CN107797558A - Inspecting robot - Google Patents

Abstract

The invention discloses a wheel inspection robot, comprising: a motion system, including a carrying platform and four symmetrically distributed Mecanum wheels with omnidirectional motion performance assembled on the carrying platform; a lifting system, including a The bracket and the first synchronous belt slide rail assembled on the bracket and the second synchronous belt slide rail assembled on the slider in the first synchronous belt slide rail; the collection system includes the slider assembled on the second synchronous belt slide rail The mounting plate and the camera device and thermal imaging device assembled on the mounting plate; the control system controls the motion system to reach the equipment to be inspected, controls the lifting system to reach the instrument panel of the equipment to be inspected in the vertical direction, and controls the acquisition system to treat the inspection equipment Dashboard capture image. It can be used in crowded and narrow spaces, and the position of the acquisition system can be adjusted according to the height of the instrument panel in the equipment to be inspected.

Description

patrol robot

technical field

The invention relates to the field of electric power technology, in particular to a patrol robot for patrolling electric equipment.

Background technique

The inspection of the power grid system mainly relies on manual inspection, which has high inspection intensity and high safety risks. Due to various reasons, such as poor professional level of inspectors, lack of experience, weak sense of responsibility, and poor site environment, etc., Failure to detect equipment defects in time.

With the continuous upgrading of power grid system automation, intelligent inspection robots have gradually become an important means of power grid system security and stability detection. However, due to the limitation of its own structural conditions, the inspection robots in the prior art are difficult to pass in the environment of congestion and narrow space, so they often cannot conduct all-round inspections of the power grid system, and they still have to assist manual inspections, which is inefficient. And there are still high security risks. Moreover, the data acquisition device mounted on the inspection robot is usually set at a fixed height, which cannot be adjusted according to the height of the instrument panel in the equipment to be inspected, thus affecting the accuracy of the inspection.

Contents of the invention

To solve the above technical problems, the present invention provides an inspection robot and its inspection method, which can be used in crowded and narrow spaces, and can adjust the position of the acquisition system according to the height of the instrument panel in the equipment to be inspected.

In order to solve the above-mentioned technical problems, the present invention provides a patrol robot, comprising: a motion system, including a carrying platform and four symmetrically distributed Mecanum wheels with omnidirectional motion performance assembled on the carrying platform; a lifting system, including a fixed The support provided on the loading platform and the first synchronous belt slide rail whose synchronous belt is driven by a motor mounted on the support and the synchronous belt slide rail which is assembled on the slider in the first synchronous belt slide rail and which is driven by a motor The second synchronous belt slide rail of the synchronous belt, the slider in the first synchronous belt slide rail drives the second synchronous belt slide rail to rise and fall in the vertical direction, and the slider in the second synchronous belt slide rail is also on the Lifting in the vertical direction; acquisition system, including a mounting plate assembled on the slide block in the second synchronous belt slide rail and a camera device and a thermal imaging device assembled on the mounting plate; and respectively with the motion system . The lifting system and the control system connected to the collection system, the control system controls the motion system to reach the equipment to be patrolled on the plane, and controls the lifting system to reach the instrument of the equipment to be patrolled in the vertical direction The panel position, and then control the acquisition system to perform image acquisition on the instrument panel of the equipment to be inspected.

Further, the inspection robot includes an image processing system respectively connected to the acquisition system and the control system, and is used to perform image processing on the images collected by the acquisition system, and then generate and store reports.

Further, the inspection robot includes a wireless communication system respectively connected to the image processing system and the control system, and is used to send the reports stored by the image processing system to an external monitoring system.

Further, the image processing system is also used to calculate the height of the instrument panel in the equipment to be inspected according to the image collected by the acquisition system, and the control system further calculates the height of the instrument panel in the equipment to be inspected according to the image processing system. The height control of the first synchronous belt slide rail and/or the second synchronous belt slide rail in the lifting system works to reach the position of the instrument panel in the equipment to be inspected.

Further, the basis for calculating the height of the instrument panel in the equipment to be inspected comes from images collected by the camera device and/or thermal imaging device in the collection device.

Further, the inspection robot includes a laser navigation system connected to the control system, which is used to plan the navigation path of the inspection robot from the initial standby position to the location of each device to be inspected in the SLAM environment map, and at the same time obtain the The positioning of the inspection robot in the SLAM environment map; the control system is used to control the operation of each Mecanum wheel in the motion system according to the navigation path planned by the laser navigation system and the positioning of the inspection robot and to navigate to each A forward position of the device to be inspected.

