Rail mobile inspection robot system with added unmanned aerial vehicle and application

Abstract

The present application belongs to the technical field of inspection robots, and discloses a track moving inspection robot system with an added unmanned aerial vehicle, which solves the problem of low endurance and many blind spots and dead angles of the existing unmanned aerial vehicle type inspection robot, resulting in low efficiency of the inspection robot. The track moving inspection robot system with an added unmanned aerial vehicle comprises a track, an unmanned aerial vehicle and a mother machine, the mother machine is composed of a scissor-type telescopic mechanism, a support platform and a multi-degree-of-freedom panoramic camera module, the track is provided with a track sliding mechanism, one end of the scissor-type telescopic mechanism is connected with the track sliding mechanism, the other end of the scissor-type telescopic mechanism is connected with the support platform, the support platform is connected with the multi-degree-of-freedom panoramic camera module, and the support platform is provided with a wireless charging transmitting end and the unmanned aerial vehicle. The present application greatly improves the endurance time of the unmanned aerial vehicle, and the inspection robot system can comprehensively inspect the environmental conditions and improve the authenticity of information feedback.

Description

Technical Field

[0001] This invention belongs to the field of inspection robot technology, specifically relating to an inspection robot system and its application that uses a track-moving drone. Background Technology

[0002] Traditional track-based mobile robots used for environmental monitoring can only provide a general overview and conduct long-distance inspections, leaving many blind spots and dead zones. Drone-based inspection robots, on the other hand, suffer from limited endurance, making them unable to perform long-distance inspections and causing numerous inconveniences. Furthermore, existing environmental inspection robots can only provide inspection and early warning functions and cannot remove harmful gases, resulting in limited functionality and applicability.

[0003] Track inspection robot systems typically operate autonomously or remotely in unattended indoor environments to monitor and inspect equipment and the surrounding environment. They can promptly detect equipment malfunctions, defects, and other abnormalities, as well as monitor environmental gas pressure, temperature, and humidity, improving operational efficiency and quality, and truly achieving the goal of reducing manpower and increasing efficiency. Existing track-based mobile robots used for environmental monitoring often only provide a general overview and perform long-distance imaging inspections, resulting in many blind spots and dead zones. Drone-based inspection robots, on the other hand, suffer from limited endurance, making long-distance inspections impossible and causing numerous inconveniences. Furthermore, existing environmental inspection robots can only provide inspection and early warning functions, not remove harmful gases; their limited functionality and applicability mean that problems cannot be resolved promptly, requiring feedback to the backend system for dispatching personnel or other equipment, leading to low efficiency and poor safety. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the present invention aims to provide an inspection robot system and application that is equipped with a drone for track movement, which solves the problems of low efficiency of drone-type inspection robots in the prior art due to their weak endurance and the existence of many blind spots and dead angles.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an inspection robot system with a track-moving drone, comprising a track, a drone, and a mother machine. The mother machine consists of a scissor telescopic mechanism, a support platform, and a multi-degree-of-freedom panoramic camera module. A track sliding mechanism is provided on the track. One end of the scissor telescopic mechanism is connected to the track sliding mechanism, and the other end of the scissor telescopic mechanism is connected to the support platform. The support platform is connected to the multi-degree-of-freedom panoramic camera module, and a wireless charging transmitter and a drone are provided on the support platform.

[0006] Preferably, the track sliding mechanism includes a passive pulley and an active pulley, which are disposed on the track. The passive pulley is connected to a passive pulley connecting plate, and the active pulley is connected to an active pulley connecting plate. One adjusting plate is fixedly connected to the active pulley connecting plate, and another adjusting plate is fixedly connected to the passive connecting plate. The active pulley is connected to the output shaft of the motor and the active pulley connecting plate.

[0007] Preferably, the passive pulley and the passive pulley connecting plate are fitted with a rolling bearing with clearance; the motor output shaft and the active pulley are fitted with an interference fit, and the motor output shaft and the active pulley connecting plate are fitted with a thrust bearing with clearance.

[0008] Preferably, the number of passive pulleys is 3, and the adjustment plate has at least 6 holes.

