CN113885523A - Inspection robot and inspection system - Google Patents
Inspection robot and inspection system Download PDFInfo
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- CN113885523A CN113885523A CN202111277270.3A CN202111277270A CN113885523A CN 113885523 A CN113885523 A CN 113885523A CN 202111277270 A CN202111277270 A CN 202111277270A CN 113885523 A CN113885523 A CN 113885523A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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Abstract
The embodiment of the application provides an inspection robot and an inspection system. This robot patrols and examines includes first chip, location portion, battery controller and driver, and battery controller is connected with battery and first chip respectively to the real-time electric quantity that will detect the battery sends to first chip, and location portion is used for detecting the location position of patrolling and examining the robot and sends the location position to first chip, and first chip is used for: determining whether the real-time electric quantity is lower than an electric quantity set value; if the real-time electric quantity is lower than the electric quantity set value, determining a target charging device from preset charging devices according to the positioning position sent by the positioning part; and generating a driving instruction according to the device position of the target charging device, and sending the driving instruction to the driver so that the driver drives the inspection robot to move to a charging position matched with the target charging device and charged according to the driving instruction.
Description
Technical Field
The embodiment of the application relates to the technical field of mechanical equipment, in particular to an inspection robot and an inspection system.
Background
The inspection robot is used for patrolling and checking in a workplace and finding out abnormity and potential safety hazards in time, so that the safety of the workplace is ensured. For example, images of certain positions of a workplace are shot through a camera mounted on the inspection robot, so that whether danger and potential safety hazards exist in the workplace or whether equipment is in a normal operation state or not is determined according to the images. Based on the difference of the installation and the use mode of the inspection robot, the inspection robot can be divided into a rail type inspection robot, a walking type inspection robot, a head-mounted inspection robot and the like. The existing inspection robot needs to be charged by means of instructions of a management system, so that the charging timeliness and intelligence are insufficient.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide an inspection robot and an inspection system solution to at least partially solve the above problems.
According to the embodiment of the application, a robot patrols and examines is provided, it includes first chip, location portion, battery controller and driver, and battery controller is connected with battery and first chip respectively to the real-time electric quantity that will detect the battery sends to first chip, and location portion is used for detecting the location position of patrolling and examining the robot and sends the location position to first chip, and first chip is used for: determining whether the real-time electric quantity is lower than an electric quantity set value; if the real-time electric quantity is lower than the electric quantity set value, determining a target charging device from preset charging devices according to the positioning position sent by the positioning part; and generating a driving instruction according to the device position of the target charging device, and sending the driving instruction to the driver so that the driver drives the inspection robot to move to a charging position matched with the target charging device and charged according to the driving instruction.
Optionally, when the first chip determines the target charging device according to the positioning position information sent by the positioning portion, the first chip determines, according to the positioning position and a preset device position of the charging device, the charging device closest to the positioning position as the target charging device.
Optionally, the inspection robot further includes an industrial control device, the industrial control device is configured to communicate with an electronic device where a management system of the inspection robot is located, and the first chip is further configured to: and if the real-time electric quantity is lower than the electric quantity set value, generating a termination message for indicating the termination of the current inspection task of the inspection robot, and sending the termination message to the industrial control equipment so that the industrial control equipment sends a notification message for indicating the termination of the current inspection task of the inspection robot to the electronic equipment.
Optionally, the inspection robot further comprises a second chip and a charging receiver, and the first chip is further configured to send a first in-place message to the industrial control device if the inspection robot is determined to move to the charging position according to the positioning position sent by the positioning portion; the industrial control equipment is used for sending a second in-place message to the second chip according to the first in-place message; and the second chip sends a charging starting message to the charging receiver according to the second in-place message.
Optionally, the industrial control device is further configured to receive a first charging instruction sent by the electronic device, and send a second charging instruction for instructing to start charging to a second chip of the inspection robot according to the first charging instruction, where the first charging instruction is used to instruct the inspection robot to charge the selected charging device; the second chip is used for sending a charging control instruction to a charging receiver of the inspection robot according to the second charging instruction so that the charging receiver starts charging.
