CN109079740A - A kind of Intelligent Mobile Robot - Google Patents
A kind of Intelligent Mobile Robot Download PDFInfo
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- CN109079740A CN109079740A CN201811027830.8A CN201811027830A CN109079740A CN 109079740 A CN109079740 A CN 109079740A CN 201811027830 A CN201811027830 A CN 201811027830A CN 109079740 A CN109079740 A CN 109079740A
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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
- 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
- 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
- B25J19/0054—Cooling means
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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
- B25J19/04—Viewing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of Intelligent Mobile Robots.The robot includes ontology, data acquisition module, main control module, motion-control module, temperature control modules, communication module, power management module, wherein the robot body uses the structure of four-wheel robot trolley；Data acquisition module carries out the detection of ambient enviroment, including detection video image, infrared temperature, real time position, operating status using sensor, and the information that will test passes to robot main control module；Main control module is data processing and the logic control center of robot；Motion-control module carries out centralized control to the movement of each moving component of robot；Temperature control modules include fan, temperature sensor, electric heater and PLC；Communication module uses communication, by video image, infrared temperature, real time position, operating status real-time data transmission to local background monitoring subsystem.It is strong that the present invention is suitable for harsh working environment, image recognition rate height, obstacle detouring climbing capacity.
Description
Technical field
The invention belongs to intelligent robot technology field, especially a kind of Intelligent Mobile Robot.
Background technique
With the development of smart electric grid system, substation, the coverage area of power line are more and more wider, are giving people's lives
It is also that the repair and maintenance of equipment brings many new problems while offering convenience.In daily maintenance, if using passing
The manual inspection mode of system can not only expend a large amount of manpower, also will cause the low situation of working efficiency, while inspection is covered
Lid rate, timeliness and accuracy are also unable to get guarantee.For the possible variety of problems of manual inspection, substation is utilized
Crusing robot replaces the manual inspection to be increasingly becoming a kind of trend.
Traditional Intelligent Mobile Robot is charged using rechargeable lithium battary, since lithium battery is at 0 DEG C
Discharging efficiency decline is serious when following, therefore most of crusing robots are since continuation of the journey problem can not all be applied western in China
Outlying district.In addition, some equipment in high vacancy are often difficult to effectively adopt due to the defect on crusing robot oneself height
Collect information, cannot fully have the function that replace manual inspection.Existing crusing robot mostly be two drives add universal wheel or
Person's 4 wheel driven structure, although the former turning radius is small, it is poor to move flexibly obstacle climbing ability, although and the latter's obstacle climbing ability is strong
Be can only the mode of differential steering make turning radius larger, do not adapt to the partially narrow situation of road, be easy to appear and fall situation.
Summary of the invention
The purpose of the present invention is to provide a kind of substations that can adapt to extreme climate, effectively acquisition altitude plant information
Crusing robot, while having both stronger obstacle climbing ability and zero turning radius.
The technical solution for realizing the aim of the invention is as follows: a kind of Intelligent Mobile Robot, including robot body, number
According to acquisition module, main control module, motion-control module, temperature control modules, communication module, power management module, in which:
The robot body uses the structure of four-wheel robot trolley, above four wheels and wheel including bottom
Main body, the cabin of main body is completely covered by shell, and the lower section of main body is equipped with bottom plate, using robot direction of travel as front, outside
The top nose of shell is equipped with holder, and the elevating lever of holder is controlled by robot main control module；
The data acquisition module carries out the detection of ambient enviroment, including detection video image, infrared temperature using sensor
Degree, real time position, operating status, and the information that will test passes to robot main control module；
The main control module is data processing and the logic control center of robot；
The motion-control module carries out centralized control to the movement of each moving component of robot, with robot traveling machine
Structure is cooperated to complete robot ambulation control, is cooperated with elevating mechanism to complete the elevating control of holder；
The temperature control modules include fan, temperature sensor, electric heater and PLC, and wherein temperature sensor is set
It sets on the inner sidewall of the shell of main body, electric heater and PLC are arranged at body interior, in the shell front and back walls of main body
Distinguish aperture and fan is set in top；
The communication module uses communication, by video image, infrared temperature, real time position, operating status
Real-time data transmission is to local background monitoring subsystem；
The power management module provides required power supply for each module normal work of system.
