Intelligent safety inspection device applied to indoor scene

Abstract

The utility model discloses an intelligent safety inspection device applied to an indoor scene, and the device comprises a rail-mounted walking mechanism which is configured to move along a horizontal X-axis direction and is used for traversing an indoor plane; the multi-section lifting mechanism is vertically mounted on the rail type walking mechanism and is used for covering the detection surfaces with different heights in the vertical direction along the Z axis; the rotary joint assembly is integrated at the top end of the multi-section lifting mechanism and provides rotational freedom around an X axis and a Z axis for adjusting a detection angle; and the telescopic detection arm is mounted on the rotary joint assembly, telescopically moves in the Y-axis direction and detects target equipment through a sensor. And the routing inspection driving module is used for driving motors in the rail type walking mechanism and the multi-section lifting mechanism so as to enable the device to perform routing inspection. The utility model aims to solve the problems of limited coverage range and insufficient real-time performance of an existing indoor inspection device, and realizes real-time monitoring and early warning of indoor potential safety hazards through multi-sensor fusion and a set preset route.

Description

Technical Field

[0001] This application relates to the field of intelligent security technology, and in particular to an intelligent security inspection device for indoor applications. Background Technology

[0002] As the number of devices in factories, warehouses, or laboratories increases, so does the workload of inspections. Manual inspections require staff to check the status of each device individually, significantly extending the overall inspection time. In environments like factories and warehouses, inspection routes are often long and complex, requiring staff to spend considerable time moving between different inspection points, further reducing efficiency. Manual inspections often involve numerous repetitive operations, such as recording parameters like temperature, humidity, and gas concentrations. These tasks are time-consuming and tedious, easily leading to staff fatigue. Some critical equipment requires checking multiple parameters (such as temperature, humidity, harmful gas concentrations, and vibration levels) and performing complex operations. This further increases the time required for each inspection point. Manual inspections rely on paper forms or manual data entry. This method is prone to omissions and errors, leading to decreased accuracy and reliability. Collected data requires manual processing and analysis, a time-consuming process potentially susceptible to human error, affecting the timeliness and accuracy of decision-making. Due to the lack of unified standards and specifications, inspection methods may vary between different personnel or teams. This discrepancy may make it difficult to compare and evaluate inspection results, thereby affecting the overall quality of operation and maintenance management.

[0003] Indoor inspections often rely on the experience and judgment of staff, making them susceptible to personal biases and potentially leading to less objective results. Prolonged, high-intensity inspections can cause staff fatigue, reducing their focus and judgment. This may result in overlooking critical anomalies, creating potential safety hazards. Due to workload limitations, manual inspections often struggle to cover all equipment and checkpoints. Some critical equipment or areas may be missed, increasing the risk of equipment failure. Manual inspections require significant human resources, especially in large-scale, high-frequency scenarios, significantly increasing maintenance costs. Low inspection efficiency and delayed problem detection may result in equipment malfunctions not being repaired in a timely manner, leading to downtime losses. Utility Model Content

[0004] The main purpose of this application is to provide an intelligent safety inspection device for indoor scenarios, which aims to solve the problems of limited coverage and insufficient real-time performance of existing indoor inspection devices. By integrating multiple sensors and setting preset routes, it can realize real-time monitoring and early warning of indoor safety hazards, effectively improve the level of safety protection, and is suitable for fully automated safety monitoring in high-risk environments such as factories, warehouses, and laboratories.

[0005] To achieve the above objectives, this application provides an intelligent security inspection device for indoor scenarios, the device comprising:

[0006] A track-type traveling mechanism is configured to move along the horizontal X-axis for traversing the interior floor plan;

[0007] A multi-section lifting mechanism is vertically mounted on the track-type traveling mechanism, used to cover detection surfaces of different heights along the Z-axis in the vertical direction.

[0008] A rotary joint assembly, integrated at the top of the multi-section lifting mechanism, provides rotational freedom around the X and Z axes for adjusting the detection angle;

[0009] A telescopic detection arm is mounted on the rotary joint assembly, extends and retracts along the Y-axis, and performs detection on the target device through a sensor.

[0010] The inspection drive module is used to drive the motors in the track-type walking mechanism and the multi-section lifting mechanism, so that the device can inspect the target equipment according to a preset direction and route.

[0011] In one embodiment, the inspection drive module includes a switch control circuit and a motor drive circuit;

[0012] The switch control circuit is connected to the input terminal of the motor drive circuit, and the switch control circuit outputs a switch control signal to control the motor drive circuit.

[0013] The motor drive circuit is connected to the output terminal of the switch control circuit. The motor drive circuit is used to receive the switch control signal and drive the motor so that the device can inspect the indoor environment according to a preset route.

[0014] In one embodiment, the switch control circuit includes: a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a second capacitor, and a first operational amplifier;

[0015] The positive input terminal of the first operational amplifier is connected to the first terminal of the second resistor, the first terminal of the third resistor, the first terminal of the fourth resistor, and the first terminal of the first capacitor, respectively. The negative input terminal of the first operational amplifier is connected to the first terminal of the first resistor, the first terminal of the fifth resistor, and the first terminal of the second capacitor, respectively. The output terminal of the first operational amplifier is connected to the second terminal of the fifth resistor, the second terminal of the second capacitor, and the input terminal of the motor drive circuit, respectively. The second terminal of the fourth resistor is connected to the first power supply, and the second terminals of the third resistor and the first capacitor are grounded. The second terminal of the first resistor is connected to the input terminal of the first bridge arm of the motor drive circuit. The second terminal of the second resistor is connected to the input terminal of the second bridge arm of the motor drive circuit.

[0016] In one embodiment, the motor drive circuit comprises: a first transistor, a second transistor, a third transistor, a fourth transistor, a first diode, a second diode, a third diode, a fourth diode, a fifth diode, and a sixth diode;

[0017] The gates of the first transistor and the second transistor are connected to the second terminal of the first resistor, and the gates of the third transistor and the fourth transistor are connected to the second terminal of the second resistor;

[0018] The drains of the first and second transistors are connected to the second power supply, and the sources of the first and second transistors are grounded. The sources of the first and second transistors are connected to the first and second terminals of the motor, respectively. The drains of the third and fourth transistors are connected to the first and second terminals of the motor, respectively. The anode of the first diode is connected to the source of the first transistor, and the cathode of the first diode is connected to the drain of the first transistor. The anode of the second diode is connected to the source of the second transistor, and the cathode of the second diode is connected to the drain of the second transistor. The anode of the third diode is connected to the source of the third transistor, and the cathode of the third diode is connected to the drain of the third transistor. The anode of the fourth diode is connected to the source of the fourth transistor, and the cathode of the fourth diode is connected to the drain of the fourth transistor. The anode of the fifth diode is connected to the source of the third transistor, and the cathode of the fifth diode is connected to the drain of the first transistor. The anode of the sixth diode is connected to the source of the fourth transistor, and the cathode of the sixth diode is connected to the drain of the second transistor.

[0019] In one embodiment, the telescopic detection arm further includes an environmental sensing module and an inspection control module;

[0020] The environmental sensing module is connected to the inspection control module. When the telescopic detection arm starts its inspection, the environmental sensing module is used to collect the temperature and humidity signals, image signals, and object movement status signals of the target equipment, and transmit the temperature and humidity signals, image signals, and object movement status signals to the inspection control module.

[0021] The inspection control module is connected to the environmental sensing module. The inspection control module is used to receive the temperature and humidity signals, image signals and object movement status signals of the target device. When the feature values ​​corresponding to the temperature and humidity signals, image signals and object movement status signals of the target device exceed the preset safety threshold, the inspection control module outputs alarm information.

[0022] In one embodiment, the environmental sensing module includes a camera, a motion detection sensor, and a temperature and humidity sensor; wherein:

[0023] The camera is connected to the inspection control module and is used to acquire image signals of the target device;

[0024] The motion detection sensor is connected to the inspection control module, and the motion detection sensor is used to collect the movement status signals of objects in the indoor environment;

[0025] The temperature and humidity sensor is connected to the inspection control module, and the temperature and humidity sensor is used to collect the temperature and humidity signals of the indoor environment in real time.

[0026] In one embodiment, the inspection control module includes a signal receiving circuit and a signal processing circuit; wherein:

[0027] The signal receiving circuit is connected to the environmental sensing module, and the signal receiving circuit is used to receive the temperature and humidity signals, image signals and object movement status signals of the target device.