Optionally, the first charging instruction is an instruction generated by a management system of the inspection robot running on the electronic device according to an inspection completion message sent by the inspection robot.
Optionally, the first charging instruction is an instruction generated by a management system of the inspection robot running on the electronic device according to the received operation.
Optionally, the inspection robot further comprises a communication component, the communication component is electrically connected with the industrial control device, and the industrial control device communicates with the electronic device through the communication component.
According to another aspect of the present application, there is provided an inspection system, including: walking guide rail, the transmitter that charges and patrol and examine the robot, the transmitter that charges sets up on the walking guide rail, and it is foretell robot that patrols and examines to patrol and examine the robot, patrols and examines the movably setting in walking guide rail of robot to can charge in order to the battery with the transmitter cooperation that charges.
According to the embodiment of the application, the inspection robot can be intelligently charged according to the electric quantity, and the reliability of the movement of the inspection robot is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic diagram of the connection of the components of the inspection robot according to the embodiment of the application;
fig. 2 is a schematic diagram of the inspection robot and the walking guide rail of the inspection system in the embodiment of the application;
fig. 3 is a schematic flowchart illustrating a step of a charging method for a first chip of an inspection robot of the inspection system according to the embodiment of the present application;
fig. 4 is a schematic signal diagram illustrating charging performed after inspection of the inspection robot of the inspection system according to the embodiment of the present application;
fig. 5 is a signal diagram illustrating manual charging of the inspection robot of the inspection system according to the embodiment of the present application.
10. A traveling guide rail; 20. a patrol robot; 21. a first chip; 22. an industrial control device; 23. a second chip; 24. an ultrasonic obstacle avoidance sensor; 251. an interphone; 252. a battery controller; 253. a driver; 254. a gas sensor; 255. a holder; 256. a TDLAS sensor; 257. a camera; 258. WIFI; 259. a switch; 261. an infrared sensor; 262. a battery; 263. a charging receiver; 264. a charging transmitter; 31. a radio frequency reader; 32. a radio frequency tag; 50. a charging device; 60. and (5) managing the system.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application shall fall within the scope of the protection of the embodiments in the present application.
For ease of understanding, before describing the inspection robot, a system for protecting the inspection robot is described as follows:
the inspection system comprises a walking guide rail 10 and an inspection robot 20, wherein a plurality of radio frequency tags 32 are arranged on the walking guide rail 10, and unique identification information is configured in each radio frequency tag 32. The inspection robot 20 is provided with a positioning part, for example, the positioning part may be a radio frequency reader 31 for reading unique identification information in a radio frequency tag, and the position of the inspection robot on the walking guide rail 10 can be determined through the read unique identification information, thereby realizing the positioning position of the inspection robot.
The traveling rail 10 is also provided with a charging device 50. A different number of charging devices 50 may be mounted on the running rail 10, depending on the requirements. For example, the charging device 50 is installed at the first end and the second end of the running rail 10, respectively. The charging device 50 may include a charging transmitter to provide power to the inspection robot.
In order to improve data processing capability, the inspection robot in this embodiment includes an industrial control device 22, a first chip 21 (which may be an embedded chip), a second chip 23 (which may be an embedded chip), a battery 262, a positioning portion, a battery controller 252, a driver 253, a charging receiver, a communication component, and other sensors for implementing inspection.
Wherein the computing power of the industrial control device 22 is larger than the first chip 21 and the second chip 23. The industrial control device 22 can be any processor, chip, or combination of devices having computing and data processing capabilities. The industrial control device 22 is used for communicating with an electronic device (such as a mobile phone, a computer or other server cluster) of a management system for operating the inspection robot, and can transmit data of the inspection robot to the electronic device, or receive an instruction transmitted by the electronic device, and transmit the instruction to the first chip 21 or the second chip 23. For example, the communication component is electrically connected to the industrial control device 22, and the industrial control device 22 communicates with the electronic device through the communication component.
The management system is used for showing the state (such as electric quantity, position, the current inspection task of execution) of the inspection robot to the user, and can receive the instruction of the user, such as interrupting the inspection, starting charging and the like. The management system may be run on the electronic device. The electronic device may be a mobile phone, a personal computer, a computer cluster, etc., without limitation.
