Machine room fault wheel type inspection robot

Abstract

The invention discloses a machine room fault wheel type inspection robot which comprises an inspection trolley body, a moving device is arranged at the bottom of the inspection trolley body, walking cameras and sound collection microphones are arranged on the periphery of the inspection trolley body, and high-low-position double-angle radar anti-collision inspection assemblies are symmetrically arranged on the front side and the rear side of the inspection trolley body. Positioner delivery mechanisms are arranged on the left side and the right side of the inspection trolley body correspondingly, lifting type laser radar imaging devices are arranged at the four corners of the top of the inspection trolley body correspondingly, lifting type temperature monitoring devices are arranged on the left side and the right side of the top of the inspection trolley body correspondingly, and a dynamic direction adjustable image collecting device is arranged on the top of the inspection trolley body. And a control device is arranged in the inspection trolley body. According to the invention, accurate positioning can be realized through the laser radar, faults can be locked while routing inspection is carried out, abnormity can be discriminated through monitoring temperature, sound and instrument data, and the routing inspection accuracy is greatly improved.

Description

Technical Field

[0001] This application relates to the technical field of inspection robots, and particularly to a wheeled inspection robot for computer room faults. Background Art

[0002] With the continuous increase in the number of computer room devices, the traditional manual inspection method has problems of low efficiency and high cost. It not only consumes a large amount of time and manpower but also is difficult to ensure the comprehensiveness and accuracy of inspections.

[0003] Although existing inspection robots have been applied to computer room inspections, they still face many challenges in actual applications. It is difficult to accurately locate the devices and fault positions in the computer room, and most robots need to stop running for positioning when a fault is found, unable to balance fault detection and continuous inspection.

[0004] In addition, the fault manifestations of some computer room devices are not obvious. For example, only the instrument display is abnormal without accompanying abnormalities such as temperature and sound, resulting in difficulty for inspection robots to judge faults and also difficult to accurately determine the installation position of the instrument, affecting the fault diagnosis efficiency. For this reason, the present invention proposes a wheeled inspection robot for computer room faults. Summary of the Invention

[0005] The embodiments of this application provide a wheeled inspection robot for computer room faults, enabling precise positioning through lidar, realizing locking faults while inspecting, and being able to distinguish abnormalities by monitoring temperature, sound, and instrument data, greatly improving the accuracy of inspections.

[0006] In view of this, this application provides a wheeled inspection robot for computer room faults, including: an inspection trolley body;

[0007] A moving device is arranged at the bottom of the inspection trolley body;

[0008] Walking cameras and sound collection microphones are arranged around the inspection trolley body;

[0009] High and low position dual-angle radar anti-collision inspection components are symmetrically arranged on the front and back sides of the inspection trolley body;

[0010] Locator delivery mechanisms are respectively arranged on the left and right sides of the inspection trolley body;

[0011] Liftable lidar imaging devices are arranged at the four corners of the top of the inspection trolley body;

[0012] Liftable temperature monitoring devices are arranged on the left and right sides of the top of the inspection trolley body;

[0013] A dynamically azimuth-adjustable image acquisition device is arranged on the top of the inspection trolley body;

[0014] A control device is arranged inside the inspection trolley body;

[0015] The control device is electrically connected to the moving device, the walking camera, the sound collection microphone, the high and low position dual-angle radar anti-collision inspection component, the locator delivery mechanism, the lifting lidar imaging device, the lifting temperature monitoring device, and the dynamically azimuth-adjustable image collection device respectively.

[0016] Optionally, a storage battery and a wireless transceiver device are also arranged inside the inspection trolley body;

[0017] The storage battery is electrically connected to the control device;

[0018] The control device is electrically connected to the wireless transceiver device.

[0019] Optionally, the control device includes a control box and a control board arranged inside the control box;

[0020] A processor and a storage module are arranged on the control board;

[0021] Data on the normal operating temperature ranges of each device in the computer room are stored in the storage module.

