阅读说明：本技术 一种巡检机器人及其巡检方法 (Inspection robot and inspection method thereof ) 是由 许哲涛 王辉 于 2021-07-28 设计创作，主要内容包括：本发明公开了一种巡检机器人及其巡检方法,涉及机器人技术领域。该方法的一具体实施方式包括工作台和机器人本体；其中,所述机器人本体用于通过无线充电方式对所述工作台进行充电,并通过近场无线通信方式与所述工作台进行通信；所述工作台用于采集巡检数据,并通过无线传输方式向所述机器人本体传输所述巡检数据。该实施方式能够解决高频次的升降运动容易造成线缆老化、断裂的技术问题。(The invention discloses an inspection robot and an inspection method thereof, and relates to the technical field of robots. One embodiment of the method comprises a workbench and a robot body; the robot body is used for charging the workbench in a wireless charging mode and communicating with the workbench in a near field wireless communication mode; the workbench is used for collecting inspection data and transmitting the inspection data to the robot body in a wireless transmission mode. This embodiment can solve the high-frequency elevating movement and cause the ageing, cracked technical problem of cable easily.)

1. An inspection robot is characterized by comprising a workbench and a robot body; wherein the content of the first and second substances,

the robot body is used for charging the workbench in a wireless charging mode and communicating with the workbench in a near field wireless communication mode;

the workbench is used for collecting inspection data and transmitting the inspection data to the robot body in a wireless transmission mode.

2. The inspection robot according to claim 1, wherein the robot body includes a robot controller, a wireless charging transmitter, a first near field wireless communication transceiver, and a first wireless routing module; the workbench comprises a workbench controller, a rechargeable battery, a wireless charging receiver, a second near field wireless communication transceiver, a second wireless routing module and inspection equipment;

the robot controller is used for charging the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, communicating with the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver, and controlling the inspection equipment to acquire inspection data through the first wireless routing module and the second wireless routing module;

the workbench controller is used for controlling the inspection equipment and the second wireless routing module to be powered on or powered off;

the inspection equipment is used for transmitting the inspection data to the robot controller through the first wireless routing module and the second wireless routing module.

3. The inspection robot according to claim 2, wherein the robot controller is connected to the wireless charging transmitter, the first near field wireless communication transceiver and the first wireless routing module, respectively, the wireless charging transmitter being connected to a power source;

the workbench controller is respectively connected with the rechargeable battery and the second near field wireless communication transceiver, and the rechargeable battery is respectively connected with the wireless charging receiver and the inspection equipment.

4. The inspection robot according to claim 3, wherein the robot controller is further configured to receive an inspection stop command, control the workstation to descend to a preset position, charge the rechargeable battery via the wireless charging transmitter and the wireless charging receiver, and send a power-off command to the workstation controller via the first near-field wireless communication transceiver and the second near-field wireless communication transceiver;

the workbench controller is also used for receiving the power-off instruction and controlling the inspection equipment and the second wireless routing module to be powered off.

5. The inspection robot according to claim 4, wherein the workstation controller is further configured to detect a charge level of the rechargeable battery, and send a charge completion message to the robot controller via the first near field wireless communication transceiver and the second near field wireless communication transceiver if the charge level of the rechargeable battery is detected to be greater than or equal to a first charge level threshold;

and the robot controller is also used for receiving the charging completion message and controlling the workbench to reset.

6. The inspection robot according to claim 5, wherein the workstation controller is further configured to send a charging instruction to the robot controller via the first and second near field wireless communication transceivers if it is detected that the charge level of the rechargeable battery is less than a second charge level threshold;

the robot controller is further used for receiving the charging instruction, controlling the workbench to descend to the preset position, charging the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and sending a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver.

7. The inspection robot according to claim 3, wherein the robot controller is further configured to receive inspection instructions, send power-on instructions to the stage controller via the first and second near-field wireless communication transceivers;

the workbench controller is also used for receiving the power-on instruction and controlling the routing inspection equipment and the second wireless routing module to be powered on.

8. The inspection robot according to claim 7, wherein the workstation further includes a fill light, the inspection equipment including a thermal imager, a surveillance camera and an industrial camera;

the robot controller is further used for controlling the monitoring camera to acquire polling data through the first wireless routing module and the second wireless routing module, performing operation processing according to the polling data transmitted by the monitoring camera, so as to judge whether the polling robot is located at a target position currently, if yes, respectively controlling the thermal imager and the industrial camera to acquire polling data through the first wireless routing module and the second wireless routing module, and sending a light supplementing instruction to the workbench controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver;

the workbench controller is further used for receiving the light supplement instruction, controlling the light supplement lamp to be turned on, and controlling the light supplement lamp to be turned off after the light supplement lamp is turned on for a preset time period.

