Multi-dimensional image acquisition intelligent inspection robot and inspection method thereof

Abstract

The invention relates to the technical field of inspection manipulators, in particular to an intelligent inspection robot for multi-dimensional image acquisition and an inspection method thereof.The intelligent inspection robot comprises a base and a manipulator movably arranged on the base, a rotating plate is rotatably mounted at the end of the manipulator, and a fixing plate is arranged on the rotating plate; the supporting plate is arranged on the fixed plate, and a rotating rod penetrating through the supporting plate is rotationally mounted on the rotating plate; the elastic locking mechanism is arranged on the rotating rod, and the elastic locking mechanism comprises a camera module and a connecting contact arranged at the end part of the camera module; the rotating assembly is arranged on the rotating plate, a follow-up trigger mechanism is arranged on the fixed plate and comprises a plug contact, and through cooperation of the rotating assembly and the follow-up trigger mechanism, it can be guaranteed that when the camera module is switched to the needed working position, the plug contact is controlled to execute plug-in processing on the connecting contact, and the camera module is switched to the needed working position. Therefore, the normal work of the camera module is ensured.

Description

Technical Field

[0001] The present invention relates to an intelligent inspection robot for multi-dimensional image acquisition and an inspection method thereof. Background Art

[0002] A patrol robot is an intelligent device that uses autonomous movement, sensor technology, and artificial intelligence to perform environmental monitoring, equipment inspection, or safety inspections. It is widely used in industries such as industry, energy, security, and transportation.

[0003] As far as industrial production is concerned, after the product is completed, it needs to be inspected in many aspects such as appearance, assembly accuracy, and solder joint quality. Inspection robots can replace manual labor and perform multi-dimensional inspections on products, thereby improving the consistency of inspections.

[0004] Through the auxiliary inspection of inspection robots, the efficiency and accuracy of product inspection can be improved. When the inspection robot inspects products with different quality requirements, such as scratches on the product surface, abnormal internal structure of the product, uneven product coating and other problems, the camera module installed on the inspection robot needs to be replaced. However, in order to ensure the stability of the camera module, its assembly and fixation are usually cumbersome, which makes disassembly more difficult.

[0005] In this regard, the camera module can be assembled by setting up a quick disassembly method. The quick disassembly design can achieve the effect of quickly replacing the camera module, thereby improving the detection efficiency. However, the existing quick disassembly has no fool-proofing effect, and usually requires manual installation to actively check whether it is installed in place. In order to achieve the effect of quick disassembly, the stability of the operation of some camera modules is usually sacrificed, which will affect the accuracy of subsequent product inspections. Summary of the Invention

[0006] The purpose of the present invention is to provide an intelligent inspection robot for multi-dimensional image acquisition and an inspection method thereof, so as to solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions: An intelligent inspection robot for multi-dimensional image acquisition, comprising: A base, and a manipulator movably arranged on the base, wherein a rotating plate is rotatably mounted on the end of the manipulator, and a fixed plate is arranged on the rotating plate; Also includes: A support plate is arranged on the fixed plate, and a rotating rod penetrating the support plate is rotatably mounted on the rotating plate; An elastic locking mechanism is provided on the rotating rod, and the elastic locking mechanism includes a camera module and a connecting contact provided at an end of the camera module; A rotating assembly is arranged on the rotating plate, and a follow-up trigger mechanism is arranged on the fixed plate. The follow-up trigger mechanism includes a plug-in contact. The rotating assembly can switch the position of the connecting contact through the rotating rod and the elastic locking mechanism. The rotating assembly can also control the plug-in contact through the follow-up trigger mechanism to perform a plug-in action on the connecting contact.

[0008] As a further solution of the present invention: the elastic locking mechanism includes a support sleeve arranged on the support plate, a support rod sliding axially in the support sleeve, a limit plate sliding axially along the rotating rod is provided at the end of the support rod, a first spring is sleeved on the rotating rod, and the two ends of the first spring are respectively in contact with the support plate and the limit plate.