The first chip 21 is used to implement a navigation function of the inspection robot to control the movement and stop of the inspection robot, and the first chip 21 may transmit a result of the navigation control to the industrial control device 22 so that the industrial control device 22 performs other business logic according to the result of the navigation control. The inspection robot is provided with the independent first chip 21, shares part of calculation and control tasks of the industrial control equipment 22, reduces the operation load of the industrial control equipment 22, and solves the problems that a data transmission interface configured by the industrial control equipment 22 cannot be directly butted with a data transmission interface used by the battery controller 252 and the driver 253, and the industrial control equipment 22 cannot be directly communicated with the battery controller 252 and the driver 253.
Similarly, the second chip 23 is used to implement a sensor data processing function of the inspection robot, so as to receive detection data transmitted by sensors (such as the camera 257 and the gas sensor 254) mounted on the inspection robot, process the detection data, and transmit the processing result to the industrial control device 22.
The following describes a charging method of the inspection robot with reference to the structure of the inspection robot as follows: the battery controller 252 of the inspection robot is respectively connected with the battery 262 and the first chip 21, and sends the detected real-time electric quantity of the battery 262 to the first chip 21, the positioning part is used for detecting the positioning position of the inspection robot and sending the positioning position to the first chip 21, and the first chip 21 is used for executing the following steps:
step S102: and determining whether the real-time electric quantity is lower than the electric quantity set value.
The charge setting may be determined as desired, for example, 20% of the maximum capacity of the battery 262. If the real-time power is lower than the power setting value, it indicates that the remaining power of the battery 262 configured in the inspection robot may not be enough to support the inspection robot to complete one inspection, and therefore, it is necessary to promptly terminate the inspection task currently being executed and charge the inspection robot, and thus steps S104 and S106 described below need to be executed.
Step S104: and if the real-time electric quantity is lower than the electric quantity set value, determining the target charging device 50 from the preset charging devices 50 according to the positioning position sent by the positioning part.
In one implementation, the position location may be the position location sent by the last position location. For example, a plurality of radio frequency tags are attached to the running guide rail 10, and when the radio frequency tag of the radio frequency reader 31 included in the positioning portion reaches a data reading range of the radio frequency reader 31 in the process of moving along with the inspection robot, the unique information identifier is read by the radio frequency reader 31, and the unique information identifier can be sent to the first chip 21. The first chip 21 can determine the position of the inspection robot on the walking guide rail 10 according to the preset corresponding relation between the unique information identifier and the position.
If the unique information mark is '0', the position of the inspection robot is determined as the first end of the walking rail 10. And if the unique information is marked as '5', determining that the position of the inspection robot is 50m away from the first end of the walking guide rail 10, and the like. The position determined according to the correspondence may be the positioning position.
In addition, in the present embodiment, the positioning position sent by the positioning unit may be the position itself, or may be information capable of specifying the positioning position, which is not limited to this.
The target charging device 50 for charging the inspection robot may be determined from one or more charging devices 50 on the travel rail 10 according to the location position. The target charging device 50 may be the charging device 50 currently in an idle state, or the like.
Alternatively, in a possible manner, the first chip 21 may specifically determine the target charging device 50 according to the positioning position information sent by the positioning portion, and may specifically implement: according to the location position and the preset device position of the charging device 50, the charging device 50 closest to the location position is determined as the target charging device 50. Can guarantee like this to patrol and examine the electric quantity of robot and can cooperate with charging device 50 as early as possible when lower to the realization charges, stop on walking guide rail 10 with preventing that the electric quantity is not enough to lead to patrolling and examining the robot, other on the influence walking guide rail 10 patrol and examine the robot and remove, thereby promoted the security, prevent to collide.
Step S106: according to the device position of the target charging device 50, a driving command is generated and sent to the driver 253, so that the driver 253 drives the inspection robot to move to a charging position which is matched with the target charging device 50 and is charged according to the driving command.
