Integrated inspection robot and inspection control method

Abstract

The invention relates to the technical field of inspection devices, and provides an integrated inspection robot which comprises a walking inspection part, a flying inspection part and an inspection device. The walking inspection part is provided with a cavity for accommodating the flight inspection part, the walking inspection part is provided with a sliding driving part and a sliding plate for placing the flight inspection part, the flight inspection part comprises an unmanned aerial vehicle body and an undercarriage, and the sliding plate is provided with a fixing groove, a limiting plate and a rotating driving part; a first cleaning mechanism capable of cleaning the pollution and the body is arranged on the sliding plate; the invention further discloses an inspection control method. The flying inspection part is arranged in the walking inspection part, the flying inspection part and the walking inspection part can be switched for inspection or simultaneously for inspection, and the robot can adapt to inspection work in different scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection devices, and in particular to an integrated inspection robot and an inspection control method. Background Art

[0002] At present, photovoltaic power stations are usually distributed in a wide geographical range, covering a large area and requiring a large inspection workload. Some small photovoltaic power stations do not even have special inspection equipment, and inspections are only carried out by staff, which is not only time-consuming and labor-intensive, but also cannot guarantee the quality of inspections. Based on this, some inspection devices have also appeared to automatically inspect photovoltaic panels. When it is detected that the photovoltaic panels are damaged or dirty, the corresponding maintenance equipment and cleaning equipment can be promptly equipped to carry out work.

[0003] CN117997268A discloses a mountain photovoltaic power station inspection system and inspection method, including an inspection vehicle, an image collector, a sensor detection module, a memory, a controller, an alarm and a protective cover, wherein the image collector, the sensor detection module, the memory and the controller are arranged on the top of the inspection vehicle, the alarm is arranged on the side wall of the inspection vehicle, the protective cover is a cylindrical hollow transparent part with an open bottom, the image collector, the sensor detection module, the memory and the controller are all located on the inner side of the protective cover, the protective cover is movably arranged on the top of the inspection vehicle, a lifting component is provided between the protective cover and the inspection vehicle, and the lifting component is used to drive the protective cover to move up and down relative to the inspection vehicle; the image collector, the sensor detection module and the memory are all connected to the controller signal.

[0004] CN116142508A discloses an inspection drone, comprising: a carrier, a tester assembly, a positioning radar, a mounting frame, an adjustment assembly, an extension assembly, a camera assembly, an extension frame assembly and an inspection assembly; the carrier is used for the carrier and signal transmission during inspection; the tester assembly is connected to the upper outer wall of the carrier and is used for gas testing in a space; the positioning radar is connected to the lower outer wall of the carrier; the mounting frame is connected to the lower outer wall of the carrier; the adjustment assembly is connected to the lower outer wall of the mounting frame; one end of the extension assembly is connected to the carrier, and the other end of the extension assembly is connected to the carrier. The end is connected to the outer wall of the adjustment component; the camera component is connected to the inner wall of the extension component for acquiring images and videos in the space; the extension rack component is connected to the inner wall of the adjustment component; the inspection component includes: an inspection box, an ambient probe and an illumination light, wherein the inspection box is connected to the upper outer wall of the extension rack assembly; the lower cover is connected to the lower inner wall of the inspection box; the ambient probe is connected to the surrounding outer walls of the inspection box for the ambient shooting of the inspection component; the illumination light is connected to the front outer wall of the inspection box for auxiliary lighting during inspection.

[0005] In the prior art, when inspecting a photovoltaic power station, inspection equipment performs inspection work through inspection vehicles or inspection drones. The inspection vehicles are easy to control and can locate faults in the power station. However, due to the terrain restrictions of the photovoltaic site, it is difficult to conduct inspections in certain sites. Inspection drones are easily affected by the weather and are difficult to conduct inspections. In addition, current inspection equipment easily absorbs dust during inspections, affecting subsequent inspection work. Summary of the invention

[0006] In the prior art, when inspecting a photovoltaic power station, inspection equipment performs inspection work through inspection vehicles or inspection drones. The inspection vehicles are easy to control and can locate faults in the power station. However, due to the terrain restrictions of the photovoltaic site, it is difficult to conduct inspections in certain sites. Inspection drones are easily affected by the weather and are difficult to conduct inspections. In addition, current inspection equipment easily absorbs dust during inspections, affecting subsequent inspection work.