[0022] Optionally, the locator delivery mechanism includes a delivery bin, a locator box, and a delivery device;

[0023] The delivery device is fixedly arranged inside the delivery bin;

[0024] The delivery device includes a delivery box and a pushing component;

[0025] The output end of the pushing component is fixedly connected to the delivery box and is used to push the delivery box out of the delivery bin;

[0026] A delivery cavity is formed in the bottom of the delivery box in the vertical direction;

[0027] A rope winding reel and a winding motor are arranged at the inner top of the delivery cavity;

[0028] The winding motor is drivingly connected to the rope winding reel;

[0029] A delivery rope is wound around the rope winding reel;

[0030] A radio-controlled lock is fixedly arranged at the end of the delivery rope;

[0031] The locator box is detachably connected to the delivery rope through the radio-controlled lock.

[0032] Optionally, a bin blocking plate is arranged at the opening of the delivery bin;

[0033] On the inspection trolley body, a pull-up cylinder for controlling the opening or closing of the bin plugging plate is correspondingly arranged;

[0034] The output end of the pull-up cylinder is fixedly connected to one side of the bin plugging plate;

[0035] A pull-out plugging plate is arranged at the bottom opening position of the delivery cavity;

[0036] On the delivery box, a pull-out cylinder for controlling the opening or closing of the pull-out plugging plate is correspondingly arranged;

[0037] The output end of the pull-out cylinder is fixedly connected to one side of the pull-out plugging plate.

[0038] Optionally, the high-low position and double-angle radar anti-collision inspection component includes two horizontally arranged first radar probes and two second radar probes arranged obliquely upward;

[0039] The two first radar probes are respectively arranged at two corner positions near the bottom of the side wall of the inspection trolley body;

[0040] The two second radar probes are respectively arranged at two corner positions near the top of the side wall of the inspection trolley body;

[0041] The included angle between the second radar probe and the horizontal plane is between 15° and 30°.

[0042] Optionally, the lifting laser radar imaging device includes a first electric lifting rod and a laser radar imager arranged at the top of the first electric lifting rod.

[0043] Optionally, the lifting temperature monitoring device includes a second electric lifting rod and a temperature monitoring component arranged at the top of the second electric lifting rod;

[0044] The temperature monitoring component includes a disc and three infrared temperature sensors installed on the outer side wall of the disc;

[0045] The three infrared temperature sensors are located in the same horizontal plane and are all arranged radially outward along the disc, and the included angle formed by the radial connection line of two adjacent infrared temperature sensors and the center of the disc is less than 30°.

[0046] Optionally, the dynamically azimuth-adjustable image acquisition device includes a third electric lifting rod rotatably arranged on the top of the inspection trolley body, a photographing device installed on the top of the third electric lifting rod, and a first steering servo motor for driving the third electric lifting rod to rotate;

[0047] The photographing device includes a square box;

[0048] Photographing cameras are arranged on the four side walls of the square box.

[0049] Optionally, the mobile device includes at least three mobile wheel assemblies disposed at the bottom of the inspection trolley body;

[0050] The mobile wheel assembly includes a roller, a U-shaped frame, a first driving motor, a steering shaft rod, a first bearing, and a second steering servo motor;

[0051] The first bearing is embedded and installed in the inspection trolley body;

[0052] The steering shaft rod is rotatably connected to the inspection trolley body through the first bearing;

[0053] The U-shaped frame is fixed to the lower end of the steering shaft rod;

[0054] The roller is installed on the U-shaped frame;

[0055] The first driving motor is installed outside one side wall of the U-shaped frame, and the first driving motor is drivingly connected to the roller for driving the roller to rotate;

[0056] The second steering servo motor is fixedly arranged in the inspection trolley body;

[0057] The second steering servo motor is drivingly connected to the steering shaft rod for driving the steering shaft rod to rotate.

[0058] From the above technical solutions, it can be seen that the embodiments of the present application have the following advantages: This wheeled inspection robot for computer room faults greatly improves the automation level, positioning accuracy, comprehensiveness of fault diagnosis, and overall operation efficiency of computer room inspections. By deploying a walking camera, a sound collection microphone, a high and low position dual-angle radar anti-collision inspection component, a lifting lidar imaging device, a lifting temperature monitoring device, and a dynamically azimuth-adjustable image acquisition device on the inspection trolley body, an all-round and multi-level perception network is constructed, significantly improving the precise positioning and navigation obstacle avoidance capabilities in the computer room environment, effectively preventing collision with equipment, and through the multi-modal collaborative analysis by integrating sound, temperature, lidar image, and visual data, greatly enhancing the sensitivity and diagnostic ability for hidden faults including only abnormal instrument displays. At the same time, by respectively arranging a locator delivery mechanism on the left and right sides of the inspection trolley body, the robot can automatically drop numbered locators to mark the position of the fault point when detecting a suspected fault (abnormal sound, over-temperature, or abnormal instrument value) without stopping the current inspection task, completely solving the pain point of the existing technology that the entire inspection process is interrupted due to the need for in-situ positioning, and realizing the seamless parallel operation of instant fault marking and continuous efficient inspection. Description of the Drawings

