Inspection robot and inspection method

Abstract

The present disclosure provides a kind of inspection robot and inspection method, it is related to robot technical field, for solving how to control the problem of inspection robot inspection in the scene of machine room, the inspection robot, comprising: monitoring module, for obtaining inspection information;Lifting assembly is connected with monitoring module, for driving monitoring module to lift;Vehicle body is connected with lifting assembly, for driving lifting assembly and monitoring module walk along track;Limiting component is rotatably connected with vehicle body, and contactably connected with lifting assembly, and can be limitably connected with track, for when lifting assembly rises to maximum position, contact with lifting assembly, under the action of contact, along vehicle body rotation to remove the walking limit of vehicle body on track, and when lifting assembly is in decline, not contact with lifting assembly, under the action of not contact, along vehicle body rotation to realize the walking limit of vehicle body on track.The present disclosure can improve monitoring range, while ensuring monitoring operation effect.

Description

Technical Field

[0001] This disclosure relates at least to the field of robotics, and more particularly to an inspection robot and an inspection method. Background Technology

[0002] To ensure real-time monitoring of the facilities inside the communication equipment room and to prevent situations such as water leakage, electrical leakage, fire, and equipment malfunctions from going undetected, mobile inspection robots need to be installed in the equipment room.

[0003] In the communication equipment room, various devices are installed in cabinets. The cabinets have a certain height, so when monitoring is carried out, the monitoring device can only collect data from the upper part of the cabinet. For example, when taking pictures, only the image information of the top of the cabinet can be captured. When there is an anomaly at a lower position, it is difficult to obtain the image data, resulting in a limited monitoring range and poor monitoring effect. Summary of the Invention

[0004] The technical problem to be solved by this disclosure is to provide an inspection robot and inspection method to address the above-mentioned shortcomings, so as to solve the problem of how to control the inspection robot for inspection in a computer room setting.

[0005] Firstly, this disclosure provides an inspection robot, comprising:

[0006] The monitoring module is used to acquire inspection information;

[0007] The lifting assembly, connected to the monitoring module, is used to lift the monitoring module up and down.

[0008] The vehicle body is connected to the lifting assembly and is used to drive the lifting assembly and monitoring module to move along the track;

[0009] The limiting component is rotatably connected to the vehicle body, can be contacted with the lifting component, and can be limited by the track. It is used to contact the lifting component when the lifting component is raised to the maximum position, and under the contact action, rotate along the vehicle body to release the travel limit of the vehicle body on the track. It is also used to not contact the lifting component when the lifting component is lowering, and under the non-contact action, rotate along the vehicle body to achieve the travel limit of the vehicle body on the track.

[0010] Furthermore, the limit components are specifically adopted in multiple sets, and each set of limit components specifically includes:

[0011] The contact frame, consisting of horizontal and vertical bars, is L-shaped, with the top of the vertical bar passing through the vehicle body to the accessible rail.

[0012] A rotating shaft hole is located in the middle of the crossbar and is used to pass a rotating shaft through it for rotatably connecting to the vehicle body;

[0013] A spring element, located at the end of the crossbar, is used to press the crossbar end against the lifting assembly when the lifting assembly is raised to its maximum position. This presses the spring element and drives the contact frame to rotate along the rotating shaft until the top of the vertical bar no longer contacts the track, thereby releasing the vehicle's travel limit on the track. Conversely, when the lifting assembly is lowering, the crossbar end does not contact the lifting assembly, and the spring element pushes the contact frame to rotate along the rotating shaft until the top of the vertical bar contacts and presses against the track, thereby achieving the vehicle's travel limit on the track.

[0014] Furthermore, the vehicle body specifically includes:

[0015] The main body of the vehicle, including two side walls and one bottom wall, is U-shaped.

[0016] Rollers: Four rows of rollers are installed on the inner sides of the two car body side walls, which contact the upper and lower surfaces of the track respectively;

[0017] The rotating shaft mounting component is located on the underside of the vehicle body bottom wall and is used to mount the rotating shaft to connect to the limiting component. The bottom wall of the vehicle body is provided with a through hole so that the top of the vertical rod of the limiting component can pass through the bottom wall of the vehicle body to the accessible track.

[0018] Furthermore, the lifting assembly specifically includes:

[0019] The lifting platform has a monitoring module fixedly connected to the lower part and protruding contacts on the top. The contacts are used to make contact with the end of the crossbar of the limiting component.