Since the inspection robot uses a motor as a power source and the rotational speed, rotational direction, and the like of the motor are provided by the driver 253, when the inspection robot is driven to move to the charging position of the target charging device 50, the first chip 21 needs to generate a driving command that can be processed by the driver 253 according to the device position of the target charging device 50 and transmit the driving command to the driver 253.
Subsequently, the driver 253 may convert the driving command into a control signal for the motor, and control the motor to rotate according to the control signal, so that the inspection robot moves to the charging position.
Optionally, the management system of the inspection robot can display the state of the inspection robot, and provide a user with an inspection task and the like which need to be executed by the inspection robot, and when the inspection robot terminates the current inspection task due to insufficient electric quantity and charges the inspection task, a message can be sent to the management system to inform the management system of terminating the current inspection task, so that the user can check the inspection task through the management system conveniently, and timely know the state of the inspection robot. To achieve this effect, the first chip 21 of the inspection robot is also used to perform step S108.
Step S108: if the real-time electric quantity is lower than the electric quantity set value, a termination message for indicating that the current inspection task of the inspection robot is terminated is generated, and the termination message is sent to the industrial control equipment 22, so that the industrial control equipment 22 sends a notification message for indicating that the current inspection task of the inspection robot is terminated to the electronic equipment.
For example, the first chip 21 communicates with the industrial control device 22 via the RS232 protocol and may send a termination message thereto. The industrial control device 22, upon receiving the termination message, connects to the communication component using the portal, processes the termination message into a notification message conforming to a transport protocol used by the portal, and sends the notification message to the communication component. The communication component sends the notification message to the electronic device using an appropriate protocol and means (e.g., wired or wireless, such as WIFI258), and the electronic device sends the notification message to the management system for display by the management system. Therefore, the user can know that the inspection robot terminates the current inspection task through the management system and charge the inspection robot.
In this embodiment, the communication components include a switch 259, an infrared sensor 261, and WIFI 258. Wherein, switch 259 passes through the net gape and is connected with industrial control equipment 22, infrared sensor 261 and WIFI258 respectively to realize data transmission. In other embodiments, the communication component may have other structures, such as a bluetooth component, and the like, without limitation.
It should be noted that, although the user can know that the inspection robot terminates the current inspection task and charges the inspection robot due to low power through the management system, the charging of the inspection robot cannot be interrupted through the management system, so that the inspection robot can be ensured to be charged in time, and the inspection robot cannot stop on the walking guide rail 10 due to power exhaustion.
Optionally, in the process that the inspection robot moves to the target charging device 50, the real-time position of the inspection robot may be obtained through a positioning portion, for example, the positioning portion is the radio frequency reader 31, in the process that the inspection robot moves, the radio frequency reader 31 reads the unique identification information when passing through a radio frequency tag, and sends the unique identification information to the first chip 21 through an RS485 protocol, and the first chip 21 may determine the real-time position of the inspection robot according to the preset corresponding relationship between the unique identification information and the position. Like this when patrolling and examining robot walk target charging device 50 after, first chip 21 also can be in time know to patrol and examine the robot and move the position of charging with target charging device 50 complex. The first chip 21 is also used for sending a first in-place message to the industrial control device 22 when the inspection robot is determined to move to the charging position according to the positioning position sent by the positioning part. The first arrival message is used to inform the industrial control device 22 that the inspection robot has arrived at the charging location.
The industrial control device 22 is configured to send a second in-place message to the second chip 23 according to the first in-place message. For example, the industrial control device 22 sends a second in-place message to the second chip 23 through the RS232 protocol to inform the second chip 23 that the inspection robot is in place, and then triggers the second chip 23 to control the charging receiver to start charging.
For example, the second chip 23 transmits a charging start message to the charging receiver according to the second in-place message. Specifically, the second chip 23 may send a charging start message to the charging receiver through the RS485 protocol. Thus, the charging receiver controls the target charging device 50 to discharge through 2.4G or other means, thereby achieving charging.
The second chip 23 can bear the control work of the charging receiver without being controlled by the industrial control equipment 22, so that the load of the industrial control equipment 22 is reduced, complicated protocol conversion operation on the industrial control equipment 22 is not required, and the resource occupation and waste are reduced.
