Electric power intelligent inspection robot with site marking and identifying functions

Abstract

The invention relates to the technical field of intelligent robots, in particular to an inspection robot technology. After new power equipment facilities are changed or added in a transformer substation, a new inspection site needs to be set, and the workload of operators is increased. An electric power intelligent inspection robot with site marking and identifying functions comprises an inspection robot with path-finding capability, and 4-8 distance measuring sensors are assembled along the periphery of the inspection robot and used for sensing peripheral cabinets in the path-finding moving process of the inspection robot; the inspection robot further comprises a platform which is driven by a driving mechanism to rotate horizontally, the microprocessor system controls the driving mechanism connected with the platform, and the recognition direction of the driving platform faces the direction where the peripheral cabinet is located in the path-finding moving process of the inspection robot. A two-dimensional code recognition system is arranged on the platform, and two-dimensional code image recognition is conducted in the recognition direction of the platform. Routing inspection sites can be automatically updated through way-finding walking, and the workload of operators is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to the technology of inspection robots. Background Art

[0002] The substation is equipped with transformer equipment, switchgear, mutual inductors, relays and other equipment, which play an important role in the operation and maintenance of the substation.

[0003] At present, the daily inspection of facilities in substations is performed by intelligent inspection robots. In order to improve the inspection efficiency of intelligent inspection robots, it is often necessary to set inspection locations for the intelligent inspection robots in advance. The intelligent inspection robots walk according to the locations on a daily basis to perform the inspection function of the facilities in the substation.

[0004] However, if new power equipment and facilities are changed or added to the substation, it is necessary to set up new inspection points, which increases the workload of operators. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent electric power inspection robot with site marking and identification functions to solve at least one of the above-mentioned technical problems.

[0006] The technical problem solved by the present invention can be achieved by adopting the following technical solutions:

[0007] The electric power intelligent inspection robot with the function of site marking and identification includes an inspection robot with path finding ability; the inspection robot obtains the position coordinates as the position information; the inspection robot is also provided with a microprocessor system, and the QR code icon sprayed on the cabinet contains the QR code information of the equipment name and its number;

[0008] There are 4 to 8 distance measuring sensors installed around the inspection robot. The distance measuring sensor signals are connected to the microprocessor system to enable the inspection robot to sense the surrounding cabinets during the path finding and movement process.

[0009] The inspection robot also includes a platform driven by a driving mechanism to rotate horizontally, and the platform is provided with an identification direction;

[0010] The microprocessor system controls the driving mechanism of the connection platform, and the recognition direction of the driving platform is toward the position of the cabinet sensed by the inspection robot during the path-finding movement;

[0011] A QR code recognition system is provided on the platform, and the QR code recognition system has a camera as a recognition camera, and the recognition camera faces the recognition direction of the platform;

[0012] The QR code recognition system is connected to the microprocessor system;

[0013] When the microprocessor system senses the presence of a cabinet in the surrounding area through the distance measuring sensor, it drives the platform to face the cabinet and starts the QR code recognition system to scan the QR code.

[0014] A software system is running in the microprocessor system;

[0015] After the microprocessor system obtains the two-dimensional code information recognized by the two-dimensional code recognition system, it uses its own position information as the location information of the cabinet corresponding to the two-dimensional code information to complete the location marking of the cabinet;

[0016] After the inspection space is traversed, the position marking arrangement parameters of the cabinets in the inspection space are formed;

[0017] The software system arranges the parameters based on the site markings, calculates the shortest path for a single inspection, and uses the shortest path as the inspection robot's daily inspection route.

[0018] The intelligent inspection robot is used to walk inside the substation and inspect the operating status of equipment and facilities. For the equipment and facilities installed in the substation, it is necessary to spray the QR code information containing the equipment name and its number on the cabinet of the equipment and facilities in advance within the height range suitable for the QR code recognition system to recognize the QR code.

[0019] In the above design, the inspection robot has the ability to find its way, and can rely on the path-finding technology and hardware compatible with the path-finding technology to traverse the space where the inspection robot is located. When the inspection robot traverses the space where it is located, the distance between the inspection robot and the surrounding cabinets is sensed by the distance measuring sensor, and the microprocessor system allows the nearest cabinet to be determined by circuit or software. When the distance to the nearest cabinet is less than 1 meter, the microprocessor system controls the drive mechanism to turn the recognition direction of the platform toward the nearest cabinet. Its function is to allow the QR code recognition system set on the platform to start QR code scanning and identify whether there is a QR code.

