TW202201157A

TW202201157A - Ground-type self-touring inspection system for explosion-proof area

Info

Publication number: TW202201157A
Application number: TW109120357A
Authority: TW
Inventors: 吳宗勳; 郭憬勳; 何坤泰
Original assignee: 臺灣塑膠工業股份有限公司
Priority date: 2020-06-17
Filing date: 2020-06-17
Publication date: 2022-01-01

Abstract

A ground-type self-touring inspection system for explosion-proof area is used to inspect a plurality of apparatuses in the explosion-proof area and includes a ground and an inspection vehicle. The apparatuses are disposed on the ground. The inspection vehicle is configured to move on the ground and includes a vehicle body, and a control module, a driving module, a camera module and a communication module which are disposed on the vehicle body. The control module is electrically connected to the driving module to make the driving module drive the vehicle body to move. The control module is electrically connected to the camera module to make a camera body of the camera module move towards a direction of the apparatuses. The control module is electrically connected to the communication module for communication.

Description

防爆區之地面式自走巡檢系統Ground-type self-propelled inspection system for explosion-proof areas

本揭露有關一種移動檢查系統，特別關於一種防爆區之地面式自走巡檢系統。The present disclosure relates to a mobile inspection system, and in particular, to a ground-based self-propelled inspection system for explosion-proof areas.

在石化工業的工廠中，可能會有潛存易燃性氣體或蒸氣之危險場所，因此需要將危險場所做適當的電氣防爆區域劃分，也就是定義所謂的防爆區。對於防爆區而言，降低人員進入防爆區的次數以提高人員作業安全是相當重要的工作。然而，目前來說，仍然是由操作或檢測人員進入防爆區來進行作業或檢測，因而對人員及設備造成極大的潛在危機。此外，由於操作人員會帶著某種程度的心理負擔進入防爆區，以致增加檢測錯誤的機會。In the factories of the petrochemical industry, there may be dangerous places where flammable gases or vapors are potentially stored. Therefore, it is necessary to divide the dangerous places into appropriate electrical explosion-proof areas, that is, to define the so-called explosion-proof areas. For explosion-proof areas, it is very important to reduce the number of people entering the explosion-proof area to improve the safety of personnel. However, at present, operators or testing personnel still enter the explosion-proof area for operation or testing, thus causing a great potential crisis to personnel and equipment. In addition, since the operator enters the explosion-proof area with some degree of psychological burden, the chance of detection error is increased.

因此，需要一種防爆區之地面式自走巡檢系統，能夠代替作業人員進入防爆區進行檢測作業，藉以提升管理安全性及檢測準確性，並朝智能化發展。Therefore, there is a need for a ground-type self-propelled inspection system for explosion-proof areas, which can replace operators to enter the explosion-proof area for inspection operations, thereby improving management safety and inspection accuracy, and developing towards intelligence.

本揭露之目的在於提供一種防爆區之地面式自走巡檢系統，能夠代替作業人員進入防爆區進行檢測作業，藉以提升管理安全性及檢測準確性，並朝智能化發展。The purpose of the present disclosure is to provide a ground-type self-propelled inspection system for explosion-proof areas, which can replace operators to enter the explosion-proof area for inspection operations, thereby improving management safety and inspection accuracy, and developing towards intelligence.

根據本揭露之上述目的，提供一種防爆區之地面式自走巡檢系統，用於檢查防爆區之複數個設備並包括地面以及檢查載具。設備設置於地面上。檢查載具配置以移動於地面上，並具有載具體及設置於載具體之控制模組、驅動模組、攝像模組及通訊模組。控制模組電性連接驅動模組而使驅動模組驅動載具體移動。控制模組電性連接攝像模組而使攝像模組之攝像體朝設備之方向移動。控制模組電性連接通訊模組以進行通訊。According to the above object of the present disclosure, a ground-based self-propelled inspection system for explosion-proof areas is provided, which is used to inspect a plurality of equipment in explosion-proof areas, including the ground and inspection vehicles. The equipment is set on the ground. Check the configuration of the vehicle to move on the ground, and has the vehicle body and the control module, drive module, camera module and communication module arranged on the vehicle body. The control module is electrically connected to the drive module to make the drive module drive the carrier to move. The control module is electrically connected to the camera module to make the camera body of the camera module move toward the direction of the device. The control module is electrically connected to the communication module for communication.

依據本揭露之一實施例，驅動模組包含防爆馬達。According to an embodiment of the present disclosure, the driving module includes an explosion-proof motor.

依據本揭露之一實施例，地面式自走巡檢系統更包含充電電池模組以及電量偵測模組。充電電池模組供電予控制模組、驅動模組、攝像模組與通訊模組。電量偵測模組電性連接控制模組與充電電池模組，並配置以偵測充電電池模組之電量。According to an embodiment of the present disclosure, the ground-based self-propelled inspection system further includes a rechargeable battery module and a power detection module. The rechargeable battery module supplies power to the control module, the drive module, the camera module and the communication module. The power detection module is electrically connected to the control module and the rechargeable battery module, and is configured to detect the power of the rechargeable battery module.

依據本揭露之一實施例，地面式自走巡檢系統進行自動歸位充電程序，以使當檢查載具之電量低於設定值時，檢查載具自動移動至充電站進行充電。According to an embodiment of the present disclosure, the ground-based self-propelled inspection system performs an automatic homing charging procedure, so that when the power of the inspection vehicle is lower than the set value, the inspection vehicle automatically moves to the charging station for charging.

依據本揭露之一實施例，地面式自走巡檢系統更包含控制中心，控制模組經由通訊模組與控制中心進行通訊，控制模組及/或控制中心分析攝像模組之攝像資訊。According to an embodiment of the present disclosure, the ground-based self-propelled inspection system further includes a control center, the control module communicates with the control center through the communication module, and the control module and/or the control center analyzes the camera information of the camera module.

依據本揭露之一實施例，地面式自走巡檢系統更包含氣體感測模組，氣體感測模組設置於載具體並電性連接控制模組。According to an embodiment of the present disclosure, the ground-based self-propelled inspection system further includes a gas sensing module, and the gas sensing module is disposed on the carrier body and is electrically connected to the control module.

依據本揭露之一實施例，地面式自走巡檢系統進行氣體分析程序，以使控制模組及/或控制中心分析氣體感測模組之氣體資訊，控制中心經由通訊模組與控制模組進行通訊。According to an embodiment of the present disclosure, the ground-based self-propelled inspection system performs a gas analysis program, so that the control module and/or the control center analyzes the gas information of the gas sensing module, and the control center passes through the communication module and the control module. to communicate.

依據本揭露之一實施例，防爆區設置複數檢測點，當檢查載具移動於地面上時，地面式自走巡檢系統進行檢測點確定程序，以使檢查載具到達檢測點。According to an embodiment of the present disclosure, a plurality of detection points are set in the explosion-proof area. When the inspection vehicle moves on the ground, the ground-based self-propelled inspection system performs a detection point determination procedure, so that the inspection vehicle reaches the detection point.

依據本揭露之一實施例，防爆區設置複數檢測點，當檢查載具移動至檢測點時，地面式自走巡檢系統進行攝像位置確定程序，以使攝像模組之攝像體到達攝像位置。According to an embodiment of the present disclosure, a plurality of detection points are set in the explosion-proof area. When the inspection vehicle moves to the detection point, the ground-type self-propelled inspection system performs the camera position determination procedure, so that the camera body of the camera module reaches the camera position.

