A dock security intelligent patrol robot and its control system

Abstract

The present invention discloses a dock security intelligent patrol robot and its control system, which relates to the technical field of patrol robots. It includes a patrol trolley and a control system. The patrol trolley is composed of a bottom plate and several side plates to form a vehicle body. The patrol trolley is set in a self-driving mode and is internally equipped with a GPS locator. An ultrasonic sensor is arranged at the front end of the patrol trolley. The bottom plate is of a U-shaped structure and an electric push rod is fixed on the concave surface. The driving end of the electric push rod is connected with a lifting plate. An air pump is fixed on one side of the lifting plate relative to the electric push rod. A connecting frame is fixed on the side of the lifting plate opposite to the electric push rod. An air suction hood is arranged on the connecting frame. A shunt frame is fixed on one side of the lifting plate relative to the air suction hood. The shunt frame is respectively connected to the air pump and the air suction hood. The present invention can cope with abnormal situations that occur during the patrol of the patrol trolley, improving the safety of the patrol and the integrity of the records.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and specifically to an intelligent inspection robot for wharf security and its control system. Background Art

[0002] A wharf is a facility located at the edge of water area, mainly used for ship docking, cargo loading and unloading, and passengers getting on and off the ship. Wharves play an important role in sea transportation, river transportation and inland lake transportation, and are key nodes connecting waterway and land transportation. A wharf is a transfer point for goods from ships to land or from land to ships, including containers, bulk goods, liquid goods, etc. In order to ensure the safety of goods and personnel, strict safety regulations and supervision are required.

[0003] An inspection robot is a highly complex automated device, widely used in the industrial field, capable of realizing intelligent inspection and operation and maintenance in various industrial scenarios, and promoting the intelligent transformation and digital transformation of traditional industries. When used for wharf security, a conventional inspection robot will first set the inspection route, identify and transmit the environment on the inspection route through a self - carried camera. The self - carried intelligent system can identify basic content such as environmental status detection (temperature and humidity), item status detection (appearance, movement and stillness), and combined with the judgment of the staff themselves, the inspection robot can meet the security needs of most wharves.

[0004] In practical applications, the inspection robot will encounter inevitable abnormal situations. During night patrol, the inspection robot will be interfered by small animals, such as being bitten by rats or knocked down when cats move. It is difficult for the inspection robot itself to avoid such situations and requires human intervention, thus affecting the inspection process. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent inspection robot for wharf security and its control system to solve the problems raised in the above - mentioned background art.

[0006] To solve the above - mentioned technical problems, the present invention provides the following technical solution: An intelligent inspection robot for wharf security and its control system, including an inspection trolley. The inspection trolley consists of a bottom plate and several side plates to form a vehicle body. The inspection trolley is set in a self - driving mode and is internally equipped with a GPS locator for controlling the traveling route. An ultrasonic sensor is arranged at the front end of the inspection trolley for detecting the distance to surrounding objects. The bottom plate is of a U - shaped structure and an electric push rod is fixed to the concave surface. The driving end of the electric push rod is connected to a lifting plate. An air pump is fixed to one side of the lifting plate relative to the electric push rod. A connecting frame is fixed to the side of the lifting plate opposite to the electric push rod. An air suction hood is arranged on the connecting frame. A flow - dividing frame is fixed to the side of the lifting plate relative to the air suction hood. The flow - dividing frame is respectively connected to the air pump and the air suction hood.

[0007] According to the above technical solution, the suction hood is provided with several independent air chambers. A soft pad is laid at the opening of the air chamber, and a number of adsorption holes are opened on the surface of the soft pad. The suction hood is provided with air holes corresponding to each air chamber.

[0008] According to the above technical solution, the flow divider is of a hollow structure and is connected to the output end of the air pump. The flow divider is provided with valve ports equal in number to the air chambers, and each valve port is connected to the corresponding air hole.

[0009] According to the above technical solution, a pressure sensor I is arranged in each air chamber for detecting the internal pressure state.

[0010] According to the above technical solution, the connecting frame is of a hollow structure and is internally provided with an annular block. One side of the annular block is a transmission chamber, and the other side of the annular block is a counterweight chamber.

