An automatic blind spot filling device and intelligent inspection equipment based on MESH network

Abstract

The present invention discloses an automatic blind filling device and an intelligent inspection device based on a MESH network, wherein the automatic blind filling device comprises: a placement bin, an upper left blocking plate, an upper right blocking plate, a lower left blocking plate, a lower right blocking plate, a left gear, a right gear, a left motor, a right motor and a central control module, etc.; the central control module is arranged in the inspection device body, a sensor module is arranged at the front side of the inspection device body, a camera is arranged at the bottom of the inspection device body, the upper side of the automatic blind filling device is plugged into the inspection device body, and a MESH network node is built in the central control module, wherein the central control module is connected to external equipment through the MESH network node, and the central control module is connected to the output end of the camera, the control end of the automatic blind filling device, and the output end of the sensor module. The present invention can realize remote monitoring of tunnel inspection equipment and complete automatic inspection of tunnels.

Description

Technical Field

[0001] The present invention relates to intelligent inspection equipment, in particular to an automatic blind spot filling device and intelligent inspection equipment based on a MESH network. Background Art

[0002] Cable tunnels play an important role in protecting the safe operation of cables and facilitating inspection and maintenance. At the same time, cable tunnels are the most representative fire-fighting difficulties in power systems. The safe operation of equipment and facilities depends on the safety of cables. Therefore, regular inspections of cable tunnels are very important.

[0003] The inspection method currently used is mainly manual inspection. However, due to the long cable tunnel line and small space, the manual inspection task is large and the influence of human subjective factors often leads to a reduction in the reliability of the inspection results. Therefore, there are also inspection equipment for inspection. At present, one type of inspection equipment that has been developed is a robot with a fixed track, which can be inspected according to the pre-set track. This method is relatively limited. It cannot achieve a good monitoring effect for some visual blind spots, and the track needs to be installed in advance, which limits its range of action. At the same time, when a disaster occurs, it is easy to be damaged and cannot be well applied in the field of disaster relief. The other is to use manually controlled aircraft for inspection. This method can inspect parts that are difficult to detect manually, but it requires manual operation of the aircraft. The aircraft cannot be too far away from the inspection personnel, and automatic inspection cannot be achieved. Therefore, it is inconvenient to use. When a disaster occurs, it is difficult to play a corresponding role due to the limited monitoring distance. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned prior art, the present invention provides an automatic blind spot filling device and an intelligent inspection device based on a MESH network applied to a tunnel, which can realize remote monitoring of the tunnel inspection equipment and complete automatic inspection of the tunnel.

[0005] The technical solution of the present invention is: an automatic blind spot filling device, which is used to automatically release a MESH node for blind spot filling in a MESH network, comprising:

[0006] The placement bin has a placement bin exit at its lower end, and a plurality of spare MESH nodes are stored in the placement bin, and the spare MESH nodes are stacked together in sequence along the longitudinal direction;

[0007] The upper left blocking plate is horizontally arranged and slidably connected with the left wall of the placement bin outlet in the left-right direction, and a first rack is arranged on its lower surface in the left-right direction;

[0008] The upper right blocking plate is horizontally arranged, opposite to the upper left blocking plate, and is slidably connected with the right side wall of the placement bin outlet in the left-right direction, and a second rack is arranged on its lower surface in the left-right direction;

[0009] The lower left blocking plate is horizontally arranged and slidably connected with the left wall of the placement bin outlet in the left-right direction, and a third rack is arranged on its upper surface in the left-right direction;

[0010] The lower right blocking plate is horizontally arranged, opposite to the lower left blocking plate, and is slidably connected to the right side wall of the placement bin outlet along the left-right direction, and a fourth rack is arranged on its upper surface along the left-right direction;

[0011] A left gear, disposed between the upper left blocking plate and the lower left blocking plate, and meshing with the first rack and the third rack respectively;

[0012] A right gear, disposed between the upper right blocking plate and the lower right blocking plate, and meshing with the second rack and the fourth rack respectively;

[0013] The left motor is fixed on the left side wall of the placement bin exit, and its output shaft is connected to the left gear shaft;

[0014] The right motor is fixed on the right side wall of the placement bin exit, and its output shaft is connected to the right gear shaft;

[0015] The central control module is connected to the left motor and the right motor signals respectively. According to the release signal received, the central control module controls the left motor and the right motor to rotate forward and reverse at the same time once each, so that the lowest spare MESH node falls out of the placement bin exit of the placement bin under the action of gravity.