[0007] In view of this, the present invention aims to provide an integrated inspection robot. In the present invention, the inspection robot includes a walking inspection part and a flying inspection part;

[0008] The walking inspection part is provided with a cavity for accommodating the flying inspection part. The flying inspection part is placed inside the cavity when not performing inspection work. Both the walking inspection part and the flying inspection part are provided with inspection devices.

[0009] The walking inspection part is also provided with a sliding plate for driving the flying inspection part to enter and exit the cavity and a sliding driving member for driving the sliding plate to move, and the flying inspection part is placed on the sliding plate;

[0010] The flight inspection part includes a drone body and a landing gear fixed to the bottom of the drone body, a fixing slot for inserting the bottom of the landing gear is provided on the sliding plate, a limit plate is rotatably mounted on the sliding plate via a rotating shaft, the rotating shaft is fixedly connected to the limit plate, and a rotating driving member connected to the rotating shaft and driving the rotating shaft to rotate is mounted on the sliding plate; the limit plate can be rotated to the upper end of the fixing slot to limit the landing gear from leaving the fixing slot;

[0011] The sliding plate is provided with a first cleaning mechanism, and the first cleaning mechanism blows and cleans the drone body when the limiting plate rotates to the upper end of the fixing groove.

[0012] By setting the flying inspection part inside the walking inspection part, when it is necessary to conduct inspection through the flying inspection part, it can directly detach from the walking inspection part to conduct inspection work, thereby meeting various inspection requirements in the air and on land, and meeting inspection requirements in different environments. Moreover, the two can conduct inspection work independently or simultaneously, and the inspection is convenient and efficient.

[0013] Furthermore, a sealing plate is arranged on the sliding plate, and the sealing plate is arranged vertically to the sliding plate; the sealing plate seals the cavity when the flight inspection part is located inside the cavity.

[0014] Furthermore, the first cleaning mechanism includes a fan, an air supply pipe, a mounting hole and an air outlet net;

[0015] The fan is installed in the cavity, the mounting hole is opened on the sliding plate, the air supply duct is arranged at the bottom of the sliding plate and connects the fan and the mounting hole, and the air outlet net is installed in the mounting hole; the limiting plate closes the mounting hole when it is not located at the upper end of the fixing groove.

[0016] Through the setting of the first cleaning mechanism, the drone is blown and cleaned before take-off and after landing to remove impurities adsorbed on the drone and the inspection device during the inspection work, thereby ensuring cleanliness and the stability of subsequent inspection work; the effective combination of the limit plate and the first cleaning mechanism can not only prevent external impurities from entering, but also facilitate control.

[0017] Furthermore, the air outlet net includes a fixed portion and a movable portion;

[0018] The fixed part is fixed in the mounting hole; one end of the movable part is hinged to the fixed part, and a telescopic rod is arranged at the bottom of the movable part; one end of the telescopic rod is hinged to the movable part, and the other end is hinged to the sliding plate.

[0019] Furthermore, a guide block is provided on the sliding plate, and the guide block is located at one side of the movable part. A concave arc surface is provided on a side of the guide block facing the movable part.

[0020] Furthermore, the walking inspection part includes an inspection vehicle body and an installation mechanism for installing the inspection device, and the cavity is opened on the inspection vehicle body;

[0021] The mounting mechanism comprises a telescopic portion mounted on the inspection vehicle body and a mounting portion mounted on the telescopic portion, wherein a mounting cavity is provided inside the mounting portion, a mounting column is provided in the mounting cavity, and the inspection device is provided on the mounting column;

[0022] The mounting portion is provided with an inspection port, and the inspection device is mounted on the mounting column on a side facing the inspection port.

