An inspection robot

Abstract

The present application relates to the technical field of robots, and discloses a patrol robot, which comprises a robot main body, a deformation detection assembly, a deformation correction assembly, and an elastic member, a detection member and a sensing member, wherein the elastic member is used for pressing the detection member to make the detection member abut against the inner wall of a patrol track, the sensing member is used for sensing the displacement signal of the detection member and / or the pressure signal of the elastic member, and the deformation correction assembly comprises a driving member and a correction execution member; the elastic member makes the detection member continuously abut against the inner wall of the track, real-time perceives the slight change of the track profile, and converts the displacement signal of the detection member or the pressure signal of the elastic member into an electric signal and transmits the electric signal to a control system through the sensing member, so that the online detection of the deformation area of the track is realized; after receiving the deformation signal, the control system can control the deformation correction assembly behind to start immediately, drive the correction execution member to exert extrusion force on the side wall of the patrol track, and mechanically correct the slight deformation.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an inspection robot. Background Technology

[0002] With the development trend of intelligent operation and maintenance of power systems, inspection robots have been widely used in the automatic inspection of substations. Inspection robots usually run along a preset track and collect data such as images, temperature and status of power distribution equipment through various sensors, which effectively reduces the burden of manual inspection and improves inspection efficiency and data standardization. In actual long-term operation, the condition of the track will directly affect the inspection operation of the inspection robot. Under long-term load, environmental stress or foundation settlement, the track may undergo deformation such as local bending, twisting or joint misalignment. At present, the monitoring and maintenance of track condition mainly relies on regular manual inspection. When maintenance personnel find local deformation of the track during inspection, they promptly perform mechanical correction or replacement of the track.

[0003] However, due to the limited frequency of manual inspections, there is a certain lag in monitoring local deformation of the track. When the inspection robot runs to the local deformation part of the track, it may cause positioning deviation, running jam, or even derailment risk in extreme cases. Once derailed, the inspection robot will fall and be damaged, the inspection task will be interrupted for a long time, and it may further lead to safety accidents in special environments such as high-voltage power distribution rooms. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the monitoring and maintenance of track status in the prior art mainly relies on regular manual inspections, which results in a certain lag in the monitoring of local deformation of the track. When the inspection robot runs to the local deformation part of the track, it will cause the inspection robot to deviate in positioning, run stuck, and even cause derailment risk in extreme cases.

[0005] To address the aforementioned technical problems, this invention provides an inspection robot, comprising: Robot body; The deformation detection component includes an elastic element, a detection element, and a sensing element. The sensing element is located on the robot body. One end of the elastic element is connected to the robot body or the sensing element, and the other end of the elastic element is connected to the detection element. The elastic element is used to press the detection element so that the detection element abuts against the inner wall of the inspection track. The detection element is used to detect the deformation of the inner wall of the inspection track to obtain a displacement signal. The detection element is connected to the sensing element or the elastic element. The sensing element is used to sense the displacement signal of the detection element and / or the pressure signal of the elastic element. The deformation correction component includes a drive component and a correction actuator. The drive component is located on the robot body, and the drive end of the drive component is connected to the correction actuator. The control system is electrically connected to the sensors and actuators. The control system is used for: Receive displacement signals and / or pressure signals; The drive correction actuator applies compressive force to the side wall of the inspection track to mechanically correct the deformed area of ​​the inspection track.

[0006] Preferably, the deformation detection component also includes a detection chamber, which is located on the robot body; The elastic element is a spring, the detection element is a detection support plate, and the sensing element is a pressure sensing plate; The pressure sensing plate, spring, and detection support plate are all located inside the detection chamber, with the end of the detection support plate extending out of the detection chamber. One end of the spring is connected to the detection support plate, and the other end is connected to the pressure sensing plate. The spring is pre-compressed to drive the detection support plate to abut against the inner wall of the inspection track. The pressure sensing plate is used to sense the pressure signal of the spring.

[0007] Preferably, the wall of the inspection chamber is provided with a guide hole, and the inspection support plate is slidably disposed in the guide hole in a direction perpendicular to the inner wall of the inspection track.