Further, the data acquisition module includes thermal imaging system, visible image capturing head, laser radar, sound pick-up, takes the photograph
As head, Compact Laser Radar, ultrasonic radar, in which:
The visible image capturing head is fixed on holder together with thermal imaging system, and holder can be realized 360 ° of companies of horizontal direction
Continuous rotation and the rotation of -45 ° of pitch orientation~60 °；
The sound pick-up, laser radar, light compensating lamp, camera, Compact Laser Radar are set to body front end from top to bottom；
Sound pick-up is fixed on the fixed frame upper of laser radar by the fixed bracket of sound pick-up, is used for collection site noise of equipment；Laser
Radar is fixed on the fixed mid-stent of laser radar, carries out autonomous positioning and navigation based on laser SLAM algorithm；Camera passes through
Bracket is fixed on the front end of bottom plate, and for acquiring information of road surface, assisting navigation, the light compensating lamp is that camera supplements light；It is small
Type laser radar is fixed by the bracket in the bottom of robot body front end, and the height on Compact Laser Radar and ground is 30cm,
Scanning range is set as being wider than the rectangular area of vehicle body, and when installation and the angle of vertical line is set as 25 °；
Ultrasonic radar is fixed by the bracket in the rear end of bottom plate, by ultrasonic distance measurement principle real-time detection robot with
The height on ground, prevent robot retreat when fall the phenomenon that.
Further, the function of the main control module specifically includes the following:
1) data information from thermal imaging system is received, the acquisition of device temperature and the judgement of overtemperature, differential temperature are carried out；
2) data information from visible image capturing head is received, instrument board pointer data, digital display contained by equipment are powered
The identification of data, operating status lamp, switch and disconnecting link state；
3) data information from laser radar is received, by carrying out autonomous positioning navigation with SLAM algorithm；
4) it receives the data information from sound pick-up and judges the operation of field device by being analyzed and processed to audio
Whether state has exception；
5) data information from Compact Laser Radar and ultrasonic radar is received, the obstacle before carrying out on line direction is known
Dropproof function in other and realization fallback procedures；
6) the patrol task instruction from backstage is received, inspection job management is completed according to the Task Autonomous issued.
Further, in the temperature control modules, the temperature of temperature sensor real-time detection main body, and data are passed through
RS485 communication passes to PLC, and PLC is preset with temperature upper limit T according to the optimum working temperature range of batterymax, lower limit value Tmin
And room temperature value T, the temperature value that PLC will test are made comparisons with preset temperature bound, if the temperature value detected is super
T is crossedmax, PLC issues instruction unpack fan and cools down, until temperature closes fan when dropping to T；If the temperature detected
Value is lower than Tmin, PLC issues instruction unpack electric heater and is heated, until temperature closes heater when being raised to T.
Further, the robot walking mechanism include motion servo motor, turn to servo motor, rotating platform and
Wheel；
When robot straight-line travelling, four motion servo motors give coaxially connected wheel to provide power respectively, in turn
Band mobile robot moves forwards or backwards；When robot is when road corner is turned, robot stop motion first,
Then four steering servo motors respectively drive corresponding rotating platform, and rotating platform drives corresponding wheel original place to rotate again
45 ° so that before robot two wheels become in " eight " apperance, two wheels become outer " eight " apperance below, then basis
Turn left or turn right and rotation is carried out by motion servo motor driven wheel until robot car body turns over -90 ° or 90 °, finally again
Respectively drive corresponding rotating platform by four steering servo motors, rotating platform drive again corresponding wheel by with opposite side before
45 ° are rotated to original place, so that four wheels return to the position of straight-line travelling.
Further, the elevating mechanism includes the holder for carrying detection device and the lifting that body interior front end is arranged in
Holder is fixed on elevating lever by bar, by changing simultaneously the height of elevating lever and the posture of holder, makes robot to high-altitude
Equipment carries out information collection.
Further, the wireless telecom equipment in the communication module includes the wireless aps for being set to body interior and double AP
Antenna, the ZigBee module for being set to body interior and zigbee antenna, double AP antennas and zigbee antenna are all set in shell
The rear end at top.
Further, the power management module includes battery, and battery is placed in the cabin of main body, and the rear wall of shell opens up
Battery hatch and charging jack is filled certainly, battery hatch is for taking out or being placed in battery out of main body；
The function of the power management module includes voltage conversion, voltage monitoring and recharging, recharging function
Based on Camera calibration algorithm, it is returned to charging room when robot detects electricity lower than threshold value and charges, fills certainly
It is provided with a pair of of charging electrode in electrical outlet, cooperates with the automatic charging socket of charging within doors to complete recharging.
Further, which further includes alarm module, and the alarm module sends sound, lamp by status indicator lamp
Optical signal carrys out transfer robot current state；The status indicator lamp is set to the rear end of the shell of robot body, Neng Goutong
The variation of color is crossed to indicate the state of current robot, while status indicator lamp contains a loudspeaker module, loudspeaker
Module can issue prompt tone, further indicate staff.
Further, which further includes protection mechanism, and the protection mechanism includes shield, organ cover；It is described anti-
Shield is fixed on holder, wraps up visible image capturing head and thermal imaging system, for the anti-of visible image capturing head and thermal imaging system
Shield；Organ, which is provide with, to be placed on the outside of elevating lever, for protecting elevating lever, while preventing rainwater and dust from entering robot by gap
Body interior.
