A UWB-based group-controlled intelligent warehouse inspection vehicle and inspection method

Abstract

The present invention discloses a UWB-based group-controlled intelligent warehouse inspection vehicle and inspection method in the field of indoor detection. The UWB indoor positioning technology is integrated with ultrasonic, gyroscope and other sensors for modeling and positioning. The cluster control mode is used. For large-scale storage environments, two or more inspection vehicles can be used to form functional complementarity, without more detection points, thereby improving the accuracy, comprehensiveness and reliability of the inspection vehicle operation. The medicine storage box of the inspection vehicle contains multiple medicine loading pools, and the disinfectant is automatically proportioned, so that the medicine is prepared and used immediately, and the amount of disinfectant is accurately controlled, thereby reducing the loss of medicine raw materials. The vehicle-mounted autonomous docking and charging are adopted, and the infrared receiver is combined with UWB technology to improve the accuracy of charging and docking. An automatic docking grabbing structure is installed at the rear of the inspection vehicle to realize automatic docking and auxiliary rescue of the inspection vehicle. The cloud platform is used to improve the automation level of warehouse detection, integrating gas measurement, positioning, docking, disinfection and cluster control functions.

Description

Technical Field

[0001] The present invention relates to the technical field of indoor monitoring and testing facilities, and in particular to a UWB-based group-controlled intelligent warehouse inspection vehicle, which is applied to inspection and disinfection in a warehouse environment. Background Art

[0002] As food types become more and more abundant, new food safety issues continue to emerge. Therefore, food safety is particularly important. At present, the food supply system is mainly established around solving the problem of food supply. Traditional barns are managed by people, and people's entry and exit make it difficult to separate the barns from the outside environment. People are prone to bring fungi and mold into the barns. In addition, the management of barns is trivial and complicated, which will consume a lot of people's energy. With the annual increase in grain production, unmanned management of barns has become an inevitable trend of intelligent and mechanized development of barns, so unmanned management will be the inevitable direction of barn development. The key to achieving unmanned operation lies in the construction of wireless communication sensor networks and the control of robot clusters.

[0003] Although the wireless sensors in traditional barns can also complete the communication function well, they have the following defects: the wireless sensors are fixed nodes, the positioning is inaccurate, the functions are single, the batteries need to be replaced manually, the network communication rate is slow, and it is difficult to quickly transmit data information such as pictures; the number of nodes required to achieve large-area coverage of the network is large, and the function is limited to transmitting data. For example, the document with Chinese patent publication number 107862759A provides a warehouse intelligent inspection device and method, which is equipped with walking wheels, laser radar sensors, infrared sensors, cameras, monitoring sensors, and antennas are all connected to the controller; the control system includes a map construction module, a monitoring point design module, an inspection module, a monitoring module, and a wireless transmission module, each of which is connected to the controller. When the device is placed in a warehouse with an unknown layout, the warehouse layout is first mapped, and then reasonable detection points are designed according to the map, and the inspection is carried out autonomously. After arriving at the location point, the detection is automatically carried out, and the monitoring data is sent to the remote cloud server in time to realize intelligent monitoring and management of the warehouse; however, the detection points of the device are fixed and the function is single, and more detection points are required for warehouses with large areas.

[0004] Ultra-wideband (UWB) technology is a wireless carrier communication technology that uses nanosecond non-sinusoidal narrow pulses to transmit data, and occupies a wide spectrum range. UWB can achieve data transmission rates of hundreds of Mbit / s to several Gbit / s within a range of about 10 meters, and has strong penetration and low power consumption. UWB indoor positioning technology has the advantages of high accuracy, low transmission power, low radiation, low cost, and convenient network node layout. It can be used not only as a wireless communication sensor network, but also as a positioning system, and is suitable for use in indoor environments such as barns. Summary of the invention

[0005] The purpose of the present invention is to disclose a UWB-based group-controlled intelligent warehouse inspection vehicle and its inspection method. The inspection vehicle has a simple structure, is easy to use, and has comprehensive functions. It integrates gas measurement, positioning, docking, disinfection, cluster control and other functions, which can reduce the losses caused by germs in warehouses to a greater extent.

[0006] In order to achieve the above-mentioned purpose, the technical scheme of a UWB-based group-controlled intelligent warehouse inspection vehicle of the present invention is: it has a shell, a wheel is respectively arranged on the front, back, left and right sides of the shell, the top of the shell is a top cover, a lithium battery pack is arranged on the bottom plate of the shell, a medicine storage box body and a 24v DC reduction motor, an electronic compass, a gyroscope attitude sensor, an acceleration sensor, a liquid pump, and a vacuum water pump connected to the single-chip control module are arranged inside the shell; a 24v DC reduction motor is correspondingly connected to a wheel, a pretreatment medicine box, a liquid collecting tank and five medicine loading pools are arranged inside the medicine storage box body, the bottom of each medicine loading pool is connected to the pretreatment medicine box, and a solenoid valve switch and a flowmeter connected to the single-chip control module are installed on the connecting conduit between each medicine loading pool and the pretreatment medicine box, and a sealed active A plug-type rubber bottom cover, the pretreatment medicine box is connected to the liquid collecting tank through a liquid pump, and the liquid collecting tank is connected to the vacuum water pump through a conduit; the central position of the front upper surface of the top cover is connected to the top nozzle through the nozzle base, and the top nozzle is equipped with a nozzle, and the nozzle is connected to the liquid outlet of the liquid tank; behind the nozzle base is a lifting rod, and the top of the lifting rod is provided with a sensor module including a millimeter-wave radar, GPS and a gas sensor, and the lifting rod and the sensor module are connected to the single-chip control module; behind the lifting rod is a control panel, a WIFI module and a UWB tag, the control panel and the UWB tag are both connected to the single-chip control module, and the output data of the single-chip control module is transmitted to the cloud platform via the WIFI module, and the four corners of the outer shell are equipped with ultrasonic obstacle avoidance modules connected to the single-chip control module, and the storage room is equipped with several UWB base stations for measuring the distance to the UWB tags.