依據本揭露之一實施例，當攝像體到達攝像位置時，地面式自走巡檢系統進行影像分析程序，以使控制模組或控制中心分析該攝像模組之攝像資訊。According to an embodiment of the present disclosure, when the camera body reaches the camera position, the ground-based self-propelled inspection system performs an image analysis program, so that the control module or the control center analyzes the camera information of the camera module.

為讓本揭露的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。In order to make the above-mentioned features and advantages of the present disclosure more obvious and easy to understand, the following embodiments are given and described in detail in conjunction with the accompanying drawings as follows.

以下仔細討論本揭露的實施例。然而，可以理解的是，實施例提供許多可應用的概念，其可實施於各式各樣的特定內容中。所討論與揭示的實施例僅供說明，並非用以限定本揭露之範圍。本揭露的所有實施例揭露多種不同特徵，但這些特徵可依需求而單獨實施或結合實施。另外，關於本文中所使用之「第一」、「第二」、…等，並非特別指次序或順位的意思，其僅為了區別以相同技術用語描述的元件或操作。此外，本揭露所敘述之二元件之間的空間關係不僅適用於圖式所繪示之方位，亦適用於圖式所未呈現之方位，例如倒置之方位。此外，本揭露所稱二個部件的「連接」、「耦接」、「電性連接」或之類用語並非僅限制於此二者為直接的連接、耦接、或電性連接，亦可視需求而包含間接的連接、耦接、或電性連接。Embodiments of the present disclosure are discussed in detail below. It should be appreciated, however, that the embodiments provide many applicable concepts that can be embodied in a wide variety of specific contexts. The embodiments discussed and disclosed are for illustration only, and are not intended to limit the scope of the present disclosure. All the embodiments of the present disclosure disclose various features, but these features can be implemented individually or in combination as desired. In addition, "first", "second", . In addition, the spatial relationship between the two elements described in the present disclosure applies not only to the orientation shown in the drawings, but also to orientations not shown in the drawings, such as an inverted orientation. In addition, the terms "connected", "coupled", "electrically connected" or the like between two components referred to in this disclosure are not limited to direct connection, coupling, or electrical connection between the two components. Indirect connection, coupling, or electrical connection is included as required.

圖1為依據本揭露實施例之防爆區之地面式自走巡檢系統1的應用情景示意圖。如圖1所示，本揭露之地面式自走巡檢系統1用於檢查防爆區EP之複數個設備A，例如是應用於石化工業之防爆區。防爆區EP可以是依據政府單元所頒布法令來定義，或是由企業依據需求而定義。設備A例如是防爆區EP內的控制設備、製程設備、管線、或其他相關設備，於此不限制。FIG. 1 is a schematic diagram of an application scenario of a ground-type self-propelled inspection system 1 in an explosion-proof area according to an embodiment of the present disclosure. As shown in FIG. 1 , the ground-type self-propelled inspection system 1 of the present disclosure is used to inspect a plurality of devices A in an explosion-proof area EP, for example, it is applied to an explosion-proof area in the petrochemical industry. The explosion-proof area EP can be defined according to the decree issued by the government unit, or defined by the enterprise according to the needs. The equipment A is, for example, control equipment, process equipment, pipelines, or other related equipment in the explosion-proof area EP, which is not limited thereto.

在防爆區EP內，地面式自走巡檢系統1包括地面11及檢查載具12。設備A設置於地面11上，檢查載具12配置以移動於地面11上。檢查載具12具有載具體121，載具體121上設置所需部件以達到所需功能。在本實施例中，地面11可設置複數檢測點DP。在一實施例中，藉由設定檢查載具12所要通過的檢測點DP，可預先設定檢查載具12所要行經的動線。In the explosion-proof area EP, the ground-based self-propelled inspection system 1 includes a ground 11 and an inspection vehicle 12 . The device A is installed on the ground 11 , and the inspection vehicle 12 is configured to move on the ground 11 . The inspection carrier 12 has a carrier body 121 on which required components are arranged to achieve required functions. In this embodiment, a plurality of detection points DP may be set on the ground 11 . In one embodiment, by setting the detection point DP to be passed by the inspection vehicle 12 , the moving line to be traveled by the inspection vehicle 12 can be preset.

在一實施例中，當檢查載具12行進到檢測點DP時，檢查載具12可停等在檢測點DP來進行檢測。然而，本發明實施例之檢查載具12並不受限於在檢測點DP進行檢測。在其他實施例中，檢查載具12可在任意位置進行檢測。另外，為讓檢查載具12到達檢測點DP，地面11上可設置位置資訊點IP。當檢查載具12通過位置資訊點IP時，檢查載具12可根據位置資訊點IP得到檢查載具12目前的位置資訊，進而判斷出檢測點DP與目前位置的距離，以行駛到下一檢測點DP。在一些實施例中，位置資訊點IP更可提供下一個檢測點DP的位置資訊。如此，檢查載具12便可在到達檢測點DP時停止移動並進行檢測。在其他實施例中，位置資訊點IP亦可作為檢測點DP，意即當檢測載具12取得位置資訊點IP之位置資訊時，即停止移動並可進行檢測。In one embodiment, when the inspection vehicle 12 travels to the inspection point DP, the inspection vehicle 12 may stop at the inspection point DP for inspection. However, the inspection vehicle 12 of the embodiment of the present invention is not limited to perform inspection at the inspection point DP. In other embodiments, inspection vehicle 12 may perform inspections at any location. In addition, in order for the inspection vehicle 12 to reach the detection point DP, a position information point IP may be set on the ground 11 . When the inspection vehicle 12 passes the location information point IP, the inspection vehicle 12 can obtain the current location information of the inspection vehicle 12 according to the location information point IP, and then determine the distance between the detection point DP and the current position, so as to drive to the next inspection Click DP. In some embodiments, the location information point IP can further provide the location information of the next detection point DP. In this way, the inspection vehicle 12 can stop moving and perform inspection when it reaches the inspection point DP. In other embodiments, the location information point IP can also be used as the detection point DP, that is, when the detection vehicle 12 obtains the location information of the location information point IP, it stops moving and can perform detection.

另外，當檢查載具12藉由程式執行來到達檢測點時，檢測點是藉由程式來決定並設置，並且在這樣的實施例中可不需設置位置資訊點。In addition, when the inspection vehicle 12 is executed by the program to reach the detection point, the detection point is determined and set by the program, and in such an embodiment, the location information point may not be set.

另外，如圖1所示，在本實施例中，地面式自走巡檢系統1可更包含充電站C。充電站C例如設置於防爆區EP外，檢查載具12可至充電站C進行充電。充電站C亦可作為維修站，以讓工作人員對檢查載具12進行維護。In addition, as shown in FIG. 1 , in this embodiment, the ground-based self-propelled inspection system 1 may further include a charging station C. For example, the charging station C is set outside the explosion-proof area EP, and the inspection vehicle 12 can go to the charging station C for charging. The charging station C can also be used as a maintenance station to allow staff to maintain the inspection vehicle 12 .