[0016] A horizontal first fixing plate and a first opening for the upper left blocking plate to move left and right and extend out and into the placement bin are fixed to the left side wall of the placement bin outlet, and the upper left blocking plate is slidably connected to the first fixing plate in the left-right direction;

[0017] A horizontal second fixing plate and a second opening for the upper right blocking plate to move left and right to extend into and out of the placement bin are fixed to the right side wall of the placement bin outlet, and the upper right blocking plate is slidably connected to the second fixing plate in the left-right direction;

[0018] A third horizontal fixing plate and a third opening for the lower left blocking plate to move left and right to extend out and into the accommodation bin are fixed to the left side wall of the accommodation bin outlet at the lower left blocking plate, and the lower left blocking plate is slidably connected to the third fixing plate in the left-right direction;

[0019] A fourth horizontal fixing plate and a fourth opening for the lower right blocking plate to move left and right to extend into and out of the accommodating bin are fixed to the right side wall of the accommodating bin outlet at the lower right blocking plate, and the lower right blocking plate is slidably connected to the fourth fixing plate along the left and right directions.

[0020] The left motor rotates forward, driving the left gear to rotate counterclockwise, so that the left gear simultaneously drives the upper left blocking plate to extend out of the placement bin and the lower left blocking plate to extend into the placement bin; the right motor rotates forward, driving the right gear to rotate clockwise, so that the right gear simultaneously drives the upper right blocking plate to extend out of the placement bin and the lower right blocking plate to extend into the placement bin;

[0021] The upper left blocking plate and the upper right blocking plate are located in the same plane, and the lower left blocking plate and the lower right blocking plate are located in the same plane, wherein the distance between the plane where the upper left blocking plate and the upper right blocking plate are located and the plane where the lower left blocking plate and the lower right blocking plate are located is equivalent to the height of a single standby MESH node;

[0022] When the left motor and the right motor rotate forward at the same time, the lowest spare MESH node in the placement bin falls from the closed sealing surface formed by the upper left sealing plate and the upper right sealing plate in the placement bin to the closed sealing surface formed by the lower left sealing plate and the lower right sealing plate in the placement bin; further, when the left motor and the right motor rotate reversely at the same time, the upper left sealing plate and the upper right sealing plate form a closed sealing surface in the placement bin again, thereby forming a sealing support for the spare MESH node above the closed sealing surface, and at the same time, the closed sealing surface formed by the lower left sealing plate and the lower right sealing plate in the placement bin is opened, and the spare MESH node supported by it falls out from the placement bin exit, and the spare MESH node after falling out is used as a MESH network node, and the central control module is connected to the external device through the spare MESH node that falls out.

[0023] The central control module further includes a MESH network node connected to the external device by wireless signal; the central control module uses the information that the signal strength received by the MESH network node for communicating with the external device is lower than a preset value as the received release signal.

[0024] The upper surface and the lower surface of each of the above-mentioned spare MESH nodes are set to an outwardly protruding arc surface structure to avoid the upper left blocking plate and the upper right blocking plate from getting stuck when extending between two adjacent spare MESH nodes; the left motor and the right motor are both servo motors.

[0025] An intelligent inspection device based on a MESH network and applied to a tunnel and including an automatic blind spot filling device, comprising:

[0026] Inspection equipment body;

[0027] A sensor module is arranged on the front side of the inspection device body; the sensor module includes a temperature sensor and a current transformer;

[0028] The camera is arranged at the bottom of the inspection equipment body;

[0029] The automatic blind-filling device, the upper end of the placement bin of the automatic blind-filling device is arranged in the body of the inspection equipment; the central control module is arranged inside the body of the inspection equipment; the MESH network node is arranged inside the central control module, the central control module is connected with the external equipment through the MESH network node, and the central control module is signal-connected with the camera and the sensor module respectively; when there is a damaged intermediate node in the MESH network at the inspection location and the disconnected sub-node has no intermediate node to connect to, resulting in the inability to restore the connection, at this time, the automatic blind-filling device is used to release a spare MESH node to replace the damaged node for data forwarding.

[0030] Power supply, used for power supply.

[0031] The inspection equipment body is a drone body; the external equipment is a host computer.

[0032] The power source is a lithium battery; a first support frame, a second support frame and a third support frame are arranged at the bottom of the drone body.

[0033] The above-mentioned UAV body includes a propeller system, and the central control module is also connected to the control system of the UAV body. The central control module sends instructions for controlling the propeller system to the control system of the UAV body.

[0034] The above-mentioned paddle system includes a first iron rod, a second iron rod, a third iron rod, a fourth iron rod, a first paddle, a second paddle, a third paddle and a fourth paddle; one end of the first iron rod, one end of the second iron rod, one end of the third iron rod and one end of the fourth iron rod are all connected to the drone body, the other end of the first iron rod is connected to the first paddle, the other end of the second iron rod is connected to the second paddle, the other end of the third iron rod is connected to the third paddle, and the other end of the fourth iron rod is connected to the fourth paddle, and the control system of the drone body is connected to the control end of the first paddle, the control end of the second paddle, the control end of the third paddle and the control end of the fourth paddle.