[0007] The inspection method of the UWB-based group-controlled intelligent warehouse inspection vehicle includes the following steps:

[0008] Step 1: Add different or the same types of disinfectants to the five reagent loading pools respectively; the single-chip control module 32 controls the 24V DC reduction motor to make the inspection vehicle walk along the outer wall of the storage room first and then walk inside the storage room; the UWB tag, sensor module, ultrasonic obstacle avoidance module, electronic compass, acceleration sensor and gyroscope attitude sensor transmit the acquired signals to the single-chip control module, and the cloud platform establishes a map model of the storage environment;

[0009] Step 2: The cloud platform transmits the route data to the single-chip control module through the WIFI module based on the map model. The single-chip control module controls the start time, forward direction, and destination of the 24v DC reduction motor;

[0010] Step 3: The sensor module detects the gas concentration, and the cloud platform compares the gas concentration data with the standard diffusion model. If the gas concentration is normal, the inspection vehicle continues to inspect along the established route; if the concentration of a certain gas is high, the cloud platform determines the pollution source based on the information of the UWB tag, and the inspection vehicle goes to the pollution source.

[0011] Step 4: The single-chip control module 32 controls the solenoid valve switches and flow meters of the five reagent loading pools, configures the corresponding reagents in the pretreatment medicine box, controls the liquid pump 31 to pump the reagents into the liquid collecting tank, and turns on the vacuum water pump to spray the reagents through the nozzle for disinfection.

[0012] Furthermore, if there are multiple patrol vehicles in the storage room, the patrol vehicle closest to the pollution source is determined based on the UWB tag, and the patrol vehicle closest to the pollution source goes to the pollution source.

[0013] Furthermore, the single-chip control module always detects the power level of the lithium battery pack through the power management module 56, and when the power level is low, controls the inspection vehicle to go to the charging pile in the storage room.

[0014] Furthermore, if a patrol vehicle breaks down or runs out of power, two automatic docking grabs facing each other on the left and right sides of the bottom plate of the shell are rotated to a state where they extend backward in parallel with each other, and the automatic docking grabs on the two patrol vehicles grab and rescue is achieved.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] 1. The inspection vehicle uses UWB indoor positioning technology and ultrasonic, gyroscope and other sensor fusion for modeling and positioning.

[0017] The advantages of simple equipment and high precision can greatly reduce the cost of the positioning system while ensuring the positioning accuracy of the inspection vehicle.

[0018] 2. The inspection vehicle uses a cluster control mode. For large storage environments, two or more inspection vehicles can be used to complement each other's functions. There is no need for more inspection points, which can improve the accuracy, comprehensiveness and reliability of the inspection vehicle's operations.

[0019] 3. The inspection vehicle adopts on-board autonomous docking charging technology, which solves the problem that traditional autonomous charging can only be used by charging piles to charge the inspection vehicle, making the automatic charging of the inspection vehicle more perfect.

[0020] 4. An automatic docking grabbing structure is installed at the rear of the inspection vehicle, which can realize the automatic docking of the inspection vehicle and the auxiliary rescue function.

[0021] 5. The inspection vehicle medicine storage box contains multiple medicine loading pools, and realizes automatic proportioning of disinfection medicines.

[0022] Combined with the equipment, the medicine can be prepared and used immediately, the amount of disinfectant used can be accurately controlled, and the loss of raw materials for the medicine can be reduced.

[0023] 6. The disinfection function of the present invention is different from the fixed-dose disinfection mode of general disinfection vehicles. It adopts a method combined with UWB positioning technology to automatically adjust the concentration of the formulated disinfectant and the spraying time according to the concentration of pollutants, thereby reducing the loss of disinfectant.

[0024] 7. The combination of infrared receiver and UWB technology solves the problem that infrared rays cannot penetrate obstacles in complex storage environments and UWB positioning is not accurate enough, resulting in a low docking success rate. It improves the accuracy of charging docking and meets the needs of 24-hour all-weather disinfection operations.

[0025] 8. The inspection vehicle uses cloud platform technology, and managers can observe the real-time warehouse environment online through mobile phone software, saving management manpower and material resources and improving the mechanization and automation level of warehouse inspection.

[0026] 9. In order to solve the problem of inaccurate gas measurement, this inspection vehicle uses a controllable lifting rod to control the loading platform, which can detect air concentration in three dimensions. At the same time, different detection equipment can be replaced to achieve the diversity of detection functions and improve the accuracy of detection, thereby ensuring the quality of stored products. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The specific embodiments of the present invention are described clearly and completely below in conjunction with the accompanying drawings:

[0028] Figure 1 It is an axonometric diagram of a UWB-based group-controlled intelligent warehouse inspection vehicle of the present invention;

[0029] Figure 2 yes Figure 1 Axonometric view of the side;

[0030] Figure 3 It is a top view of a UWB-based group-controlled intelligent warehouse inspection vehicle of the present invention;

[0031] Figure 4 yes Figure 3 Schematic diagram of the lowest level internal structure;

[0032] Figure 5 yes Figure 3Schematic diagram of the internal structure of the second layer;

[0033] Figure 6 yes Figure 5 Schematic diagram of the interior of the medium medicine storage box;

[0034] Figure 7 yes Figure 1 An enlarged schematic diagram of the main structure of an automatic docking gripper;

[0035] Figure 8 yes Figure 1 An enlarged schematic diagram of an automatic docking grasping structure including a stepping motor is included;

[0036] Fig. 9 yes Figure 1 A magnified schematic diagram of the structure of the on-board autonomous charging body;

[0037] Fig.10 It is a schematic diagram of the charging pile structure inside the storage room;

[0038] Fig.11 This is a schematic diagram of the UWB base station deployment inside the storage room.

[0039] In the figure: 1. UWB tag antenna, 2. Top nozzle, 3. Lifting rod, 4. WIFI module antenna, 5. Inspection vehicle roof cover, 6. Control panel, 8. Planetary gear, 9. Wheel hub, 10. Coupling, 11. Camera module, 12. On-board autonomous charging body, 13. Stepper motor, 14. Connector, 15. First screw hole, 16. Nozzle, 17. WIFI module, 18. Sensor module, 19. Nozzle base, 20. Liquid filling nozzle, 21. Solid 1. Set screw, 22. Ultrasonic obstacle avoidance module, 23. UWB tag, 24. 24v DC reduction motor, 25. Front two wheel motor control module, 26. Rear two wheel motor control module, 27. First 24v lithium battery pack, 28. Second 24v lithium battery pack, 29. Third 24v lithium battery pack, 30. Medicine storage box, 31. Liquid pump, 32. Single chip microcomputer control module, 33. Electronic compass, 34. Gyroscope attitude sensor, 35. Acceleration sensor, 36. 6. Step-down module, 37. Vacuum water pump, 38. Metal finger clamp, 39. External nut, 40. Screw, 41. Fixing screw 2, 42. Fixing rod, 43. Telescopic motor, 44. First screw hole, 45. Metal shell, 46. Second screw hole, 47. Flange coupling 2, 48. Third screw hole, 49. Left screw, 50. Right screw, 51. Top connecting rod, 52. Bottom screw, 53. Vehicle infrared transceiver, 54. Vehicle charging interface, 55 .Fixed base, 56.Power management module, 57.Medicine loading pool, 58.Pretreatment medicine box, 59.Liquid collecting tank, 60.Charging pile infrared transceiver, 61.Charging pile charging interface, 62.Charging pile, 63.UWB base station, 64.Charging pile placement, 65.Indoor passage of storage room, 66.On-board charging shell, 67.Automatic docking gripper, 68.Partition plate, 69.Inspection vehicle shell, 70.Partition plate, 71.Fixed plate, 72.Charging pile charging box. DETAILED DESCRIPTION