Compared with prior art, the present invention its remarkable advantage are as follows: (1) carry out temperature control to battery by fan and heater
System, enables battery to work among harsher environment；(2) high-definition camera being fixed on the holder on lifting push rod
Machine and thermal imaging system can possess visual angle more better than other products, improve the discrimination of image, improve later image analysis
Accuracy；(3) motion structure that omnidirectional drives entirely greatly improves the obstacle detouring climbing capacity of robot, while can pivot stud
Motion mode realizes 0 turning radius, and turning can also be safely completed very much even if on relatively narrow road.
Detailed description of the invention
Fig. 1 is the overall structure front schematic view of Intelligent Mobile Robot of the present invention.
Fig. 2 is the overall structure left side schematic diagram of Intelligent Mobile Robot of the present invention.
Fig. 3 is the integrally-built rear side schematic diagram of Intelligent Mobile Robot of the present invention.
Fig. 4 is the function structure chart of Intelligent Mobile Robot of the present invention.
Figure label is as follows: 1, thermal imaging system；2, shield；3, visible image capturing head；4, AP antenna；5, organ cover；6,
Holder；7, zigbee antenna；8, main body；9, fan；10, the fixed bracket of laser radar；11, motion servo motor；12, wheel；
13, the fixed bracket of sound pick-up；14, sound pick-up；15, laser radar；16, light compensating lamp；17, camera；18, Compact Laser Radar；
19, rotating platform；20, servo motor is turned to；21, status indicator lamp；22, shell；23, ultrasonic radar；24, bottom plate；25, electric
Pond hatch；26, charging jack is filled certainly.
Specific embodiment
Technical solution of the present invention is described in further detail below in conjunction with Figure of description.
In conjunction with Fig. 1~4, Intelligent Mobile Robot of the present invention, including robot body, data acquisition module, master control mould
Block, motion-control module, temperature control modules, communication module, power management module, in which:
The robot body uses the structure of four-wheel robot trolley, above four wheels and wheel including bottom
Main body 8, the cabin of main body 8 is completely covered by shell 22, and the lower section of main body 8 is equipped with bottom plate 24, is with robot direction of travel
The top nose in front, shell 22 is equipped with holder 6, and the elevating lever of holder 6 is controlled by robot main control module；
The data acquisition module carries out the detection of ambient enviroment, including detection video image, infrared temperature using sensor
Degree, real time position, operating status, and the information that will test passes to robot main control module；
The main control module is data processing and the logic control center of robot；
The motion-control module carries out centralized control to the movement of each moving component of robot, with robot traveling machine
Structure is cooperated to complete robot ambulation control, is cooperated with elevating mechanism to complete the elevating control of holder 6；
The temperature control modules include fan 9, temperature sensor, electric heater and PLC, and wherein temperature sensor is set
It sets on the inner sidewall of the shell 22 of main body 8, electric heater and PLC are arranged inside main body 8, in the shell 22 of main body 8
Fan 9 is arranged in aperture respectively above front and back walls；
The communication module uses communication, by video image, infrared temperature, real time position, operating status
Real-time data transmission is to local background monitoring subsystem；
The power management module provides required power supply for each module normal work of system.
As a kind of specific example, the data acquisition module includes thermal imaging system 1, visible image capturing head 3, laser radar
15, sound pick-up 14, camera 17, Compact Laser Radar 18, ultrasonic radar 23, in which:
The visible image capturing head 3 is fixed on holder 6 together with thermal imaging system 1, and holder 6 can be realized horizontal direction
The rotation of 360 ° of continuous rotations and -45 ° of pitch orientation~60 °；
The sound pick-up 14, laser radar 15, light compensating lamp 16, camera 17, Compact Laser Radar 18 are arranged from top to bottom
In 8 front end of main body；Sound pick-up 14 is fixed on fixed 10 top of bracket of laser radar by the fixed bracket 13 of sound pick-up, for acquiring
Field device noise；Laser radar 15 is fixed on fixed 10 middle part of bracket of laser radar, is carried out based on laser SLAM algorithm autonomous
Positioning and navigation；Camera 17 is fixed by the bracket in the front end of bottom plate 24, and for acquiring information of road surface, assisting navigation is described
Light compensating lamp is that camera supplements light；Compact Laser Radar 18 is fixed by the bracket in the bottom of 8 front end of robot body, small-sized
The height on laser radar 18 and ground is 30cm, and scanning range is set as being wider than the rectangular area of vehicle body, when installation and vertical line
Angle be set as 25 °；
Ultrasonic radar 23 is fixed by the bracket in the rear end of bottom plate 24, passes through ultrasonic distance measurement principle real-time detection machine
The height of people and ground, prevent robot retreat when fall the phenomenon that.