圖2為本揭露實施例之防爆區之地面式自走巡檢系統1的功能方塊圖。請參照圖2所示，地面式自走巡檢系統1包含控制模組122、驅動模組123、攝像模組124及通訊模組125。驅動模組123、攝像模組124及通訊模組125皆電性連接於控制模組122。在一實施例中，控制模組122例如包含中央處理單元(CPU)、或微控制單元(MCU)、記憶體、程式、或其他所需數位積體電路、或軟體、或硬體、或韌體等等。FIG. 2 is a functional block diagram of the ground-type self-propelled inspection system 1 in the explosion-proof area according to the disclosed embodiment. Referring to FIG. 2 , the ground-type self-propelled inspection system 1 includes a control module 122 , a driving module 123 , a camera module 124 and a communication module 125 . The driving module 123 , the camera module 124 and the communication module 125 are all electrically connected to the control module 122 . In one embodiment, the control module 122 includes, for example, a central processing unit (CPU), or a microcontroller unit (MCU), memory, programs, or other required digital integrated circuits, or software, or hardware, or firmware. body and so on.

控制模組122電性連接驅動模組123而使驅動模組123驅動載具體121(圖1)移動。在一實施例中，驅動模組123可包含讓載具體121移動之組件，例如馬達、傳動組件、齒輪組件、履帶、或桿馬式車輪等等，但本揭露不限於此。其中，驅動模組123可包含防爆馬達，以適合於防爆應用。防爆馬達配置以驅動車輪或履帶。防爆馬達例如是藉由機構及/或電路手段而達到防爆功能，在機構上例如是在馬達外增設屏蔽體，以避免火花外洩。The control module 122 is electrically connected to the driving module 123 so that the driving module 123 drives the carrier body 121 ( FIG. 1 ) to move. In one embodiment, the driving module 123 may include components for moving the carrier body 121 , such as motors, transmission components, gear components, tracks, or pole-horse wheels, etc., but the present disclosure is not limited thereto. Wherein, the driving module 123 may include an explosion-proof motor, so as to be suitable for explosion-proof applications. Explosion proof motor configuration to drive wheels or tracks. For example, the explosion-proof motor achieves the explosion-proof function by means of mechanism and/or circuit means, for example, a shielding body is added outside the motor in the mechanism to prevent sparks from leaking out.

控制模組122電性連接攝像模組124。藉由控制模組122之控制，攝像模組124之攝像體可朝設備A(圖1)之方向移動，例如是朝三軸方向之任一者及/或旋轉之方向移動，以對設備A進行攝像。在一實施例中，攝像模組124之攝像體例如包含電荷耦合元件(charge coupled device, CCD)或互補式金屬氧化物半導體(complementary metal-oxide-semiconductor, CMOS)。另外，攝像模組124可依據需求包含支架、延伸組件、固定件、樞軸等等。在本實施例中，攝像模組124至少包含延伸組件以讓攝像體朝所需方向移動並可對設備A進行攝像。在其他實施例中，攝像體1241可直接朝前方攝像，以避免檢查載具12撞到前方物體，例如工作人員或維修用管線。此外，在另一實施例中，攝像模組124可更包含其他攝像體以達到多重攝像的功能，或是地面式自走巡檢系統1包含多個攝像模組。The control module 122 is electrically connected to the camera module 124 . Under the control of the control module 122, the camera body of the camera module 124 can move in the direction of the device A (FIG. 1), for example, in any one of the three-axis directions and/or in the direction of rotation, so as to detect the device A. Take a picture. In one embodiment, the camera body of the camera module 124 includes, for example, a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS). In addition, the camera module 124 may include brackets, extension components, fixing parts, pivots, and the like according to requirements. In this embodiment, the camera module 124 at least includes an extension component to allow the camera body to move in a desired direction and to image the device A. In other embodiments, the camera body 1241 may directly face forward to avoid the inspection vehicle 12 hitting a front object, such as a worker or a maintenance pipeline. In addition, in another embodiment, the camera module 124 may further include other cameras to achieve multiple camera functions, or the ground-type self-propelled inspection system 1 may include multiple camera modules.

控制模組122電性連接通訊模組125以對外進行通訊，於此不限制通訊模組125之型式及類別，其例如是有線通訊模組、或無線通訊模組、或其組合，其中無線通訊模組例如是利用行動通訊技術(例如4G或5G)或者依據無線數據網路標準(例如Wi-Fi或WIMAX)而達成。The control module 122 is electrically connected to the communication module 125 for external communication, and the type and type of the communication module 125 are not limited here. For example, it is a wired communication module, a wireless communication module, or a combination thereof, wherein the wireless communication The module is implemented by, for example, using a mobile communication technology (such as 4G or 5G) or according to a wireless data network standard (such as Wi-Fi or WIMAX).

請參照圖2所示，地面式自走巡檢系統1更包含控制中心13。控制中心13例如是設置於防爆區EP之外，並可與控制模組122進行通訊。在本實施例中，控制模組122經由通訊模組125而與控制中心13進行通訊。控制中心13例如包含電腦、伺服器或其他計算裝置與周邊設備等等。控制中心13可接收檢查載具12所取得之資訊及/或對控制模組122進行遠端控制。在本實施例中，控制中心13可接收檢查載具12之資訊，並可隨時對控制模組122進行遠端中斷程序，以中斷控制模組122所進行之程序，藉此提升地面式自走巡檢系統1的安全管理。Referring to FIG. 2 , the ground-type self-propelled inspection system 1 further includes a control center 13 . The control center 13 is disposed outside the explosion-proof zone EP, for example, and can communicate with the control module 122 . In this embodiment, the control module 122 communicates with the control center 13 via the communication module 125 . The control center 13 includes, for example, a computer, a server or other computing devices and peripheral devices, and the like. The control center 13 can receive the information obtained by the inspection vehicle 12 and/or perform remote control of the control module 122 . In this embodiment, the control center 13 can receive the information of the inspection vehicle 12, and can perform a remote interruption procedure on the control module 122 at any time, so as to interrupt the procedure performed by the control module 122, thereby improving the ground self-propelled Safety management of inspection system 1.

另外，如圖2所示，本實施例之地面式自走巡檢系統1可更包含氣體感測模組126，其電性連接於控制模組122並感測氣體。於此不限制氣體感測模組126所感測之氣體種類，例如是二氧化碳、氮氣、氦氣，或者是惰性氣體或有毒氣體等等。在其他實施例中，地面式自走巡檢系統1可包含多個不同的氣體感測模組以偵測不同氣體。In addition, as shown in FIG. 2 , the ground-based self-propelled inspection system 1 of this embodiment may further include a gas sensing module 126 , which is electrically connected to the control module 122 and senses gas. The type of gas sensed by the gas sensing module 126 is not limited here, such as carbon dioxide, nitrogen, helium, or inert gas or toxic gas, and the like. In other embodiments, the ground-based self-propelled inspection system 1 may include a plurality of different gas sensing modules to detect different gases.

此外，本實施例之地面式自走巡檢系統1可更包含感應模組127，其電性連接於控制模組122，並可提供感應資訊以作為檢查載具12行駛路徑的依據。在本實施例中，感應模組127可感測光訊號、電訊號、磁訊號或影像而取得感應資訊。在本實施例中，感應模組127是以攝像模組為例，並且其可例如對圖1之位置資訊點IP進行攝像而取得符合的感應資訊，進而讓檢查載具12到達檢測點DP，此技術會在下面進一步說明。需注意的是，當檢查載具12的行駛路徑是由程式規劃時，則可不需設置感應模組127。In addition, the ground-based self-propelled inspection system 1 of this embodiment may further include a sensing module 127 , which is electrically connected to the control module 122 and can provide sensing information as a basis for inspecting the traveling path of the vehicle 12 . In this embodiment, the sensing module 127 can obtain sensing information by sensing optical signals, electrical signals, magnetic signals or images. In this embodiment, the sensing module 127 is an example of a camera module, and it can, for example, photograph the position information point IP in FIG. 1 to obtain the corresponding sensing information, and then allow the inspection vehicle 12 to reach the detection point DP, This technique is further explained below. It should be noted that, when the traveling path of the inspection vehicle 12 is planned by a program, the sensing module 127 may not be provided.