[0040] like Figure 1 , Figure 2 and Figure 4As shown, the present invention is a group-controlled intelligent warehouse inspection vehicle based on UWB, which is composed of an inspection vehicle shell 69 to form a basic frame. The top of the shell 69 is a top cover 5, and there is a wheel on the front, back, left and right sides of the inspection vehicle shell 69. Four 24V DC reduction motors 24 are fixed on the bottom plate of the inspection vehicle shell 69 in a symmetrical manner, two in front and two in the front, and one 24v DC reduction motor 24 is correspondingly connected to a wheel to control the movement of one wheel. On the bottom surface of the shell 69, there are front two wheel motor control modules 25 and rear two wheel motor control modules 26. The front two wheel motor control modules 25 are placed in the middle of the two front DC reduction motors 24 and are respectively connected to the two front DC reduction motors 24; the rear two wheel motor control modules 26 are placed in the middle of the two rear DC reduction motors 24 and are respectively connected to the two rear DC reduction motors 24. The components fixed on the bottom surface of the shell 69 are located at the bottom of the inspection vehicle and belong to the bottom components of the inspection vehicle.

[0041] Each wheel is composed of a plurality of planetary wheels 8 fixed on a wheel hub 9 by fixing screws 21. When installed, the central axis of the planetary wheel 8 is at a 45-degree angle to the central axis of the wheel hub 9. Each wheel is coaxially fixedly connected to the rotating shaft of a 24V DC reduction motor 24 through a corresponding coupling 10. The DC reduction motor 24 controls the movement of the wheel to realize the autonomous movement function of the inspection vehicle. A first 24V lithium battery pack 27, a second 24V lithium battery pack 28 and a third 24V lithium battery pack 29 are fixedly arranged at equal intervals on the bottom plate of the housing 69.

[0042] like Figure 1 As shown, two automatic docking grippers 67 are fixed on the rear side of the bottom plate of the housing 69, and the two automatic docking grippers 67 are arranged on the left and the right and face each other. Figure 7 and Figure 8As shown, each automatic docking gripper 67 includes a stepper motor 13, a connector 14, a telescopic motor 43, a metal finger clamp 38, an external nut 39, a screw 40 and a metal shell 45. The stepper motor 13 is vertical, and its output shaft is fixedly connected to the connector 14 through a flange coupling 47 and a second screw hole 46. The stepper motor 13 is connected to the telescopic motor 43 through the connector 14. The central axis of the telescopic motor 43 is horizontal and perpendicular to the central axis of the stepper motor 13. The motor housing of the telescopic motor 43 is fixedly connected to the metal shell 45 through the second screw hole 44. The output shaft of the telescopic motor 43 is coaxially connected to the screw 40. The central axis of the screw 40 is colinear with the central axis of the metal shell 45 and passes through the central through hole of the metal shell 45. Six fixing rods 42 are welded on the side wall of the metal shell 45. Every two fixing rods 42 form a group. Three groups of fixing rods are installed on the metal shell 45 with every two groups offset by 60 degrees. The fixing rods 42 form an angle of 45 degrees with the central axis of the metal shell 45. There is an external nut 39 between two fixing rods 42 of a set of fixing rods, so there are three external nuts 39 in total, and the three external nuts 39 are evenly distributed on the outside of the screw rod 40 along the circumferential direction, and the three external nuts 39 are matched with the threads of the screw rod 40. A metal finger clamp 38 is fixed to the end of each external nut 39, and the second fixing screw 41 is connected to a set of fixing rods 42 by threads, and the second fixing screw 41 passes through the external nut 39 and the metal finger clamp 38 with a gap, connecting the external nut 39 and the metal finger clamp 38 with the fixing rod 42. The metal finger clamp 38 forms an angle of 30 degrees with the central axis of the metal shell 45. When the stepper motor 13 rotates 90 degrees, it drives the connector 14, the metal shell 45, the telescopic motor 43, the telescopic motor 43, and the screw 40 to rotate 90 degrees as a whole and extend to the rear of the shell 69, so that the two automatic docking grips 67 extend horizontally backward at the same time, and then the telescopic motor 43 works, driving the external nut 39 to rotate through the screw 40, so that the metal finger clamp 38 clamps or unfolds. When the inspection vehicle fails, the inspection vehicle and the rescue vehicle can automatically clamp and dock, realizing the auxiliary rescue function.

[0043] See also Figure 5 A partition plate 68 is arranged above the four 24V DC reduction motors 24, the front two wheel motor control module 25, the rear two wheel motor control module 26, the first 24V lithium battery pack 27, the second 24V lithium battery pack 28 and the third 24V lithium battery pack 29. The partition plate 68 is fixedly connected to the outer shell 6 and is separated from the bottom layer below it to form the second layer of the inspection vehicle. The partition plate 68 is used to separate the components of the bottom layer from the second layer.

[0044] A medicine storage box 30 is placed at the front of the second layer of the inspection vehicle, and an electronic compass 33, a gyroscope attitude sensor 34, an acceleration sensor 35 and a voltage reduction module 36 are fixed next to the medicine storage box 30. A liquid pump 31, a vacuum water pump 37 and a single-chip control module 32 are installed at the rear of the second layer. The input end of the voltage reduction module 36 is electrically connected to the third 24v lithium battery pack 29, and the output is electrically connected to the single-chip control module 32. The single motor control module 32 is connected to the lithium battery pack via the voltage reduction module 36, and the lithium battery pack supplies power to the single motor control module 32 through the voltage reduction module 36. The single-chip control module 32 is electrically connected to the front two wheel motor control module 25 and the rear two wheel motor control module 26 on the bottom layer, respectively, to control the operation of the two modules, thereby controlling the four 24V DC reduction motors 24 to drive the wheels. The single-chip control module 32 is also connected to the electronic compass 33, the acceleration sensor 35, and the gyroscope attitude sensor 34 via signal lines to receive the transmitted azimuth, acceleration, and attitude signals. The single-chip control module 32 is also connected to the stepper motor 13 and the telescopic motor 43 via control lines to control the start and stop of the two motors.