As a kind of specific example, the function of the main control module specifically includes the following:
1) data information from thermal imaging system 1 is received, the acquisition of device temperature and the judgement of overtemperature, differential temperature are carried out；
2) data information from visible image capturing head 3 is received, instrument board pointer data, digital display contained by equipment are powered
The identification of data, operating status lamp, switch and disconnecting link state；
3) data information from laser radar 15 is received, by carrying out autonomous positioning navigation with SLAM algorithm；
4) it receives the data information from sound pick-up 14 and judges the fortune of field device by being analyzed and processed to audio
Whether row state has exception；
5) data information from Compact Laser Radar 18 and ultrasonic radar 23 is received, the barrier before carrying out on line direction
Hinder identification and realizes the dropproof function in fallback procedures；
6) the patrol task instruction from backstage is received, inspection job management is completed according to the Task Autonomous issued.
As a kind of specific example, in the temperature control modules, the temperature of temperature sensor real-time detection main body 8, and
Data are passed into PLC by RS485 communication, PLC is preset with temperature upper limit according to the optimum working temperature range of battery
Tmax, lower limit value TminAnd room temperature value T, the temperature value that PLC will test are made comparisons with preset temperature bound, if detection
To temperature value be more than Tmax, PLC issues instruction unpack fan 9 and cools down, until temperature closes fan 9 when dropping to T；Such as
The temperature value that fruit detects is lower than Tmin, PLC issues instruction unpack electric heater and is heated, until closing adds when temperature is raised to T
Hot device.
As a kind of specific example, the robot walking mechanism include motion servo motor 11, turn to servo motor 20,
Rotating platform 19 and wheel 12；
When robot straight-line travelling, four motion servo motors 11 provide power to coaxially connected wheel 12 respectively,
And then it is moved forwards or backwards with mobile robot；When robot is when road corner is turned, robot stops first
Movement, then four steering servo motors 20 respectively drive corresponding rotating platform 19, and rotating platform 19 drives corresponding wheel again
12 original places rotate 45 °, so that two wheels 12 become interior " eight " apperance before robot, two wheels 12 in back become outer " eight "
Then apperance drives wheel 12 rotate until robot car body turns according to turning left or turning right by motion servo motor 11
- 90 ° or 90 ° are crossed, finally respectively drives corresponding rotating platform 19 by four steering servo motors 20 again, rotating platform 19 drives again
Corresponding wheel 12, which is pressed, rotates 45 ° with opposite direction original place before, so that four wheels 12 return to the position of straight-line travelling.
As a kind of specific example, the elevating mechanism includes carrying the holder 6 of detection device and being arranged inside main body 8
Holder 6 is fixed on elevating lever by the elevating lever of front end, by changing simultaneously the height of elevating lever and the posture of holder 6, is made
Robot carries out information collection to altitude plant.
As a kind of specific example, the wireless telecom equipment in the communication module includes the nothing being set to inside main body 8
Line AP and double AP antennas 4, the ZigBee module being set to inside main body 8 and zigbee antenna 7, double AP antennas 4 and zigbee
Antenna 7 is all set in the rear end at 22 top of shell.
As a kind of specific example, the power management module includes battery, and battery is placed in the cabin of main body 8, shell
22 rear wall opens up battery hatch 25 and fills charging jack 26 certainly, and battery hatch 25 is for taking out or setting battery out of main body 8
Enter；
The function of the power management module includes voltage conversion, voltage monitoring and recharging, recharging function
Based on Camera calibration algorithm, it is returned to charging room when robot detects electricity lower than threshold value and charges, fills certainly
It is provided with a pair of of charging electrode in electrical outlet 26, cooperates with the automatic charging socket of charging within doors to complete recharging.
As a kind of specific example, which further includes alarm module, and the alarm module passes through status indicator lamp 21
Send sound, light signal carrys out transfer robot current state；The status indicator lamp 21 is set to the outer of robot body 8
The rear end of shell 22 can indicate the state of current robot by the variation of color, while status indicator lamp 21 contains one
A loudspeaker module, loudspeaker module can issue prompt tone, further indicate staff.
As a kind of specific example, which further includes protection mechanism, and the protection mechanism includes shield 2, organ
Cover 5；The shield 2 is fixed on holder 6, wraps up visible image capturing head 3 and thermal imaging system 1, is used for visible image capturing head 3
With the protection of thermal imaging system 1；Organ cover 5 is set on the outside of elevating lever, for protecting elevating lever, while preventing rainwater and dust logical
Gap is crossed to enter inside robot body 8.
Embodiment 1
Intelligent Mobile Robot of the present invention includes main body 8, and main body 8 is arranged on bottom plate 24, and 8 bottom four corners of main body are set
Being equipped with 12,4 wheels 12 of wheel supports bottom plate 24, and motion servo motor 11,8 two sides of main body are provided on the inside of each wheel 12
Position is provided with rotating platform 19 and turns to servo motor 20.