[0035] Beneficial effects of the present invention: The present invention provides an intelligent inspection device based on a MESH network for use in tunnels. During specific operations, the central control module collects video information in the tunnel through a camera, and then sends it to a remote host computer through the MESH network so that remote operators can watch the video information in the tunnel. In addition, the central control module obtains information in the environment through a sensor module, and determines whether the tunnel is on fire based on the temperature and humidity changes in the environment obtained by the sensor module, thereby realizing remote monitoring of the tunnel inspection device and completing automatic inspection of the tunnel. In addition, by positioning and continuously calibrating the equipment, the equipment always moves along the path set in advance, wherein the calibration function is achieved through three-dimensional positioning. The specific position of the corresponding device in motion is obtained by the three-dimensional positioning method. When the device is positioned using the three-dimensional positioning method, the distance from the mobile device to the fixed node is generally calculated by measuring time. The three-dimensional coordinates of the mobile device can be calculated through the distances from multiple fixed nodes to the mobile device and the actual physical coordinates of the fixed nodes. After that, the three-dimensional coordinates of the mobile device at that moment are compared with the three-dimensional coordinates of the mobile device at that moment that have been set in the main control chip program. The mobile device is controlled to adjust the actual coordinates to match the preset coordinates, and the mobile device realizes accurate and stable automatic inspection and monitoring functions, and the inspection route of the inspection device is continuously calibrated through the central control module on the inspection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a bottom view of the inspection device body of the present invention;

[0037] Figure 2 It is a front view of the inspection device body of the present invention;

[0038] Figure 3 It is a side view of the inspection device body of the present invention;

[0039] Figure 4 It is a structural schematic diagram of an automatic blind-filling device;

[0040] Figure 5 This is the distance measurement principle diagram;

[0041] Figure 6 Schematic diagram of coordinate calculation method;

[0042] Figure 7 This is a working principle diagram of the automatic blind filling device;

[0043] Figure 8 This is a system block diagram of the MESH network node architecture.

[0044] Explanation of the reference numerals in the accompanying drawings: 1. first paddle; 2. automatic blind spot filling device; 3. second iron rod; 4. second paddle; 5. first iron rod; 6. third paddle; 7. third iron rod; 8. sensor module; 9. inspection equipment body; 10. fourth iron rod; 11. fourth paddle; 12. first support frame; 13. second support frame; 14. camera; 15. third support frame; 16. central control module; 17. power supply; 18. spare MESH node; 19. upper right blocking plate; 20. right gear; 21. left gear; 22. right motor; 23. left motor; 24. lower right blocking plate; 25. placement chamber; 26. upper left blocking plate; 27. second fixed plate; 28. first fixed plate; 29. ​​third fixed plate; 30. fourth fixed plate; 31. lower left blocking plate; 32. second rack; 33. first rack. DETAILED DESCRIPTION

[0045] Combine the following Figure 1-Figure 7 , a specific embodiment of the present invention is described in detail, but it should be understood that the protection scope of the present invention is not limited by the specific embodiment.

[0046] In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the technical solution of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. It is understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of ordinary technicians in the field to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless defined as here.

[0047] refer to Figure 4The automatic blind spot filling device provided by the present invention is used for automatically releasing the MESH node 18 for blind spot filling in the MESH network, and includes: a placement bin 25, an upper left blocking plate 26, an upper right blocking plate 19, a lower left blocking plate 31, a lower right blocking plate 24, a left gear 21, a right gear 20, a left motor 23, a right motor 22, and a central control module 16, etc., wherein the lower end of the placement bin 25 is provided with a placement bin outlet, and a plurality of spare MESH nodes 18 are stored in the placement bin 25, and each spare MESH node 18 is stacked together in sequence along the longitudinal direction. The upper left blocking plate 26 is horizontally arranged, and is slidably connected to the left side wall of the placement bin outlet in the left-right direction, and a first rack 33 is arranged on its lower surface in the left-right direction. The upper right blocking plate 19 is horizontally arranged, opposite to the upper left blocking plate 26, and is slidably connected to the right side wall of the placement bin outlet in the left-right direction, and a second rack 32 is arranged on its lower surface in the left-right direction. The lower left blocking plate 31 is horizontally arranged, and is slidably connected to the left side wall of the placement bin outlet in the left-right direction, and a third rack is provided on its upper surface in the left-right direction. The lower right blocking plate 24 is horizontally arranged, opposite to the lower left blocking plate 31, and is slidably connected to the right side wall of the placement bin outlet in the left-right direction, and a fourth rack is provided on its upper surface in the left-right direction. The left gear 21 is arranged between the upper left blocking plate 26 and the lower left blocking plate 31, and is meshed with the first rack 33 and the third rack respectively. The right gear 20 is arranged between the upper right blocking plate 19 and the lower right blocking plate 24, and is meshed with the second rack 32 and the fourth rack respectively. The left motor 23 is fixed on the left side wall of the placement bin outlet, and its output shaft is connected to the shaft of the left gear 21. The right motor 22 is fixed on the right side wall of the placement bin outlet, and its output shaft is connected to the shaft of the right gear 20. The central control module 16 is connected to the left motor 23 and the right motor 22 by signals respectively. The central control module 16 controls the left motor 23 and the right motor 22 to rotate forward and reverse at the same time once according to the received release signal, so that the lowest spare MESH node 18 falls out from the placement bin exit of the placement bin 25 under the action of gravity.