9. The inspection robot according to claim 8, wherein the worktable further comprises a first P-type MOS transistor, a first N-type MOS transistor, a second P-type MOS transistor and a second N-type MOS transistor;

a first input/output interface of the workbench controller is respectively connected with the thermal imager, the monitoring camera, the industrial camera and the second wireless router in series through the first N-type MOS tube and the first P-type MOS tube; the thermal imager, the monitoring camera and the industrial camera are connected in parallel and are connected with the wireless router in series through Ethernet; when the first input/output interface outputs a high level, the first N-type MOS transistor and the first P-type MOS transistor are both switched on, and when the first input/output interface outputs a low level, the first N-type MOS transistor and the first P-type MOS transistor are both switched off;

a second input/output interface of the workbench controller is connected in series with the light supplement lamp through the second N-type MOS tube and the second P-type MOS tube; when the second input/output interface outputs a high level, the second N-type MOS transistor and the second P-type MOS transistor are both switched on, and when the second input/output interface outputs a low level, the second N-type MOS transistor and the second P-type MOS transistor are both switched off.

10. The inspection robot according to claim 9, wherein the first input/output interface is connected to a gate of the first N-type MOS transistor, a source of the first N-type MOS transistor is grounded, a drain of the first N-type MOS transistor is connected to a gate of the first P-type MOS transistor, a source of the first P-type MOS transistor is connected to the rechargeable battery, and a drain of the first P-type MOS transistor is connected to the thermal imager, the monitoring camera, the industrial camera, and the wireless router, respectively;

the second input/output interface is connected with a grid electrode of the second N-type MOS tube, a source electrode of the second N-type MOS tube is grounded, a drain electrode of the second N-type MOS tube is connected with a grid electrode of the second P-type MOS tube, a source electrode of the second P-type MOS tube is connected with the rechargeable battery, and a drain electrode of the second P-type MOS tube is connected with the light supplementing lamp.

11. The inspection robot according to claim 1, wherein the near field wireless communication transceiver is a Bluetooth transceiver, a lora transceiver, or a zigbee transceiver.

12. The inspection robot according to claim 2, wherein the table controller is connected to the rechargeable battery via an RS485 bus or a CAN bus.

13. An inspection method according to any one of claims 1-12, including:

the robot controller receives the inspection stopping instruction, controls the workbench to descend to a preset position, charges the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and sends a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver;

and the workbench controller receives the power-off instruction and controls the inspection equipment and the second wireless routing module to be powered off.

14. The inspection method according to claim 13, further including:

the workbench controller detects the electric quantity of the rechargeable battery, and if the electric quantity of the rechargeable battery is detected to be larger than or equal to a first electric quantity threshold value, a charging completion message is sent to the robot controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver;

and the robot controller receives the charging completion message and controls the workbench to reset.

15. The inspection method according to claim 14, further including:

if the workbench controller detects that the electric quantity of the rechargeable battery is smaller than a second electric quantity threshold value, a charging instruction is sent to the robot controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver;

the robot controller receives the charging instruction, controls the workbench to descend to the preset position, charges the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and sends a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver.

16. The inspection method according to claim 13, further including:

the robot controller receives a polling instruction and sends a power-on instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver;

the workbench controller receives the power-on instruction and controls the inspection equipment and the second wireless routing module to be powered on;

the robot controller controls the inspection equipment to acquire inspection data through the first wireless routing module and the second wireless routing module;

the inspection equipment transmits inspection data to the robot controller through the first wireless routing module and the second wireless routing module.

17. The inspection method according to claim 13, wherein the workstation further includes a fill light, the inspection equipment including a thermal imager, a surveillance camera and an industrial camera;

the method further comprises the following steps:

the robot controller controls the monitoring camera to acquire polling data through the first wireless routing module and the second wireless routing module, and performs operation processing according to the polling data transmitted by the monitoring camera so as to judge whether the polling robot is currently at a target position in real time, if so, the thermal imager and the industrial camera are respectively controlled to acquire polling data through the first wireless routing module and the second wireless routing module, and a light supplementing instruction is sent to the workbench controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver;

and the workbench controller receives the light supplement instruction, controls the light supplement lamp to be turned on, and controls the light supplement lamp to be turned off after the light supplement lamp is turned on for a preset time period.

Technical Field

The invention relates to the technical field of robots, in particular to an inspection robot and an inspection method thereof.

Background

The machine room inspection robot executes operation and maintenance work in a data machine room to replace or assist manpower, improve the automation operation and maintenance level of the machine room and reduce cost. In order to realize the inspection of the height of the whole cabinet, the inspection robot is generally provided with a liftable workbench as shown in fig. 1.