[0008] Preferably, multiple springs and detection plates are provided, and they correspond one-to-one; One end of a portion of the spring is connected to the top surface of the pressure sensing plate, and the other end is connected to a detection support plate; One end of a portion of the spring is connected to the bottom surface of the pressure sensing plate, and the other end is connected to a detection support plate; Multiple guide holes are provided on the upper and lower walls of the testing chamber, and each testing support plate is slidably installed in the corresponding guide hole.

[0009] Preferably, the driving component is a hydraulic pump, which is electrically connected to the control system. The corrective actuator is a hydraulic push plate. The hydraulic pump has a driving end at both the top and bottom. There are two hydraulic push plates, which are connected to each driving end respectively. The two ends of the hydraulic pump synchronously drive the two hydraulic push plates to move closer or further apart from each other.

[0010] Preferably, the robot body is also equipped with an anti-derailment emergency limit mechanism; the anti-derailment emergency limit mechanism includes: The limiting groove is formed on the robot body; The rotating plate is rotatably set in the limiting groove at one end and is equipped with an anti-detachment plate at the other end; the anti-detachment plate has a first position that fits against the inspection track and a second position that is spaced apart from the inspection track. A torsion spring is connected to a rotating plate and is used to drive the rotating plate to rotate, thereby causing the anti-detachment plate to rotate from the second position to the first position. The locking assembly, electrically connected to the control system, is used to lock the turntable in the second position under normal conditions and to release the lock upon receiving a derailment risk signal from the control system.

[0011] Preferably, the locking assembly includes an electric lifting plate and a locking groove; The locking groove is located on the bottom surface of the rotating plate. The electric lifting plate is electrically connected to the control system. The top of the electric lifting plate is inserted into the locking groove to prevent the rotating plate from rotating.

[0012] Preferably, the bottom of the anti-detachment plate is equipped with a magnetic suction plate.

[0013] Preferably, the robot body is also equipped with cleaning components; The cleaning components include a recovery chamber and a negative pressure adsorption device. The recovery chamber is connected to the robot body and has adsorption holes facing the inner wall of the inspection track. The negative pressure adsorption device is installed inside the recovery chamber.

[0014] Preferably, the cleaning component is positioned in front of the deformation detection component, and the deformation correction component is positioned behind the deformation detection component.

[0015] Compared with the prior art, the preferred embodiment of the present invention provides an inspection robot with the following advantages: During each inspection, the deformation detection component continuously contacts the inner wall of the track via an elastic element, sensing minute changes in the track profile in real time. The displacement signal of the detection component or the pressure signal of the elastic element is converted into an electrical signal by a sensor and transmitted to the control system, enabling online detection of track deformation areas. Upon receiving the deformation signal, the control system immediately activates the deformation correction component, driving the correction actuator to apply pressure to the side wall of the inspected track, mechanically correcting minute deformations. This allows many minor deformations to be automatically repaired during the inspection process, avoiding problems such as operational stalls and positioning deviations caused by the accumulation of minor deformations. This ensures the continuous and smooth execution of each inspection task. If the deformation of the inspected track is too large, exceeding the correction capacity of the correction actuator, the control system generates an early warning message, accurately locating the abnormal points on the inspected track, facilitating timely investigation and repair by staff. This solution transforms the traditional manual inspection mode into a real-time maintenance and intelligent early warning mode during inspection operations, improving the reliability and operational efficiency of the inspection system. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the inspection robot installed on the inspection track according to a preferred embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of the inspection robot provided in a preferred embodiment of the present invention; Figure 3 yes Figure 2 The diagram shows an enlarged view of the structure at point A. Figure 4 This is a partial structural diagram of the cleaning component in the inspection robot provided in a preferred embodiment of the present invention; Figure 5 This is a schematic diagram of the internal structure of the recovery compartment in the inspection robot provided in a preferred embodiment of the present invention; Figure 6 This is a partial structural schematic diagram of the deformation detection component in the inspection robot provided in a preferred embodiment of the present invention; Figure 7 This is a schematic diagram of the internal structure of the inspection cabin in the inspection robot provided in a preferred embodiment of the present invention; Figure 8 This is a partial structural schematic diagram of the deformation correction component in the inspection robot provided in a preferred embodiment of the present invention; Figure 9 yes Figure 2 The diagram shows an enlarged view of the structure at point B. Figure 10 This is a partial structural schematic diagram of the anti-derailment emergency limiting mechanism in the inspection robot provided in a preferred embodiment of the present invention; Figure 11 This is a schematic diagram of the anti-derailment plate of the anti-derailment emergency limiting mechanism in the inspection robot provided in a preferred embodiment of the present invention, showing the adsorption state between the plate and the inspection track. Figure 12 This is a schematic diagram of the overall process of the fully autonomous intelligent inspection module group of the control system in the inspection robot provided in a preferred embodiment of the present invention.