[0048] Furthermore, the central control module 16 also includes a MESH network node connected to the external device by wireless signal; the central control module 16 uses the information that the signal strength received by the MESH network node for communicating with the external device is lower than a preset value as the received release signal.

[0049] Furthermore, a horizontal first fixing plate 28 and a first opening for the upper left blocking plate 26 to move left and right and extend out of the placing bin 25 are fixed to the left side wall of the placing bin outlet, and the upper left blocking plate 26 and the first fixing plate 28 are slidably connected in the left-right direction. A horizontal second fixing plate 27 and a second opening for the upper right blocking plate 19 to move left and right and extend out of the placing bin 25 are fixed to the right side wall of the placing bin outlet, and the upper right blocking plate 19 and the second fixing plate 27 are slidably connected in the left-right direction. A horizontal third fixing plate 29 and a third opening for the lower left blocking plate 31 to move left and right and extend out of the placing bin 25 are fixed to the left side wall of the placing bin outlet, and the lower left blocking plate 31 and the third fixing plate 29 are slidably connected in the left-right direction. A fourth horizontal fixing plate 30 and a fourth opening for the lower right blocking plate 24 to move left and right and extend into and out of the placement bin 25 are fixed to the right side wall of the placement bin outlet, respectively, at the lower right blocking plate 24. The lower right blocking plate 24 and the fourth fixing plate 30 are slidably connected in the left and right directions. The left motor 23 rotates forward, driving the left gear 21 to rotate counterclockwise, so that the left gear 21 simultaneously drives the upper left blocking plate 26 to extend out of the placement bin 25 and the lower left blocking plate 31 to extend into the placement bin 25; the right motor 22 rotates forward, driving the right gear 22 to rotate clockwise, so that the right gear 20 simultaneously drives the upper right blocking plate 19 to extend out of the placement bin 25 and the lower right blocking plate 24 to extend into the placement bin 25. The upper left sealing plate 26 and the upper right sealing plate 19 are located in the same plane, and the lower left sealing plate 31 and the lower right sealing plate 24 are located in the same plane, wherein the distance between the plane where the upper left sealing plate 26 and the upper right sealing plate 19 are located and the plane where the lower left sealing plate 31 and the lower right sealing plate 24 are located is equivalent to the height of a single backup MESH node 18.When the left motor 23 and the right motor 22 rotate forward at the same time, the lowest spare MESH node 18 in the placement bin 25 falls from the closed sealing surface formed by the upper left blocking plate 26 and the upper right blocking plate 19 in the placement bin 25 to the closed sealing surface formed by the lower left blocking plate 31 and the lower right blocking plate 24 in the placement bin 25; further, when the left motor 23 and the right motor 22 rotate in the reverse direction at the same time, the upper left blocking plate 26 and the upper right blocking plate 19 in the placement bin 25 fall from the closed sealing surface formed by the upper left blocking plate 26 and the upper right blocking plate 19 in the placement bin 25. A closed sealing surface is formed again, thereby forming a sealing support for the spare MESH node 18 above the closed sealing surface. At the same time, the closed sealing surface formed by the lower left sealing plate 31 and the lower right sealing plate 24 in the placement bin 25 is opened, and the spare MESH node 18 blocked and supported by it falls out from the placement bin exit. After falling out, the spare MESH node 18 is used as a MESH network node, and the central control module 16 is connected to external equipment through the spare MESH node 18 that falls out.

[0050] Furthermore, the upper and lower surfaces of each of the backup MESH nodes 18 are configured as an outwardly protruding arc surface structure to prevent the upper left blocking plate 26 and the upper right blocking plate 19 from getting stuck when extending between two adjacent backup MESH nodes 18; the left motor 23 and the right motor 22 are both servo motors.