[0045] like Figure 6 The internal structure of the medicine storage box body 30 shown in the figure, a pretreatment medicine box 58, a liquid collecting tank 59 and five medicine loading pools 57 are arranged inside the medicine storage box body 30, and the pretreatment medicine box 58 and the liquid collecting tank 59 are located at the bottom of the medicine storage box body 30, and are fixed to the bottom plate and the side plate of the medicine storage box body 30. The upper surfaces of the pretreatment medicine box 58 and the liquid collecting tank 59 are flush, and the volume of the liquid collecting tank 59 is larger than that of the pretreatment medicine box 58, which is twice the volume of the pretreatment medicine box 58. There is a certain gap between the liquid collecting tank 59 and the pretreatment medicine box 58, and a sealed piston-type rubber bottom cover is installed at the bottom of the liquid collecting tank 59. The pretreatment medicine box 58 is connected to the liquid collecting tank 59 through the liquid pump 31, and the liquid in the pretreatment medicine box 58 can be pumped into the liquid collecting tank 59. The liquid collecting tank 59 is connected to the vacuum water pump 37 through the conduit, and the vacuum water pump 37 is used to evacuate the liquid collecting tank 59. The liquid pump 31 and the vacuum water pump 37 are connected to the single-chip control module 32 via control lines, respectively, and the single-chip control module 32 controls the start and stop of the liquid pump 31 and the vacuum water pump 37. A constant temperature device and a stirring device are installed inside the pretreatment medicine box 58 and the liquid collecting tank 59, and the constant temperature device is connected to the single-chip control module 32 via a signal line, and the stirring device is connected to the single-chip control module 32 via a control line. The single-chip control module 32 obtains the temperature signal inside the pretreatment medicine box 58 and the liquid collecting tank 59 to control the start and stop of the stirring device.

[0046] Above the liquid collecting tank 59 and the pretreatment medicine box 58 are five reagent loading pools 57 of the same size, each reagent loading pool 57 has a liquid adding pipe port 20, and each reagent loading pool 57 has a liquid outlet at the bottom. The liquid outlet of each reagent loading pool 57 is connected to the pretreatment medicine box 58 via a conduit, and a controllable solenoid valve switch and a flow meter are installed on the conduit, and the solenoid valve switch and the flow meter are connected to the single-chip control module 32.

[0047] like Figure 1 , Figure 5 As shown, an on-board autonomous charging body 12 is provided in the middle of the rear part of the second layer of the inspection vehicle, and a partition plate 70 is provided around the on-board autonomous charging body 12 to separate the on-board autonomous charging body 12 from the medicine storage box body 30, liquid pump 31, medicine storage box body 30, vacuum water pump 37 and other components inside the second layer of the inspection vehicle.

[0048] like Fig. 9 The vehicle-mounted autonomous charging main body 12 shown mainly includes a vehicle-mounted charging housing 66, a camera module 11, a vehicle-mounted infrared transceiver 53, a vehicle-mounted charging interface 54 and a power management module 56. The vehicle-mounted charging housing 66 and the fixed base 55 next to it are vertically fixedly installed on the partition 68, the camera module 11 is installed on the top of the fixed base 55 and the camera's field of view faces the rear of the vehicle, and the camera module 11 is connected to the single-chip control module 32 to transmit the picture of the rear of the vehicle to the single-chip control module 32.

[0049] A fixing plate 71 is provided at the rear side of the vehicle charging housing 66, and a power management module 56 and a vehicle infrared transceiver 5 are fixedly connected to the fixing plate 71. The vehicle infrared transceiver 53 is fixed at the four corners of the fixing plate 71. The power management module 56 is electrically connected to the vehicle charging interface 54 and the first 24V lithium battery group 27, the second 24V lithium battery group 28 and the third 24V lithium battery group 29 on the bottom layer. The single-chip control module 32 is connected to the first 24V lithium battery group 27, the second 24V lithium battery group 28 and the third 24V lithium battery group 29 on the bottom layer through the power management module 56. The power management module 56 is used to manage the current size of the three lithium battery groups when charging and balance the voltage size of the three batteries when charging to prevent overcharging. At the same time, when the discharge voltage is low, an alarm is issued to the single-chip control module 32, and the single-chip control module 32 can also read the voltage size of the three lithium batteries through the power management module 56.

[0050] The left and right screw rods 49 and 50 are vertically installed on the left and right sides of the vehicle charging housing 66, and the top connecting rod 51 and the bottom screw rod 52 are horizontally installed on the upper and lower sides of the vehicle charging housing 66. The left screw rod 49, the right screw rod 50 and the top connecting rod 51 and the bottom screw rod 52 are all connected to the fixed plate 71. The three screw rods of the left screw rod 49, the right screw rod 50 and the bottom screw rod 52 are each equipped with a corresponding screw motor to form a moving mechanism in two directions of the vertical plane. These screw motors are all connected to the single-chip control module 32, and the single-chip control module 32 controls the rotation of the three screw rods of the moving mechanism, thereby driving the fixed plate 71 and the power management module 56 and the vehicle-mounted infrared transceiver 53 thereon to move left and right and up and down.

[0051] On-board autonomous charging main body 12 and Fig.10 The charging pile shown in the figure can be matched to realize autonomous charging. Fig.10 The charging pile shown in the figure is installed in the storage room as a whole. The outside of the charging pile is a shell-shaped charging pile 62. There is a charging pile charging box 72 at the center of the charging pile 62. The charging pile infrared transceiver 60 is fixed at the four corners of the charging pile charging box 72. Fig. 9 The vehicle-mounted infrared transceiver 53 is located opposite to the vehicle-mounted infrared transceiver 53. Two charging pile charging interfaces 61 are installed in the center of the charging pile charging box 72. Fig. 9 The vehicle-mounted charging interface 54 is located relatively.