[0017] In the diagram: 1. Inspection track; 2. Robot body; 2001. Limiting groove; 201. Limiting plate; 202. Cleaning component; 2021. First support; 2022. Recycling chamber; 2023. Adsorption hole; 203. Deformation detection component; 2031. Second support; 2032. Detection chamber; 2033. Detection component; 2034. Elastic component; 2035. Sensing component; 204. Deformation correction component; 2041. Third support; 2042. Drive component; 2043. Correction actuator; 3. Anti-derailment emergency limiting mechanism; 301. Turning plate; 3011. Transmission rod; 302. Torsion spring; 303. Anti-derailment plate; 3031. Magnetic suction plate; 304. Locking component; 3041. Electric lifting plate; 3042. Locking groove. Detailed Implementation

[0018] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and preferred embodiments. The following preferred embodiments are used to illustrate the present invention, but are not intended to limit the scope of the invention.

[0019] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] It should be understood that the terms "first," "second," etc., are used in this invention to describe various types of information, but these terms are not limited to them; they are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] like Figures 1 to 11 As shown, a preferred embodiment of the present invention provides an inspection robot, comprising: Robot body 2; The deformation detection component 203 includes an elastic element 2034, a detection element 2033, and a sensing element 2035. The sensing element 2035 is disposed on the robot body 2. One end of the elastic element 2034 is connected to the robot body 2 or the sensing element 2035, and the other end of the elastic element 2034 is connected to the detection element 2033. The elastic element 2034 is used to press the detection element 2033 so that the detection element 2033 abuts against the inner wall of the inspection track 1. The detection element 2033 is used to detect the deformation of the inner wall of the inspection track 1 to obtain a displacement signal. The detection element 2033 is connected to the sensing element 2035 or the elastic element 2034. The sensing element 2035 is used to sense the displacement signal of the detection element 2033 and / or the pressure signal of the elastic element 2034. The deformation correction component 204 includes a drive component 2042 and a correction actuator 2043. The drive component 2042 is located on the robot body 2, and the drive end of the drive component 2042 is connected to the correction actuator 2043. The control system is electrically connected to the sensor 2035 and the drive unit 2042; The control system is used for: Receive displacement signals and / or pressure signals; The drive correction actuator 2043 applies a compressive force to the side wall of the inspection track 1 to mechanically correct the deformed area of ​​the inspection track 1.

[0023] During each inspection operation, the deformation detection component 203, through the elastic element 2034, ensures that the detection element 2033 continuously abuts against the inner wall of the track, thereby sensing minute changes in the track profile in real time. The sensor 2035 receives the displacement signal of the detection element 2033 or the pressure signal of the elastic element 2034 and converts it into an electrical signal, which is then transmitted to the control system. This enables online detection of the track deformation area. Upon receiving the deformation signal, the control system can immediately activate the deformation correction component 204, driving the correction actuator 2043 to apply pressure to the side wall of the inspected track 1, mechanically correcting the minute deformations. This allows many minor deformations to be automatically repaired during the inspection process, thus avoiding problems such as operational stalls and positioning deviations caused by the accumulation of minor deformations. This ensures the continuous and smooth execution of each inspection task. If the deformation of inspection track 1 is too large, exceeding the correction capability of the drive correction actuator 2043, the control system generates an early warning message to accurately locate the abnormal point of inspection track 1, facilitating timely investigation and repair by staff. This solution transforms the traditional manual inspection mode into a real-time maintenance and intelligent early warning mode during the inspection operation, improving the reliability and operational efficiency of the inspection system.

