none of the inspection robots used in power systems on the market has the function of automatically opening doors and passing through door openings indoors. There are no robots on the market that are used in inspections of hydroelectric power plants, nor are there any robots that are specifically used in indoor inspections to open doors. and door control system. [0003] Many existing inspection robots already include wireless communication modules and ultrasonic obstacle avoidance devices, so they have wireless communication and ultrasonic obstacle avoidance functions, such as AGV robots used in warehouses, etc. However, these existing inspection robots follow fixed tracks, The magnetic strip is pre-laid, or the ribbon is installed,...

AI Technical Summary

Problems solved by technology

[0003] Many existing inspection robots already include wireless communication modules and ultrasonic obstacle avoidance devices, so they have wireless communication and ultrasonic obstacle avoidance functions, such as AGV robots used in warehouses, etc. However, these existing inspection robots follow fixed tracks, Pre-laid magnetic strips, or installed ribbons, etc., the door opening has no door, and the robot directly passes through the door opening along the magnetic strip without opening the door

If this working method is applied to a hydropower plant, there will always be a hole in the door opening that the robot can pass through, which will bring safety hazards to the equipment and objects in the house, and will adversely affect the safety of the hydropower plant; since the door opening is always open, it is easy to cause equipment theft. At the same time, this pre-laid track operation method requires a large amount of work and is not flexible enough. Once the environment changes and the user's needs change, the route has to be re-assumed and holes will be re-dug on the wall.

[0004] In summary, existing power systems such as hydropower plants generally do not have indoor inspection robots, or even if existing inspection robots are used, they do not have the function of automatically opening and passing doors, so it is difficult to meet the needs of power systems for efficient inspections

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