[0020] The lifting component connects to the lifting platform and is used to lift the lifting platform and the monitoring module.

[0021] Furthermore, the lifting components specifically include:

[0022] Multiple telescopic rods, each consisting of multiple sleeved rod sections, with one end of the telescopic rod vertically connected to the bottom of the vehicle body wall and the other end connected to the lifting platform;

[0023] The winding component includes a servo motor, a winding reel, and a lifting rope. The servo motor drives the winding reel to rotate and wind up the lifting rope. One end of the lifting rope is connected to the winding reel, and one of the other ends of the servo motor and the lifting rope is connected to the lifting platform. The other end of the lifting rope and one of the servo motors are connected to the underside of the vehicle body wall.

[0024] Furthermore, wires pass through the inside of the telescopic pole, and these wires are connected to the monitoring module to supply power to it.

[0025] Furthermore, the telescopic rods are specifically four in number, with the outermost rod being an integral part of the vehicle body. The innermost rod has a through hole at the bottom for a through bolt to pass through, allowing for a detachable connection to the lifting platform. The lifting platform is in the shape of an inverted U, with the monitoring module connected to the recess of the inverted U. The telescopic rods and the through bolt are connected to the outward-protruding edge at the bottom of the inverted U.

[0026] Furthermore, the monitoring module specifically includes:

[0027] The system includes a smoke detector module, a temperature and humidity module, a gas alarm module, a thermal imaging temperature measurement module, and a motor camera module.

[0028] Furthermore, the motor-camera module is connected to the lifting assembly, and the smoke detector module, temperature and humidity module, gas alarm module, and thermal imaging temperature measurement module are connected to the motor-camera module. The temperature measuring surface of the thermal imaging temperature measurement module faces the same direction as the camera surface of the motor-camera module.

[0029] Secondly, this disclosure provides an inspection method, which is applied to the inspection robot described above, the method comprising:

[0030] After the vehicle body stops moving along the track, the lifting component is activated to control the lifting and lowering of the monitoring module. When the lifting component is not at its maximum position, the limit component limits the movement of the vehicle body on the track.

[0031] This disclosure provides an inspection robot and an inspection method. The robot uses a lifting component to drive the monitoring module to rise and fall, thereby enabling the monitoring module to acquire inspection information from multiple heights and thus improving the monitoring range. At the same time, the robot uses a limit component to limit the movement of the monitoring module when it descends, ensuring the effectiveness of the monitoring operation. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structure of an inspection robot according to an embodiment of the present disclosure. Figure 1 ;

[0033] Figure 2 This is a three-dimensional structure of an inspection robot according to an embodiment of the present disclosure. Figure 2 ;

[0034] Figure 3 This is a front view structural diagram of an inspection robot according to an embodiment of the present disclosure;

[0035] Figure 4 This is an explosive structure of an inspection robot according to an embodiment of the present disclosure. Figure 1 ;

[0036] Figure 5 This is an explosive structure of an inspection robot according to an embodiment of the present disclosure. Figure 2 ;

[0037] Figure 6 This is a structural diagram of a set of limiting components according to an embodiment of the present disclosure;

[0038] The markings in the diagram include:

[0039] Track 0, Car body 1, Car body main body 101, Roller 102, Rotating shaft mounting component 103, Telescopic rod 2, Partial enlargement of lower part of telescopic rod A, Lifting platform 3, Contact point 301, Rewinding component 4, Servo motor 401, Rewinding wheel 402, Lifting rope 403, Through bolt 6, Limiting component 7, Contact frame 701, Spring component 702, Rotating shaft hole 703, Monitoring module 8, Smoke detector module 801, Temperature and humidity module 802, Gas alarm module 803, Thermal imaging temperature measurement module 804, Motor camera module 805. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solutions of this disclosure, the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings.

[0041] It is understood that the specific embodiments and accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure.

[0042] It is understood that, without conflict, the various embodiments and features in the embodiments of this disclosure can be combined with each other.

[0043] It is understood that, for ease of description, only the parts relevant to this disclosure are shown in the accompanying drawings, while parts unrelated to this disclosure are not shown in the drawings.

[0044] In the description of this invention, it should be noted that the orientation or positional relationship indicated by "above" or similar terms is based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience and simplification of the description. It does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0045] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection," "setting," "installation," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0047] It is understood that each unit or module involved in the embodiments of this disclosure may correspond to only one entity structure, or may be composed of multiple entity structures, or multiple units or modules may be integrated into one entity structure.