[0024] Specifically, the control system has a built-in threshold judgment module. The threshold judgment module has pre-stored safety thresholds, deformation thresholds, and warning thresholds based on simulated data of normal track status, deformation status, and derailment critical status. The control system continuously receives real-time pressure data from the pressure sensing plate and compares it with the preset thresholds. If the data is within the safety threshold, normal inspection is maintained. If the data enters the deformation threshold range, deformation is determined to have occurred, and the deformation correction component 204 is immediately activated for temporary correction. If the data reaches the warning threshold range or deformation still exists after secondary detection, it is determined that there is a risk of derailment or severe deformation, and the control system switches to warning mode. In warning mode, the control system sends a precisely located alarm message to the background through sound, light, or wireless signals. On the other hand, it can send a trigger signal to the anti-derailment emergency limit mechanism 3 to activate the emergency mechanical limit.

[0025] Specifically, such as Figure 12 As shown, the control system also integrates a fully autonomous intelligent inspection module group, which is used to perform inspection tasks on the equipment in the power distribution room. The fully autonomous intelligent inspection module group includes: The perception fusion module is used to control multiple sensors to synchronously collect environmental data and perform coordinate system unification. The semantic mapping module is used to fuse point cloud, visible light and thermal infrared data to construct a multi-attribute 3D semantic map of the power distribution room; The navigation and positioning module is used to achieve centimeter-level real-time positioning and navigation of the robot body 2 in dynamic environments; The collaborative planning module is used to automatically plan inspection paths based on semantic maps and control the mobile platform and robotic arm to perform collaborative observations. The intelligent diagnostic module is used to fuse and analyze multimodal inspection data to achieve automatic diagnosis and report generation of equipment status.

[0026] Specifically, the inspection workflow of the fully autonomous intelligent inspection module group is as follows: Step 1: The perception fusion module is started first, controlling the lidar, RGB camera, infrared thermal imager and inertial measurement unit (IMU) to synchronously acquire the three-dimensional point cloud, image and motion data of the power distribution room environment, and complete the precise unification of the multi-sensor coordinate system through hand-eye calibration; Step 2: The semantic mapping module then works, fusing the processed laser point cloud with the registered RGB image and thermal infrared image, and using techniques such as perspective projection to assign color and temperature attributes to the point cloud, thus constructing a multi-attribute 3D semantic map that includes the precise geometry, realistic texture and temperature distribution of the power distribution cabinet. Step 3: During the mobile inspection of the robot body 2, the navigation and positioning module runs continuously. It uses a LiDAR-IMU tightly coupled SLAM framework to estimate the pose in real time, and combines point cloud dynamic segmentation technology to filter dynamic interference in the environment, so as to ensure accurate and stable navigation in the complex environment of the power distribution room. Step 4: The collaborative planning module automatically generates global and local inspection paths based on the cabinet layout and key component distribution such as switches, instruments, and observation windows extracted from the constructed semantic map. At the same time, it guides the movement of the robotic arm through visual servo control to obtain the optimal observation images of the target components from multiple perspectives without obstruction. Step 5: Finally, the intelligent diagnostic module analyzes the acquired high-definition visible light and thermal infrared image sequences. Using a multimodal fusion network based on the improved YOLOv11 and Transformer architecture, it integrates texture, shape, and temperature features to complete the joint diagnosis and evaluation of the equipment status and automatically generates a structured inspection report containing detailed analysis results.

[0027] Specifically, such as Figure 6 and Figure 7 As shown, the deformation detection component 203 also includes a detection chamber 2032, which is located on the robot body 2; The elastic element 2034 is a spring, the detection element 2033 is a detection support plate, and the sensing element 2035 is a pressure sensing plate; The pressure sensing plate, spring and detection support plate are all installed inside the detection chamber 2032, and the end of the detection support plate extends out of the detection chamber 2032. One end of the spring is connected to the detection support plate, and the other end is connected to the pressure sensing plate. The spring is pre-compressed to drive the detection support plate to abut against the inner wall of the inspection track 1. The pressure sensing plate is used to sense the pressure signal of the spring.

[0028] The pre-compression force of the spring ensures that the contact pressure between the detection support plate and the inner wall of the inspection track 1 remains stable. When the inspection track 1 is deformed locally, its inner wall profile changes, causing the detection support plate against it to be subjected to an additional force, which in turn changes the pre-compression degree of the spring. The reaction force of the spring acting on the pressure sensing plate changes accordingly. The pressure sensing plate senses the change in the spring reaction force and converts this change into an electrical signal, which is then transmitted to the control system. This allows the control system to judge the state of the inspection track 1 in real time, ensuring the accuracy of subsequent correction and early warning actions.