[0011] According to the above technical solution, an annular groove is opened on the annular block. Several counterweight blocks are slidably arranged in the counterweight chamber in cooperation with the annular groove. A rotating shaft is rotatably arranged in the transmission chamber. A dial is fixed on the rotating shaft for adjusting the position of the counterweight block. The rotating shaft is sleeved with a driven gear.

[0012] According to the above technical solution, a notch is arranged on one side of the connecting frame. The driven gear is connected to an intermediate gear through the notch. The intermediate gear is connected to a driving gear, and the driving gear is connected to a motor I.

[0013] According to the above technical solution, a pressure sensor II is laid in the annular groove for detecting the position of the counterweight block.

[0014] According to the above technical solution, several telescopic rods are arranged around the air pump and the motor I. The fixed ends of the telescopic rods are connected to the bottom plate, the movable ends of the telescopic rods are connected to the lifting plate, and shock-absorbing springs are sleeved outside the telescopic rods.

[0015] According to the above technical solution, a vision detector is arranged on the inspection trolley for monitoring the environmental state on the inspection route; an anti-blocking component is arranged outside the vision detector for removing the blockage when the vision detector is covered by an obstacle.

[0016] According to the above technical solution, the anti-blocking component includes a group of support blocks, a rotating rod, a motor II, and a group of guide rods. The support blocks are respectively fixed on both sides of the vision detector. The rotating rod is rotatably arranged on the support blocks and one end is connected to the motor II. One end of the guide rod is fixedly arranged on the rotating rod at intervals.

[0017] According to the above technical solution, the guide rod is of a hollow structure and one end is open. An extension rod is slidably arranged inside it. A top block is arranged at one end of the extension rod facing the open side of the guide rod. A connecting groove is opened at the other end of the extension rod. A pull plate is connected to the bottom of the connecting groove. A tension spring is connected between the extension rod and the inner wall of the guide rod. A pull rope is connected between the pull plate and the rotating rod.

[0018] According to the above technical solution, a pressure sensing module is provided at the connecting end of the tension spring for detecting the stress state.

[0019] According to the above technical solution, the inspection trolley is provided with a control system. The control system includes a normal inspection module and an abnormal response module. The normal inspection module includes a traveling unit, a distance testing unit, and a visual inspection unit. The traveling unit is used to control the movement of the inspection trolley according to the preset inspection route inside. The distance testing unit is used to detect the distance between the inspection trolley and surrounding objects through an ultrasonic sensor. The visual inspection unit is used to record the environmental state on the inspection route through a visual inspection instrument. The abnormal response module includes a self-abnormal response unit and an external abnormal response unit. The self-abnormal response unit is used to handle the situation where the inspection trolley encounters abnormalities during the inspection process. The external abnormal response unit is used to handle the situation where abnormalities occur in the inspection environment during the inspection process.

[0020] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: In the present invention, by providing an air suction hood and its cooperating structure, it is possible to cope with the inevitable collision from small animals, avoid the situation of being knocked down during the inspection process and unable to continue the inspection, reduce the need for manual intervention, and improve convenience and safety. By providing an anti-blocking component, when the visual inspection instrument is blocked, it can automatically remove the covering object, ensure that the inspection environment is normally recorded, and at the same time avoid the need for manual intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0022] Figure 1 is a schematic diagram of the overall structure of the inspection trolley of the present invention;

[0023] Figure 2 is a schematic diagram of the bottom view structure of the inspection trolley of the present invention;

[0024] Figure 3 is a schematic diagram of the partial structure of the lifting plate of the present invention;

[0025] Figure 4 is a cross-sectional view of the air suction hood of the present invention;

[0026] Figure 5 is a schematic diagram of the connecting frame of the present invention;

[0027] Figure 6 is a cross-sectional view of the connecting frame of the present invention;

[0028] Figure 7 is a schematic diagram of the telescopic rod and the shock-absorbing spring of the present invention;

[0029] Figure 8 is the enlarged schematic view of area A of the present invention Figure 1 ;

[0030] Figure 9 is the partial cross-sectional view of the anti-blocking component of the present invention