[0028] The signal processing circuit is connected to the signal receiving circuit. The signal processing circuit is used to process the signals collected by the environmental perception module, extract the feature values ​​of the corresponding signals, and compare and judge the feature values ​​with a preset safety threshold.

[0029] In one embodiment, the signal receiving circuit includes: a sixth resistor, a seventh resistor, an eighth resistor, a third capacitor, a fourth capacitor, and a second operational amplifier;

[0030] The positive input terminal of the second operational amplifier is connected to the first terminal of the seventh resistor, the first terminal of the eighth resistor, and the first terminal of the third capacitor, respectively. The negative input terminal of the second operational amplifier is connected to the first terminal of the sixth resistor and the first terminal of the fourth capacitor, respectively. The output terminal of the second operational amplifier is connected to the second terminal of the fourth capacitor and the switch control circuit, respectively. The second terminal of the sixth resistor is connected to the input terminal of the data processing circuit. The second terminal of the seventh resistor is connected to the first power supply. The second terminals of the eighth resistor and the second terminal of the third capacitor are grounded.

[0031] In one embodiment, the signal processing circuit includes a first main control chip, a fifth capacitor, a ninth resistor, and a first light-emitting diode; wherein:

[0032] The first terminal of the first main control chip is connected to the first terminal of the fifth capacitor and the power supply terminal, the second terminal of the first main control chip is connected to the signal receiving circuit, the third terminal of the first main control chip is connected to the switch control circuit, the fourth terminal of the first main control chip is connected to the first terminal of the ninth resistor, and the fifth terminal of the first main control chip is connected to the second terminal of the fifth capacitor and ground, respectively; the second terminal of the ninth resistor is connected to the anode of the first light-emitting diode, and the cathode of the first light-emitting diode is grounded.

[0033] In one embodiment, the device further includes a low-pass filter circuit;

[0034] The low-pass filter circuit is connected to the input terminal of the signal processing circuit and the output terminal of the signal receiving circuit, respectively. The low-pass filter circuit is used to filter out noise signals output by the signal receiving circuit.

[0035] The above-mentioned one or more technical solutions provided in this application may have the following advantages or at least achieve the following technical effects:

[0036] This application discloses an intelligent security inspection device for indoor scenarios, relating to the field of intelligent security technology. The device includes: a track-type walking mechanism configured to move along a horizontal X-axis for traversing the indoor surface; a multi-section lifting mechanism vertically mounted on the track-type walking mechanism for covering detection surfaces at different heights along the Z-axis in the vertical direction; a rotary joint assembly integrated at the top of the multi-section lifting mechanism, providing rotational freedom around the X and Z axes for adjusting the detection angle; and a telescopic detection arm mounted on the rotary joint assembly, extending and retracting along the Y-axis and performing detection on the target device via sensors. An inspection drive module drives the motors in the track-type walking mechanism and the multi-section lifting mechanism, enabling the device to inspect the target device according to a preset direction and route. The main purpose of this application is to provide an intelligent safety inspection device for indoor scenarios, which aims to solve the problems of limited coverage and insufficient real-time performance of existing indoor inspection devices. By integrating multiple sensors and setting preset routes, it can realize real-time monitoring and early warning of indoor safety hazards, effectively improve the level of safety protection, and is suitable for fully automated safety monitoring in high-risk environments such as factories, warehouses, and laboratories. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the structure of the first embodiment of the intelligent security inspection device for indoor scenarios proposed in this application;

[0039] Figure 2 This is a schematic diagram of the switch control circuit of the second embodiment of the intelligent security inspection device for indoor scenarios proposed in this application.

[0040] Figure 3 This is a schematic diagram of the motor drive circuit of the third embodiment of the intelligent security inspection device for indoor scenarios proposed in this application.

[0041] Figure 4 This is a schematic diagram of the signal receiving circuit of the fourth embodiment of the intelligent security inspection device for indoor scenarios proposed in this application.

[0042] Figure 5 This is a schematic diagram of the signal processing circuit of the fifth embodiment of the intelligent security inspection device for indoor scenarios proposed in this application.

[0043] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0044] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0045] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0046] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0047] The core design concept of the device described in this application is to ensure that the inspection process is efficient, accurate, and has a wide spatial coverage capability through multi-degree-of-freedom motion mechanisms (including track-type walking mechanisms, multi-section lifting mechanisms, rotary joint components, and telescopic detection arms) and intelligent control technology.

[0048] (1) The track-type walking mechanism is equipped with a motor drive system, which can move smoothly on a predetermined track, support preset route planning, complete the inspection task according to the set path, and provide basic horizontal movement capability, providing a large area of ​​planar coverage for the entire device.

[0049] (2) The multi-section lifting mechanism adopts a multi-section design, which can be adjusted in height as needed to adapt to the height requirements of different floors or equipment. The multi-section lifting mechanism is equipped with a lifting motor, which supports precise height adjustment. Combined with the track-type walking mechanism, it achieves vertical coverage capability in three-dimensional space.

[0050] (3) The rotary joint assembly has dual-axis rotation capability (around the X and Z axes), allowing for flexible adjustment of the detection direction. It supports multi-angle detection, ensuring comprehensive coverage of the target device. Driven by a precision servo motor, it guarantees the smoothness and accuracy of the rotational motion.

[0051] (4) The telescopic detection arm can extend and retract along the Y-axis to further expand the detection range. It can integrate multiple sensors (such as temperature and humidity sensors, gas sensors, cameras, etc.) to collect status data of the target equipment. It can support multi-parameter detection, including temperature, humidity, harmful gas concentration, vibration status, etc.

[0052] (5) The inspection drive module includes a switch control circuit and a motor drive circuit, which can precisely control the movement of each moving part. It supports automated operation and can automatically complete inspection tasks according to preset routes and task requirements. It has fault detection and alarm functions to ensure the safety and reliability of the device operation.

[0053] Through the coordinated operation of a track-mounted walking mechanism, a multi-section lifting mechanism, a rotary joint assembly, and a telescopic inspection arm, the device can achieve comprehensive coverage in three-dimensional space. It is particularly suitable for complex environments such as factories, warehouses, and laboratories, capable of detecting areas that are difficult to reach by traditional manual inspections, such as high places and corners. Equipped with multi-sensor fusion technology, the device can collect and analyze environmental parameters in real time, supporting preset route planning and task scheduling, reducing manual intervention and improving inspection efficiency. When anomalies are detected, the device can promptly issue alarms, ensuring that potential hazards are dealt with quickly. The design of the rotary joint assembly and telescopic inspection arm gives the device extremely high flexibility, enabling it to adapt to various complex inspection scenarios. Meanwhile, the height adjustment capability of the multi-section lifting mechanism allows it to cover inspection surfaces at different heights, from the ground to the ceiling.

[0054] refer to Figure 1 , Figure 1 This is a schematic diagram of the first embodiment of the intelligent security inspection device for indoor scenarios proposed in this application. In this embodiment, an intelligent security inspection device for indoor scenarios includes:

[0055] A track-type traveling mechanism is configured to move along the horizontal X-axis for traversing the interior floor plan;

[0056] A multi-section lifting mechanism is vertically mounted on the track-type traveling mechanism, used to cover detection surfaces of different heights along the Z-axis in the vertical direction.

[0057] A rotary joint assembly, integrated at the top of the multi-section lifting mechanism, provides rotational freedom around the X and Z axes for adjusting the detection angle;

[0058] A telescopic detection arm is mounted on the rotary joint assembly, extends and retracts along the Y-axis, and performs detection on the target device through a sensor.

[0059] The inspection drive module is used to drive the motors in the track-type walking mechanism and the multi-section lifting mechanism, so that the device can inspect the target equipment according to a preset direction and route.

[0060] Specifically, in this embodiment, the intelligent security inspection device applied to indoor scenarios, through the coordinated work of a track-type walking mechanism, a multi-section lifting mechanism, a rotating joint assembly, and a telescopic detection arm, as well as the drive of the inspection drive module, enables the device to achieve comprehensive traversal of the indoor plane and coverage of detection surfaces at different heights. At the same time, it can adjust the detection angle and move telescopically in a specific direction to perform accurate detection of target equipment.