[0048] It is understood that the units and modules involved in the embodiments of this disclosure can be implemented by software or by hardware, for example, the units and modules can be located in a processor.

[0049] The main inventive concept of this disclosure will be introduced below:

[0050] Existing inspection robots' early warning and monitoring devices are limited by structural factors, which restrict their installation to a fixed position on the vehicle body. This makes it difficult for them to move vertically, resulting in difficulty in acquiring equipment information at multiple vertical locations during monitoring operations.

[0051] One of the purposes of this disclosure is to achieve comprehensive inspection and monitoring. The inspection robot is supported and has a movement path provided by a ceiling-mounted track. The inspection robot mainly consists of an intelligent vehicle body and an early warning and monitoring device installed on the vehicle body. The early warning and monitoring device integrates multiple detection modules such as smoke detection module, temperature and humidity module, gas alarm module, thermal imaging temperature measurement module, and motor camera module. It works in conjunction with the electrical signals between the robot body and the vehicle body. Finally, it works in conjunction with the controller inside the vehicle body to perform monitoring work according to the current position of the vehicle body.

[0052] The second objective of this disclosure is to achieve height-adjustable intelligent monitoring, change the installation method of the early warning monitoring device and the vehicle body which is usually an integral combination, improve the structure of the current early warning monitoring device, so that when it is installed with the vehicle body, it can also adjust its own vertical position, so as to better realize the monitoring operation at different height positions of the equipment, thereby improving its own monitoring range.

[0053] The third objective of this disclosure is to achieve stable and reliable monitoring, improve the lifting mechanism to precisely control the lifting height, ensure horizontal stability, ensure the stability of the vehicle body when it is stationary on the track, and improve stability when the early warning monitoring device descends, thereby reducing the impact on the operation of the monitoring module and avoiding interference with the equipment in the control room.

[0054] Example 1:

[0055] like Figure 1-6 As shown, this disclosure provides an inspection robot, including:

[0056] Monitoring module 8 is used to acquire inspection information;

[0057] The lifting assembly is connected to the monitoring module 8 and is used to lift the monitoring module 8 up and down.

[0058] The vehicle body 1 is connected to the lifting assembly and is used to drive the lifting assembly and the monitoring module 8 to move along the track 0;

[0059] The limiting component 7 is rotatably connected to the vehicle body 1, can be contacted with the lifting component, and can be limited by the track 0. It is used to contact the lifting component when the lifting component is raised to the maximum position, and under the contact action, rotate along the vehicle body 1 to release the travel limit of the vehicle body 1 on the track 0. It is also used to not contact the lifting component when the lifting component is lowered, and under the non-contact action, rotate along the vehicle body 1 to realize the travel limit of the vehicle body 1 on the track 0.

[0060] In this embodiment, the provided inspection robot uses a lifting component to raise and lower the monitoring module 8, enabling the monitoring module 8 to acquire inspection information from multiple heights, thereby increasing the monitoring range. Simultaneously, a limiting component 7 limits the overall movement of the monitoring module 8 during descent. Specifically, the vehicle body 1 is only allowed to move along the track 0 when the monitoring module 8 and the lifting component are at their maximum rising position. After the monitoring module 8 descends with the lifting component, the limiting component 7 restricts the movement of the vehicle body 1, ensuring stability when the vehicle body 1 remains on the track 0. This reduces the occurrence of vehicle body 1 movement, improves its stability, reduces or prevents swaying of the monitoring module 8, minimizes the impact on its operation, and ensures effective monitoring. Furthermore, the limiting component 7 is rotatably connected to the vehicle body 1, and its limiting function is automatically triggered by the raising and lowering of the lifting component, resulting in a simple structure.

[0061] In one embodiment, the limiting components 7 are specifically used in multiple sets, and each set of limiting components 7 specifically includes:

[0062] The contact frame 701 includes a horizontal bar and a vertical bar, which are L-shaped. The top of the vertical bar passes through the car body 1 to the accessible track 0.

