Inspection device, inspection robot and inspection equipment

Abstract

The utility model relates to an inspection device, an inspection robot and inspection equipment. The inspection device comprises an acquisition module which is used for being electrically connected with the equipment and is used for acquiring first data in the equipment during operation; the detection module is used for detecting external second data when the equipment runs; and the control module is electrically connected with the acquisition module and the detection module, and the control module is used for determining whether the equipment fails or not according to the first data and the second data. When the equipment breaks down in the operation process, the interior and / or the exterior of the equipment are / is changed, first data inside the equipment are collected through the collection module, and second data outside the equipment are detected through the detection module. The first data inside the equipment and the second data outside the equipment are combined to comprehensively determine whether the equipment breaks down or not, it is avoided that whether the equipment breaks down or not is difficult to determine only according to the first data or the second data, and therefore the inspection accuracy of the inspection device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of patrol inspection, and specifically, to a patrol inspection device, a patrol inspection robot and patrol inspection equipment. Background Art

[0002] The inspection device is a device that detects whether a device has a fault. It determines whether the device has a fault by detecting the external data of the device during operation. However, since the device may not reflect externally when it fails, it is difficult to determine whether the device has a fault only through external data, resulting in inaccurate inspections by the inspection device. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides an inspection device, an inspection robot and an inspection equipment.

[0004] The first aspect of the utility model provides a patrol inspection device, the patrol inspection device comprising:

[0005] A collection module, the collection module is used to be electrically connected to the device, and the collection module is used to collect first data inside the device during operation;

[0006] A detection module, the detection module is used to detect second data external to the device when it is running;

[0007] A control module, wherein the control module is electrically connected to the acquisition module and the detection module, and the control module is used to determine whether the device is faulty according to the first data and the second data.

[0008] Wherein, the acquisition module includes:

[0009] A digital quantity acquisition module, the digital quantity acquisition module is used to be electrically connected to a first sensor of the device, the digital quantity acquisition module is used to acquire first process data inside the device during operation, and the signal output by the first sensor is a digital signal;

[0010] A switch quantity acquisition module, the switch quantity acquisition module is used to be electrically connected to the first switch of the device, and the switch quantity acquisition module is used to collect state data of the first switch;

[0011] An analog quantity acquisition module is used to be electrically connected to a second sensor of the device, and is used to acquire second process data inside the device during operation. The signal output by the second sensor is an analog signal.

[0012] Wherein, the first sensor includes a voltage sensor, a current sensor and / or a first pressure sensor;

[0013] Wherein, the voltage sensor is used to detect the voltage when the device is running, the current sensor is used to detect the current when the device is running, and the first pressure sensor is used to detect the first internal pressure when the device is running; and / or,

[0014] The second sensor includes a second pressure sensor and / or a first vibration sensor;

[0015] The second pressure sensor is used to detect a second pressure inside the device when the device is running, and the first vibration sensor is used to detect the amount of vibration inside the device when the device is running.

[0016] Wherein, the detection module includes:

[0017] The detection module comprises:

[0018] An image detection module, the image detection module is used to detect image data when the device is running;

[0019] A temperature detection module, the temperature detection module is used to detect external temperature data when the device is running;

[0020] A vibration detection module, the vibration detection module is used to detect external vibration data when the device is running;

[0021] A sound detection module is used to detect sound data when the device is running.

[0022] Wherein, the detection module also includes:

[0023] A position adjustment module, wherein the position adjustment module is electrically connected to the image detection module and the temperature detection module, and the position adjustment module is used to adjust the positions detected by the image detection module and the temperature detection module.

[0024] Wherein, the inspection device further includes:

[0025] A state adjustment module, wherein the state adjustment module is electrically connected to the control module and the device, and the control module is further used to control the operating state of the device through the state adjustment module.

[0026] Wherein, the state adjustment module includes:

[0027] A switch value adjustment module, the switch value adjustment module is used to adjust the state of the second switch of the device;

[0028] An analog quantity adjustment module is used to adjust the flux of the execution module of the device.