[0061] The track-based walking mechanism is the basic mobile platform for indoor inspection robots. Its main function is to move along a preset horizontal X-axis to achieve comprehensive traversal of the indoor surface. This mechanism typically consists of a track system, drive motors, guide wheels, and a control system. The track system is laid on the ceiling or floor of the inspection area, forming a continuous path network. The drive motors, through reducers and transmission devices, drive the walking wheels to roll on the track, achieving basic movements such as forward, backward, and stopping. The guide wheels ensure the robot's stable operation on the track and prevent deviation. The track is composed of high-strength aluminum alloy or steel, with a hardened surface to enhance wear resistance. The track length can be customized according to the indoor space dimensions. The track-based walking mechanism includes stepper motors or servo motors, reducers, and drive wheels. The motor power is typically 100-500W to ensure smooth operation and precise control. The track-based walking mechanism uses a V-groove wheel or rack and pinion structure to ensure linear movement along the track and is equipped with limit switches to prevent overtravel. Positioning accuracy of ±1mm is achieved through encoders or laser rangefinders, suitable for high-precision inspection tasks. The track-mounted traveling mechanism can support equipment weights of 50-200kg, meeting the load requirements of multi-section lifting mechanisms and inspection arms. The traveling speed can be adjusted from 0.1-1m / s depending on the inspection task requirements.

[0062] The multi-section lifting mechanism is vertically mounted on a track-type traveling mechanism, responsible for covering inspection surfaces at different heights along the Z-axis. The multi-section lifting mechanism adopts a multi-section telescopic design, typically 3-5 sections, made of high-strength aluminum alloy or carbon fiber. Each section has a telescopic length of 0.5-1m, and the total lifting height can reach 3-10m. The multi-section lifting mechanism includes electric push rods, ball screws, or hydraulic cylinders, with a motor power of 200-800W, ensuring smooth lifting and strong load capacity. The multi-section lifting mechanism is equipped with linear guides and balance springs to reduce swaying during lifting. The sway amplitude during lifting is less than ±2mm, ensuring inspection accuracy. The lifting speed can reach 0.2-0.5m / s, adapting to efficient inspection needs. The multi-section lifting mechanism is equipped with overload protection devices and an emergency braking system to prevent accidental falls. It is suitable for scenarios such as high-bay equipment, automated warehouses, and large cabinets, for multi-height inspection tasks.

[0063] The rotary joint assembly is integrated into the top of a multi-section lifting mechanism, providing rotational freedom around the X and Z axes for adjusting the detection angle. The rotary joint assembly uses a harmonic reducer or planetary reducer, with a rotation angle range of ±90° and a positioning accuracy of ±0.1°. Alternatively, a worm gear structure can be used, with a rotation angle range of 0-360° and a positioning accuracy of ±0.5°. Servo motors or stepper motors with power ranging from 50-200W ensure smooth rotation and rapid response. Flexible adjustment of the detection angle is achieved through rotation along the X and Z axes, covering all detection surfaces of complex equipment. Precise control of the rotation angle is achieved by combining encoders and sensors. The overall structure is compact and lightweight, facilitating integration into the top of the lifting mechanism. It is suitable for omnidirectional inspection of complex equipment, such as pipes, cabinets, and overhead equipment.

[0064] The telescopic inspection arm is mounted on a rotary joint assembly and extends and retracts along the Y-axis, performing inspection of target equipment via sensors. The telescopic inspection arm employs a multi-section nested design, made of carbon fiber or aluminum alloy, with each section having a telescopic length of 0.5-1m, resulting in a total telescopic length of 2-5m. The telescopic inspection arm includes an electric actuator or ball screw with a motor power of 100-300W, ensuring smooth extension and retraction and strong load capacity. The telescopic inspection arm integrates multiple sensors (such as infrared thermal imagers, ultrasonic sensors, and high-definition cameras) for detecting parameters such as temperature, vibration, and image quality. The telescopic inspection arm can flexibly extend along the Y-axis, covering targets at different distances. By integrating multiple sensors, the telescopic inspection arm achieves comprehensive multi-parameter detection. The extension speed can reach 0.1-0.3m / s, adapting to efficient inspection needs. It is suitable for inspection tasks in confined spaces or at long distances, such as inside pipelines and elevated equipment.

[0065] The inspection drive module is the power and control core of the entire inspection robot system. It is responsible for driving the motors in the track-mounted walking mechanism, multi-section lifting mechanism, and rotary joint components, automatically or remotely executing inspection tasks according to a preset inspection route and direction. This module typically consists of a main control unit, motor drivers, a power management system, a communication interface, and a human-machine interface. Based on map information and task requirements, it automatically generates the optimal inspection path. The device employs advanced control algorithms to achieve multi-axis coordinated motion, ensuring smooth and efficient robot movement and positioning. The inspection drive module monitors the motor status in real time, diagnoses and reports faults, ensuring safe system operation.

[0066] Furthermore, in this embodiment, the inspection drive module includes a switch control circuit and a motor drive circuit;

[0067] The switch control circuit is connected to the input terminal of the motor drive circuit, and the switch control circuit outputs a switch control signal to control the motor drive circuit.

[0068] The motor drive circuit is connected to the output terminal of the switch control circuit. The motor drive circuit is used to receive the switch control signal and drive the motor so that the device can inspect the indoor environment according to a preset route.

[0069] Specifically, in this embodiment, the inspection drive module plays a crucial role as the power and control center of the entire system. It not only provides power for the robot's movement, lifting, and rotation, but also ensures, through precise control strategies, that the robot can efficiently and accurately execute inspection tasks according to preset routes and instructions. This embodiment will delve into the core components of the inspection drive module, analyzing their working principles, interactions, and how to achieve efficient motor control, thereby promoting the efficient operation of the inspection robot system.

[0070] The switch control circuit is the decision-making layer in the inspection drive module. Based on instructions from the host computer (such as the main control unit or human-machine interface), it generates and outputs switch control signals. These signals are then transmitted to the motor drive circuit to control the motor's start, stop, direction, and speed adjustment. The switch control circuit typically consists of logic gates, microprocessors (such as microcontrollers or DSPs), relays, or MOSFETs to achieve complex control logic and efficient signal processing. When the inspection robot receives an inspection task, the main control unit calculates the required motor control parameters (such as start time, running time, and direction) for each action based on the preset inspection route and action sequence, and encodes these parameters into switch control signals. These signals are then logically processed and amplified by the switch control circuit before being output to the motor drive circuit. The switch control circuit uses advanced microprocessors and precise analog circuits to achieve high-precision output of switch control signals. It supports multiple control modes (such as PWM, DIR / PWM, etc.), can be flexibly configured according to the characteristics of different motors and application requirements, and employs redundant design and fault protection mechanisms to ensure stable operation even in harsh environments.

[0071] The motor drive circuit is the execution layer in the inspection drive module. It receives switching control signals from the switching control circuit and converts them into current or voltage signals that the motor can recognize, thereby driving the motor to operate. The motor drive circuit typically consists of a power amplifier, current sensor, protection circuit, and filter to ensure the motor operates efficiently and safely. When the switching control circuit outputs a switching control signal, the power amplifier in the motor drive circuit converts these signals into corresponding current or voltage signals to drive the motor to rotate. Simultaneously, the current sensor monitors the motor's operating status in real time and transmits feedback signals to the switching control circuit to adjust the control strategy and achieve closed-loop control. The protection circuit is responsible for promptly cutting off the power supply in abnormal situations such as motor overload, overheating, or short circuits, protecting the motor and drive circuit from damage.

[0072] The motor drive circuit employs advanced power semiconductor devices and a high-efficiency circuit topology to reduce energy loss and improve system efficiency. It integrates multiple protection mechanisms to ensure the motor can safely stop under abnormal conditions, extending its service life. The motor drive circuit supports various motor types and specifications, allowing for flexible configuration and expansion according to actual needs. The switch control circuit and motor drive circuit work collaboratively, connected via an electrical interface for signal transmission and conversion. The switch control signal output from the switch control circuit is amplified and filtered before being transmitted to the motor drive circuit. The motor drive circuit then converts these signals into current or voltage signals that the motor can recognize, thereby driving the motor. To achieve precise control strategies, a close communication and cooperation mechanism is required between the switch control circuit and the motor drive circuit. The switch control circuit calculates the motor control parameters required for each action based on a preset inspection route and action sequence, and transmits these parameters to the motor drive circuit via switch control signals. The motor drive circuit then adjusts the motor's operating state based on these parameters, achieving precise position control, speed control, and force control. During the inspection process, the switch control circuit and motor drive circuit jointly handle fault diagnosis and protection. When a motor malfunctions (such as overload, overheating, or short circuit), the protection circuit in the motor drive circuit will immediately cut off the power supply to prevent the fault from escalating. Simultaneously, the switch control circuit will receive a fault feedback signal from the motor drive circuit and take corresponding measures (such as alarms or shutdowns) according to the preset fault handling strategy to ensure the safe operation of the system.