[0059] Figure 1Schematic structural diagram of the wheeled inspection robot for computer room faults in the embodiments of the present application;

[0060] Figure 2 Cross-sectional view of the wheeled inspection robot for computer room faults in the embodiments of the present application;

[0061] Figure 3 Schematic diagram of the position distribution of the lidar imager and the temperature monitoring component on one side of the inspection trolley body in the embodiments of the present application;

[0062] Figure 4 Schematic structural diagram of the locator delivery mechanism in the embodiments of the present application;

[0063] Figure 5 Cross-sectional view of the delivery box in the embodiments of the present application;

[0064] Figure 6 Cross-sectional view of the radio-controlled lock in the embodiments of the present application;

[0065] Among them, the reference numerals are:

[0066] 1 - Inspection trolley body, 2 - Locator delivery mechanism, 20 - Bin blocking plate, 201 - Pull-up air cylinder, 21 - Delivery box, 211 - Delivery cavity, 212 - Rewinding motor, 213 - Rope winding drum, 214 - Pull-out blocking plate, 22 - Push rod, 221 - Control wire, 23 - Second driving motor, 24 - Lead screw, 25 - Sleeve block, 26 - Delivery bin, 27 - Pull-out air cylinder, 28 - Locating box, 281 - Lock tongue, 29 - Radio-controlled lock, 291 - Micro battery, 292 - Radio control board, 293 - Locking air cylinder, 294 - Lock rod, 3 - Mobile wheel assembly, 31 - Roller, 32 - U-shaped frame, 33 - Steering shaft rod, 34 - First bearing, 35 - Second steering servo motor, 351 - Second steering gear disk, 4 - First radar probe, 5 - Traveling camera, 6 - Second radar probe, 7 - First electric lifting rod, 71 - Lidar imager, 72 - Temperature monitoring component, 721 - Infrared temperature sensor, 8 - Third electric lifting rod, 81 - Second bearing, 82 - First steering gear disk, 83 - First steering servo motor, 9 - Photographing device, 91 - Photographing camera, 10 - Sound collection microphone, 11 - Storage battery, 12 - Control device, 13 - Wireless transceiver device, 14 - Second electric lifting rod. Detailed implementation manners

[0067] To enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solution in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0068] In the description of this application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to this application. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0069] Unless otherwise clearly specified and defined, the terms "install", "connect", and "couple" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0070] This application provides an embodiment of a wheeled patrol robot for computer room faults. For details, please refer to Figure 1 and Figure 2 .

[0071] The wheeled patrol robot for computer room faults in this embodiment includes: a patrol cart body 1. A moving device is arranged at the bottom of the patrol cart body 1. Walking cameras 5 and sound collection microphones 10 are arranged around the patrol cart body 1. High and low position double-angle radar anti-collision patrol components are symmetrically arranged on the front and rear sides of the patrol cart body 1. Positioner delivery mechanisms 2 are respectively arranged on the left and right sides of the patrol cart body 1. Elevating laser radar imaging devices are arranged at the four corners of the top of the patrol cart body 1. Elevating temperature monitoring devices are arranged on the left and right sides of the top of the patrol cart body 1. A dynamically azimuth-adjustable image acquisition device is arranged on the top of the patrol cart body 1. A control device 12 is arranged inside the patrol cart body 1. The control device 12 is electrically connected to the moving device, the walking cameras 5, the sound collection microphones 10, the high and low position double-angle radar anti-collision patrol components, the positioner delivery mechanisms 2, the elevating laser radar imaging devices, the elevating temperature monitoring devices, and the dynamically azimuth-adjustable image acquisition device.