[0023] Furthermore, a second cleaning mechanism for cleaning the inspection device is provided in the installation portion;

[0024] The second cleaning mechanism comprises an opening and closing cover, a cylinder, an exhaust port, a telescopic airbag, an air inlet pipe, an air inlet channel and an air blowing hole; the opening and closing cover is slidably arranged inside the installation cavity for opening and closing the inspection port, and the opening and closing cover is provided with the air blowing hole on a side facing the inspection device; the cylinder is installed in the installation cavity and connected to the opening and closing cover, and the cylinder drives the opening and closing cover to rise and fall in the installation cavity, the exhaust port is provided at one end of the installation portion away from the inspection port, and an air flow channel is formed between the installation column and the inner wall of the installation cavity;

[0025] The two ends of the telescopic airbag are respectively connected to the opening and closing cover and the inner top wall of the installation cavity; one end of the air intake pipe is connected to the telescopic airbag, and the other end passes through the installation cavity to the outside, and an air intake valve is provided on the air intake pipe; the air intake channel is opened inside the opening and closing cover, one end of the air intake channel is connected to the telescopic airbag, and the other end is connected to the blowing hole.

[0026] Furthermore, a protective plate is provided at the top end of the mounting portion, and an edge of the protective plate is bent downward to form a side protective plate.

[0027] The present invention also discloses a patrol control method, which is executed by the above-mentioned patrol robot, and comprises:

[0028] The first inspection instruction is issued, and the walking inspection part performs the first inspection task in the area to be inspected;

[0029] When the walking inspection part walks to an area that is difficult to walk, the walking inspection part issues an unlocking instruction, moves the flying inspection part out of the walking inspection part, unlocks the flying inspection part and cleans it;

[0030] After the flying inspection part is unlocked, a second inspection instruction is issued, the flying inspection part performs the second inspection task, and the walking inspection part performs the first inspection task in other areas simultaneously;

[0031] After the second inspection task is completed, the walking inspection part sends location information to the flying inspection part, and the walking inspection part returns to the walking inspection part according to the location information. The walking inspection part issues a locking instruction to lock and clean up the flying inspection part.

[0032] Furthermore, unlocking and cleaning the flight inspection part includes:

[0033] A cleaning signal is sent, and the first cleaning mechanism performs air blowing cleaning on the flight inspection part for 3-10 seconds;

[0034] After the cleaning is completed, the limit plate is controlled to rotate 90° to unlock the flight inspection part.

[0035] The present invention discloses

[0036] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0038] Figure 1 A schematic diagram of the structure of an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of a sliding plate when it is moved out in one embodiment of the present invention;

[0040] Figure 3 for Figure 2 A top view schematic diagram of

[0041] Figure 4 This is a structural schematic diagram of a walking inspection part in one embodiment of the present invention;

[0042] Figure 5 A schematic diagram of the structure of a fixing groove and a limiting plate in one embodiment of the present invention;

[0043] Figure 6 It is a schematic diagram of the structure of the limiting plate when limiting in one embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the structure of the air outlet network in one embodiment of the present invention;

[0045] Figure 8 A schematic diagram of a mounting portion in one embodiment of the present invention;

[0046] Fig. 9 It is a structural schematic diagram of an opening and closing cover in one embodiment of the present invention;

[0047] Fig.10 It is a schematic diagram of the cross-sectional structure of the mounting portion in one embodiment of the present invention.

[0048] Description of reference numerals:

[0049] 100, walking inspection part; 101, inspection vehicle body; 102, telescopic part; 103, installation part; 1031, installation cavity; 1032, installation column; 104, sliding plate; 105, fixing groove; 106, limit plate; 107, closed plate; 200, flight inspection part; 201, UAV body; 202, landing gear; 300, inspection device; 400, first cleaning mechanism; 401, air supply duct; 402, installation hole; 403, guide block; 404, air outlet net; 4041, fixed part; 4042, movable part; 405, telescopic rod; 500, second cleaning mechanism; 501, opening and closing cover; 502, cylinder; 503, exhaust port; 504, telescopic airbag; 505, air inlet pipe; 506, air blowing hole; 507, air flow channel; 508, protective plate. DETAILED DESCRIPTION

[0050] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0051] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices; "fixed" or "fixed connection" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0053] In the prior art, when inspecting a photovoltaic power station, inspection equipment performs inspection work through inspection vehicles or inspection drones. The inspection vehicles are easy to control and can locate faults in the power station. However, due to the terrain restrictions of the photovoltaic site, it is difficult to conduct inspections in certain sites. Inspection drones are easily affected by the weather and are difficult to conduct inspections. In addition, current inspection equipment easily absorbs dust during inspections, affecting subsequent inspection work.