[0009] Preferably, the scissor lift mechanism includes a top plate connected to an adjusting plate. Guide grooves are mirror-imagely provided on both sides of the top plate. A push rod in the guide groove is connected to a lead screw. The push rod is fixed to the top plate via a flange and connected to a motor via a lead screw. Pushing mechanisms are provided on both sides of the top plate. The pushing mechanisms are composed of multiple intersecting connecting rods fixed by pins and are connected to the push rods.

[0010] Preferably, the support platform is provided with a motor base, and a flange is provided under the support platform. The output shaft of the motor passes through the motor base and is connected to the flange. The flange is connected to the rotating bracket. A wireless charging transmitter is provided at one end of the upper surface of the support platform. The two sides of the support platform are connected to pins through guide grooves and through holes. The support platform is connected to the connecting rod through pins. A bracket is provided on the top of the motor, and a multi-sensor system is provided on the bracket.

[0011] Preferably, the drone includes a main body, which is positioned above the wireless charging transmitter. The main body is mounted on a fixed support, and one end of the main body is connected to an arm. The other end of the arm is connected to a motor, and the output shaft of the motor is connected to a rotor. A telescopic support is provided under the arm. An antenna and a storage box are provided on the main body. A nozzle is provided at the bottom of the storage box. A wireless charging receiver is provided at the bottom of the main body and is wirelessly connected to the wireless charging transmitter. A battery is provided inside the main body and is connected to the wireless charging receiver. A camera is provided at the front of the main body.

[0012] Preferably, the multi-degree-of-freedom panoramic camera module includes a dome, one side of which is connected to a servo motor, and the other side of which is connected to a rotating bracket via a rolling bearing. The output shaft of the servo motor is connected to the rolling bearing on the rotating bracket, and the dome is equipped with a camera via a support rod.

[0013] Preferably, the antenna is wirelessly connected to the remote control; the storage box is equipped with a photocatalyst.

[0014] This invention also discloses the application of a track-moving inspection robot system equipped with an unmanned aerial vehicle in environmental monitoring.

[0015] Compared with existing technologies, this invention has the following advantages: This invention provides a track-mounted inspection robot system with an attached drone. First, the main unit moves along a track to inspect the overall environment. Then, using a scissor-lift telescopic mechanism, it approaches the desired environment as closely as possible, facilitating multi-degree-of-freedom panoramic camera imaging. For details that are difficult for the main unit to inspect, the drone captures high-definition images. After completing its task, the drone returns to recharge and awaits its next mission. The inspection robot system is equipped with a wireless charging transmitter, allowing for continuous charging of the drone and significantly improving its battery life. Furthermore, the inspection robot system can comprehensively inspect the environment, improving the accuracy of information feedback. The system can autonomously perform comprehensive inspections from the overall system to the details, promptly identifying equipment malfunctions, defects, and other abnormalities, thus enhancing the accuracy of information feedback.

[0016] Furthermore, the track gliding mechanism enables the mother machine to perform horizontal detection of the overall environment, getting as close as possible to the environment to be detected and reducing blind spots.

[0017] Furthermore, the motor output shaft is interference-fitted with the drive pulley, and the motor output shaft and the drive pulley connecting plate are clearance-fitted through a thrust bearing to prevent axial movement.

[0018] Furthermore, the active pulley provides the main driving force, and the three passive pulleys follow it. The adjustment plate has at least six holes. The more holes there are, the more positions the pulley connecting plate can be fixed in, which can accommodate guide rails of various widths. One pulley connecting plate needs two holes to be fixed to the adjustment plate. If two pulley connecting plates are connected on one adjustment plate, then the adjustment plate needs to have more than four holes and an even number of holes, so at least six holes are required.

[0019] Furthermore, the scissor telescopic mechanism includes a push mechanism consisting of multiple intersecting links fixed by pins, enabling the inspection robot system to extend and retract in the vertical direction, reducing blind spots.

[0020] Furthermore, the support platform is equipped with a multi-sensor system that can monitor ambient gas pressure, temperature, and humidity, providing data for whether the drone is performing harmful gas removal.