[0073] Inspection drive modules are widely used in various indoor inspection robot systems, such as data center inspection, warehouse logistics inspection, and power line inspection. In these scenarios, inspection robots need to efficiently and accurately perform inspection tasks according to preset routes and instructions, including status monitoring, fault diagnosis, and data collection of target equipment. The inspection drive module ensures that the robot can stably and reliably complete these tasks by precisely controlling the motor's operating status.

[0074] Furthermore, in this embodiment, the switch control circuit includes: a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a second capacitor, and a first operational amplifier;

[0075] The positive input terminal of the first operational amplifier is connected to the first terminal of the second resistor, the first terminal of the third resistor, the first terminal of the fourth resistor, and the first terminal of the first capacitor, respectively. The negative input terminal of the first operational amplifier is connected to the first terminal of the first resistor, the first terminal of the fifth resistor, and the first terminal of the second capacitor, respectively. The output terminal of the first operational amplifier is connected to the second terminal of the fifth resistor, the second terminal of the second capacitor, and the input terminal of the motor drive circuit, respectively. The second terminal of the fourth resistor is connected to the first power supply, and the second terminals of the third resistor and the first capacitor are grounded. The second terminal of the first resistor is connected to the input terminal of the first bridge arm of the motor drive circuit. The second terminal of the second resistor is connected to the input terminal of the second bridge arm of the motor drive circuit.

[0076] Specifically, in this embodiment, the switch control circuit serves as a bridge connecting the host computer commands and the motor drive circuit, and its design directly affects the accuracy, stability, and response speed of motor control. Figure 2 This is a schematic diagram of the switch control circuit of a second embodiment of the intelligent security inspection device for indoor scenarios proposed in this application. This embodiment will explore in detail a switch control circuit based on an operational amplifier, which achieves precise control of the input signal of the motor drive circuit through a carefully designed combination of resistors, capacitors, and operational amplifiers.

[0077] The switch control circuit mainly consists of a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first capacitor C1, a second capacitor C2, and a first operational amplifier OA1. Through a specific connection method, they form a precise feedback control system used to regulate and stabilize the input signal of the motor drive circuit. The positive input terminal of the first operational amplifier OA1 is connected to the first terminals of the second resistor R2, the third resistor R3, the fourth resistor R4, and the first capacitor C1. These connections constitute the non-inverting input network of the operational amplifier, used to receive and integrate signals from different paths. The inverting input terminal is connected to the first terminals of the first resistor R1, the fifth resistor R5, and the second capacitor C2. These connections constitute the inverting input network of the operational amplifier, used to compare with the positive input signal to form feedback control.

[0078] The output of the switch control circuit is connected to the second terminal of the fifth resistor R5, the second terminal of the second capacitor C2, and the input terminal of the motor drive circuit. The output signal of the operational amplifier is transmitted to the motor drive circuit through the above connections to control the operation of the motor. The second terminal of the fourth resistor R4 is connected to the first power supply to provide a stable DC voltage for the circuit. The second terminals of the third resistor R3 and the second terminal of the first capacitor C1 are grounded, forming a common reference point for the circuit. The second terminal of the first resistor R1 is connected to the input terminal of the first bridge arm of the motor drive circuit, used to transmit a portion of the control signal. The second terminal of the second resistor R2 is connected to the input terminal of the second bridge arm of the motor drive circuit, also used to transmit a portion of the control signal.

[0079] The working principle of this switch control circuit is based on the differential amplification characteristics and feedback control principle of an operational amplifier. When the host computer issues a control command, the command is converted into a corresponding voltage or current signal and input to the positive input terminal of the operational amplifier through a specific path. Simultaneously, the inverting input terminal of the operational amplifier receives a feedback signal from the motor drive circuit (through the first resistor R1 and the second resistor R2). The operational amplifier compares these two input signals and adjusts the output signal according to their difference to drive the motor drive circuit, causing the motor to operate in a preset manner. The first capacitor C1 and the second capacitor C2 play a role in filtering and stabilizing the output in the circuit. They can smooth high-frequency noise in the input signal and improve the circuit's anti-interference capability. The choice of resistor values ​​needs to be based on the specific requirements of the circuit. For example, the resistance values ​​of the first resistor R1 and the second resistor R2 determine the strength of the feedback signal, thus affecting the gain and stability of the circuit. The resistance value of the fourth resistor R4 determines the supply voltage of the circuit. The choice of capacitor values ​​mainly depends on the filtering requirements and response time of the circuit. Larger capacitor values ​​can provide better filtering effects but will increase the circuit's response time; smaller capacitor values ​​have the opposite effect. The selection of an operational amplifier requires consideration of factors such as its gain-bandwidth product, input impedance, output impedance, noise performance, and stability.

[0080] This switch control circuit utilizes the differential amplification characteristics of an operational amplifier and the feedback control principle to achieve precise control of the input signal to the motor drive circuit. This helps ensure that the motor operates according to the preset mode, improving the accuracy and reliability of inspection tasks. The capacitors in the circuit act as filters and stabilize the output, smoothing high-frequency noise in the input signal and improving the circuit's anti-interference capability. This helps ensure stable operation of the circuit even in harsh environments. The design of this switch control circuit is flexible; the resistance and capacitor values ​​can be adjusted according to actual needs to adapt to different control requirements and motor types. Furthermore, additional components or functional modules can be added as needed to expand the circuit's functionality and performance.

[0081] Furthermore, in this embodiment, the motor drive circuit includes: a first transistor, a second transistor, a third transistor, a fourth transistor, a first diode, a second diode, a third diode, a fourth diode, a fifth diode, and a sixth diode;

[0082] The gates of the first transistor and the second transistor are connected to the second terminal of the first resistor, and the gates of the third transistor and the fourth transistor are connected to the second terminal of the second resistor;

[0083] The drains of the first and second transistors are connected to the second power supply, and the sources of the first and second transistors are grounded. The sources of the first and second transistors are connected to the first and second terminals of the motor, respectively. The drains of the third and fourth transistors are connected to the first and second terminals of the motor, respectively. The anode of the first diode is connected to the source of the first transistor, and the cathode of the first diode is connected to the drain of the first transistor. The anode of the second diode is connected to the source of the second transistor, and the cathode of the second diode is connected to the drain of the second transistor. The anode of the third diode is connected to the source of the third transistor, and the cathode of the third diode is connected to the drain of the third transistor. The anode of the fourth diode is connected to the source of the fourth transistor, and the cathode of the fourth diode is connected to the drain of the fourth transistor. The anode of the fifth diode is connected to the source of the third transistor, and the cathode of the fifth diode is connected to the drain of the first transistor. The anode of the sixth diode is connected to the source of the fourth transistor, and the cathode of the sixth diode is connected to the drain of the second transistor.

[0084] Specifically, in this embodiment, the motor drive circuit is the key component for converting electrical energy into mechanical energy. Figure 3This is a schematic diagram of the motor drive circuit of the third embodiment of the intelligent security inspection device for indoor scenarios proposed in this application. This embodiment provides an in-depth analysis of a transistor-based H-bridge motor drive circuit. This circuit achieves precise control of a DC motor through a cleverly designed combination of transistors, diodes, and other components. The motor drive circuit mainly consists of a first transistor T1, a second transistor T2, a third transistor T3, a fourth transistor T4, a first diode D1, a second diode D2, a third diode D3, a fourth diode D4, a fifth diode D5, and a sixth diode D6. These components, through a specific connection method, form an H-bridge circuit with bidirectional driving capability, used to control the forward and reverse rotation and braking of the DC motor. The gates of the first transistor T1 and the second transistor T2 are connected together to the second terminal of the first resistor R1, receiving control signals from the switch control circuit. When the control signal is high, T1 is turned on and T2 is turned off; when the control signal is low, T1 is turned off and T2 is turned on. This complementary conduction state enables the switching of the motor current direction. The gates of the third transistor T3 and the fourth transistor T4 are connected together to the second terminal of the second resistor R2, and they also receive control signals from the switching control circuit. However, their conduction states are opposite to those of T1 and T2, in order to achieve another type of steering control for the motor.