[0051] See also Figure 1-Figure 8The invention provides an intelligent inspection device based on a MESH network for use in tunnels, including the automatic blind spot filling device, comprising: an inspection device body 9, a sensor module 8, a camera 14, the automatic blind spot filling device 2, and a power supply 17. The sensor module 8 is arranged on the front side of the inspection device body 9, and the sensor module comprises a temperature sensor (an infrared temperature sensor may be used) and a current transformer for collecting cable current. According to the analysis of power accidents, cable overheating failures may cause fires, resulting in large-scale cable burns, causing forced shutdowns, and inability to resume normal production and life in a short period of time, causing significant economic losses and social impacts. Therefore, an effective method for preventing cable overheating and fires is to timely detect the cable temperature, and issue an early warning before a fault occurs according to the temperature change trend. Infrared temperature sensors are generally used to detect the cable temperature during inspection. The current transformer is used to collect the current information of the cable. Since power equipment is widely used in cable trenches and the use environment is complex and diverse, various unexpected problems often occur during operation, which brings many problems and difficulties to normal production and operation, and causes irreversible damage to the performance of the equipment. At the same time, it is also very likely to cause various dangers and accidents. At present, there are many methods for fault diagnosis, but the diagnosis based on voltage and current is the most convenient method for engineering implementation, which involves the collection of current and voltage and data analysis. At present, the cable current collection method in the existing technology is generally to collect through the current transformer as the current collection module. The current collection module can adopt the DAM-3505N / T three-phase AC parameter multifunctional collection module, which has the functions of collecting voltage, current, input frequency, reactive power, active power, etc. For example, the current collection device based on ESP32 realizes the mutual communication between the current sensor and the ESP32 development board through the PCB connection, sends the function code to the current sensor through the esp32 development board and receives the current data sent by the current sensor. The camera 14 is arranged at the bottom of the inspection equipment body 9; the upper end of the placement bin 25 of the automatic blind spot filling device 2 is arranged in the inspection equipment body 9; the central control module 16 is arranged inside the inspection equipment body 9; the central control module 16 is also provided with a MESH network node, and the central control module 16 is connected to the nodes of the MESH network and external devices through the MESH network node to exchange information, and the central control module 16 is signal-connected with the camera 14 and the sensor module 8 respectively; when there is a damaged intermediate node in the MESH network at the inspection site and there is no intermediate node to which the offline sub-node can be connected, resulting in the inability to restore the connection, at this time, the automatic blind spot filling device 2 is used to release the spare MESH node 18 for replacing the damaged node for data forwarding. The power supply 17 is used to power each module and related equipment.

[0052] like Figure 8The figure shows a system block diagram of the MESH network node architecture of the inspection and monitoring system of the present invention. The MESH network node mainly uses sensors for data collection. Each MESH network node in the system is composed of several submodules including a main control chip, a functional sensor, a radio frequency antenna, and a battery pack. The main control chip is mainly responsible for tasks such as data processing, storage, and transmission. Since there are many nodes in the network and each node needs to process limited data, the data is processed at the node and then transmitted to the monitoring system through the mesh network. The data processing flow at the acquisition node mainly includes: (1) normalization of data; (2) comparison with the set threshold. The monitoring system completes the calculation of the final monitoring environment operation status index. The battery uses a lithium battery UPS and a 220V dual power supply, which has the ability to maintain operation in the event of an unexpected power outage. If there is a damaged intermediate node in the MESH network and the offline subnode has no intermediate node to connect to, the connection cannot be restored. At this time, a backup MESH node of the blind spot compensation device provided by the drone body is set to enter the damaged node position in the tunnel to replace the damaged node for data forwarding. The internal electrical system structure and principle of the backup MESH node 18 itself are prior art. MESH nodes use drones as carrier platforms.

[0053] The process of standby MESH nodes replacing damaged nodes is as follows:

[0054] (1) The inspection drone carries a backup MESH node for daily inspection. At this time, the backup MESH node inside the drone is in the shutdown state, and the inspection drone is controlled by the main control chip through the MESH network;

[0055] (2) When the number of nodes that need to join the network and their locations are determined, the system will save the MAC addresses of all nodes. When a faulty node exits the network and the disconnected node cannot be restored, the location of the damaged node is determined based on the MAC address of the node that has lost the network;

[0056] (3) When the inspection drone detects that the MESH network node is damaged or the network signal exceeds the minimum limit, the backup MESH node is delivered to the ground through the blind spot filling device structure described below. After the released MESH node is turned on, it will automatically start working and forward data instead of the damaged node, and automatically join the network as a new child node. After the backup MESH node is released, it can be automatically turned on and enter the working state. Specifically, a button switch can be set on the released MESH node. When it is in the storage state inside the automatic blind spot filling device, the button switch is squeezed and retracted by the inner wall of the storage bin 25. At this time, the node is in the off state. When the backup MESH node falls and is released, the button switch pops out, and the node automatically turns on. This achieves the purpose that the backup MESH node inside the drone storage bin is turned off and the dropped MESH node is turned on.

