CN107345809A - A kind of wheel-type container detects robot - Google Patents
A kind of wheel-type container detects robot Download PDFInfo
- Publication number
- CN107345809A CN107345809A CN201710730667.0A CN201710730667A CN107345809A CN 107345809 A CN107345809 A CN 107345809A CN 201710730667 A CN201710730667 A CN 201710730667A CN 107345809 A CN107345809 A CN 107345809A
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- China
- Prior art keywords
- wheel
- driving
- robot body
- type container
- controller
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000001514 detection method Methods 0.000 claims description 13
- 238000010276 construction Methods 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 2
- 230000005389 magnetism Effects 0.000 claims 2
- 238000007689 inspection Methods 0.000 abstract description 4
- 238000005286 illumination Methods 0.000 description 2
- 238000005273 aeration Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of wheel-type container to detect robot, including robot body, robot body are provided with driving wheel, motor, battery, controller and wireless signal transceiver；Driving wheel is connected with motor, and permanent magnet is inlaid with driving wheel, and motor, battery and wireless signal transceiver electrically connect with controller；Two axle electric platforms are additionally provided with robot body, image collecting device and lighting device are installed on two axle electric platforms, image collecting device and lighting device electrically connect with the controller.The present invention can gather the internal information of container, and wireless signal transceiver is mounted with, the image information collected can be sent to outside display, operating personnel need to only can be realized as the inspection to container in outside, labor intensity can be reduced, improves checkability.
Description
Technical field
The present invention relates to a kind of wheel-type container to detect robot, belongs to internal container inspection, detection technique field.
Background technology
Container is equipment indispensable in modern cargo transport, to ensure the safety of cargo transport, is entered in container
Need to check its inside before row cargo transport.But container quantity is more, volume is big, numerous plus goods inside,
Light is bad, if directly carrying out vision-based detection by manpower, not only labor intensity is big, and efficiency is not also high.
The content of the invention
It is an object of the present invention to provide a kind of wheel-type container to detect robot, can gather the inside letter of container
Breath, and wireless signal transceiver is mounted with, the image information collected can be sent to outside display, operator
Member need to only can be realized as the inspection to container in outside, can reduce labor intensity, improve checkability.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of wheel-type container detects robot, including robot body, and robot body is provided with driving wheel, driving electricity
Machine, battery, controller and wireless signal transceiver；Driving wheel is connected with motor, and permanent magnet is inlaid with driving wheel,
Motor, battery and wireless signal transceiver electrically connect with controller；It is electronic that two axles are additionally provided with robot body
Head, is provided with image collecting device and lighting device on two axle electric platforms, and image collecting device and lighting device are and institute
State controller electrical connection.
In a kind of foregoing wheel-type container detection robot, front side, rear side, left side and the right side of robot body are all provided with
There are two range sensors, range sensor electrically connects with the controller.Because robot is operationally located at container
It is interior, and operating personnel are located at outside container, robot is not in the visual line of sight of operating personnel, so obstacle functional requirement is compared
Height, therefore, the surrounding in robot body is provided with eight range sensors.
In a kind of foregoing wheel-type container detection robot, robot body is provided with gyroscope, gyroscope and described
Controller electrically connects.Detect the running status of robot in real time by gyroscope.
In a kind of foregoing wheel-type container detection robot, the robot body is provided with permanent magnetic adhesion device, forever
The quantity of magnetic adsorption device is two, and two permanent magnetic adhesion devices are respectively positioned on the bottom of robot body.
In a kind of foregoing wheel-type container detection robot, driving wheel includes driving revolver and driving right wheel, wherein one
Individual permanent magnetic adhesion device is positioned at the right side of driving revolver, and another permanent magnetic adhesion device is positioned at the left side of driving right wheel；Driving is left
Wheel and driving right wheel quantity are one.
In a kind of foregoing wheel-type container detection robot, the driving revolver and driving right wheel are the hollow of rubber
The surface of structure, driving revolver and driving right wheel is provided with mounting groove, and permanent magnet is embedded in mounting groove.Because driving wheel is hollow
Rubber structure, aeration quantity can be reduced, improve the fitting area of driving wheel and container.