除了攝像模組124、氣體感測模組126與感應模組127之外，地面式自走巡檢系統1可視需求而更包含其他感測器或功能部件，例如是光感測器、位置感測器或聲音感測器等等，亦可視需求設置定位模組。In addition to the camera module 124 , the gas sensing module 126 and the sensing module 127 , the ground-based self-propelled inspection system 1 may further include other sensors or functional components as required, such as a light sensor, a position sensor A detector or a sound sensor, etc., and a positioning module can also be set as required.

當攝像模組124、氣體感測模組126或其他感測器進行感測並取得資訊後，控制模組122可將這些資訊，例如是攝像模組124之攝像資訊、或氣體感測模組126之氣體資訊，儲存於檢查載具12及/或控制中心13。After the camera module 124, the gas sensing module 126 or other sensors sense and obtain information, the control module 122 can use the information, for example, the camera information of the camera module 124 or the gas sensing module. The gas information of 126 is stored in the inspection vehicle 12 and/or the control center 13 .

在取得上述資訊後，控制模組122及/或控制中心13可對這些資訊進行即時分析或後續分析。其中，控制中心13可例如包含雲端伺服器(cloud server)。After obtaining the above information, the control module 122 and/or the control center 13 can perform real-time analysis or subsequent analysis on the information. The control center 13 may include, for example, a cloud server.

此外，如圖2所示，本實施例之地面式自走巡檢系統1可更包含使用者介面128，其電性連接於控制模組122。操作者可對使用者介面128進行操作而執行地面式自走巡檢系統1之多種功能，例如是資訊的存取、參數的改變、程序的安排等等。舉例來說，操作者可經由使用者介面128進行自動/手動的模式切換。In addition, as shown in FIG. 2 , the ground-based self-propelled inspection system 1 of the present embodiment may further include a user interface 128 which is electrically connected to the control module 122 . The operator can operate the user interface 128 to perform various functions of the ground-based self-propelled inspection system 1, such as information access, parameter change, program arrangement, and the like. For example, the operator can perform automatic/manual mode switching via the user interface 128 .

圖3為依據本揭露實施例之地面式自走巡檢系統1之電源部分的功能方塊圖。如圖3所示，地面式自走巡檢系統1可更包含充電電池模組201及電量偵測模組202。充電電池模組201供電予圖2所示之控制模組122、驅動模組123、攝像模組124與通訊模組125。在本實施例中，充電電池模組201更供電予其他模組，如氣體感測模組126、感應模組127及使用者介面128。電量偵測模組202電性連接控制模組122與充電電池模組201，並可偵測充電電池模組201之電量。當電量低於某設定值時，控制模組122可經由通訊模組125傳送電量不足之資訊給控制中心13。另外，在一實施例中，電量偵測模組202可在任何時間、或以固定時間間隔偵測充電電池模組201之電量，控制模組13可經由通訊模組125傳送電量資訊給控制中心13。FIG. 3 is a functional block diagram of a power supply part of the ground-based self-propelled inspection system 1 according to an embodiment of the present disclosure. As shown in FIG. 3 , the ground-type self-propelled inspection system 1 may further include a rechargeable battery module 201 and a power detection module 202 . The rechargeable battery module 201 supplies power to the control module 122 , the driving module 123 , the camera module 124 and the communication module 125 shown in FIG. 2 . In this embodiment, the rechargeable battery module 201 further supplies power to other modules, such as the gas sensing module 126 , the sensing module 127 and the user interface 128 . The power detection module 202 is electrically connected to the control module 122 and the rechargeable battery module 201 , and can detect the power of the rechargeable battery module 201 . When the power is lower than a certain set value, the control module 122 can transmit the information of insufficient power to the control center 13 via the communication module 125 . In addition, in one embodiment, the power level detection module 202 can detect the power level of the rechargeable battery module 201 at any time or at a fixed time interval, and the control module 13 can transmit the power level information to the control center via the communication module 125 13.

需注意的是，上述實施例之部件的設置或數量僅為舉例說明，而非用以限制本揭露。上述部件之數量可依需求而增加、或減少，亦可按需要省略某部件之設置。It should be noted that, the arrangement or quantity of the components in the above-mentioned embodiments are only illustrative, and are not intended to limit the present disclosure. The number of the above components can be increased or decreased as required, and the arrangement of certain components can also be omitted as required.

圖4是本揭露實施例之地面式自走巡檢系統1的示意圖。如圖4所示，檢查載具12具有載具體121，其可依據需求而具有不同的形狀或構造，並可承載或容置多種部件以進行所需作業。舉例來說，載具體121上可設置圖2之控制模組122、驅動模組123、攝像模組124、通訊模組125、氣體感測模組126、感應模組127及使用者介面128。於此，圖4以繪示攝像模組124、通訊模組125、氣體感測模組126及感應模組127為例子作說明。舉例來說，攝像模組124可設置於載具體121之前面，以方便攝像模組124之攝像體1241沿不同方向移動及/或不同角度轉動；通訊模組125可設置於載具體121的上面以得到更佳的通訊品質，例如是通訊模組125的天線設置於載具體121上面；氣體感測模組126可設置於載具體121靠近上面的部位以感測較上方的空氣；感應模組127可設置於載具體121的前面或下面以方便對設置於地面11之檢測點DP及/或位置資訊點IP進行感應。在圖4所示之實施例中，上述部件所設置的位置僅為舉例說明，而非用以限制本揭露，上述部件及其他部件可設置於任何所需位置。FIG. 4 is a schematic diagram of a ground-type self-propelled inspection system 1 according to an embodiment of the present disclosure. As shown in FIG. 4 , the inspection carrier 12 has a carrier body 121 , which can have different shapes or structures according to requirements, and can carry or accommodate various components to perform required operations. For example, the control module 122 , the driving module 123 , the camera module 124 , the communication module 125 , the gas sensing module 126 , the sensing module 127 and the user interface 128 shown in FIG. 2 can be arranged on the carrier body 121 . Here, FIG. 4 takes the camera module 124 , the communication module 125 , the gas sensing module 126 and the sensing module 127 as an example for illustration. For example, the camera module 124 can be arranged on the front of the carrier body 121 to facilitate the camera body 1241 of the camera module 124 to move in different directions and/or to rotate at different angles; the communication module 125 can be arranged on the top of the carrier body 121 In order to obtain better communication quality, for example, the antenna of the communication module 125 is arranged above the carrier body 121; the gas sensing module 126 can be arranged at the position close to the upper part of the carrier body 121 to sense the air above; the sensing module 127 can be arranged in front of or below the carrier body 121 to facilitate sensing of the detection point DP and/or the position information point IP arranged on the ground 11 . In the embodiment shown in FIG. 4 , the positions of the above-mentioned components are only illustrative, and are not intended to limit the present disclosure, and the above-mentioned components and other components may be arranged at any desired positions.

