Industrial house inspection robot, inspection method, electronic equipment and storage medium
Patent Information
- Application Number
- CN202411756937.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-02
- Publication Date
- 2025-03-07
Smart Images
Figure CN119575985A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of industrial site inspection, and in particular to an industrial site inspection robot, an inspection method, an electronic device and a storage medium. Background Art
[0002] Regular or fixed-point inspections of the operating status and safety of power distribution equipment, electrical wiring, fire prevention facilities, and firefighting equipment within industrial facilities, known as patrol inspections of industrial facilities such as power distribution rooms, are conducted to ensure the normal operation, safety, and stability of these facilities and equipment. Patrol inspections can be conducted by professional electrical engineers or technicians to promptly identify and address potential safety hazards and ensure the normal production and operation of industrial facilities.
[0003] At present, when conducting automatic inspections of industrial sites in related technologies, it is usually necessary to pre-build fixed inspection tracks in the industrial sites, which has high construction costs and low flexibility; or it is necessary to use inspection robots equipped with robotic arms, but the cost of manufacturing and using robotic arms is high, and the robotic arms have low stability during movement. In summary, the efficiency of industrial site inspections is low.
[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention
[0005] Embodiments of the present invention provide an inspection robot, an inspection method, an electronic device, and a storage medium for an industrial site, so as to at least solve the technical problem of low efficiency in inspecting industrial sites in the related art.
[0006] According to one aspect of an embodiment of the present application, a patrol robot for an industrial site is provided, comprising: a navigation module for generating a patrol path based on patrol demand information, wherein the patrol path is used to represent the patrol driving path of the patrol robot; a control module connected to the navigation module, the control module is used to generate lifting height control information based on the patrol path, wherein the lifting height control information is used to represent information that the lifting height of a lifting slide rail module in the patrol robot changes with the patrol path; a lifting slide rail module connected to the control module, the lifting slide rail module is used to perform height lifting and lowering based on the lifting height control information; a monitoring module connected to the upper end of the lifting slide rail module, the monitoring module is used to monitor the equipment to be monitored in the industrial site as the height rises and falls, and obtain monitoring information.
[0007] Optionally, the control module includes: a height detection module for obtaining current height information of the monitoring module; and a feedback control module for generating lifting height control information based on the inspection path and the current height information.
[0008] Optionally, the lifting slide rail module includes: a proportional-integral-differential controller for generating motor control parameters based on lifting height control information, wherein the motor control parameters include at least a speed control parameter and a rotation time control parameter; a servo motor for driving the electric lifting device in the lifting slide rail module based on the motor control parameters; and an electric lifting device for lifting and lowering the height along the guide rail in the lifting slide rail module.
[0009] Optionally, the lifting rail module further includes: a limit protection module, which is used to limit the electric lifting device during the process of the electric lifting device moving up and down along the guide rail in the lifting rail module.
[0010] Optionally, the monitoring module includes: a sensor array, including a lidar, an infrared sensor and a thermal imaging camera, wherein the lidar is used to obtain distance information from the equipment to be monitored, the infrared sensor is used to obtain temperature change information of the equipment to be monitored, and the thermal imaging camera is used to obtain temperature distribution information of the equipment to be monitored; a data fusion module is used to fuse the distance information, temperature change information and temperature distribution information to obtain monitoring information.
[0011] Optionally, the monitoring module further includes: a wireless communication module for transmitting the monitoring information to the background management system in a wireless communication manner.
[0012] According to another aspect of the embodiment of the present application, a method for inspecting an industrial site is also provided, including: controlling a navigation module in an inspection robot to generate an inspection path based on inspection demand information, wherein the inspection path is used to represent the inspection driving path of the inspection robot; using a control module to generate lifting height control information based on the inspection path, wherein the lifting height control information is used to represent information that the lifting height of a lifting slide rail module in the inspection robot changes with the inspection path; controlling the lifting slide rail module to perform height lifting and lowering based on the lifting height control information; controlling the monitoring module to monitor the equipment to be monitored in the industrial site as the height rises and falls, and obtain monitoring information, wherein the monitoring module is connected to the upper end of the lifting slide rail module.
