An inspection robot and a control method

Abstract

The present invention discloses an inspection robot and a control method, which include a single-chip microcomputer control module, a robot host system, a battery pack module, a target power supply box control module, and a communication module; the single-chip microcomputer control module is connected to the robot host system through the communication module; the battery pack module and the single-chip microcomputer control module are respectively connected to the target power supply box control module; the target power supply box control module is connected to the robot host system through a target device; both ends of the single-chip microcomputer control module are respectively connected with a target status display module, and the battery pack module is used to provide power for the target device when the target power supply box control module stops power supply; thus solving the technical problem of the increase in labor costs.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and particularly to an inspection robot. Background Art

[0002] With the continuous development of the economy, the demand for electricity is increasing continuously, the number and scale of power equipment are constantly expanding, and there are relatively high requirements for the workload, working range, working time, working frequency, etc. of outdoor power inspection operations. Therefore, the power system usually uses inspection robots to replace manual labor to complete inspection operations.

[0003] At present, there is a problem that the power-on and power-off timings of each module in the host system of the existing inspection robot are not controlled, resulting in the host system of the inspection robot crashing. After the crashing occurs, the host system of the inspection robot needs to be manually intervened to run again, thus increasing the labor cost. Summary of the Invention

[0004] The present invention provides an inspection robot and a control method, which solve the technical problem that the power-on and power-off timings of each module in the host system of the existing inspection robot are not controlled, resulting in the host system of the inspection robot crashing, and after the crashing occurs, the host system of the inspection robot needs to be manually intervened to run again, thus increasing the labor cost.

[0005] An inspection robot provided by the first aspect of the present invention includes a single-chip microcomputer control module, a robot host system, a battery pack module, a target power supply box control module, and a communication module;

[0006] The single-chip microcomputer control module is connected to the robot host system through the communication module;

[0007] The battery pack module and the single-chip microcomputer control module are respectively connected to the target power supply box control module;

[0008] The target power supply box control module is connected to the robot host system through a target device;

[0009] The robot host system is configured to obtain the operation status data of the target device and send it to the single-chip microcomputer control module and the target status display module through the communication module;

[0010] The single-chip microcomputer control module is configured to read the operation status data and determine whether to disconnect the target power supply box control module according to the operation status data;

[0011] Both ends of the single-chip microcomputer control module are respectively connected to the target status display module, and the target status display module is used to read the operation status data and output and display the target status information of the robot host system according to the operation status data;

[0012] The battery pack module is used to provide power for the target device when the target power supply box control module stops power supply.

[0013] Optionally, a first control module is also involved. The target power supply box control module includes a first power supply box, and the target device includes a plurality of first devices;

[0014] One end of the first control module is connected to the single-chip microcomputer control module;

[0015] The other end of the first control module is connected to one end of the first power supply box;

[0016] The other end of the first power supply box is connected in parallel with one end of the plurality of first devices;

[0017] The other ends of the plurality of target devices are connected to the robot host system;

[0018] The first power supply box is connected to the battery pack module.

[0019] Optionally, the first control module includes a first resistor, a second resistor and a first triode;

[0020] One end of the first resistor is connected to the single-chip microcomputer control module;

[0021] The other end of the first resistor is connected to one end of the second resistor, and the other end of the second resistor is grounded;

[0022] The other end of the first resistor is connected to the first connection end of the first triode;

[0023] The second connection end of the first triode is grounded;

[0024] The third connection end of the first triode is connected to one end of the first power supply box.

[0025] Optionally, a second control module is also involved. The target power supply box control module further includes a second power supply box, and the target device further includes a second device;

[0026] One end of the second control module is connected to the single-chip microcomputer control module;

[0027] The other end of the second control module is connected to one end of the second power supply box;

[0028] The other end of the second power supply box is connected to one end of the second device;

[0029] The other end of the second device is connected to the robot host system;

[0030] The second power supply box is connected to the battery pack module.

[0031] Optionally, the second control module includes a third resistor, a fourth resistor, and a second triode;

[0032] One end of the third resistor is connected to the single-chip microcomputer control module;

[0033] The other end of the third resistor is connected to one end of the fourth resistor, and the other end of the fourth resistor is grounded;

[0034] The other end of the third resistor is connected to the first connection end of the second triode;

[0035] The second connection end of the second triode is grounded;

[0036] The third connection end of the second triode is connected to one end of the second power supply box.