[0085] The drains of transistors T1 and T2 are both connected to a second power supply, providing the necessary DC voltage to the circuit. The sources of T1 and T2 are grounded and connected to the first and second terminals of the motor, respectively. This connection ensures that when T1 or T2 is on, one terminal of the motor forms a loop with ground, allowing current to flow through the motor. The drains of transistors T3 and T4 are connected to the first and second terminals of the motor, respectively, but their conduction states are opposite to those of T1 and T2, enabling reverse motor control. Diodes D1 through D4 are connected in parallel between the sources and drains of transistors T1 through T4, providing reverse cutoff protection. When the transistors are off, the diodes prevent the back electromotive force generated by the motor from damaging the transistors. Diodes D5 and D6 are connected across the source of T3 and the drain of T1, and the source of T4 and the drain of T2, respectively. These diodes play a crucial role during motor braking, releasing the energy stored in the motor back to the power supply for rapid braking.

[0086] The working principle of this motor drive circuit is based on the bidirectional driving characteristics of the H-bridge circuit. When T1 and T4 are both on, the first terminal of the motor is positive and the second terminal is negative, causing the motor to rotate in the forward direction. When T2 and T3 are both on, the first terminal of the motor is negative and the second terminal is positive, causing the motor to rotate in the reverse direction. By controlling the conduction state of T1 to T4, precise control of the motor's direction of rotation can be achieved. During motor braking, by simultaneously turning off T1 to T4 and using D5 and D6 to release the energy stored in the motor back to the power supply, rapid braking of the motor can be achieved. Furthermore, D1 to D4, when the transistors are off, can prevent damage to the transistors from the motor's back electromotive force, improving the circuit's reliability. The selection of transistors needs to consider factors such as their withstand voltage, maximum current, on-resistance, and switching speed. In practical applications, MOSFETs with low on-resistance, high switching speed, and high withstand voltage are typically chosen as drive transistors to improve circuit efficiency and reliability. The selection of diodes mainly focuses on their reverse breakdown voltage and forward conduction current. To ensure stable operation of the circuit in harsh environments, diodes with sufficiently high reverse breakdown voltage and forward conduction current are typically selected. The power supply selection must be based on the motor's rated voltage and current requirements. To ensure normal motor operation, the power supply's output voltage should be slightly higher than the motor's rated voltage, while the output current should meet the motor's maximum current requirements. This motor drive circuit, through an H-bridge circuit design, achieves precise control of the DC motor's direction and speed. This control method offers advantages such as fast response speed and high control accuracy. The diodes in the motor drive circuit provide reverse cutoff protection, preventing damage to the transistors from the motor's back electromotive force and improving circuit reliability. Furthermore, by appropriately selecting component parameters and layout wiring, the circuit failure rate can be further reduced. The design of this motor drive circuit offers a degree of flexibility, allowing for the addition of additional protection circuits or functional modules, such as overcurrent protection and overheat protection, according to actual needs. Moreover, independent control of multiple motors can be achieved by adding additional H-bridge circuits.

[0087] Furthermore, in this embodiment, the telescopic detection arm also includes an environmental perception module and an inspection control module;

[0088] The environmental sensing module is connected to the inspection control module. When the telescopic detection arm starts its inspection, the environmental sensing module is used to collect the temperature and humidity signals, image signals, and object movement status signals of the target equipment, and transmit the temperature and humidity signals, image signals, and object movement status signals to the inspection control module.

[0089] The inspection control module is connected to the environmental sensing module. The inspection control module is used to receive the temperature and humidity signals, image signals and object movement status signals of the target device. When the feature values ​​corresponding to the temperature and humidity signals, image signals and object movement status signals of the target device exceed the preset safety threshold, the inspection control module outputs alarm information.

[0090] Specifically, in this embodiment, the telescopic inspection arm system integrates the extension and positioning capabilities of the robotic arm, the data acquisition and analysis functions of the environmental perception module, and the intelligent decision-making and alarm mechanism of the inspection control module. Through highly integrated hardware and software design, this system achieves real-time monitoring and intelligent inspection of the target equipment environment, greatly improving the efficiency and safety of equipment maintenance. The telescopic inspection arm, as the main component of the system, is responsible for transporting the environmental perception module and the inspection control module to the vicinity of the target equipment, ensuring the accuracy of data acquisition and the effectiveness of inspection. This robotic arm employs an advanced servo control system, enabling precise positioning and smooth extension, meeting the requirements for detection range and accuracy in different environments.

[0091] The environmental sensing module is a core component of the telescopic detection arm system, responsible for collecting temperature and humidity signals, image signals, and object movement signals from the target equipment. This module integrates multiple sensors and cameras, enabling real-time capture of critical information about the target equipment and its surrounding environment. Temperature and humidity sensors monitor temperature and humidity changes in the target equipment and its surrounding environment, providing crucial parameters for stable equipment operation. High-definition cameras capture image signals from the target equipment, supporting video recording and real-time transmission, facilitating remote monitoring and diagnostics by inspection personnel. Object movement detection sensors use infrared or radar technology to monitor the movement of people or objects near the target equipment in real time, providing data support for safety early warning.

[0092] The inspection control module, acting as the system's intelligent brain, receives data from the environmental sensing module and performs real-time analysis and processing. This module incorporates advanced algorithms and preset safety thresholds, enabling it to intelligently determine the safety status of target equipment based on collected temperature and humidity signals, image signals, and object movement signals. The inspection control module analyzes the collected data in real time, extracts key feature values, and compares them with preset safety thresholds. When a feature value exceeds the preset safety threshold, the inspection control module automatically triggers an alarm mechanism and outputs alarm information. Alarm information can be promptly communicated to inspection personnel or relevant management personnel through various means, including audible and visual alarms, SMS notifications, and email alerts.

[0093] Inspection personnel activate the system via a remote control terminal, and the telescopic detection arm extends and positions itself near the target equipment. The environmental sensing module begins collecting temperature and humidity signals, image signals, and object movement signals from the target equipment, transmitting the data in real time to the inspection control module. Upon receiving the data, the inspection control module performs real-time analysis and processing, extracting key feature values ​​and comparing them with preset safety thresholds. If a feature value exceeds the preset safety threshold, the inspection control module automatically triggers an alarm mechanism, outputting alarm information and notifying the inspection personnel or relevant management personnel. After receiving the alarm information via the remote control terminal, the inspection personnel or relevant management personnel can view the monitoring screen of the target equipment in real time and take appropriate countermeasures based on the actual situation. The telescopic detection arm system can monitor the temperature, humidity, image, and object movement status of the target equipment in real time. Through an intelligent early warning mechanism, it can promptly detect potential safety hazards, improving the timeliness and accuracy of equipment maintenance. The system adopts a highly integrated hardware and software design, automating data acquisition, analysis, and processing, reducing the cost and risk of manual intervention, and improving inspection efficiency. Inspection personnel or relevant management personnel can view the monitoring screen of the target equipment in real time through a remote control terminal and take corresponding measures according to the actual situation, realizing remote monitoring and management of inspection operations. The system supports the integration of various sensors and cameras, which can be flexibly configured according to actual needs to meet the requirements of detection range and accuracy in different environments. At the same time, the system also supports docking and linkage with other intelligent systems, realizing data sharing and collaborative operation. The telescopic detection arm system adopts advanced servo control system and sensor technology to ensure the accuracy of data acquisition and the safety of inspection operations. In addition, the system also has fault self-diagnosis and alarm functions, which can promptly notify inspection personnel to handle the situation when equipment failure occurs, improving the reliability of the system.

[0094] Furthermore, in this embodiment, the environmental perception module includes a camera, a motion detection sensor, and a temperature and humidity sensor; wherein:

[0095] The camera is connected to the inspection control module and is used to acquire image signals of the target device;

[0096] The motion detection sensor is connected to the inspection control module, and the motion detection sensor is used to collect the movement status signals of objects in the indoor environment;

[0097] The temperature and humidity sensor is connected to the inspection control module, and the temperature and humidity sensor is used to collect the temperature and humidity signals of the indoor environment in real time.

[0098] Specifically, in this embodiment, the environmental perception module, as a core component of the telescopic inspection arm system, plays a crucial role. By integrating multiple sensors and cameras, it enables real-time monitoring and data acquisition of the target equipment and its surrounding environment, providing comprehensive and accurate information support for the inspection control module. This embodiment will elaborate in detail on the functional characteristics, working principles, and applications of the camera, motion detection sensor, and temperature and humidity sensor within the environmental perception module in the telescopic inspection arm system.