[0063] A rotating shaft hole 703 is provided in the middle of the crossbar for passing through a rotating shaft to rotatably connect the vehicle body 1;

[0064] Spring 702 is disposed at the end of the crossbar. When the lifting assembly is raised to its maximum position, the end of the crossbar contacts the lifting assembly, the spring 702 is pressed, and the contact frame 701 is rotated along the rotation axis until the top of the vertical bar does not contact the track 0, thereby releasing the travel limit of the vehicle body 1 on the track 0. When the lifting assembly is lowered, the end of the crossbar does not contact the lifting assembly, and the spring 702 pushes the contact frame 701 to rotate along the rotation axis until the top of the vertical bar contacts and presses the track 0, thereby achieving the travel limit of the vehicle body 1 on the track 0.

[0065] In this embodiment, the limiting components 7 are specifically arranged in two sets, installed on the left and right sides at the bottom of the vehicle body 1. Each set of limiting components 7 includes an abutment frame 701 rotatably mounted on the vehicle body 1, and a spring 702 connecting the abutment frame 701 and the bottom of the vehicle body 1. The spring 702 can specifically be a U-shaped spring sheet, with the opening of the U-shaped spring sheet facing the outside of the abutment frame 701 to ensure that its elasticity and range of action meet the requirements. When the lifting component (driving the monitoring module 8) descends away from the vehicle body 1, the elasticity of the spring 702 keeps the abutment frame 701 rotating until one end of it protrudes upward, thereby forming an abutment against the track 0 to achieve the limiting effect of the vehicle body 1 on the track 0. When the lifting component rises to maintain a distance between itself and the vehicle body 1, the limiting component 702 provides a limit to the vehicle body 1. At the minimum distance, i.e., before descent, the contact frame 701 is brought into contact, thereby applying force to cause the contact frame 701 to break free from the elastic force of the spring member 702 and rotate until it separates from the track 0, thus releasing the limiting effect. When the lifting component is descending, in order to ensure the stability of the monitoring module 8, it needs to be in a stationary state. With the cooperation of the limiting component 7, when the lifting component descends, it can further ensure the stability of the vehicle body 1 when it stays on the track 0, thereby reducing its movement and making the vehicle body 1 more stable on the track 0. By improving the stability of the vehicle body 1, the shaking of the lifting component can be reduced or prevented, thereby reducing the impact on the operation of the monitoring module 8.

[0066] In one embodiment, the vehicle body 1 specifically includes:

[0067] The main body 101 of the vehicle body includes two side walls and one bottom wall, and is U-shaped.

[0068] Rollers 102: Four rows of rollers 102 are installed on the inner sides of the two car body side walls, respectively contacting the upper and lower surfaces of the two sides of the track 0.

[0069] The rotating shaft mounting component 103 is located on the underside of the vehicle body bottom wall and is used to mount the rotating shaft to connect the limiting component 7. The bottom wall of the vehicle body is provided with a through hole so that the top end of the vertical rod of the limiting component 7 can pass through the bottom wall of the vehicle body to the accessible track 0.

[0070] In this embodiment, the vehicle body 1 adopts a U-shaped structure. The vehicle body 1 is mounted on the track 0 through the U-shaped structure and the rollers 102. The rollers 102 are distributed in two rows on each side to ensure that the vehicle body 1 slides stably along the track 0. The lower surface of the bottom wall of the vehicle body provides the mounting parts (rotating shaft mounting parts 103) for the limiting component 7, and provides through holes for the abutment frame 701 of the limiting component 7 to pass through. After the abutment frame 701 abuts against the track 0, it naturally achieves the limitation of the vehicle body 1. The structure is simple and stable.

[0071] In one embodiment, the lifting assembly specifically includes:

[0072] The lifting platform 3 has a monitoring module 8 fixedly connected to its lower part and a protruding contact 301 on its top. The contact 301 is used to make contact with the end of the crossbar of the limiting component 7.

[0073] The lifting component is connected to the lifting platform 3 and is used to drive the lifting platform 3 and the monitoring module 8 to rise and fall.

[0074] In this embodiment, the lifting assembly includes a lifting platform 3 and a lifting component. The lifting platform 3 refers to the component that provides a fixed installation for the monitoring module 8, and the lifting component refers to the component that can be extended and driven to lift. The lifting platform 3 includes at least one lifting platform top wall, the lower part of which is fixedly connected to the monitoring module 8, and the top has a protruding contact point 301. The contact point 301 is used to make contact with the end of the crossbar of the limiting component 7.