[0009] As a further solution of the present invention: the elastic locking mechanism also includes a guide groove formed on the outer wall of the circumference of the rotating rod, the inner wall of the limiting plate is provided with a first limiting block that slides and engages with the guide groove, and the rotating rod is provided with a connecting component that cooperates with the limiting plate.

[0010] As a further solution of the present invention: the connecting assembly includes a limiting ring arranged on the rotating rod, the rotating rod is axially slidably fitted with a connecting plate, the connecting plate is in contact with the limiting plate, and a first limiting groove and a second limiting groove are formed to cooperate with the limiting ring, and the connecting plate is fixedly connected to the camera module.

[0011] As a further solution of the present invention: the rotating assembly includes a sliding sleeve that slides axially along the rotating rod, and the rotating plate is provided with a cylinder fixedly connected to the sliding sleeve.

[0012] As a further solution of the present invention: the rotating assembly further includes a guide groove formed on the circumferential outer wall of the rotating rod, and the inner wall of the sliding sleeve is provided with a second limiting block that is slidably engaged with the guide groove.

[0013] As a further solution of the present invention, the follower trigger mechanism includes a rotating sleeve rotatably mounted on the fixed plate and sleeved on the sliding sleeve, an oblique groove is formed on the circumferential outer wall of the rotating sleeve, and a limiting column is provided on the sliding sleeve and slidably engaged with the oblique groove; It also includes a driven component and a supporting component which are arranged on the supporting plate and are used to control the movement of the plug contact.

[0014] As a further solution of the present invention: the driven assembly includes a rotating disk arranged at the end of the rotating sleeve, and the rotating disk is provided with a plurality of circular arc guide rails distributed at equal distances around the circumference.

[0015] As a further embodiment of the present invention, the support assembly includes a movable rod slidably mounted on the support plate, the movable rod being fixedly connected to the plug contact, a second spring being sleeved on the movable rod, and two ends of the second spring respectively abutting against the support plate and the plug contact; It also includes a movable plate arranged on the movable rod, and the movable plate is provided with a limiting wheel that contacts and cooperates with the arc guide rail.

[0016] A patrol inspection method for an intelligent patrol inspection robot with multi-dimensional image acquisition comprises the following steps: Step 1: Lock the position of the camera module through the elastic locking mechanism; Step 2: Use the manipulator to adjust the position of the rotating plate to control the camera module to move to the required inspection height; Step 3: Under the action of the rotating assembly, the rotating rod is controlled to rotate, and the camera module and the connection contacts are controlled to switch to the desired working position through the elastic locking mechanism; Step 4: The rotating component also drives the follow-up trigger mechanism to move to control the plugging contact to perform the plugging action on the connecting contact.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present application can achieve disassembly locking of the camera module through an elastic locking mechanism, and adjust the working state of the camera module through a follow-up trigger mechanism to ensure the normal progress of inspection. Specifically, when inspection is required, under the action of the elastic locking mechanism, the camera module can be locked in the axial position of the rotating rod, and the camera module can be controlled to always move synchronously with the rotating rod. When the camera module is installed, under the action of the rotating assembly, the follow-up trigger mechanism is controlled to control the plug-in contact to give way. At the same time, the rotating assembly will also drive the rotating rod to rotate, thereby controlling the connection contact to move to the desired power-on position through the elastic locking mechanism. After the connection contact moves to the desired position, the follow-up trigger mechanism controls the plug-in contact to perform a plug-in action on the connection contact, so that the camera module is powered on.

[0018] Through the dual cooperation of the limit plate and the limit ring, the position of the connecting plate can be locked to facilitate the subsequent position adjustment of the camera module, and it can also play a fool-proof effect when the installation position of the connecting plate is misplaced, to ensure that the camera module will not be affected during the subsequent inspection process. When the connecting plate is installed and the camera module is in a non-working state, since the first limit block is still in the connection position between the annular groove and the fourth straight groove, the limit plate is also in a freely movable state. Therefore, you only need to simply push the limit plate to unlock and disassemble the connecting plate.