另外，如圖4所示，在本實施例中，圖2之驅動模組123可包含悍馬車輪1231，悍馬車輪1231設置於載具體121下方並能駛過障礙物O(例如凸形地面或管槽)，以避免障礙物O阻擋檢查載具12。在其他實施例中，可用履帶或其他能駛過障礙物O之部件來代替悍馬車輪1231。In addition, as shown in FIG. 4 , in this embodiment, the driving module 123 of FIG. 2 may include a Hummer wheel 1231 . The Hummer wheel 1231 is disposed under the vehicle body 121 and can drive over obstacles O (such as a convex ground or a pipe). slot) to avoid obstruction O from blocking inspection vehicle 12. In other embodiments, the Humvee wheels 1231 may be replaced by crawlers or other components capable of driving over obstacles O.

在本揭露之多個實施例中，具有上述部件之地面式自走巡檢系統1可進行多種程序，以下舉例說明之，但非用以限制本揭露。並且各程序之步驟僅為舉例，各程序可依需求調整、增加、或減少步驟。In various embodiments of the present disclosure, the ground-based self-propelled inspection system 1 having the above-mentioned components can perform various procedures, which are exemplified below, but are not intended to limit the present disclosure. Moreover, the steps of each procedure are only examples, and each procedure can be adjusted, added, or reduced in steps according to requirements.

如圖5所示，在一實施例中，地面式自走巡檢系統1可進行氣體分析程序S1，其包含取得氣體資訊(S11)、依據氣體資訊判定是否有危險(S12)、當判定結果為否時，產生氣體分析結果(S13)、以及當判定結果為是時，發出警示訊號(S14)。上述之「危險」是依據需求而定義，而非只限制在某種情況；危險可例如包含某氣體含量超過設定值之情況，設定值可例如為氣體的總量及/或濃度。其中，請搭配圖2，步驟S11可由氣體感測模組126進行；步驟S12可由控制模組122及/或控制中心13進行，並可接著進行步驟S13或步驟S14。氣體分析結果可儲存於檢查載具12之儲存單元及/或控制中心13。警示訊號例如為警報、聲響、燈光或其他具有警示效果之訊號。此外，在一實施例中，在步驟S14之前、同時或之後可加上停止檢查載具12之移動之步驟。另外，在其他實施例中，氣體分析程序(S1)可在任何時間點進行、或是在某些時間點進行，例如是間隔一段時間進行、或者可在檢查載具12到達檢測點DP及/或位置資訊點IP時進行。As shown in FIG. 5 , in one embodiment, the ground-based self-propelled inspection system 1 can perform a gas analysis procedure S1 , which includes obtaining gas information ( S11 ), determining whether there is danger according to the gas information ( S12 ), and when the determination result is When no, a gas analysis result is generated (S13), and when the determination result is yes, a warning signal is issued (S14). The above-mentioned "hazard" is defined according to the needs, not limited to a certain situation; the danger may include, for example, a situation where the content of a certain gas exceeds a set value, such as the total amount and/or concentration of the gas. Wherein, please refer to FIG. 2 , step S11 may be performed by the gas sensing module 126 ; step S12 may be performed by the control module 122 and/or the control center 13 , and then step S13 or step S14 may be performed. The gas analysis results can be stored in the storage unit of the inspection vehicle 12 and/or the control center 13 . The warning signal is, for example, an alarm, sound, light or other signal with warning effect. In addition, in one embodiment, the step of stopping the movement of the inspection carrier 12 may be added before, simultaneously with or after step S14. In addition, in other embodiments, the gas analysis procedure (S1) may be performed at any point in time, or may be performed at certain points in time, such as at intervals, or may be performed when the inspection vehicle 12 reaches the detection point DP and/or or location information point IP.

以下說明檢測點確定程序。當檢查載具12移動於地面11上時，地面式自走巡檢系統1進行檢測點確定程序，以使檢查載具12到達檢測點DP。在一實施例中，檢測點確定程序可由程式完成，例如預先設定檢查載具12移動路徑及移動路徑上的檢測點，如此藉由執行程式即可進行檢測點確定程序，而使移動檢查系統1到達各檢測點。The detection point determination procedure will be described below. When the inspection vehicle 12 moves on the ground 11 , the ground-type self-propelled inspection system 1 performs a detection point determination procedure, so that the inspection vehicle 12 reaches the detection point DP. In one embodiment, the detection point determination procedure can be completed by a program, for example, the movement path of the inspection vehicle 12 and the detection points on the movement path are preset, so that the detection point determination procedure can be performed by executing the program, so that the inspection system 1 can be moved. to each detection point.

在另一實施例中，檢測點確定程序可由感應方式來進行，例如是在地面11之檢測點DP或其附近(例如檢測點之前)、或位置資訊點IP設置標記，並感應標記以進行檢測點確定程序，例如是感應標記的光訊號、電訊號、磁訊號或影像，於此並不限制。舉例來說，如圖6所示，地面式自走巡檢系統1進行檢測點確定程序S2，其包含移動檢查載具12(S21)、是否取得符合的感應資訊(S22)、當結果為是時，依據感應資訊移動檢查載具12至檢測點DP(S23)、以及當結果為否時，回到步驟S21。其中，請搭配圖2，步驟S21可由驅動模組123進行；步驟S22可由感應模組127進行，感應模組127例如為攝像模組或無線射頻辨識(RFID)模組。如果需要判定的話，可由控制模組122及/或控制中心13進行。之後，步驟S23可由控制模組122控制驅動模組123，而使驅動模組123驅動載具體121移動至檢測點DP。在步驟S23中，可利用感應資訊及程式輔助而使檢查載具12移動至檢測點DP。In another embodiment, the detection point determination process can be performed by induction, for example, a marker is set at or near the detection point DP on the ground 11 (eg, before the detection point), or the location information point IP, and the marker is sensed for detection The point determination process, such as the optical signal, electrical signal, magnetic signal or image of the sensing mark, is not limited here. For example, as shown in FIG. 6 , the ground-based self-propelled inspection system 1 performs a detection point determination procedure S2, which includes moving the inspection vehicle 12 (S21), whether to obtain the corresponding sensing information (S22), and when the result is yes , move the inspection vehicle 12 to the detection point DP according to the sensing information ( S23 ), and when the result is no, return to step S21 . 2, step S21 can be performed by the driving module 123; step S22 can be performed by the sensing module 127, and the sensing module 127 is, for example, a camera module or a radio frequency identification (RFID) module. If necessary, the determination can be performed by the control module 122 and/or the control center 13 . After that, in step S23, the control module 122 can control the driving module 123, so that the driving module 123 drives the carrier body 121 to move to the detection point DP. In step S23, the inspection vehicle 12 can be moved to the detection point DP using the sensing information and program assistance.

另外，在一實施例中，本揭露之檢測點DP可由操作人員於檢查載具12及/或控制中心13進行調整或設定。In addition, in one embodiment, the detection point DP of the present disclosure can be adjusted or set by the operator on the inspection vehicle 12 and/or the control center 13 .

當檢查載具12移動至該些檢測點DP之其一者時，地面式自走巡檢系統1可進行攝像位置確定程序，以使攝像模組124之攝像體1241(圖4)到達攝像位置以針對目標物進行攝像。在一實施例中，攝像位置確定程序可由程式完成，例如預先設定攝像體1241的移動路徑及移動路徑上的攝像位置，如此藉由執行程式即可進行攝像位置確定程序，而使攝像體1241移動到各攝像位置。需注意者，在本文中，移動攝像體1241到攝像位置可包含旋轉攝像體1241到指定方位。When the inspection vehicle 12 moves to one of the detection points DP, the ground-type self-propelled inspection system 1 can perform the camera position determination procedure, so that the camera body 1241 ( FIG. 4 ) of the camera module 124 reaches the camera position to take a picture of the target. In one embodiment, the camera position determination procedure can be completed by a program, for example, the moving path of the camera body 1241 and the camera position on the moving path are preset, so that the camera position determination procedure can be performed by executing the program, and the camera body 1241 can be moved. to each camera position. It should be noted that, herein, moving the camera 1241 to the camera position may include rotating the camera 1241 to a specified orientation.