[0052] like Figure 1 , Figure 2 , Figure 3 As shown, the inspection vehicle roof cover 5 is fixedly installed on the top of the inspection vehicle shell 69. The inspection vehicle roof cover 5 is parallel to the partition plate 68 and is fixedly installed on the top layer of the inspection vehicle. There are five holes on the inspection vehicle roof cover 5. The positions of the five holes are Figure 6 The positions of the five liquid adding nozzles 20 of the five medicine loading tanks 57 correspond to each other, and the five liquid adding nozzles 20 extend upward from the five holes to be exposed above the top cover 5.

[0053] A nozzle base 19 is fixedly arranged at the center of the front upper surface of the inspection vehicle roof 5. The nozzle base 19 is installed perpendicular to the inspection vehicle roof 5. A top nozzle 2 is installed on the top of the nozzle base 19. A nozzle 16 is installed inside the top nozzle 2. The center line of the nozzle 16 is parallel to the center line of the inspection vehicle roof 5 and is directly above the center line of the inspection vehicle roof 5. The nozzle 16 faces directly forward and the nozzle 16 is aligned with the top cover 5. Figure 5 The liquid is connected to the liquid outlet of the liquid collecting tank 59, and the liquid pumped out from the liquid collecting tank 59 is sprayed out through the nozzle 16.

[0054] Behind the nozzle base 19 is the lifting rod 3. The lifting motor built into the lifting rod 3 is connected to the single-chip control module 32, which can control the lifting rod 3 to automatically rise or fall. The lifting rod 3 is fixedly installed vertically to the roof cover 5 of the inspection vehicle. The top of the lifting rod 3 is fixedly installed with a sensor module 18 through a first screw hole 15. The sensor module 18 is a replaceable sensor module, including a millimeter wave radar, a GPS, a gas sensor, etc. The sensor module 18 is connected to the single-chip control module 32 to transmit the detected signal to the single-chip control module 32.

[0055] A control panel 6, a WIFI module 17 and a UWB tag 23 are installed behind the lifting rod 3. The control panel 6 and the UWB tag 23 are both connected to the single-chip control module 32. The WIFI module 17 is associated with the single-chip control module 32 by wireless transmission. The WIFI module 17 and the UWB tag 23 are located on the left and right sides of the rear of the upper surface of the inspection vehicle roof 5. The WIFI module 17 is connected to the WIFI module antenna 4, and the UWB tag 23 is connected to the UWB tag antenna 1. The WIFI module antenna 4 is installed above the WIFI module 17 with center alignment, and the UWB tag antenna 1 is installed above the UWB tag 23 with center alignment.

[0056] Ultrasonic obstacle avoidance modules 22 are installed at the four corners of the inspection vehicle housing 69 . The ultrasonic obstacle avoidance modules 22 are connected to the single-chip control module 32 via a signal line to transmit the detected distance to the obstacle to the single-chip control module 32 .

[0057] like Fig.11 As shown in the interior diagram of the storage room, a total of several UWB base stations 63 are installed in the storage room, one is installed in each of the four corners of the storage room, and several are distributed in the middle interval of the storage room. The specific number of UWB base stations 63 distributed in the middle of the storage room varies according to the specific environment and size of the storage room. When installing, the heights of several UWB base stations 63 do not need to be the same, but the UWB base station 63 cannot be installed near the signal shielding device, and the distance between them should not be too large. The space between the indoor passages 65 in the storage room is used to place stored items.

[0058] See also Figure 1 , Figure 4 and Fig.11In the initial stage of use, the inspection vehicle will first model the storage environment, and use the three-sided positioning method. Each UWB base station 63 measures the distance from the UWB tag 23 to the UWB base station 63. When the relative position of the UWB base station 63 is known, the three UWB base stations 63 closest to the UWB tag 23 on the inspection vehicle measure the distance of the UWB tag 23, and draw three circles with the distance from the UWB tag 23 to the three UWB base stations 63 as the radius. The intersection of the three circles is the coordinate point of the UWB tag 23. The three-dimensional coordinate data of the UWB tag 23 is stored in the single-chip control module 32, and then transmitted to the cloud platform through the WIFI module 17. The cloud platform performs coordinate solution to obtain the location information, and the manager can conveniently observe the real-time location information of the inspection vehicle.

[0059] In order to improve the accuracy of UWB positioning, multi-sensor fusion technology is used. The acceleration sensor 35 will re-measure the position of the inspection vehicle only when the inspection vehicle is in a non-stationary state. The gyroscope attitude sensor 34 and the electronic compass 33 can control the movement direction of the inspection vehicle at a set angle. The ultrasonic obstacle avoidance module 22 is used to measure the real-time distance of obstacles in all directions. The single-chip control module 32 can obtain the data of these sensors in real time. These data are transmitted to the cloud platform for data processing via the WIFI module 17, and the simulated environment after automatic modeling can be displayed on the cloud platform interface. The positioning modeling method of the present invention has the advantages of high precision and high automation compared with traditional positioning. It adopts group control robot technology, uses the WIFI module 17 and the UWB tag 23 to realize communication between multiple robots, and in large-scale storage environments, the work efficiency will be significantly improved.

[0060] See also Figure 5 The five medicine loading pools 57 inside the medicine storage box body 30 are used to add five different medicine liquids at the same time. The solenoid valve switches of the five medicine loading pools 57 are controlled by the single chip control module 32 and the flow rate is calculated by the flow meter. The five different medicine liquids enter the pretreatment medicine box 58, and the medicines of a fixed ratio can be automatically configured in the pretreatment medicine box 58. The configured medicines are pumped into the liquid collecting tank 59 by the liquid pump 31 and stored. When the vacuum water pump 37 is working, the liquid collecting tank 59 is evacuated, the pressure in the liquid collecting tank 59 is reduced, and the sealing rubber cover at the bottom of the liquid collecting tank 59 will rise along the inner wall of the liquid collecting tank 59. If it rises to the highest point, the vacuum water pump 37 will pressurize the inside of the liquid collecting tank 59, so that the sealing rubber cover descends to the bottom along the inner wall of the liquid collecting tank 59. When the vacuum water pump 37 is working, the medicine in the liquid collecting tank 59 is pumped into the nozzle 16 to spray the atomized liquid.