[0020] In the above design, after the QR code recognition system recognizes the QR code information, it reads the current location information of the inspection robot as the information for marking the site, and then stores the QR code information and site information into the storage unit of the microprocessor system to complete the site marking.

[0021] In the above design, after the inspection robot completes traversal of the inspection space, it forms the location marking arrangement parameters of the cabinets in the inspection space, and performs the shortest path calculation on the location marking arrangement parameters. There are many existing shortest path algorithms, such as the Dijkstra algorithm, which calculates the shortest path for an inspection and uses the calculated shortest path as the inspection robot's daily inspection route. The beneficial effect is that it improves the time efficiency of the inspection.

[0022] Furthermore, an image camera is provided on the platform;

[0023] A microprocessor system controls the connected image camera;

[0024] Also includes a backend server;

[0025] The inspection robot is connected to the backend server via a wireless communication device remote network;

[0026] After the microprocessor system obtains the two-dimensional code information recognized by the two-dimensional code recognition system, the software system controls the image camera to capture images and uploads the captured images to the background server.

[0027] In the above design, the inspection robot is also equipped with an image camera, which is used to take a close-up photo of the equipment when the robot approaches the equipment. The beneficial effect is that the equipment often has a display screen that outputs the current working status. The photos taken at close range can record the equipment operation, status and other information output on the display screen, and upload them to the background server through the wireless network for the operation and maintenance service personnel to manually interpret the information on it.

[0028] For further optimization, the image camera uses a camera with a shooting pixel of more than 2 million pixels.

[0029] In the above design, the camera pixel must reach 2 million pixels or more before it can be used to record the text information output on the display screen and be recognizable.

[0030] Further optimization also includes the method of spraying QR codes on the cabinets:

[0031] A QR code inkjet printer is installed on the platform, and the QR code inkjet printer faces the recognition direction of the platform;

[0032] The QR code inkjet printer includes a QR code information input interface, which receives the device name and its number, generates a QR code icon, and sprays the QR code icon on the cabinet;

[0033] The microprocessor system signal is connected to the QR code information input interface;

[0034] When the inspection robot is traversing the space it is in, it turns on the image camera to capture the cabinet image and uploads the image to the backend server in real time;

[0035] The operator determines the equipment information based on the real-time image and sends the equipment name and equipment number information to the inspection robot;

[0036] After receiving the equipment name and equipment number information, the inspection robot calls the QR code information input interface of the QR code printer;

[0037] The QR code inkjet printer generates a QR code icon and sprays the QR code icon onto the cabinet.

[0038] In the above design, the inspection robot and the back-end operation personnel work together. The inspection robot sends the image of the equipment during the traversal process to the back-end. The back-end operation personnel confirm the equipment name and equipment number based on the image, and send the above equipment information to the inspection robot through the back-end server. The inspection robot calls the QR code inkjet printer to generate a QR code icon based on the equipment name and its number, and finally sprays it onto the cabinet. The beneficial effect is that the efficiency of spraying QR codes on the cabinet is improved.

[0039] Furthermore, the distance measuring sensor adopts an ultrasonic distance measuring sensor with a distance measuring range of 1.5 to 5 meters.

[0040] In the above design, it is necessary to ensure that the distance between the inspection robot and the equipment and facilities is within 1 meter before driving the platform to turn to the equipment, so that the QR code recognition system can identify the QR code image that may exist on the nearby cabinet. The beneficial effect of this is to prevent repeated recognition to ensure that one QR code corresponds to only one site coordinate.

[0041] Furthermore, the software system includes a position correction subroutine for determining the position of the nearest cabinet in the surrounding area;

[0042] The orientation correction subroutine reads the distance measurement data of the distance measurement sensor in sequence, and selects the direction of the distance measurement sensor with the smallest distance measurement value as the direction of the cabinet closest to the surrounding area;

[0043] The minimum value of the ranging value is less than 1m, and the azimuth correction subroutine controls the front of the platform toward the direction of the nearest cabinet in the surrounding area through the microprocessor system.