In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:

various equipment of installation need power supply and communication on the workstation, adopts the cable to be connected between robot body and the workstation, because the inner space of robot is narrow and small, and the cable radius of bending is little, and at workstation lift process, the elevating movement of high frequency causes cable ageing, fracture easily, influences the normal work of robot.

Disclosure of Invention

In view of this, the embodiment of the invention provides an inspection robot and an inspection method thereof, so as to solve the technical problem that a cable is easy to age and break due to high-frequency lifting motion.

To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided an inspection robot including:

comprises a workbench and a robot body; wherein the content of the first and second substances,

the robot body is used for charging the workbench in a wireless charging mode and communicating with the workbench in a near field wireless communication mode;

the workbench is used for collecting inspection data and transmitting the inspection data to the robot body in a wireless transmission mode.

Optionally, the robot body comprises a robot controller, a wireless charging transmitter, a first near field wireless communication transceiver, and a first wireless routing module; the workbench comprises a workbench controller, a rechargeable battery, a wireless charging receiver, a second near field wireless communication transceiver, a second wireless routing module and inspection equipment;

the robot controller is used for charging the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, communicating with the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver, and controlling the inspection equipment to acquire inspection data through the first wireless routing module and the second wireless routing module;

the workbench controller is used for controlling the inspection equipment and the second wireless routing module to be powered on or powered off;

the inspection equipment is used for transmitting the inspection data to the robot controller through the first wireless routing module and the second wireless routing module.

Optionally, the robot controller is connected to the wireless charging transmitter, the first near field wireless communication transceiver, and the first wireless routing module, respectively, and the wireless charging transmitter is connected to a power supply;

the workbench controller is respectively connected with the rechargeable battery and the second near field wireless communication transceiver, and the rechargeable battery is respectively connected with the wireless charging receiver and the inspection equipment.

Optionally, the robot controller is further configured to receive a patrol stopping instruction, control the workbench to descend to a preset position, charge the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and send a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver;

the workbench controller is also used for receiving the power-off instruction and controlling the inspection equipment and the second wireless routing module to be powered off.

Optionally, the workbench controller is further configured to detect an electric quantity of the rechargeable battery, and if the electric quantity of the rechargeable battery is detected to be greater than or equal to a first electric quantity threshold, send a charging completion message to the robot controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver;

and the robot controller is also used for receiving the charging completion message and controlling the workbench to reset.

Optionally, the workbench controller is further configured to send a charging instruction to the robot controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver if it is detected that the electric quantity of the rechargeable battery is smaller than a second electric quantity threshold;

the robot controller is further used for receiving the charging instruction, controlling the workbench to descend to the preset position, charging the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and sending a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver.

Optionally, the robot controller is further configured to receive a polling instruction, and send a power-on instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver;

the workbench controller is also used for receiving the power-on instruction and controlling the routing inspection equipment and the second wireless routing module to be powered on.

Optionally, the workbench further comprises a light supplement lamp, and the inspection equipment comprises a thermal imager, a monitoring camera and an industrial camera;

the robot controller is further used for controlling the monitoring camera to acquire polling data through the first wireless routing module and the second wireless routing module, performing operation processing according to the polling data transmitted by the monitoring camera, so as to judge whether the polling robot is located at a target position currently, if yes, respectively controlling the thermal imager and the industrial camera to acquire polling data through the first wireless routing module and the second wireless routing module, and sending a light supplementing instruction to the workbench controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver;

the workbench controller is further used for receiving the light supplement instruction, controlling the light supplement lamp to be turned on, and controlling the light supplement lamp to be turned off after the light supplement lamp is turned on for a preset time period.

Optionally, the workbench further comprises a first P-type MOS transistor, a first N-type MOS transistor, a second P-type MOS transistor, and a second N-type MOS transistor;

a first input/output interface of the workbench controller is respectively connected with the thermal imager, the monitoring camera, the industrial camera and the second wireless router in series through the first N-type MOS tube and the first P-type MOS tube; the thermal imager, the monitoring camera and the industrial camera are connected in parallel and are connected with the wireless router in series through Ethernet; when the first input/output interface outputs a high level, the first N-type MOS transistor and the first P-type MOS transistor are both switched on, and when the first input/output interface outputs a low level, the first N-type MOS transistor and the first P-type MOS transistor are both switched off;

a second input/output interface of the workbench controller is connected in series with the light supplement lamp through the second N-type MOS tube and the second P-type MOS tube; when the second input/output interface outputs a high level, the second N-type MOS transistor and the second P-type MOS transistor are both switched on, and when the second input/output interface outputs a low level, the second N-type MOS transistor and the second P-type MOS transistor are both switched off.