[0029] Specifically, such as Figure 8 As shown, the test chamber 2032 has guide holes on its walls, and the test support plate is slidably installed in the guide holes in a direction perpendicular to the inner wall of the inspection track 1.

[0030] By setting guide holes on the bulkhead of the detection chamber 2032, a one-way motion constraint is provided for the detection support plate, ensuring that the spring only bears axial pressure and avoiding the risk of bending. During the robot's movement, complex tangential friction forces will be generated between the detection support plate and the inner wall of the track. Without the constraint of the guide holes, these lateral forces will be directly transmitted to the spring, causing it to bend, twist, or even become unstable, thereby interfering with the accurate transmission of pressure signals.

[0031] Specifically, there are multiple springs and detection plates, and they correspond one-to-one; One end of a portion of the spring is connected to the top surface of the pressure sensing plate, and the other end is connected to a detection support plate; One end of a portion of the spring is connected to the bottom surface of the pressure sensing plate, and the other end is connected to a detection support plate; Multiple guide holes are provided on the upper and lower walls of the testing chamber 2032, and each testing support plate is slidably installed in the corresponding guide hole.

[0032] By distributing multiple detection support plates and springs evenly on the upper and lower walls of the detection chamber 2032, multiple detection points are formed in the top and bottom areas of the inner wall of the track. This allows for the simultaneous sensing of contour changes on the upper and lower inner walls of the inspection track 1, avoiding the omission of local deformation due to the limitations of single-point detection, and improving the coverage and reliability of the detection.

[0033] Specifically, the drive component 2042 is a hydraulic pump, which is electrically connected to the control system. The correction actuator 2043 is a hydraulic push plate. The hydraulic pump has drive ends at both the top and bottom. There are two hydraulic push plates, which are connected to each drive end respectively. The two ends of the hydraulic pump synchronously drive the two hydraulic push plates to move closer or further away from each other.

[0034] The hydraulic pump provides a stable linear output force to the hydraulic push plate, which can drive the hydraulic push plate to apply a continuous and uniform squeezing force to the deformed area of ​​the inspection track 1. This achieves symmetrical force correction on both sides of the deformed area of ​​the inspection track 1. When the inspection track 1 undergoes local deformation, resulting in an abnormal gap between its upper and lower side walls, the two hydraulic push plates can move away from each other synchronously, applying a balanced squeezing force to the deformed area from both sides at the same time. This avoids the torsional deformation of the inspection track 1 that may be caused by unilateral force application, ensuring uniform force and stable operation during the correction process.

[0035] Specifically, such as Figures 9 to 11 As shown, the robot body 2 is also equipped with an anti-derailment emergency limit mechanism 3; the anti-derailment emergency limit mechanism 3 includes: Limiting groove 2001 is formed on the robot body 2; The rotating plate 301 is rotatably disposed in the limiting groove 2001 at one end and is equipped with an anti-detachment plate 303 at the other end; the anti-detachment plate 303 has a first position that fits against the inspection track 1 and a second position that is spaced apart from the inspection track 1. Torsion spring 302 is connected to rotating plate 301 and is used to drive rotating plate 301 to rotate, so as to drive anti-detachment plate 303 to rotate from the second position to the first position; Locking component 304 is electrically connected to the control system and is used to lock the turntable 301 in the second position under normal conditions and to release the lock when a derailment risk signal is received from the control system.

[0036] During normal inspection, the locking component 304 reliably maintains the rotating plate 301 with the anti-detachment plate 303 in the second position. At this time, the anti-detachment plate 303 does not affect the normal movement of the robot. However, once the control system determines that there is a risk of derailment, it immediately sends an electrical signal to the locking component 304 to release the lock on the rotating plate 301. The torsion spring 302 is quickly released, driving the rotating plate 301 to rotate, so that the anti-detachment plate 303 rotates from the second position to the first position, so that the anti-detachment plate 303 is in contact with the surface of the inspection track 1, thereby locking the robot body 2 to the inspection track 1, preventing the robot body 2 from falling off the inspection track 1, and reducing the risk of equipment damage and other accidents.