[0057] Furthermore, the inspection device body 9 is a drone body; the external device is a host computer. The power supply 17 is a lithium battery; the bottom of the drone body is provided with a first support frame 12, a second support frame 13 and a third support frame 15. The drone body includes a propeller system, and the central control module 16 is also connected to the control system of the drone body, and the central control module 16 sends instructions to control the propeller system to the control system of the drone body. Specifically, the paddle system includes a first iron rod 5, a second iron rod 3, a third iron rod 7, a fourth iron rod 10, a first paddle wing 1, a second paddle wing 4, a third paddle wing 6 and a fourth paddle wing 11; one end of the first iron rod 5, one end of the second iron rod 3, one end of the third iron rod 7, and one end of the fourth iron rod 10 are all connected to the drone body, the other end of the first iron rod 5 is connected to the first paddle wing 1, the other end of the second iron rod 3 is connected to the second paddle wing 4, the other end of the third iron rod 7 is connected to the third paddle wing 6, and the other end of the fourth iron rod 10 is connected to the fourth paddle wing 11, and the control system of the drone body is connected to the control end of the first paddle wing 1, the control end of the second paddle wing 4, the control end of the third paddle wing 6 and the control end of the fourth paddle wing 11.

[0058] The specific working process of the present invention is:

[0059] The central control module 16 collects on-site video information and environmental information through the camera 14 and the sensor module 8, and then uses the built-in MESH network node to send it to the external host computer so that the remote control personnel can watch the real-time video and environmental information in the tunnel; when the automatic flame recognition program of the host computer finds a fire in the video and environmental information transmitted by the inspection equipment, it immediately issues a fire alarm message, and the remote operation and maintenance personnel obtain the fire alarm message, and obtain the location information of the fire location through the MESH network node using the three-dimensional positioning coordinates of the beacon MESH node laid in the tunnel, so as to rescue the fire as quickly as possible. Specifically, by positioning and continuously calibrating the equipment, the equipment always moves along the pre-set path. Among them, the calibration function obtains the specific position of the corresponding equipment in motion through the three-dimensional positioning method. When using the three-dimensional positioning method for equipment positioning, the distance from the mobile device to the fixed node is generally calculated by measuring time. The distance from multiple fixed nodes to the mobile device and the actual physical coordinates of the fixed nodes can be used to calculate the three-dimensional coordinates of the mobile device. Afterwards, by comparing the three-dimensional coordinates of the mobile device at that moment with the three-dimensional coordinates of the mobile device that should be located at that moment that have been set in the main control chip program, the mobile device is controlled to adjust so that the actual coordinates match the preset coordinates, and the mobile device realizes accurate and stable automatic inspection and monitoring functions, and continuously calibrates the inspection route of the inspection device through the central control module on the inspection device.

[0060] Due to the complex situation inside the electrical pipe gallery, when flying along the route set by the program, it is necessary to perform three-dimensional node positioning through the beacon MESH nodes laid in the pipe gallery, so as to correct when the inspection equipment deviates from the route; the distance between the inspection equipment and the beacon MESH node is obtained by using the time when the MESH network node in the central control module 16 and the beacon MESH node send signals, and three-dimensional positioning is performed based on this. The specific process is as follows:

[0061] The MESH beacon node laid on the ground sends out a signal with a known propagation speed. The MESH network node receives the signal and obtains the time from the signal being sent to being received, thereby calculating the relative distance between the MESH network node and the MESH beacon node through the propagation speed of the signal in the air, such as Figure 5 As shown, after the signal is transmitted from the MESH beacon node to the MESH network node, the MESH network node sends a feedback signal to the MESH beacon node as a response.

[0062] By sending signals to each other, the MESH network nodes can infer the distance L from the node's cycle delay:

[0063] Assume that the physical coordinates of the four fixed nodes are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) and (x4, y4, z4), the unknown coordinates of the mobile device are (x, y, z), and the distance from the mobile device to the fixed node is d1, d2, d3, d4, then there is a set of equations:

[0064] (x-x1)^2+(y-y1)^2+(z-z1)^2=d1^2

[0065] (x-x2)^2+(y-y2)^2+(z-z2)^2=d2^2

[0066] (x-x3)^2+(y-y3)^2+(z-z3)^2=d3^2

[0067] (x-x4)^2+(y-y4)^2+(z-z4)^2=d4^2

[0068] This system of equations can be solved using the least squares method.

[0069] Then, the three-dimensional coordinates of the MESH network nodes during the flight are compared with the three-dimensional coordinates of the inspection equipment in the flight route preset by the program, and the flight route of the inspection equipment during the real-time flight is calibrated based on the comparison results.