[0031] In the figure: 1, inspection trolley; 11, bottom plate; 12, ultrasonic sensor; 21, electric push rod; 22, lifting plate; 23, air pump; 24, connecting frame; 241, annular block; 2411, annular groove; 242, transmission chamber; 243, counterweight chamber; 244, counterweight block; 245, rotating shaft; 2451, paddle; 246, driven gear; 247, intermediate gear; 248, driving gear; 249, motor 1; 25, suction hood; 251, air chamber; 252, soft pad; 253, adsorption hole; 254, air hole; 26, shunt frame; 261, valve port; 31, telescopic rod; 32, shock absorption spring; 4, vision detector; 5, anti-blocking component; 51, support block; 52, rotating rod; 53, motor 2; 54, guide rod; 55, extension rod; 551, top block; 552, connecting groove; 553, tension spring; 554, pull plate; 555, pull rope. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the 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.

[0033] Please refer to Figures 1-9 , the present invention provides a technical solution: a dock security intelligent inspection robot and its control system, including an inspection trolley 1. The inspection trolley 1 is composed of a bottom plate 11 and several side plates to form a vehicle body. The inspection trolley 1 is set in a self-driving mode and is internally equipped with a GPS locator for controlling the travel route. An ultrasonic sensor 12 is arranged at the front end of the inspection trolley 1 for detecting the distance of surrounding objects. The bottom plate 11 is of a U-shaped structure and an electric push rod 21 is fixed on the concave surface. The driving end of the electric push rod 21 is connected to a lifting plate 22. An air pump 23 is fixed on one side of the lifting plate 22 relative to the electric push rod 21. A connecting frame 24 is fixed on the side of the lifting plate 22 opposite to the electric push rod 21. An suction hood 25 is arranged on the connecting frame 24. A shunt frame 26 is fixed on the side of the lifting plate 22 relative to the suction hood 25. The shunt frame 26 is respectively connected to the air pump 23 and the suction hood 25;

[0034] The suction hood 25 is provided with several independent air chambers 251. A soft pad 252 is laid at the opening of the air chamber 251. A number of adsorption holes 253 are formed on the surface of the soft pad 252. The suction hood 25 is provided with air holes 254 corresponding to each air chamber 251.

[0035] The flow divider 26 is of a hollow structure and is connected to the output end of the air pump 23. The flow divider 26 is provided with valve ports 261 having the same number as the air chambers 251. Each valve port 261 is connected to the corresponding air hole 254.

[0036] Preferably, a first pressure sensor is arranged in each air chamber 251 for detecting the internal pressure state.

[0037] In actual operation, the valve port 261 is used to connect or block the air flow path between the flow divider 26 and each air chamber 251. The electric push rod 21 is used to control the lifting of the lifting plate 22 to adjust the distance between the suction hood 25 and the ground. The air pump 23 is used to extract or convey air to the flow divider 26. When in the state of conveying air, the suction hood 25 jets air out through each air hole 254. When in the state of extracting air, the suction hood 25 extracts air from the outside through each air hole 254.

[0038] In one embodiment, as Figures 5-6 shown, the connecting frame 24 is of a hollow structure and is internally provided with an annular block 241. One side of the annular block 241 is a transmission chamber 242, and the other side of the annular block 241 is a counterweight chamber 243.

[0039] An annular groove 2411 is formed on the annular block 241. A number of counterweight blocks 244 are slidably arranged in the counterweight chamber 243 in cooperation with the annular groove 2411. A rotating shaft 245 is rotatably arranged in the transmission chamber 242. A dial 2451 is fixed on the rotating shaft 245 for adjusting the position of the counterweight block 244. The rotating shaft 245 is sleeved with a driven gear 246.

[0040] One side of the connecting frame 24 is provided with a notch. The driven gear 246 is connected to an intermediate gear 247 through the notch. The intermediate gear 247 is connected to a driving gear 248. The driving gear 248 is connected to a first motor 249.

[0041] In actual operation, the first motor 249 drives the intermediate gear 247 to rotate by controlling the driving gear 248, indirectly drives the driven gear 246 to drive the rotating shaft 245 to rotate, so that the dial 2451 pushes the counterweight block 244 to rotate to the required position.