[0099] As a crucial component of the environmental perception module, the camera plays a vital role in acquiring image signals from target equipment. It not only captures the real-time appearance of the equipment but also records key moments during inspections, providing inspectors with intuitive visual information. The camera employs advanced image sensors and image processing algorithms to ensure clear, detailed images that accurately reflect the appearance of the target equipment. Supporting both wireless and wired transmission, the camera transmits the acquired image signals to the inspection control module in real-time for remote monitoring and diagnostics. Equipped with infrared night vision, the camera can operate normally in low-light conditions, ensuring 24 / 7 monitoring. Combined with deep learning algorithms, the camera achieves intelligent identification and classification of target equipment, improving inspection efficiency and accuracy. The camera captures images of the target equipment through its lens, converts light signals into electrical signals using an image sensor, and then processes these signals through image processing algorithms to generate clear image signals. These signals are transmitted in real-time to the inspection control module via a transmission line or wireless network for remote viewing and analysis by inspection personnel.

[0100] Motion detection sensors are key components in environmental sensing modules used to collect motion status signals of objects in the indoor environment. They can monitor the movement of people or objects near target equipment in real time, providing real-time safety warnings to the inspection control module. Supporting multiple detection modes and sensitivity settings, they can be flexibly configured according to actual needs. Motion detection sensors determine the presence of object movement by sensing changes in signals such as light, heat, or radar reflection within the target area. When movement is detected, the sensor generates a motion status signal and transmits it to the inspection control module in real time via a transmission line or wireless network. Applications of motion detection sensors in telescopic detection arm systems include: real-time monitoring of the movement of people or objects near target equipment, triggering an alarm mechanism immediately upon detecting abnormal movement; monitoring important areas to prevent unauthorized intrusion; and providing navigation and positioning support for inspection personnel in complex environments by tracking their movement trajectories.

[0101] As another crucial component of the environmental sensing module, the temperature and humidity sensor is responsible for real-time acquisition of indoor temperature and humidity signals. It provides key environmental parameter information to the inspection control module, helping inspection personnel understand the environmental conditions of target equipment. The sensor detects changes in temperature and humidity in the environment and converts these changes into electrical signals using internal sensing elements. These signals are then amplified, filtered, and converted to digital signals via A / D conversion, and transmitted in real-time to the inspection control module through a transmission line or wireless network. The sensor employs advanced temperature and humidity sensing technology and algorithms to achieve high-precision measurement of indoor temperature and humidity. It can monitor and report changes in indoor temperature and humidity in real time, ensuring data timeliness and accuracy. The sensor exhibits excellent long-term stability and reliability, capable of operating unaffected by various environmental conditions. Its simple design facilitates installation and maintenance, reducing operating costs and maintenance complexity. Temperature and humidity sensors have a wide range of applications in telescopic inspection arm systems, including but not limited to: real-time monitoring of the indoor temperature and humidity of the target equipment to ensure that the equipment operates in a suitable environment; early warning and alarm: when the indoor temperature and humidity exceed the preset range, an early warning or alarm mechanism is triggered to remind inspection personnel to take appropriate measures.

[0102] The environmental perception module integrates multiple sensors, including cameras, motion sensors, and temperature and humidity sensors, to achieve comprehensive monitoring and data acquisition of the target equipment and its surrounding environment. This acquired data is transmitted in real-time to the inspection control module, providing inspection personnel with intuitive and accurate information support. In the practical application of the telescopic inspection arm system, the environmental perception module plays a crucial role. It not only improves inspection efficiency and accuracy but also promptly detects potential safety hazards, providing strong support for the stable operation of the equipment. Furthermore, the environmental perception module possesses high flexibility and scalability, allowing for flexible configuration and expansion according to actual needs to meet monitoring requirements in various complex environments.

[0103] Furthermore, in this embodiment, the inspection control module includes a signal receiving circuit and a signal processing circuit; wherein:

[0104] The signal receiving circuit is connected to the environmental sensing module, and the signal receiving circuit is used to receive the temperature and humidity signals, image signals and object movement status signals of the target device.

[0105] The signal processing circuit is connected to the signal receiving circuit. The signal processing circuit is used to process the signals collected by the environmental perception module, extract the feature values ​​of the corresponding signals, and compare and judge the feature values ​​with a preset safety threshold.

[0106] Specifically, in this embodiment, the inspection control module plays a core role. It is responsible for receiving various signals from the environmental perception module and processing and analyzing these signals to achieve comprehensive monitoring and status assessment of the target equipment.

[0107] The signal receiving circuit is the primary component of the inspection control module, responsible for receiving various signals from the environmental sensing module. These signals include temperature and humidity signals from the target device, image signals, and object movement status signals, collectively forming a comprehensive description of the target device and its surrounding environment. The signal receiving circuit is flexibly designed to be compatible with and receive multiple signal types from different sensors, including analog and digital signals. It employs advanced signal amplification and filtering technology to ensure accurate reception even under weak signal conditions, improving signal integrity and reliability. The signal receiving circuit has high-speed signal processing capabilities, enabling real-time reception and transmission of signals to the signal processing circuit, ensuring the timeliness of inspection control. It incorporates an effective anti-interference mechanism, allowing stable operation in complex electromagnetic environments and preventing signal interference and misreception. The signal receiving circuit connects to the environmental sensing module via an interface. When the environmental sensing module acquires temperature and humidity, image, or object movement status signals from the target device, these signals are converted into electrical signals and transmitted to the signal receiving circuit via a transmission line. The signal receiving circuit first preprocesses these signals, including amplification, filtering, and analog-to-digital conversion (for analog signals), to ensure signal accuracy and readability. The preprocessed signal is transmitted in real time to the signal processing circuit for further analysis. The signal receiving circuit has a wide range of applications in intelligent inspection systems, including but not limited to: real-time monitoring: receiving real-time signals from the environmental sensing module to provide the inspection control module with the latest monitoring data; data aggregation: serving as a convergence point for multiple signals, integrating signals from different sources into a unified data stream for easier subsequent processing and analysis; fault early warning: triggering an early warning mechanism promptly upon receiving an abnormal signal to notify inspection personnel or the automated system to take appropriate measures.

[0108] The signal processing circuit is the core component of the inspection control module. It is responsible for in-depth processing and analysis of received signals, extracting signal feature values, and comparing and judging them with preset safety thresholds to achieve intelligent assessment and early warning of the target equipment's status. The signal processing circuit employs advanced signal processing algorithms to extract key feature values ​​from the received signals, such as temperature and humidity ranges, abnormal areas in images, and the speed and direction of object movement. The circuit compares the extracted feature values ​​with preset safety thresholds and intelligently judges the target equipment's status based on the comparison results, such as normal, abnormal, or faulty. When an abnormality is detected, the circuit automatically generates a warning or alarm signal to notify inspection personnel or the automated system to take emergency measures. The signal processing circuit has data storage capabilities, recording historical signals and processing results for subsequent data review and analysis. The signal processing circuit receives preprocessed signals from the signal receiving circuit, first performing further filtering and noise reduction to improve signal quality. Then, a specific signal processing algorithm is used to analyze the signal and extract key feature values. These feature values ​​are compared with preset safety thresholds to determine the target equipment's status. During the comparison process, the signal processing circuit comprehensively considers the relationships between multiple feature values ​​and their trends over time to achieve a more accurate judgment. Once an anomaly is detected, the signal processing circuit immediately triggers a warning or alarm mechanism, transmitting relevant information to inspection personnel or the automated system. Simultaneously, the processing results and raw signal data are stored in internal memory for subsequent data review and analysis. The signal processing circuit has diverse applications in intelligent inspection systems, including but not limited to: real-time monitoring of the target equipment's operating status, including temperature and humidity, image anomalies, and object movement, ensuring equipment operates within safe limits; fault warning: intelligent judgment and warning mechanisms notify inspection personnel or the automated system in advance to take preventative measures before equipment malfunctions; and data analysis: analyzing historical signals and processing results to uncover patterns and trends in equipment operation, providing decision support for equipment maintenance and management.

[0109] Furthermore, in this embodiment, the signal receiving circuit includes: a sixth resistor, a seventh resistor, an eighth resistor, a third capacitor, a fourth capacitor, and a second operational amplifier;

[0110] The positive input terminal of the second operational amplifier is connected to the first terminal of the seventh resistor, the first terminal of the eighth resistor, and the first terminal of the third capacitor, respectively. The negative input terminal of the second operational amplifier is connected to the first terminal of the sixth resistor and the first terminal of the fourth capacitor, respectively. The output terminal of the second operational amplifier is connected to the second terminal of the fourth capacitor and the switch control circuit, respectively. The second terminal of the sixth resistor is connected to the input terminal of the signal processing circuit. The second terminal of the seventh resistor is connected to the first power supply. The second terminals of the eighth resistor and the second terminal of the third capacitor are grounded.