Further, the patrol robot also includes a tracking system connected to the control system, used to track the preset tracking path; the control system is used to navigate the patrol robot to a waiting After patrolling the front position of the equipment, control the operation of each Mecanum wheel in the motion system and follow the tracking path of the tracking system according to the tracking system, and then arrive at the tracking positioning point of the current equipment to be patrolled with a suitable posture to stop. Perform data collection.

Further, the laser navigation system is also used to obtain map data, use SLAM technology to locate the patrol robot in real time and construct the SLAM environment map synchronously; and after the patrol robot completes data collection for all equipment to be patrolled , plan another navigation path so that each Mecanum wheel operation in the control system directly navigates the patrol robot to the initial standby position according to the other navigation path; the tracking system is also used to capture the tracking path image, separating the tracking path from the image through image processing, and acquiring the deflection angle information of the patrol robot relative to the tracking path.

Further, the tracking system is used to obtain the position deviation of the patrol robot relative to the tracking path in real time, and the control system obtains the X-direction movement speed and the Y-direction movement speed of the patrol robot from the motion system. The speed of motion and the speed of rotation are calculated according to the inverse kinematics matrix to calculate the angular acceleration of each Mecanum wheel correction position of the patrol robot to achieve deviation correction and ensure that the patrol robot can always move along the track path. The inverse kinematics matrix is: in, [ν _X ν _Y ω _Z ] ^T ∈ R ^3×1 , are the angular accelerations of the four Mecanum wheels, W is the half width of the patrol robot, L is the half length of the patrol robot, α is the deflection angle of the patrol robot relative to the tracking path, V _X , V _Y and ω _Z are the movement speed in the X direction, the movement speed in the Y direction and the rotation speed, respectively.

Further, the control system is also used to detect whether the tracking mode is automatic tracking mode or manual tracking mode. The position deviation of the track path, and obtain the X-direction motion speed, Y-direction motion speed and rotation speed of the patrol robot, and correct the deviation according to the control of the angular acceleration of each Mecanum wheel of the patrol robot according to the inverse kinematics matrix; if The control system detects that it is a manual tracking mode, then obtains the positional deviation of the patrol robot relative to the tracking path in real time, and obtains the angular acceleration of the four Mecanum wheels of the patrol robot, and controls according to the kinematic equation The X-direction movement speed, the Y-direction movement speed and the rotation speed of each Mecanum wheel of the patrol robot are corrected to ensure that the patrol robot can always move along the tracking path, wherein the kinematic matrix is:

in, [ν _X ν _Y ω _Z ] ^T ∈ R ^3×1 .

The inspection robot of the present invention has the following beneficial effects:

By setting it in the form of a motion system with Mecanum wheels, with the help of the omnidirectional motion performance of Mecanum wheels, it can be used in crowded and narrow spaces;

By setting the lifting system for assembling the acquisition system on the carrying platform of the motion system, the position of the acquisition system can be adjusted by adjusting the height of the lifting system according to the height of the instrument panel in the equipment to be inspected;

By using the SLAM environment map, it is possible to accurately navigate to the device to be inspected in the indoor environment, especially if the tracking path is set at the end of the navigation path planned by the SLAM environment map, it can be reached with a more suitable posture and a more precise position The equipment to be inspected is used for data collection, so that data collection can be performed better.

Description of drawings

Fig. 1 is a working flowchart of the inspection method of the inspection robot of the present invention.

Fig. 2 is a schematic diagram of navigation and positioning of the inspection machine of the present invention.

Fig. 3 is a schematic diagram of the movement of the inspection machine of the present invention.

Fig. 4 is a bottom view of the inspection machine of the present invention.

Fig. 5 is a functional block diagram of the inspection machine of the present invention.

Fig. 6 is a structural schematic diagram of the inspection robot of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

Please refer to FIG. 5 and FIG. 6 , the present invention provides a patrol robot. The inspection robot includes: a motion system 1 , a lifting system 6 , a collection system 7 and a control system 2 connected to the motion system 1 , the lifting system 6 and the collection system 7 respectively.