[0019] Through the cooperation between the guide groove and the second limit block and the limit column and the inclined groove, the intermittent rotation of the rotating rod can be controlled, and the continuous rotation of the rotating sleeve can be controlled to ensure that the plug contact performs a giving way action when the connecting contact has not moved, so as to ensure that there is no interference with the plug contact when the connecting contact moves. When the connecting contact moves to the required working position, the plug contact can be reset to complete the plug-in power-on action, so that the camera module is always in a power-off state when it is not working, and will be in a power-on state only when the camera module is working, thereby ensuring the safe use of the camera module. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A structural diagram of an embodiment of an intelligent inspection robot for multi-dimensional image acquisition.

[0021] Figure 2 This is a structural schematic diagram from the first angle of an embodiment of an intelligent inspection robot for multi-dimensional image acquisition.

[0022] Figure 3 This is a structural schematic diagram from the second angle of an embodiment of an intelligent inspection robot for multi-dimensional image acquisition.

[0023] Figure 4 This is a schematic diagram of the connection relationship between part of the elastic locking mechanism, part of the rotating assembly, and part of the follow-up trigger mechanism in an embodiment of an intelligent inspection robot for multi-dimensional image acquisition.

[0024] Figure 5 for Figure 4 A magnified schematic diagram of the structure at point A in the middle.

[0025] Figure 6 This is a structural schematic diagram from another angle of an embodiment of an intelligent inspection robot for multi-dimensional image acquisition.

[0026] Figure 7 Schematic diagram of the exploded structure of the elastic locking mechanism in one embodiment of an intelligent inspection robot for multi-dimensional image acquisition.

[0027] Figure 8 for Figure 7 A magnified schematic diagram of the structure at point B.

[0028] Figure 9 This is a structural schematic diagram of part of the elastic locking mechanism and rotating rod in an embodiment of an intelligent inspection robot for multi-dimensional image acquisition.

[0029] Figure 10 This is a structural diagram of the follow-up trigger mechanism and partial elastic locking mechanism in an embodiment of an intelligent inspection robot for multi-dimensional image acquisition.

[0030] Figure 11Schematic diagram of the exploded structure of the follow-up trigger mechanism and some rotating components in one embodiment of an intelligent inspection robot for multi-dimensional image acquisition.

[0031] Figure 12 This is a structural diagram of part of the rotating component and part of the follow-up trigger mechanism in an embodiment of an intelligent inspection robot for multi-dimensional image acquisition.

[0032] In the figure: 1, base; 2, manipulator; 3, rotating plate; 4, fixed plate; 5, support plate; 6, rotating rod; 601, first straight groove; 602, first spiral groove; 603, second straight groove; 604, second spiral groove; 605, third straight groove; 606, fourth straight groove; 607, annular groove; 7, limiting ring; 8, supporting sleeve; 9, supporting rod; 10, limiting plate; 1001, first limiting block; 11, connecting plate; 11 01. First limiting groove; 1102. Second limiting groove; 12. Camera module; 13. Connecting contact; 14. First spring; 15. Sliding sleeve; 1501. Second limiting block; 1502. Limiting column; 16. Cylinder; 17. Rotating sleeve; 1701. Inclined groove; 18. Rotating disk; 1801. Arc guide rail; 19. Movable rod; 20. Plug contact; 21. Second spring; 22. Movable plate; 23. Limiting wheel. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0034] In addition, when an element in the present invention is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0035] See also Figures 1 to 12 In an embodiment of the present invention, an intelligent inspection robot for multi-dimensional image acquisition includes: A base 1, and a manipulator 2 movably arranged on the base 1, wherein a rotating plate 3 is rotatably mounted on the end of the manipulator 2, and a fixed plate 4 is arranged on the rotating plate 3; Also includes: The support plate 5 is provided on the fixed plate 4, and a rotating rod 6 penetrating the support plate 5 is rotatably mounted on the rotating plate 3; An elastic locking mechanism is provided on the rotating rod 6, and the elastic locking mechanism includes a camera module 12 and a connecting contact 13 provided at the end of the camera module 12; The rotating assembly is arranged on the rotating plate 3, and a follow-up trigger mechanism is provided on the fixed plate 4. The follow-up trigger mechanism includes a plug contact 20. The rotating assembly can switch the position of the connecting contact 13 through the rotating rod 6 and the elastic locking mechanism. The rotating assembly can also control the plug contact 20 to perform a plug-in action on the connecting contact 13 through the follow-up trigger mechanism.