[0021] Furthermore, the servo motor drives the spherical cover to rotate 360° around the motor output shaft in the vertical plane, and the motor drives the rotating bracket to rotate, causing the multi-degree-of-freedom panoramic camera module to rotate 360° in the horizontal plane, thereby realizing the multi-degree-of-freedom panoramic camera module.

[0022] Furthermore, the storage box on the drone is equipped with a photocatalyst that is sprayed through a nozzle to spray the photocatalyst onto designated areas to remove harmful gases. This allows the drone to perform long-distance inspections and directly eliminate the detected harmful gases without the need for additional manpower or equipment, thereby greatly improving work efficiency.

[0023] Furthermore, the antenna is connected to the remote control, enabling the inspection robot system to comprehensively inspect the environmental conditions and provide feedback to the terminal operator, thus improving the accuracy of the information feedback. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of an inspection system that uses a track-mounted drone for environmental monitoring.

[0025] Figure 2 This is a schematic diagram of the track sliding mechanism of an inspection system for environmental monitoring that incorporates drones on a track-mounted mobile device.

[0026] Figure 3 This is a schematic diagram of the scissor mechanism of the mother machine of an inspection system for environmental monitoring that uses a track-mounted drone.

[0027] Figure 4 This is a schematic diagram of the mother machine support platform for an inspection system that uses a track-mounted drone for environmental monitoring.

[0028] Figure 5 This is a schematic diagram of a drone used for environmental monitoring, specifically a track-mounted inspection system equipped with an unmanned aerial vehicle (UAV).

[0029] Figure 6 This is a schematic diagram of the multi-degree-of-freedom panoramic camera module of the mother machine of an inspection system for environmental monitoring that uses a track-mounted drone.

[0030] Wherein: 1-track; 2-track sliding mechanism; 3-scissor telescopic mechanism; 4-support platform; 5-UAV; 6-multi-degree-of-freedom panoramic camera module; 201-passive pulley; 202-passive pulley connecting plate; 203-adjusting plate; 204-active pulley; 205-motor; 206-active pulley connecting plate; 301-top plate; 302-motor; 303-connecting rod; 304-pin; 305-push rod; 306-lead screw; 307-flange; 401-base; 402- Motor; 403-Multi-sensor detection module; 404-Bracket; 405-Wireless charging transmitter; 406-Flange; 407-Rotating bracket; 501-Rotor; 502-Motor; 503-Arm; 504-Storage box; 505-Antenna; 506-Nozzle; 507-Fixed bracket; 508-Wireless charging receiver; 509-Battery; 510-Camera; 511-Retractable bracket; 601-Servo motor; 602-Spherical cover; 603-Rolling bearing; 604-Camera. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] The present invention will now be described in further detail with reference to the accompanying drawings:

[0034] See Figure 1An inspection robot system with a track-moving drone includes a track 1 and a drone 5. The track 1 is equipped with a track sliding mechanism 2. One end of the scissor telescopic mechanism 3 is connected to the track sliding mechanism 2, and the other end of the scissor telescopic mechanism 3 is connected to a support platform 4. The support platform 4 is connected to a multi-degree-of-freedom panoramic camera module 6. The support platform 4 is equipped with a wireless charging transmitter 405 and a drone 5. The main unit consists of the scissor telescopic mechanism 3, the support platform 4, and the multi-degree-of-freedom panoramic camera module 6.

[0035] See Figure 2 The track sliding mechanism 2 includes a passive pulley 201 and an active pulley 204, which are mounted on the track 1. The passive pulley 201 is connected to a passive pulley connecting plate 202, and the active pulley 204 is connected to an active pulley connecting plate 206. One adjusting plate 203 is fixedly connected to the active pulley connecting plate 206, and another adjusting plate 203 is fixedly connected to the passive connecting plate 202. The active pulley 204 is connected to the output shaft of the motor 205 and the active pulley connecting plate 206. The passive pulley 201 and the passive pulley connecting plate 202 are fitted with a rolling bearing with clearance. The output shaft of the motor 205 is interference-fitted with the active pulley 204, and the output shaft of the motor 205 is fitted with the active pulley connecting plate 206 with a thrust bearing with clearance. There are three passive pulleys 201, and the adjusting plate 203 has at least six holes, allowing it to be adjusted according to the width of the track 1.