Optionally, the first input/output interface is connected to a gate of the first N-type MOS transistor, a source of the first N-type MOS transistor is grounded, a drain of the first N-type MOS transistor is connected to a gate of the first P-type MOS transistor, a source of the first P-type MOS transistor is connected to the rechargeable battery, and a drain of the first P-type MOS transistor is connected to the thermal imager, the monitoring camera, the industrial camera, and the wireless router, respectively;

the second input/output interface is connected with a grid electrode of the second N-type MOS tube, a source electrode of the second N-type MOS tube is grounded, a drain electrode of the second N-type MOS tube is connected with a grid electrode of the second P-type MOS tube, a source electrode of the second P-type MOS tube is connected with the rechargeable battery, and a drain electrode of the second P-type MOS tube is connected with the light supplementing lamp.

Optionally, the near field wireless communication transceiver is a bluetooth transceiver, a lora transceiver, or a zigbee transceiver.

Optionally, the workbench controller is connected with the rechargeable battery through an RS485 bus or a CAN bus.

In addition, according to another aspect of an embodiment of the present invention, there is provided an inspection method for an inspection robot according to any one of the embodiments, including:

the robot controller receives the inspection stopping instruction, controls the workbench to descend to a preset position, charges the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and sends a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver;

and the workbench controller receives the power-off instruction and controls the inspection equipment and the second wireless routing module to be powered off.

Optionally, the method further comprises:

the workbench controller detects the electric quantity of the rechargeable battery, and if the electric quantity of the rechargeable battery is detected to be larger than or equal to a first electric quantity threshold value, a charging completion message is sent to the robot controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver;

and the robot controller receives the charging completion message and controls the workbench to reset.

Optionally, the method further comprises:

if the workbench controller detects that the electric quantity of the rechargeable battery is smaller than a second electric quantity threshold value, a charging instruction is sent to the robot controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver;

the robot controller receives the charging instruction, controls the workbench to descend to the preset position, charges the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and sends a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver.

Optionally, the method further comprises:

the robot controller receives a polling instruction and sends a power-on instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver;

the workbench controller receives the power-on instruction and controls the inspection equipment and the second wireless routing module to be powered on;

the robot controller controls the inspection equipment to acquire inspection data through the first wireless routing module and the second wireless routing module;

the inspection equipment transmits inspection data to the robot controller through the first wireless routing module and the second wireless routing module.

Optionally, the workbench further comprises a light supplement lamp, and the inspection equipment comprises a thermal imager, a monitoring camera and an industrial camera;

the method further comprises the following steps:

the robot controller controls the monitoring camera to acquire polling data through the first wireless routing module and the second wireless routing module, and performs operation processing according to the polling data transmitted by the monitoring camera so as to judge whether the polling robot is currently at a target position in real time, if so, the thermal imager and the industrial camera are respectively controlled to acquire polling data through the first wireless routing module and the second wireless routing module, and a light supplementing instruction is sent to the workbench controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver;

and the workbench controller receives the light supplement instruction, controls the light supplement lamp to be turned on, and controls the light supplement lamp to be turned off after the light supplement lamp is turned on for a preset time period.

One embodiment of the above invention has the following advantages or benefits: the technical means that the data backlog condition is analyzed based on the record number in the batch data set and the preset backlog batch threshold value is adopted by deleting the elastic distributed data set with the minimum identifier and the number of the corresponding time slice data from the batch data set after the business logic calculation of one elastic distributed data set is finished, so that the technical problems that the cable is easy to age and break due to high-frequency lifting movement in the prior art are solved. Examples of the invention

Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.

Drawings

The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:

fig. 1 is a schematic elevation view of an inspection robot in the prior art;

fig. 2 is a schematic view of a connection mode of an inspection robot in the prior art;

fig. 3 is a schematic diagram of the connection of the inspection robot according to the embodiment of the present invention;

fig. 4 is a schematic elevation view of an inspection robot according to an embodiment of the present invention;

fig. 5 is a schematic view of the connection of the inspection robot according to one referential embodiment of the present invention;

fig. 6 is a schematic diagram of a main flow of an inspection method of an inspection robot according to an embodiment of the present invention;

fig. 7 is a schematic diagram of a main flow of an inspection method of an inspection robot according to a referential embodiment of the present invention;

fig. 8 is a schematic diagram of a main flow of an inspection method of an inspection robot according to another referential embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The existing inspection robot workbench is connected as shown in fig. 2, equipment such as an industrial camera, a monitoring camera, a thermal imager, a light supplement lamp and the like are arranged in the workbench, and the workbench is connected with the robot body through an Ethernet and a power line. The robot is patrolling and examining the during operation, and the workstation can carry out elevating movement, and the motion also can be followed to the cable between workstation and the robot body simultaneously, because the restriction of robot inner space, at workstation lift process, the elevating movement of high frequency causes the cable ageing, fracture easily, influences the normal work of robot.