The motion system 1 includes a carrying platform 101 and four symmetrically distributed Mecanum (Mecanum) wheels 102 assembled on the carrying platform 101 with omnidirectional motion performance. For example, the load of each Mecanum wheel 102 can be 40Kg, and the diameter can be 127mm; the size of the carrying platform 101 can be controlled within 500×500mm; to meet higher load and stability requirements. Further, each Mecanum wheel 102 is driven by an independent motor 11; each motor 11 is driven by an independent motor driver 12; the control system 2 communicates with the motion system 1 through the CAN bus, specifically the control system 2 It is connected with each motor driver 12, and each motor driver 12 is connected with the CAN bus through an independent CAN servo interface 13 respectively.

The lifting system 6 includes a support 61 fixed on the loading platform 101, a first synchronous belt slide rail 621 assembled on the support 61, and a second synchronous belt slide rail assembled on the slider 622 in the first synchronous belt slide rail 621. 631 , the slider 622 in the first synchronous belt slide rail 621 drives the second synchronous belt slide rail 631 to move up and down in the vertical direction as a whole, and the slider 632 in the second synchronous belt slide rail 631 also moves up and down in the vertical direction. Wherein, the synchronous belts in the first synchronous belt slide rail 621 and the second synchronous belt slide rail 631 are all driven by a stepper motor 600. If a 57-type stepper motor is used, the lifting speed can be controlled at 33mm/s and the precision is at within 1mm. Wherein, the strokes of the sliders 622 and 632 in the first synchronous belt slide rail 621 and the second synchronous belt slide rail 631 can be set to be equal, such as 1000 mm; of course, they can also be set to be unequal. By arranging two synchronous belt slide rails 621, 631 in which the sliders 622, 632 can be lifted in the vertical direction, the overall height of the patrol robot can be reduced, and the passability of the patrol robot in a narrow space can also be improved. The lifting system 6 and the control system 2 can also communicate through the CAN bus. Further, the stepper motors 600 in the first synchronous belt slide rail 621 and the second synchronous belt slide rail 631 are respectively driven by an independent motor driver 601; the lifting system 6 communicates with the control system 2 through the CAN bus Specifically, the control system 2 is connected to each motor driver 601 , and each motor driver 601 is connected to the CAN bus through an independent CAN servo interface 602 .

The acquisition system 7 includes a mounting plate 71 mounted on the slider in the second synchronous belt slide rail 631 , and a camera device 72 and a thermal imaging device 73 mounted on the mounting plate 71 . The camera device 72 is usually an industrial-grade camera device 72, and the thermal imaging device 73 performs infrared thermal imaging.

Wherein, the control system 2 controls the motion system 1 to arrive at the equipment to be inspected on the plane, and controls the lifting system 6 to reach the instrument panel of the equipment to be inspected in the vertical direction, and then controls the acquisition system 7 to perform inspection on the instrument panel of the equipment to be inspected. Image Acquisition.

In a specific embodiment, the inspection robot further includes an image processing system 8 connected to the acquisition system 7 and the control system 2 respectively. The image processing system 8 is used to perform image processing on the images collected by the collection system 7, and generate and store reports according to relevant data obtained after image processing.

In a specific embodiment, the inspection robot includes a wireless communication system 9 connected to the image processing system 8 and the control system 2 respectively. The wireless communication system 9 is used to wirelessly send the reports generated and stored by the image processing system 8 to an external monitoring system for real-time monitoring of each device. For example, the wireless communication system 9 may be made by using a WIFI module, a 3G module, or a 4G module.

In a specific embodiment, the image processing system 8 is also used to calculate the height of the instrument panel in the equipment to be inspected according to the image collected by the acquisition system 7, and the control system 2 then calculates the height value according to the image processing system 8 to control the height of the instrument panel in the lifting system 6. The first synchronous belt slide rail 621 and/or the second synchronous belt slide rail 631 work to reach the position of the instrument panel in the equipment to be inspected. Wherein, the basis for calculating the height of the instrument panel in the equipment to be inspected comes from the images collected by the camera device 72 and/or the thermal imaging device 73 in the collection device.

In a preferred embodiment, the inspection robot includes a laser navigation system 3 connected with the control system 2 . The laser navigation system 3 is used to plan the navigation path of the patrol robot from the initial standby position to the location of each device to be patrolled in the SLAM environment map, and at the same time obtain the positioning of the patrol robot in the SLAM environment map. Wherein, the laser navigation system 3 includes a laser navigation host 31 communicating with the control system 2 through RS2, and a laser radar 32 communicating with the laser navigation host 31 through RS2. The laser radar 32 scans the environment in real time. 31 Construct the SLAM environment map and the positioning of the inspection robot according to the scanned data. The laser radar 32 can be used as an example of the UST-20LX laser radar of HOKUYO company. The specific parameters are: scanning distance 20m, measuring range 270°, input DC2V/24V, scanning time 25ms, protection level IP65, non-contact measurement. LiDAR 32 can quickly scan the indoor environment. The inspection robot can establish a navigation image for the inspection environment through SLAM, which can accurately determine the obstacles and paths in the inspection environment, and can effectively guide the robot to run to the corresponding work through reasonable path planning. Location.