[0044] In the above design, the orientation correction subroutine reads the ranging data from the set ranging sensors in turn, selects the ranging value with the smallest ranging value, and gives the direction of the ranging sensor of this ranging value, which is the orientation closest to the inspection robot.

[0045] In the above design, when the minimum ranging value is less than 1 meter, the azimuth correction subroutine drives the platform to turn through the microprocessor system. Its function is that the front of the platform is the recognition direction of the QR code recognition system. When the inspection robot approaches the cabinet to a distance of 1 meter, the recognition direction of the platform is turned toward the cabinet, allowing the QR code recognition system to perform QR code recognition. The beneficial effect is that it prevents the misrecognition of the QR code at a long distance, so that the site of the bound QR code is as close to the equipment as possible, so as to provide a clearer image of the equipment operation status.

[0046] Furthermore, the inspection robot has two modes: daily inspection walking and location marking walking;

[0047] The daily inspection walking mode is that the inspection robot walks to the locations in sequence along the shortest path;

[0048] The location marking walking mode is a walking mode in which the inspection robot traverses the space in which it is located through path-finding technology to complete the location marking of the cabinet;

[0049] In the daily inspection walking mode, if a site cannot be reached, the walking mode is switched to the site marking walking mode.

[0050] In the above design, if the inspection robot cannot walk to the marked location, it is judged that the position of the equipment in the space has changed, and then the location marking walking mode is started to perform the location identification and location re-marking operation process for the equipment in the space where the inspection robot is located. The beneficial effect is that the location marking is automatically refreshed without manual intervention, so as to improve the inspection efficiency of the inspection robot and save the labor cost of operation.

[0051] Furthermore, in front of the recognition camera of the two-dimensional code recognition system, there is a shield whose opening and closing is controlled by an electric control mechanism, and the electric control mechanism controls the connection to the microprocessor system;

[0052] When the distance measuring sensor detects that the nearest cabinet is less than 1 meter away, the recognition direction of the driving platform is toward the cabinet, and the mask is controlled to open, and the QR code recognition system is started to scan the QR code.

[0053] In the above design, a mask that can be controlled to open and close is set in front of the recognition camera of the QR code recognition system. Its beneficial effect is to prevent the inspection robot from mistakenly identifying a QR code image in the distance during the site marking process, which causes the marked site to be far away from the equipment and cannot obtain the high-definition image of the operation and status information output by the equipment display screen.

[0054] Furthermore, the method further comprises the following steps:

[0055] S1, start the inspection robot's path-finding technology to traverse the walking space;

[0056] S2, start the software system, run the direction correction subroutine to determine the direction of the cabinet closest to the surrounding distance, the direction correction subroutine reads the distance measurement values ​​of the distance measurement sensors in sequence through the microprocessor system, and selects the direction of the distance measurement sensor with the smallest distance measurement value as the direction of the cabinet closest to the surrounding distance;

[0057] S3, when the distance measurement value of the nearest cabinet is less than 1m, the azimuth correction subroutine controls the driving mechanism to rotate the platform through the microprocessor system until the identification direction of the platform faces the nearest cabinet;

[0058] The platform is rotated only when it is needed to get close to the cabinet to prevent repeated recognition of the QR code;

[0059] S4, the two-dimensional code recognition system recognizes the two-dimensional code information, and the software system matches the location information from the storage unit of the microprocessor system according to the two-dimensional code information;

[0060] S5. If the location information cannot be matched, the software system reads the current position coordinates of the robot as the location information, and matches the QR code information and the location information and stores them in the storage unit of the microprocessor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0062] Figure 1 is a front schematic view of the present invention;

[0063] Figure 2 It is a top view schematic diagram of the present invention.

[0064] Explanation of symbols:

[0065] 1. Inspection robot; 2. Platform; 3. QR code recognition system; 4. Image camera; 31. Recognition camera. DETAILED DESCRIPTION

[0066] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings.