[0037] Specifically, one end of the rotating plate 301 is provided with a transmission rod 3011, which is rotatably set in the limiting groove 2001. A torsion spring 302 is sleeved on the transmission rod 3011, with one end of the torsion spring 302 fixedly connected to the transmission rod 3011 and the other end of the torsion spring 302 fixedly connected to the limiting groove 2001.

[0038] Specifically, the locking component 304 includes an electric lifting plate 3041 and a locking groove 3042; The locking groove 3042 is provided on the bottom surface of the rotating plate 301. The electric lifting plate 3041 is electrically connected to the control system. The top of the electric lifting plate 3041 is inserted into the locking groove 3042 to prevent the rotating plate 301 from rotating.

[0039] Under normal circumstances, the top of the electric lifting plate 3041 is inserted into the locking groove 3042 on the bottom surface of the rotating plate 301, which can reliably resist the preload of the torsion spring 302 and firmly lock the rotating plate 301 and the anti-derailment plate 303 in the second position, ensuring the normal movement of the robot body 2. When the control system issues a derailment risk signal, the control system controls the electric lifting plate 3041 to descend so that its top exits the locking groove 3042, thereby releasing the lock on the rotating plate 301.

[0040] Specifically, the bottom of the anti-detachment plate 303 is provided with a magnetic suction plate 3031; when the anti-detachment plate 303 rotates to the first position where it is in contact with the surface of the inspection track 1 under the drive of the torsion spring 302, the magnetic suction plate 3031 contacts the surface of the inspection track 1 and connects with the inspection track 1 through magnetic attraction, thereby enhancing the overall connection strength of temporarily fixing the robot body 2 on the track.

[0041] Specifically, such as Figures 3 to 5 As shown, a cleaning component 202 is also provided on the robot body 2; The cleaning component 202 includes a recovery chamber 2022 and a negative pressure adsorption device. The recovery chamber 2022 is connected to the robot body 2. The recovery chamber 2022 has adsorption holes 2023 facing the inner wall of the inspection track 1. The negative pressure adsorption device is installed inside the recovery chamber 2022.

[0042] In the actual operation of the inspection robot, the dust, debris and other foreign objects accumulated in the groove of the inspection track 1 will affect the normal movement of the robot body 2. By setting a cleaning component 202 with a negative pressure adsorption device on the robot body 2, the dust and other foreign objects in the inspection track 1 are adsorbed into the recycling chamber 2022, realizing real-time cleaning in sync with the inspection operation.

[0043] Specifically, the recovery chamber 2022 has multiple adsorption holes 2023 on the inner walls of the top and bottom of the track. After the negative pressure adsorption device is activated, it can generate adsorption airflow through the adsorption holes 2023 on the upper and lower chamber walls, which act on the inner walls of the top and bottom of the inspection track 1 respectively.

[0044] Specifically, the cleaning component 202 is positioned in front of the deformation detection component 203, and the deformation correction component 204 is positioned behind the deformation detection component 203. First, the dust and foreign objects on the inner wall of the inspection track 1 are removed, providing a clean and stable contact surface for the deformation detection component 203 that follows, thus improving the accuracy of deformation detection. When a deformation area is found on the inner wall of the inspection track 1 after detection, the deformation correction component 204 mechanically corrects the inspection track 1.

[0045] Specifically, such as Figure 3 As shown, the front end of the robot body 2 is provided with a limiting plate 201, and the limiting plate 201 is provided with a first bracket 2021, a second bracket 2031 and a third bracket 2041 in sequence from front to back. The cleaning component 202 is connected to the first bracket 2021; Deformation detection component 203 is connected to second bracket 2031; The deformation correction component 204 is connected to the third support 2041.

[0046] First, a limiting plate 201 is set up, and three functional components—cleaning component 202, deformation detection component 203, and deformation correction component 204—are connected by three brackets. The cleaning component 202 is located at the front end to create a clean environment for subsequent inspections. The deformation detection component 203 is centered to accurately measure the cleaned inspection track 1. The deformation correction component 204 is located at the rear end and can perform corrections immediately based on real-time detection results. This ensures that the functional components do not interfere with each other in space and are closely connected in sequence. Furthermore, the limiting plate 201 is located at the front end of the robot body 2, so that each functional component is located in the area where the robot first contacts the track. After cleaning, inspecting, and correcting the inspection track 1, the robot body 2 can then move normally on the inspection track 1, improving the stability of the robot body 2's movement. In addition, the fact that each functional component is located at the front end of the robot body 2 facilitates installation, debugging, and maintenance.