Furthermore, the control system 2 is used to control the operation of each Mecanum wheel 102 in the motion system 1 according to the navigation path planned by the laser navigation system 3 and the positioning of the patrol robot, and navigate to the front position of each equipment to be patrolled sequentially.

Further, the patrol robot also includes a tracking system 4 connected with the control system 2 . The tracking system 4 is used to track a preset tracking path. Specifically, the tracking system 4 includes a tracking industrial control main board 41 communicating with the control system 2 through RS232 and a tracking sensor 42 communicating with the tracking industrial control main board 41 through RS232. The tracking sensor 42 is used to capture the image of the tracking path, and the tracking industrial control board 41 is used to separate the tracking path from the image through image processing, and obtain the deflection angle information of the patrol robot relative to the tracking path.

Furthermore, the control system 2 is used to control the operation of each Mecanum wheel 102 in the motion system 1 after navigating the patrol robot to the front position of the equipment to be patrolled, and to follow the tracking path of the tracking system 4 according to the tracking of the tracking path and then follow the tracking path in a suitable manner. The attitude of the device arrives at the tracking and positioning point of the current equipment to be inspected and stops for data collection.

In the above-mentioned embodiments, the laser navigation system 3 is also used to obtain map data, use SLAM technology to locate the patrol robot in real time and construct a SLAM environment map synchronously.

The laser navigation system 3 is also used to plan another navigation path so that each Mecanum wheel 102 in the control system 2 can directly navigate the patrol robot to the initial state according to another navigation path after the patrol robot completes data collection for all equipment to be patrolled. standby position. The tracking system 4 is also used to capture the image of the tracking path, separate the tracking path from the image through image processing, and obtain the deflection angle information of the patrol robot relative to the tracking path.

The tracking system 4 is used to obtain the position deviation of the patrol robot relative to the tracking path in real time, and the control system 2 obtains the X-direction movement speed, the Y-direction movement speed and the rotation speed of the patrol robot from the motion system 1, and deduces it according to the inverse kinematics matrix Calculate the angular acceleration of each Mecanum wheel 102 of the patrol robot to correct the position and then realize the deviation correction to ensure that the patrol robot can always move along the tracking path. The inverse kinematics matrix is:

in, [ν _X ν _Y ω _Z ] ^T ∈ R ^3×1 , are the angular accelerations of the four Mecanum wheels 102, W is the half width of the patrol robot, L is the half length of the patrol robot, α is the deflection angle of the patrol robot relative to the tracking path, V _X , V _Y and ω _Z are respectively X-direction movement speed, Y-direction movement speed and rotation speed.

In another specific embodiment, the control system 2 is also used to detect whether the tracking mode is an automatic tracking mode or a manual tracking mode. The position deviation of the path is obtained, and the X-direction movement speed, Y-direction movement speed and rotation speed of the patrol robot are obtained, and the deviation is corrected according to the control of the angular acceleration of each Mecanum wheel 102 of the patrol robot by the inverse kinematics matrix.

And if the control system 2 detects that it is a manual tracking mode (specifically referring to controlling the control system 2 to control the movement of the motion system 1 with the help of the NRF remote controller 5), then obtain the position deviation of the patrol robot relative to the tracking path in real time, and obtain the position deviation of the patrol robot According to the angular acceleration of the four Mecanum wheels 102 of the patrol robot, the X-direction movement speed, the Y-direction movement speed and the rotation speed of each Mecanum wheel 102 of the patrol robot are controlled according to the kinematic equations to correct the deviation and thus ensure that the patrol robot can always move along the tracking path. Among them, the kinematic matrix is:

in, [ν _X ν _Y ω _Z ] ^T ∈ R ^3×1 .

The invention also provides a patrolling method of the patrolling robot. As shown in Figure 1, the inspection method includes the following steps:

Step S11, plan the navigation path of the patrol robot from the initial standby position to the location of each device to be patrolled in the SLAM environment map, and obtain the location of the patrol robot in the SLAM environment map at the same time. Among them, it is possible to plan the navigation path from the inspection robot to one or more devices to be inspected at one time, so as to improve the overall inspection efficiency.