[0075] In one embodiment, the lifting component specifically includes:

[0076] Multiple telescopic rods 2, each telescopic rod 2 includes multiple sleeved rods, one end of the telescopic rod 2 is vertically connected to the bottom of the vehicle body wall, and the other end of the telescopic rod 2 is connected to the lifting platform 3;

[0077] The winding component 4 includes a servo motor 401, a winding wheel 402, and a lifting rope 403. The servo motor 401 drives the winding wheel 402 to rotate in order to wind up the lifting rope 403. One end of the lifting rope 403 is connected to the winding wheel 402. One of the other ends of the servo motor 401 and the lifting rope 403 is connected to the lifting platform 3. The other end of the lifting rope 403 and one of the servo motors 401 are connected to the underside of the vehicle body wall.

[0078] In this embodiment, the lifting component specifically includes a telescopic rod 2 and a winding component 4. One end of the telescopic rod 2 is vertically connected to the vehicle body 1, and the other end of the telescopic rod 2 is fixedly connected to the lifting platform 3. The number of telescopic rods 2 can be multiple to ensure stability, and they are multi-section telescopic rods 2 to ensure sufficient telescopic length. The monitoring module is set on the lifting platform 3, and the inner rod of the telescopic rod 2 is connected through the lifting platform 3. The winding component 4 can be a servo motor 401 and a winding wheel 402 connected to the servo motor 401. The winding wheel 402 is used to wind up the suspension rope 403, which is connected between the vehicle body 1 and the lifting platform 3. One end of the suspension rope 403 is connected to the winding wheel 402. The servo motor 401 and the end of the suspension rope 403 are respectively connected to the lifting platform 3 and the vehicle body 1, or their positions can be interchanged. As described above, the servo motor 401 and the end of the suspension rope 403 are respectively connected to the vehicle body 1 and the lifting platform 3. The servo motor 401 is fixedly connected to either the vehicle body 1 or the lifting platform 3. With the cooperation of the servo motor 401, the rotation amplitude of the winding wheel 402 can be precisely controlled, thereby precisely controlling the release amount of the suspension rope 403, and precisely controlling the height adjustment of the lifting platform 3, thus better assisting in the detection operation at different height positions. The suspension rope can be made of materials such as steel wire rope. With the cooperation of the telescopic rod 2, the relative movement between the lifting platform 3 and the vehicle body 1 can be realized. With the cooperation of the winding component 4, the distance between the lifting platform 3 and the vehicle body 1 can be adjusted, thereby realizing the vertical height adjustment of the monitoring module 8, so as to better realize the monitoring operation at different height positions of the equipment, thereby improving the monitoring range of the early warning monitoring device.

[0079] In one embodiment, an electrical wire passes through the inside of the telescopic rod 2, and the wire is connected to the monitoring module 8 to supply power to the monitoring module 8.

[0080] In this embodiment, the vertical relative movement between the lifting platform 3 and the vehicle body 1 is achieved through the cooperation of the telescopic rod 2. When the winding component 4 winds the hoisting rope 403 into place, that is, as shown... Figure 1-3 As shown in the diagram, the lifting platform 3 is at its closest distance from the vehicle body 1 and at its highest height. When the winding component 4 releases the hoisting rope 403, the lifting platform 3 descends under gravity, causing the monitoring module 8 to descend synchronously. This allows for the collection of monitoring data from equipment at different heights, thereby increasing the monitoring range and enabling better multi-angle and multi-range detection operations, ultimately achieving early warning monitoring. Since the position of the monitoring module 8 is adjustable relative to the vehicle body 1, its power supply to the vehicle body 1 can be achieved by using an external wire or by hiding the circuit inside the telescopic rod 2.

[0081] In one embodiment, the telescopic rod 2 specifically comprises four rods, with the outermost rod being integrally constructed with the vehicle body 101, and the innermost rod having a through hole at its lower part (e.g., Figure 5 As shown in Figure A), a through bolt 6 is used to detachably connect the lifting platform 3. The lifting platform 3 is in the shape of an inverted U. The monitoring module 8 is connected in the recess of the inverted U. The telescopic rod 2 and the through bolt 6 are connected to the outward protruding edge at the bottom of the inverted U.