Compared with prior art, the present invention can gather the internal information of container, and be mounted with wireless signal transmitting-receiving
Device, the image information collected can be sent to outside display, operating personnel need to only can be realized as pair in outside
The inspection of container, labor intensity can be reduced, improve checkability.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of the present invention；
Fig. 2 is a kind of circuit connection diagram of embodiment of the present invention；
Fig. 3 is a kind of structural representation of embodiment of driving wheel.
Reference：1- drives revolver, 2- permanent magnetic adhesion devices, 3- image collecting devices, 4- lighting devices, 5- distance biographies
Sensor, 6- robot bodies, 7- driving right wheels, the axle electric platforms of 8- bis-, 9- motors, 10- batteries, 11- wireless signals
R-T unit, 12- controllers, 13- gyroscopes, 14- permanent magnets.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Embodiment
Embodiments of the invention 1：A kind of wheel-type container detects robot, including robot body 6, robot body 6
It is provided with driving wheel, motor 9, battery 10, controller 12 and wireless signal transceiver 11；Driving wheel and motor
9 are connected, and are inlaid with permanent magnet 14 on driving wheel, and motor 9, battery 10 and wireless signal transceiver 11 are and controller
12 electrical connections；Two axle electric platforms 8 are additionally provided with robot body 6, image collecting device 3 is installed on two axle electric platforms 8
With lighting device 4, image collecting device 3 and lighting device 4 electrically connect with the controller 12.
Robot body 6 is provided with gyroscope 13, and gyroscope 13 and the controller 12 electrically connect.The robot body
6 are provided with permanent magnetic adhesion device 2, and the quantity of permanent magnetic adhesion device 2 is two, and two permanent magnetic adhesion devices 2 are respectively positioned on robot
The bottom of body 6.Driving wheel includes driving revolver 1 and driving right wheel 7, and one of permanent magnetic adhesion device 2 is positioned at driving revolver 1
Right side, another permanent magnetic adhesion device 2 positioned at driving right wheel 7 left side；It is one to drive revolver 1 and the driving quantity of right wheel 7
It is individual.The driving revolver 1 and driving right wheel 7 are the hollow-core construction of rubber, drive revolver 1 and drive the surface of right wheel 7 to be provided with
Mounting groove, permanent magnet 14 are embedded in mounting groove.
Embodiment 2：A kind of wheel-type container detects robot, including robot body 6, and robot body 6, which is provided with, to be driven
Driving wheel, motor 9, battery 10, controller 12 and wireless signal transceiver 11；Driving wheel is connected with motor 9, drives
Permanent magnet 14 is inlaid with driving wheel, motor 9, battery 10 and wireless signal transceiver 11 are electrically connected with controller 12
Connect；Two axle electric platforms 8 are additionally provided with robot body 6, image collecting device 3 and illumination are installed on two axle electric platforms 8
Device 4, image collecting device 3 and lighting device 4 electrically connect with the controller 12.
Front side, rear side, left side and the right side of robot body 6 are equipped with two range sensors 5, and range sensor 5 is equal
Electrically connected with the controller 12.Robot body 6 is provided with gyroscope 13, and gyroscope 13 and the controller 12 electrically connect.
The robot body 6 is provided with permanent magnetic adhesion device 2, and the quantity of permanent magnetic adhesion device 2 is two, two permanent magnetic adhesion devices
2 are respectively positioned on the bottom of robot body 6.Driving wheel includes driving revolver 1 and driving right wheel 7, one of permanent magnetic adhesion device 2
Positioned at the right side of driving revolver 1, another permanent magnetic adhesion device 2 is positioned at the left side of driving right wheel 7.The driving revolver 1 and drive
Dynamic right wheel 7 is the hollow-core construction of rubber, and driving revolver 1 and the surface of driving right wheel 7 are provided with mounting groove, and permanent magnet 14 is embedded in
In mounting groove.