[0070] refer to Figure 6Since each node in the MESH network has the function of self-organizing network, the failure of a single node will not cause the failure of the transmission link. When multiple nodes fail and the link fails, when the signal strength received by the MESH network node in the central control module 16 for communicating with the host computer is lower than the preset value, the central control module 16 starts the left motor 23 and the right motor 22 to rotate forward at the same time to drive the left gear 21 and the right gear 22 to rotate, thereby separating the upper left blocking plate 26 and the upper right blocking plate 19 from the closed state, and at the same time making the lower left blocking plate 31 and the lower right blocking plate 24 form a closed state. In this process, the lowest spare MESH node 18 falls to the closed support surface formed by the lower left blocking plate 31 and the lower right blocking plate 24 under the action of gravity, so that the spare MESH node 18 is between the upper left and right blocking plates and the lower left and right blocking plates. Then the central control module 16 controls the left motor 23 and the right motor 22 to reverse synchronously, and the upper left blocking plate 26 and the upper right blocking plate 19 form a closed blocking surface again in the placement bin 25, thereby forming a blocking support for the spare MESH node 18 above the closed blocking surface. At the same time, the closed blocking surface formed by the lower left blocking plate 31 and the lower right blocking plate 24 in the placement bin 25 is opened, and the spare MESH node 18 blocked and supported by it falls out from the placement bin exit. The spare MESH node 18 after falling out is used as a MESH network node. The central control module 16 is connected to the host computer through the spare MESH node 18 that falls out to automatically connect to the MESH network, so that the inspection equipment body 9 maintains a remote network connection to continue inspection, and sends repair information to remote operation and maintenance personnel to ensure that the faulty node is replaced in time.

[0071] The above disclosures are only several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An automatic blind spot filling device, characterized in that: The method is used to automatically release the MESH nodes (18) for blind spot filling in the MESH network, including: An accommodating bin (25) is provided with an accommodating bin outlet at its lower end, and a plurality of spare MESH nodes (18) are stored in the accommodating bin (25), wherein the spare MESH nodes (18) are stacked together in sequence along the longitudinal direction; An upper left blocking plate (26) is horizontally arranged and slidably connected to the left wall of the placement bin outlet in the left-right direction, and a first rack (33) is arranged on its lower surface in the left-right direction; An upper right blocking plate (19) is horizontally arranged, opposite to the upper left blocking plate (26), and is slidably connected to the right side wall of the storage bin outlet in the left-right direction, and a second rack (32) is provided on its lower surface in the left-right direction; A lower left blocking plate (31) is horizontally arranged and slidably connected to the left wall of the placement bin outlet in the left-right direction, and a third rack is arranged on its upper surface in the left-right direction; A lower right blocking plate (24) is horizontally arranged, opposite to the lower left blocking plate (31), and is slidably connected to the right side wall of the placement bin outlet in the left-right direction, and a fourth rack is provided on its upper surface in the left-right direction; A left gear (21) is disposed between the upper left blocking plate (26) and the lower left blocking plate (31), and is meshed with the first rack (33) and the third rack respectively; A right gear (20) is disposed between the upper right blocking plate (19) and the lower right blocking plate (24), and is meshed with the second rack (32) and the fourth rack respectively; A left motor (23) is fixed on the left side wall of the storage bin outlet, and its output shaft is connected to the shaft of the left gear (21); A right motor (22) is fixed on the right side wall of the placement bin outlet, and its output shaft is connected to the shaft of the right gear (20); The central control module (16) is respectively connected to the left motor (23) and the right motor (22) by signals. The central control module (16) controls the left motor (23) and the right motor (22) to rotate forward and reverse simultaneously once each according to the received release signal, so that the bottom spare MESH node (18) falls out of the placement bin exit of the placement bin (25) under the action of gravity.

2. An automatic blind spot filling device as claimed in claim 1, characterized in that: A horizontal first fixing plate (28) and a first opening for the upper left blocking plate (26) to move left and right and extend out of or into the accommodating bin (25) are fixed to the left side wall of the accommodating bin outlet at the upper left blocking plate (26), and the upper left blocking plate (26) and the first fixing plate (28) are slidably connected in the left-right direction; A horizontal second fixing plate (27) and a second opening for the upper right blocking plate (19) to move left and right to extend into and out of the accommodating bin (25) are fixed to the right side wall of the accommodating bin outlet at the upper right blocking plate (19), and the upper right blocking plate (19) and the second fixing plate (27) are slidably connected in the left-right direction; A third horizontal fixing plate (29) and a third opening for the lower left blocking plate (31) to move left and right and extend out and into the accommodating bin (25) are fixed to the left side wall of the accommodating bin outlet at the lower left blocking plate (31), and the lower left blocking plate (31) and the third fixing plate (29) are slidably connected in the left-right direction; A fourth horizontal fixing plate (30) and a fourth opening for the lower right blocking plate (24) to move left and right to extend into and out of the accommodating bin (25) are fixed to the right side wall of the accommodating bin outlet at the lower right blocking plate (24), and the lower right blocking plate (24) and the fourth fixing plate (30) are slidably connected in the left-right direction.