[0029] Wherein, the inspection device further includes:

[0030] A communication module, the communication module is electrically connected to the control module, and the communication module is used to receive third data inside the device during operation;

[0031] The control module is used to determine whether the device is faulty according to the first data, the second data and the third data.

[0032] A second aspect of the utility model provides an inspection robot, wherein the inspection robot comprises the inspection device as described above.

[0033] A third aspect of the utility model provides a patrol inspection device, which includes the patrol inspection device as described above.

[0034] Beneficial effects:

[0035] The inspection device includes a collection module, a detection module and a control module, and the control module is electrically connected to the collection module and the detection module. When a device fails during operation, the inside and / or outside of the device will change. The collection module collects first data inside the device and the detection module detects second data outside the device. By combining the first data inside the device and the second data outside the device to comprehensively determine whether the device is faulty, it is avoided that it is difficult to determine whether the device is faulty based on only the first data or the second data, thereby improving the accuracy of the inspection by the inspection device.

[0036] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 It is a structural schematic diagram of a patrol inspection device provided according to an exemplary embodiment of the utility model;

[0039] Figure 2 A schematic diagram of the structure of an inspection device provided according to another exemplary embodiment of the utility model;

[0040] Figure 3 A schematic diagram of the structure of an inspection device provided according to another exemplary embodiment of the utility model;

[0041] Figure 4A schematic diagram of the structure of an inspection device provided according to another exemplary embodiment of the utility model;

[0042] Figure 5 A schematic diagram of the structure of an inspection device provided according to another exemplary embodiment of the utility model;

[0043] Figure 6 A schematic diagram of the structure of an inspection device provided according to another exemplary embodiment of the utility model;

[0044] Figure 7 A schematic diagram of the structure of an inspection device provided according to another exemplary embodiment of the utility model;

[0045] Figure 8 It is a schematic structural diagram of an inspection device provided according to another exemplary embodiment of the utility model.

[0046] The following are marked in the accompanying drawings:

[0047] 10. Acquisition module; 11. Digital quantity acquisition module; 12. Switch quantity acquisition module; 13. Analog quantity acquisition module; 20. Detection module; 21. Image detection module; 22. Temperature detection module; 23. Vibration detection module; 24. Sound detection module; 25. Position adjustment module; 30. Control module; 40. Equipment; 41. First sensor; 42. First switch; 43. Second sensor; 44. Second switch; 45. Execution module; 50. State adjustment module; 51. Switch quantity adjustment module; 52. Analog quantity adjustment module; 60. Communication module; 70. RS-485 chip; 71. First input and output conditioning circuit; 72. First signal filtering and conditioning circuit; 73. Second input and output conditioning circuit; 74. First drive circuit; 75. First image processing module; 76. First-in-first-out queue circuit; 77. Signal amplification and filtering circuit; 78. Second drive circuit; 79. First cloud Table; 80, second image processing module; 81, signal amplification circuit; 82, second signal filtering and conditioning circuit; 83, infrared detector; 84, third driving circuit; 85, second pan-tilt platform; 86, signal collector; 87, transmitter; 88, second vibration sensor; 89, noise identification module; 90, third signal filtering and conditioning circuit; 91, noise sensor; 100, distributed control system server; UART, asynchronous transceiver interface; OC, optical coupler; CCD, charge coupled device image sensor; K1, first relay; K2, second relay; ADC1, first analog-to-digital converter; ADC2, high-speed analog-to-digital converter; ADC3, second analog-to-digital converter; ADC4, third analog-to-digital converter; DAC1, first digital-to-analog converter; DAC2, second digital-to-analog converter; DAC3, third digital-to-analog converter; DAC4, fourth digital-to-analog converter; DAC5, fifth digital-to-analog converter. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative work are within the protection scope of the utility model.

[0049] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0050] The inspection device is a device that detects whether the equipment has failed. It is used in cement mills, long belt conveyors, power distribution rooms, pump rooms and other scenes that require equipment inspection. When the inspection device detects equipment failure, it will sound an alarm to remind the staff to repair it, avoid equipment damage, and thus increase the service life of the equipment.

