CN112428280B - Dangerous gas inspection robot system - Google Patents
Dangerous gas inspection robot system Download PDFInfo
- Publication number
- CN112428280B CN112428280B CN202011240583.7A CN202011240583A CN112428280B CN 112428280 B CN112428280 B CN 112428280B CN 202011240583 A CN202011240583 A CN 202011240583A CN 112428280 B CN112428280 B CN 112428280B
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- CN
- China
- Prior art keywords
- bottom plate
- driven wheel
- mounting seat
- bearing
- connecting rod
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a dangerous gas inspection robot system, which comprises a chassis structure and a shell structure, wherein a holder is arranged on the shell structure, a common camera and an infrared camera are arranged on the holder, and after an infrared picture of an environment is shot, whether dangerous gas exists or not can be detected through a controller; further set up adjusting device in chassis structure, adopt the mode of limiting plate installation adjustable screw, can restrict the turn of rear wheel, can adjust the turning radius of robot according to the place.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a dangerous gas inspection robot system.
Background
The inspection robot mainly refers to the data acquisition of various terminal devices passing through along a planned path by using business equipment, and the acquired data generally comprises but is not limited to images, sound, temperature, harmful gas and the like. Compared with the existing manual inspection, the inspection robot has the advantages of more accurate data acquisition, high automation degree, high efficiency, high working strength, high safety and the like. These advantages enable inspection robots to be used in an increasing number of scenarios. The current inspection robot mostly adopts a differential steering mode, and different turning radiuses are needed due to different working spaces in different working environments.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a hazardous gas inspection robot system, which can efficiently detect hazardous gas in an environment and adjust a turning radius of a robot according to a location.
A dangerous gas inspection robot system comprises a controller, a chassis structure and a shell structure;
the chassis structure drives the robot system to move according to the control of the controller;
the housing structure comprises a housing (4); the ultrasonic ranging sensor (20) is installed on the shell (4), the holder main body (17) is installed above the shell (4), two monitoring cameras are installed on two sides of the holder main body (17) respectively, and the two monitoring cameras are a common camera (18) for collecting optical images and an infrared camera (19) for collecting infrared images respectively; an antenna (22) for communication is arranged at the tail part of the shell;
the holder main body (17) is used for driving the pitching motion of the common camera (18) and the infrared camera (19);
the controller controls the bottom plate structure to move according to the obstacle information measured by the ultrasonic ranging sensor (20) so as to realize obstacle avoidance; the controller also detects whether leaked hazardous gas exists in the environment according to the infrared image of the infrared camera (19); if dangerous gas is found, an alarm is directly sent out, and received optical image information and infrared images are transmitted to a remote control computer through an antenna (22).
Preferably, the chassis structure comprises a bottom plate (1), an adjusting device, two driving wheels (13) arranged at the front part of the lower surface of the bottom plate (1) and two driven wheels (16) arranged at the rear part of the lower surface of the bottom plate; the driven wheel (16) is arranged on the bottom plate (1) through a driven wheel mounting seat (9);
the adjusting device mainly comprises a bearing (3), a transition piece (2), a bearing mounting seat (7), a driven wheel connecting rod (8) and two limiting plates (11); the driven wheel connecting rod (8) fixedly connects the two driven wheel mounting seats (9) together; the two limit plates (11) are symmetrically fixed on the lower surface of the bottom plate (1) relative to the center point of the driven wheel connecting rod (8); the lower part of each limit plate (11) is provided with an adjusting screw (10) capable of adjusting the extending length and aligning with the driven wheel connecting rod (8); the lower part of the transition piece (2) is fixedly connected with a through hole at the central point of the driven wheel connecting rod (8) through a nut; the bearing (3) is arranged in the bearing mounting seat (7), the upper part of the transition piece (2) penetrates through the bearing (3) and the central hole of the bearing mounting seat (7), and the top end of the transition piece is fixed through a nut; the upper end of the bearing mounting seat (7) is fixedly connected with the bottom plate (1).