在另一實施例中，攝像位置確定程序可由類似前述的感應方式來進行，即在攝像體1241之路徑上設置標記，並感應標記以進行攝像位置確定程序，例如是感應標記的光訊號、電訊號、磁訊號或影像，於此並不限制。在此以圖7舉例說明之，如圖7所示，地面式自走巡檢系統1進行攝像位置確定程序S3，其包含移動攝像體1241(S31)、是否取得符合的感應資訊(S32)、當結果為是時，停止攝像體1241(S33)、以及當結果為否時，回到步驟S31。其中，請搭配圖2，步驟S31可由攝像模組124進行而使攝像體1241延伸及/或旋轉；步驟S32可由攝像模組124或其他功能模組進行，例如無線射頻辨識(RFID)模組。如果需要判定的話，可由控制模組122及/或控制中心13進行。之後，進行步驟S33或回到步驟S31。當攝像體1241到達攝像位置時，攝像體1241可進行攝像，例如是對某設備A之儀表板或設備A之附近(例如為了避免有人員位於設備A旁邊)進行攝像。上述攝像資訊皆可傳輸至控制模組122及/或控制中心13進行分析。In another embodiment, the imaging position determination process can be performed by a similar sensing method as described above, that is, a marker is placed on the path of the camera body 1241, and the marker is sensed to perform the imaging position determination process, such as sensing the optical signal of the marker, telecommunication signal, magnetic signal or image, which is not limited here. Here, FIG. 7 is used as an example. As shown in FIG. 7 , the ground-based self-propelled inspection system 1 performs a camera position determination procedure S3, which includes moving the camera 1241 (S31), whether to obtain the corresponding sensing information (S32), When the result is YES, the camera 1241 is stopped (S33), and when the result is NO, the process returns to step S31. 2 , step S31 may be performed by the camera module 124 to extend and/or rotate the camera body 1241 ; step S32 may be performed by the camera module 124 or other functional modules, such as a radio frequency identification (RFID) module. If necessary, the determination can be performed by the control module 122 and/or the control center 13 . After that, go to step S33 or return to step S31. When the camera body 1241 reaches the camera position, the camera body 1241 can take pictures, for example, the instrument panel of a certain device A or the vicinity of the device A (for example, in order to avoid a person beside the device A). The above camera information can be transmitted to the control module 122 and/or the control center 13 for analysis.

當攝像體1241到達攝像位置時，地面式自走巡檢系統1可進行影像分析程序，以使控制模組122及/或控制中心13分析攝像模組124之攝像資訊。如圖8所示，在一實施例中，地面式自走巡檢系統1可進行影像分析程序S4，其包含取得攝像資訊(S41)、依據攝像資訊判定是否有危險(S42)、當判定結果為否時，產生攝像分析結果(S43)、當判定結果為是時，發出警示訊號(S44)。上述之「危險」是依據需求而定義，而非只限制在某種情況；危險可例如包含某設備A之儀表板上之數據異常、或是有人員位於設備A旁邊。其中，請搭配圖2，步驟S41可由攝像模組124進行；步驟S42可由控制模組122及/或控制中心13進行。之後，進行步驟S43或步驟S44。攝像分析結果可儲存於檢查載具12之儲存單元及/或控制中心13。警示訊號例如為警報、聲響、燈光或其他具有警示效果之訊號。When the camera body 1241 arrives at the camera position, the ground-based self-propelled inspection system 1 can perform an image analysis program, so that the control module 122 and/or the control center 13 analyze the camera information of the camera module 124 . As shown in FIG. 8 , in one embodiment, the ground-based self-propelled inspection system 1 can perform an image analysis program S4, which includes acquiring camera information (S41), determining whether there is danger according to the camera information (S42), and when the determination result is performed When the result is no, the camera analysis result is generated (S43), and when the determination result is yes, a warning signal is issued (S44). The above "hazard" is defined according to the needs, not limited to a certain situation; the danger can include, for example, an abnormal data on the instrument panel of a certain device A, or a person sitting next to the device A. Wherein, please refer to FIG. 2 , step S41 may be performed by the camera module 124 ; step S42 may be performed by the control module 122 and/or the control center 13 . After that, step S43 or step S44 is performed. The camera analysis results can be stored in the storage unit of the inspection vehicle 12 and/or the control center 13 . The warning signal is, for example, an alarm, sound, light or other signal with warning effect.

在其他實施例中，影像分析程序並非只應用於當攝像體1241在攝像位置之情況，亦可應用於其他時間點，例如是以固定間隔時間來進行。In other embodiments, the image analysis procedure is not only applied when the camera body 1241 is at the imaging position, but can also be applied to other time points, such as at a fixed interval.

另外，在電力方面，本實施例之地面式自走巡檢系統1可進行自動歸位充電程序，當檢查載具之電量低於設定值時，將檢查載具12移動至充電站C(圖1)進行充電。自動歸位充電程序可藉由控制模組122來進行，例如控制模組122依據自動歸位充電程式來進行自動歸位充電程序。在此以圖9舉例說明之。圖9為本揭露實施例之地面式自走巡檢系統1進行自動歸位充電程序S5的流程圖，如圖9所示，自動歸位充電程序S5包含偵測電量(S51)、電量是否低於設定值(S52)、若結果為否則回到步驟S51、若結果為是則確定最短路徑(S53)、依據最短路徑移動檢查載具12至充電站C(S54)。以下請搭配圖2及圖3說明上述步驟。其中，在步驟S51時，可由電量偵測模組202對充電電池模組201進行電量偵測。在步驟S52及S53中，當控制模組122經由電量偵測模組202確定電量低於設定值時，控制模組122確定最短路徑，這可由程式輔助進行。在步驟S54中，控制模組122依據最短路徑控制驅動模組123，使檢查載具12移動至充電站C進行充電。需注意者，在其他實施例中，上述步驟皆可依實際需求作調整，例如步驟S53為非必要或可由其他步驟代替。In addition, in terms of power, the ground-based self-propelled inspection system 1 of this embodiment can perform an automatic homing charging procedure. When the power of the inspection vehicle is lower than the set value, the inspection vehicle 12 is moved to the charging station C (Fig. 1) Carry out charging. The automatic homing charging procedure can be performed by the control module 122. For example, the control module 122 performs the automatic homing charging procedure according to the automatic homing charging procedure. Figure 9 is used as an example to illustrate this. FIG. 9 is a flowchart of an automatic homing charging procedure S5 performed by the ground-based self-propelled inspection system 1 of the disclosed embodiment. As shown in FIG. 9 , the automatic homing charging procedure S5 includes detecting the power level ( S51 ) and whether the power level is low In the setting value ( S52 ), if the result is otherwise, return to step S51 , if the result is yes, determine the shortest path ( S53 ), and move the inspection vehicle 12 to the charging station C according to the shortest path ( S54 ). Please refer to FIG. 2 and FIG. 3 to describe the above steps. Wherein, in step S51 , the electric quantity detection module 202 can perform electric quantity detection on the rechargeable battery module 201 . In steps S52 and S53, when the control module 122 determines through the power level detection module 202 that the power level is lower than the set value, the control module 122 determines the shortest path, which can be assisted by a program. In step S54, the control module 122 controls the driving module 123 according to the shortest path, so that the inspection vehicle 12 is moved to the charging station C for charging. It should be noted that, in other embodiments, the above steps can be adjusted according to actual needs. For example, step S53 is unnecessary or can be replaced by other steps.