[0051] In the related art, the inspection device determines whether the device is faulty by detecting external data of the device during operation. For example, the inspection device determines whether the device is faulty only by detecting the temperature of the device casing. When it is detected that the temperature of the device casing is greater than the preset temperature value, the inspection device will sound an alarm to remind the staff to perform maintenance. When it is detected that the temperature of the device casing is less than or equal to the preset temperature value, the inspection device will not sound an alarm. However, when the device is operating normally, the temperature of the device casing may also be greater than the preset temperature value due to the increase in the temperature of the environment in which the device is located. If the failure of the device is determined only by the temperature of the device casing, the inspection device will mistakenly sound an alarm. Therefore, it is difficult to determine whether the device is faulty only by external data, resulting in inaccurate inspections by the inspection device.

[0052] Based on this, the utility model provides a patrol inspection device. Since the acquisition module and the detection module of the patrol inspection device can respectively acquire the internal data and the external data of the equipment, the control module comprehensively determines whether the equipment is faulty according to the internal data and the external data of the equipment, and increases the limiting conditions for determining whether the equipment is faulty. Compared with determining whether the equipment is faulty only by external data, the interference of the external environment on the patrol inspection results is reduced, thereby improving the accuracy of the patrol inspection of the patrol inspection device.

[0053] An exemplary embodiment of the present utility model provides a patrol inspection device, such as Figure 1As shown, the inspection device includes a collection module 10, a detection module 20 and a control module 30. The collection module 10 is used to be electrically connected to the device 40, and the collection module 10 is used to collect first data inside the device 40 when it is running. The detection module 20 is used to detect second data outside the device 40 when it is running. The control module 30 is electrically connected to both the collection module 10 and the detection module 20, and the control module 30 is used to determine whether the device 40 is faulty according to the first data and the second data.

[0054] In this embodiment, the inspection device includes a collection module, a detection module and a control module, and the control module is electrically connected to the collection module and the detection module. When a device fails during operation, the inside and / or outside of the device will change. The collection module collects first data inside the device and the detection module detects second data outside the device. By combining the first data inside the device and the second data outside the device to comprehensively determine whether the device is faulty, it is avoided that it is difficult to determine whether the device is faulty based on only the first data or the second data, thereby improving the accuracy of the inspection by the inspection device.

[0055] Illustratively, the control module 30 includes a processor.

[0056] In one embodiment, if Figure 2 As shown, the acquisition module 10 includes a digital quantity acquisition module 11, a switch quantity acquisition module 12 and an analog quantity acquisition module 13. The digital quantity acquisition module 11 is used to be electrically connected to the first sensor 41 of the device 40, and the digital quantity acquisition module 11 is used to acquire the first process data inside the device 40 during operation, and the signal output by the first sensor is a digital signal. The switch quantity acquisition module 12 is used to be electrically connected to the first switch 42 of the device 40, and the switch quantity acquisition module 12 is used to acquire the state data of the first switch 42. The analog quantity acquisition module 13 is used to be electrically connected to the second sensor 43 of the device 40, and the analog quantity acquisition module 13 is used to acquire the second process data inside the device 40 during operation, and the signal output by the second sensor is an analog signal.

[0057] In this embodiment, since the acquisition module can simultaneously acquire multiple data inside the device, the first data covers a wide range, thereby improving the reliability of the first data. Moreover, by respectively acquiring the first process data inside the device, the state data of the first switch, and the second process data through the process quantity acquisition module, the switch quantity acquisition module, and the analog quantity acquisition module, the reliability of the first data can be further improved, thereby improving the accuracy of the inspection of the inspection device.

[0058] Exemplarily, the digital quantity acquisition module 11 acquires the first process data through the first sensor 41 , and the analog quantity acquisition module 13 acquires the second process data through the second sensor 43 .