[0067] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0068] Secondly, the present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0069] Furthermore, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0070] Reference Figure 1 , Figure 2 As shown, the electric intelligent inspection robot with position marking and identification functions includes an inspection robot 1 with path finding ability; the inspection robot 1 obtains position coordinates as position information; the inspection robot 1 is also provided with a microprocessor system, and the QR code icon sprayed on the cabinet contains the QR code information of the equipment name and its number;

[0071] 4 to 8 distance measuring sensors are installed around the inspection robot 1, and the distance measuring sensor signals are connected to the microprocessor system to sense the surrounding cabinets during the inspection robot 1's path finding and movement process;

[0072] The inspection robot 1 also includes a platform 2 driven by a driving mechanism to rotate horizontally, and the platform 2 is provided with an identification direction;

[0073] The microprocessor system controls the driving mechanism of the connection platform 2, and the recognition direction of the driving platform 2 is toward the position of the cabinet sensed by the inspection robot 1 during the path-finding movement;

[0074] A two-dimensional code recognition system 3 is provided on the platform 2. The two-dimensional code recognition system 3 has a camera as a recognition camera 31. The recognition camera 31 faces the recognition direction of the platform 2.

[0075] The two-dimensional code recognition system 3 is connected to the microprocessor system;

[0076] When the microprocessor system senses the presence of a cabinet in the surrounding area through the distance measuring sensor, the recognition direction of the driving platform 2 is directed toward the cabinet, and the QR code recognition system 3 is started to scan the QR code;

[0077] A software system is running in the microprocessor system;

[0078] After the microprocessor system obtains the two-dimensional code information recognized by the two-dimensional code recognition system 3, it uses its own position information as the location information of the cabinet corresponding to the two-dimensional code information to complete the location marking of the cabinet;

[0079] After the inspection space is traversed, the position marking arrangement parameters of the cabinets in the inspection space are formed;

[0080] The software system calculates the shortest path for a single inspection based on the location marking arrangement parameters, and uses the shortest path as the travel route for the inspection robot 1 for daily inspections.

[0081] The intelligent inspection robot 1 is used to walk in the substation and inspect the operating status of equipment and facilities. For the equipment and facilities installed in the substation, it is necessary to spray the QR code information containing the equipment name and its number on the cabinet of the equipment and facilities in advance within the height range suitable for the QR code recognition system 3 to recognize the QR code.

[0082] In this embodiment, the inspection robot 1 has a pathfinding capability, and can rely on the pathfinding technology and hardware adapted to the pathfinding technology to traverse the space where the inspection robot 1 is located. When the inspection robot 1 traverses the space where it is located, the distance between the inspection robot 1 and the surrounding cabinets is sensed by the distance measuring sensor, and the microprocessor system allows the nearest cabinet to be determined by circuit or software. When the distance to the nearest cabinet is less than 1 meter, the microprocessor system controls the drive mechanism to turn the recognition direction of the platform 2 toward the nearest cabinet, which allows the QR code recognition system 3 set on the platform 2 to start the QR code scanning and identify whether there is a QR code.

[0083] In this embodiment, after the QR code recognition system 3 recognizes the QR code information, it reads the current location information of the inspection robot 1 as the information for marking the site, and then stores the QR code information and the site information into the storage unit of the microprocessor system to complete the site marking.

[0084] In this embodiment, after the inspection robot 1 completes the traversal of the inspection space, it forms the location marking arrangement parameters of the cabinets in the inspection space, and performs the shortest path calculation on the location marking arrangement parameters. There are many existing shortest path algorithms, such as the Dijkstra algorithm, which calculates the shortest path for an inspection and uses the calculated shortest path as the route for the inspection robot 1 for daily inspections. The beneficial effect is that the time efficiency of the inspection is improved.

[0085] Furthermore, an image camera 4 is also provided on the platform 2;

[0086] The microprocessor system controls the connected image camera 4;

[0087] Also includes a backend server;

[0088] The inspection robot 1 is connected to the backend server via a wireless communication device remote network;

[0089] After the microprocessor system obtains the two-dimensional code information recognized by the two-dimensional code recognition system 3, the software system controls the image camera 4 to capture an image and uploads the captured image to the backend server.

[0090] In this embodiment, the inspection robot 1 is also equipped with an image camera 4, which is used to take a close-up photo of the device when the robot approaches the device. The beneficial effect is that the device often has a display screen that outputs the current working status, and the photos taken at close range can record the device operation, status and other information output on the display screen, and upload them to the background server through the wireless network for the operation and maintenance service personnel to manually interpret the information on it.