[0072] It should be noted that the wheeled inspection robot for computer room faults greatly improves the automation level, positioning accuracy, comprehensiveness of fault diagnosis and overall operation efficiency of computer room inspections. By deploying the walking camera 5, sound collection microphone 10, high and low position dual-angle radar anti-collision inspection component, lift-type lidar imaging device, lift-type temperature monitoring device and dynamically azimuth-adjustable image acquisition device on the inspection trolley body 1, an all-round and multi-level perception network is constructed, significantly improving the precise positioning and navigation obstacle avoidance ability in the computer room environment, effectively preventing collision with equipment, and through the multi-modal collaborative analysis by integrating sound, temperature, lidar image and visual data, greatly enhancing the sensitivity and diagnostic ability for hidden faults including only abnormal instrument displays. At the same time, by respectively arranging locator delivery mechanisms 2 on the left and right sides of the inspection trolley body 1, when the robot detects a suspected fault (abnormal sound, temperature exceeding the standard or abnormal instrument value), it can automatically drop numbered locators to mark the position of the fault point without stopping the current inspection task, completely solving the pain point of the existing technology that the entire inspection process is interrupted due to the need for in-situ positioning, and realizing the seamless parallel operation of instant fault marking and continuous and efficient inspection.

[0073] The above is the first embodiment of a wheeled inspection robot for computer room faults provided by this application. The following is the second embodiment of a wheeled inspection robot for computer room faults provided by this application. For details, please refer to Figures 1 to 6 。

[0074] The wheeled inspection robot for computer room faults in this embodiment includes: an inspection trolley body 1, a moving device is arranged at the bottom of the inspection trolley body 1, walking cameras 5 and sound collection microphones 10 are arranged around the inspection trolley body 1, high and low position dual-angle radar anti-collision inspection components are symmetrically arranged on the front and rear sides of the inspection trolley body 1, locator delivery mechanisms 2 are respectively arranged on the left and right sides of the inspection trolley body 1, lift-type lidar imaging devices are arranged at the four corners of the top of the inspection trolley body 1, lift-type temperature monitoring devices are arranged on the left and right sides of the top of the inspection trolley body 1, a dynamically azimuth-adjustable image acquisition device is arranged on the top of the inspection trolley body 1, and a control device 12 is arranged inside the inspection trolley body 1. The control device 12 is electrically connected to the moving device, walking camera 5, sound collection microphone 10, high and low position dual-angle radar anti-collision inspection component, locator delivery mechanism 2, lift-type lidar imaging device, lift-type temperature monitoring device and dynamically azimuth-adjustable image acquisition device respectively.

[0075] It should be noted that: the high and low double-angle radar anti-collision inspection component cooperates with the walking camera 5 for accurate inspection and will not collide with the equipment in the computer room. At the same time, the lifting laser radar imaging device can scan and form a radar image for comparison with the image saved in the system to determine the position, and can also determine whether it is approaching the equipment on the left and right sides of the computer room; the lifting temperature monitoring device is used to monitor whether the temperature of the equipment on both sides of the inspection trolley body 1 is abnormal; the sound collection microphone 10 is used to collect the sound of the equipment, so as to judge whether there is a fault in the equipment by whether the sound of the equipment is normal; the dynamically azimuth-adjustable image collection device is used to take pictures of the values on the instrument and extract the values for comparison with the system to judge whether the values on the instrument are normal; the control device 12 is used to control the movement and inspection of the inspection trolley body 1.

[0076] Preferably, the walking camera 5 is located at the center position of the side wall of the inspection trolley body 1, and a sound collection microphone 10 is respectively arranged at intervals on the left and right sides of each walking camera 5; the lifting temperature monitoring device is located at the midpoint position of the connection line between the two lifting laser radar imaging devices on the same side. By setting two lifting laser radar imaging devices on the same side, the judgment error is smaller, and an accurate position judgment can be formed. At the same time, since the lifting temperature monitoring device is located at the midpoint position of the connection line between the two lifting laser radar imaging devices on the same side, the signal emitted by the lifting laser radar imaging device has less influence on the middle lifting temperature monitoring device, thus solving the problem of low detection accuracy when the detection sensors are gathered together; the dynamically azimuth-adjustable image collection device is located at the center position of the top of the inspection trolley body 1.