[0054] In view of this, the present invention aims to provide an integrated inspection robot. In a specific embodiment of the present invention, Figure 1 , Figure 2 and Figure 3 As shown, the inspection robot includes a walking inspection part 100 and a flying inspection part 200, which are used to perform inspections on the road surface and in the air respectively. The two can perform independent and synchronous inspections, or they can perform inspections separately. The walking inspection part 100 is provided with a cavity for accommodating the flying inspection part 200. When the flying inspection part 200 is not performing inspections, it is placed inside the cavity and does not perform inspections, but moves with the walking inspection part 100. Inspection devices 300 are provided on both the walking inspection part 100 and the flying inspection part 200. The inspection device 300 is configured as a camera component, which is used to capture images during inspections and remotely transmit the captured images to the main controller for identification.

[0055] In order to conveniently control the entry and exit of the flight inspection part 200, the flight inspection part 200 is sealed and placed to extend its service life; a sliding plate 104 and a sliding drive member are provided on the walking inspection part 100, and the sliding drive member can be set as an electric telescopic member, which is installed inside the cavity and connected to the sliding plate 104 to drive the sliding plate 104 to move in and out of the cavity, and a slide rail is provided at the bottom of the sliding plate 104 to enable the sliding plate 104 to move stably in the cavity; the flight inspection part 200 is placed on the sliding plate 104, and the sliding plate 104 slides in and out of the cavity, thereby driving the flight inspection part 200 in and out of the cavity. Before the flight inspection part 200 needs to perform inspection work, the sliding plate 104 is controlled to move out of the cavity, so that the flight inspection part 200 is separated from the walking inspection part 100, and can independently perform inspection.

[0056] In order to ensure the sealing of the cavity and prevent the flight inspection part 200 from absorbing dust when placed, a sealing plate 107 is set on the sliding plate 104. The sealing plate 107 is vertically arranged with the sliding plate 104 and is located on one side of the flight inspection part 200. The sealing plate 107 is sealed and connected to the walking inspection part 100. Therefore, when the flight inspection part 200 is located inside the cavity, the sealing plate can seal the cavity to prevent external impurities from entering the cavity.

[0057] In order to prevent the flying inspection part 200 from shaking on the sliding plate 104 when the walking inspection device 300 is working, in order to ensure the stability of the flying inspection device 300 on the sliding plate 104; Figure 4 As shown, the flight inspection part 200 is configured as a drone body 201 and a landing gear 202 fixed to the bottom of the drone body 201, and the landing gear 202 is configured as a frame structure to reduce the weight of the drone; Figure 5 and Figure 6 As shown, a fixing groove 105 is opened on the sliding plate 104, and the bottom of the landing gear 202 includes at least one rod body that can be inserted into the fixing groove 105; the landing gear 202 and the drone body 201 are limited by limiting the rod body at the bottom of the landing gear 202 so that it cannot be separated from the fixing groove 105. Specifically, a limiting plate 106 is installed on the sliding plate 104, and the bottom of the limiting plate 106 is in contact with the upper surface of the sliding plate 104. The center of the limiting plate 106 is connected to the sliding plate 104 through a rotating shaft. The rotating shaft is fixedly connected to the center of the limiting plate 106 so that when the rotating shaft rotates, the limiting plate 106 can rotate accordingly. A rotating shaft is installed at the bottom of the sliding plate 104. The dynamic driving member can be set as a structure of a motor and a reduction box, which is connected to the rotating shaft by the motor and drives the rotating shaft to rotate to drive the limit plate 106 to rotate on the sliding plate 104; in the present embodiment, the rotation angle of the limit plate 106 is set to 90°, and the state of the limit plate 106 is divided into a limit state and a non-limit state; in the limit state, part of the limit plate 106 moves to the upper end of the fixed groove 105 to limit the landing gear 202 from being separated from the fixed groove 105, thereby fixing the UAV on the sliding plate 104; in the non-limited state, the limit plate 106 moves to not contact the fixed groove 105, the landing gear 202 is not restricted, and the UAV can take off and land normally for inspection work.