Step S12, according to the navigation path and the positioning of the patrol robot, the patrol robot is sequentially navigated to the front position of each device to be patrolled. Specifically, after navigating to a device to be inspected to complete the subsequent precise adjustment of posture and position and performing data collection, continue to navigate to the next device to be inspected.

Step S13, after arriving at the front position of a device to be patrolled, guide the patrolling robot to arrive at the tracking positioning point of the current device to be patrolled with a suitable posture according to the preset tracking path and stop. In addition, it is possible to collect data from the inspection equipment at the best parking position with a suitable posture, so that the positioning accuracy of each inspection is greatly improved. The tracking path can be pasted on the point to be inspected by measuring and positioning. By tracking the track to the track positioning point, the positioning of the last segment can be realized with high precision, ensuring effective data collection.

As shown in Figure 2, the equipment to be inspected is set to at least 5 or more such as A, B, C, D, and E. If the inspection is planned in advance from A to E, the inspection robot will navigate to the 5 equipment locations in sequence. , Figure 2 is only a schematic diagram of navigation and positioning for example, in fact, the best navigation path can be automatically and reasonably planned according to the specific positioning of each equipment to be inspected; of course, the inspection sequence of each equipment to be inspected can also be artificially set Then plan a reasonable navigation path according to the setting. After arriving at each device to be inspected, track and track according to the tracking route until the corresponding device to be inspected is parked at the corresponding tracking location point.

Step S14, controlling the lifting system to carry the acquisition system to the height of the instrument panel in the current equipment to be inspected.

Step S15, controlling the acquisition system to acquire images of the instrument panels in the current equipment to be inspected. In step S15, the collected image is further processed, and a report is generated and stored according to the data obtained by the image processing for real-time monitoring by an external monitoring system.

Step S16, after the inspection of all the equipment to be inspected is completed, the inspection robot is directly navigated back to the initial standby position. Preferably, the initial standby position can be set as a charging stand, and the setting of the initial standby position can facilitate charging and maintenance of the patrol robot.

Among them, for example, the devices A to D to be inspected are arranged as shown in Figure 3. With the help of the omnidirectional motion performance of the Mecanum wheel, the inspection robot can move straight and laterally in the same posture after detecting the device A to be inspected. Arrive at the designated position of the device B to be inspected. In the process of arriving at the device C to be inspected, it can reach the device D to be inspected through the right-front oblique movement, and the left-front oblique movement and rotation movement, and maintain the position and posture of the inspection robot relative to the device. . Among them, during the process from the device A to be inspected to the devices B to D to be inspected, the movement other than the straight movement can be tracked according to the above-mentioned tracking path and then accurately arrive at the corresponding device with a suitable posture.

In a specific embodiment, before step S11, step S10 is also included: using laser radar to scan the environment to obtain map data, using SLAM technology to locate the patrol robot in real time and synchronously construct the SLAM environment map. Compared with the electromagnetic navigation in the prior art robot navigation technology, induction coils need to be arranged on the ground, and the indoor precision of GPS navigation is too low to be effectively used in indoor environments, while the navigation system based on RFID has low precision, and although visual navigation has It has the advantages of wide signal detection range and complete information acquisition, but the amount of real-time image data to be processed is huge and the real-time performance is poor. The present invention uses laser radar-based SLAM navigation to effectively and accurately complete the inspection of patrol robots in complex indoor environments. navigation. The SLAM environment map can also help the patrol robot realize the obstacle avoidance function. The SLAM environment map is stable, reliable and has good performance.

In a specific embodiment, referring to FIG. 4, in step S13, including:

Real-time acquisition of the position deviation (including deflection angle and distance) of the patrolling robot relative to the tracking path;

Obtain the X-direction movement speed, Y-direction movement speed and rotation speed of the patrolling robot;

According to the derivation of the inverse kinematics matrix, calculate the angular acceleration of each Mecanum wheel of the inspection robot to correct the position, and then realize the deviation correction to adjust the position and attitude of the robot more accurately and flexibly, so as to ensure that the inspection robot can always move along the track path, the inverse kinematics matrix for:

in, [ν _X ν _Y ω _Z ] ^T ∈ R ^3×1 ,

are the angular accelerations of the four Mecanum wheels, W is the half width of the patrol robot, L is the half length of the patrol robot, α is the deflection angle of the patrol robot relative to the tracking path, V _X , V _Y and ω _Z are X direction movement speed, Y direction movement speed and rotation speed.