[0037] Optionally, it further relates to a fifth resistor, a sixth resistor, and a battery switch;

[0038] One end of the fifth resistor is connected to the single-chip microcomputer control module;

[0039] The other end of the fifth resistor is respectively connected to the battery pack module and one end of the sixth resistor;

[0040] The other end of the sixth resistor is grounded;

[0041] The battery switch is connected to the battery pack module.

[0042] Optionally, it further relates to a third control module. The target power supply box control module further includes a third power supply box, and the target device includes a plurality of third devices;

[0043] One end of the third control module is connected to the single-chip microcomputer control module;

[0044] The other end of the third control module is connected to one end of the third power supply box;

[0045] The other end of the third power supply box is connected in parallel with one end of the plurality of third devices;

[0046] The other ends of the plurality of third devices are connected to the robot host system;

[0047] The third power supply box is connected to the battery pack module.

[0048] Optionally, the third control module includes a seventh resistor, an eighth resistor, and a third triode;

[0049] One end of the seventh resistor is connected to the single-chip microcomputer control module;

[0050] The other end of the seventh resistor is connected to one end of the eighth resistor, and the other end of the eighth resistor is grounded;

[0051] The other end of the seventh resistor is connected to the first connection end of the third triode;

[0052] The second connection end of the third triode is grounded;

[0053] The third connection end of the third triode is connected to one end of the third power supply box.

[0054] Optionally, the target status display module includes a first LED display unit and a second LED display unit, and the target status information includes first status information and second status information;

[0055] One end of the single-chip microcomputer control module is connected to the first LED display unit through a tenth resistor, and the first LED display unit is used to display the first status information of the robot host system;

[0056] The other end of the single-chip microcomputer control module is connected to the second LED display unit through a ninth resistor, and the second LED display unit is used to display the second status information of the robot host system.

[0057] A control method for an inspection robot provided in the second aspect of the present invention includes a single-chip microcomputer control module, a robot host system, a battery pack module, a target power supply box control module, and a communication module;

[0058] Obtain the operation status data of the target device through the robot host system, and send it to the single-chip microcomputer control module and the target status display module through the communication module;

[0059] Read the operation status data through the target status display module, and output and display the target status information of the robot host system according to the operation status data;

[0060] Read the operation status data through the single-chip microcomputer control module, and judge whether to disconnect the target power supply box control module according to the operation status data;

[0061] When the target power supply box control module stops supplying power, the battery pack module provides power for the target device.

[0062] As can be seen from the above technical solutions, the present invention has the following advantages:

[0063] An inspection robot provided by the present invention includes a single-chip microcomputer control module, a robot host system, a battery pack module, a target power supply box control module, and a communication module; the single-chip microcomputer control module is connected to the robot host system through the communication module; the battery pack module and the single-chip microcomputer control module are respectively connected to the target power supply box control module; the target power supply box control module is connected to the robot host system through a target device; the robot host system is used to obtain the operation status data of the target device and send it to the single-chip microcomputer control module and the target status display module through the communication module; the single-chip microcomputer control module is used to read the operation status data and determine whether to disconnect the target power supply box control module according to the operation status data; both ends of the single-chip microcomputer control module are respectively connected with a target status display module, and the target status display module is used to read the operation status data and output and display the target status information of the robot host system according to the operation status data; the battery pack module is used to provide power for the target device when the target power supply box control module stops supplying power. Ensure the stability of the power on and off of the robot system, monitor the battery power situation, and the robot host system feeds back information such as battery power, the operation status of the internal system of the robot, and abnormal status to the single-chip microcomputer in real time through the RS485 bus. The single-chip microcomputer issues control instructions to perform real-time power supply switch processing on each module of the robot host system, can process various abnormal situations in real time, and increases the charging management strategy. Improve the stability of the robot system and solve the problems of long charging time of the robot and the need for manual intervention to restore the system operation after probabilistic crashes. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0065] Figure 1 It is a schematic diagram of an inspection robot provided by an embodiment of the present invention;

[0066] Figure 2 It is a step flow chart of a control method applied to an inspection robot provided by an embodiment of the present invention;