在一實施例中，可依需求安排上述程序的進行，以下以圖10舉例說明之，但非用以限制本揭露。In one embodiment, the above-mentioned procedures can be arranged according to requirements, and FIG. 10 is used as an example to illustrate the following, but it is not intended to limit the present disclosure.

如圖10所示，地面式自走巡檢系統1依序進行檢測點確定程序S2、攝像位置確定程序S3、氣體分析程序S1、影像分析程序S4及自動歸位充電程序S5。其中，在檢測點確定程序S2完成後，檢查載具12可到達檢測點；在攝像位置確定程序S3完成後，攝像體1241可到達攝像位置；之後可依序進行氣體分析程序S1以及影像分析程序S4，以得到氣體分析結果與攝像分析結果、或是發出警示訊號。當然，在其他實施例中亦可同時進行氣體分析程序S1與影像分析程序S4，或是先進行影像分析程序S4再進行氣體分析程序S1。之後可進行自動歸位充電程序S5以避免電力不足情況。As shown in FIG. 10 , the ground-based self-propelled inspection system 1 sequentially performs the detection point determination procedure S2 , the camera position determination procedure S3 , the gas analysis procedure S1 , the image analysis procedure S4 and the automatic homing charging procedure S5 . Wherein, after the detection point determination program S2 is completed, the inspection vehicle 12 can reach the detection point; after the imaging position determination program S3 is completed, the camera body 1241 can reach the imaging position; after that, the gas analysis program S1 and the image analysis program can be sequentially performed S4, to obtain the gas analysis result and the camera analysis result, or to issue a warning signal. Of course, in other embodiments, the gas analysis program S1 and the image analysis program S4 may also be performed simultaneously, or the image analysis program S4 may be performed first and then the gas analysis program S1 may be performed. Afterwards, the automatic homing charging procedure S5 can be performed to avoid the power shortage situation.

由以上說明可知，本揭露之防爆區之地面式自走巡檢系統包含地面以及移動於地面之檢查載具。地面式自走巡檢系統藉由控制模組、驅動模組、攝像模組及通訊模組而能進行多種檢查程序並達到多種功能，進而能夠代替作業人員進入防爆區進行檢測作業，藉以提升安全管理及檢測準確性，並朝智能化發展。此外，藉由上述配置，檢查載具之作業可不影響現場製程系統，也不會干擾人員作業。另外，地面式自走巡檢系統更包含控制中心，操作人員在可在控制中心對檢查載具進行遠端控制，進而提升管理安全性及任務執行效率。As can be seen from the above description, the ground-based self-propelled inspection system for explosion-proof areas of the present disclosure includes the ground and an inspection vehicle that moves on the ground. The ground-type self-propelled inspection system can carry out various inspection procedures and achieve various functions through the control module, drive module, camera module and communication module, and then can replace the operator to enter the explosion-proof area for inspection operations, thereby improving safety. Management and detection accuracy, and develop towards intelligence. In addition, with the above configuration, the operation of the inspection vehicle does not affect the on-site process system and does not interfere with the personnel operation. In addition, the ground-based self-propelled inspection system also includes a control center, where the operator can remotely control the inspection vehicle, thereby improving management safety and task execution efficiency.

以上概述了數個實施例的特徵，因此熟習此技藝者可以更了解本揭露的態樣。熟習此技藝者應了解到，其可輕易地把本揭露當作基礎來設計或修改其他的製程與結構，藉此實現和在此所介紹的這些實施例相同的目標及/或達到相同的優點。熟習此技藝者也應可明白，這些等效的建構並未脫離本揭露的精神與範圍，並且他們可以在不脫離本揭露精神與範圍的前提下做各種的改變、替換與變動。The foregoing has outlined features of several embodiments so that those skilled in the art may better understand aspects of the present disclosure. Those skilled in the art should appreciate that they may readily use the present disclosure as a basis for designing or modifying other processes and structures, thereby achieving the same objectives and/or achieving the same advantages as the embodiments described herein . Those skilled in the art should also understand that these equivalent constructions do not depart from the spirit and scope of the present disclosure, and they can make various changes, substitutions and alterations without departing from the spirit and scope of the present disclosure.

1:地面式自走巡檢系統 11:地面 12:檢查載具 121:載具體 122:控制模組 123:驅動模組 1231:悍馬車輪 124:攝像模組 1241:攝像體 125:通訊模組 126:氣體感測模組 127:感應模組 128:使用者介面 13:控制中心 201:充電電池模組 202:電量偵測模組 A:設備 C:充電站 DP:檢測點 EP:防爆區 IP:位置資訊點 O:障礙物 S1:氣體分析程序 S11-S41,S21-S23,S31-S33,S41-S44,S51-S54:步驟 S2:檢測點確定程序 S3:攝像位置確定程序 S4:影像分析程序 S5:自動歸位充電程序1: Ground self-propelled inspection system 11: Ground 12: Check the vehicle 121: Load specific 122: Control Module 123: Drive Module 1231: Hummer Wheels 124: Camera module 1241: Camera body 125: Communication module 126: Gas sensing module 127: Induction module 128: User Interface 13: Control Center 201: Rechargeable battery module 202: Power detection module A: Equipment C: charging station DP: detection point EP: Explosion Proof Area IP: Location Information Point O: Obstacle S1: Gas Analysis Program S11-S41, S21-S23, S31-S33, S41-S44, S51-S54: Steps S2: Test point determination program S3: Camera position determination program S4: Image Analysis Program S5: Automatic homing charging program