[0059] Exemplarily, the digital quantity acquisition module 11 includes an optical coupler and an RS-485 chip. The control module 30 is electrically connected to the first sensor 41 via a Universal Asynchronous (UART) interface, an optical coupler and an RS-485 chip.

[0060] Exemplarily, the switch quantity acquisition module 12 includes an input-output conditioning circuit and a relay. The control module 30 is electrically connected to the first switch 42 via the input-output interface, the input-output conditioning circuit and the relay.

[0061] Exemplarily, the analog quantity acquisition module 13 includes an analog-to-digital converter and a filter conditioning circuit. The control module 30 is electrically connected to the second sensor 43 via the input-output interface, the analog-to-digital converter and the filter conditioning circuit.

[0062] Exemplarily, there may be multiple first sensors 41, and the digital quantity acquisition module 11 may be electrically connected to multiple first sensors 41. There may be multiple first switches 42, and the switch quantity acquisition module 12 may be electrically connected to multiple first switches 42. There may be multiple second sensors 43, and the analog quantity acquisition module 13 may be electrically connected to multiple second sensors 43.

[0063] Exemplarily, the first switch 42 may include switches such as a temperature control switch, a pressure switch, a flow switch, and a liquid level switch. When the first switch 42 is a temperature control switch, the state data of the temperature control switch may be on data and off data. When the temperature inside the device 40 is higher than a preset temperature, the temperature control switch is off. When the temperature inside the device 40 is less than or equal to the preset temperature, the temperature control switch is on.

[0064] In one embodiment, the first sensor 41 includes a voltage sensor. The voltage sensor is used to detect the voltage when the device 40 is running.

[0065] In this embodiment, since the voltage of the equipment during normal operation is different from that during a fault, the voltage detected by the voltage sensor can increase the coverage of the first process data, thereby improving the accuracy of the inspection by the inspection device.

[0066] Exemplarily, when the device 40 operates normally, the voltage detected by the voltage sensor is within a preset voltage range. When the device 40 fails, the voltage detected by the voltage sensor is outside the preset voltage range.

[0067] In one embodiment, the first sensor 41 includes a current sensor. The current sensor is used to detect the current when the device 40 is running.

[0068] In this embodiment, since the currents of the equipment during normal operation and during a fault are different, the current detected by the current sensor can increase the coverage of the first process data, thereby improving the accuracy of the inspection by the inspection device.

[0069] Exemplarily, when the device 40 operates normally, the current detected by the current sensor is within a preset current range. When the device 40 fails, the current detected by the current sensor is outside the preset current range.

[0070] In one embodiment, the first sensor 41 includes a first pressure sensor. The first pressure sensor is used to detect a first pressure inside the device 40 when the device 40 is running.

[0071] In this embodiment, since the pressures during normal operation and failure of the equipment are different, the first pressure detected by the first pressure sensor can increase the coverage of the first process data, thereby improving the accuracy of the inspection by the inspection device.

[0072] Exemplarily, when the device 40 operates normally, the first pressure detected by the first pressure sensor is within the first preset pressure range. When the device 40 fails, the first pressure detected by the first pressure sensor is outside the first preset pressure range.

[0073] In one embodiment, the second sensor 43 includes a second pressure sensor. The second pressure sensor is used to detect a second pressure inside the device 40 when the device 40 is running.

[0074] In this embodiment, since the pressures during normal operation and failure of the equipment are different, the second pressure detected by the second pressure sensor can increase the coverage of the second process data, thereby improving the accuracy of the inspection by the inspection device.

[0075] For example, when the device 40 operates normally, the second pressure detected by the second pressure sensor is within the second preset pressure range. When the device 40 fails, the second pressure detected by the second pressure sensor is outside the second preset pressure range.

[0076] The first pressure sensor and the second pressure sensor may be located at different positions in the device 40 .

[0077] In one embodiment, the second sensor 43 includes a first vibration sensor. The first vibration sensor is used to detect the internal vibration amount of the device 40 when it is running.