[0091] For further optimization, the image camera 4 uses a camera with a shooting pixel of more than 2 million pixels.

[0092] In this embodiment, the camera needs to have a pixel of 2 million or more to be able to record the text information output on the display screen and make it recognizable.

[0093] For further optimization, a QR code inkjet printer is provided on platform 2;

[0094] The QR code inkjet printer includes a QR code information input interface, which receives the device name and its number, generates a QR code icon, and sprays the QR code icon on the cabinet;

[0095] The microprocessor system signal is connected to the QR code information input interface;

[0096] The inspection robot 1 traverses the space it is in by using the path-finding technology, and during the traversal, the image camera 4 is turned on to capture images, and the images are uploaded to the background server;

[0097] Based on the image, the operator sends the device name and device number to the microprocessor system of the inspection robot 1. The software system calls the QR code information input interface of the QR code inkjet printer to complete the spraying of the QR code icon on the cabinet.

[0098] In this embodiment, the inspection robot 1 and the back-end operation personnel collaborate. The inspection robot 1 sends the image of the equipment during the traversal process to the back-end. The back-end operation personnel confirm the equipment name and equipment number based on the image, and send the above equipment information to the inspection robot 1 through the back-end server. The inspection robot 1 calls the QR code inkjet printer to generate a QR code icon based on the equipment name and its number, and finally sprays it on the cabinet. The beneficial effect is that the efficiency of spraying QR codes on the cabinet is improved.

[0099] Furthermore, the distance measuring sensor adopts an ultrasonic distance measuring sensor with a distance measuring range of 1.5 to 5 meters.

[0100] In this embodiment, it is necessary to ensure that the distance between the inspection robot 1 and the equipment and facilities is within 1 meter before driving the platform 2 to turn towards the equipment so that the QR code recognition system 3 can identify the QR code image that may exist on the nearby cabinet. The beneficial effect of this is to prevent repeated recognition to ensure that one QR code corresponds to only one location coordinate.

[0101] Furthermore, the software system includes a position correction subroutine for determining the position of the nearest cabinet in the surrounding area;

[0102] The orientation correction subroutine reads the distance measurement data of the distance measurement sensor in sequence, and selects the direction of the distance measurement sensor with the smallest distance measurement value as the direction of the cabinet closest to the surrounding area;

[0103] The minimum value of the ranging value is less than 1m, and the azimuth correction subroutine controls the front of the platform 2 toward the direction of the nearest cabinet in the surrounding area through the microprocessor system.

[0104] In this embodiment, the orientation correction subroutine reads the distance data from the set distance measuring sensors in turn, selects the distance measuring value with the smallest distance measuring value, and gives the direction of the distance measuring sensor of this distance measuring value, which is the orientation closest to the inspection robot 1.

[0105] In this embodiment, when the minimum ranging value is less than 1 meter, the orientation correction subroutine drives the platform 2 to turn through the microprocessor system. Its function is that the front of the platform 2 is the recognition direction of the QR code recognition system 3. When the inspection robot 1 approaches the cabinet to a distance of 1 meter, the recognition direction of the platform 2 is turned toward the cabinet, allowing the QR code recognition system 3 to perform QR code recognition. The beneficial effect is that it prevents the misrecognition of the QR code at a long distance, so that the location of the bound QR code is as close to the equipment as possible, so as to provide a clearer image of the equipment operation status.

[0106] Furthermore, the inspection robot 1 has two modes: daily inspection walking and location marking walking;

[0107] The daily inspection walking mode is that the inspection robot 1 walks to the locations in sequence along the shortest path;

[0108] The location marking walking mode is a walking mode in which the inspection robot 1 traverses the space in which it is located through the path finding technology to complete the cabinet location marking;

[0109] In the daily inspection walking mode, if a site cannot be reached, the walking mode is switched to the site marking walking mode.

[0110] In this embodiment, if the inspection robot 1 cannot walk to the marked location, it is judged that the position of the equipment in the space has changed, and then the location marking walking mode is started to perform the location recognition and location re-marking operation process for the equipment in the space where the inspection robot 1 is located. The beneficial effect is that the location marking is automatically refreshed without manual intervention, so as to improve the inspection efficiency of the inspection robot 1 and save the labor cost of operation.

