Inspection system based on wireless charging

Abstract

The utility model discloses an inspection system based on wireless charging. The inspection system comprises a charging cabinet, an inspection robot, a first electronic tag and a plurality of second electronic tags, comprising a charging cabinet, an inspection robot, a first electronic tag and a plurality of second electronic tags, the first electronic tag and the plurality of second electronic tags are respectively arranged on a preset walking path of the inspection robot; the first electronic tag is arranged on the front side of the charging cabinet, and a charging instruction is written into the first electronic tag; one second electronic tag is arranged on the front side of each to-be-detected device, and an inspection task instruction is written into the second electronic tag; the task execution point is positioned by setting the electronic tag, the corresponding inspection task is executed only when the inspection robot reads the information of the electronic tag in the inspection process, it can be guaranteed that the inspection robot is located at the correct designated position, the corresponding inspection task is executed according to the read task instruction at the moment, and the inspection efficiency is improved. The effectiveness and the accuracy of the collected data can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of inspection robot, concretely relates to a kind of inspection system based on wireless charging. BACKGROUND

[0002] Distribution room refers to the indoor distribution place with low-voltage load, mainly for low-voltage user to distribute electric energy. In areas with high demand for electricity, in order to meet the demand for power supply and equipment operation, usually multiple distribution rooms will be set up; The distribution room distributes the power from the main distribution system to different areas or equipment in the region, to ensure that each area and equipment can obtain stable power supply. When the number of factory distribution rooms is large, manual inspection will greatly reduce the inspection efficiency, therefore, the inspection robot emerges as the times require, and the inspection robot automatically completes the regular inspection task of the distribution room according to the preset inspection path and maintenance instruction, which greatly improves the inspection efficiency compared with manual inspection.

[0003] The current inspection robot usually uses the task instruction of specified positioning implanted in the navigation system when performing the inspection task, and when the inspection robot reaches the task instruction point set according to the navigation, it starts to perform the corresponding inspection task of the task instruction. However, the positioning of the navigation system often has some errors, even though the UWB (Ultra Wide Band) positioning technology is highly praised for its high precision, but in actual application scenarios, it may still encounter inaccurate positioning; Positioning error is easy to cause the position error of the task execution point of the inspection robot, and the collected data is inaccurate. UTILITY MODEL CONTENTS

[0004] The utility model aims to provide a kind of inspection system based on wireless charging to solve the problem that the existing inspection robot is affected by positioning error, and the task execution point is inaccurate, which leads to inaccurate data collection.

[0005] To solve the above technical problems, the utility model provides an inspection system based on wireless charging, comprising a charging cabinet, an inspection robot, a first electronic tag and a plurality of second electronic tags.

[0006] The inspection robot comprises a robot body, an image acquisition unit mounted on the top of the robot body through a height adjusting mechanism, and a walking mechanism and an electronic tag reader mounted on the bottom of the robot body; The electronic tag reader, walking mechanism, height adjusting mechanism and image acquisition unit are respectively connected with the first controller signal;

[0007] The charging cabinet comprises a cabinet body, a cabinet door and a driver; the cabinet body is internally provided with a charging room, the charging room is internally provided with a wireless charging transmitter, the inspection robot is provided with a wireless charging receiver matched with the wireless charging transmitter; the cabinet door is rotatably connected with the cabinet body through an automatic opening and closing device; the top of the charging room is provided with an electric control room, the electric control room is internally provided with a second controller in signal connection with the automatic opening and closing device; the second controller is in communication connection with the first controller through a wireless communication unit;

[0008] The first electronic tag and the second electronic tags are respectively arranged on the preset walking path of the inspection robot; the first electronic tag is arranged on the front side of the charging cabinet, and the first electronic tag is written with a charging instruction; the front side of each device to be inspected is respectively provided with one second electronic tag, and the second electronic tag is written with an inspection task instruction.