[0078] In this embodiment, since the vibration amount of the equipment during normal operation and during a fault is different, the vibration amount detected by the first vibration sensor can increase the coverage of the second process data, thereby improving the accuracy of the inspection by the inspection device.

[0079] Exemplarily, when the device 40 operates normally, the vibration amount detected by the first vibration sensor is within a preset vibration amount range. When the device 40 fails, the vibration amount detected by the first vibration sensor is outside the preset vibration amount range.

[0080] In one embodiment, if Figure 3 As shown, the detection module 20 includes an image detection module 21, a temperature detection module 22, a vibration detection module 23 and a sound detection module 24. The image detection module 21 is used to detect image data when the device 40 is running. The temperature detection module 22 is used to detect temperature data outside the device 40 when it is running. The vibration detection module 23 is used to detect vibration data outside the device 40 when it is running. The sound detection module 24 is used to detect sound data when the device 40 is running.

[0081] In this embodiment, since the detection module can detect multiple data outside the device at the same time, the second data covers a wide range, thereby improving the reliability of the second data. Moreover, by respectively detecting image data, temperature data, vibration data and sound data outside the device through the image detection module, temperature detection module, vibration detection module and sound detection module, the reliability of the second data can be further improved, thereby improving the accuracy of the inspection of the inspection device.

[0082] Exemplarily, the image data includes appearance data, position data, dripping data, etc. of the device. The appearance data may be data such as appearance depression, appearance protrusion, etc. The position data may be data such as the horizontal coordinate and vertical coordinate of the device in space, etc. The dripping data may be data such as whether the device drips liquid.

[0083] Exemplarily, the image detection module 21 includes an image processing module, a first-in first-out queue (FIFO) circuit, a high-speed analog-to-digital converter, a signal amplification and filtering circuit, and a charge coupled device (CCD) image sensor. The control module 30 is electrically connected to the first end of the image processing module through an image interface and an RS-485 communication bus, and the second end of the image processing module is electrically connected through a first-in first-out queue circuit, a high-speed analog-to-digital converter, a signal amplification and filtering circuit, and a charge coupled device image sensor.

[0084] Exemplarily, the temperature detection module 22 includes an image processing module, an analog-to-digital converter, a signal amplifying circuit, a signal filtering and conditioning circuit, and an infrared detector. The control module 30 is electrically connected to the first end of the image processing module through an infrared interface and an RS-485 communication bus, and the second end of the image processing module is electrically connected through an analog-to-digital converter, a signal amplifying circuit, a signal filtering and conditioning circuit, and an infrared detector. Among them, the image processing module has functions such as image processing and analog output.

[0085] Exemplarily, the vibration detection module 23 includes a second vibration sensor, a transmitter and a signal collector. The control module 30 is electrically connected to the second vibration sensor via a vibration interface, a signal collector and a transmitter.

[0086] Exemplarily, the sound detection module 24 includes a noise sensor, a signal filtering and conditioning circuit, an analog-to-digital converter and a noise identification module. The control module 30 is electrically connected via a sound interface, a noise identification module, an analog-to-digital converter, a signal filtering and conditioning circuit and a noise sensor.

[0087] In one embodiment, if Figure 4 As shown, the detection module 20 further includes a position adjustment module 25. The position adjustment module 25 is electrically connected to both the image detection module 21 and the temperature detection module 22, and is used to adjust the positions detected by the image detection module 21 and the temperature detection module 22.

[0088] In this embodiment, when the inspection device is inspecting normally, the position adjustment module is used to enable the inspection device to check whether there is a fault at different positions of the equipment. When the control module determines that the equipment is faulty, the position adjustment module can be further used to enable the temperature detection module and the image detection module to collect images toward the fault position to obtain the cause of the fault, thereby improving the accuracy of the inspection by the inspection device.