[0047] The working process of this invention is as follows: After the robot body 2 is started, the fully autonomous intelligent inspection module of the control system performs the inspection task of the power distribution room equipment. While the robot body 2 is inspecting along the inspection track 1, the cleaning component 202 at the forefront is activated first. Its negative pressure adsorption device continuously generates adsorption airflow through the adsorption holes 2023 on the upper and lower walls of the recovery chamber 2022, simultaneously cleaning dust and foreign objects from the top and bottom inner walls of the inspection track 1, providing a clean surface for subsequent inspection. The deformation detection component 203 then operates. Its multiple detection supports, arranged vertically, are driven by spring pre-compression force, always abutting against the cleaned inner wall of the inspection track 1. The real-time pressure signal of the inspection track 1 contour is converted into an electrical signal by the pressure sensing plate and transmitted to the control system. The control system continuously analyzes these signals. If the data enters the deformation threshold range, it is determined that deformation has occurred. The deformation correction component 204 is immediately activated for temporary correction. The hydraulic pump synchronously drives the two hydraulic push plates to move away from each other, applying a balanced squeezing force to both sides of the deformation area to attempt mechanical correction. If the deformation still exists after mechanical correction or is initially judged to exceed the correction capacity, the control system enters the early warning mode, generates early warning information containing precise location, and sends the precise location alarm information to the background through sound, light, or wireless signals. Furthermore, during the entire inspection process, if the control system determines that there is a risk of derailment based on information from various sensors, it will immediately send a signal to the anti-derailment emergency limit mechanism 3: control the electric lifting plate 3041 to descend to release the mechanical lock on the rotating plate 301. The torsion spring 302 then drives the rotating plate 301 to rotate, causing the anti-derailment plate 303 with the magnetic suction plate 3031 to fall quickly and firmly adhere to the surface of the inspection track 1, thereby temporarily locking the robot body 2 on the track to prevent it from falling and creating conditions for safe manual handling.

[0048] In other embodiments, the sensing element is a displacement sensor, which is connected to the sensing element to sense the displacement signal of the sensing element and convert the displacement signal into an electrical signal to transmit it to the control system.

[0049] In summary, the preferred embodiment of the present invention provides an inspection robot. During each inspection operation, the deformation detection component can continuously press the detection component against the inner wall of the track through an elastic element, thereby sensing minute changes in the track contour in real time. The displacement signal of the detection component or the pressure signal of the elastic element is converted into an electrical signal by a sensing element and transmitted to the control system, thus realizing online detection of the track deformation area. After receiving the deformation signal, the control system can immediately control the deformation correction component to start, driving the correction actuator to apply pressure to the side wall of the inspection track, mechanically correcting the minute deformation, so that... Many minor deformations can be automatically repaired during the inspection process, thus avoiding problems such as operational stalls and positioning deviations caused by the accumulation of minor deformations. This ensures the continuous and smooth execution of each inspection task. If the deformation of the inspection track is too large, exceeding the correction capability of the drive correction actuator, the control system generates an early warning message to accurately locate the abnormal point of the inspection track, facilitating timely investigation and repair by staff. This solution transforms the traditional manual inspection mode into a real-time maintenance and intelligent early warning mode during the inspection operation, improving the reliability and operational efficiency of the inspection system.

[0050] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An inspection robot, characterized in that, include: Robot body (2); A deformation detection component (203) includes an elastic element (2034), a detection element (2033), and a sensing element (2035). The sensing element (2035) is disposed on the robot body (2). One end of the elastic element (2034) is connected to the robot body (2) or the sensing element (2035), and the other end of the elastic element (2034) is connected to the detection element (2033). The elastic element (2034) is used for... The detector (2033) is pressed against the inner wall of the inspection track (1) to make it abut against the inner wall of the inspection track (1). The detector (2033) is used to detect the deformation of the inner wall of the inspection track (1) to obtain a displacement signal. The detector (2033) is connected to the sensing element (2035) or the elastic element (2034). The sensing element (2035) is used to sense the displacement signal of the detector (2033) and / or the pressure signal of the elastic element (2034). Deformation correction component (204), the deformation correction component (204) includes a drive component (2042) and a correction execution component (2043), the drive component (2042) is disposed on the robot body (2), and the drive end of the drive component (2042) is connected to the correction execution component (2043); The control system is electrically connected to the sensing element (2035) and the driving element (2042); The control system is used for: Receive the displacement signal and / or the pressure signal; The corrective actuator (2043) is driven to apply a compressive force to the side wall of the inspection track (1) to mechanically correct the deformed area of ​​the inspection track (1).