The inspection robot provided by the embodiment of the invention comprises a workbench and a robot body; the robot body is used for charging the workbench in a wireless charging mode and communicating with the workbench in a near field wireless communication mode; the workbench is used for collecting inspection data and transmitting the inspection data to the robot body in a wireless transmission mode. The embodiment of the invention aims at solving the problem of cable connection between a workbench of an inspection robot and a robot body, the workbench is divided into two interfaces of power supply and communication, the power supply adopts a rechargeable battery and a wireless charging mode, and the communication adopts a wireless transmission mode, so that the technical problem that the cable is easy to age and break due to high-frequency lifting motion in the prior art is solved.

Optionally, the robot body comprises a robot controller, a wireless charging transmitter, a first near field wireless communication transceiver, and a first wireless routing module; the workbench comprises a workbench controller, a rechargeable battery, a wireless charging receiver, a second near field wireless communication transceiver, a second wireless routing module and inspection equipment; the robot controller is used for charging the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, communicating with the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver, and controlling the inspection equipment to acquire inspection data through the first wireless routing module and the second wireless routing module; the workbench controller is used for controlling the inspection equipment and the second wireless routing module to be powered on or powered off; the inspection equipment is used for transmitting the inspection data to the robot controller through the first wireless routing module and the second wireless routing module. In the embodiment of the invention, the robot controller charges the rechargeable battery through the wireless charging transmitter and the wireless charging receiver so that the rechargeable battery supplies power to the inspection equipment and the workbench controller, the robot controller is also communicated with the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver so that the workbench controller controls the inspection equipment and the second wireless routing module to be powered on or powered off, and the robot controller also controls the inspection equipment to acquire inspection data through the first wireless routing module and the second wireless routing module. Specifically, in the process of collecting the patrol inspection data by the patrol inspection equipment, the robot controller can control the patrol inspection equipment to collect or stop collecting the patrol inspection data through the first wireless routing module and the second wireless routing module, and the patrol inspection data are transmitted to the robot controller through the first wireless routing module and the second wireless routing module.

Optionally, the near field wireless communication transceiver is a bluetooth transceiver, a lora transceiver, or a zigbee transceiver. Near field wireless communication transceivers such as a Bluetooth transceiver, a lora transceiver or a zigbee transceiver are adopted, signals can be conveniently transmitted between the robot controller and the workbench controller, and the robot controller can conveniently control the inspection equipment.

Optionally, as shown in fig. 3, the robot controller is respectively connected to the wireless charging transmitter, the first near field wireless communication transceiver, and the first wireless routing module, and the wireless charging transmitter is connected to a power supply; the workbench controller is respectively connected with the rechargeable battery and the second near field wireless communication transceiver, and the rechargeable battery is respectively connected with the wireless charging receiver and the inspection equipment. Alternatively, the rechargeable battery may be a lithium battery. In the embodiment of the invention, a plurality of routing inspection equipment can be arranged, and the routing inspection equipment is connected in parallel. If the inspection equipment needs to transmit inspection data to the robot controller, the inspection equipment is connected with the second wireless routing module through the Ethernet, and the inspection equipment is network port equipment (such as a network port thermal imager, a network port camera and the like). If the inspection equipment is not required to transmit inspection data to the robot controller, the inspection equipment is not required to be connected with the second wireless routing module.

Optionally, the robot controller is further configured to receive a patrol stopping instruction, control the workbench to descend to a preset position, charge the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and send a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver; the workbench controller is also used for receiving the power-off instruction and controlling the inspection equipment and the second wireless routing module to be powered off. As shown in fig. 4, when the robot controller receives an inspection stop instruction from a worker, the workbench is controlled to descend to a preset position, and the rechargeable battery is charged through the wireless charging transmitter and the wireless charging receiver. When the rechargeable battery starts to be charged, the robot controller further sends a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver, and the workbench controller controls the inspection equipment and the second wireless routing module to be powered off after receiving the power-off instruction.

For example, when the workbench is at the bottommost part of the lifting platform, the wireless charging transmitter on the robot body can charge the wireless charging receiver inside the workbench. When the workbench works normally, wireless charging cannot be carried out at the moment because the distance between the wireless charging transmitter and the wireless charging receiver is too large.

Optionally, the workbench can be controlled to ascend and descend through the servo motor, the number of rotation turns of the servo motor can be preset, and when the number of rotation turns of the servo motor exceeds the preset number of turns, the workbench is considered to descend to the preset position. Alternatively, it may be detected by a sensor whether the table is lowered to a preset position.