[0036] Specifically, the present application can be used in conjunction with the inspection guide rail to control the base 1 to move along the required inspection route. When it is necessary to inspect the product, the manipulator 2 controls the rotating plate 3 to be lifted to the required height, and the elastic locking mechanism locks the position of the camera module 12 so that the camera module 12 can follow the movement of the rotating rod 6. At the same time, under the action of the rotating assembly, the rotating rod 6 is controlled to rotate, thereby controlling the camera module 12 and the connecting contact 13 to move to the required working position through the elastic locking mechanism. The rotating assembly will also Drive the follow-up trigger mechanism to move to control the plug-in contact 20 to perform the plug-in action on the connecting contact 13. When the plug-in is completed, the camera module 12 can work normally. At this time, the inspection can be carried out. When the inspection is completed, under the action of the rotating component, the follow-up trigger mechanism controls the plug-in contact 20 to separate from the connecting contact 13 first, and under the action of the rotating rod 6, the camera module 12 and the connecting contact 13 are moved to a position offset from the plug-in contact 20 to ensure that the camera module 12 is always in a power-off and detachable state when it is not in operation.

[0037] See also Figure 1-Figure 7 、 Figure 9The cam 6 is provided with a first spring 14 and a second spring 142 which engages with the support plate 5 and the limit plate 10 so as to slide along the cam 6. The cam 6 is provided with a first spring 142 and a second spring 142 which engages with the support plate 5 and the limit plate 10 so as to slide along the cam 6.

[0038] In detail, the robot 2 is composed of a plurality of arms with adjustable angles and lengths, and can freely adjust the height and angle of the rotating plate 3 according to the position of the product to be inspected, thereby realizing multi-dimensional detection of the product. This is the application of the existing technology and will not be elaborated in this application.

[0039] See also Figure 5 、 Figure 7 The guide groove can be divided into two sections, namely the fourth straight groove 606 and the annular groove 607. One end of the fourth straight groove 606 is connected to the annular groove 607. The first limiting groove 1101 and the second limiting groove 1102 are connected to each other, and the size of the first limiting groove 1101 and the second limiting groove 1102 is equivalent to the size of the limiting ring 7. The first limiting groove 1101 and the second limiting groove 1102 are staggered, and the staggered angle is 90°.