[0013] According to another aspect of the embodiments of the present application, an electronic device is provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in the various embodiments of the present application when running.
[0014] According to another aspect of an embodiment of the present application, a computer-readable storage medium is also provided, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present application.
[0015] According to another aspect of the embodiments of the present application, a computer program product is further provided, including a computer program, which implements the methods in various embodiments of the present application when executed by a processor.
[0016] According to another aspect of an embodiment of the present application, a computer program product is also provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present application is implemented.
[0017] According to another aspect of the embodiments of the present application, a computer program is further provided, which implements the methods in various embodiments of the present application when executed by a processor.
[0018] In an embodiment of the present invention, a patrol robot for an industrial site is provided, comprising: a navigation module for generating a patrol path based on patrol demand information, wherein the patrol path is used to represent the patrol driving path of the patrol robot; a control module connected to the navigation module, the control module is used to generate lifting height control information based on the patrol path, wherein the lifting height control information is used to represent information that the lifting height of the lifting rail module in the patrol robot changes with the patrol path; a lifting rail module connected to the control module, the lifting rail module is used to perform height lifting based on the lifting height control information; a monitoring module connected to the upper end of the lifting rail module, the monitoring module is used to monitor the equipment to be monitored in the industrial site as the height rises and falls, and obtain monitoring information. It is easy to notice that the present application generates lifting height control information through the patrol path, which can realize dynamic adjustment of the lifting height during the movement of the robot, thereby realizing the continuity and smoothness of the patrol process. The robot can complete the height change without stopping, which improves the efficiency and flexibility of the patrol. The lift rail module can be raised or lowered as needed. Compared to using a robotic arm for inspections, using the lift rail module can reduce costs and provide better stability during high-speed movement. The lift rail module allows for easy height adjustment, making it suitable for inspections at various heights. It helps robots achieve height adjustments, reducing costs, improving stability, and increasing applicability and flexibility, thereby better meeting the needs of industrial inspections. This addresses the low efficiency of industrial inspections in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:
[0020] Figure 1 is a schematic diagram of an industrial inspection robot according to an embodiment of the present invention;
[0021] Figure 2 The present invention is a flowchart of an industrial site inspection method according to an embodiment of the present invention. DETAILED DESCRIPTION
[0022] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.
[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0024] According to an embodiment of the present application, a patrol robot for industrial premises is provided. Figure 1 This is a schematic diagram of an inspection robot for industrial premises according to the present application, such as Figure 1 As shown, the inspection robot 102 of the industrial site includes: a navigation module 104 , a control module 106 , a lifting rail module 108 and a monitoring module 110 .
[0025] The navigation module is used to generate an inspection path based on the inspection demand information, wherein the inspection path is used to represent the inspection driving path of the inspection robot.
[0026] In an optional embodiment, the inspection robot's navigation module can generate an inspection path based on inspection requirement information, ensuring that the inspection robot can perform inspections along a predetermined route, thereby improving inspection efficiency and accuracy. Specifically, sensors such as lidar, cameras, and ultrasonic sensors can be used to acquire environmental information. The robot can then perform positioning and map construction using a simultaneous positioning and mapping algorithm. After the map is constructed, a path planning algorithm, such as the A* algorithm or the Dijkstra algorithm, can be used to generate a suitable inspection path. In practical applications, the inspection robot can obtain a map of the industrial site and relevant inspection requirement information in advance and then generate an inspection path based on this information. When an inspection mission begins, the robot can perform inspections along the pre-generated path, avoiding obstacles and automatically completing the inspection mission. The navigation module enables the inspection robot to perform inspections along a predetermined path without the need for human intervention, saving labor costs and time. The navigation module can improve inspection accuracy, allowing the robot to perform inspections along a precise path, reducing the possibility of missed inspections and errors. This can improve inspection efficiency, accuracy, and safety, bringing convenience and benefits to industrial site inspections.
[0027] The control module is connected to the navigation module, and is used to generate lifting height control information based on the inspection path, wherein the lifting height control information is used to indicate that the lifting height of the lifting slide module in the inspection robot changes with the inspection path.