[0082] In this embodiment, the lifting platform 3 is equipped with a transverse through bolt 6, which passes through the inner rod of the telescopic rod 2, thereby locking the end of the inner rod to the lifting platform 3. This connection method ensures the firmness of the connection while allowing the lifting platform 3 and the telescopic rod 2 to be disassembled. When the monitoring module 8 needs to be inspected, the lifting platform 3 can be lowered and removed at a suitable height. The lifting platform 3 can specifically adopt an inverted U-shaped structure with the bottom two sides protruding outward to facilitate the connection of the telescopic rod 2. The structure in which the outermost cylinder of the telescopic rod 2 is integrally constructed with the vehicle body 1 can maximize the firmness of the connection between the telescopic rod 2 and the vehicle body 1, further improving the horizontal stability of the lifting platform 3. The arrangement and connection method of multiple telescopic rods 2 can maximize the horizontal stability of the lifting platform 3 to reduce horizontal swaying.

[0083] In one embodiment, the monitoring module 8 specifically includes:

[0084] The smoke detector module 801, temperature and humidity module 802, gas alarm module 803, thermal imaging temperature measurement module 804, and motor camera module 805 are included.

[0085] In one embodiment, the motor camera module 805 is connected to the lifting assembly, and the smoke detector module 801, temperature and humidity module 802, gas alarm module 803 and thermal imaging temperature measurement module 804 are connected to the motor camera module 805. The temperature measuring surface of the thermal imaging temperature measurement module 804 faces the same direction as the imaging surface of the motor camera module 805.

[0086] In this embodiment, the monitoring module 8 is composed of at least several detection modules, including a smoke detection module 801, a temperature and humidity module 802, a gas alarm module 803, a thermal imaging temperature measurement module 804, and a motor camera module 805. When the monitoring module 8 is installed, the vehicle body 1 serves as the carrier. Specifically, the motor camera module 805 can be fixedly connected to the lifting platform 3, and the thermal imaging temperature measurement module 804 can be set together with the motor camera module 805. This allows the thermal imaging temperature measurement module 804 to simultaneously capture thermal images while the motor camera module 805 is capturing images. The smoke detection module 801, temperature and humidity module 802, and gas alarm module 803 are all installed outside the motor camera module 805. This facilitates simultaneous monitoring while making the entire monitoring module 8 appear as a single structure, which is beneficial for subsequent installation and setup.

[0087] Example 2:

[0088] This disclosure provides an inspection method applied to the inspection robot as described in Embodiment 1, the method comprising:

[0089] After the vehicle body 1 stops moving along the track 0, the lifting component is activated to control the lifting and lowering of the monitoring module 8. When the lifting component is not at the maximum rising position, the limit component 7 limits the movement of the vehicle body 1 on the track 0.

[0090] In this embodiment, the inspection robot may further include a controller, the controller comprising:

[0091] The first control module is used to control the vehicle body 1 to move along track 0;

[0092] The second control module, connected to the first control module, is used to respond to the lifting and lowering requirements of the monitoring module 8. After detecting that the first control module controls the vehicle body 1 to stop moving along the track 0, the lifting and lowering assembly is activated to control the lifting and lowering of the monitoring module 8.

[0093] The lifting component triggers the rotation of the limiting component 7 to limit the movement of the vehicle body 1 on the track 0 when the lifting component is not at its maximum rising position.

[0094] In addition, this disclosure may also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the inspection method as described in Embodiment 2, or implements the controller as described in Embodiment 2.

[0095] The computer-readable storage medium includes volatile or non-volatile, removable or non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, computer program modules, or other data). Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other memory technologies, CD-ROM (Compact Disc Read-Only Memory), DVD or other optical disc storage, cartridges, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer.

[0096] In addition, this disclosure may also provide a computer device including a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes the inspection method as described in Embodiment 2, and the computer device may be a controller as described in Embodiment 2.

[0097] The memory is connected to the processor. The memory can be flash memory, read-only memory or other types of memory. The processor can be a central processing unit or a microcontroller.

[0098] Embodiments 1-2 of this disclosure provide an inspection robot and an inspection method. The monitoring module 8 is raised and lowered by a lifting component to enable the monitoring module 8 to acquire inspection information at multiple heights, thereby improving the monitoring range. At the same time, the limit component 7 enables the overall walking limit of the monitoring module 8 when it descends, ensuring the monitoring operation effect.

[0099] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of this disclosure, and this disclosure is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and substance of this disclosure, and these modifications and improvements are also considered to be within the scope of protection of this disclosure.