[0040] In the initial state, under the action of the rotating assembly, the angle of the rotating rod 6 is in a locked state, and the distance between the annular groove 607 and the support plate 5 is less than the natural extension length of the first spring 14. Therefore, when the first spring 14 is not subjected to force, it is in a pre-compressed state and has a certain elastic potential energy, so that the limit plate 10 has a tendency to move away from the support plate 5, and the distance between it and the support plate 5 is the largest. At this time, the first limit block 1001 is located at the connection position of the annular groove 607 and the fourth straight groove 606. The dimension between the limit plate 10 and the limit ring 7 is greater than the thickness of the connecting plate 11 and equal to the depth of the first limit groove 1101; See also Figure 4-Figure 6When the connecting plate 11 needs to be installed on the rotating rod 6, the connecting plate 11 can be controlled to be sleeved on the rotating rod 6 in a direction perpendicular to the fixing plate 4, so that the first limiting groove 1101 and the limiting ring 7 are in a matched state, that is, the first limiting groove 1101 can pass through the limiting ring 7. Since the size of the limiting plate 10 is larger than the first limiting groove 1101, when the first limiting groove 1101 passes through the limiting ring 7, the connecting plate 11 will abut against the limiting plate 10 and drive the limiting plate 10 to move toward the support plate 5, thereby further compressing the first spring 14. When both the first limiting groove 1101 and the second limiting groove 1102 pass through the limiting ring 7, the connecting plate 11 can be controlled to surround As the rotating rod 6 rotates half a circle, the second limit groove 1102 moves to a position that cooperates with the limit ring 7, that is, the limit ring 7 can just be stuck in the second limit groove 1102. At this time, the force applied to the connecting plate 11 is removed, the first spring 14 is elastically released, and pushes the limit plate 10 toward the initial position to push the connecting plate 11 to move, so that the second limit groove 1102 is completely engaged with the limit ring 7. Under the action of the second limit groove 1102 and the limit ring 7, it can be ensured that the connecting plate 11 can rotate synchronously with the rotating rod 6, and under the thrust of the first spring 14, the connecting plate 11 is locked in the axial position of the rotating rod 6 through the limit plate 10 and the limit ring 7.

[0041] After the connection plate 11 is installed, since the first limit block 1001 is still in the connection position between the annular groove 607 and the fourth straight groove 606, the limit plate 10 is also in a freely movable state. Therefore, the connection plate 11 can be unlocked and removed by simply pushing the limit plate 10. Preferably, when inspection processing is required, if the connecting plate 11 is installed in place, the rotating assembly can control the rotation of the rotating rod 6, thereby controlling the movement of the connecting plate 11 through the limiting ring 7 and the second limiting groove 1102, and the rotating rod 6 will also drive the annular groove 607 and the fourth straight groove 606 to move, so that the first limiting block 1001 slides in the annular groove 607 relative to the rotating rod 6. When the first limiting block 1001 moves into the annular groove 607, the axial position of the limiting plate 10 is limited to the rotating rod 6, thereby ensuring that the axial position of the connecting plate 11 on the rotating rod 6 does not change during the inspection process, and is always in a synchronous rotation state with the rotating rod 6. The connecting plate 11 will drive the camera module 12 to move to the required working position, wherein the camera module 12 is composed of a visual inspection camera and an infrared thermal imager, and is used for multi-dimensional visual inspection of the product. The camera module 12 can also be replaced by disassembling the connecting plate 11. This is an application of the existing technology and will not be described in detail in this application. If the connecting plate 11 is not installed in place, it means that the limit ring 7 is not fully embedded in the second limit groove 1102, so that the limit plate 10 has not returned to its initial position. At this time, the first limit block 1001 is located in the fourth straight groove 606, and under the action of the support sleeve 8 and the support rod 9, the limit plate 10 can only slide axially along the rotating rod 6 and cannot rotate synchronously with the rotating rod 6. To this end, under the action of the fourth straight groove 606 and the first limit block 1001, the rotating rod 6 is in an angle-locked state. Therefore, the rotating assembly cannot drive the rotating rod 6 to rotate, and thus the position of the camera module 12 cannot be adjusted. In this way, through the dual cooperation of the limit plate 10 and the limit ring 7, the position of the connecting plate 11 can be locked to facilitate the subsequent position adjustment of the camera module 12, and it can also play a fool-proof effect when the installation position of the connecting plate 11 is misaligned, to ensure that the camera module 12 will not be affected during the subsequent inspection process.