[0067] Among them, the meanings of the reference numerals are as follows:

[0068] 1. Single-chip microcomputer control module; 2. Robot host system; 3. Battery pack module; 4. Communication module; 5. First power supply box; 6. Second power supply box; 7. Third power supply box; 8. First resistor; 9. Second resistor; 10. First triode; 11. Third resistor; 12. Fourth resistor; 13. Second triode; 14. Fifth resistor; 15. Sixth resistor; 16. Seventh resistor; 17. Eighth resistor; 18. Third triode; 19. Ninth resistor; 20. Tenth resistor; 21. Second LED display unit; 22. First LED display unit. Detailed implementation manners

[0069] An embodiment of the present invention provides an inspection robot and a control method, which are used to solve the problem that the power-on and power-off timings of each module in the host system of the existing inspection robot are not controlled, resulting in a deadlock phenomenon in the host system of the inspection robot. After the deadlock phenomenon occurs, manual intervention is required to restart the host system of the inspection robot, thereby increasing the labor cost.

[0070] In order to make the invention purpose, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0071] Please refer to Figure 1 , Figure 1 which is a schematic diagram of an inspection robot provided by an embodiment of the present invention.

[0072] An inspection robot provided by the present invention includes a single-chip microcomputer control module 1, a robot host system 2, a battery pack module 3, a target power supply box control module, and a communication module 4;

[0073] The single-chip microcomputer control module 1 is connected to the robot host system 2 through the communication module 4;

[0074] The battery pack module 3 and the single-chip microcomputer control module 1 are respectively connected to the target power supply box control module;

[0075] The target power supply box control module is connected to the robot host system 2 through a target device;

[0076] The robot host system 2 is used to obtain the operation status data of the target device and send it to the single-chip microcomputer control module 1 and the target status display module through the communication module 4;

[0077] The single-chip microcomputer control module 1 is used to read the operation status data and determine whether to disconnect the target power supply box control module according to the operation status data;

[0078] Both ends of the single-chip microcomputer control module 1 are respectively connected with a target status display module, which is used to read the operation status data and output and display the target status information of the robot host system 2 according to the operation status data;

[0079] The battery pack module 3 is used to provide power for the target device when the target power supply box control module stops supplying power.

[0080] It should be noted that the operation status data of the target device is obtained through the robot host system 2 and sent to the single-chip microcomputer control module 1 and the target status display module through the communication module 4; the operation status data is read through the target status display module, and the target status information of the robot host system 2 is output and displayed according to the operation status data; the operation status data is read through the single-chip microcomputer control module 1, and it is determined whether to disconnect the target power supply box control module according to the operation status data; when the target power supply box control module stops supplying power, the battery pack module 3 provides power for the target device.

[0081] The present invention provides an inspection robot and a control method, which also involve a first control module. The target power supply box control module includes a first power supply box 5, and the target device includes a plurality of first devices; one end of the first control module is connected to the single-chip microcomputer control module 1; the other end of the first control module is connected to one end of the first power supply box 5; the other end of the first power supply box 5 is connected in parallel with one end of the plurality of first devices; the other ends of the plurality of target devices are connected to the robot host system 2; the first power supply box 5 is connected to the battery pack module 3; the first control module includes a first resistor 8, a second resistor 9 and a first triode 10; one end of the first resistor 8 is connected to the single-chip microcomputer control module 1; the other end of the first resistor 8 is connected to one end of the second resistor 9, and the other end of the second resistor 9 is grounded; the other end of the first resistor 8 is connected to the first connection end of the first triode 10; the second connection end of the first triode 10 is grounded; the third connection end of the first triode 10 is connected to one end of the first power supply box 5.

[0082] It should be noted that the first power supply box 5 is a 12V 30A DC regulated power supply box. The input end of the first power supply box 5 has two ports. The third connection end of the first triode 10 is connected to the enable control end of the first power supply box 5, that is, the switch control end. The default level of the switch control end is high level. When the first triode 10 outputs a low level, the port of the enable control end of the first power supply box 5 is pulled low, and the first power supply box 5 prohibits power output. There is no voltage output on the line between the first power supply box 5 and the target device. The battery pack module 3 is connected to the power input port of the first power supply box 5. The battery pack module 3 supplies power to the first power supply box 5 through the line between the battery pack module 3 and the first power supply box 5. The first power supply box 5 outputs power to the target device. It is worth mentioning that the target device includes multiple first devices. The first device can be an industrial computer, a navigator, a power amplifier, a bridge, and a gyroscope. The first power supply box 5 is connected in parallel with multiple first devices, and all supply working power to each first device through the first power supply box 5.