[0028] In an optional embodiment, by controlling the robot's lift height, the robot can adapt to equipment and facilities at different heights during the inspection process, thereby improving inspection efficiency and accuracy. A control module is connected to a navigation module and is configured to generate lift height control information based on the inspection path. Specifically, the control module obtains information about the inspection path through its connection with the navigation module. Based on this information, the control module calculates the required lift height for the robot. The control module transmits this calculated lift height control information to the lift rail module, instructing it to adjust the lift height. The lift rail module can be raised and lowered electrically or pneumatically. During the inspection process, the control module monitors the robot's position and height in real time and continuously adjusts the lift height to ensure the robot can smoothly pass through various equipment and facilities along the inspection path. This configuration allows for dynamic adjustment of the lift height during robot movement, ensuring a continuous and smooth inspection process. The robot can adjust its height without stopping, improving inspection efficiency and flexibility. By monitoring and adjusting the robot's lift height in real time, the risk of collision between the robot and equipment is reduced, improving the safety and reliability of inspections.
[0029] The lifting rail module is connected to the control module, and is used to perform height lifting based on lifting height control information.
[0030] In an optional embodiment, a lift rail module can adjust the height as needed to enable comprehensive inspections. The lift rail module is connected to a control module and uses height control information sent by the control module to achieve its lifting and lowering functions. Specifically, the lift rail module can consist of components such as a motor, rails, and a transmission. The motor serves as the power source, driving the rails up and down through the transmission, thereby achieving the robot's height adjustment. The control module can send corresponding height control information based on actual conditions, such as the required height range for inspection coverage or the required height to avoid obstacles. The lift rail module automatically adjusts the height based on this information. Compared to using a robotic arm for inspections, using a lift rail module can reduce costs. The design, manufacturing, and maintenance costs of a robotic arm are relatively high, while the lift rail module is relatively simple and less expensive. Furthermore, the lift rail module offers better stability during high-speed movement. A robotic arm is prone to vibration or wobbling during high-speed movement, which can affect the accuracy and efficiency of inspections. The lift rail module provides more stable height adjustment. Different inspection tasks may require the robot to work at different heights. The height can be easily adjusted through the lifting rail module, which is suitable for inspection scenarios at various heights. It can help the robot achieve height lifting, reduce costs, improve stability, increase applicability and flexibility, and thus better meet the needs of industrial site inspections.
[0031] The monitoring module is connected to the upper end of the lifting slide rail module. The monitoring module is used to monitor the equipment to be monitored in the industrial site as the height is raised or lowered to obtain monitoring information.
[0032] In an optional embodiment, a monitoring module can monitor equipment within an industrial facility. The monitoring module can be equipped with various sensors, such as temperature, humidity, and vibration sensors, to detect the equipment's operating status and environmental parameters. The monitoring module can also be equipped with a camera and image recognition algorithm to monitor the equipment's appearance and operation in real time, as well as identify equipment faults or anomalies. A lifting rail module serves as a support for the monitoring module, enabling it to be raised and lowered within the industrial facility. The lifting rail module is typically driven by a motor, allowing automatic or manual control of the monitoring module's position as needed, allowing it to reach the desired equipment location. Because the monitoring module can be raised and lowered with the equipment's height, the robot can easily monitor every part of the equipment, enabling comprehensive monitoring without manual intervention. Furthermore, the monitoring module can monitor the equipment's operating status in real time, promptly detect faults or anomalies, and take appropriate action, thereby improving the equipment's operational stability and reliability. The inspection robot can also record monitoring information and generate inspection reports, providing data support for equipment maintenance and management. This improves inspection efficiency and accuracy, while reducing labor costs and safety risks.