[0111] Specifically, in this embodiment, the signal receiving circuit plays a crucial role, particularly in fields such as intelligent monitoring, automated control, and data acquisition. A well-designed signal receiving circuit can efficiently receive, amplify, and process weak signals from sensors, providing a reliable foundation for subsequent data processing and analysis. Figure 4 This is a schematic diagram of the signal receiving circuit of the fourth embodiment of the intelligent security inspection device for indoor scenarios proposed in this application. The signal receiving circuit in this embodiment, through carefully selected component combinations and layouts, achieves accurate reception and processing of various signals.

[0112] The core components of the signal receiving circuit include resistor R6 (sixth resistor), resistor R7 (seventh resistor), resistor R8 (eighth resistor), capacitor C3 (third capacitor), capacitor C4 (fourth capacitor), and operational amplifier OA2. These components, cleverly connected, together form a highly efficient and stable signal receiving and processing system. Resistor R6, as part of the signal input path, is connected between the inverting input of OA2 and the input of the data processing circuit. It serves to limit current, divide voltage, and preprocess the signal, helping to protect the operational amplifier from excessively large input signals and ensuring that the input signal is within the linear operating region of the operational amplifier. Resistor R7, connected between the non-inverting input of OA2 and the first power supply, provides a stable bias current for the operational amplifier. This design ensures that the operational amplifier operates near its optimal operating point, thereby improving the stability and linearity of the circuit. Resistor R8, as a grounding resistor, is connected between the non-inverting input of OA2 and ground. It provides a stable reference potential, helping the operational amplifier to accurately amplify and process the input signal. Capacitor C3, as an input filter capacitor, is connected between the non-inverting input of OA2 and ground. It can filter out high-frequency noise and interference in the input signal, improving signal purity and signal-to-noise ratio. This is crucial for improving the accuracy and reliability of subsequent data processing. The fourth capacitor, C4, serves as a feedback capacitor, connected between the inverting input and output of OA2. It forms a negative feedback network, helping to stabilize the operational amplifier's output voltage and reduce output signal distortion and fluctuations. Simultaneously, C4 also improves the circuit's gain stability and frequency response characteristics. The second operational amplifier, OA2, is the core component of the circuit, responsible for amplifying and processing the received signal. Its high gain, low noise, and low distortion characteristics ensure the circuit's sensitivity to weak signals and processing accuracy. The positive and inverting inputs of OA2 receive the pre-processed and filtered input signals, respectively, and output the amplified signal to subsequent circuits through its output.

[0113] The signal receiving circuit operates based on the amplification characteristics of operational amplifiers and the circuit effects of capacitors and resistors. When the sensor acquires the target signal, the signal is preprocessed (e.g., voltage division, current limiting) before being transmitted to the signal receiving circuit. In the circuit, the sixth resistor R6 and the eighth resistor R8 together form the input network, used to adjust the amplitude of the input signal. Simultaneously, the third capacitor C3 acts as an input filter capacitor, filtering out high-frequency noise and interference in the signal. The preprocessed and filtered signal is then transmitted to the positive input terminal of the second operational amplifier OA2. OA2 amplifies the input signal. Its amplification factor is determined by the feedback resistor (in this example, the equivalent resistance formed by the fourth capacitor C4 and the internal impedance of the operational amplifier) ​​and the input resistance (the combination of R6, R7, and R8). After further filtering by the fourth capacitor C4, the amplified signal is transmitted to the switching control circuit or subsequent data processing circuit for further processing. In this process, the second operational amplifier OA2 plays a crucial role. Its high gain characteristic ensures that weak signals can be effectively amplified; its low noise characteristic improves the signal-to-noise ratio; and its low distortion characteristic ensures the accuracy and reliability of the output signal.

[0114] Resistors R6 (sixth), R7 (seventh), and R8 (eighth) function as current limiters, voltage dividers, and provide stable bias current in the circuit. Their values ​​must be chosen based on a trade-off between the specific application and the characteristics of the operational amplifier. Optimizing the resistor combinations can further improve the circuit's stability and linearity. Capacitors C3 (third) and C4 (fourth) function as filters and stabilize the output voltage. Their values ​​must be chosen based on a trade-off between the signal's frequency characteristics and noise levels. Selecting appropriate capacitance values ​​can further improve the circuit's anti-interference capability and the stability of the output signal. The signal receiving circuit in this embodiment has a wide range of applications. It can be used to receive and process signals from various sensors, such as temperature sensors, humidity sensors, and pressure sensors. Furthermore, this circuit can be combined with other electronic components and modules to form more complex signal processing systems or intelligent control systems.

[0115] Furthermore, in this embodiment, the signal processing circuit includes a first main control chip, a fifth capacitor, a ninth resistor, and a first light-emitting diode; wherein:

[0116] The first terminal of the first main control chip is connected to the first terminal of the fifth capacitor and the power supply terminal, the second terminal of the first main control chip is connected to the signal receiving circuit, the third terminal of the first main control chip is connected to the switch control circuit, the fourth terminal of the first main control chip is connected to the first terminal of the ninth resistor, and the fifth terminal of the first main control chip is connected to the second terminal of the fifth capacitor and ground, respectively; the second terminal of the ninth resistor is connected to the anode of the first light-emitting diode, and the cathode of the first light-emitting diode is grounded.

[0117] Specifically, in this embodiment, the signal processing circuit is responsible for converting the received raw signal into meaningful information and controlling the operation of the device accordingly. The signal processing circuit in this embodiment, with the first main control chip as its core, combined with components such as the fifth capacitor, the ninth resistor, and the first light-emitting diode, constitutes a highly efficient and stable signal processing system. Figure 5This is a schematic diagram of the signal processing circuit of the fifth embodiment of the intelligent security inspection device for indoor scenarios proposed in this application. The core components of the signal processing circuit include a first main control chip, a fifth capacitor, a ninth resistor, and a first light-emitting diode (LED). These components, through carefully designed connections, jointly realize the reception, processing, and output control of input signals. The first main control chip is responsible for receiving signals from the signal receiving circuit, performing necessary processing, and controlling the switching circuit or other actuators based on the processing results. It integrates various functional modules, such as an analog-to-digital converter (ADC), a digital signal processor (DSP), and a microcontroller unit (MCU), enabling efficient processing of complex signals. The fifth capacitor, C5, serves as a decoupling capacitor, connected between the power supply terminal of the first main control chip and ground. Its main function is to stabilize the power supply voltage and reduce the impact of power fluctuations on the performance of the main control chip. By absorbing and releasing charge, C5 can smooth transient changes in the power supply voltage, ensuring the stable operation of the main control chip. The ninth resistor, R9, serves as a current-limiting resistor, connected between the output terminal of the first main control chip and the anode of the first LED. Its main function is to limit the current flowing through the LED, preventing damage to the LED due to overcurrent. By selecting an appropriate resistance value, R9 ensures that the LED operates within a safe current range while providing sufficient brightness. The first LED, LED1, serves as a status indicator; its cathode is grounded, and its anode is connected to the main control chip via R9. When the main control chip outputs a high level, LED1 lights up; when it outputs a low level, LED1 is off. The on / off state of LED1 provides a direct indication of the circuit's operating status or the signal processing result. The signal processing circuit operates based on the main control chip's signal processing capabilities and the synergistic effect of its components. When the signal receiving circuit receives an external signal, this signal is transmitted to the first terminal of the main control chip (usually the ADC input). The main control chip performs preprocessing operations such as sampling, quantization, and filtering on the received signal to extract useful information. The processed signal is then sent to the main control chip's internal processor for further analysis and processing. Based on the processing result, the main control chip controls the switching control circuit or other actuators through its output terminal (such as a GPIO port). Simultaneously, the main control chip can also provide status indications through R9 and LED1 to visually reflect the circuit's operating status or the signal processing result. In this process, the fifth capacitor C5 stabilizes the power supply voltage, ensuring the main control chip operates under a stable power environment. The ninth resistor R9 limits the current flowing through LED1, protecting it from damage. The on / off state of LED1 provides users with a direct indication of the circuit's operating status. The main control chip, as the core of the circuit, directly determines the overall performance of the signal processing circuit. Selecting a main control chip with a high-performance ADC, powerful DSP capabilities, and flexible GPIO ports can significantly improve the circuit's signal processing capabilities and control accuracy.Meanwhile, optimizing the firmware of the main control chip can further improve the stability and response speed of the circuit. The capacitance value of the fifth capacitor, C5, needs to be determined based on the power consumption, operating frequency, and power supply voltage fluctuations of the main control chip. Choosing an appropriate capacitance value ensures that C5 can effectively smooth transient changes in the power supply voltage, improving the circuit's anti-interference capability. The resistance value of the ninth resistor, R9, needs to be determined based on the rated voltage and current of LED1 and the output voltage of the main control chip. Choosing an appropriate resistance value ensures that LED1 operates within a safe current range while providing sufficient brightness. Furthermore, R9 also protects the output port of the main control chip, preventing damage due to short circuits or overloads. The selection of the first light-emitting diode, LED1, needs to consider its brightness, color, operating voltage, and current. Choosing a suitable LED1 ensures that it provides clear status indication without interfering with or affecting other parts of the circuit.