[0042] See also Figures 1-4 、 Figure 6-Figure 12 The rotating assembly includes a sliding sleeve 15 that slides axially along the rotating rod 6, and a cylinder 16 fixedly connected to the sliding sleeve 15 is provided on the rotating plate 3. The rotating assembly also includes a guide groove formed on the outer wall of the circumference of the rotating rod 6, and the inner wall of the sliding sleeve 15 is provided with a second limit block 1501 that slides and engages with the guide groove.

[0043] See also Figures 1-4 、 Figure 6 、 Figures 9-12 The follower trigger mechanism includes a rotating sleeve 17 rotatably mounted on the fixed plate 4 and sleeved on the sliding sleeve 15, the outer circumferential wall of the rotating sleeve 17 is formed with an inclined groove 1701, and the sliding sleeve 15 is provided with a limit column 1502 that slides and fits with the inclined groove 1701; it also includes a driven component and a support component provided on the support plate 5 for controlling the movement of the plug contact 20, the driven component includes a rotating disk 18 provided at the end of the rotating sleeve 17, and the rotating disk 18 is provided with a limit column 1502 that slides and fits with the inclined groove 1701. A plurality of circular arc guide rails 1801 are provided which are equidistantly distributed around the circumference. The support assembly includes a movable rod 19 which is slidably mounted on the support plate 5. The movable rod 19 is fixedly connected to the plug contact 20. A second spring 21 is sleeved on the movable rod 19. The two ends of the second spring 21 are respectively in contact with the support plate 5 and the plug contact 20. The movable plate 22 is also provided on the movable rod 19. A limiting wheel 23 which is in contact with the circular arc guide rail 1801 is provided on the movable plate 22.

[0044] See also Figure 8Specifically, the guide groove can be divided into five sections, namely the first straight groove 601, the first spiral groove 602, the second straight groove 603, the second spiral groove 604, and the third straight groove 605. The first straight groove 601, the first spiral groove 602, the second straight groove 603, the second spiral groove 604, and the third straight groove 605 are sequentially connected to each other. The inclined groove 1701 is arranged in a spiral shape, and the arc guide rail 1801 is arranged in a wavy shape in the circumferential direction. See also Figure 10 In the initial state, a key is provided on the movable rod 19, and a key slot is formed in the hole of the movable rod 19 passing through the support plate 5 to engage with the key. In this regard, under the cooperation of the key slot and the key, it can be ensured that the movable rod 19 will not rotate when it moves axially along the rotating rod 6. The second limit block 1501 is located in the middle position of the second straight groove 603, the limit column 1502 is located in the middle position of the oblique groove 1701, and the first limit block 1001 is located at the connection position of the fourth straight groove 606 and the annular groove 607. The limit wheel 23 is located in the recessed position of the arc guide rail 1801. When the limiting wheel 23 abuts the rotating disk 18, it means that the distance between the plug contact 20 and the support plate 5 is the largest, and this distance is smaller than the natural extension of the second spring 21. Therefore, the second spring 21 is in a pre-compressed state and always provides a force for the plug contact 20 to move away from the support plate 5. At this time, the plug contact 20 and the connecting contact 13 are in a mating state on the same vertical reference plane, but the plug contact 20 itself is in a misaligned state. When the camera module 12 needs to be powered on, the direction of the camera module 12 can be controlled according to the status of the product to be inspected. For example, the second limit block 1501 is directed toward the first straight slot 601. After the connecting plate 11 is assembled, the cylinder 16 works and drives the sliding sleeve 15 to move toward the fixed plate 4, thereby driving the second limit block 1501 and the limit column 1502 to move synchronously. The second limit block 1501 will first slide along the second straight slot 603, so that the angle of the rotating rod 6 will not change, and between the limit column 1502 and the oblique groove 603, the second limit block 1501 will slide along the second straight groove 603, so that the angle of the rotating rod 6 will not change. Under the action of the groove 1701, the rotating sleeve 17 rotates, thereby driving the circular arc guide rail 1801 to move through the rotating disk 18. When the inclined section of the circular arc guide rail 1801 abuts the limiting wheel 23, the limiting wheel 23 and the movable plate 22 control the movable rod 19 to move toward the fixed plate 4, thereby driving the plug contact 20 to move and compressing the second spring 21. When the limiting wheel 23 abuts the protruding surface of the circular arc guide rail 1801, the distance between the plug contact 20 and the support plate 5 is minimized. When the connecting contact 13 rotates, it will not interfere with the plug contact 20. At this time, the second limit block 1501 is still in the second straight groove 603, and the sliding sleeve 15 continues to move, so that the second limit block 1501 disengages from the second straight groove 603 and enters the first spiral groove 602, so that the rotating rod 6 rotates, thereby driving the connecting plate 11 to rotate synchronously with the rotating rod 6 through the limit ring 7 and the second limit groove 1102. The first limit block 1001 will slide in the annular groove 607 to lock the axial position of the connecting plate 11 on the rotating rod 6. When the second limit block 1501 disengages from the first spiral groove 602 and enters the first straight groove 601, the rotating rod 6 rotates just half a circle, and the connecting contact 13 moves to the matching position with the plug contact 20. At this time, the limit wheel 23 is still in the circular groove 607. On the protruding plane of the arc guide rail 1801, the second limit block 1501 continues to slide in the first straight groove 601, and the rotating rod 6 no longer rotates, thereby ensuring that the positions of the connecting contact 13 and the camera module 12 no longer change. Under the action of the limit column 1502 and the inclined groove 1701, the rotating sleeve 17 continues to rotate. When the other inclined surface of the arc guide rail 1801 abuts against the limit wheel 23, the second spring 21 is elastically released, causing the movable rod 19 to move toward the initial position, so that the plug contact 20 moves toward the connecting contact 13. When the limit wheel 23 separates from the arc guide rail 1801 and abuts against the rotating disk 18, the plug contact 20 is fully inserted into the connecting contact 13, and the camera module 12 is powered on.