Preferably, two bearings (3) are placed in the bearing mounting seat (7), a gasket 5 is arranged between the two bearings (3), the upper end of the transition piece (2) forms a whole with the bearing mounting seat (7) through the inner ring of the bearing (3), then the outer ring of the bearing (3) is fixed by a gland (6), the gasket is used for filling the gap between the gland (6) and the bottom plate (1), and finally the gasket is connected with the bottom plate (1) through bolts and nuts.
Preferably, two ultrasonic ranging sensors (20) are arranged in front of the shell (4), and one ultrasonic ranging sensor is arranged on each of the left side and the right side.
The invention has the following beneficial effects:
the invention discloses a dangerous gas inspection robot system, which comprises a chassis structure and a shell structure, wherein a holder is arranged on the shell structure, a common camera and an infrared camera are arranged on the holder, and after an infrared picture of an environment is shot, whether dangerous gas exists or not can be detected through a controller; further set up adjusting device in chassis structure, adopt the mode of limiting plate installation adjustable screw, can restrict the turn of rear wheel, can adjust the turning radius of robot according to the place.
Drawings
FIG. 1 is a front view of a robot chassis;
FIG. 2 is a schematic diagram of the components of a robot chassis;
FIG. 3 is a schematic view of a driven wheel portion of the robot chassis;
FIG. 4 is a schematic view of a driven wheel portion of the robot chassis;
FIG. 5 is a schematic view of a turning radius adjustment device;
FIG. 6 is a schematic view of the overall structure;
the device comprises a base plate 1, a transition piece 2, a bearing 3, a shell 4, a gasket 5, a gland 6, a bearing mounting seat 7, a driven wheel connecting rod 8, a driven wheel mounting seat 9, an adjusting screw 10, a limiting plate 11, a driving wheel mounting seat 12, a driving wheel 13, a long supporting column 14, a short supporting column 15, a driven wheel 16, a holder main body 17, a common optical camera 18, an infrared camera 19, an ultrasonic distance measuring sensor 20, a vehicle lamp 21 and an antenna 22.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
As shown in fig. 1 and 6, the dangerous gas inspection robot system mainly comprises a controller, a chassis structure and a shell structure; the chassis structure comprises a bottom plate 1, an adjusting device, two driving wheels 13 arranged at the front part of the lower surface of the bottom plate 1 and two driven wheels 16 arranged at the rear part of the lower surface of the bottom plate 1; as shown in fig. 2 and 3, support columns are provided at four corners of the upper surface of the base plate 1. The support column is divided into a long support column 14 and a short support column 15, and the bottoms of the four support columns are connected with the chassis through bolts and nuts. Each support post is provided with a threaded hole for mounting the housing 4. The driving wheel 13 is arranged on the bottom plate 1 through a driving wheel mounting seat 12; the driven wheel 16 is mounted on the base plate 1 by a driven wheel mounting 9.
As shown in fig. 4 and 5, the adjusting device mainly includes a bearing 3, a transition piece 2, a bearing mounting seat 7, a driven wheel connecting rod 8 and two limiting plates 11; the driven wheel connecting rod 8 fixedly connects the two driven wheel mounting seats 9 together; the two limit plates 11 are symmetrically fixed on the lower surface of the bottom plate 1 relative to the central point of the driven wheel connecting rod 8; an adjusting screw 10 with adjustable extension length is arranged at the lower part of each limit plate 11 and is aligned with the driven wheel connecting rod 8. When the driven wheel 16 is driven by the driving wheel 13 to turn to cause the deflection of the driven wheel connecting rod 8, the adjusting screw 10 props against the driven wheel connecting rod 8, so that the deflection degree of the driven wheel connecting rod 8 is limited, namely, the effect of adjusting the turning radius of the bottom plate 1 is achieved, and the collision between the driven wheel 16 and the bottom plate 1 or the shell 4 during the turning can be avoided.