[0009] Further, the top of the height adjusting mechanism is provided with a mounting seat, the image acquisition unit comprises a visible light camera and a thermal imaging camera, the visible light camera is installed on one side of the mounting seat through a first pitch angle adjusting mechanism, and the thermal imaging camera is installed on the other side of the mounting seat through a second pitch angle adjusting mechanism; the electronic tag reader is in signal connection with the input end of the first controller; the walking mechanism, the height adjusting mechanism, the first pitch angle adjusting mechanism and the second pitch angle adjusting mechanism are respectively in signal connection with the output end of the first controller.

[0010] Further, the front end of the visible light camera is provided with a fill light and an ultraviolet lamp; the fill light and the ultraviolet lamp are respectively in signal connection with the output end of the first controller.

[0011] Further, the robot body is provided with a UWB navigation module connected with the first controller; the front side of the robot body or the top of the robot body is provided with a first laser radar in signal connection with the input end of the first controller and used for detecting obstacles.

[0012] Further, the mounting seat is provided with a sound pickup in signal connection with the input end of the first controller and used for acquiring the sound of the site to be detected; the robot body is provided with an environment information monitoring module in signal connection with the input end of the first controller, and the environment information monitoring module comprises a temperature and humidity detection unit, a smoke detection unit and a gas component detection unit in signal connection with the input end of the first controller.

[0013] Further, the first pitch angle adjusting mechanism comprises a first motor fixedly installed at one end of the mounting base, an output shaft of the first motor extending out of the mounting base and connected with the visible light camera, and the visible light camera changing the image acquisition pitch angle along with the rotation of the first motor.

[0014] Further, the robot body is provided with a mounting groove for mounting the height adjusting mechanism, a receiving groove for receiving the image acquisition unit is arranged at the top of the mounting groove, and the image acquisition unit is received into the receiving groove along with the shortening and lowering of the height adjusting mechanism.

[0015] Further, the automatic opening and closing device comprises a rotating shaft and a driver, the cabinet door is rotatably connected with the cabinet body through the rotating shaft, and the output shaft of the driver is connected with the rotating shaft.

[0016] Further, a sealing strip is arranged between the cabinet door and the cabinet body, and an explosion-proof fire barrier is arranged on the cabinet body.

[0017] Further, the cabinet body is provided with a fire detector connected with the input end signal of the second controller, and the top of the cabinet body is provided with an alarm connected with the output end signal of the second controller.

[0018] The utility model discloses the beneficial effects are: through setting electronic tag and positioning task execution point, only the inspection robot reads the electronic tag information in the inspection process, only then executes corresponding inspection task, can guarantee that the inspection robot is located correct specified position, at this moment, according to the task instruction of reading, executes corresponding inspection task, can improve the effectiveness and accuracy of the data of collection. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application, and do not limit the application. In the drawings:

[0020] Figure 1 It is a structural schematic view of one embodiment of the utility model.

[0021] Figure 2 It is a structural schematic view of the inspection robot of one embodiment of the utility model.

[0022] Figure 3 Structure diagram of the inspection robot of another embodiment of the utility model.

[0023] Figure 4 Structure diagram of the charging cabinet of one embodiment of the utility model.

[0024] Among them: A, charging cabinet;A1, charging room;A2, wireless communication unit;A3, electric control room;A4, second controller;A6, fire detector;A7, alarm;A8, cabinet door;A81, driver;B, inspection robot;B1, robot body;B101, anti-collision stop;B102, walking mechanism;B103, mounting groove;B104, storage groove;B2, height adjusting mechanism;B3, mounting seat;B301, first motor;B302, second motor;B4, visible light camera;B401, fill light;B5, thermal imaging camera;B6, sound pickup;B7, electronic tag reader;B8, UWB navigation module;B9, laser radar;B10, environmental information monitoring module;C, equipment to be inspected;D1, first electronic tag;D2, second electronic tag. DETAILED DESCRIPTION

[0025] As Figure 1 shown in the wireless charging based inspection system, including charging cabinet A, inspection robot B, first electronic tag D1 and several second electronic tags D2, the first electronic tag D1 and several second electronic tags D2 can specifically adopt FRID tag;