[0077] A storage battery 11 and a wireless transceiver device 13 are also arranged inside the inspection trolley body 1. The storage battery 11 is electrically connected to the control device 12, and the control device 12 is electrically connected to the wireless transceiver device 13. Wireless signals are sent and received through the wireless transceiver device 13 to achieve wireless connection with the background.

[0078] The control device 12 includes a control box and a control board arranged in the control box. A processor (CPU) and a storage module are arranged on the control board. The normal working temperature range data of each device in the computer room are stored in the storage module, and the normal working temperature range data of each device can be input in advance by maintenance personnel. Specifically, the storage module can be a mechanical hard disk or a solid-state hard disk installed on the control board.

[0079] It is understandable that before the inspection, the inspection trolley body 1 walks along a specified route in the machine room to collect the first radar images of the equipment in the machine room and the first equipment sound during normal operation, and saves the first radar images and the first equipment sound in the storage module to form a reference radar image and the sound frequency band of each equipment in the machine room for comparison. By comparing the real-time monitored radar images and sounds with the system, the position and abnormal conditions can be accurately judged. Specifically, when the inspection trolley body 1 is on inspection, the lifting laser radar imaging device performs radar scanning on the equipment in the machine room on both sides of the walking route in real time to form real-time radar images, and the sound collection microphone 10 synchronously collects the real-time sound of the equipment working. The real-time radar images and the real-time sound are compared with the saved first radar images and the first equipment sound at the same position.

[0080] The locator delivery mechanism 2 includes a delivery bin 26, a positioning box 28 and a delivery device. The positioning box 28 is composed of a box body, a battery and a positioning chip, similar to a locator on an automobile; the delivery device is fixedly arranged in the delivery bin 26. The delivery device includes a delivery box 21 and a pushing component. The output end of the pushing component is fixedly connected to the delivery box 21 and is used to push the delivery box 21 out of the delivery bin 26; a delivery cavity 211 is vertically opened at the bottom of the delivery box 21. A rope winding drum 213 and a winding motor 212 are arranged at the inner top of the delivery cavity 211. The winding motor 212 is drivingly connected to the rope winding drum 213. A delivery rope is wound around the rope winding drum 213. A radio-controlled lock 29 is fixedly arranged at the end of the delivery rope. The positioning box 28 is detachably connected to the delivery rope through the radio-controlled lock 29.

[0081] It should be noted that when a suspected fault is found or a fault is determined, the inspection robot can place the positioning box 28 on the side of the equipment with the suspected fault or the determined fault. The positioning box 28 is placed on the ground close to the equipment. After the delivery is completed, the inspection of the next equipment can be continued. At the same time, the positioning box 28 is provided with a system number so as to find the corresponding equipment according to the numbered positioning box 28 to prevent trouble in finding the position after multiple positioning boxes 28 are placed.

[0082] Specifically, the pushing component includes a second driving motor 23, a lead screw 24, a sleeve block 25 and a push rod 22. The second driving motor 23 is fixedly arranged in the delivery bin 26. The output shaft of the second driving motor 23 is coaxially and fixedly connected to one end of the lead screw 24. The other end of the lead screw 24 is in threaded connection with the push rod 22. The sleeve block 25 is fixedly arranged in the delivery bin 26. The push rod 22 passes through the sleeve block 25 and is in limit sliding connection with the sleeve block 25; the end of the push rod 22 away from the lead screw 24 is fixedly connected to the delivery box 21; a control line 221 is embedded in the upper surface of the push rod 22. One end of the control line 221 extends into the delivery box 21 and is connected to the winding motor 212, and the other end is connected to the control device 12.

[0083] The number of the delivery cavities 211 is multiple, the number of the positioning boxes 28 is equal to that of the delivery cavities 211, and they are arranged in one-to-one correspondence. In this embodiment, the number of the delivery cavities 211 is 4.

[0084] The radio-controlled lock 29 includes a lock body and a micro battery 291, a radio control board 292, a locking cylinder 293 and a lock rod 294 arranged in the lock body. The micro battery 291 is electrically connected to the radio control board 292, the radio control board 292 is electrically connected to the locking cylinder 293, and the output end of the locking cylinder 293 is drivingly connected to the lock rod 294 for driving the lock rod 294 to movably insert into or withdraw from the lock cavity of the lock body; a lock tongue 281 is arranged on the top of the positioning box 28, and a lock hole for cooperating with the lock rod 294 is formed on the lock tongue 281, so that the lock tongue 281 can be inserted into the lock cavity and the lock rod 294 can be inserted into the lock hole to achieve locking.