[0083] The present invention provides a patrol robot and a control method, which also involve a second control module. The target power supply box control module further includes a second power supply box 6, and the target device further includes a second device; one end of the second control module is connected to the single-chip microcomputer control module 1; the other end of the second control module is connected to one end of the second power supply box 6; the other end of the second power supply box 6 is connected to one end of the second device; the other end of the second device is connected to the robot host system 2; the second power supply box 6 is connected to the battery pack module 3; the second control module includes a third resistor 11, a fourth resistor 12, and a second triode 13; one end of the third resistor 11 is connected to the single-chip microcomputer control module 1; the other end of the third resistor 11 is connected to one end of the fourth resistor 12, and the other end of the fourth resistor 12 is grounded; the other end of the third resistor 11 is connected to the first connection end of the second triode 13; the second connection end of the second triode 13 is grounded; the third connection end of the second triode 13 is connected to one end of the second power supply box 6.

[0084] It should be noted that the second power supply box 6 is a 5V 3A DC regulated power supply box. The input end of the second power supply box 6 has two ports. The third connection end of the second triode 13 is connected to the enable control end of the second power supply box 6, that is, the switch control end. The default level of the switch control end is high level. When the second triode 13 outputs a low level, the port of the enable control end of the second power supply box 6 is pulled low, and the second power supply box 6 prohibits power output. There is no voltage output on the line between the second power supply box 6 and the second device. The battery pack module 3 is connected to the power input port of the second power supply box 6. The battery pack module 3 supplies power to the second power supply box 6 through the line between the battery pack module 3 and the second power supply box 6. Then, the second power supply box 6 outputs working power to the second device. It is worth mentioning that the second device is a switch. When an abnormal situation occurs in the working operation state of the switch, the robot host system 2 will obtain the abnormal information data of the switch. The robot host system 2 sends the abnormal string information to the single-chip microcomputer control module 1 through the communication module 4. It is worth mentioning that the communication module 4 is TD301D485. The single-chip microcomputer control module 1 obtains the abnormal string information sent by the robot host system 2 through the communication module 4 and outputs a low-level signal to the first LED display unit 22. The red light LED1 in the first LED display unit 22 lights up to display the abnormal state. At the same time, the single-chip microcomputer IO control port in the single-chip microcomputer control module 1 sends a high level through the line between the single-chip microcomputer control module 1 and the third resistor 11 to drive the second triode 13 to conduct. After the second triode 13 conducts, the line between the second triode 13 and the second power supply box 6 is pulled to the ground, that is, a low-level signal, thereby turning off the second power supply box 6. The second power supply box 6 cannot output voltage, thus protecting the robot host system 2.

[0085] The present invention provides an inspection robot and a control method, and also relates to a fifth resistor 14, a sixth resistor 15 and a battery switch; one end of the fifth resistor 14 is connected to the single-chip microcomputer control module 1; the other end of the fifth resistor 14 is respectively connected to the battery pack module 3 and one end of the sixth resistor 15; the other end of the sixth resistor 15 is grounded; the battery switch is connected to the battery pack module 3.

[0086] It should be noted that the voltage of the battery pack module 3 is divided by the fifth resistor 14 and the sixth resistor 15 in series, and is connected to the IO control port with ADC function inside the single-chip microcomputer control module 1 through the line between the fifth resistor 14 and the single-chip microcomputer control module 1. When an external charging adapter is inserted, the robot host system 2 obtains the information that the charging adapter is inserted, and sends a string of character information to the single-chip microcomputer control module 1 through the TD301D485 communication module 4. High-level signals are respectively output through the lines between the single-chip microcomputer control module 1 and the first resistor 8, between the single-chip microcomputer control module 1 and the second resistor 9, and between the single-chip microcomputer control module 1 and the third resistor 11, so that the first triode 10, the second triode 13, and the third triode 18 are turned on simultaneously, thereby turning off the first power supply box 5, the second power supply box 6, and the third power supply box 7. At this time, the no-load charging state is achieved, which greatly improves the charging efficiency.