[0118] It is particularly noteworthy that the signal processing circuit in this embodiment possesses several performance characteristics, such as high-performance signal processing, stable power supply voltage, and intuitive status indication. These features make the circuit widely applicable in various scenarios. By integrating a high-performance ADC and DSP module into the main control chip, the circuit can efficiently process and analyze complex signals. This makes it promising for applications in intelligent monitoring, automation control, and other fields. Through the decoupling effect of the fifth capacitor, the circuit ensures that the main control chip operates in a stable power supply environment. This helps improve the circuit's anti-interference capability and stability, allowing it to maintain good performance even in harsh environments.

[0119] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. An intelligent security inspection device for indoor applications, characterized in that, The device includes: A track-type traveling mechanism is configured to move along the horizontal X-axis for traversing the interior floor plan; A multi-section lifting mechanism is vertically mounted on the track-type traveling mechanism, used to cover detection surfaces of different heights along the Z-axis in the vertical direction. A rotary joint assembly, integrated at the top of the multi-section lifting mechanism, provides rotational freedom around the X and Z axes for adjusting the detection angle; A telescopic detection arm is mounted on the rotary joint assembly, extends and retracts along the Y-axis, and performs detection on the target device through a sensor. The inspection drive module is used to drive the motors in the track-type walking mechanism and the multi-section lifting mechanism, so that the device can inspect the target equipment according to a preset direction and route.

2. The intelligent security inspection device for indoor scenarios as described in claim 1, characterized in that, The inspection drive module includes a switch control circuit and a motor drive circuit; The switch control circuit is connected to the input terminal of the motor drive circuit, and the switch control circuit outputs a switch control signal to control the motor drive circuit. The motor drive circuit is connected to the output terminal of the switch control circuit. The motor drive circuit is used to receive the switch control signal and drive the motor so that the device can inspect the indoor environment according to a preset route.

3. The intelligent security inspection device for indoor scenarios as described in claim 2, characterized in that, The switch control circuit includes: a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a second capacitor, and a first operational amplifier; The positive input terminal of the first operational amplifier is connected to the first terminal of the second resistor, the first terminal of the third resistor, the first terminal of the fourth resistor, and the first terminal of the first capacitor, respectively. The negative input terminal of the first operational amplifier is connected to the first terminal of the first resistor, the first terminal of the fifth resistor, and the first terminal of the second capacitor, respectively. The output terminal of the first operational amplifier is connected to the second terminal of the fifth resistor, the second terminal of the second capacitor, and the input terminal of the motor drive circuit, respectively. The second terminal of the fourth resistor is connected to the first power supply, and the second terminals of the third resistor and the first capacitor are grounded. The second terminal of the first resistor is connected to the input terminal of the first bridge arm of the motor drive circuit. The second terminal of the second resistor is connected to the input terminal of the second bridge arm of the motor drive circuit.

4. The intelligent security inspection device for indoor scenarios as described in claim 3, characterized in that, The motor drive circuit comprises: a first transistor, a second transistor, a third transistor, a fourth transistor, a first diode, a second diode, a third diode, a fourth diode, a fifth diode, and a sixth diode; The gates of the first transistor and the second transistor are connected to the second terminal of the first resistor, and the gates of the third transistor and the fourth transistor are connected to the second terminal of the second resistor; The drains of the first and second transistors are connected to a second power supply, and the sources of the first and second transistors are grounded. The sources of the first and second transistors are connected to the first and second terminals of the motor, respectively. The drains of the third and fourth transistors are connected to the first and second terminals of the motor, respectively. The anode of the first diode is connected to the source of the first transistor, and the cathode of the first diode is connected to the drain of the first transistor. The anode of the second diode is connected to the source of the second transistor, and the cathode of the second diode is connected to the drain of the second transistor. The anode of the third diode is connected to the source of the third transistor, and the cathode of the third diode is connected to the drain of the third transistor. The anode of the fourth diode is connected to the source of the fourth transistor, and the cathode of the fourth diode is connected to the drain of the fourth transistor. The anode of the fifth diode is connected to the source of the third transistor, and the cathode of the fifth diode is connected to the drain of the first transistor. The anode of the sixth diode is connected to the source of the fourth transistor, and the cathode of the sixth diode is connected to the drain of the second transistor.

5. The intelligent security inspection device for indoor scenarios as described in claim 4, characterized in that, The telescopic detection arm also includes an environmental sensing module and an inspection control module; The environmental sensing module is connected to the inspection control module. When the telescopic detection arm starts its inspection, the environmental sensing module is used to collect the temperature and humidity signals, image signals, and object movement status signals of the target equipment, and transmit the temperature and humidity signals, image signals, and object movement status signals to the inspection control module. The inspection control module is connected to the environmental sensing module. The inspection control module is used to receive the temperature and humidity signals, image signals and object movement status signals of the target device. When the feature values ​​corresponding to the temperature and humidity signals, image signals and object movement status signals of the target device exceed the preset safety threshold, the inspection control module outputs alarm information.

6. The intelligent security inspection device for indoor scenarios as described in claim 5, characterized in that, The environmental sensing module includes a camera, a motion detection sensor, and a temperature and humidity sensor; wherein: The camera is connected to the inspection control module and is used to acquire image signals of the target device; The motion detection sensor is connected to the inspection control module, and the motion detection sensor is used to collect the movement status signals of objects in the indoor environment; The temperature and humidity sensor is connected to the inspection control module, and the temperature and humidity sensor is used to collect the temperature and humidity signals of the indoor environment in real time.

7. The intelligent security inspection device for indoor scenarios as described in claim 6, characterized in that, The inspection control module includes a signal receiving circuit and a signal processing circuit; wherein: The signal receiving circuit is connected to the environmental sensing module, and the signal receiving circuit is used to receive the temperature and humidity signals, image signals and object movement status signals of the target device. The signal processing circuit is connected to the signal receiving circuit. The signal processing circuit is used to process the signals collected by the environmental perception module, extract the feature values ​​of the corresponding signals, and compare and judge the feature values ​​with a preset safety threshold.

8. The intelligent security inspection device for indoor scenarios as described in claim 7, characterized in that, The signal receiving circuit includes: a sixth resistor, a seventh resistor, an eighth resistor, a third capacitor, a fourth capacitor, and a second operational amplifier; The positive input terminal of the second operational amplifier is connected to the first terminal of the seventh resistor, the first terminal of the eighth resistor, and the first terminal of the third capacitor, respectively. The negative input terminal of the second operational amplifier is connected to the first terminal of the sixth resistor and the first terminal of the fourth capacitor, respectively. The output terminal of the second operational amplifier is connected to the second terminal of the fourth capacitor and the switch control circuit, respectively. The second terminal of the sixth resistor is connected to the input terminal of the signal processing circuit. The second terminal of the seventh resistor is connected to the first power supply. The second terminals of the eighth resistor and the second terminal of the third capacitor are grounded.

9. The intelligent security inspection device for indoor scenarios as described in claim 8, characterized in that, The signal processing circuit includes a first main control chip, a fifth capacitor, a ninth resistor, and a first light-emitting diode; wherein: The first terminal of the first main control chip is connected to the first terminal of the fifth capacitor and the power supply terminal, the second terminal of the first main control chip is connected to the signal receiving circuit, the third terminal of the first main control chip is connected to the switch control circuit, the fourth terminal of the first main control chip is connected to the first terminal of the ninth resistor, and the fifth terminal of the first main control chip is connected to the second terminal of the fifth capacitor and ground, respectively; the second terminal of the ninth resistor is connected to the anode of the first light-emitting diode, and the cathode of the first light-emitting diode is grounded.

10. The intelligent security inspection device for indoor scenarios as described in claim 9, characterized in that, The device also includes a low-pass filter circuit; The low-pass filter circuit is connected to the input terminal of the signal processing circuit and the output terminal of the signal receiving circuit, respectively. The low-pass filter circuit is used to filter out noise signals output by the signal receiving circuit.

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