2. The inspection robot according to claim 1, characterized in that, The deformation detection component (203) also includes a detection chamber (2032), which is located on the robot body (2). The elastic element (2034) is a spring, the detection element (2033) is a detection support plate, and the sensing element (2035) is a pressure sensing plate; The pressure sensing plate, the spring, and the detection support plate are all disposed inside the detection chamber (2032), and the end of the detection support plate extends out of the detection chamber (2032). One end of the spring is connected to the detection support plate, and the other end is connected to the pressure sensing plate. The spring is pre-compressed to drive the detection support plate to abut against the inner wall of the inspection track (1). The pressure sensing plate is used to sense the pressure signal of the spring.

3. The inspection robot according to claim 2, characterized in that, The detection chamber (2032) has a guide hole on its wall, and the detection support plate is slidably disposed in the guide hole in a direction perpendicular to the inner wall of the inspection track (1).

4. The inspection robot according to claim 3, characterized in that, Multiple springs and multiple detection support plates are provided, and they correspond one-to-one. One end of the spring is connected to the top surface of the pressure sensing plate, and the other end is connected to one of the detection support plates; One end of the spring is connected to the bottom surface of the pressure sensing plate, and the other end is connected to one of the detection support plates; The detection chamber (2032) has multiple guide holes on both the upper and lower walls, and each detection support plate is slidably disposed in each guide hole.

5. The inspection robot according to claim 1, characterized in that, The driving component (2042) is a hydraulic pump, which is electrically connected to the control system. The corrective actuator (2043) is a hydraulic push plate. The hydraulic pump has driving ends at both the top and bottom. There are two hydraulic push plates, which are respectively connected to each driving end. The two ends of the hydraulic pump synchronously drive the two hydraulic push plates to move closer or further away from each other.

6. The inspection robot according to any one of claims 1-5, characterized in that: The robot body (2) is also equipped with an anti-derailment emergency limit mechanism (3); the anti-derailment emergency limit mechanism (3) includes: A limiting groove (2001) is formed on the robot body (2); A rotating plate (301) is rotatably disposed in the limiting groove (2001) at one end and an anti-detachment plate (303) is installed at the other end; the anti-detachment plate (303) has a first position that fits against the inspection track (1) and a second position that is spaced apart from the inspection track (1); Torsion spring (302), which is connected to the rotating plate (301), is used to drive the rotating plate (301) to rotate so as to drive the anti-detachment plate (303) to rotate from the second position to the first position; A locking component (304) is electrically connected to the control system and is used to lock the turntable (301) in the second position under normal conditions and to release the lock when a derailment risk signal is received from the control system.

7. The inspection robot according to claim 6, characterized in that, The locking assembly (304) includes an electric lifting plate (3041) and a locking groove (3042). The locking groove (3042) is provided on the bottom surface of the rotating plate (301). The electric lifting plate (3041) is electrically connected to the control system. The top of the electric lifting plate (3041) is inserted into the locking groove (3042) to prevent the rotating plate (301) from rotating.

8. The inspection robot according to claim 6, characterized in that, The bottom of the anti-detachment plate (303) is provided with a magnetic suction plate (3031).

9. The inspection robot according to any one of claims 1-5, characterized in that, The robot body (2) is also provided with a cleaning component (202); The cleaning component (202) includes a recycling chamber (2022) and a negative pressure adsorption device. The recycling chamber (2022) is connected to the robot body (2). The recycling chamber (2022) has adsorption holes (2023) facing the inner wall of the inspection track (1). The negative pressure adsorption device is located inside the recycling chamber (2022).

10. The inspection robot according to claim 9, characterized in that, The cleaning component (202) is located in front of the deformation detection component (203), and the deformation correction component (204) is located behind the deformation detection component (203).

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