[0111] Furthermore, in front of the recognition camera 31 of the two-dimensional code recognition system 3, there is a shield controlled by an electric control mechanism, and the electric control mechanism controls the connection to the microprocessor system;

[0112] When the distance measuring sensor detects that the nearest cabinet is less than 1 meter away, the recognition direction of the driving platform 2 is toward the cabinet, and the mask is controlled to open, and the two-dimensional code recognition system 3 is started to scan the two-dimensional code.

[0113] In this embodiment, a mask that can be controlled to open and close is set in front of the recognition camera 31 of the QR code recognition system 3. Its beneficial effect is to prevent the inspection robot 1 from mistakenly recognizing a QR code image in the distance during the site marking process, which causes the marked site to be far away from the equipment and cannot obtain the high-definition image of the operation and status information output by the equipment display screen.

[0114] Furthermore, the method further comprises the following steps:

[0115] S1, start the path-finding technology of the inspection robot 1 to traverse the walking space;

[0116] S2, start the software system, run the direction correction subroutine to determine the direction of the cabinet closest to the surrounding distance, the direction correction subroutine reads the distance measurement values ​​of the distance measurement sensors in sequence through the microprocessor system, and selects the direction of the distance measurement sensor with the smallest distance measurement value as the direction of the cabinet closest to the surrounding distance;

[0117] S3, the distance measurement value of the nearest cabinet in the surrounding area is less than 1m, and the azimuth correction subroutine controls the driving mechanism to rotate the platform 2 through the microprocessor system until the identification direction of the platform 2 is toward the nearest cabinet in the surrounding area;

[0118] Platform 2 is rotated only when it is necessary to get close to the cabinet to prevent repeated recognition of the QR code;

[0119] S4, the two-dimensional code recognition system 3 recognizes the two-dimensional code information, and the software system matches the location information from the storage unit of the microprocessor system according to the two-dimensional code information;

[0120] S5. If the location information cannot be matched, the software system reads the current position coordinates of the robot as the location information, and matches the QR code information and the location information and stores them in the storage unit of the microprocessor system.

[0121] Furthermore, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment may not be described, i.e., those features that are not relevant to the best mode presently contemplated for carrying out the invention or those features that are not relevant to implementing the invention.

[0122] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, the development effort will be a routine task of design, fabrication, and production without undue experimentation.

[0123] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An electric power intelligent inspection robot with position marking and identification functions includes an inspection robot with path finding capability; the inspection robot obtains position coordinates as position information; a microprocessor system is also provided in the inspection robot, characterized in that: The QR code icon sprayed on the cabinet contains the QR code information of the device name and its serial number; There are 4 to 8 distance measuring sensors installed around the inspection robot. The distance measuring sensor signals are connected to the microprocessor system to enable the inspection robot to sense the surrounding cabinets during the path finding and movement process. The inspection robot also includes a platform driven by a driving mechanism to rotate horizontally, and the platform is provided with an identification direction; The microprocessor system controls the driving mechanism of the connection platform, and the recognition direction of the driving platform is toward the position of the cabinet sensed by the inspection robot during the path-finding movement; A QR code recognition system is provided on the platform, and the QR code recognition system has a camera as a recognition camera, and the recognition camera faces the recognition direction of the platform; The QR code recognition system is connected to the microprocessor system; When the microprocessor system senses the presence of a cabinet in the surrounding area through the distance measuring sensor, it drives the platform to face the cabinet and starts the QR code recognition system to scan the QR code. A software system is running in the microprocessor system; After the microprocessor system obtains the two-dimensional code information recognized by the two-dimensional code recognition system, it uses its own position information as the location information of the cabinet corresponding to the two-dimensional code information to complete the location marking of the cabinet; After the inspection space is traversed, the position marking arrangement parameters of the cabinets in the inspection space are formed; The software system arranges the parameters based on the site markings, calculates the shortest path for a single inspection, and uses the shortest path as the inspection robot's daily inspection route.