[0042] Preferably, a second pressure sensor is laid in the annular groove 2411 for detecting the position of the counterweight block 244.

[0043] Further, as Figure 7As shown in the figure, a number of telescopic rods 31 are arranged around the air pump 23 and the first motor 249. The fixed ends of the telescopic rods 31 are connected to the bottom plate 11, the movable ends of the telescopic rods 31 are connected to the lifting plate 22, and a shock-absorbing spring 32 is sleeved outside the telescopic rods 31.

[0044] The supplementary description based on the above structure is as follows: The telescopic rod 31 is used to guide the moving direction of the lifting plate 22 and provide additional support for the lifting plate 22. The shock-absorbing spring 32 is used to reduce the vibration generated when the inspection trolley 1 moves, avoid collision between the lifting plate 22 and the bottom plate 11, and thus improve the safety of the components on the lifting plate 22.

[0045] A vision detector 4 is arranged on the inspection trolley 1 for monitoring the environmental state on the inspection route; an anti-blocking component 5 is arranged outside the vision detector 4 for removing the blockage when the vision detector 4 is covered by an obstacle.

[0046] Further, as Figures 8-9 shown, the anti-blocking component 5 includes a group of support blocks 51, a rotating rod 52, a second motor 53 and a group of guide rods 54. The support blocks 51 are respectively fixed on both sides of the vision detector 4. The rotating rod 52 is rotatably arranged on the support blocks 51 and one end is connected to the second motor 53. One end of the guide rod 54 is fixedly arranged on the rotating rod 52 at intervals.

[0047] The guide rod 54 is of a hollow structure with one end open. An extension rod 55 is slidably arranged inside it. A top block 551 is arranged at one end of the extension rod 55 facing the open side of the guide rod 54. A connection groove 552 is opened at the other end of the extension rod 55. A pull plate 554 is connected to the bottom of the connection groove 552. A tension spring 553 is connected between the extension rod 55 and the inner wall of the guide rod 54. A pull rope 555 is connected between the pull plate 554 and the rotating rod 52.

[0048] Preferably, a pressure sensing module is arranged at the connection end of the tension spring 553 for detecting the stress state.

[0049] The supplementary description based on the above structure is as follows: In the initial state, the guide rod 54 is arranged parallel to the ground. At this time, the extension rod 55 is pulled by the pull rope 555 and retracts inside the guide rod 54. The tension spring 553 is in a compressed state. The pull rope 555 is wound around the rotating rod 52. When the second motor 53 drives the rotating rod 52 to rotate, the guide rod 54 is lifted upward. At the same time, the pull rope 555 is unwound and elongated, and the tension spring 553 elongates to push the extension rod 55 out of the guide rod 54.

[0050] The above-mentioned inspection vehicle 1 is equipped with a control system, which includes a normal inspection module and an abnormal response module. The normal inspection module includes a traveling unit, a distance testing unit and a visual detection unit, wherein the traveling unit is used to control the movement of the inspection vehicle 1 according to an internally set inspection route, the distance testing unit is used to detect the distance between the inspection vehicle 1 and surrounding objects through an ultrasonic sensor 12, and the visual detection unit is used to record the environmental status on the inspection route through a visual detector 4; the abnormal response module includes a self-abnormal response unit and an external abnormal response unit, wherein the self-abnormal response unit is used to deal with the situation that the inspection vehicle 1 encounters abnormalities during the inspection process, and the external abnormal response unit is used to deal with the situation that the inspection environment appears abnormal during the inspection process.

[0051] Specifically, the self-abnormal response unit is mainly used to deal with the following two situations: one is that the inspection vehicle 1 inevitably collides with small animals during the inspection process, causing it to topple over and making it impossible to conduct the inspection normally; the other is that in windy weather, the visual detection device 4 of the inspection vehicle 1 is blocked by obstacles such as plastic bags blown by the wind, making it impossible to record the inspection environment normally.