Main body 8 is equipped with shell 22, and holder 6 is pushed up by the shell 22 that the elevating lever being fixed on bottom plate 24 is set to main body 8
The front end in portion, it is seen that light video camera head 3 and thermal imaging system 1 are all set on holder 6, and can be moved up and down with elevating lever；
22 top rear of shell of main body 8 is provided with AP antenna 4, zigbee antenna 7 and status indicator lamp 21；Before the shell 22 of main body 8
Wall upper left side and the aperture of rear wall upper right side are provided with fan 9；The front end of main body 8 sets gradually sound pick-up 14 from top to bottom, swashs
Optical radar 15, light compensating lamp 16, camera 17, Compact Laser Radar 18；Main body 8 22 rear wall of shell setting battery hatch 25, from
Fill charging jack 26；The rear end of main body 8 is provided with ultrasonic radar 23,
Shield 2 is provided on the outside of visible image capturing head 3 and thermal imaging system 1；Organ cover 5 is provided on the outside of elevating lever；Bottom
24 front end of plate is provided with the fixed bracket 10 of laser radar, and laser radar 15 is fixed on fixed 10 middle part of bracket of laser radar；Pickup
The fixed bracket 13 of device is fixed on fixed 10 top of bracket of laser radar, and sound pick-up 14 is fixed on the fixed bracket 13 of sound pick-up.
As shown in Figures 1 to 3, robot control module includes main control module, temperature control modules, power management module, fortune
Dynamic control module and communication module, are located inside main body 8；
Data acquisition module carries out the detection of ambient enviroment using sensor provisioned in robot, and relevant information is passed
Pass robot main control module, including thermal imaging system 1, visible image capturing head 3, laser radar 15, sound pick-up 14, camera 17,
Compact Laser Radar 18, ultrasonic radar 23.
Thermal imaging system 1 is used for substation equipment thermometric, it is seen that and light video camera head 3 is used to acquire road and live meter information,
Visible image capturing head 3 and thermal imaging system 1 are fixed on together on holder 6, holder 6 may be implemented 360 ° of continuous rotations of horizontal direction with
And the rotation of -45 ° of pitch orientation~60 °, greatly improve the efficiency of inspection；Sound pick-up 14 passes through the fixed bracket 13 of sound pick-up
It is fixed on fixed 10 top of bracket of laser radar, is used for collection site noise of equipment；It is solid that laser radar 15 is fixed on laser radar
10 middle part of fixed rack, carries out autonomous positioning and navigation based on laser SLAM algorithm；Compact Laser Radar 18 is fixed by small rack
In the bottom of 8 front end of robot body, the height on Compact Laser Radar 18 and ground is 30cm, and selected model is sick company
Scanning range is set the rectangular area more slightly wider than vehicle body by TIM351, and when installation and the angle of vertical line is set as 25 °, this
Sample according to Pythagorean theorem when barrier is located at 0.5m in front of robot, can according to the distance value that Compact Laser Radar 18 is passed back
To judge whether the height of barrier is higher than 6cm, if be higher than 6cm just timely stop motion and record front have obstacle
Otherwise information is viewed as analogous to the object of deceleration strip on highway, directly traveling past, such avoidance processing method were both protected
The inherently safe of Zhang Liao robot in turn avoids detecting the irrationality that tiny barrier just stops；Camera 17 passes through branch
Frame is fixed on the front end of bottom plate 24, for acquiring information of road surface, assisting navigation；Ultrasonic radar 23 is fixed by the bracket in chassis
24 rear end prevents robot appearance when retreating by the height of ultrasonic distance measurement principle real-time detection robot and ground
The phenomenon that falling.
Temperature control modules include fan 9, temperature sensor, electric heater and PLC.Temperature sensor is arranged in main body
On the inner sidewall of 8 shell 22, electric heater and PLC are arranged inside ontology 8, in the 22 antetheca upper left of shell of main body 8
Side and the difference aperture of rear wall upper right side are provided with two fans 9.8 temperature of temperature sensor real-time detection robot body, and
Data are passed into PLC by RS485 communication, PLC according to the optimum working temperature range of battery be preset with 25 DEG C of temperature upper limit,
5 DEG C of lower limit and 15 DEG C of room temperature value, the temperature value that PLC will test is made comparisons with preset temperature bound, if detected
Temperature value be more than 25 DEG C, PLC, which issues fan 9 before and after instruction unpack, to be accelerated air circulation and plays the role of cooling, until temperature
Degree drops to 15 DEG C and just closes fan 9；If the temperature value detected is lower than 5 DEG C, PLC issues instruction unpack electric heater and is added
Heat, until temperature, which is raised to 15 DEG C, just closes heater.Such design the operating ambient temperature of battery can be maintained at 5 DEG C~
25 DEG C, at the same will not to fan 9 and heater frequent progress switch operation, even if so that robot battery Urumchi in this way
Area with extreme climate can also normally work.