[0087] Aiming at the problems that the charging time of the battery is long and there is no charging management strategy after the external adapter is inserted, the present invention identifies the insertion of the external charger, turns off the first power supply box 5, the second power supply box 6, and the third power supply box 7, and the robot host system 2 charges in the no-load state, and can monitor the voltage of the charging battery pack in real time. The charging control strategy is shown in Table 1 below:

[0088] Table 1. Charging control strategy

[0089]

[0090]

[0091] The present invention provides an inspection robot and a control method, and also relates to a third control module. The target power supply box control module further includes a third power supply box 7, and the target device includes a plurality of third devices; one end of the third control module is connected to the single-chip microcomputer control module 1; the other end of the third control module is connected to one end of the third power supply box 7; the other end of the third power supply box 7 is connected in parallel with one end of the plurality of third devices; the other ends of the plurality of third devices are connected to the robot host system 2; the third power supply box 7 is connected to the battery pack module 3; the third control module includes a seventh resistor 16, an eighth resistor 17, and a third triode 18; one end of the seventh resistor 16 is connected to the single-chip microcomputer control module 1; the other end of the seventh resistor 16 is connected to one end of the eighth resistor 17, and the other end of the eighth resistor 17 is grounded; the other end of the seventh resistor 16 is connected to the first connection end of the third triode 18; the second connection end of the third triode 18 is grounded; the third connection end of the third triode 18 is connected to one end of the third power supply box 7.

[0092] It should be noted that the third power supply box 7 is a 24V 25A DC regulated power supply box. The third power supply box 7 has 2 input terminals. The third connection terminal of the third triode 18 is connected to the enable control terminal of the third power supply box 7, that is, the switch control terminal. The default level of this switch control terminal is high level. When the third triode 18 outputs a low level, the port of the enable control terminal of the third power supply box 7 is pulled low, and the third power supply box 7 prohibits power output. There is no voltage output on the line between the third power supply box 7 and the third device. The battery pack module 3 is connected to the power input port of the third power supply box 7. The battery pack module 3 supplies power to the third power supply box 7 through the line between the battery pack module 3 and the third power supply box 7. The third power supply box 7 outputs working power to the third device. The target device includes multiple third devices. The third device can be an inspection pan-tilt, an angle sensor, 4 servo motors, and 4 direct-drive motors. The third power supply box 7 is connected in parallel with multiple third devices. The battery pack module 3 supplies working power to multiple third devices through the third power supply box 7. When an abnormal situation occurs in the working operation state of any third device, the robot host system 2 will obtain the abnormal information data of the abnormal third device and send an abnormal string information. The single-chip microcomputer control module 1 obtains the abnormal string information sent by the robot host system 2 through the TD301D485 communication module 4, outputs a low-level signal through the line between the single-chip microcomputer control module 1 and the tenth resistor 20, and the red LED1 lights up to display the abnormal state. At the same time, the single-chip microcomputer control module 1 sends a high level through the line between the single-chip microcomputer control module 1 and the seventh resistor 16 to drive the third triode 18 to conduct. When the third triode 18 conducts, the line between the third triode 18 and the third power supply box 7 is pulled to the ground, that is, a low-level signal, thereby turning off the third power supply box 7. The third power supply box 7 cannot output voltage, thus protecting the robot host system 2.

[0093] The present invention provides an inspection robot and a control method. The target state display module includes a first LED display unit 22 and a second LED display unit 21. The target state information includes first state information and second state information. One end of the single-chip microcomputer control module 1 is connected to the first LED display unit 22 through the tenth resistor 20. The first LED display unit 22 is used to display the first state information of the robot host system 2. The other end of the single-chip microcomputer control module 1 is connected to the second LED display unit 21 through the ninth resistor 19. The second LED display unit 21 is used to display the second state information of the robot host system 2.