[0026] As Figure 2 shown, the inspection robot B includes robot body B1, image acquisition unit installed on the top of the robot body B1 through the height adjusting mechanism B2, and walking mechanism B102 and electronic tag reader B7 installed on the bottom of the robot body B1;The electronic tag reader B7, walking mechanism B102, height adjusting mechanism B2 and image acquisition unit are respectively connected with the input end signal of the first controller;The electronic tag reader B7 as an instruction acquisition device provides input instruction for the first controller, and the first controller controls the walking mechanism B102, height adjusting mechanism B2, first pitch angle adjusting mechanism and second pitch angle adjusting mechanism to work respectively according to the input instruction.

[0027] As Figure 4As shown, the charging cabinet A includes a cabinet body, a cabinet door A8 and a driver A81; the cabinet body is internally provided with a charging room A1, the charging room A1 is internally provided with a wireless charging transmitter, and the inspection robot is provided with a wireless charging receiver matched with the wireless charging transmitter; the cabinet door is rotatably connected with the cabinet body through an automatic opening and closing device; the top of the charging room A1 is provided with an electric control room A3, and the electric control room is internally provided with a second controller A4 signal connected with the automatic opening and closing device; the second controller A4 is in communication connection with the first controller through a wireless communication unit; when the inspection robot B reads the charging instruction in the first electronic tag D1 through the electronic tag reader B7, the first controller sends an opening instruction to the second controller A4, and the second controller A4 controls the driver A81 to work to open the cabinet door A8; the rear wall of the cabinet body is provided with a second laser radar B9 for detecting the position of the inspection robot B entering the cabinet body, and when the second laser radar B9 detects that the inspection robot B enters the specified position in the charging cabinet A, the second controller A4 controls the driver A81 to work to close the cabinet door A8. The distance between the first electronic tag D1 and the charging cabinet A should ensure that the cabinet door A8 of the charging cabinet A can be smoothly opened and is not affected by the inspection robot B.

[0028] The first electronic tag D1 and the second electronic tags D2 are respectively arranged on the preset walking path of the inspection robot B; the first electronic tag D1 is arranged on the front side of the charging cabinet A, and the first electronic tag D1 is written with a charging instruction; the front side of each to-be-inspected equipment C is respectively provided with a second electronic tag D2, and the second electronic tag D2 is written with an inspection task instruction.

[0029] During the inspection process of the inspection robot B, only when the inspection robot B reads the instruction information in the electronic tag during the inspection process, the corresponding inspection task is executed, which can ensure that the inspection robot B is located at the correct specified position, and then the corresponding inspection task is executed according to the read task instruction, so that the effectiveness of the collected data can be improved. The first electronic tag D1 and the second electronic tags D2 can all adopt RFID tags, and the electronic tag reader B7 can adopt an RFID tag reader matched with the RFID tag.

[0030] The walking mechanism B102 is an important execution component of the walking robot, which is composed of a walking driving device, a transmission mechanism, a position detection element, a sensor, a cable and a pipeline and the like. The walking mechanism B102 supports the body of the robot and the attached accessories on one hand, and thus must have sufficient rigidity and stability; on the other hand, it is also required to enable the robot to move in a wider space according to the requirements of the work task; the walking mechanism B102 in the present application can directly adopt the above-mentioned prior art. The device can be powered by a storage battery installed in the robot body B1.