[0052] Furthermore, the ultrasonic sensor 12 is used to determine whether an unavoidable collision will occur based on the detection distance between the ultrasonic sensor 12 and the surrounding objects. First, the control system sets the size range of the terminal container and the volume range of the staff, and distinguishes the small animals based on this. When the ultrasonic sensor 12 detects the distance signal belonging to the small animal, it simulates its movement path to determine whether it needs to be avoided. If it needs to be avoided, it will stagger with it by accelerating or decelerating without changing the inspection route; if it cannot be avoided, the suction hood 25 is used for collision protection.

[0053] The specific steps are as follows: the electric push rod 21 pushes the air hood 25 down to the ground. During this process, the air pump 23 is in a state of conveying airflow to clean impurities on the lower side of the air hood 25, such as stones, to avoid affecting subsequent steps; after the air hood 25 is close to the ground, the air pump 23 is converted into a state of extracting airflow, so that the air hood 25 is adsorbed on the ground to meet the collision.

[0054] Furthermore, taking the distance signal of the small animal as an endpoint and the center position of the suction hood 25 as the other endpoint, the two end points are connected to form an axis, and taking the axis as a reference, the n air chambers 251 corresponding to the two sides of the axis are used to adsorb the ground, n is set manually, and the valve ports 261 corresponding to the remaining air chambers 251 are closed, and the pressure sensor 1 is used to detect whether the corresponding air chamber 251 is adsorbed in place. This is intended to quickly concentrate the adsorption surface on the collision surface to avoid the situation where the airflow is dispersed and cannot quickly adsorb the ground, thereby failing to effectively protect against collision.

[0055] Further, with the above axis as the reference, the first motor 249 controls the paddle 2451 to push the counterweight 244 to both sides of the axis. The second pressure sensor detects whether the counterweight 244 is in place. That is, with the position of the axis as the center and a certain angle on both sides as the placement range, the second pressure sensor determines whether the paddle 2451 has pushed the counterweight 244 into the placement range according to the detected force signal. This move aims to increase the counterweight of the collision surface, thereby further avoiding possible tipping due to collisions.

[0056] On the other hand, if the vision detector 4 is blocked, the second motor 53 controls the guide rod 54 to lift. When the extension rod 55 extends, its top block 551 lifts the covering object and pulls it outward during the rotation of the guide rod 54. When the guide rod 54 rotates to the other side, the extension rod 55 is quickly retracted to detect whether the vision detector 4 returns to normal. If there is still a blockage, the above steps are repeated. If it still cannot be solved after repeating m rounds (m is set manually), then it proceeds with the state of keeping the guide rod 54 propping up the obstacle upward, and relies on the external wind to blow away the covering object. The pressure sensing module is used to detect the force on the tension spring 553 during the extension process to determine whether the top block 551 touches the covering object. That is, the tension spring 553 in the contracted state will exert a certain pressure on the pressure sensing module. During the extension process of the tension spring 553, the pressure from the tension spring 553 will slowly decrease. If the top block 551 touches the covering object, the pressure detected by the pressure sensing module will increase slightly.

[0057] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0058] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent inspection robot for wharf security, including an inspection trolley (1), characterized in that, The inspection trolley (1) consists of a bottom plate (11) and several side plates to form a vehicle body. The inspection trolley (1) is set in a self-driving mode and is internally equipped with a GPS locator for controlling the travel route. An ultrasonic sensor (12) is provided at the front end of the inspection trolley (1) for detecting the distance to surrounding objects. The bottom plate (11) is of a U-shaped structure, and an electric push rod (21) is fixed to the concave surface. The driving end of the electric push rod (21) is connected to a lifting plate (22). A pneumatic pump (23) is fixed to one side of the lifting plate (22) relative to the electric push rod (21). A connecting frame (24) is fixed to the side of the lifting plate (22) opposite to the electric push rod (21). An air suction hood (25) is provided on the connecting frame (24). A flow dividing frame (26) is fixed to the side of the lifting plate (22) relative to the air suction hood (25). The flow dividing frame (26) connects the pneumatic pump (23) and the air suction hood (25) respectively; The air suction hood (25) is provided with several independent air chambers (251). A soft pad (252) is laid at the opening of the air chamber (251). Several adsorption holes (253) are opened on the surface of the soft pad (252). The air suction hood (25) is provided with air holes (254) corresponding to each air chamber (251); The flow dividing frame (26) is of a hollow structure and is connected to the output end of the pneumatic pump (23). The flow dividing frame (26) is provided with valve ports (261) having the same number as the air chambers (251). Each valve port (261) is connected to the corresponding air hole (254); The connecting frame (24) is of a hollow structure and is internally provided with an annular block (241). One side of the annular block (241) is a transmission chamber (242), and the other side of the annular block (241) is a counterweight chamber (243); An annular groove (2411) is opened on the annular block (241). Several counterweight blocks (244) are slidably arranged in the counterweight chamber (243) in cooperation with the annular groove (2411). A rotating shaft (245) is rotatably arranged in the transmission chamber (242). A dial (2451) is fixed on the rotating shaft (245) for adjusting the position of the counterweight blocks (244). A driven gear (246) is sleeved on the rotating shaft (245).