Except for the fact that the inspection robot performs autonomous charging when the electric quantity of the inspection robot is lower than the electric quantity set value, the inspection robot can also perform charging according to instructions of a management system or a user.
As shown in fig. 4, for example, in case a, if the inspection robot completes the current inspection task and moves to the end of the running rail 10, an inspection completion message may be transmitted to the management system through the industrial control device 22 and the communication module. The management system generates a first charging instruction based on the patrol completion message. The first charging instruction may be used to indicate that the first charging instruction is used to instruct the inspection robot to charge the selected charging device 50. The management system sends the first charging instruction to the industrial control device 22 via the electronic device.
The selected charging device 50 may be selected by the management system 60, or may be disposed in the inspection robot in advance, which is not limited in this embodiment. The selected charging device 50 may be the charging device 50 closest to the inspection robot, the closest available charging device 50, or a certain charging device 50 designated by the management system, etc.
The industrial control device 22 is configured to receive a first charging instruction sent by the electronic device running the management system 60, and send a second charging instruction for instructing to start charging to the second chip 23 of the inspection robot according to the first charging instruction.
For example, the signal flow as shown in FIG. 4 is as follows: after receiving the first charging instruction, the industrial control device 22 generates a second charging instruction according to the RS232 protocol with the second chip 23, and sends the second charging instruction to the second chip 23.
The second chip 23 is configured to send a charging control instruction to the charging receiver 263 of the inspection robot according to the second charging instruction, so that the charging receiver starts charging.
The process of the second chip 23 enabling the charging receiver to start charging through the charging control command has been described previously, and therefore is not described again.
It should be noted that, if the inspection robot stops on the charging device 50 after the inspection is completed, the second chip 23 may directly control the charging receiver to use the charging device 50 for charging. If the inspection robot does not stop on the charging device 50 after the inspection is completed, the industrial control device 22 may send a notification message to the first chip 21 under the condition of sending the second charging instruction to the second chip 23, so that the first chip 21 may navigate the inspection robot to the selected charging device 50 according to the notification message to perform charging.
In case B, the signal flow as shown in fig. 5 is as follows: the user can manually operate on the management system to instruct the inspection robot to charge. For example, the manual control inspection robot terminates the current inspection task and performs charging, or the manual control inspection robot moves to the selected charging device 50 to perform charging after completing the current inspection task. In any case, the management system 60 generates the first charging instruction according to the user operation after receiving the user operation. The first charging instruction is used to instruct the inspection robot to charge on the selected charging device 50. The first charging instruction is transmitted to the industrial control device 22. The industrial control device 22 generates a second charging instruction according to the first charging instruction, and sends the second charging instruction to the second chip 23. The second chip 23 sends a charging control command to the charging receiver according to the second charging command, and the charging receiver processes and responds to the charging control command, so as to charge in cooperation with the charging transmitter 264.
According to another aspect of the present application, there is provided an inspection system, including: the inspection robot comprises a walking guide rail 10, a charging emitter and an inspection robot, wherein the charging emitter is arranged on the walking guide rail 10, the inspection robot is the inspection robot, the inspection robot is movably arranged on the walking guide rail 10 and can be matched with the charging emitter to charge a battery 262.
According to the inspection system, the industrial control equipment 22, the first chip 21 and the second chip 23 are configured in the inspection robot, so that navigation and sensor control can be independent from the industrial control equipment 22, the load of the industrial control equipment 22 is reduced, and the stability of the inspection robot is improved.
In addition, the first chip 21 can be connected with the battery controller 252, the radio frequency reader 31 and the ultrasonic obstacle avoidance sensor 24 respectively through an RS485 protocol, and whether the current inspection task needs to be terminated for charging is controlled according to the real-time electric quantity detected by the battery controller 252 of the battery 262. If charging is required, the position of the inspection robot is determined according to the data detected by the radio frequency reader 31, the target charging device 50 (i.e., a charging transmitter) is determined according to the position, and the inspection robot is navigated to the charging position by the CAN protocol control driver 253.