[0094] It should be noted that when an abnormal event occurs in the robot host system 2, the robot host system 2 sends an abnormal string message through the line connected to the communication module 4. The single-chip microcomputer control module 1 obtains the abnormal string message sent by the robot host system 2 through the line connected to the TD301D485 communication circuit. At this time, the single-chip microcomputer control module 1 outputs a low-level signal through the line connected to the tenth resistor 20, thereby controlling the red light LED1 in the first LED display unit 22 to light up, so as to display the abnormal state. It is worth mentioning that the first state information indicates that there is an abnormality in the robot host system 2. When the single-chip microcomputer control module 1 finishes processing the abnormal event, the single-chip microcomputer control module 1 will send it to the communication module 4 through the line connected to the TD301D485 communication module 4, and then send the processed string identifier to the robot host system 2 through the line between the communication module 4 and the robot host system 2. After the string message is sent, the single-chip microcomputer control module 1 will output a low-level signal through the line connected to the ninth resistor 19, thereby controlling the green light LED1 in the second LED display unit 21 to light up. It is worth mentioning that the second state information indicates that there is no abnormality in the robot host system 2. At the same time, the line between the single-chip microcomputer control module 1 and the tenth resistor 20 is pulled high, and the red light LED1 goes out, so as to indicate that the abnormal event has been processed.

[0095] In an example of the present invention, the communication module 4 is the TD301D485 communication module 4. The line between the single-chip microcomputer control module 1 and the communication module 4 corresponds to CON. The single-chip microcomputer control module 1 sends the string status, and outputs a low level through the line between the single-chip microcomputer control module 1 and the communication module 4, that is, the single-chip microcomputer control module 1 sends the string status, and the robot host system 2 receives the string status. When the line between the single-chip microcomputer control module 1 and the communication module 4 outputs a high level, the single-chip microcomputer control module 1 receives the string status, that is, the single-chip microcomputer control module 1 receives the string message sent by the robot host system 2. The line between the single-chip microcomputer control module 1 and the communication module 4 corresponds to the TXD of the single-chip microcomputer control module 1, that is, the sending pin of the single-chip microcomputer control module 1. The line between the communication module 4 and the robot host system 2 corresponds to the RXD of the robot host system 2, that is, the receiving pin of the robot host system 2. The line between the communication module 4 and the single-chip microcomputer control module 1 corresponds to the RXD of the single-chip microcomputer control module 1, that is, the receiving pin of the single-chip microcomputer control module 1. The line between the single-chip microcomputer control module 1 and the communication module 4 corresponds to the TXD of the robot host system 2, that is, the sending pin of the robot host system 2.

[0096] As shown in Table 2 below specifically:

[0097] Table 2, Truth Table

[0098]

[0099] It is worth mentioning that the single-chip microcomputer control module 1 can be an STC single-chip microcomputer, a PIC single-chip microcomputer, an EMC single-chip microcomputer, an ATMEL single-chip microcomputer, etc. Those skilled in the art can arbitrarily select from the above various types of single-chip microcomputers according to different actual needs. As for the design of the peripheral circuit of the single-chip microcomputer, it is common technical knowledge mastered by those skilled in the art and will not be elaborated here.

[0100] In an example of the present invention, after the battery switch is pressed, the single-chip microcomputer control module 1 starts to power on, and the default IO control port of the single-chip microcomputer is set to output and in a high-level state. At this time, Q1, Q2, and Q3 are all in a conducting state, that is, the first power supply box 5, the second power supply box 6, and the third power supply box 7 are all in a state of prohibiting voltage output. At this time, according to the principle of circuit power-on, the low voltage is powered on first, and the high voltage is powered on later. Let Q2 conduct first, delay for 1 second, Q1 conduct, delay for 1 second, Q3 conduct, delay for 1 second, which solves the problem of random crashes and freezes of the robot host system 2 after power-on.

[0101] It is worth mentioning that the target power supply box control module is a switch-on and -off control circuit based on a triode. The TD301D485 communication module 4 is an RS485 interface isolation module integrating power isolation, electrical isolation, an RS485 interface, and a bus protection device. The TD301D485 communication circuit is essentially a level conversion circuit between 5V and 3.3V levels. The battery pack module 3 is a series resistance voltage divider circuit. The single-chip microcomputer control module 1 is also connected to the battery pack module 3 through a detection pin to form a battery pack power collection circuit.