[0031] The height adjustment mechanism B2 has a mounting base B3 on its top. The image acquisition unit includes a visible light camera B4 and a thermal imaging camera B5. The visible light camera B4 is mounted on one side of the mounting base B3 via a first pitch angle adjustment mechanism, and the thermal imaging camera B5 is mounted on the other side of the mounting base B3 via a second pitch angle adjustment mechanism. The visible light camera B4 is used to acquire images and / or instrument values ​​on the power distribution cabinet. The thermal imaging camera is used to convert the invisible infrared energy emitted by the power distribution equipment into visible thermal images, and then uses different colors to represent different temperatures of the measured power distribution equipment. The height adjustment mechanism B2 can automatically adjust the camera to adapt to the corresponding height according to the image acquisition point height. The first and second pitch angle adjustment mechanisms can adjust the image acquisition pitch angle of the visible light camera B4 and the thermal imaging camera B5 respectively. The pitch angle adjustment mechanism works in conjunction with the height adjustment mechanism B2 to enable the visible light camera B4 and the thermal imaging camera B5 to acquire images of power distribution equipment at different heights and positions, improving the adaptability of the cameras.

[0032] The visible light camera B4 is equipped with a supplementary light B401 and an ultraviolet light at its front end; the supplementary light B401 and the ultraviolet light are respectively connected to the output signal of the first controller. The supplementary light B401 can provide supplementary lighting for the images captured by the visible light camera B4 in low-light environments, ensuring that the visible light camera B4 can capture clear images. Furthermore, during the robot's movement, the visible light camera B4 can be adjusted to face the ground via the first pitch angle adjustment mechanism, while simultaneously turning on the ultraviolet light, allowing the visible light camera B4 to capture images of the ground in the detection area illuminated by the ultraviolet light. This helps in subsequent analysis of the ground image to determine the presence of mouse activity.

[0033] The robot body B1 is equipped with a UWB navigation module B8 connected to the first controller. UWB technology has advantages such as low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low interception capability, and high positioning accuracy, making it particularly suitable for high-speed wireless access in dense multipath environments such as indoor spaces. In this embodiment, the UWB navigation module B8 provides navigation for the walking robot, enabling it to perform inspection tasks according to the planned route and preset inspection path. A first lidar B9, connected to the input of the first controller and used for obstacle detection, is installed on the front or top of the robot body B1. The lidar B9 is a radar system that uses laser beams to detect the position, velocity, and other characteristics of targets. During the robot's movement, obstacle detection is performed by the lidar B9. When an obstacle is detected in the path, the walking mechanism B102 stops and an alarm signal is issued to remind the operator to remove the obstacle.

[0034] The pickup B6 is connected with the input signal of the first controller for collecting the sound of the scene to be detected. The pickup is a device for collecting the sound of the scene and transmitting it to the back-end equipment. It is composed of a microphone and an audio amplifier circuit. The pickup B6 is arranged to collect the sound of the scene, which can facilitate the subsequent judgment of whether the equipment is running normally according to the collected sound. The robot body B1 is provided with an environmental information monitoring module connected with the input signal of the first controller. The environmental information monitoring module B10 includes a temperature and humidity detection unit, a smoke detection unit and a gas component detection unit. The temperature and humidity detection unit, the smoke detection unit and the gas component detection unit are arranged to detect the environmental temperature and humidity, the smoke concentration and the gas component and concentration respectively. The gas component detection unit includes an SF6 gas sensor and a CO gas sensor. The SF6 gas sensor can detect the SF6 concentration in the air. When the SF6 concentration in the air is detected to be excessive, it indicates that there is SF6 gas leakage in the air, and an alarm signal is immediately sent for alarm. The CO gas sensor can detect the CO concentration in the air. When the CO concentration in the air is detected to be excessive, it indicates that there may be a fire, and an alarm signal is immediately sent for alarm.

[0035] The first pitch angle adjusting mechanism includes a first motor B301 fixedly installed at one end of the mounting seat B3. The output shaft of the first motor B301 extends out of the mounting seat B3 and is connected with the visible light camera B4. The visible light camera B4 rotates with the first motor B301 to change the pitch angle of image collection. The first motor B301 operates in forward and reverse directions to drive the visible light camera B4 to rotate synchronously, so that the visible light camera B4 adjusts the angle according to the requirement. The second pitch angle adjusting mechanism includes a second motor B302 fixedly installed at the other end of the mounting seat B3. The output shaft of the second motor B302 extends out of the mounting seat B3 and is connected with the thermal imaging camera B5. The thermal imaging camera B5 rotates with the second motor B302 to change the pitch angle of image collection. The second motor B302 operates in forward and reverse directions to drive the imaging camera to rotate synchronously, so that the imaging camera adjusts the angle according to the requirement.