Optionally, the workbench controller is further configured to detect an electric quantity of the rechargeable battery, and if the electric quantity of the rechargeable battery is detected to be greater than or equal to a first electric quantity threshold, send a charging completion message to the robot controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver; and the robot controller is also used for receiving the charging completion message and controlling the workbench to reset. In order to ensure the normal work of the inspection equipment, the electric quantity of the rechargeable battery can be detected in real time through the workbench controller, if the electric quantity is larger than or equal to the first electric quantity threshold value, which indicates that the electric quantity is enough, a charging completion message is sent to the robot controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver, and after the robot controller receives the charging completion message, the workbench is controlled to reset, as shown in fig. 4, so that the robot can execute an inspection task.

Optionally, the workbench controller is further configured to send a charging instruction to the robot controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver if it is detected that the electric quantity of the rechargeable battery is smaller than a second electric quantity threshold; the robot controller is further used for receiving the charging instruction, controlling the workbench to descend to the preset position, charging the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and sending a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver. If the workbench controller detects that the electric quantity of the rechargeable battery is smaller than the second electric quantity threshold value, the electric quantity is insufficient, a charging instruction is sent to the robot controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver, after the robot controller receives the charging instruction, the inspection task is stopped, the workbench is controlled to descend to a preset position, as shown in fig. 4, and the rechargeable battery is charged through the wireless charging transmitter and the wireless charging receiver. When the rechargeable battery starts to be charged, the robot controller further sends a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver, and the workbench controller controls the inspection equipment and the second wireless routing module to be powered off after receiving the power-off instruction.

Optionally, the robot controller is further configured to receive a polling instruction, and send a power-on instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver; the workbench controller is also used for receiving the power-on instruction and controlling the routing inspection equipment and the second wireless routing module to be powered on. When the robot controller receives an inspection instruction sent by a worker, the first near-field wireless communication transceiver and the second near-field wireless communication transceiver send a power-on instruction to the workbench controller, the workbench controller controls the inspection equipment and the second wireless routing module to be powered on after receiving the power-on instruction, and the inspection equipment and the second wireless routing module are in working states.

As shown in fig. 5, the workbench further comprises a light supplement lamp, and the inspection equipment comprises a thermal imager, a monitoring camera and an industrial camera; the robot controller is further used for controlling the monitoring camera to acquire polling data through the first wireless routing module and the second wireless routing module, performing operation processing according to the polling data transmitted by the monitoring camera, so as to judge whether the polling robot is located at a target position currently, if yes, respectively controlling the thermal imager and the industrial camera to acquire polling data through the first wireless routing module and the second wireless routing module, and sending a light supplementing instruction to the workbench controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver; the workbench controller is further used for receiving the light supplement instruction, controlling the light supplement lamp to be turned on, and controlling the light supplement lamp to be turned off after the light supplement lamp is turned on for a preset time period. In the embodiment of the invention, the robot controller also controls the monitoring camera to collect the inspection data through the communication between the first wireless routing module and the second wireless routing module, the monitoring camera transmits the collected inspection data to the robot controller through the first wireless routing module and the second wireless routing module, and the robot controller performs operation processing on the inspection data transmitted by the monitoring camera, so that whether the inspection robot is located at the target position currently is judged in real time. And if the inspection robot is currently positioned at the target position, respectively controlling the thermal imager and the industrial camera to acquire inspection data through communication between the first wireless routing module and the second wireless routing module. It should be noted that the monitoring camera is a portal monitoring camera, the thermal imager is a portal thermal imager, and the industrial camera is a portal industrial camera. When the thermal imager and the industrial camera are controlled by the robot controller to collect the inspection data, the robot controller can also send a light supplement instruction to the workbench controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver, and after the workbench controller receives the light supplement instruction, the light supplement lamp is controlled to be turned on, so that the inspection data can be collected by the industrial camera. And after the light supplement lamp is turned on for a preset time period (for example, 5 seconds, 1 second or 500 milliseconds and the like), the workbench controller controls the light supplement lamp to be turned off.

Optionally, as shown in fig. 5, the workbench further includes a first P-type MOS transistor, a first N-type MOS transistor, a second P-type MOS transistor, and a second N-type MOS transistor; a first input/output interface (IO1) of the workbench controller is respectively connected in series with the thermal imager, the monitoring camera, the industrial camera and the second wireless router through the first N-type MOS transistor (NMOS1) and the first P-type MOS transistor (PMOS 1); the thermal imager, the monitoring camera and the industrial camera are connected in parallel and are connected with the wireless router in series through Ethernet; when the first input/output interface outputs a high level, the first N-type MOS transistor and the first P-type MOS transistor are both switched on, and when the first input/output interface outputs a low level, the first N-type MOS transistor and the first P-type MOS transistor are both switched off; a second input/output interface (IO2) of the workbench controller is connected in series with the supplementary lighting lamp through the second N-type MOS transistor (NMOS2) and the second P-type MOS transistor (PMOS 2); when the second input/output interface outputs a high level, the second N-type MOS transistor and the second P-type MOS transistor are both switched on, and when the second input/output interface outputs a low level, the second N-type MOS transistor and the second P-type MOS transistor are both switched off.