[0033] In an embodiment of the present invention, a patrol robot for an industrial site is provided, comprising: a navigation module for generating a patrol path based on patrol demand information, wherein the patrol path is used to represent the patrol driving path of the patrol robot; a control module connected to the navigation module, the control module is used to generate lifting height control information based on the patrol path, wherein the lifting height control information is used to represent information that the lifting height of the lifting rail module in the patrol robot changes with the patrol path; a lifting rail module connected to the control module, the lifting rail module is used to perform height lifting based on the lifting height control information; a monitoring module connected to the upper end of the lifting rail module, the monitoring module is used to monitor the equipment to be monitored in the industrial site as the height rises and falls, and obtain monitoring information. It is easy to notice that the present application generates lifting height control information through the patrol path, which can realize dynamic adjustment of the lifting height during the movement of the robot, thereby realizing the continuity and smoothness of the patrol process. The robot can complete the height change without stopping, which improves the efficiency and flexibility of the patrol. The lift rail module can be raised or lowered as needed. Compared to using a robotic arm for inspections, using the lift rail module can reduce costs and provide better stability during high-speed movement. The lift rail module allows for easy height adjustment, making it suitable for inspections at various heights. It helps robots achieve height adjustments, reducing costs, improving stability, and increasing applicability and flexibility, thereby better meeting the needs of industrial inspections. This addresses the low efficiency of industrial inspections in related technologies.
[0034] Optionally, the control module includes: a height detection module for obtaining current height information of the monitoring module; and a feedback control module for generating lifting height control information based on the inspection path and the current height information.
[0035] In an optional embodiment, the inspection robot can autonomously move along a pre-set inspection path. A height detection module acquires its current height information. The feedback control module then generates corresponding height control information to maintain the robot's proper distance from the ground during the inspection process, thereby ensuring smooth inspection operations. Specifically, the height detection module can utilize technologies such as laser rangefinders, ultrasonic sensors, or cameras to acquire real-time distance information between the robot and the ground. By processing and analyzing this information, the robot accurately understands its position, avoiding collisions with obstacles or errors during inspections. Simultaneously, the feedback control module controls the robot's motors or pneumatics based on the inspection path and height information to achieve smooth elevation and elevation, ensuring it remains at the appropriate height for inspections. The inspection robot's autonomous movement and height adjustment capabilities can reduce the workload of manual inspections and improve work efficiency. The inspection robot's height detection and feedback control functions ensure accurate and consistent inspections, avoid missed or false detections, and enhance the reliability of inspection results.
[0036] Optionally, the lifting slide rail module includes: a proportional-integral-differential controller for generating motor control parameters based on lifting height control information, wherein the motor control parameters include at least a speed control parameter and a rotation time control parameter; a servo motor for driving the electric lifting device in the lifting slide rail module based on the motor control parameters; and an electric lifting device for lifting and lowering the height along the guide rail in the lifting slide rail module.
[0037] In an optional embodiment, the lift rail module may include a proportional-integral-differential (PI / D) controller, a servo motor, and an electric lift mechanism. Specifically, the PI / D controller may be used as a component to generate motor control parameters based on lift height control information. By processing height information acquired by a sensor, the PI / D controller can calculate the required motor speed control parameters and rotation duration control parameters, thereby achieving precise lift control. During the inspection process, the robot can automatically adjust the height as needed to adapt to different inspection environments. The servo motor can drive the components of the electric lift mechanism in the lift rail module. The servo motor can precisely control the movement of the electric lift mechanism based on the control parameters generated by the PI / D controller, ensuring the stability and accuracy of the robot during the lifting process. The electric lift mechanism can be used to raise and lower the robot along the guide rails in the lift rail module. Through the electric lift mechanism, the robot can flexibly adjust its height during the inspection process to better approach the inspection target and complete the task. The present application uses a PI / D controller to calculate the motor control parameters in real time, allowing the robot to precisely control the lift height during the inspection process, improving inspection efficiency and accuracy. The servo motor drives the electric lift mechanism according to control parameters, ensuring the robot's stability and reliability during the lifting process, avoiding equipment damage or inspection failures caused by improper height control. The electric lift mechanism can be raised and lowered along the guide rails in the slide module, allowing the robot to adapt to inspection environments at different heights, improving its flexibility and applicability. Through precise lifting control, stable movement, and flexible height adjustment, it improves inspection efficiency and accuracy while ensuring the robot's stability and reliability.