[0085] A bin plugging plate 20 is arranged at the opening of the delivery bin 26, and a pull-up cylinder 201 for controlling the opening or closing of the bin plugging plate 20 is correspondingly arranged on the inspection trolley body 1. The output end of the pull-up cylinder 201 is fixedly connected to one side of the bin plugging plate 20; a pull-out plugging plate 214 is arranged at the bottom opening position of the delivery cavity 211, and a pull-out cylinder 27 for controlling the opening or closing of the pull-out plugging plate 214 is correspondingly arranged on the delivery box 21. The output end of the pull-out cylinder 27 is fixedly connected to one side of the pull-out plugging plate 214.

[0086] It should be noted that: during delivery, the pull-up cylinder 201 pulls up the bin plugging plate 20 to expose the bin opening of the delivery bin 26. The second driving motor 23 drives the lead screw 24 to rotate, and then drives the push rod 22 to move, so as to push out the delivery box 21. Then, the pull-out cylinder 27 controls the opening of the pull-out plugging plate 214, and the winding motor 212 drives the rope winding drum 213 to unwind. At this time, the delivery rope is connected to the positioning box 28 and gradually moves down until the positioning box 28 lands. After the positioning box 28 lands, the radio control board 292 controls the locking cylinder 293 to pull the lock rod 294 outwards, so as to unlock the lock tongue 281 and realize the separation of the positioning box 28 from the radio-controlled lock 29. Then, the winding motor 212 drives the rope winding drum 213 to wind up, and pulls the radio-controlled lock 29 back into the delivery cavity 211 again. Then, the pull-out cylinder 27 controls the pull-out plugging plate 214 to close, and the second driving motor 23 drives the push rod 22 to retract, so as to retract the delivery box 21 into the delivery bin 26. Finally, the pull-up cylinder 201 lowers the pull-up plugging plate 20 to close the bin opening of the delivery bin 26, and the delivery task is completed.

[0087] The high and low position dual-angle radar anti-collision inspection component includes two horizontally arranged first radar probes 4 and two second radar probes 6 that are inclined upward. The two first radar probes 4 are respectively arranged at two corner positions near the bottom of the side wall of the inspection trolley body 1, and the two second radar probes 6 are respectively arranged at two corner positions near the top of the side wall of the inspection trolley body 1. The angle between the second radar probe 6 and the horizontal plane is between 15° and 30°.

[0088] It can be understood that since the dynamically azimuth-adjustable image acquisition device can be lifted and has a certain height, it is necessary to detect whether there are obstacles above. The second radar probe 6 that is inclined upward can detect obstacles higher than the trolley, so as to prevent the dynamically azimuth-adjustable image acquisition device from touching the obstacles above.

[0089] The lifting lidar imaging device includes a first electric lifting rod 7 and a lidar imager 71 arranged at the top of the first electric lifting rod 7. The first electric lifting rod 7 enables the lidar imager 71 to be appropriately lifted and lowered to cope with the heights of devices at different positions.

[0090] It can be understood that the lidar imager 71 is a prior art. It improves the range resolution by transmitting broadband signals and using pulse compression technology. After the signal processing algorithm, the received radar echo data is converted into two-dimensional image information, which can clearly display the shape, contour, texture and other features of the ground or the target object, so as to accurately judge the position where the inspection trolley body 1 arrives.

[0091] The lifting temperature monitoring device includes a second electric lifting rod 14 and a temperature monitoring component 72 arranged at the top of the second electric lifting rod 14. The second electric lifting rod 14 enables the temperature monitoring component 72 to be appropriately lifted and lowered to cope with the heights of devices at different positions.

[0092] The temperature monitoring component 72 includes a disc and three infrared temperature sensors 721 installed on the outer side wall of the disc. The disc is horizontally fixed at the top end of the second electric lifting rod 14. The three infrared temperature sensors 721 are located in the same horizontal plane and are all arranged radially outward along the disc. The included angle formed by the radial connection lines of two adjacent infrared temperature sensors 721 and the center of the disc is less than 30°. Preferably, the distance between every two adjacent infrared temperature sensors 721 is equal.