Power management module is mainly that each module of system works normally power supply required for offer, and battery can be in certain time
It is interior it is continual and steady there is electric energy, be the basis of entire robot normal operation, and battery can be by opening battery hatch 25 very
It is easily taken out out of main body 8, repairs with greatly simplifiing the later period and more change jobs.The module major function includes that voltage turns
It changes, voltage monitoring and recharging, recharging function is based on Camera calibration algorithm, when robot detects that electricity is low
It is returned to charging room when 20% to charge, is filled in charging jack 26 certainly and is provided with a pair of of charging electrode, within doors with charging
Automatic charging socket cooperates to complete recharging.
Motion-control module carries out centralized control to the movement of each moving component of robot, with robot walking mechanism into
Row cooperation is cooperated with elevating mechanism with completing robot ambulation control to complete the elevating control of holder 6.
Walking mechanism mainly includes motion servo motor 11, turns to servo motor 20, rotating platform 19 and wheel 12.When
When robot straight-line travelling, four motion servo motors 11 provide power to coaxially connected wheel 12 respectively, and then with motivation
Device people moves forwards or backwards；When robot is when road corner is turned, robot stop motion first, then four
A steering servo motor 20 respectively drives corresponding rotating platform 19, and rotating platform 19 drives corresponding 12 original place of wheel to rotate again
45 °, so that two wheels 12 become interior " eight " apperance before robot, two wheels 12 in back become outer " eight " apperance, then
According to turn left or turn right by motion servo motor 11 drive wheel 12 carry out rotation until robot car body turn over -90 ° or
90 °, corresponding rotating platform 19 finally is respectively driven by four steering servo motors 20 again, rotating platform 19 drives corresponding vehicle again
Wheel 12 rotates 45 ° by with opposite direction original place before, so that four wheels 12 return to the position of straight-line travelling.Such omnidirectional is complete
The motion mode of drive can not only greatly improve the speed of service and enhancing climbing obstacle climbing ability of robot in straight-line travelling,
And deflecting 0 turning radius may be implemented, so that robot can also safely work on relatively narrow road very much immediately.
Elevating mechanism mainly includes carrying the holder 6 of detection device and the elevating lever of 8 interior forward end of main body being arranged in, especially
Holder 6 is fixed on elevating lever, by changing simultaneously the height of elevating lever and the posture of holder 6, so that robot pair
The information collection of altitude plant can also be clear and accurate, really realizes the inspection function for covering full equipment.
Main control module is the data processing centre of robot and logic control center, major function include the following: (1)
The data information from thermal imaging system 1 is received, the acquisition of device temperature and the judgement of overtemperature, differential temperature are carried out；(2) it receives from can
The data information of light-exposed camera 3 is powered instrument board pointer data, digital display data contained by equipment, operating status lamp, switch
And the identification of disconnecting link state etc.；(3) data information from laser radar 15 is received, it is autonomous by being carried out with SLAM algorithm
Location navigation；(4) it receives the data information from sound pick-up 14 and judges field device by being analyzed and processed to audio
Whether operating status has exception；(5) data information from Compact Laser Radar 18 and ultrasonic radar 23 is received, before progress
The dropproof function (6) in obstacle identification and realization fallback procedures on line direction receives the patrol task from backstage and refers to
It enables, inspection job management (timing automatic detecting, instruction inspection) is completed according to the Task Autonomous issued.
Communication module is communication, the module major function be robot by wireless communication equipment by video figure
The real-time data transmissions such as picture, infrared temperature, real time position, operating status are to local background monitoring subsystem, wireless telecom equipment
It is main include be set to the wireless aps inside main body 8 and double AP antennas 4, the ZigBee module being set to inside main body 8 and
Zigbee antenna 7, the design of double antenna are conducive to the quality of enhancing transmission signal.
The function of alarm module is to facilitate Field Force to learn machine by sending the information that human eye is visible, human ear is audible
People's current state, to make timely reply appropriate, including but not limited to status indicator lamp 21 and condition prompting sound, state
Indicator light 21 is located at the rear end of the shell 22 of robot body 8, and the shape of current robot can be indicated by the variation of color
State, while status indicator lamp 21 contains a loudspeaker module, loudspeaker module can issue prompt tone, further to work
Personnel indicate.