Claims

1. An inspection robot, characterized in that, include: The monitoring module is used to acquire inspection information; The lifting assembly, connected to the monitoring module, is used to lift the monitoring module up and down. The vehicle body is connected to the lifting assembly and is used to drive the lifting assembly and monitoring module to move along the track; The limiting component is rotatably connected to the vehicle body, can be contacted with the lifting component, and can be limited by the track. It is used to contact the lifting component when it reaches its maximum position, and under the contact action, rotate along the vehicle body to release the vehicle's travel limit on the track; and to not contact the lifting component when it is descending, and under the non-contact action, rotate along the vehicle body to achieve the vehicle's travel limit on the track. Multiple sets of limiting components are used, and each set of limiting components specifically includes: The contact frame, consisting of horizontal and vertical bars, is L-shaped, with the top of the vertical bar passing through the vehicle body to the accessible rail. A rotating shaft hole is located in the middle of the crossbar and is used to pass a rotating shaft through it for rotatably connecting to the vehicle body; A spring element, located at the end of the crossbar, is used to press the crossbar end against the lifting assembly when the lifting assembly is raised to its maximum position. This presses the spring element and drives the contact frame to rotate along the rotating shaft until the top of the vertical bar no longer contacts the track, thereby releasing the vehicle's travel limit on the track. Conversely, when the lifting assembly is lowering, the crossbar end does not contact the lifting assembly, and the spring element pushes the contact frame to rotate along the rotating shaft until the top of the vertical bar contacts and presses against the track, thereby achieving the vehicle's travel limit on the track.

2. The inspection robot according to claim 1, characterized in that, The vehicle body specifically includes: The main body of the vehicle, including two side walls and one bottom wall, is U-shaped. Rollers: Four rows of rollers are installed on the inner sides of the two car body side walls, which contact the upper and lower surfaces of the track respectively; The rotating shaft mounting component is located on the underside of the vehicle body bottom wall and is used to mount the rotating shaft to connect to the limiting component. The bottom wall of the vehicle body is provided with a through hole so that the top of the vertical rod of the limiting component can pass through the bottom wall of the vehicle body to the accessible track.

3. The inspection robot according to claim 2, characterized in that, The lifting assembly specifically includes: The lifting platform has a monitoring module fixedly connected to the lower part and protruding contacts on the top. The contacts are used to make contact with the end of the crossbar of the limiting component. The lifting component connects to the lifting platform and is used to lift the lifting platform and the monitoring module.

4. The inspection robot according to claim 3, characterized in that, The lifting components specifically include: Multiple telescopic rods, each consisting of multiple sleeved rod sections, with one end of the telescopic rod vertically connected to the bottom of the vehicle body wall and the other end connected to the lifting platform; The winding component includes a servo motor, a winding reel, and a lifting rope. The servo motor drives the winding reel to rotate and wind up the lifting rope. One end of the lifting rope is connected to the winding reel, and one of the other ends of the servo motor and the lifting rope is connected to the lifting platform. The other end of the lifting rope and one of the servo motors are connected to the underside of the vehicle body wall.

5. The inspection robot according to claim 4, characterized in that, An electrical wire runs through the inside of the telescopic pole, and the wire connects to the monitoring module to supply power to the monitoring module.

6. The inspection robot according to claim 4, characterized in that, The telescopic rod consists of four rods, with the outermost rod being an integral part of the vehicle body. The innermost rod has a through hole at the bottom for a through bolt to detachably connect to the lifting platform. The lifting platform is in the shape of an inverted U, and the monitoring module is connected to the recess of the inverted U. The telescopic rod and the through bolt are connected to the outward protruding edge at the bottom of the inverted U.

7. The inspection robot according to any one of claims 1-6, characterized in that, The monitoring module specifically includes: The system includes a smoke detector module, a temperature and humidity module, a gas alarm module, a thermal imaging temperature measurement module, and a motor camera module.

8. The inspection robot according to claim 7, characterized in that, The motor-camera module is connected to the lifting assembly. The smoke detector module, temperature and humidity module, gas alarm module, and thermal imaging temperature measurement module are connected to the motor-camera module. The temperature measuring surface of the thermal imaging temperature measurement module faces the same direction as the camera surface of the motor-camera module.

9. An inspection method, characterized in that, The method is applied to the inspection robot as described in any one of claims 1-8, and the method includes: After the vehicle body stops moving along the track, the lifting component is activated to control the lifting and lowering of the monitoring module. When the lifting component is not at its maximum position, the limit component limits the movement of the vehicle body on the track.

Images