The lower part of the transition piece 2 is fixedly connected with a through hole at the central point of the driven wheel connecting rod 8 through a nut; the bearing 3 is arranged in the bearing mounting seat 7, the upper part of the transition piece 2 penetrates through the bearing 3 and the central hole of the bearing mounting seat 7, and the top end of the transition piece is fixed through a nut; the upper end of the bearing mounting seat 7 is fixedly connected with the bottom plate 1.
Specifically, two bearings 3 are placed in a bearing mounting seat 7, a gasket 5 is arranged between the two bearings 3, the upper end of the transition piece 2 forms a whole with the bearing mounting seat 7 through an inner ring of the bearing 3, then an outer ring of the bearing 3 is fixed by a gland 6, a gap between the gland 6 and the bottom plate 1 is filled with the gasket, and finally the gasket is connected with the bottom plate 1 through bolts and nuts.
Fig. 6 shows a housing structure of the inspection robot, the inspection robot is mainly used for detecting hazardous gas, an ultrasonic distance measuring sensor 20 is arranged on the housing 4 of the robot, a vehicle lamp 21 is arranged in front of the housing 4, a pan-tilt main body 17 is arranged above the housing 4 through a support column, two monitoring cameras, namely a common camera 18 and an infrared camera 19, are respectively arranged at two sides of the pan-tilt main body 17; the ordinary camera 18 collects optical images and the infrared camera 19 is used for collecting infrared images. An antenna 22 for communication is mounted at the rear of the housing.
The holder main body 17 can rotate 360 degrees; the holder main body 17 is also provided with an up-and-down rotation driving mechanism for realizing the pitching motion of the two cameras. Two cameras are arranged on two sides of the holder, wherein the common optical camera 18 is used for monitoring images in the running process, and the infrared camera 19 is used for detecting whether leaked hazardous gas exists in the environment. After receiving the image information, the two cameras transmit the image information to the stm32 control panel in the robot for processing, if dangerous gas is found, an alarm can be directly sent out, and meanwhile, the received image information can also be transmitted to a remote control computer through the antenna 22.
Four ultrasonic ranging sensors 20 are arranged on a shell around the robot, two ultrasonic ranging sensors are arranged in front of the robot, and one ultrasonic ranging sensor is arranged on each of the left side and the right side of the robot and used for avoiding obstacles in a narrow space of the inspection robot. After the sensor collects the distance information, the sensor transmits the data to a controller of an STM32 installed inside the robot to process the data.
The hardware system of the hazardous gas detection robot mainly comprises an industrial personal computer and an embedded microcontroller as core parts and peripheral circuits related to driving various hardware devices, wherein the onboard industrial personal computer is used as an upper computer part and mainly completes functions of image data acquisition, network communication construction, data interaction and the like. The embedded microcontroller is used as a lower computer and mainly completes the functions of motion control of the mobile robot, pitching control of the holder, feedback of the motion state of the robot and the like. The modularized design method is adopted, and a specific hardware system comprises a sensor module, a communication module, an information processing module, a power supply energy supply module and a robot motor driving module.