In a specific embodiment, before step S13, including:

Detect whether the tracking mode is automatic tracking mode or manual tracking mode;

If the automatic tracking mode is detected, the position deviation of the patrol robot relative to the tracking path is obtained in real time, and the X-direction movement speed, Y-direction movement speed and rotation speed of the patrol robot are obtained. According to the inverse kinematics matrix, the patrol robot The control of the angular acceleration of each Mecanum wheel is used to correct the deviation.

If it is detected that it is a manual tracking mode (remote control and active control), the position deviation of the patrol robot relative to the tracking path is obtained in real time, and the angular acceleration of the four Mecanum wheels of the patrol robot is obtained, and the patrol robot is controlled according to the kinematic equation The X-direction movement speed, Y-direction movement speed and rotation speed of each Mecanum wheel are corrected to ensure that the patrol robot can always move along the tracking path, where the kinematics matrix is:

in, [ν _X ν _Y ω _Z ] ^T ∈ R ^3×1 .

In the above-mentioned embodiment, specifically in the step of obtaining the position deviation of the patrol robot relative to the tracking path in real time, including:

Capture the image of the tracking path, separate the tracking path from the image through image processing, and obtain the deflection angle information of the patrol robot relative to the tracking path. Furthermore, the position and posture of the patrolling robot can be adjusted according to the deflection angle information to ensure the consistency of the patrolling robot with the direction of the tracking path. Preferably, the offset distance information of the patrolling robot relative to the tracking path can also be obtained, and by adjusting the position and posture of the patrolling robot, the offset distance of the patrolling robot relative to the tracking path is less than a preset value, thereby ensuring that the patrolling robot and Consistency of tracked paths. Finally, the positioning inspection requirements of the robot are met.

The inspection robot of the present invention has the following beneficial effects:

By setting the form of the motion system 1 with the Mecanum wheel 102, with the omnidirectional motion performance of the Mecanum wheel 102, it can be used in crowded and narrow spaces;

By setting the lifting system 6 of the assembly collection system 7 on the carrying platform 101 of the motion system 1, the position of the collection system 7 can be adjusted by adjusting the height of the lifting system 6 according to the height of the instrument panel in the equipment to be inspected;

By using the SLAM environment map, it is possible to accurately navigate to the device to be inspected in the indoor environment, especially if the tracking path is set at the end of the navigation path planned by the SLAM environment map, it can be reached with a more suitable posture and a more precise position The equipment to be inspected is used for data collection, so that data collection can be performed better.

The above is only the embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields, All are included in the scope of patent protection of the present invention in the same way.

Claims (10)