[0061] The sensor module 18 detects the concentration of pollutants. When the concentration of a certain pollutant exceeds the standard, the cloud platform determines the pollution source based on the existing corruption and mildew data model and the data sent back by the sensor. The corruption and mildew data model is a diffusion model of the pollution source in the storage environment, which is pre-stored in the cloud platform. The cloud platform compares the gas concentration data obtained by the sensor with the diffusion model to determine whether there is a pollution source and the location of the pollution source if it exists. The disinfection location is obtained according to the UWB base station 63. When arriving at the designated disinfection location, the vacuum water pump 37 starts to spray atomized disinfection liquid. After a period of time, the vacuum water pump 37 is turned off. The sensor module 18 detects the pollutant concentration at this time. If it is below the set standard value, the inspection vehicle enters the inspection mode. If it is still higher than the standard value, the inspection vehicle continues to disinfect and issues an alarm to the manager.

[0062] See also Fig. 9 and Fig.10 , the inspection vehicle uses multi-sensor fusion UWB positioning technology to reach the vicinity of the charging pile 62, and the single-chip control module 32 turns on the camera module 11, and aligns the rear of the inspection vehicle with the entrance of the charging pile 62 according to the recognition result of the camera. At this time, the inspection vehicle relies on the infrared rays continuously emitted by the vehicle-mounted infrared transceiver 53 and the charging pile infrared transceiver 60 to adjust its posture, and constantly approaches the charging pile charging box 72. When the distance is close enough, the single-chip control module 32 can achieve automatic docking of the vehicle-mounted charging interface 54 with the charging pile charging interface 61 by adjusting the left screw 49, the right screw 50 and the bottom screw 52. The automatic docking system for inspection vehicles based on infrared rays has a relatively simple implementation principle, and the infrared sensor has a small error. During the docking process between the inspection vehicle and the charging station, the distance moved by the vehicle-mounted autonomous charging body 12 is relatively short, and the docking success rate is also relatively high. However, the infrared signal has a relatively small coverage area. In a warehouse environment with many obstacles and interference factors, the infrared docking success rate is relatively low. The present invention can control the position of the inspection vehicle from the charging pile 62 within an accuracy of 10-30cm, so the inspection vehicle can be first positioned within a range of 10-30cm from the charging pile 62, and then combined with the camera module 11 and the on-board infrared transceiver 53, precise control of the autonomous charging of the inspection vehicle can be achieved. In addition, during the operation of the inspection vehicle, the single-chip control module 32 monitors and detects the power of the power management module 56 in real time. When there are two inspection vehicles in a storage room, if one of the inspection vehicles is insufficient in power and cannot return to the charging pile, the single-chip control module 32 assigns another inspection vehicle to charge the power-deficient inspection vehicle using the on-board autonomous charging body 12 on the two vehicles.

[0063] See also Figure 1 and Figure 8When a patrol vehicle fails and cannot move or the patrol vehicle does not have enough power to return to the charging compartment, the stepper motor 13 on the two automatic docking grabs 67 installed at the bottom of the patrol vehicle works and rotates 90 degrees backward from the bottom of the patrol vehicle. With the assistance of the camera module 11, the automatic docking grabs 67 of the two vehicles can complete the grabbing work, thereby realizing the rescue vehicle towing the faulty patrol vehicle and completing the rescue work. The camera module 11 is equipped with a lighting device to solve the problem that the camera module 11 is too high and the camera cannot be used at night.

[0064] Combination Figures 1 to 11 The specific working process of the inspection vehicle of the present invention is:

[0065] Step 1: Before the inspection vehicle starts working, the UWB base station 63 is installed at an appropriate position in the storage room, and an appropriate charging pile placement position 64 is set on the floor of the storage room near the storage room wall, and the charging pile 62 is installed at the charging pile placement position 64. The operator places the inspection vehicle near the charging pile 62, and controls the vehicle-mounted infrared transceiver 53 to work by operating the control panel 6, and the single-chip control module 32 controls the vehicle-mounted infrared transceiver 53 to adjust the position of the vehicle-mounted infrared transceiver 53 and the charging pile infrared transceiver 60, so that the vehicle-mounted charging interface 54 is connected to the charging pile charging interface 61, and the three first 24v lithium battery packs 27, 28, and 29 are charged through the power management module 56, completing the first autonomous charging and storage of the inspection vehicle.

[0066] At the same time, different or the same types of disinfectants are added to the five reagent loading tanks 57 through the liquid adding nozzle 20, and the preparation work before the inspection vehicle operation is completed.

[0067] Step 2: After the preparations are completed, the operator starts the inspection vehicle through the control panel 6. The single-chip control module 32 controls the inspection vehicle to first walk along the outer wall of the storage room. When the ultrasonic obstacle avoidance module 22 measures that the obstacle distance is less than 3 cm, the inspection vehicle should no longer move forward in a straight line. The ultrasonic obstacle avoidance module 22 transmits the measured signal to the single-chip control module 32. The single-chip control module 32 controls the front two-wheel motor control module 25 and the rear two-wheel motor control module 26 to make the four 24v DC reduction motors 24 work, the wheels turn, change the forward direction of the inspection vehicle, and keep the ultrasonic obstacle avoidance module 22 The distance to the obstacle is not less than 3 cm. When the outer wall of the storage environment is traversed, the single-chip control module 32 controls the inspection vehicle to enter the internal environment of the storage room and walk, and traverse the internal environment of the storage. After traversing the internal and external environment of the storage room, the UWB tag 23, sensor module 18, ultrasonic obstacle avoidance module 22, electronic compass 33, acceleration sensor 35 and gyroscope attitude sensor 34 transmit the acquired signals to the single-chip control module 32, and the cloud platform obtains the environmental information of the storage and establishes a map model of the storage environment. After that, the single-chip control module 32 controls the inspection vehicle to reach the charging pile 62 again, and at this time, the modeling of the storage room has been completed.

[0068] When modeling the warehouse environment, the single-chip control module 32 periodically uploads the real-time location information of the UWB tag 23, the distance information of the ultrasonic obstacle avoidance module 22, the acceleration information of the acceleration sensor 35, the attitude information of the gyroscope attitude sensor 34, and the data information detected by the sensor module 18 to the cloud platform through the WIFI module 17. The cloud platform can process the data sent by the single-chip control module 32 and display the layout, size and other data of the storage room on the web page or software.

[0069] The cloud platform can be a WeChat applet on a mobile phone, an APP software on a mobile phone, a web browsing interface on a computer, or an APP software on a computer. As long as the receiving end can connect to the Internet, the cloud platform can realize intelligent and unmanned management, which has great advantages for large-scale warehousing.