A kind of operation principle of embodiment of the present invention：Before detection is started, the robot passes through permanent magnetic adhesion device 2
Adsorbed with the permanent magnet 14 on driving wheel in internal container roof, hang upside down and stablize static；Robot passes through Distance-sensing
Device 5 detects distance of the robot body 6 away from the wall of container four, knows oneself particular location in container roof；Controller 12
Carry out path planning；Controller 12 is detected robot by three-axis gyroscope 13 and hangs upside down posture in real time, is controlled by motor 9
Driving wheel band mobile robot is walked in container roof, and keeps stable vertical；Utilize the photograph installed in robot case top
Bright device 4 provides illumination, and internal container image is gathered by image collecting device 3, will by wireless signal transceiver 11
Image is transmitted to outside host computer display and preserved.
Claims (6)
1. a kind of wheel-type container detects robot, it is characterised in that including robot body (6), robot body is set on (6)
There are driving wheel, motor (9), battery (10), controller (12) and wireless signal transceiver (11)；Driving wheel and driving
Motor (9) is connected, and permanent magnet (14), motor (9), battery (10) and wireless signal transceiver are inlaid with driving wheel
(11) electrically connected with controller (12)；Two axle electric platforms (8), two axle electric platforms (8) are additionally provided with robot body (6)
On image collecting device (3) and lighting device (4) be installed, image collecting device (3) and lighting device (4) are and the control
Device (12) electrically connects.
2. a kind of wheel-type container detection robot according to claim 1, it is characterised in that robot body (6)
Front side, rear side, left side and right side are equipped with two range sensors (5), and range sensor (5) is and the controller (12) is electric
Connection.
A kind of 3. wheel-type container detection robot according to claim 1 or 2, it is characterised in that robot body (6)
It is provided with gyroscope (13), gyroscope (13) and the controller (12) electrical connection.
A kind of 4. wheel-type container detection robot according to claim 3, it is characterised in that the robot body
(6) permanent magnetic adhesion device (2) is provided with, the quantity of permanent magnetic adhesion device (2) is two, two equal positions of permanent magnetic adhesion device (2)
In the bottom of robot body (6).
5. a kind of wheel-type container detection robot according to claim 4, it is characterised in that it is left that driving wheel includes driving
(1) and driving right wheel (7) are taken turns, one of permanent magnetic adhesion device (2) is inhaled positioned at the right side of driving revolver (1), another permanent magnetism
Adsorption device (2) is positioned at the left side of driving right wheel (7)；It is one to drive revolver (1) and driving right wheel (7) quantity.
A kind of 6. wheel-type container detection robot according to claim 5, it is characterised in that the driving revolver (1)
It is the hollow-core construction of rubber with driving right wheel (7), drives revolver (1) and the surface of driving right wheel (7) to be provided with mounting groove, permanent magnetism
Body (14) is embedded in mounting groove.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720944890 | 2017-07-31 | ||
| CN2017209448900 | 2017-07-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107345809A true CN107345809A (en) | 2017-11-14 |
Family
ID=60257229
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710730667.0A Pending CN107345809A (en) | 2017-07-31 | 2017-08-23 | A kind of wheel-type container detects robot |