[0089] Exemplarily, the position adjustment module 25 includes a pan-tilt, a drive circuit, a first digital-to-analog conversion circuit, and a second digital-to-analog conversion circuit. The third end of the image processing module of the image detection module 21 and / or the temperature detection module 22 is electrically connected to the first end of the first digital-to-analog conversion circuit, and the fourth end of the image processing module is electrically connected to the second end of the second digital-to-analog conversion circuit. The second end of the first digital-to-analog conversion circuit and the second end of the second analog-to-digital conversion circuit are both electrically connected to the pan-tilt through the drive circuit. The pan-tilt is connected to both the charge-coupled device image sensor and the infrared detector. Among them, the first digital-to-analog conversion circuit is used to adjust the left and right swing direction of the pan-tilt, and the second digital-to-analog conversion circuit is used to adjust the up and down swing direction of the pan-tilt. During the inspection process, the position adjustment module is used to make the charge-coupled device image sensor and the infrared detector swing continuously at different positions of the equipment to check whether different positions of the equipment are faulty. When the equipment fails, the control module controls the pan-tilt to make the charge-coupled device image sensor and the infrared detector move to the fault position, performs image acquisition and analysis, and further determines the cause of the fault.

[0090] In one embodiment, if Figure 5 As shown, the inspection device further includes a state adjustment module 50. The state adjustment module 50 is electrically connected to the control module 30 and the device 40. The control module 30 is also used to control the operating state of the device 40 through the state adjustment module 50.

[0091] In this embodiment, when a device fails, the state adjustment module can adjust the operating state of the device to avoid the device failure and increase the service life of the device.

[0092] In one embodiment, if Figure 6 As shown, the state adjustment module 50 includes a switch quantity adjustment module 51 and an analog quantity adjustment module 52. The switch quantity adjustment module 51 is used to adjust the state of the second switch 44 of the device 40. The analog quantity adjustment module 52 is used to adjust the flux of the execution module 45 of the device 40.

[0093] In this embodiment, when the failure of the device may cause the device to fail to work properly or affect the operation of other devices, the second switch can be disconnected through the switch quantity adjustment module, thereby improving the reliability of the device. When the failure of the device does not cause the device to fail to work properly or affect the operation of other devices, the flux of the execution module can be adjusted through the analog quantity adjustment module to reduce the impact of the failure on the operation of the device to avoid device downtime, thereby improving the reliability of the inspection of the inspection device.

[0094] For example, the second switch 44 may be a start / stop switch of the device. The execution module 45 may be a motor, a valve, a conveyor belt, etc.

[0095] For example, when the inspection device detects that the position of the device 40 has moved significantly, the inspection device can disconnect the second switch of the device 40 through the switch quantity adjustment module 51 to stop the device 40 from working, so as to prevent the device 40 from hitting other devices and causing damage to the device 40. When the inspection device detects that the temperature of the device 40 is too high due to damage to the cooling fan of the device 40, the inspection device can reduce the temperature of the device 40 by reducing the speed of the motor, so that the device continues to work.

[0096] Exemplarily, the switch value adjustment module 51 includes an input-output conditioning circuit and a relay. The control module 30 is electrically connected to the second switch 44 via the input-output interface, the input-output conditioning circuit and the relay.

[0097] Exemplarily, the analog quantity adjustment module 52 includes a digital-to-analog converter and a driving circuit. The control module 30 is electrically connected to the execution module 45 via the input-output interface, the digital-to-analog converter and the driving circuit.

[0098] Exemplarily, the device 40 may include multiple execution modules 45 , and the analog quantity adjustment module 52 may be electrically connected to the multiple execution modules 45 .

[0099] In one embodiment, if Figure 7As shown, the inspection device further includes a communication module 60. The communication module 60 is electrically connected to the control module 30, and the communication module 60 is used to receive the third data inside the device 40 during operation. The control module 30 is used to determine whether the device 40 is faulty according to the first data, the second data and the third data.

[0100] In this embodiment, since the first data collected by the acquisition module and the second data detected by the detection module are limited, when the device is running, the communication module can collect a large amount of third data inside the device. Since the control module determines whether the device is faulty based on the internal data and external data when the device is running, the accuracy of the inspection by the inspection device is improved.