[0070] Step three, the inspection vehicle enters the inspection mode, and the cloud platform automatically calculates the travel routes of multiple inspection vehicles in the group along the indoor channel 65 of the storage room according to the algorithm based on the map model, and transmits the route data to the single-chip control module 32 through the WIFI module 17. Then the single-chip control module 32 controls the front two wheel motor control module 25 and the rear two wheel motor control module 26, and then controls the start time of the four 24v DC reduction motors 24, the forward direction of the inspection vehicle, the location to be reached by the inspection vehicle, etc.

[0071] Step 4: During the inspection process, the single-chip control module 32 controls the lifting rod 3 to rise and fall. The sensor module 18 mounted on the lifting rod 3 can obtain the gas concentration data in three-dimensional coordinates. The single-chip control module 32 uploads the obtained gas concentration data to the cloud platform through the WIFI module 17. The cloud platform compares the obtained gas concentration data with the standard diffusion model therein. If the gas concentration is normal, the inspection vehicle will continue to inspect along the established route. If the concentration of a certain gas pollutant is high, the type of pollutant is determined based on the data category detected by the sensor module 18. The cloud platform determines the location of the pollution source based on the location information of the UWB tag 23, and transmits the location information of the pollution source and the type of pollutant to the single-chip control module 32 through the WIFI module 17. If there is only one inspection vehicle in the storage room at this time, the single-chip control module 32 controls the vehicle to move, and the vehicle immediately goes to the location of the pollution source. If there are multiple patrol vehicles in the storage room, the patrol vehicle closest to the pollution source is determined based on the UWB tag 23, and the patrol vehicle closest to the pollution source is controlled to immediately go to the pollution source, while the remaining patrol vehicles are still in the patrol mode.

[0072] The single-chip control module 32 controls the inspection vehicle to move toward the pollution source according to the information sent back by the WIFI module 17, adjusts the posture according to the information sent back by the electronic compass 33 and the gyroscope attitude sensor 34, can adjust the direction of the nozzle 16, and determines that the inspection vehicle has arrived near the pollution source according to the UWB tag 23. The single-chip control module 32 controls the solenoid valve switches of the five reagent loading pools 57 and uses a flow meter to calculate the flow rate, and configures the corresponding reagents in the pretreatment medicine box 58. The stirring device in the pretreatment medicine box 58 works, and the constant temperature device equipped in the pretreatment medicine box 58 can improve the mixing degree of the reagent. After the reagent is configured, the single-chip control module 32 controls the liquid pump 31 to pump the configured reagent into the liquid collecting tank 59 and store it, and then controls the vacuum water pump 37 to start working and extract air, so that the reagent enters the nozzle 16 due to the atmospheric pressure difference, and the nozzle 16 sprays atomized liquid to realize the automatic disinfection function. After the set period of disinfection, the vacuum pump 37 is turned off and the pollutant concentration is detected again. If it is below the standard value, the inspection vehicle enters the inspection mode. If it is still above the standard value, the inspection vehicle continues to disinfect and sends an alarm to the manager. After the disinfection work is completed, the inspection vehicle returns to the inspection mode.

[0073] Step 5: During the inspection process, the single-chip control module 32 always detects the power of the lithium battery pack through the power management module 56. When the power is insufficient, the single-chip control module 32 controls the inspection vehicle to go to the charging pile 62, and uses the infrared rays continuously emitted by the vehicle-mounted infrared transceiver 53 and the charging pile infrared transceiver 60 to adjust the posture. The inspection vehicle approaches the charging pile 62 along the shortest distance, automatically docks the charging interface, and the charging pile 62 starts working. When the power is full, the charging pile 62 stops working, and the inspection vehicle continues to enter the inspection mode.

[0074] When the inspection vehicle is close enough to the charging pile charging interface 61, the single-chip control module 32 controls the corresponding motor to adjust the rotation of the left screw 49, the right screw 50, and the bottom screw 52, ​​adjusts the position of the vehicle charging interface 54, and realizes the automatic docking of the vehicle charging interface 54 and the charging pile charging interface 61, thereby realizing the autonomous charging function of the inspection vehicle.

[0075] Step 6: When multiple inspection vehicles under group control are operating in the group control cluster mode, if a inspection vehicle has a mechanical failure, or the battery is insufficient and the power management module 56 cannot be charged, the single-chip control module 32 controls the stepper motor 13 to rotate 90 degrees, so that the two automatic docking grippers 67 rotate from the original left-right relative state to a mutually parallel state under the rotation of the stepper motor 13, and the two metal finger clamps 38 extend to the rear in parallel with each other. The camera module 11 works and transmits the real-time image to the single-chip control module 32, the single-chip control module 32 controls the movement of the inspection vehicle, and the telescopic motor 43 works to realize the grabbing of the metal finger clamps 38 on the two inspection vehicles, thereby realizing the towing of the faulty vehicle by the rescue vehicle, thereby completing the rescue work more advantageously.