The second embedded sensor may communicate with the sensor, the charging receiver, the pan-tilt 255, etc. through the RS485 protocol to process its data. Wherein the sensor may be at least one of a gas sensor 254, a TDLAS sensor (tunable semiconductor laser absorption spectroscopy) 256, and a camera 257. Of course, other suitable sensors may be configured if other requirements exist, and the embodiment is not limited thereto. The pan/tilt/zoom lens 255 can be used for carrying the camera 257 to reduce the vibration of the camera 257 and improve the definition of the image captured by the camera 257.
The inspection robot can be charged intelligently according to the electric quantity, and also can be charged based on set business logic or manual control instructions, so that the moving reliability of the inspection robot is ensured.
In addition, in order to collect the sound, the inspection robot further includes an interphone 251, and the interphone 251 may be connected to the industrial control device 22 through a USB protocol.
The above embodiments are only used for illustrating the embodiments of the present application, and not for limiting the embodiments of the present application, and those skilled in the relevant art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.
Claims (9)
1. The utility model provides an inspection robot, its characterized in that includes first chip, location portion, battery controller and driver, battery controller respectively with the battery with first chip is connected, and will detect the real-time electric quantity of battery send to first chip, location portion is used for detecting inspection robot's location position and with location position send to first chip, first chip is used for:
determining whether the real-time electric quantity is lower than an electric quantity set value;
if the real-time electric quantity is lower than the electric quantity set value, determining a target charging device from preset charging devices according to the positioning position sent by the positioning part;
and generating a driving instruction according to the device position of the target charging device, and sending the driving instruction to the driver so that the driver drives the inspection robot to move to a charging position matched with the target charging device and charged according to the driving instruction.
2. The inspection robot according to claim 1, wherein the first chip determines the charging device closest to the positioning position as the target charging device according to the positioning position and a preset device position of the charging device when determining the target charging device according to the positioning position information transmitted by the positioning part.
3. The inspection robot according to claim 1, further comprising an industrial control device for communicating with an electronic device in which a management system of the inspection robot resides, the first chip further configured to:
and if the real-time electric quantity is lower than the electric quantity set value, generating a termination message for indicating the current inspection task of the inspection robot to be terminated, and sending the termination message to the industrial control equipment so that the industrial control equipment sends a notification message for indicating the current inspection task of the inspection robot to be terminated to the electronic equipment.
4. The inspection robot according to claim 3, further comprising a second chip and a charging receiver, wherein the first chip is further configured to send a first in-place message to the industrial control device if it is determined that the inspection robot moves to the charging position according to the positioning position sent by the positioning portion;
the industrial control equipment is used for sending a second in-place message to the second chip according to the first in-place message;
and the second chip sends a charging starting message to the charging receiver according to the second in-place message.
5. The inspection robot according to claim 3, wherein the industrial control device is further configured to receive a first charging instruction sent by the electronic device, and send a second charging instruction for instructing charging to start to the second chip of the inspection robot according to the first charging instruction, wherein the first charging instruction is used for instructing the inspection robot to charge a selected charging device;
and the second chip is used for sending a charging control instruction to a charging receiver of the inspection robot according to the second charging instruction so as to enable the charging receiver to start charging.
6. The inspection robot according to claim 5, wherein the first charging instruction is an instruction generated by a management system of the inspection robot running on the electronic device according to an inspection completion message sent by the inspection robot.
7. The inspection robot according to claim 5, wherein the first charging instruction is an instruction generated by a management system of the inspection robot running on the electronic device according to the received operation.
8. The inspection robot according to claim 4, further comprising a communication assembly electrically connected to the industrial control device, the industrial control device communicating with the electronic device through the communication assembly.
9. An inspection system, comprising: the inspection robot comprises a walking guide rail, a charging emitter and an inspection robot, wherein the charging emitter is arranged on the walking guide rail, the inspection robot is the inspection robot according to any one of claims 1-8, the inspection robot is movably arranged on the walking guide rail and can be matched with the charging emitter to charge the battery.
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| CN202111277270.3A CN113885523A (en) | 2021-10-29 | 2021-10-29 | Inspection robot and inspection system |
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