[0038] Optionally, the lifting rail module further includes: a limit protection module, which is used to limit the electric lifting device during the process of the electric lifting device moving up and down along the guide rail in the lifting rail module.
[0039] In an optional embodiment, by providing a limit protection module in the lifting rail module, the safety of the robot during the lifting process can be ensured. Specifically, the limit protection module can be used to limit the electric lifting device during the process of the electric lifting device lifting and lowering the height along the guide rail in the lifting rail module. Specifically, a limit switch can be provided on the guide rail, and the position of the electric lifting device can be detected by the limit switch. When the electric lifting device reaches the preset upper or lower limit position, the limit switch will trigger a signal, thereby stopping the movement of the electric lifting device, and avoiding accidents during the lifting process of the robot. The limit protection module can improve the safety performance of the robot, avoid accidents during the lifting process, and ensure the safety of the inspection process. The setting of the limit protection module provides a more comprehensive and reliable lifting function for the inspection robot in the industrial workshop, ensuring the safety and stability of the robot during the inspection process.
[0040] Optionally, the monitoring module includes: a sensor array, including a lidar, an infrared sensor and a thermal imaging camera, wherein the lidar is used to obtain distance information from the equipment to be monitored, the infrared sensor is used to obtain temperature change information of the equipment to be monitored, and the thermal imaging camera is used to obtain temperature distribution information of the equipment to be monitored; a data fusion module is used to fuse the distance information, temperature change information and temperature distribution information to obtain monitoring information.
[0041] In an optional embodiment, the monitoring module includes a sensor array, wherein a laser radar (LIDAR), an infrared sensor, and a thermal imaging camera are respectively used to obtain equipment distance information, temperature change information, and temperature distribution information. The data fusion module fuses this information to generate comprehensive monitoring information, thereby enabling accurate monitoring of industrial equipment. Specifically, the LIDAR can scan the space to obtain equipment geometry and distance information, enabling precise measurement of the equipment surface. The distance information obtained by the LIDAR can help the robot determine whether the equipment is damaged or deformed, thereby promptly identifying potential safety hazards. The infrared sensor can monitor the temperature changes of the equipment in real time, promptly detecting whether the equipment is overheating or overcooling. The thermal imaging camera can obtain temperature distribution information of the equipment, helping the robot to identify abnormal local hot spots on the equipment and take timely measures to prevent equipment failure. The data fusion module comprehensively analyzes this information to provide a more comprehensive understanding of the equipment's operating status, improving the accuracy and reliability of monitoring. Through the cooperation of the monitoring and data fusion modules, the inspection robot in the industrial site can achieve comprehensive monitoring of equipment, promptly identify problems and take appropriate measures, thereby improving the efficiency and safety of industrial production.
[0042] Optionally, the monitoring module further includes: a wireless communication module for transmitting the monitoring information to the background management system in a wireless communication manner.
[0043] In an optional embodiment, the wireless communication module can transmit the monitored information to the components of the background management system in a wireless communication manner. Specifically, the wireless communication module can use communication technologies such as wireless local area network (WLAN), Bluetooth, self-organizing network protocol (Zigbee), etc. to transmit the monitored information to the background management system. Through wireless communication, real-time data transmission between the inspection robot and the background management system can be achieved, which is convenient for management personnel to understand the operating status of the industrial site in a timely manner, handle abnormal situations in a timely manner, and improve work efficiency. Through the wireless communication module, real-time transmission and remote monitoring of inspection data can be achieved, which is convenient for management personnel to view monitoring data anytime and anywhere, make decisions in a timely manner, and improve work efficiency and management level. The automated inspection method of the inspection robot can also reduce labor costs, improve the accuracy and reliability of inspections, and reduce operating costs.
[0044] The technical solution proposed in this application is described below in conjunction with an optional embodiment. This application proposes a robot intelligent inspection method based on a lifting slide rail module control algorithm. This method involves sensor data fusion and highly adaptive control to enable the inspection robot to accurately adjust the lifting height in a changing environment. In complex industrial environments such as distribution rooms, the layout and height of equipment vary greatly. The inspection robot needs to have highly flexible lifting control capabilities to adapt to the inspection needs of different equipment.