The effect of protection mechanism is the degree of protection of hoisting machine people, more complicated to allow the robot to adapt to
Rugged environment, including but not limited to shield 2, organ cover 5 and shell 22, the shield 2 are fixed on holder 6, packet
Visible image capturing head 3 and thermal imaging system 1, the protection for visible image capturing head 3 and thermal imaging system 1 are wrapped；5, organ cover
On the outside of elevating lever, for protecting elevating lever, while preventing rainwater and dust from entering inside robot body 8 by gap；Outside
The cabin part of above-mentioned robot body 8 can be completely covered for shell 22, to play a protective role.
In conclusion Intelligent Mobile Robot of the present invention, carries out temperature control to battery by fan and heater, makes
Obtaining battery can work among harsher environment.Be fixed on lifting push rod on holder on high-definition camera and heat at
As instrument, visual angle more better than other products can be possessed, improve the discrimination of image, improve the accuracy of later image analysis.
The motion structure that omnidirectional drives entirely greatly improves the obstacle detouring climbing capacity of robot, at the same can pivot stud motion mode it is real
0 turning radius is showed, turning can also be safely completed very much even if on relatively narrow road；It is arranged by double antenna, is guaranteed remote
Communication quality under situation.
Claims (10)
1. a kind of Intelligent Mobile Robot, which is characterized in that including robot body, data acquisition module, main control module, fortune
Dynamic control module, temperature control modules, communication module, power management module, in which:
The robot body uses the structure of four-wheel robot trolley, the master above four wheels and wheel including bottom
The cabin of body (8), main body (8) is completely covered by shell (22), and the lower section of main body (8) is equipped with bottom plate (24), is advanced with robot
Direction is front, and the top nose of shell (22) is equipped with holder (6), and the elevating lever of holder (6) is controlled by robot main control module；
The data acquisition module carries out the detection of ambient enviroment, including detection video image, infrared temperature, reality using sensor
When position, operating status, and the information that will test passes to robot main control module；
The main control module is data processing and the logic control center of robot；
The motion-control module carries out centralized control to the movement of each moving component of robot, with robot walking mechanism into
Row cooperation is cooperated with elevating mechanism with completing robot ambulation control to complete the elevating control of holder (6)；
The temperature control modules include fan (9), temperature sensor, electric heater and PLC, and wherein temperature sensor is arranged
On the inner sidewall of the shell (22) of main body (8), electric heater and PLC are arranged at main body (8) inside, in main body (8)
Aperture setting fan (9) respectively above shell (22) front and back walls；
The communication module use communication, by video image, infrared temperature, real time position, operating status data
It is real-time transmitted to local background monitoring subsystem；
The power management module provides required power supply for each module normal work of system.
2. Intelligent Mobile Robot according to claim 1, which is characterized in that the data acquisition module include heat at
As instrument (1), visible image capturing head (3), laser radar (15), sound pick-up (14), camera (17), Compact Laser Radar (18),
Ultrasonic radar (23), in which:
The visible image capturing head (3) and thermal imaging system (1) are fixed on together on holder (6), and holder (6) can be realized level side
Rotation to 360 ° of continuous rotations and -45 ° of pitch orientation~60 °；
The sound pick-up (14), laser radar (15), light compensating lamp (16), camera (17), Compact Laser Radar (18) from up to
Under be set to main body (8) front end；Sound pick-up (14) is fixed on the fixed bracket of laser radar by sound pick-up fixed bracket (13)
(10) top is used for collection site noise of equipment；Laser radar (15) is fixed in the middle part of laser radar fixed bracket (10), is based on
Laser SLAM algorithm carries out autonomous positioning and navigation；Camera (17) is fixed by the bracket in the front end of bottom plate (24), for adopting
Collect information of road surface, assisting navigation, the light compensating lamp (16) is that camera (17) supplement light；Compact Laser Radar (18) passes through branch
Frame is fixed on the bottom of robot body (8) front end, and Compact Laser Radar (18) and the height on ground are 30cm, and scanning range is set
It is set to the rectangular area for being wider than vehicle body, when installation and the angle of vertical line is set as 25 °；
Ultrasonic radar (23) is fixed by the bracket in the rear end of bottom plate (24), passes through ultrasonic distance measurement principle real-time detection machine
The height of people and ground, prevent robot retreat when fall the phenomenon that.
3. Intelligent Mobile Robot according to claim 2, which is characterized in that the function of the main control module is specifically wrapped
Include the following:
1) data information for coming from thermal imaging system (1) is received, the acquisition of device temperature and the judgement of overtemperature, differential temperature are carried out；
2) data information for coming from visible image capturing head (3) is received, instrument board pointer data, digital display number contained by equipment are powered
According to, the identification of operating status lamp, switch and disconnecting link state；
3) data information for coming from laser radar (15) is received, by carrying out autonomous positioning navigation with SLAM algorithm；
4) it receives the data information from sound pick-up (14) and judges the operation of field device by being analyzed and processed to audio
Whether state has exception；
5) data information from Compact Laser Radar (18) and ultrasonic radar (23), the barrier before carrying out on line direction are received
Hinder identification and realizes the dropproof function in fallback procedures；
6) the patrol task instruction from backstage is received, inspection job management is completed according to the Task Autonomous issued.