The wireless communication mechanism mainly comprises an industrial wireless router and an antenna 22 arranged on the back of the shell, the industrial wireless router is mainly used for transmitting information collected by the camera and the ultrasonic sensor, the information collected by the camera can reach an upper computer firstly and then is transmitted to a remote client through the router
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A dangerous gas inspection robot system is characterized by comprising a controller, a chassis structure and a shell structure;
the chassis structure drives the robot system to move according to the control of the controller;
the housing structure comprises a housing (4); the ultrasonic ranging sensor (20) is installed on the shell (4), the holder main body (17) is installed above the shell (4), two monitoring cameras are installed on two sides of the holder main body (17) respectively, and the two monitoring cameras are a common camera (18) for collecting optical images and an infrared camera (19) for collecting infrared images respectively; an antenna (22) for communication is arranged at the tail part of the shell;
the holder main body (17) is used for driving the pitching motion of the common camera (18) and the infrared camera (19);
the controller controls the bottom plate structure to move according to the obstacle information measured by the ultrasonic ranging sensor (20) so as to realize obstacle avoidance; the controller also detects whether leaked hazardous gas exists in the environment according to the infrared image of the infrared camera (19); if the dangerous gas is found, an alarm is directly sent out, and the received optical image information and the infrared image are transmitted to a remote control computer through an antenna (22);
the chassis structure comprises a bottom plate (1), an adjusting device, two driving wheels (13) arranged at the front part of the lower surface of the bottom plate (1) and two driven wheels (16) arranged at the rear part of the lower surface of the bottom plate; the driven wheel (16) is arranged on the bottom plate (1) through a driven wheel mounting seat (9);
the adjusting device mainly comprises a bearing (3), a transition piece (2), a bearing mounting seat (7), a driven wheel connecting rod (8) and two limiting plates (11); the driven wheel connecting rod (8) fixedly connects the two driven wheel mounting seats (9) together; the two limit plates (11) are symmetrically fixed on the lower surface of the bottom plate (1) relative to the center point of the driven wheel connecting rod (8); the lower part of each limit plate (11) is provided with an adjusting screw 10 which can adjust the extending length and is aligned with the driven wheel connecting rod (8); the lower part of the transition piece (2) is fixedly connected with a through hole at the central point of the driven wheel connecting rod (8) through a nut; the bearing (3) is arranged in the bearing mounting seat (7), the upper part of the transition piece (2) penetrates through the bearing (3) and the central hole of the bearing mounting seat (7), and the top end of the transition piece is fixed through a nut; the upper end of the bearing mounting seat (7) is fixedly connected with the bottom plate (1).
2. The hazardous gas inspection robot system according to claim 1, wherein two bearings (3) are placed in the bearing mounting seat (7), a gasket 5 is arranged between the two bearings (3), the upper end of the transition piece (2) and the bearing mounting seat (7) form a whole through the inner ring of the bearing (3), then a gland (6) is used for fixing the outer ring of the bearing (3), the gasket is used for filling the gap between the gland (6) and the bottom plate (1), and finally the bearing mounting seat is connected with the bottom plate (1) through bolts and nuts.
3. The hazardous gas inspection robot system according to claim 1, wherein the ultrasonic distance measuring sensors (20) are installed in two positions in front of the housing (4), one on each of the left and right sides.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020103828334 | 2020-05-08 | ||
| CN202010382833 | 2020-05-08 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112428280A CN112428280A (en) | 2021-03-02 |
| CN112428280B true CN112428280B (en) | 2022-08-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011240583.7A Active CN112428280B (en) | 2020-05-08 | 2020-11-09 | Dangerous gas inspection robot system |
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| CN (1) | CN112428280B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114137860A (en) * | 2021-10-11 | 2022-03-04 | 北京天玛智控科技股份有限公司 | External structure of video inspection robot and track used in cooperation with external structure |
| CN116087221B (en) * | 2023-03-02 | 2023-09-08 | 东北电力大学 | Air cooler dust accumulation state detection device and method based on computer vision |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8116910B2 (en) * | 2007-08-23 | 2012-02-14 | Intouch Technologies, Inc. | Telepresence robot with a printer |
| CN101830248A (en) * | 2010-05-24 | 2010-09-15 | 哈尔滨工程大学 | Connecting rod steering mechanism |
| CN106625716A (en) * | 2017-01-22 | 2017-05-10 | 国网河南省电力公司检修公司 | Leak detection robot for SF6 gasin substation GIS equipment |
| CN108297058B (en) * | 2017-11-24 | 2020-06-30 | 浙江国自机器人技术有限公司 | Intelligent security robot and automatic inspection method thereof |
| CN210280049U (en) * | 2019-07-03 | 2020-04-10 | 闫书通 | Medical electronic equipment system maintenance detection device |
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