2. The intelligent inspection robot for wharf security according to claim 1, characterized in that, A pressure sensor I is arranged in each air chamber (251) for detecting the internal pressure state.

3. The intelligent inspection robot for wharf security according to claim 2, characterized in that, A notch is provided on one side of the connecting frame (24). The driven gear (246) is connected to an intermediate gear (247) through the notch. The intermediate gear (247) is connected to a driving gear (248). The driving gear (248) is connected to a motor I (249).

4. The intelligent inspection robot for dock security according to claim 3, wherein, A pressure sensor II is laid in the annular groove (2411) for detecting the position of the counterweight blocks (244).

5. The intelligent inspection robot for dock security according to claim 4, wherein, A number of telescopic rods (31) are arranged around the air pump (23) and the first motor (249). The fixed ends of the telescopic rods (31) are connected to the bottom plate (11), the movable ends of the telescopic rods (31) are connected to the lifting plate (22), and shock-absorbing springs (32) are sleeved outside the telescopic rods (31).

6. The intelligent inspection robot for terminal security as claimed in claim 5, wherein A visual detector (4) is arranged on the inspection trolley (1) for monitoring the environmental state on the inspection route; an anti-blocking component (5) is arranged outside the visual detector (4) for removing the blockage when the visual detector (4) is covered by an obstacle.

7. The intelligent inspection robot for wharf security according to claim 6, wherein The anti-blocking component (5) includes a group of support blocks (51), a rotating rod (52), a second motor (53) and a group of guide rods (54). The support blocks (51) are respectively fixed on both sides of the visual detector (4). The rotating rod (52) is rotatably arranged on the support blocks (51) and one end is connected to the second motor (53). One ends of the guide rods (54) are fixedly arranged on the rotating rod (52) at intervals.

8. The intelligent inspection robot for wharf security according to claim 7, characterized in that, The guide rod (54) has a hollow structure and one end is open. An extension rod (55) is slidably arranged inside it. A top block (551) is arranged at one end of the extension rod (55) facing the opening side of the guide rod (54). A connection groove (552) is formed at the other end of the extension rod (55). A pull plate (554) is connected to the bottom of the connection groove (552). A tension spring (553) is connected between the extension rod (55) and the inner wall of the guide rod (54). A pull rope (555) is connected between the pull plate (554) and the rotating rod (52).

9. A control system for an intelligent inspection robot for terminal security, applicable to the intelligent inspection robot for terminal security described in claim 8, characterized in that, The control system includes a normal inspection module and an abnormal response module. The normal inspection module includes a traveling unit, a distance measurement unit and a visual inspection unit. The traveling unit is used to control the movement of the inspection trolley (1) according to the internally set inspection route. The distance measurement unit is used to detect the distance between the inspection trolley (1) and surrounding objects through the ultrasonic sensor (12). The visual inspection unit is used to record the environmental state on the inspection route through the visual detector (4). The abnormal response module includes an auto-abnormal response unit and an external abnormal response unit. The auto-abnormal response unit is used to handle the situation where the inspection trolley (1) encounters an abnormality during the inspection process. The external abnormal response unit is used to handle the situation where the inspection environment appears abnormal during the inspection process.

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