4. Intelligent Mobile Robot according to claim 1,2 or 3, which is characterized in that in the temperature control modules,
The temperature of temperature sensor real-time detection main body (8), and data are passed into PLC by RS485 communication, PLC is according to battery
Optimum working temperature range is preset with temperature upper limit Tmax, lower limit value TminAnd room temperature value T, the temperature value that PLC will test
It makes comparisons with preset temperature bound, if the temperature value detected has been more than Tmax, PLC issue instruction unpack fan (9) into
Row cooling, until temperature closes fan (9) when dropping to T；If the temperature value detected is lower than Tmin, it is electric that PLC issues instruction unpack
Heater is heated, until temperature closes heater when being raised to T.
5. according to claim 1, Intelligent Mobile Robot described in 2 or 3, which is characterized in that the robot walking mechanism
Including motion servo motor (11), turn to servo motor (20), rotating platform (19) and wheel (12)；
When robot straight-line travelling, four motion servo motors (11) provide power to coaxially connected wheel (12) respectively,
And then it is moved forwards or backwards with mobile robot；When robot is when road corner is turned, robot stops first
Movement, then four steering servo motors (20) respectively drive corresponding rotating platform (19), and rotating platform (19) drives correspondence again
Wheel (12) original place rotate 45 ° so that before robot two wheels (12) become in " eight " apperance, below two wheels
(12) become outer " eight " apperance, then rotated according to turning left or turning right by motion servo motor (11) driving wheel (12)
Until robot car body turns over -90 ° or 90 °, corresponding rotating platform finally is respectively driven by four steering servo motors (20) again
(19), rotating platform (19) drives corresponding wheel (12) to press again and rotates 45 ° with opposite direction original place before, so that four wheels
(12) position of straight-line travelling is returned to.
6. according to claim 1, Intelligent Mobile Robot described in 2 or 3, which is characterized in that the elevating mechanism includes taking
Holder (6) is fixed on elevating lever by the holder (6) for carrying detection device and setting in the elevating lever of main body (8) interior forward end, is led to
The posture for crossing the height for changing simultaneously elevating lever and holder (6) makes robot carry out information collection to altitude plant.
7. according to claim 1, Intelligent Mobile Robot described in 2 or 3, which is characterized in that the nothing in the communication module
Line communication equipment includes being set to the internal wireless aps of main body (8) and double AP antennas (4), being set to main body (8) inside
After ZigBee module and zigbee antenna (7), double AP antennas (4) and zigbee antenna (7) are all set at the top of shell (22)
End.
8. according to claim 1, Intelligent Mobile Robot described in 2 or 3, which is characterized in that the power management module packet
Battery is included, battery is placed in the cabin of main body (8), and the rear wall of shell (22) opens up battery hatch (25) and fills charging jack certainly
(26), battery hatch (25) is used to that battery to be taken out or is placed in out of main body (8)；
The function of the power management module includes that voltage conversion, voltage monitoring and recharging, recharging function are based on
Camera calibration algorithm is returned to charging room when robot detects electricity lower than threshold value and charges, and charging is inserted certainly
It is provided with a pair of of charging electrode in mouth (26), is cooperated with the automatic charging socket of charging within doors to complete recharging.
9. according to claim 1, Intelligent Mobile Robot described in 2 or 3, which is characterized in that the robot further includes alarm
Module, the alarm module send sound, light signal by status indicator lamp (21) come transfer robot current state；It is described
Status indicator lamp (21) is set to the rear end of the shell (22) of robot body (8), can indicate to work as by the variation of color
The state of preceding robot, while status indicator lamp (21) contains a loudspeaker module, loudspeaker module can issue prompt
Sound further indicates staff.
10. according to claim 1, Intelligent Mobile Robot described in 2 or 3, which is characterized in that the robot further includes protecting
Mechanism is protected, the protection mechanism includes shield (2), organ cover (5)；The shield (2) is fixed on holder (6), package
Visible image capturing head (3) and thermal imaging system (1) are used for the protection of visible image capturing head (3) and thermal imaging system (1)；Organ cover
(5) it is set on the outside of elevating lever, for protecting elevating lever, while preventing rainwater and dust from entering robot body by gap
(8) internal.
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| CN201811027830.8A CN109079740A (en) | 2018-09-04 | 2018-09-04 | A kind of Intelligent Mobile Robot |
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| CN201811027830.8A CN109079740A (en) | 2018-09-04 | 2018-09-04 | A kind of Intelligent Mobile Robot |
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Application publication date: 20181225 |