[0058] In order to timely remove the dust absorbed by the drone during the inspection work, the drone body 201 and the inspection device 300 thereon are cleaned to ensure the stability of the inspection work; a first cleaning mechanism 400 is arranged on the sliding plate 104, and the first cleaning mechanism 400 cleans the drone before the drone is started and after landing, that is, the drone body 201 is blown and cleaned before and after the limit plate 106 is released from the limit; specifically, the first cleaning mechanism 400 is set as a fan, an air supply pipe 401, a mounting hole 402 and an air outlet net 404; the fan is installed on the inner wall of the cavity as an air supply source, the mounting hole 402 is opened at the upper end of the sliding plate 104 as an air outlet end, the air supply pipe 401 is installed at the bottom of the sliding plate 104, the air supply pipe 401 connects the air outlet end of the fan and the mounting hole 402 as a connecting air pipe, and the air inlet pipe of the fan is connected to the outside world; the air outlet net 404 can be detachably installed inside the mounting hole 402 to facilitate the replacement of the air outlet net 404.

[0059] In addition, in order to improve the compatibility between the limit plate 106 and the first cleaning mechanism 400, the limit plate 106 is arranged to close the mounting hole 402 when it has not moved to the upper end of the fixing groove 105, that is, when it is in an unlimited state, to restrict the air outlet, and at the same time prevent external dust from being adsorbed onto the air outlet net 404, thereby preventing dust and impurities from clogging the air outlet net 404 or entering the air supply pipe 401.

[0060] Through the above technical solution, by setting the flying inspection part 200 in the walking inspection part 100, when it is necessary to conduct an inspection through the flying inspection part 200, it can directly detach from the walking inspection part 100 to conduct the inspection work, which can meet the various inspection requirements in the air and on land, and meet the inspection requirements in different environments. The two can conduct inspection work independently or at the same time, and the inspection is convenient and efficient.

[0061] At the same time, when the inspection work is carried out at the same time, the inspection work can be carried out on the same area to be inspected, and the collected objects can be transmitted to the main controller for comparison and identification. The inspection pictures taken from different angles can avoid errors during the inspection.

[0062] By setting up the first cleaning mechanism 400, the drone is blown and cleaned before take-off and after landing to remove impurities adsorbed on the drone and the inspection device 300 during the inspection work, thereby ensuring the cleanliness and stability of subsequent inspection work; the limit plate 106 is effectively combined with the first cleaning mechanism 400, which can not only prevent external impurities from entering, but also facilitate control.

[0063] The convenient control is specifically reflected in: when an unlocking command is issued to the drone, the fan is started first to blow air to clean the drone, and after a delay of 4-10 seconds, the motor is started to control the limit plate 106 to rotate to unlock it; similarly, when the drone inspection is completed and a locking command is issued, the motor is started first to control the limit plate 106 to rotate to lock it, and then the fan is started to blow air to clean it. The use of linked system control does not require independent control of the fan.

[0064] In order to carry out comprehensive cleaning and improve the cleaning effect; Figure 7As shown, the air outlet net 404 is configured as a fixed part 4041 and a movable part 4042, and the fixed part 4041 is installed in the mounting hole 402; one end of the movable part 4042 is hinged to the fixed part 4041 through a rotating shaft, a telescopic rod 405 is arranged at the bottom of the movable part 4042, and a cross bar for installing the telescopic rod 405 is reserved in the mounting hole 402 of the sliding plate 104, one end of the telescopic rod 405 is hinged to the bottom end of the movable part 4042, and the other end is hinged to the cross bar to ensure that the telescopic rod 405 can be tilted, and the movable part 4042 of the air outlet net 404 is driven to tilt back and forth by the telescopic rod 405, and the inclination angle of the movable part 4042 is adjusted by the telescopic rod 405, thereby adjusting the direction of the air outlet, and performing multi-angle cleaning on the drone.