[0102] Regarding the problem that the power-on and power-off sequence of the power supply is not controlled and it is easy to have a crash phenomenon at the moment of power-on and power-off, the present invention can effectively control the power-on and power-off timing of the power supply. The circuit timing control strategy for power-on and power-off is specifically shown in Table 3 as follows:

[0103] Table 3. Circuit Timing Control Strategy

[0104]

[0105]

[0106] Regarding the problem that the robot system needs to be intervened manually to run again, increasing the labor cost, the present invention can monitor the status of the robot host system 2 in real time through the communication module 4. When abnormal situations such as crashes and freezes occur in the robot host system 2, the abnormal handling strategy of the single-chip microcomputer control module 1 for the robot host system 2 is specifically shown in Table 4 as follows.

[0107] Table 4. Abnormal Handling Strategy

[0108]

[0109]

[0110]

[0111]

[0112]

[0113]

[0114]

[0115]

[0116]

[0117] Please refer to Figure 2 , Figure 2 which is the step flowchart of a control method for a patrol robot provided by an embodiment of the present invention.

[0118] A control method for a patrol robot provided by the present invention includes a single-chip microcomputer control module 1, a robot host system 2, a battery pack module 3, a target power supply box control module, and a communication module 4;

[0119] Step 101: Obtain the operation status data of the target device through the robot host system 2, and send it to the single-chip microcomputer control module 1 and the target status display module through the communication module 4.

[0120] Step 102: Read the operation status data through the target status display module, and output and display the target status information of the robot host system 2 according to the operation status data.

[0121] Step 103: Read the operation status data through the single-chip microcomputer control module 1, and judge whether to disconnect the target power supply box control module according to the operation status data.

[0122] Step 104: When the target power supply box control module stops power supply, provide power to the target device through the battery pack module 3.

[0123] In an embodiment of the present invention, the operation status data of the target device is obtained by the robot host system 2 and sent to the single-chip microcomputer control module 1 and the target status display module through the communication module 4; the target status display module reads the operation status data and outputs and displays the target status information of the robot host system 2 according to the operation status data; the single-chip microcomputer control module 1 reads the operation status data and determines whether to disconnect the target power supply box control module according to the operation status data; when the target power supply box control module stops power supply, the battery pack module 3 provides power for the target device.

[0124] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0125] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be in electrical, mechanical, or other forms.

[0126] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0127] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0128] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0129] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of various embodiments of the present invention.

Claims

1. An inspection robot, characterized in that, it includes a single-chip microcomputer control module, a robot host system, a battery pack module, a target power supply box control module and a communication module; the single-chip microcomputer control module is connected to the robot host system through the communication module; the battery pack module and the single-chip microcomputer control module are respectively connected to the target power supply box control module; the target power supply box control module is connected to the robot host system through a target device, the target power supply box control module includes a first power supply box, the target device includes a plurality of first devices, the first devices include an industrial computer, a navigator, a power amplifier, a bridge and a gyroscope, the target power supply box control module further includes a second power supply box, the target device further includes a second device, the second device is a switch, the target power supply box control module further includes a third power supply box, the target device includes a plurality of third devices, the third devices include an inspection pan-tilt, an angle sensor, 4 servo motors and 4 direct-drive motors; the robot host system is configured to obtain the operation status data of the target device and send it to the single-chip microcomputer control module and the target status display module through the communication module; the single-chip microcomputer control module is configured to read the operation status data and determine whether to disconnect the target power supply box control module according to the operation status data; both ends of the single-chip microcomputer control module are respectively connected to the target status display module, and the target status display module is configured to read the operation status data and output and display the target status information of the robot host system according to the operation status data; the battery pack module is configured to provide power for the target device when the target power supply box control module stops supplying power; it also relates to a fifth resistor, a sixth resistor and a battery switch; one end of the fifth resistor is connected to the single-chip microcomputer control module; the other end of the fifth resistor is respectively connected to the battery pack module and one end of the sixth resistor; the other end of the sixth resistor is grounded; the battery switch is connected to the battery pack module; when an external charging adapter is inserted, the robot host system obtains the charging adapter insertion information, sends a string of character information to the single-chip microcomputer control module through the TD301D485 communication module, and outputs high levels respectively through the line between the single-chip microcomputer control module and the first resistor, the line between the single-chip microcomputer control module and the seventh resistor, and the line between the single-chip microcomputer control module and the third resistor, so that the first triode, the second triode and the third triode are simultaneously turned on, thereby turning off the first power supply box, the second power supply box and the third power supply box. At this time, it reaches the no-load charging state; The charging control strategy is specifically: the line between the first resistor and the first triode outputs a high level, and the first triode is turned on; the first power supply box is prohibited from outputting, and the line between the battery pack module and the first triode is in a no-load state; the line between the third resistor and the second triode outputs a high level, and the second triode is turned on; The second power supply box is prohibited from outputting, and the circuit between the battery pack module and the first triode is in an open-circuit state; The circuit between the seventh resistor and the third triode outputs a high level, and the third triode conducts; The third power supply box is prohibited from outputting, and the circuit between the battery pack module and the third power supply box is in an open-circuit state.