2. The intelligent power inspection robot with site marking and identification functions according to claim 1 is characterized in that: An image camera is also installed on the platform; A microprocessor system controls the connected image camera; Also includes a backend server; The inspection robot is connected to the backend server via a wireless communication device remote network; After the microprocessor system obtains the two-dimensional code information recognized by the two-dimensional code recognition system, the software system controls the image camera to capture images and uploads the captured images to the background server.

3. The intelligent power inspection robot with site marking and identification functions according to claim 2 is characterized in that: The image camera uses a camera with a shooting pixel of more than 2 million pixels.

4. The electric power intelligent inspection robot with site marking and identification functions according to claim 2 is characterized in that: It also includes a method for spraying a QR code on a cabinet: A QR code inkjet printer is installed on the platform, and the QR code inkjet printer faces the recognition direction of the platform; The QR code inkjet printer includes a QR code information input interface, which receives the device name and its number, generates a QR code icon, and sprays the QR code icon on the cabinet; The microprocessor system signal is connected to the QR code information input interface; When the inspection robot is traversing the space it is in, it turns on the image camera to capture the cabinet image and uploads the image to the backend server in real time; The operator determines the equipment information based on the real-time image and sends the equipment name and equipment number information to the inspection robot; After receiving the equipment name and equipment number information, the inspection robot calls the QR code information input interface of the QR code printer; The QR code inkjet printer generates a QR code icon and sprays the QR code icon onto the cabinet.

5. The electric power intelligent inspection robot with site marking and identification functions according to claim 1 is characterized in that: The distance measuring sensor adopts an ultrasonic distance measuring sensor with a distance measuring range of 1.5 to 5 meters.

6. The electric power intelligent inspection robot with site marking and identification functions according to claim 1 is characterized in that: The software system includes a position correction subroutine for determining the position of the nearest cabinet in the surrounding area; The orientation correction subroutine reads the distance measurement data of the distance measurement sensor in sequence, and selects the direction of the distance measurement sensor with the smallest distance measurement value as the direction of the cabinet closest to the surrounding area; The minimum value of the ranging value is less than 1m, and the azimuth correction subroutine controls the identification direction of the platform through the microprocessor system toward the direction of the nearest cabinet in the surrounding area.

7. The electric power intelligent inspection robot with site marking and identification functions according to claim 1 is characterized in that: The inspection robot has two modes: daily inspection walking and location marking walking; The daily inspection walking mode is that the inspection robot walks to the locations in sequence along the shortest path; The location marking walking mode is a walking mode in which the inspection robot traverses the space in which it is located through path-finding technology to complete the location marking of the cabinet; In the daily inspection walking mode, if a site cannot be reached, the walking mode is switched to the site marking walking mode.

8. The electric power intelligent inspection robot with site marking and identification functions according to claim 1 is characterized in that: In front of the recognition camera of the two-dimensional code recognition system, there is a shield controlled by an electric control mechanism, and the electric control mechanism controls the connection to the microprocessor system; When the distance measuring sensor detects that the nearest cabinet is less than 1 meter away, the recognition direction of the driving platform is toward the cabinet, and the mask is controlled to open, and the QR code recognition system is started to scan the QR code.

9. The electric power intelligent inspection robot with site marking and identification functions according to claim 1 is characterized in that: The following steps are also included: S1, start the inspection robot's path-finding technology to traverse the walking space; S2, start the software system, run the direction correction subroutine to determine the direction of the cabinet closest to the surrounding distance, the direction correction subroutine reads the distance measurement values ​​of the distance measurement sensors in sequence through the microprocessor system, and selects the direction of the distance measurement sensor with the smallest distance measurement value as the direction of the cabinet closest to the surrounding distance; S3, when the distance measurement value of the nearest cabinet is less than 1m, the azimuth correction subroutine controls the driving mechanism to rotate the platform through the microprocessor system until the identification direction of the platform faces the nearest cabinet; The platform is rotated only when it is needed to get close to the cabinet to prevent repeated recognition of the QR code; S4, the two-dimensional code recognition system recognizes the two-dimensional code information, and the software system matches the location information from the storage unit of the microprocessor system according to the two-dimensional code information; S5. If the location information cannot be matched, the software system reads the current position coordinates of the robot as the location information, and matches the QR code information and the location information and stores them in the storage unit of the microprocessor system.

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