[0065] In order to further adjust the blowing cleaning angle of the air outlet and improve the cleaning effect; a guide block 403 is arranged on the sliding plate 104, and the guide block 403 is fixed on the sliding plate 104 and is located on one side of the movable part 4042 of the air outlet net 404. The guide block 403 is provided with a concave arc surface on the side facing the movable part 4042, so that the gas blown out of the movable part 4042 can be reflected and blown toward the drone for cleaning, and impurities can be placed from the side into the mounting hole 402.

[0066] In order to ensure the stability of the inspection device 300 installed on the walking inspection part 100 and prevent external impurities from being adsorbed on the inspection device 300 when no inspection work is performed; the walking inspection part 100 is configured as an inspection vehicle body 101 and an installation mechanism for installing the inspection device 300. The inspection vehicle body 101 is provided with a cavity for placing the drone. The inspection vehicle body 101 includes a vehicle body and a walking device arranged at the bottom of the vehicle body. In this embodiment, Figure 8 As shown, the walking device is arranged as a crawler structure; the mounting mechanism comprises a telescopic portion 102 mounted on the inspection vehicle body 101 and a mounting portion 103 mounted on the telescopic portion 102, the telescopic portion 102 is arranged as an electric telescopic member to drive the mounting portion 103 and the inspection device 300 to perform lifting and inspection work, a mounting cavity 1031 is provided inside the mounting portion 103, a mounting column 1032 is provided in the mounting cavity 1031, and the inspection device 300 can be detachably mounted on the mounting column 1032; an inspection port is provided on the mounting portion 103, the inspection device 300 is mounted on the mounting column 1032 on a side facing the inspection port, and the inspection device 300 performs inspection work through the inspection port.

[0067] In order to stably clean the inspection device 300 on the walking inspection part 100, a second cleaning mechanism 500 for cleaning the inspection device 300 is provided in the mounting portion 103. The second cleaning mechanism 500 includes an opening and closing cover 501, a cylinder 502, an exhaust port 503, a telescopic airbag 504, an air intake pipe 505, an air intake channel and an air blowing hole 506. Fig. 9 As shown, the opening and closing cover 501 adopts a semi-arc structure and is slidably arranged inside the installation cavity 1031 for opening and closing the inspection port. The opening and closing cover 501 cooperates with the inner wall of the installation cavity 1031 to seal the installation cavity 1031. A blowing hole 506 is opened on the side of the opening and closing cover 501 facing the inspection device 300. The blowing hole 506 is used to blow air toward the inspection device 300 for cleaning. The cylinder 502 is installed on the top wall of the installation cavity 1031 and is connected to the opening and closing cover 501 to drive the opening and closing cover 501 to move up and down in the installation cavity 1031. Fig.10 As shown, the exhaust port 503 is opened at one end of the installation part 103 away from the inspection port, which is used to discharge the gas and impurities blown out from the blowing hole 506. The installation column 1032 and the inner wall of the installation cavity 1031 are spaced apart to form an air flow channel 507. The gas blown out of the blowing hole 506 blows toward the inspection device 300, driving the dust adsorbed on the inspection device 300 to enter the air flow channel 507 and be discharged from the exhaust port 503.

[0068] In order to facilitate control and to connect the air supply source, a linkage structure is adopted as the air source supply; the two ends of the telescopic airbag 504 are respectively connected to the opening and closing cover 501 and the inner top wall of the installation cavity 1031; one end of the air inlet pipe 505 is connected to the telescopic airbag 504, and the other end passes through the installation cavity 1031 to the outside, and an air inlet valve is arranged on the air inlet pipe 505, which only allows gas to enter the telescopic airbag 504 and cannot be discharged from the air inlet pipe 505; the air inlet channel is opened inside the opening and closing cover 501, one end of the air inlet channel is connected to the telescopic airbag 504, and the other end is connected to the blowing hole 506; the flow path of the gas is: first enter the telescopic airbag 504 from the outside through the air inlet pipe 505, then enter the air inlet channel, be discharged from the blowing hole 506 and blow toward the inspection device 300, and then pass through the air flow channel 507 and be discharged from the exhaust port 503.

[0069] In order to prevent external impurities from colliding with the inspection device and causing damage, a protective plate 508 is provided at the top of the installation portion 103. The edge of the protective plate 508 is bent downward to form a side protective plate 508, forming a cover style to protect the top of the inspection device 300.