1. A patrolling robot, characterized in that, comprising: The motion system includes a carrying platform and four symmetrically distributed Mecanum wheels with omnidirectional motion performance assembled on the carrying platform; The lifting system includes a bracket fixed on the carrying platform, a first synchronous belt slide rail whose synchronous belt is driven by a motor mounted on the bracket, and a slider mounted on the first synchronous belt slide rail The motor drives the second synchronous belt slide rail of its synchronous belt, the slider in the first synchronous belt slide rail drives the second synchronous belt slide rail to lift in the vertical direction, and the second synchronous belt slide rail The middle slider also moves up and down in the vertical direction; The acquisition system includes a mounting plate mounted on the slider in the second synchronous belt slide rail, and a camera device and a thermal imaging device mounted on the mounting plate; and a control system respectively connected to the motion system, the lifting system and the acquisition system, the control system controls the motion system to reach the equipment to be inspected on the plane, and controls the lifting system to move vertically Up to the position of the instrument panel of the equipment to be inspected, and then control the acquisition system to collect images of the instrument panel of the equipment to be inspected. 2. The inspection robot according to claim 1, characterized in that: The inspection robot includes an image processing system connected to the acquisition system and the control system respectively, and is used for image processing the images collected by the acquisition system, and then generating and storing reports. 3. The inspection robot according to claim 2, characterized in that: The inspection robot includes a wireless communication system connected to the image processing system and the control system respectively, and is used to send the reports stored in the image processing system to an external monitoring system. 4. The inspection robot according to claim 2, characterized in that: The image processing system is also used to calculate the height of the instrument panel in the equipment to be inspected according to the image collected by the acquisition system, and the control system further controls the height of the instrument panel in the equipment to be inspected according to the image processing system. The first synchronous belt slide rail and/or the second synchronous belt slide rail in the lifting system work to reach the position of the instrument panel in the equipment to be inspected. 5. patrol robot according to claim 4, is characterized in that: The basis for calculating the height of the instrument panel in the equipment to be inspected comes from the images collected by the camera device and/or thermal imaging device in the collection device. 6. The inspection robot according to claim 1, characterized in that: The patrol robot includes a laser navigation system connected to the control system, which is used to plan the navigation path of the patrol robot from the initial standby position to the position of each device to be patrolled in the SLAM environment map. Localization in the SLAM environment map; The control system is used to control the operation of each Mecanum wheel in the motion system according to the navigation path planned by the laser navigation system and the positioning of the inspection robot, and to navigate to the front position of each equipment to be inspected sequentially. 7. The inspection robot according to claim 6, characterized in that: The patrol robot also includes a tracking system connected to the control system for tracking a preset tracking path; The control system is used to control the operation of each Mecanum wheel in the motion system and track the tracking path according to the tracking system after navigating the patrol robot to a position in front of a device to be patrolled. Then arrive at the tracking and positioning point of the current equipment to be inspected with a suitable attitude and stop for data collection. 8. The inspection robot according to claim 7, characterized in that: The laser navigation system is also used to obtain map data, use SLAM technology to locate the patrol robot in real time and construct the SLAM environmental map synchronously; A navigation path is such that each Mecanum wheel in the control system operates and directly navigates the patrol robot to the initial standby position according to the other navigation path; The tracking system is also used to capture the image of the tracking path, separate the tracking path from the image through image processing, and obtain the deflection angle information of the patrol robot relative to the tracking path . 