[0036] See Figure 3 The scissor lift mechanism 3 includes a top plate 301, which is connected to an adjusting plate 203. Guide grooves are mirrored on both sides of the top plate 301. Push rods 305 in the guide grooves are connected to lead screws 306. Push rods 305 are connected to motors 302 through lead screws 306. Pushing mechanisms are provided on both sides of the top plate 301. The pushing mechanisms are composed of multiple intersecting connecting rods 303 fixed by pins 304. The pushing mechanisms are connected to push rods 305 and can achieve lifting and lowering under the drive of push rods 305.

[0037] See Figure 4 The support platform 4 is equipped with a motor base 401 and a flange 406. The output shaft of the motor 402 passes through the motor base 401 and is connected to the flange 406. The flange 406 is connected to the rotating bracket 407. The motor 402 drives the rotating bracket 407 to rotate. One end of the upper surface of the support platform 4 is equipped with a wireless charging transmitter 405. The two sides of the support platform 4 are equipped with guide grooves and through holes connected to pins 304. The support platform 4 is connected to the connecting rod 303 through pins 304. The top of the motor 402 is equipped with a bracket 404. The bracket 404 is equipped with a multi-sensor system 403. The multi-sensor system 403 detects the temperature, humidity, gas, and air pressure in the environment.

[0038] See Figure 5The drone 5 includes a main body, which is positioned above the wireless charging transmitter 405. The main body is mounted on a fixed support 507. One end of the main body is connected to an arm 503, and the other end of the arm 503 is connected to a motor 502. The output shaft of the motor 502 is connected to a rotor 501. A retractable support 511 is located below the arm 503. An antenna 505 and a storage box 504 are located on the main body. A nozzle 506 is located at the bottom of the storage box 504. A wireless charging receiver 508 is located at the bottom of the main body and is wirelessly connected to the wireless charging transmitter 405. A battery 509 is located inside the main body and is connected to the wireless charging receiver 508. A camera 510 is located at the front of the main body. The retractable support 511 assists in takeoff and landing. The storage box 504 stores photocatalyst and is connected to the nozzle 506 below for removing harmful gases. The camera 510 is used for detailed inspection. The retractable support 511 reinforces the main body and prevents the drone from slipping when the main body moves.

[0039] See Figure 6 The multi-degree-of-freedom panoramic camera module 6 includes a dome 602. One side of the dome 602 is connected to a servo motor 601, and the other side of the dome 602 is connected to a rotating bracket 407 via a rolling bearing 603. The output shaft of the servo motor 601 is connected to the rolling bearing on the rotating bracket 407. The dome 602 is equipped with a camera 604 via a support rod. The servo motor 601 drives the dome 602 to rotate 360° around the motor output shaft in the vertical plane. The motor 402 drives the rotating bracket 407 to rotate, so that the multi-degree-of-freedom panoramic camera module 6 can rotate 360° in the horizontal plane, thus realizing the multi-degree-of-freedom of the multi-degree-of-freedom panoramic camera module 6.

[0040] The working principle of a track-mounted inspection robot system equipped with a drone is as follows: When using the system, the user first starts it. After startup, the system begins operation. First, the multi-degree-of-freedom panoramic camera module 6 moves along track 1 via the track sliding mechanism 2 to inspect the overall environment. Then, using the scissor-telescopic mechanism 3, it gets as close as possible to the desired inspection area, facilitating image capture by the multi-degree-of-freedom panoramic camera module 6 and detection by the multi-sensor system 403. For details that are difficult to detect using the multi-degree-of-freedom panoramic camera module 6, the drone 5 captures detailed high-definition images. It can also spray photocatalysts to remove harmful gases from leaking toxic gases. If any equipment malfunctions or defects are found, the data can be fed back to the terminal via antenna 505, where staff analyze and resolve the problem. After completing its task, the drone 5 returns to the support platform 4 and recharges via the wireless charging transmitter 405, awaiting its next task. The inspection robot system can comprehensively inspect the environmental conditions, improve the authenticity of information feedback, and increase the drone's endurance. It enables the drone to conduct long-distance inspections and directly eliminate detected harmful gases without the need for additional manpower or equipment, thereby greatly improving work efficiency.