[0070] The present invention also discloses a patrol control method, which is executed by the above-mentioned patrol robot. The patrol control method includes:

[0071] The general control center issues a first inspection instruction, and the walking inspection part 100 performs the first inspection task in the area to be inspected;

[0072] When the walking inspection part 100 walks to an area that is difficult to walk or when the flying inspection part 200 needs to perform synchronous inspection, the walking inspection part 100 issues an unlocking command, and the flying inspection part 200 is moved out of the walking inspection part 100 through the sliding plate 104, and the inspection part is cleaned and then unlocked;

[0073] After the flight inspection part 200 is unlocked, a second inspection instruction is sent to the flight inspection part 200 through the walking inspection part 100. After the flight inspection part 200 takes off, the second inspection task is performed, and the walking inspection part 100 performs the first inspection task in other areas simultaneously;

[0074] After the second inspection task is completed, the walking inspection part 100 sends position information to the flying inspection part 200 and moves the sliding plate 104 out. The walking inspection part 100 returns to the walking inspection part 100 according to the position information and lands on the sliding plate 104. The walking inspection part 100 issues a locking command to lock and clean the flying inspection part 200. After cleaning, the sliding plate 104 is retracted into the cavity.

[0075] Specifically, unlocking and cleaning the flight inspection part 200 includes:

[0076] A cleaning signal is sent, and the first cleaning mechanism 400 performs air blowing cleaning on the flight inspection part 200 for 5 seconds;

[0077] After the cleaning is completed, the limiting plate 106 is controlled to rotate 90° to unlock the flight inspection part 200 .

[0078] The inspection work carried out by this method has strong applicability and can be used in various environments.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An integrated inspection robot, characterized in that: The inspection robot comprises a walking inspection part (100) and a flying inspection part (200); The walking inspection part (100) is provided with a cavity for accommodating the flying inspection part (200); the flying inspection part (200) is placed inside the cavity when not performing inspection work; and both the walking inspection part (100) and the flying inspection part (200) are provided with inspection devices (300); The walking inspection part (100) is also provided with a sliding plate (104) for driving the flying inspection part (200) to enter and exit the cavity, and a sliding driving member for driving the sliding plate (104) to move, and the flying inspection part (200) is placed on the sliding plate (104); The flight inspection part (200) comprises a drone body (201) and a landing gear (202) fixed to the bottom of the drone body (201); a fixing groove (105) is provided on the sliding plate (104) for the bottom of the landing gear (202) to be inserted; a limit plate (106) is rotatably mounted on the sliding plate (104) via a rotating shaft; the rotating shaft is fixedly connected to the limit plate (106); a rotating driving member connected to the rotating shaft and driving the rotating shaft to rotate is mounted on the sliding plate (104); the limit plate (106) can be rotated to the upper end of the fixing groove (105) to limit the landing gear (202) from leaving the fixing groove (105); The sliding plate (104) is provided with a first cleaning mechanism (400), and the first cleaning mechanism (400) performs air blowing cleaning on the drone body (201) when the limiting plate (106) rotates to the upper end of the fixing groove (105).

2. The integrated inspection robot according to claim 1, characterized in that: A sealing plate (107) is arranged on the sliding plate (104), and the sealing plate (107) is arranged vertically to the sliding plate (104); the sealing plate (107) seals the cavity when the flight inspection part (200) is located inside the cavity.

3. The integrated inspection robot according to claim 1, characterized in that: The first cleaning mechanism (400) comprises a fan, an air supply pipe (401), a mounting hole (402) and an air outlet net (404); The fan is installed in the cavity, the mounting hole (402) is opened on the sliding plate (104), the air supply pipe (401) is arranged at the bottom of the sliding plate (104) and connects the fan and the mounting hole (402), and the air outlet net (404) is installed in the mounting hole (402); the limiting plate (106) closes the mounting hole (402) when it is not located at the upper end of the fixing groove (105).