[0093] It can be understood that through the three infrared temperature sensors 721, three measurements can be realized. The measured temperatures of the infrared temperature sensors 721 on both sides can be measured in advance and after leaving, so that when the measurement of the middle infrared temperature sensor 721 deviates, it can be corrected in real time.

[0094] The dynamically azimuth-adjustable image acquisition device includes a third electric lifting rod 8 rotatably arranged on the top of the inspection trolley body 1, a photographing device 9 installed on the top of the third electric lifting rod 8, and a first steering servo motor 83 for driving the third electric lifting rod 8 to rotate; the photographing device 9 includes a square box, and photographing cameras 91 are arranged on the four side walls of the square box, which is convenient for photographing and collecting the instrument readings on the equipment on both sides during the traveling process. Specifically, a second bearing 81 is fixedly arranged in the inspection trolley body 1, and the third electric lifting rod 8 is rotatably connected to the inspection trolley body 1 through the second bearing 81; a first steering gear disc 82 is fixedly connected to the output shaft of the first steering servo motor 83, and a first gear belt is correspondingly arranged on the outer side wall of the lower end of the third electric lifting rod 8, and the first steering gear disc 82 is meshed with the first gear belt.

[0095] Preferably, a circle of supplementary light lamps are arranged on both the photographing camera 91 and the traveling camera 5.

[0096] The moving device includes at least three moving wheel assemblies 3 arranged at the bottom of the inspection trolley body 1. The moving wheel assembly 3 includes a roller 31, a U-shaped frame 32, a first driving motor, a steering shaft rod 33, a first bearing 34, and a second steering servo motor 35; the first bearing 34 is embedded and installed in the inspection trolley body 1, the steering shaft rod 33 is rotatably connected to the inspection trolley body 1 through the first bearing 34, the U-shaped frame 32 is fixed to the lower end of the steering shaft rod 33, the roller 31 is installed on the U-shaped frame 32, the first driving motor is installed outside one side wall of the U-shaped frame 32, and the first driving motor is drivingly connected to the roller 31 for driving the roller 31 to rotate; the second steering servo motor 35 is fixedly arranged in the inspection trolley body 1, and the second steering servo motor 35 is drivingly connected to the steering shaft rod 33 for driving the steering shaft rod 33 to rotate. Specifically, a second steering gear disc 351 is fixedly connected to the output shaft of the second steering servo motor 35, a second gear belt is correspondingly arranged on the outer side wall of the top of the steering shaft rod 33, and the second steering gear disc 351 is meshed with the second gear belt; two first bearings 34 are sleeved on the steering shaft rod 33, and both of the two first bearings 34 are embedded and installed in the inspection trolley body 1.

[0097] It should be noted that: the roller 31 can be adjusted to rotate arbitrarily, and can rotate up to 90 degrees left and right, and can realize direct side shift. Moreover, since the monitoring on both sides and the front and back monitoring of the inspection trolley body 1 are symmetrical, it can realize two-way walking, making the movement more flexible.

[0098] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A wheeled inspection robot for computer room faults, characterized in that Including: The inspection trolley body; A moving device is arranged at the bottom of the inspection trolley body; Walking cameras and sound collection microphones are arranged around the inspection trolley body; High and low position dual-angle radar anti-collision inspection components are symmetrically arranged on the front and rear sides of the inspection trolley body; Locator delivery mechanisms are respectively arranged on the left and right sides of the inspection trolley body; Lift type lidar imaging devices are arranged at the four corners of the top of the inspection trolley body; Lift type temperature monitoring devices are arranged on the left and right sides of the top of the inspection trolley body; A dynamically azimuth adjustable image acquisition device is arranged on the top of the inspection trolley body; A control device is arranged inside the inspection trolley body; The control device is electrically connected to the moving device, the walking camera, the sound collection microphone, the high and low position dual-angle radar anti-collision inspection component, the locator delivery mechanism, the lift type lidar imaging device, the lift type temperature monitoring device and the dynamically azimuth adjustable image acquisition device respectively.