Optionally, the table controller may be a single chip microcomputer. When the single chip IO1 outputs a low level, the NMOS1 is cut off, the PMOS1 is cut off, and the thermal imager, the industrial camera, the monitoring camera and the second wireless routing module are powered off. When the IO1 outputs a high level, the NMOS1 is conducted, the PMOS1 is conducted, and the thermal imager, the industrial camera, the monitoring camera and the second wireless routing module are electrified. When the singlechip IO2 outputs low level, the NMOS2 is cut off, the PMOS2 is cut off, and the light supplement lamp is powered off and extinguished. When the IO2 outputs a high level, the NMOS2 is turned on, the PMOS2 is turned on, and the fill light is turned on.

Optionally, the workstation still includes power conversion module, and rechargeable battery passes through power conversion module, and exportable 3.3V supplies the singlechip work, and 12V supplies heat to be like appearance, industry camera, surveillance camera, the work of second wireless routing module, and 24V supplies the work of light filling lamp.

Optionally, as shown in fig. 5, the first input/output interface is connected to a gate of the first N-type MOS transistor, a source of the first N-type MOS transistor is grounded, a drain of the first N-type MOS transistor is connected to a gate of the first P-type MOS transistor, a source of the first P-type MOS transistor is connected to the rechargeable battery, and a drain of the first P-type MOS transistor is connected to the thermal imager, the monitoring camera, the industrial camera, and the wireless router, respectively; the second input/output interface is connected with a grid electrode of the second N-type MOS tube, a source electrode of the second N-type MOS tube is grounded, a drain electrode of the second N-type MOS tube is connected with a grid electrode of the second P-type MOS tube, a source electrode of the second P-type MOS tube is connected with the rechargeable battery, and a drain electrode of the second P-type MOS tube is connected with the light supplementing lamp.

Alternatively, as shown in fig. 5, the table controller is connected to the rechargeable battery through a communication line for battery level detection, temperature detection, charge and discharge current detection, battery failure alarm, and the like. Optionally, the workbench controller is connected with the rechargeable battery through an RS485 bus or a CAN bus.

According to the various embodiments, the technical means that the workbench is charged through the robot body in a wireless charging mode and is communicated with the workbench through a near-field wireless communication mode, and the workbench transmits the inspection data to the robot body in a wireless transmission mode can be seen, so that the technical problem that cables are easy to age and break due to high-frequency lifting motion in the prior art is solved. The working table is divided into two interfaces of power supply and communication, the rechargeable battery and the wireless charging mode are adopted for power supply, the wireless transmission mode is adopted for communication, and the technical problem of poor robot stability caused by easy breakage of a towline cable of the working table can be solved.

Fig. 6 is a schematic diagram of a main flow of an inspection method of an inspection robot according to an embodiment of the present invention. As an embodiment of the present invention, the inspection method of the inspection robot may include the steps of:

step 601, the robot controller receives the inspection instruction and sends a power-on instruction to the workbench controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver.

When the robot controller receives a patrol inspection instruction sent by a worker, a power-on instruction is sent to the workbench controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver.

And step 602, the workbench controller receives the power-on instruction and controls the routing inspection equipment and the second wireless routing module to be powered on.

After the workbench controller receives the power-on instruction, the inspection equipment and the second wireless routing module are controlled to be powered on, and the inspection equipment and the second wireless routing module are in working states.

Step 603, the robot controller controls the inspection equipment to collect inspection data through the first wireless routing module and the second wireless routing module.

The inspection equipment is network interface equipment (such as a network interface thermal imager, a network interface camera and the like), and the robot controller can control the inspection equipment to collect or stop collecting inspection data through the first wireless routing module and the second wireless routing module in the process of collecting inspection data by the inspection equipment.

And 604, transmitting the inspection data to the robot controller by the inspection equipment through the first wireless routing module and the second wireless routing module.

Data acquisition patrols and examines data to through first wireless routing module and the wireless routing module of second will patrol and examine data transmission to robot controller, robot controller can carry out the operation to data of patrolling and examining, also can will patrol and examine data transmission to other terminals.

And 605, the robot controller receives the inspection stopping instruction, controls the workbench to descend to a preset position, charges the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and sends a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver.

When the robot controller receives a patrol stopping instruction sent by a worker, the workbench is controlled to descend to a preset position, and the rechargeable battery is charged through the wireless charging emitter and the wireless charging receiver. When the rechargeable battery starts to be charged, the robot controller further sends a power-off command to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver.