[0045] This application proposes a robot intelligent inspection method based on a lifting rail module control algorithm. By integrating the lifting rail module, a high-precision sensor array and an adaptive control algorithm, it solves the shortcomings of traditional inspection robots in height adjustment, efficiency, safety and environmental adaptability. This solution can adopt a dynamic height adjustment control algorithm to enable the robot to accurately control the lifting height and adapt to complex equipment environments. At the same time, the safety of inspections and task continuity are improved through real-time position information feedback, limit protection mechanism and anomaly detection functions. In addition, the robot is equipped with a variety of sensors, such as lidar, infrared sensor, ultrasonic wave, etc., and a remote monitoring system to realize multi-dimensional data collection, real-time transmission and remote management of equipment status, further improving inspection efficiency and data integrity.
[0046] Specifically, a two-stage lift rail module, driven by a servo motor and combined with laser sensors and feedback control algorithms such as proportional-integral-derivative (PID) control, enables height adjustment within a range of 0 to 2.5 meters with an accuracy of ±0.05cm. This ensures that the inspection robot can quickly adapt to the height requirements of different equipment and improves inspection accuracy. The rail module features a built-in high-precision encoder for real-time position monitoring. It also uses multi-sensor fusion—laser, infrared, and ultrasonic—to sense equipment layout and height differences. Combined with height adjustment logic, the lift height can be dynamically adjusted during robot movement, ensuring a continuous and smooth inspection process, enabling height changes without downtime. Upper and lower limit switches and software limit functions can be added. When the robot approaches a limit position, the system automatically decelerates and triggers an emergency stop. Furthermore, obstacle detection sensors identify anomalies in real time and initiate an automatic correction mechanism within 100ms, ensuring safe lifting operations and preventing equipment damage or collisions caused by out-of-range operation or environmental interference.
[0047] This application can use a variety of sensors such as lidar, infrared sensors, thermal imaging cameras, etc. to collect data such as equipment temperature, gas concentration, and ambient humidity in real time. Combined with historical task records, it can optimize inspection paths and height adjustment strategies, improve the robot's adaptability to complex environments, reduce ineffective movements, and optimize inspection efficiency. Inspection data can be transmitted to the background management system in real time through wireless communication modules (Wi-Fi, 4G), enabling remote video monitoring, equipment status analysis, and task management. It can also achieve real-time management and exception handling of inspection tasks, improving data timeliness and decision-making support capabilities.
[0048] Adjustment accuracy can be improved to ±0.05cm, meeting the needs of high-precision equipment inspection. A sensor fusion algorithm ensures the sensor always maintains the appropriate working distance from the equipment surface, avoiding data distortion or missed detections due to height errors. The robot can adjust its height in real time while in motion without stopping, improving inspection efficiency by over 30%. Combining a height control algorithm with multi-sensor data, the robot automatically plans an appropriate inspection path, reducing ineffective movements and further shortening task execution time. The number and types of equipment covered in a single inspection increase by 20%-40%, making it particularly suitable for complex environments with dense equipment. Limit protection prevents the robot from rising or falling beyond the set range, preventing equipment collisions or rail damage. Obstacles or rail anomalies in the environment can be detected within 100ms, triggering an emergency stop or adjustment to ensure the safety of the robot and equipment. In the event of height adjustment anomalies, the system automatically notifies backend management for timely intervention.