[0041] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A rail-mounted inspection robot system equipped with an unmanned aerial vehicle (UAV), characterized in that, It includes a track (1), a drone (5) and a mother machine. The mother machine consists of a scissor telescopic mechanism (3), a support platform (4) and a multi-degree-of-freedom panoramic camera module (6). The track (1) is equipped with a track sliding mechanism (2). One end of the scissor telescopic mechanism (3) is connected to the track sliding mechanism (2), and the other end of the scissor telescopic mechanism (3) is connected to the support platform (4). The support platform (4) is connected to the multi-degree-of-freedom panoramic camera module (6). The support platform (4) is equipped with a wireless charging transmitter (405) and a drone (5). The track sliding mechanism (2) includes a passive pulley (201) and an active pulley (204). The passive pulley (201) and the active pulley (204) are mounted on the track (1). The passive pulley (201) is connected to the passive pulley connecting plate (202), and the active pulley (204) is connected to the active pulley connecting plate (206). One adjusting plate (203) is fixedly connected to the active pulley connecting plate (206), and another adjusting plate (203) is fixedly connected to the passive connecting plate (202). The active pulley (204) is connected to the output shaft of the motor (205) and the active pulley connecting plate (206). The passive pulley (201) and the passive pulley connecting plate (202) are fitted with a rolling bearing with clearance; the output shaft of the motor (205) is fitted with the active pulley (204) with interference fit, and the output shaft of the motor (205) and the active pulley connecting plate (206) are fitted with a thrust bearing with clearance fit; The scissor telescopic mechanism (3) includes a top plate (301), which is connected to an adjusting plate (203). Guide grooves are mirrored on both sides of the top plate (301). A push rod (305) in the guide groove is connected to a lead screw (306). The push rod (305) is fixed to the top plate (301) through a flange (307). The push rod (305) is connected to a motor (302) through a lead screw (306). Pushing mechanisms are provided on both sides of the top plate (301). The pushing mechanisms are composed of multiple intersecting connecting rods (303) fixed by pins (304). The pushing mechanisms are connected to the push rods (305). The support platform (4) is provided with a motor base (401) and a flange (406) is provided below the support platform (4). The output shaft of the motor (402) passes through the motor base (401) and is connected to the flange (406). The flange (406) is connected to the rotating bracket (407). One end of the upper surface of the support platform (4) is provided with a wireless charging transmitter (405). The two sides of the support platform (4) are connected to the pins (304) through guide grooves and through holes. The support platform (4) is connected to the connecting rod (303) through the pins (304). The top of the motor (402) is provided with a bracket (404). The bracket (404) is provided with a multi-sensor system (403). The multi-degree-of-freedom panoramic camera module (6) includes a dome (602), one side of which is connected to a servo motor (601), and the other side of which is connected to a rotating bracket (407) via a rolling bearing (603). The output shaft of the servo motor (601) is connected to the rolling bearing (603) on the rotating bracket (407). The dome (602) is equipped with a camera (604) via a support rod. The drone (5) includes a main body, which is located above the wireless charging transmitter (405). The main body is mounted on a fixed bracket (507). The main body is connected to one end of the arm (503), and the other end of the arm (503) is connected to the motor (502). The output shaft of the motor (502) is connected to the rotor (501). A telescopic bracket (511) is provided under the arm (503). An antenna (505) and a storage box (504) are provided on the main body. A nozzle (506) is provided at the bottom of the storage box (504). A wireless charging receiver (508) is provided at the bottom of the main body and is wirelessly connected to the wireless charging transmitter (405). A battery (509) is provided inside the main body and is connected to the wireless charging receiver (508). A camera (510) is provided at the front of the main body. The antenna (505) is wirelessly connected to the remote control; the storage box (5) is equipped with a photocatalyst.

2. The inspection robot system with a track-moving drone as described in claim 1, characterized in that, The number of passive pulleys (201) is 3, and the adjusting plate (203) has at least 6 holes.

3. The application of a track-mounted inspection robot system equipped with an unmanned aerial vehicle as described in any one of claims 1-2 in environmental monitoring.

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