[0101] Exemplarily, the third data may be third process data inside the device during operation, including temperature data, vibration data, current data, voltage data, wind pressure data, wind volume data, rotation speed data, and other data inside the device.

[0102] For example, the inspection device may be connected to a distributed control system (DCS) server via a communication module to receive the third data inside the device 40 during operation.

[0103] An exemplary embodiment of the present utility model also provides a patrol inspection device, such as Figure 8As shown, the inspection device includes a control module 30, a communication module 60, an RS-485 chip 70, a first input-output conditioning circuit 71, a first signal filtering conditioning circuit 72, a second input-output conditioning circuit 73, a first drive circuit 74, a first image processing module 75, a first-in-first-out queue circuit 76, a signal amplifying and filtering circuit 77, a second drive circuit 78, a first pan-tilt platform 79, a second image processing module 80, a signal amplifying circuit 81, a second signal filtering and conditioning circuit 82, an infrared detector 83, a third drive circuit 84, a second pan-tilt platform 85, a signal collector 86, and a transmitter 87. 7. A second vibration sensor 88, a noise identification module 89, a third signal filtering and conditioning circuit 90, a noise sensor 91, an optical coupler OC, a charge coupled device image sensor CCD, a first relay K1, a second relay K2, a first analog-to-digital converter ADC1, a high-speed analog-to-digital converter ADC2, a second analog-to-digital converter ADC3, a third analog-to-digital converter ADC4, a first digital-to-analog converter DAC1, a second digital-to-analog converter DAC2, a third digital-to-analog converter DAC3, a fourth digital-to-analog converter DAC4, a fifth digital-to-analog converter DAC5, and a distributed control system server 100. The control module 30 is electrically connected to the first sensor 41 through the asynchronous transceiver interface UART, the optical coupler OC, and the RS-485 chip 70, and the control module 30 is electrically connected to the first switch 42 through the I / O interface, the first input-output conditioning circuit 71, and the first relay K1. The control module 30 is electrically connected to the second sensor 43 through the I / O interface, the first analog-to-digital converter ADC1, and the first signal filtering and conditioning circuit 72. The control module 30 is electrically connected to the second switch 44 through the I / O interface, the second input-output conditioning circuit 73 and the second relay K2. The control module 30 is electrically connected to the execution module 45 through the I / O interface, the first digital-to-analog converter DAC1 and the first driving circuit 74. The control module 30 is electrically connected to the first end of the first image processing module 75 through the image interface, and the second end of the first image processing module 75 is electrically connected to the charge coupled device image sensor CCD through the first-in-first-out queue circuit 76, the high-speed analog-to-digital converter ADC2, the signal amplification and filtering circuit 77. The third end of the first image processing module 75 is electrically connected to the first end of the second digital-to-analog converter DAC2, the fourth end of the first image processing module 75 is electrically connected to the first end of the third digital-to-analog converter DAC3, and the second end of the second digital-to-analog converter DAC2 and the second end of the third digital-to-analog converter DAC3 are both connected to the first pan-tilt 79 through the second driving circuit 78. Among them, the charge coupled device image sensor CCD is connected to the first pan-tilt 79. The control module 30 is electrically connected to the first end of the second image processing module 80 through an infrared interface, and the second end of the second image processing module 80 is electrically connected through a second analog-to-digital converter ADC3, a signal amplifying circuit 81, a second signal filtering and conditioning circuit 82 and an infrared detector 83.The third end of the second image processing module 80 is electrically connected to the first end of the fourth digital-to-analog converter DAC4, the fourth end of the second image processing module 80 is electrically connected to the first end of the fifth digital-to-analog converter DAC5, and the second end of the fourth digital-to-analog converter DAC4 and the second end of the fifth digital-to-analog converter DAC5 are both connected to the second pan-tilt 85 through the third driving circuit 84. Among them, the infrared detector 83 is connected to the second pan-tilt 85. The control module 30 is electrically connected to the second vibration sensor 88 through the vibration interface, the signal collector 86, the transmitter 87. The control module 30 is electrically connected through the sound interface, the noise recognition module 89, the third analog-to-digital converter ADC4, the third signal filtering and conditioning circuit 90 and the noise sensor 91. The control module is electrically connected to the distributed control system server 100 through the communication module 60.