[0045] Preferably, through the cooperation between the guide groove and the second limit block 1501 and the limit column 1502 and the inclined groove 1701, it is possible to control the intermittent rotation of the rotating rod 6 and control the continuous rotation of the rotating sleeve 17, ensuring that when the connecting contact 13 has not moved, the plug contact 20 performs a giving way action to ensure that when the connecting contact 13 moves, it will not interfere with the plug contact 20. When the connecting contact 13 moves to the required working position, the plug contact 20 can perform a reset action to complete the plug-in power-on action, so that the camera module 12 is always in a power-off state when it is not working, and will be in a power-on state only when the camera module 12 is working, thereby ensuring the safe use of the camera module 12.

[0046] A patrol inspection method for an intelligent patrol inspection robot with multi-dimensional image acquisition comprises the following steps: Step 1: Lock the position of the camera module 12 through the elastic locking mechanism; Step 2: Use the manipulator 2 to adjust the position of the rotating plate 3 to control the camera module 12 to move to the required inspection height; Step 3: Under the action of the rotating assembly, the rotating rod 6 is controlled to rotate, and the camera module 12 and the connection contact 13 are controlled to switch to the desired working position through the elastic locking mechanism; Step 4: The rotating assembly also drives the follow-up trigger mechanism to move, so as to control the plug contact 20 to perform the plugging action on the connecting contact 13 .

[0047] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0048] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An intelligent inspection robot capable of multi-dimensional image acquisition, comprising: A base, and a manipulator movably arranged on the base, wherein a rotating plate is rotatably mounted on the end of the manipulator, and a fixed plate is arranged on the rotating plate; It is characterized by further comprising: A support plate is arranged on the fixed plate, and a rotating rod penetrating the support plate is rotatably mounted on the rotating plate; An elastic locking mechanism is provided on the rotating rod, and the elastic locking mechanism includes a camera module and a connecting contact provided at an end of the camera module; A rotating assembly is arranged on the rotating plate, and a follow-up trigger mechanism is arranged on the fixed plate. The follow-up trigger mechanism includes a plug-in contact. The rotating assembly can switch the position of the connecting contact through the rotating rod and the elastic locking mechanism. The rotating assembly can also control the plug-in contact through the follow-up trigger mechanism to perform a plug-in action on the connecting contact.