[0036] As shown in Figure 3 The robot body B1 is provided with a mounting groove B103 for mounting the height adjusting mechanism B2. The top of the mounting groove B103 is provided with a receiving groove B104 for receiving the image collection unit. When the inspection robot B finishes the task and needs to enter the charging cabinet A for charging, the image collection unit is received into the receiving groove B104 by the height adjusting mechanism B2, which can reduce the floor space and save the manufacturing cost of the charging cabinet A.

[0037] The automatic opening and closing device comprises a rotating shaft and a driver A81; the cabinet door A8 is rotatably connected with the cabinet body through the rotating shaft; the output shaft of the driver A81 is connected with the rotating shaft, the driver drives the rotating shaft to rotate, and the cabinet door rotates with the rotating shaft to realize automatic opening and closing; a sealing strip is arranged between the cabinet door A8 and the cabinet body, and an explosion-proof fire damper is arranged on the cabinet body. The embodiment can isolate the inspection robot B in the charging state by arranging the closed cabinet body and the automatic opening and closing door, can protect the inspection robot B when a fire occurs outside the cabinet body, and can also prevent the fire in the cabinet body from spreading outside. The explosion-proof fire damper can release pressure when the air pressure in the cabinet body exceeds a threshold value, and can also prevent sparks from being sprayed out with the airflow.

[0038] The driver A81 can be an electric motor, which can automatically open and close the cabinet door A8 when the inspection robot B needs to enter or exit the cabinet body. The explosion-proof fire damper comprises an air outlet pipe, one end of the air outlet pipe is provided with an explosion-proof component, and the other end of the air outlet pipe extends into the cabinet body through the cabinet body and is detachably connected with a fire damper component arranged on the inner side of the cabinet body 1. When installing the explosion-proof fire damper 9, only the air outlet pipe needs to be inserted into the cabinet body from the outside to the inside (obviously, the air outlet pipe should be sealingly connected with the cabinet body), and then the fire damper component is installed on the air outlet pipe. The installation and disassembly are very convenient and fast, the connection is stable, and the reliability is high. The explosion-proof component is an explosion-proof valve, and the air inlet end of the explosion-proof valve is in communication with the air outlet pipe. The explosion-proof valve 92 usually adopts a structure form of an explosion-proof membrane 93 capped, which is a common explosion-proof pressure relief device. It not only has a simple structure and is easy to install, but also can effectively prevent explosion from causing harm to the surrounding environment and personnel. The fire damper component comprises a base, the base is provided with a sink, the bottom wall of the sink is provided with a connecting hole matched with the air outlet pipe, and a fire damper mesh is fixedly installed in the sink. The fire damper mesh can be made of stainless steel; when the flame airflow enters the fire damper mesh, it is divided into many small flame flows, which are extinguished by heat dissipation and wall effect.

[0039] The cabinet body is provided with a fire detector A6 connected with the input end signal of the second controller A4; and the top of the cabinet body is provided with an alarm A7 connected with the output end signal of the second controller A4. The fire detector A6 is a device for detecting the scene and discovering fire in the fire-fighting automatic alarm system; the fire in the cabinet body can be monitored by arranging the fire detector A6; when the fire detector A6 collects abnormal signals, the second controller A4 sends alarm information to the outside.