[0104] In an exemplary embodiment, a patrol robot is provided, the patrol robot comprising the patrol device as described above.

[0105] In an exemplary embodiment, a patrol inspection device is provided, and the patrol inspection device includes the patrol inspection device described above.

[0106] The contents described in the embodiments of this specification are merely an enumeration of the implementation forms of the utility model concept. The protection scope of the utility model should not be deemed to be limited to the specific forms described in the embodiments. The protection scope of the utility model also includes equivalent technical means that can be thought of by technical personnel in this field based on the concept of the utility model.

Claims

1. A patrol inspection device, characterized in that: The inspection device comprises: A collection module, the collection module is used to be electrically connected to the device, and the collection module is used to collect first data inside the device during operation; A detection module, the detection module is used to detect second data external to the device when it is running; A control module, wherein the control module is electrically connected to the acquisition module and the detection module, and the control module is used to determine whether the device is faulty according to the first data and the second data.

2. The inspection device according to claim 1, characterized in that: The acquisition module comprises: A digital quantity acquisition module, the digital quantity acquisition module is used to be electrically connected to a first sensor of the device, the digital quantity acquisition module is used to acquire first process data inside the device during operation, and the signal output by the first sensor is a digital signal; A switch quantity acquisition module, the switch quantity acquisition module is used to be electrically connected to the first switch of the device, and the switch quantity acquisition module is used to collect state data of the first switch; An analog quantity acquisition module is used to be electrically connected to a second sensor of the device, and is used to acquire second process data inside the device during operation. The signal output by the second sensor is an analog signal.

3. The inspection device according to claim 2, characterized in that: The first sensor includes a voltage sensor, a current sensor and / or a first pressure sensor; Wherein, the voltage sensor is used to detect the voltage when the device is running, the current sensor is used to detect the current when the device is running, and the first pressure sensor is used to detect the first internal pressure when the device is running; and / or, The second sensor includes a second pressure sensor and / or a first vibration sensor; The second pressure sensor is used to detect a second pressure inside the device when the device is running, and the first vibration sensor is used to detect the amount of vibration inside the device when the device is running.

4. The inspection device according to claim 1, characterized in that: The detection module comprises: An image detection module, the image detection module is used to detect image data when the device is running; A temperature detection module, the temperature detection module is used to detect external temperature data when the device is running; A vibration detection module, the vibration detection module is used to detect external vibration data when the device is running; A sound detection module is used to detect sound data when the device is running.

5. The inspection device according to claim 4, characterized in that: The detection module also includes: A position adjustment module, wherein the position adjustment module is electrically connected to the image detection module and the temperature detection module, and the position adjustment module is used to adjust the positions detected by the image detection module and the temperature detection module.

6. The inspection device according to any one of claims 1 to 5, characterized in that: The inspection device also includes: A state adjustment module, wherein the state adjustment module is electrically connected to the control module and the device, and the control module is further used to control the operating state of the device through the state adjustment module.

7. The inspection device according to claim 6, characterized in that: The state adjustment module comprises: A switch value adjustment module, the switch value adjustment module is used to adjust the state of the second switch of the device; An analog quantity adjustment module is used to adjust the flux of the execution module of the device.

8. The inspection device according to any one of claims 1 to 5, characterized in that: The inspection device also includes: A communication module, the communication module is electrically connected to the control module, and the communication module is used to receive third data inside the device during operation; The control module is used to determine whether the device is faulty according to the first data, the second data and the third data.

9. A patrol robot, characterized in that: The inspection robot comprises the inspection device according to any one of claims 1 to 8.

10. A patrol inspection device, characterized in that: The inspection equipment comprises the inspection device according to any one of claims 1 to 8.

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