2. The inspection robot according to claim 1, characterized in that, it further relates to a first control module; One end of the first control module is connected to the single-chip microcomputer control module; The other end of the first control module is connected to one end of the first power supply box; The other end of the first power supply box is connected in parallel with one end of a plurality of the first devices; The other ends of the plurality of target devices are connected to the robot host system; The first power supply box is connected to the battery pack module.

3. The inspection robot according to claim 2, characterized in that, The first control module includes the first resistor, the second resistor and the first triode; One end of the first resistor is connected to the single-chip microcomputer control module; The other end of the first resistor is connected to one end of the second resistor, and the other end of the second resistor is grounded; The other end of the first resistor is connected to the first connection end of the first triode; The second connection end of the first triode is grounded; The third connection end of the first triode is connected to one end of the first power supply box.

4. The inspection robot according to claim 1, characterized in that, it further relates to a second control module; One end of the second control module is connected to the single-chip microcomputer control module; The other end of the second control module is connected to one end of the second power supply box; The other end of the second power supply box is connected to one end of the second device; The other end of the second device is connected to the robot host system; The second power supply box is connected to the battery pack module.

5. The inspection robot according to claim 4, characterized in that, The second control module includes the third resistor, the fourth resistor and the second triode; One end of the third resistor is connected to the single-chip microcomputer control module; The other end of the third resistor is connected to one end of the fourth resistor, and the other end of the fourth resistor is grounded; The other end of the third resistor is connected to the first connection end of the second triode; The second connection end of the second triode is grounded; The third connection end of the second triode is connected to one end of the second power supply box.

6. The inspection robot according to claim 1, characterized in that, it further relates to a third control module; One end of the third control module is connected to the single-chip microcomputer control module; The other end of the third control module is connected to one end of the third power supply box; The other end of the third power supply box is connected in parallel with one end of a plurality of the third devices; The other ends of the plurality of third devices are connected to the robot host system; The third power supply box is connected to the battery pack module.

7. The inspection robot according to claim 6, characterized in that, The third control module includes the seventh resistor, the eighth resistor and the third triode; One end of the seventh resistor is connected to the single-chip microcomputer control module; The other end of the seventh resistor is connected to one end of the eighth resistor, and the other end of the eighth resistor is grounded; The other end of the seventh resistor is connected to the first connection end of the third triode; The second connection end of the third triode is grounded; The third connection end of the third triode is connected to one end of the third power supply box.

8. The inspection robot according to claim 1, characterized in that the target status display module includes a first LED display unit and a second LED display unit, and the target status information includes first status information and second status information; One end of the single-chip microcomputer control module is connected to the first LED display unit through a tenth resistor, and the first LED display unit is used to display the first status information of the robot host system; The other end of the single-chip microcomputer control module is connected to the second LED display unit through a ninth resistor, and the second LED display unit is used to display the second status information of the robot host system.

9. A control method applied to the inspection robot according to any one of claims 1-8, characterized in that it includes a single-chip microcomputer control module, a robot host system, a battery pack module, a target power supply box control module and a communication module; Obtain the operation status data of the target device through the robot host system, and send it to the single-chip microcomputer control module and the target status display module through the communication module; Read the operation status data through the target status display module, and output and display the target status information of the robot host system according to the operation status data; Read the operation status data through the single-chip microcomputer control module, and judge whether to disconnect the target power supply box control module according to the operation status data; When the target power supply box control module stops power supply, the battery pack module provides power for the target device.

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