[0049] The technical solution proposed in this application supports dynamic adjustment of heights from 0 to 2.5 meters without manual intervention, adapting to complex equipment layouts in various industrial scenarios. Through multi-sensor fusion, the robot can detect changes in altitude and environmental characteristics within the inspection area, such as high temperatures and hazardous gases, and dynamically adjust its inspection behavior. In distribution rooms, workshops, or other environments requiring high-altitude work, the robot can accurately complete tasks, reducing the safety risks associated with manual high-altitude work. When traversing areas with significantly different equipment heights, the robot can seamlessly adjust its height to maintain the continuity of its inspection mission. The smooth control design of the robot's lifting rails avoids inertial shock, ensuring smoother, less jerky operation and ensuring inspection accuracy. This automation of inspection tasks reduces reliance on human resources and mitigates the high risks and costs associated with manual inspections. Through real-time data transmission and anomaly warnings, response time to equipment failures is shortened by 20%-30%, indirectly reducing downtime losses caused by failures. Accurate inspections and data feedback support more efficient equipment maintenance plans and reduce equipment losses caused by failures. Through integration with backend management systems, it supports remote video monitoring of equipment, automatic task allocation, data comparison and analysis, and other functions, providing intelligent tools for equipment management. It can also analyze historical data and task records, assisting in optimizing inspection strategies and continuously improving robot performance and efficiency as tasks are executed.
[0050] The specific implementation methods of this application include the following aspects to ensure that the intelligent inspection robot based on the lifting slide rail module control algorithm can perform inspection tasks efficiently and accurately.
[0051] The intelligent inspection robot adopts a modular design, mainly including the fuselage frame, lifting rail module, navigation system, sensor array and control system. The fuselage is made of lightweight and high-strength materials, which can withstand the requirements of use in complex environments.
[0052] The lift rail module consists of a motorized lift mechanism, guide rails, sensors, and limit switches. The motorized lift mechanism, driven by a servo motor, enables precise lifting within a range of 0-2.5 meters, with adjustable speed, reaching a maximum of 800mm / s. The guide rails utilize rollers to ensure smooth lifting. To accommodate the overall height of the equipment and achieve an optimal inspection viewing angle, the main unit features a vertical lift mechanism. The pan / tilt platform accommodates cabinet inspection heights from 0-2200mm, facilitating inspection of the equipment.
[0053] The control algorithm includes a height detection module and a feedback control module. The height detection module uses sensors such as laser or ultrasonic sensors to monitor the robot's height in real time and transmits the data to the control system. The feedback control module compares the preset height with the actual height to calculate the required height adjustment and controls the servo motor to perform the corresponding lifting and lowering operations, ensuring an adjustment accuracy of ±0.05cm. A built-in encoder obtains the position of the lifting rail in real time and feeds this information back to the control system. The control system utilizes a PID control algorithm to monitor the lifting process in real time, ensuring accurate control during height changes. Upper and lower limit switches can be set. When the robot approaches the set height of 2.5 meters, the system automatically slows down and stops to prevent collisions caused by over-limit operation. Soft and hard limits can also be set to ensure the safety of the lifting module. The system integrates multiple sensors, such as lidar and obstacle avoidance radar, for environmental awareness. When an obstacle or height deviation is detected, it can trigger an emergency stop within 100ms, ensuring the safety of the robot and operator. Inspection tasks and routes can be configured through the user terminal. The robot automatically generates an appropriate inspection path based on the specified device location and height, dynamically adjusting its height during the inspection process to ensure comprehensive monitoring of each device. The robot integrates multiple sensors, including gas detection sensors, temperature and humidity sensors, infrared thermal imaging cameras, and visible light cameras, enabling real-time monitoring of environmental gas concentrations, temperature and humidity, noise, and odor. The data collection frequency can be set to once per second, ensuring data integrity and accuracy during the inspection process.
[0054] Inspection robots can exchange real-time data with backend management systems via wireless communication modules (such as Wi-Fi or 4G), supporting remote monitoring and data management. Data transmission delays are less than one second, enabling real-time viewing of inspection status and data. The backend management system provides real-time video monitoring, inspection result logging, and equipment status analysis. Users can view on-site video at any time and remotely handle and make decisions regarding abnormal situations.
[0055] According to an embodiment of the present invention, an embodiment of an inspection method for an industrial site is also provided. It can be explained that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.
[0056] Figure 2 Flowchart of an industrial site inspection method according to an embodiment of the present invention. Figure 2 As shown, the method includes the following steps:
[0057] Step S202: Control the navigation module in the inspection robot to generate an inspection path based on the inspection requirement information.
[0058] The inspection path is used to represent the inspection path of the inspection robot.