4. The integrated inspection robot according to claim 3, characterized in that: The air outlet net (404) comprises a fixed portion (4041) and a movable portion (4042); The fixed portion (4041) is fixed in the mounting hole (402); one end of the movable portion (4042) is hinged to the fixed portion (4041), and a telescopic rod (405) is provided at the bottom of the movable portion (4042); one end of the telescopic rod (405) is hinged to the movable portion (4042), and the other end is hinged to the sliding plate (104).

5. The integrated inspection robot according to claim 4, characterized in that: A guide block (403) is provided on the sliding plate (104), and the guide block (403) is located on one side of the movable part (4042). The guide block (403) is provided with a concave arc surface on the side facing the movable part (4042).

6. The integrated inspection robot according to any one of claims 1 to 5, characterized in that: The walking inspection part (100) comprises an inspection vehicle body (101) and an installation mechanism for installing the inspection device (300), and the cavity is provided on the inspection vehicle body (101); The mounting mechanism comprises a telescopic portion (102) mounted on the inspection vehicle body (101) and a mounting portion (103) mounted on the telescopic portion (102); a mounting cavity (1031) is provided inside the mounting portion (103); a mounting column (1032) is provided inside the mounting cavity (1031); and the inspection device (300) is provided on the mounting column (1032); The mounting portion (103) is provided with an inspection port, and the inspection device (300) is mounted on the mounting column (1032) on a side facing the inspection port.

7. The integrated inspection robot according to claim 6, characterized in that: A second cleaning mechanism (500) for cleaning the inspection device (300) is arranged in the installation portion (103); The second cleaning mechanism (500) comprises an opening and closing cover (501), a cylinder (502), an exhaust port (503), a telescopic airbag (504), an air inlet pipe (505), an air inlet channel and an air blowing hole (506); the opening and closing cover (501) is slidably arranged inside the installation cavity (1031) for opening and closing the inspection port, and the opening and closing cover (501) is provided with the air blowing hole (506) on a side facing the inspection device (300); the cylinder (502) is installed in the installation cavity (1031) and connected to the opening and closing cover (501), and the cylinder (502) drives the opening and closing cover (501) to rise and fall in the installation cavity (1031); the exhaust port (503) is provided at one end of the installation portion (103) away from the inspection port, and an air flow channel (507) is formed between the installation column (1032) and the inner wall of the installation cavity (1031); The two ends of the telescopic airbag (504) are respectively connected to the opening and closing cover (501) and the inner top wall of the installation cavity (1031); one end of the air intake pipe (505) is connected to the telescopic airbag (504), and the other end passes through the installation cavity (1031) to the outside, and an air intake valve is arranged on the air intake pipe (505); the air intake channel is opened inside the opening and closing cover (501), one end of the air intake channel is connected to the telescopic airbag (504), and the other end is connected to the blowing hole (506).

8. The integrated inspection robot according to claim 6, characterized in that: A protective plate (508) is provided at the top end of the mounting portion (103), and the edge of the protective plate (508) is bent downward to form a side protective plate (508).

9. A patrol inspection control method, characterized in that: The inspection control method is performed by the inspection robot according to any one of claims 1 to 8, and the inspection control method includes: A first inspection instruction is issued, and the walking inspection part (100) performs a first inspection task in the area to be inspected; When the walking inspection part (100) walks to an area where it is difficult to walk, the walking inspection part (100) issues an unlocking command, moves the flying inspection part (200) out of the walking inspection part (100), unlocks the flying inspection part (200), and cleans it; After the flying inspection part (200) is unlocked, a second inspection instruction is issued, the flying inspection part (200) performs the second inspection task, and the walking inspection part (100) performs the first inspection task in other areas simultaneously; After the second inspection task is completed, the walking inspection part (100) sends position information to the flying inspection part (200), and the walking inspection part (100) returns to the walking inspection part (100) according to the position information. The walking inspection part (100) issues a locking instruction to lock and clean up the flying inspection part (200).

10. The inspection control method according to claim 9, characterized in that: The step of unlocking and cleaning the flight inspection part (200) comprises: A cleaning signal is sent, and the first cleaning mechanism (400) performs air blowing cleaning on the flight inspection part (200) for 3-10 seconds; After the cleaning is completed, the limiting plate (106) is controlled to rotate 90° to unlock the flight inspection part (200).

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