2. The wheeled inspection robot for computer room faults according to claim 1, characterized in that A storage battery and a wireless transceiver device are also arranged inside the inspection trolley body; The storage battery is electrically connected to the control device; The control device is electrically connected to the wireless transceiver device.

3. The wheeled inspection robot for computer room faults according to claim 1, characterized in that, The control device includes a control box and a control board arranged inside the control box; A processor and a storage module are arranged on the control board; Data on the normal operating temperature ranges of each device in the computer room are stored in the storage module.

4. The wheeled inspection robot for computer room faults according to claim 1, wherein, The locator delivery mechanism includes a delivery bin, a positioning box and a delivery device; The delivery device is fixedly arranged inside the delivery bin; The delivery device includes a delivery box and a pushing-out component; The output end of the pushing-out component is fixedly connected to the delivery box and is used to push the delivery box out of the delivery bin; A delivery cavity is vertically opened at the bottom of the delivery box; A rope winding drum and a winding motor are arranged at the inner top of the delivery cavity; The winding motor is drivingly connected to the rope winding drum; A delivery rope is wound around the rope winding drum; A radio-controlled lock is fixedly arranged at the end of the delivery rope; The positioning box is detachably connected to the delivery rope through the radio-controlled lock.

5. The wheeled inspection robot for computer room faults according to claim 4, characterized in that A bin blocking plate is arranged at the opening of the delivery bin; A pull-up air cylinder for controlling the opening or closing of the bin blocking plate is correspondingly arranged on the inspection trolley body; The output end of the pull-up air cylinder is fixedly connected to one side of the bin blocking plate; A pull-out blocking plate is arranged at the opening position at the bottom of the delivery cavity; A pull-out air cylinder for controlling the opening or closing of the pull-out blocking plate is correspondingly arranged on the delivery box; The output end of the pull-out air cylinder is fixedly connected to one side of the pull-out blocking plate.

6. The wheeled inspection robot for computer room faults according to claim 1, wherein The high and low position dual-angle radar anti-collision inspection component includes two horizontally arranged first radar probes and two second radar probes arranged obliquely upward; The two first radar probes are respectively arranged at two corner positions near the bottom of the side wall of the inspection trolley body; The two second radar probes are respectively arranged at two corner positions near the top of the side wall of the inspection trolley body; The included angle between the second radar probe and the horizontal plane is between 15° and 30°.

7. The wheeled inspection robot for computer room faults according to claim 1, characterized in that The lifting lidar imaging device includes a first electric lifting rod and a lidar imager arranged at the top of the first electric lifting rod.

8. The wheeled inspection robot for computer room faults according to claim 1, characterized in that The lifting temperature monitoring device includes a second electric lifting rod and a temperature monitoring component arranged at the top of the second electric lifting rod; The temperature monitoring component includes a disc and three infrared temperature sensors installed on the outer side wall of the disc; The three infrared temperature sensors are located in the same horizontal plane and are all arranged radially outward along the disc, and the included angle formed by the radial connection line of two adjacent infrared temperature sensors and the center of the disc is less than 30°.

9. The wheeled inspection robot for computer room faults according to claim 1, characterized in that, The dynamically azimuth-adjustable image acquisition device includes a third electric lifting rod rotatably arranged on the top of the inspection trolley body, a photographing device installed on the top of the third electric lifting rod, and a first steering servo motor for driving the third electric lifting rod to rotate; The photographing device includes a square box; Photographing cameras are arranged on the four side walls of the square box.

10. The wheeled inspection robot for computer room faults according to claim 1, characterized in that, The moving device includes at least three moving wheel assemblies arranged at the bottom of the inspection trolley body; The moving wheel assembly includes a roller, a U-shaped frame, a first driving motor, a steering shaft rod, a first bearing and a second steering servo motor; The first bearing is embedded and installed in the inspection trolley body; The steering shaft rod is rotatably connected to the inspection trolley body through the first bearing; The U-shaped frame is fixed at the lower end of the steering shaft rod; The roller is installed on the U-shaped frame; The first driving motor is installed outside one side wall of the U-shaped frame, and the first driving motor is drivingly connected to the roller for driving the roller to rotate; The second steering servo motor is fixedly arranged in the inspection trolley body; The second steering servo motor is drivingly connected to the steering shaft rod for driving the steering shaft rod to rotate.

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