[0040] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limited. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A wireless charging-based inspection system, characterized in that, Includes charging cabinets, inspection robots, first electronic tags, and several second electronic tags; The inspection robot includes a robot body, an image acquisition unit mounted on top of the robot body via a height adjustment mechanism, and a walking mechanism and an electronic tag reader mounted on the bottom of the robot body; the electronic tag reader, walking mechanism, height adjustment mechanism, and image acquisition unit are respectively connected to a first controller. The charging cabinet includes a cabinet body, a cabinet door, and a driver; the cabinet body contains a charging chamber, which contains a wireless charging transmitter, and the inspection robot is equipped with a wireless charging receiver that works in conjunction with the wireless charging transmitter; the cabinet door is rotatably connected to the cabinet body via an automatic opening and closing device; the top of the charging chamber contains an electrical control room, which contains a second controller that is signal-connected to the automatic opening and closing device; the second controller communicates with the first controller via a wireless communication unit. The first electronic tag and several second electronic tags are respectively set on the preset walking path of the inspection robot; the first electronic tag is set on the front of the charging cabinet, and the first electronic tag contains a charging instruction; each device to be inspected is provided with a second electronic tag on the front, and the second electronic tag contains an inspection task instruction.

2. The inspection system based on wireless charging according to claim 1, characterized in that, The height adjustment mechanism is mounted on a top base. The image acquisition unit includes a visible light camera and a thermal imaging camera. The visible light camera is mounted on one side of the mounting base via a first pitch angle adjustment mechanism, and the thermal imaging camera is mounted on the other side of the mounting base via a second pitch angle adjustment mechanism. The electronic tag reader is connected to the input terminal of the first controller. The walking mechanism, the height adjustment mechanism, the first pitch angle adjustment mechanism, and the second pitch angle adjustment mechanism are respectively connected to the output terminal of the first controller.

3. The inspection system based on wireless charging according to claim 2, characterized in that, The visible light camera is equipped with a fill light and an ultraviolet light at its front end; the fill light and the ultraviolet light are respectively connected to the output signal of the first controller.

4. The inspection system based on wireless charging according to claim 1, characterized in that, The robot body is equipped with a UWB navigation module connected to the first controller; a first lidar is installed on the front or top of the robot body, which is connected to the input signal of the first controller and is used to detect obstacles.

5. The inspection system based on wireless charging according to claim 2, characterized in that, The mounting base is equipped with a microphone that is connected to the input terminal of the first controller for collecting sound from the scene to be tested; the robot body is equipped with an environmental information monitoring module that is connected to the input terminal of the first controller. The environmental information monitoring module includes a temperature and humidity detection unit, a smoke detection unit, and a gas composition detection unit that are respectively connected to the input terminal of the first controller.

6. The inspection system based on wireless charging according to claim 2, characterized in that, The first pitch angle adjustment mechanism includes a first motor fixedly installed at one end of the mounting base. The output shaft of the first motor extends out of the mounting base and is connected to the visible light camera. The visible light camera rotates with the first motor to change the pitch angle for image acquisition. The second pitch angle adjustment mechanism includes a second motor fixedly installed at the other end of the mounting base. The output shaft of the second motor extends out of the mounting base and is connected to the thermal imaging camera. The thermal imaging camera rotates with the second motor to change the pitch angle for image acquisition.

7. The inspection system based on wireless charging according to claim 1, characterized in that, The robot body has a mounting slot for mounting a height adjustment mechanism, and the top of the mounting slot has a storage slot for storing an image acquisition unit. The image acquisition unit is shortened and lowered by the height adjustment mechanism and stored in the storage slot.

8. The inspection system based on wireless charging according to claim 1, characterized in that, The automatic switching device includes a rotating shaft and a driver; the cabinet door is rotatably connected to the cabinet body via the rotating shaft; the output shaft of the driver is connected to the rotating shaft, and the driver drives the rotating shaft to rotate, so that the cabinet door can be automatically opened and closed as the rotating shaft rotates.

9. The inspection system based on wireless charging according to claim 8, characterized in that, A sealing strip is provided between the cabinet door and the cabinet body, and an explosion-proof flame arrester is provided on the cabinet body.

10. The inspection system based on wireless charging according to claim 1, characterized in that, The cabinet is equipped with fire detectors that are connected to the input signals of the second controller; the top of the cabinet is equipped with an alarm that is connected to the output signals of the second controller.

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