從以下結合所附圖式所做的詳細描述，可對本揭露之態樣有更佳的了解。需注意的是，根據業界的標準實務，各特徵並未依比例繪示。事實上，為了使討論更為清楚，各特徵的尺寸都可任意地增加或減少。圖1為依據本揭露實施例之防爆區之地面式自走巡檢系統的應用情景示意圖。圖2為本揭露實施例之防爆區之地面式自走巡檢系統的功能方塊圖。圖3為本揭露實施例之防爆區之地面式自走巡檢系統之電源系統的功能方塊圖。圖4為本揭露實施例之防爆區之地面式自走巡檢系統的示意圖。圖5為依據本揭露實施例之防爆區之地面式自走巡檢系統進行氣體分析程序的流程示意圖。圖6為依據本揭露實施例之防爆區之地面式自走巡檢系統進行檢測點確定程序的流程示意圖。圖7為依據本揭露實施例之防爆區之地面式自走巡檢系統進行攝像位置確定程序的流程示意圖。圖8為依據本揭露實施例之防爆區之地面式自走巡檢系統進行影像分析程序的流程示意圖。圖9為依據本揭露實施例之防爆區之地面式自走巡檢系統進行自動歸位充電程序的流程示意圖。圖10為依據本揭露實施例之防爆區之地面式自走巡檢系統進行多種程序的流程示意圖。A better understanding of aspects of the present disclosure can be obtained from the following detailed description taken in conjunction with the accompanying drawings. It should be noted that, according to standard practice in the industry, various features are not drawn to scale. In fact, the dimensions of the various features may be arbitrarily increased or decreased in order to clarify the discussion. FIG. 1 is a schematic diagram of an application scenario of a ground-based self-propelled inspection system in an explosion-proof area according to an embodiment of the present disclosure. FIG. 2 is a functional block diagram of a ground-type self-propelled inspection system in an explosion-proof area according to the disclosed embodiment. FIG. 3 is a functional block diagram of the power supply system of the ground-type self-propelled inspection system in the explosion-proof area according to the disclosed embodiment. FIG. 4 is a schematic diagram of a ground-type self-propelled inspection system in an explosion-proof area according to an embodiment of the disclosure. 5 is a schematic flowchart of a gas analysis procedure performed by the ground-type self-propelled inspection system for explosion-proof areas according to an embodiment of the present disclosure. 6 is a schematic flowchart of a procedure for determining a detection point of the ground-based self-propelled inspection system for explosion-proof areas according to an embodiment of the present disclosure. FIG. 7 is a schematic flowchart of a procedure for determining a camera position by the ground-based self-propelled inspection system for explosion-proof areas according to an embodiment of the present disclosure. 8 is a schematic flowchart of an image analysis process performed by the ground-based self-propelled inspection system for explosion-proof areas according to an embodiment of the present disclosure. FIG. 9 is a schematic flowchart of an automatic homing charging procedure performed by the ground-type self-propelled inspection system for explosion-proof areas according to an embodiment of the present disclosure. 10 is a schematic flowchart of various procedures performed by the ground-based self-propelled inspection system for explosion-proof areas according to an embodiment of the present disclosure.

國內寄存資訊(請依寄存機構、日期、號碼順序註記) 無國外寄存資訊(請依寄存國家、機構、日期、號碼順序註記) 無Domestic storage information (please note in the order of storage institution, date and number) none Foreign deposit information (please note in the order of deposit country, institution, date and number) none

1:地面式自走巡檢系統1: Ground self-propelled inspection system

122:控制模組122: Control Module

123:驅動模組123: Drive Module

124:攝像模組124: Camera module

125:通訊模組125: Communication module

126:氣體感測模組126: Gas sensing module

127:感應模組127: Induction module

128:使用者介面128: User Interface

13:控制中心13: Control Center

Claims

一種防爆區之地面式自走巡檢系統，用於檢查防爆區之複數個設備，包括：一地面，該些設備設置於該地面上；以及一檢查載具，配置以移動於該地面上，並具有一載具體以及設置於該載具體之一控制模組、一驅動模組、一攝像模組及一通訊模組；其中，該控制模組電性連接該驅動模組而使該驅動模組驅動該載具體移動，該控制模組電性連接該攝像模組而使該攝像模組之一攝像體朝該些設備之一方向移動，該控制模組電性連接該通訊模組以進行通訊。A ground-type self-propelled inspection system for explosion-proof areas is used to inspect a plurality of equipment in explosion-proof areas, including: a ground on which the devices are located; and an inspection vehicle, configured to move on the ground, and having a carrier body and a control module, a drive module, a camera module and a communication module arranged on the carrier body; Wherein, the control module is electrically connected to the drive module so that the drive module drives the carrier to move, and the control module is electrically connected to the camera module to make a camera of the camera module face the devices Moving in one direction, the control module is electrically connected to the communication module for communication.

如請求項1所述之防爆區之地面式自走巡檢系統，其中該驅動模組包含一防爆馬達。The ground-type self-propelled inspection system for explosion-proof areas according to claim 1, wherein the drive module includes an explosion-proof motor.

如請求項1所述之防爆區之地面式自走巡檢系統，更包含：一充電電池模組，供電予該控制模組、該驅動模組、該攝像模組與該通訊模組；以及一電量偵測模組，電性連接該控制模組與該充電電池模組，並配置以偵測該充電電池模組之一電量。The ground-based self-propelled inspection system for explosion-proof areas as described in claim 1 further includes: a rechargeable battery module for supplying power to the control module, the driving module, the camera module and the communication module; and A power detection module is electrically connected to the control module and the rechargeable battery module, and is configured to detect a power of the rechargeable battery module.

如請求項3所述之防爆區之地面式自走巡檢系統，其中該地面式自走巡檢系統進行一自動歸位充電程序，以使當該檢查載具之該電量低於一設定值時，該檢查載具自動移動至一充電站進行充電。The ground-type self-propelled inspection system for explosion-proof areas according to claim 3, wherein the ground-type self-propelled inspection system performs an automatic homing charging procedure, so that when the electric power of the inspection vehicle is lower than a set value , the inspection vehicle automatically moves to a charging station for charging.

如請求項1所述之防爆區之地面式自走巡檢系統，更包含：一控制中心，該控制模組經由該通訊模組與該控制中心進行通訊，該控制模組及/或該控制中心分析該攝像模組之一攝像資訊。The ground-based self-propelled inspection system for explosion-proof areas as described in claim 1 further includes: A control center, the control module communicates with the control center via the communication module, and the control module and/or the control center analyzes the camera information of the camera module.

如請求項1所述之防爆區之地面式自走巡檢系統，更包含：一氣體感測模組，設置於該載具體並電性連接該控制模組。The ground-based self-propelled inspection system for explosion-proof areas as described in claim 1 further includes: A gas sensing module is disposed on the carrier body and is electrically connected to the control module.

如請求項6所述之防爆區之地面式自走巡檢系統，其進行一氣體分析程序，以使該控制模組及/或一控制中心分析該氣體感測模組之一氣體資訊，該控制中心經由該通訊模組與該控制模組進行通訊。The ground-based self-propelled inspection system for explosion-proof areas according to claim 6, which performs a gas analysis program, so that the control module and/or a control center analyzes gas information of the gas sensing module, the The control center communicates with the control module via the communication module.

如請求項1所述之防爆區之地面式自走巡檢系統，其中該防爆區設置複數檢測點，當該檢查載具移動於該地面上時，該地面式自走巡檢系統進行一檢測點確定程序，以使該檢查載具到達該些檢測點之其一者。The ground-type self-propelled inspection system for explosion-proof areas as claimed in claim 1, wherein the explosion-proof area is provided with a plurality of detection points, and when the inspection vehicle moves on the ground, the ground-type self-propelled inspection system performs a detection A point determination procedure is performed to bring the inspection vehicle to one of the inspection points.

如請求項1所述之防爆區之地面式自走巡檢系統，其中該防爆區設置複數檢測點，當該檢查載具移動至該些檢測點之其一者時，該地面式自走巡檢系統進行一攝像位置確定程序，以使該攝像模組之該攝像體到達一攝像位置。The ground-type self-propelled inspection system for an explosion-proof area as claimed in claim 1, wherein a plurality of detection points are set in the explosion-proof area, and when the inspection vehicle moves to one of the inspection points, the ground-type self-propelled inspection system The inspection system performs a camera position determination procedure, so that the camera body of the camera module reaches a camera position.

如請求項9所述之防爆區之地面式自走巡檢系統，其中當該攝像體到達該攝像位置時，地面式自走巡檢系統進行一影像分析程序，以使該控制模組或該控制中心分析該攝像模組之一攝像資訊。The ground-type self-propelled inspection system for explosion-proof areas according to claim 9, wherein when the camera body reaches the camera position, the ground-type self-propelled inspection system performs an image analysis program, so that the control module or the The control center analyzes the camera information of one of the camera modules.