And 606, the workbench controller receives the power-off instruction and controls the inspection equipment and the second wireless routing module to be powered off.

And after the workbench controller receives the power-off instruction, the inspection equipment and the second wireless routing module are controlled to be powered off.

According to the various embodiments, the technical means that the workbench is charged through the robot body in a wireless charging mode and is communicated with the workbench through a near-field wireless communication mode, and the workbench transmits the inspection data to the robot body in a wireless transmission mode can be seen, so that the technical problem that cables are easy to age and break due to high-frequency lifting motion in the prior art is solved. The working table is divided into two interfaces of power supply and communication, the rechargeable battery and the wireless charging mode are adopted for power supply, the wireless transmission mode is adopted for communication, and the technical problem of poor robot stability caused by easy breakage of a towline cable of the working table can be solved.

Fig. 7 is a schematic diagram of a main flow of an inspection method of an inspection robot according to a referential embodiment of the present invention. As still another embodiment of the present invention, as shown in fig. 7, the inspection method of the inspection robot may include:

and 701, the robot controller receives the inspection instruction and sends a power-on instruction to the workbench controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver.

And 702, the workbench controller receives a power-on instruction and controls the first input/output interface to output high level, and the thermal imager, the monitoring camera, the industrial camera and the second wireless routing module are powered on.

The workbench controller IO1 outputs high level, the NMOS1 is conducted, the PMOS1 is conducted, and the thermal imager, the industrial camera, the monitoring camera and the second wireless routing module are all electrified.

And 703, controlling the monitoring camera to acquire inspection data by the robot controller through the first wireless routing module and the second wireless routing module, and performing operation processing according to the inspection data transmitted by the monitoring camera, so as to judge whether the inspection robot is at a target position currently or not in real time.

Step 704, if the inspection robot is currently located at the target position, the thermal imager and the industrial camera are respectively controlled to collect inspection data through the first wireless routing module and the second wireless routing module, and a light supplement instruction is sent to the workbench controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver.

Step 705, the workbench controller receives the light supplement instruction, controls the second input/output interface to output a high level, lights the light supplement lamp, and controls the second input/output interface to output a low level after the light supplement lamp is lighted for a preset time period, and the light supplement lamp is turned off.

The workbench controller IO2 outputs a high level, the NMOS2 is turned on, the PMOS2 is turned on, and the fill light is turned on. After a preset time period, the workbench controller IO2 outputs a low level, the NMOS2 is turned off, the PMOS2 is turned off, and the fill light is turned off.

And step 706, transmitting the inspection data acquired by the thermal imager and the industrial camera through the first wireless routing module and the second wireless routing module to the robot controller.

And 707, the robot controller receives the inspection stopping instruction, controls the workbench to descend to a preset position, charges the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and sends a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver.

And 708, the workbench controller receives the power-off instruction, controls the first input/output interface to output low level, and powers off the inspection equipment and the second wireless routing module.

The workbench controller IO1 outputs low level, the NMOS1 is cut off, the PMOS1 is cut off, and the thermal imager, the industrial camera, the monitoring camera and the second wireless routing module are powered off.

In addition, in a reference embodiment of the present invention, the detailed implementation of the method for identifying address data is described in detail in the above method for identifying address data, and therefore the repeated description is not repeated here.

Fig. 8 is a schematic diagram of a main flow of an inspection method of an inspection robot according to another referential embodiment of the present invention. As another embodiment of the present invention, as shown in fig. 7, the inspection method of the inspection robot may include:

step 801, the workbench controller detects the electric quantity of the rechargeable battery, and if the electric quantity of the rechargeable battery is detected to be smaller than a second electric quantity threshold value, a charging instruction is sent to the robot controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver.

And 802, the robot controller receives the charging instruction, controls the workbench to descend to a preset position, charges the rechargeable battery through the wireless charging transmitter and the wireless charging receiver, and sends a power-off instruction to the workbench controller through the first near-field wireless communication transceiver and the second near-field wireless communication transceiver.

And 803, the workbench controller receives the power-off instruction and controls the inspection equipment and the second wireless routing module to be powered off.

And 804, detecting the electric quantity of the rechargeable battery by the workbench controller, and if the electric quantity of the rechargeable battery is detected to be larger than or equal to a first electric quantity threshold value, sending a charging completion message to the robot controller through the first near field wireless communication transceiver and the second near field wireless communication transceiver.

And step 805, the robot controller receives the charging completion message and controls the workbench to reset.

In addition, in another embodiment of the present invention, the detailed implementation of the method for identifying address data is described in detail in the above method for identifying address data, and therefore the repeated description is not repeated here.

The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.