Claims

1. A UWB-based group-controlled intelligent warehouse inspection vehicle, comprising a housing (69), a wheel on each of the front, rear, left and right sides of the housing (69), a top cover (5) on the top of the housing (69), and a lithium battery pack on the bottom plate of the housing (69), wherein: The housing (69) is provided with a medicine storage box body (30) and a 24V DC reduction motor (24) connected to a single-chip control module (32), an electronic compass (33), a gyroscope attitude sensor (34), an acceleration sensor (35), a liquid pump (31), and a vacuum water pump (37); a 24V DC reduction motor (24) is correspondingly connected to a wheel, and a pretreatment medicine box (58), a liquid collecting tank (59), and five medicine containers are provided inside the medicine storage box body (30). The loading pool (57) is connected to the pretreatment medicine box (58) at the bottom of each reagent loading pool (57). A solenoid valve switch and a flow meter connected to the single-chip control module (32) are installed on the connecting conduit between each reagent loading pool (57) and the pretreatment medicine box (58). A sealed piston-type rubber bottom cover is installed at the bottom of the liquid collecting tank (59). The pretreatment medicine box (58) is connected to the liquid collecting tank (59) via a liquid pump (31). The liquid collecting tank (59) is connected to the vacuum water pump (37) via a conduit. The top cover (5) is connected to the top of the front cover (5). The center of the surface is connected to the top nozzle (2) via the nozzle base (19); the top nozzle (2) is provided with a nozzle (16) inside, and the nozzle (16) is connected to the liquid outlet of the liquid tank (59); the rear of the nozzle base (19) is a lifting rod (3); the top of the lifting rod (3) is provided with a sensor module (18) including a millimeter wave radar, a GPS and a gas sensor; the lifting rod (3) and the sensor module (18) are connected to a single-chip microcomputer control module (32); the rear of the lifting rod (3) is provided with a control module (32); A control panel (6), a WIFI module (17) and a UWB tag (23), the control panel (6) and the UWB tag (23) are both connected to a single-chip control module (32), the output data of the single-chip control module (32) is transmitted to a cloud platform via the WIFI module (17), the four corners of the housing (69) are each equipped with an ultrasonic obstacle avoidance module (22) connected to the single-chip control module (32), and a plurality of UWB base stations (63) for measuring the distance of the UWB tag (23) are installed in the storage room; Two automatic docking grippers (67) are provided on the rear side of the bottom plate of the housing (69), one facing each other on the left and the other on the right. Each automatic docking gripper (67) includes a stepping motor (13), a connector (14), a telescopic motor (43), a metal finger clamp (38), an external nut (39), a screw (40) and a metal housing (45). The output shaft of the vertical stepping motor (13) is connected to the telescopic motor (43) through the connector (14), and the output shaft of the horizontal telescopic motor (43) is coaxially connected to the metal outer housing (45). A screw rod (40) is provided in the central through hole of the housing (45); three groups of fixing rods (42) are fixedly connected to the side wall of the metal housing (45); two fixing rods (42) form a group; an external thread nut (39) is provided between the two fixing rods (42) of each group; the three external thread nuts (39) are matched with the screw rod (40); a metal finger clamp (38) is fixed to the end of each external thread nut (39); a telescopic motor (43) drives the external thread nut (39) to rotate through the screw rod (40) so that the metal finger clamp (38) is clamped or unfolded.

2. According to claim 1, a UWB-based group-controlled intelligent warehouse inspection vehicle is characterized by: The pretreatment medicine box (58) and the liquid collecting tank (59) are both equipped with a constant temperature device and a stirring device connected to the single chip control module (32).

3. According to claim 1, a UWB-based group-controlled intelligent warehouse inspection vehicle is characterized by: An on-board autonomous charging body (12) including an on-board charging housing (66), an on-board infrared transceiver (53), an on-board charging interface (54) and a power management module (56) is provided in the middle of the rear portion of the housing (69); a fixing plate (71) is provided on the rear side of the on-board charging housing (66); the power management module (56) and the on-board infrared transceiver (53) are fixedly connected to the fixing plate (71); the on-board infrared transceiver (53) is fixedly connected to the four corners of the fixing plate (71); and the power management module (56) is connected to the on-board charging interface (54) and the on-board infrared transceiver (53) respectively. The single-chip control module (32) is electrically connected to the lithium battery pack via the power management module (56); the single-chip control module (32) is connected to the fixed plate (71) via a moving mechanism, and the moving mechanism can drive the fixed plate (71), the power management module (56) and the vehicle-mounted infrared transceiver (53) to move left and right and up and down; next to the vehicle-mounted charging housing (66) is a fixed base (55), and on top of the fixed base (55) is a camera module (11) for transmitting images of the rear of the vehicle to the single-chip control module (32).

4. The UWB-based group-controlled intelligent warehouse inspection vehicle according to claim 3 is characterized by: A charging pile (62) is provided in the storage room. A charging pile charging box (72) is provided at the center of the charging pile (62). Charging pile infrared transceivers (60) are fixed at the four corners of the charging pile charging box (72) and are located opposite to the vehicle-mounted infrared transceiver (53). Two charging pile charging interfaces (61) are installed at the center of the charging pile charging box (72) and are located opposite to the vehicle-mounted charging interface (54).

5. The UWB-based group-controlled intelligent warehouse inspection vehicle according to claim 1 is characterized by: Each wheel is composed of a plurality of planetary wheels (8) fixedly connected to a wheel hub (9), and the central axis of the planetary wheels (8) forms an angle of 45 degrees with the central axis of the wheel hub (9).

6. A patrol method for a group-controlled intelligent warehouse patrol vehicle based on UWB as claimed in claim 1, characterized in that The following steps are involved: Step 1: Add different or the same types of disinfectants into five reagent loading tanks (57); The single-chip control module (32) controls the 24V DC reduction motor (24) so ​​that the inspection vehicle first moves along the outer wall of the storage room and then moves into the storage room. The UWB tag (23), the sensor module (18), the ultrasonic obstacle avoidance module (22), the electronic compass (33), the acceleration sensor (35) and the gyroscope attitude sensor (34) transmit the acquired signals to the single-chip control module (32), and the cloud platform establishes a map model of the storage environment. Step 2: The cloud platform transmits the route data to the single-chip control module (32) through the WIFI module (17) based on the map model, and the single-chip control module (32) controls the start time, the forward direction, and the destination of the 24V DC reduction motor (24); Step 3: The sensor module (18) detects the gas concentration, and the cloud platform compares the gas concentration data with the standard diffusion model. If the gas concentration is normal, the inspection vehicle continues to inspect along the predetermined route; If the concentration of a certain gas is high, the cloud platform determines the pollution source based on the information from the UWB tag (23), and the inspection vehicle goes to the pollution source; Step 4: The single-chip control module (32) controls the solenoid valve switches and flow meters of the five reagent loading tanks (57), configures the corresponding reagents in the pretreatment medicine box (58), controls the liquid pump (31) to pump the reagents into the liquid collecting tank (59), and starts the vacuum water pump (37) to spray the reagents through the nozzle (16) for disinfection.

7. The inspection method according to claim 6, characterized in that: If there are multiple patrol vehicles in the storage room, the patrol vehicle closest to the pollution source is determined based on the UWB tag (23), and the patrol vehicle closest to the pollution source goes to the pollution source.

8. The inspection method according to claim 6, characterized in that: The single-chip control module (32) always detects the power level of the lithium battery pack through the power management module (56), and when the power level is insufficient, controls the inspection vehicle to go to the charging pile in the storage room.

9. The inspection method according to claim 6, characterized in that: If a patrol vehicle breaks down or runs out of power, two automatic docking grabs (67) facing each other, one on the left and one on the right, are provided on the rear side of the bottom plate of the housing (69) and rotate to a state where they extend backward in parallel with each other, and the automatic docking grabs (67) on the two patrol vehicles grab each other to achieve rescue.

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