2. The intelligent inspection robot for multi-dimensional image acquisition according to claim 1, characterized in that: The elastic locking mechanism includes a supporting sleeve arranged on the supporting plate, a supporting rod sliding axially in the supporting sleeve, a limiting plate sliding axially along the rotating rod is provided at the end of the supporting rod, a first spring is sleeved on the rotating rod, and the two ends of the first spring are respectively in contact with the supporting plate and the limiting plate.

3. The intelligent inspection robot for multi-dimensional image acquisition according to claim 2, characterized in that: The elastic locking mechanism also includes a guide groove formed on the outer circumferential wall of the rotating rod, the inner wall of the limiting plate is provided with a first limiting block that is slidably engaged with the guide groove, and the rotating rod is provided with a connecting component that cooperates with the limiting plate.

4. The intelligent inspection robot for multi-dimensional image acquisition according to claim 3, characterized in that: The connecting assembly includes a limiting ring arranged on the rotating rod, and the rotating rod is axially slidably fitted with a connecting plate. The connecting plate is in contact with the limiting plate and is formed with a first limiting groove and a second limiting groove that cooperate with the limiting ring. The connecting plate is fixedly connected to the camera module.

5. The intelligent inspection robot for multi-dimensional image acquisition according to claim 1, characterized in that: The rotating assembly includes a sliding sleeve that slides axially along the rotating rod, and the rotating plate is provided with a cylinder fixedly connected to the sliding sleeve.

6. The intelligent inspection robot for multi-dimensional image acquisition according to claim 5, characterized in that: The rotating assembly further includes a guide groove formed on the circumferential outer wall of the rotating rod, and the inner wall of the sliding sleeve is provided with a second limiting block that is slidably engaged with the guide groove.

7. The intelligent inspection robot for multi-dimensional image acquisition according to claim 5, characterized in that: The follower trigger mechanism includes a rotating sleeve rotatably mounted on the fixed plate and sleeved on the sliding sleeve, an oblique groove is formed on the circumferential outer wall of the rotating sleeve, and a limiting column is provided on the sliding sleeve to slide and engage with the oblique groove; It also includes a driven component and a supporting component which are arranged on the supporting plate and are used to control the movement of the plug contact.

8. The intelligent inspection robot for multi-dimensional image acquisition according to claim 7, characterized in that: The driven assembly includes a rotating disk arranged at the end of the rotating sleeve, and a plurality of arc guide rails distributed at equal distances around the circumference are arranged on the rotating disk.

9. The intelligent inspection robot for multi-dimensional image acquisition according to claim 8, characterized in that: The support assembly includes a movable rod slidably mounted on the support plate, the movable rod is fixedly connected to the plug contact, a second spring is sleeved on the movable rod, and two ends of the second spring are respectively in contact with the support plate and the plug contact; It also includes a movable plate arranged on the movable rod, and the movable plate is provided with a limiting wheel that contacts and cooperates with the arc guide rail.

10. An inspection method using an intelligent inspection robot capable of multi-dimensional image acquisition, comprising: The following steps are involved: Step 1: Lock the position of the camera module through the elastic locking mechanism; Step 2: Use the manipulator to adjust the position of the rotating plate to control the camera module to move to the required inspection height; Step 3: Under the action of the rotating assembly, the rotating rod is controlled to rotate, and the camera module and the connection contacts are controlled to switch to the desired working position through the elastic locking mechanism; Step 4: The rotating component also drives the follow-up trigger mechanism to move to control the plugging contact to perform the plugging action on the connecting contact.

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