[0059] Step S204: using the control module to generate lifting height control information based on the inspection path.
[0060] Among them, the control module is connected to the navigation module, and the lifting height control information is used to represent the information that the lifting height of the lifting slide rail module in the inspection robot changes with the inspection path.
[0061] Step S206: Control the lifting rail module to perform height lifting based on the lifting height control information.
[0062] Among them, the lifting slide rail module is connected to the lifting slide rail module.
[0063] Step S208 , controlling the monitoring module to monitor the equipment to be monitored in the industrial building as the height is raised or lowered, and obtaining monitoring information.
[0064] The monitoring module is connected to the upper end of the lifting rail module.
[0065] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0066] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.
[0067] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.
[0068] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.
[0069] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.
[0070] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.
Claims
1. An inspection robot for industrial premises, characterized in that: include: A navigation module, used to generate an inspection path based on the inspection demand information, wherein the inspection path is used to represent the inspection driving path of the inspection robot; A control module connected to the navigation module, the control module is used to generate lifting height control information based on the inspection path, wherein the lifting height control information is used to indicate information that the lifting height of the lifting rail module in the inspection robot changes with the inspection path; The lifting rail module is connected to the control module, and the lifting rail module is used to perform height lifting based on the lifting height control information; The monitoring module is connected to the upper end of the lifting rail module. The monitoring module is used to monitor the equipment to be monitored in the industrial workshop as the height is raised and lowered to obtain monitoring information.
2. The inspection robot for industrial premises according to claim 1, characterized in that: The control module comprises: A height detection module, used to obtain the current height information of the monitoring module; A feedback control module is used to generate the lifting height control information based on the inspection path and the current height information.
3. The inspection robot for industrial premises according to claim 1, characterized in that: The lifting rail module comprises: A proportional-integral-differential controller, used for generating motor control parameters based on the lifting height control information, wherein the motor control parameters at least include a speed control parameter and a rotation time control parameter; A servo motor, used to drive the electric lifting device in the lifting slide rail module based on the motor control parameters; The electric lifting device is used to lift and lower the height along the guide rail in the lifting slide rail module.
4. The inspection robot for industrial premises according to claim 3, characterized in that: The lifting rail module further includes: The limit protection module is used to provide limit protection for the electric lifting device when the electric lifting device is lifted or lowered along the guide rail in the lifting slide rail module.
5. The inspection robot for industrial premises according to claim 1, characterized in that: The monitoring module comprises: A sensor array, including a laser radar, an infrared sensor and a thermal imaging camera, wherein the laser radar is used to obtain distance information from the device to be monitored, the infrared sensor is used to obtain temperature change information of the device to be monitored, and the thermal imaging camera is used to obtain temperature distribution information of the device to be monitored; The data fusion module is used to fuse the distance information, the temperature change information and the temperature distribution information to obtain the monitoring information.
6. The inspection robot for industrial premises according to claim 5, characterized in that: The monitoring module further includes: The wireless communication module is used to transmit the monitoring information to the background management system by wireless communication.
7. A method for inspecting industrial premises, characterized in that: include: Controlling a navigation module in the inspection robot to generate an inspection path based on the inspection demand information, wherein the inspection path is used to represent the inspection driving path of the inspection robot; Using a control module to generate lifting height control information based on the inspection path, wherein the control module is connected to the navigation module, and the lifting height control information is used to indicate information that the lifting height of the lifting rail module in the inspection robot changes with the inspection path; Controlling the lifting rail module to perform height lifting based on the lifting height control information, wherein the lifting rail module is connected to the lifting rail module; The control monitoring module monitors the equipment to be monitored in the industrial workshop as the height is raised or lowered to obtain monitoring information, wherein the monitoring module is connected to the upper end of the lifting slide rail module.
8. An electronic device, characterized in that: include: A memory storing an executable program; A processor is used to run the program, wherein the program, when running, executes the industrial site inspection method described in claim 7.
9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the storage medium is located is controlled to execute the industrial site inspection method described in claim 7.
10. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the inspection method for industrial plants according to claim 7.