9. The inspection robot according to claim 8, characterized in that: The tracking system is used to obtain the position deviation of the patrol robot relative to the tracking path in real time, and the control system obtains the X-direction movement speed, the Y-direction movement speed and The rotation speed is calculated according to the inverse kinematics matrix to calculate the angular acceleration of each Mecanum wheel of the patrol robot to correct the position, so as to realize the deviation correction and ensure that the patrol robot can always move along the tracking path. The inverse kinematics matrix is: <mrow><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mover><mi>&amp;theta;</mi><mo>&amp;CenterDot;</mo></mover><mn>1</mn></msub></mtd></mtr><mtr><mtd><msub><mover><mi>&amp;theta;</mi><mo>&amp;CenterDot;</mo></mover><mn>2</mn></msub></mtd></mtr><mtr><mtd><msub><mover><mi>&amp;theta;</mi><mo>&amp;CenterDot;</mo></mover><mn>3</mn></msub></mtd></mtr><mtr><mtd><msub><mover><mi>&amp;theta;</mi><mo>&amp;CenterDot;</mo></mover><mn>4</mn></msub></mtd></mtr></mtable></mfenced><mo>=</mo><mfrac><mn>1</mn><mi>R</mi></mfrac><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>1</mn></mtd><mtd><mrow><mi>cot</mi><mi>&amp;alpha;</mi></mrow></mtd><mtd><mrow><mi>W</mi><mo>+</mo><mi>cot</mi><mi>&amp;alpha;</mi><mi>L</mi></mrow></mtd></mtr><mtr><mtd><mn>1</mn></mtd><mtd><mrow><mo>-</mo><mi>cot</mi><mi>&amp;alpha;</mi></mrow></mtd><mtd><mrow><mo>-</mo><mrow><mo>(</mo><mi>W</mi><mo>+</mo><mi>cot</mi><mi>&amp;alpha;</mi><mi>L</mi><mo>)</mo></mrow></mrow></mtd></mtr><mtr><mtd><mn>1</mn></mtd><mtd><mrow><mi>cot</mi><mi>&amp;alpha;</mi></mrow></mtd><mtd><mrow><mo>-</mo><mrow><mo>(</mo><mi>W</mi><mo>+</mo><mi>cot</mi><mi>&amp;alpha;</mi><mi>L</mi><mo>)</mo></mrow></mrow></mtd></mtr><mtr><mtd><mn>1</mn></mtd><mtd><mrow><mo>-</mo><mi>cot</mi><mi>&amp;alpha;</mi></mrow></mtd><mtd><mrow><mi>W</mi><mo>+</mo><mi>cot</mi><mi>&amp;alpha;</mi><mi>L</mi></mrow></mtd></mtr></mtable></mfenced><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mi>v</mi><mi>X</mi></msub></mtd></mtr><mtr><mtd><msub><mi>v</mi><mi>Y</mi></msub></mtd></mtr><mtr><mtd><msub><mi>&amp;omega;</mi><mi>Z</mi></msub></mtd></mtr></mtable></mfenced><mo>,</mo></mrow> in, [ν _X ν _Y ω _Z ] ^T ∈ R ^3×1 , are the angular accelerations of the four Mecanum wheels, W is the half width of the patrol robot, L is the half length of the patrol robot, α is the deflection angle of the patrol robot relative to the tracking path, V _X , V _Y and ω _Z are the movement speed in the X direction, the movement speed in the Y direction and the rotation speed, respectively. 10. The inspection robot according to claim 8, characterized in that: The control system is also used to detect whether the tracking mode is an automatic tracking mode or a manual tracking mode, and if the control system detects that it is an automatic tracking mode, then obtain the position of the patrol robot relative to the tracking path in real time. position deviation, and obtain the X-direction motion speed, Y-direction motion speed and rotation speed of the patrol robot, and correct the deviation according to the control of the angular acceleration of each Mecanum wheel of the patrol robot according to the inverse kinematics matrix; if the control The system detects that it is a manual tracking mode, then obtains the position deviation of the patrol robot relative to the tracking path in real time, and obtains the angular acceleration of the four Mecanum wheels of the patrol robot, and controls the patrol according to the kinematic equation The X-direction movement speed, the Y-direction movement speed and the rotation speed of each Mecanum wheel of the robot are used to correct the deviation so as to ensure that the patrol robot can always move along the tracking path, where the kinematic matrix is: <mrow><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mi>v</mi><mi>X</mi></msub></mrow>mtd></mtr><mtr><mtd><msub><mi>v</mi><mi>Y</mi></msub></mtd></mtr><mtr><mtd><msub><mi>&amp;omega;</mi><mi>Z</mi></msub></mtd></mtr></mtable></mfenced><mo>=</mo><mfrac><mi>R</mi><mn>4</mn></mfrac><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>1</mn></mtd><mtd><mn>1</mn></mtd><mtd><mn>1</mn></mtd><mtd><mn>1</mn></mtd></mtr><mtr><mtd><mrow><mi>tan</mi><mi>&amp;alpha;</mi></mrow></mtd><mtd><mrow><mo>-</mo><mi>tan</mi><mi>&amp;alpha;</mi></mrow></mtd><mtd><mrow><mi>tan</mi><mi>&amp;alpha;</mi></mrow></mtd><mtd><mrow><mo>-</mo><mi>tan</mi><mi>&amp;alpha;</mi></mrow></mtd></mtr><mtr><mtd><mfrac><mn>1</mn><mrow><mi>W</mi><mo>+</mo><mi>cot</mi><mi>&amp;alpha;</mi><mi>L</mi></mrow></mfrac></mtd><mtd><mrow><mo>-</mo><mfrac><mn>1</mn><mrow><mi>W</mi><mo>+</mo><mi>cot</mi><mi>&amp;alpha;</mi><mi>L</mi></mrow></mfrac></mrow></mtd><mtd><mrow><mo>-</mo><mfrac><mn>1</mn><mrow><mi>W</mi><mo>+</mo><mi>cot</mi><mi>&amp;alpha;</mi><mi>L</mi></mrow></mfrac></mrow></mtd><mtd><mfrac><mn>1</mn><mrow><mi>W</mi><mo>+</mo><mi>cot</mi><mi>&amp;alpha;</mi><mi>L</mi></mrow></mfrac></mtd></mtr></mtable></mfenced><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mover><mi>&amp;theta;</mi><mo>&amp;CenterDot;</mo></mover><mn>1</mn></msub></mtd></mtr><mtr><mtd><msub><mover><mi>&amp;theta;</mi><mo>&amp;CenterDot;</mo></mover><mn>2</mn></msub></mtd></mtr><mtr><mtd><msub><mover><mi>&amp;theta;</mi><mo>&amp;CenterDot;</mo></mover><mn>3</mn></msub></mtd></mtr><mtr><mtd><msub><mover><mi>&amp;theta;</mi><mo>&amp;CenterDot;</mo></mover><mn>4</mn></msub></mtd></mtr></mtable></mfenced><mo>,</mo></mrow> in, [ν _X ν _Y ω _Z ] ^T ∈ R ^3×1 .