| CN201721062194.3U Active CN207300240U (en) | 2017-07-31 | 2017-08-23 | A kind of wheel-type container detects robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721062194.3U Active CN207300240U (en) | 2017-07-31 | 2017-08-23 | A kind of wheel-type container detects robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN107345809A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107345809A (en) * | 2017-07-31 | 2017-11-14 | 上海圭目机器人有限公司 | A kind of wheel-type container detects robot |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10170448A (en) * | 1996-12-06 | 1998-06-26 | Touden Kogyo Kk | Robot for inspecting inside of iron pipe |
| CN1736668A (en) * | 2005-09-09 | 2006-02-22 | 清华大学 | Magnetic adsorption wall climbing robot with curved surface adaptive ability |
| CN101850727A (en) * | 2010-02-26 | 2010-10-06 | 湖南山河智能机械股份有限公司 | Remote control wheel type mobile robot platform |
| CN103495968A (en) * | 2013-09-18 | 2014-01-08 | 吉首沃华德机器人科技有限责任公司 | Chassis mechanism for mobile welding robot |
| CN105966485A (en) * | 2016-05-30 | 2016-09-28 | 哈工大机器人集团有限公司 | Wheel type magnetic adsorption wall-climbing robot |
| CN205736634U (en) * | 2016-05-06 | 2016-11-30 | 浙江工业大学 | A kind of self-driving type permanent magnetism runner being applicable to wall adsorption climbing |
| CN106325279A (en) * | 2016-10-17 | 2017-01-11 | 安徽智瑞电气有限公司 | Polling device of wireless charging pile based on mobile terminal |
| CN205983216U (en) * | 2016-08-24 | 2017-02-22 | 天津大衍天成科技有限公司 | Agricultural information acquisition robot of new forms of energy |
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
| CN106741268A (en) * | 2016-12-02 | 2017-05-31 | 广东省智能制造研究所 | A kind of transfer of wheeled magnetic adsorption wall climbing robot |
| CN106970622A (en) * | 2017-04-18 | 2017-07-21 | 成都圭目机器人有限公司 | A kind of autonomous type visual detection robot system and its application method |
| CN106976491A (en) * | 2017-04-18 | 2017-07-25 | 成都圭目机器人有限公司 | A kind of lightweight magnetic roller adsorption type wall climbing robot |
| CN207300240U (en) * | 2017-07-31 | 2018-05-01 | 上海圭目机器人有限公司 | A kind of wheel-type container detects robot |
-
2017
- 2017-08-23 CN CN201710730667.0A patent/CN107345809A/en active Pending
- 2017-08-23 CN CN201721062194.3U patent/CN207300240U/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10170448A (en) * | 1996-12-06 | 1998-06-26 | Touden Kogyo Kk | Robot for inspecting inside of iron pipe |
| CN1736668A (en) * | 2005-09-09 | 2006-02-22 | 清华大学 | Magnetic adsorption wall climbing robot with curved surface adaptive ability |
| CN101850727A (en) * | 2010-02-26 | 2010-10-06 | 湖南山河智能机械股份有限公司 | Remote control wheel type mobile robot platform |
| CN103495968A (en) * | 2013-09-18 | 2014-01-08 | 吉首沃华德机器人科技有限责任公司 | Chassis mechanism for mobile welding robot |
| CN205736634U (en) * | 2016-05-06 | 2016-11-30 | 浙江工业大学 | A kind of self-driving type permanent magnetism runner being applicable to wall adsorption climbing |
| CN105966485A (en) * | 2016-05-30 | 2016-09-28 | 哈工大机器人集团有限公司 | Wheel type magnetic adsorption wall-climbing robot |
| CN205983216U (en) * | 2016-08-24 | 2017-02-22 | 天津大衍天成科技有限公司 | Agricultural information acquisition robot of new forms of energy |
| CN106325279A (en) * | 2016-10-17 | 2017-01-11 | 安徽智瑞电气有限公司 | Polling device of wireless charging pile based on mobile terminal |
| CN106741268A (en) * | 2016-12-02 | 2017-05-31 | 广东省智能制造研究所 | A kind of transfer of wheeled magnetic adsorption wall climbing robot |
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
| CN106970622A (en) * | 2017-04-18 | 2017-07-21 | 成都圭目机器人有限公司 | A kind of autonomous type visual detection robot system and its application method |
| CN106976491A (en) * | 2017-04-18 | 2017-07-25 | 成都圭目机器人有限公司 | A kind of lightweight magnetic roller adsorption type wall climbing robot |
| CN207300240U (en) * | 2017-07-31 | 2018-05-01 | 上海圭目机器人有限公司 | A kind of wheel-type container detects robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN207300240U (en) | 2018-05-01 |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20171114 |