3. An automatic blind spot filling device as claimed in claim 2, characterized in that: The left motor (23) rotates forward, driving the left gear (21) to rotate counterclockwise, so that the left gear (21) simultaneously drives the upper left blocking plate (26) to extend out of the placement bin (25) and the lower left blocking plate (31) to extend into the placement bin (25); the right motor (22) rotates forward, driving the right gear (20) to rotate clockwise, so that the right gear (20) simultaneously drives the upper right blocking plate (19) to extend out of the placement bin (25) and the lower right blocking plate (24) to extend into the placement bin (25); The upper left blocking plate (26) and the upper right blocking plate (19) are located in the same plane, and the lower left blocking plate (31) and the lower right blocking plate (24) are located in the same plane, wherein the distance between the plane where the upper left blocking plate (26) and the upper right blocking plate (19) are located and the plane where the lower left blocking plate (31) and the lower right blocking plate (24) are located is equivalent to the height of a single spare MESH node (18); When the left motor (23) and the right motor (22) rotate in the forward direction at the same time, the lowest spare MESH node (18) in the placement bin (25) falls from the closed sealing surface formed by the upper left sealing plate (26) and the upper right sealing plate (19) in the placement bin (25) to the closed sealing surface formed by the lower left sealing plate (31) and the lower right sealing plate (24) in the placement bin (25); further, when the left motor (23) and the right motor (22) rotate in the reverse direction at the same time, the upper left sealing plate (26) and the upper right sealing plate (19) in the placement bin (25) A closed sealing surface is formed again in the placement bin (25), thereby forming a sealing support for the spare MESH node (18) above the closed sealing surface. At the same time, the closed sealing surface formed by the lower left sealing plate (31) and the lower right sealing plate (24) in the placement bin (25) is opened, and the spare MESH node (18) blocked and supported thereby falls out from the placement bin exit. The spare MESH node (18) that falls out is used as a MESH network node, and the central control module (16) is connected to external equipment via the spare MESH node (18) that falls out.

4. An automatic blind spot filling device as claimed in claim 3, characterized in that: The central control module (16) also includes a MESH network node connected to the external device by wireless signal; the central control module (16) uses the information that the signal strength received by the MESH network node for communicating with the external device is lower than a preset value as the received release signal.

5. An automatic blind spot filling device as claimed in claim 3, characterized in that: The upper surface and the lower surface of each of the spare MESH nodes (18) are configured as an outwardly protruding arc surface structure to prevent the upper left blocking plate (26) and the upper right blocking plate (19) from getting stuck when extending between two adjacent spare MESH nodes (18); the left motor (23) and the right motor (22) are both servo motors.

6. An intelligent inspection device based on a MESH network comprising the automatic blind spot filling device according to claim 4, characterized in that: include: Inspection equipment body (9); A sensor module (8) is arranged on the front side of the inspection device body (9), wherein the sensor module (8) comprises a temperature sensor and a current transformer; A camera (14) is arranged at the bottom of the inspection device body (9); The automatic blind spot filling device (2) has an upper end of a placement compartment (25) of the automatic blind spot filling device (2) arranged in the inspection device body (9); the central control module (16) is arranged in the inspection device body (9); the MESH network node is arranged in the central control module (16), the central control module (16) is connected to external equipment via the MESH network node, and the central control module (16) is signal-connected to the camera (14) and the sensor module (8) respectively; when an intermediate node of the MESH network at the inspection location is damaged and the offline sub-node has no intermediate node to which it can be connected, resulting in the inability to restore the connection, the automatic blind spot filling device (2) releases a spare MESH node (18) for replacing the damaged node for data forwarding; A power supply (17) is used for supplying power.

7. The intelligent inspection device based on MESH network as claimed in claim 6, characterized in that: The inspection device body (9) is a drone body; and the external device is a host computer.

8. The intelligent inspection device based on MESH network as claimed in claim 7, characterized in that: The power source (17) is a lithium battery; a first support frame (12), a second support frame (13) and a third support frame (15) are arranged at the bottom of the drone body.

9. The intelligent inspection device based on MESH network as claimed in claim 7, characterized in that: The drone body comprises a propeller system, and the central control module (16) is also connected to the control system of the drone body, and the central control module (16) sends instructions for controlling the propeller system to the control system of the drone body.

10. The intelligent inspection device based on MESH network according to claim 9, characterized in that: The paddle system comprises a first iron rod (5), a second iron rod (3), a third iron rod (7), a fourth iron rod (10), a first paddle wing (1), a second paddle wing (4), a third paddle wing (6) and a fourth paddle wing (11); one end of the first iron rod (5), one end of the second iron rod (3), one end of the third iron rod (7) and one end of the fourth iron rod (10) are all connected to the drone body; the other end of the first iron rod (5) is connected to the first paddle wing (1), the other end of the second iron rod (3) is connected to the second paddle wing (4), the other end of the third iron rod (7) is connected to the third paddle wing (6), and the other end of the fourth iron rod (10) is connected to the fourth paddle wing (11); and a control system of the drone body is connected to the control end of the first paddle wing (1), the control end of the second paddle wing (4), the control end of the third paddle wing (6) and the control end of the fourth paddle wing (11).

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