CN109202852A - A kind of intelligent inspection robot - Google Patents
A kind of intelligent inspection robot Download PDFInfo
- Publication number
- CN109202852A CN109202852A CN201811187657.8A CN201811187657A CN109202852A CN 109202852 A CN109202852 A CN 109202852A CN 201811187657 A CN201811187657 A CN 201811187657A CN 109202852 A CN109202852 A CN 109202852A
- Authority
- CN
- China
- Prior art keywords
- robot
- holder
- camera
- robot body
- personal computer
- Prior art date
- 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.)
- Withdrawn
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Classifications
-
- 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
-
- 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
-
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The present invention provides a kind of intelligent inspection robots, including robot body, holder, cradle head controllor, industrial personal computer, camera, light compensating lamp, laser range finder and sound pick-up, the holder is set on the robot body, the camera, camera and light compensating lamp are all set on the holder, the laser range finder is set to the front of the robot body, the sound pick-up is set on the robot body, the chassis of the robot uses two-wheel differential driving method, the cradle head controllor is rotated freely for controlling the holder, the industrial personal computer is fixedly mounted on the robot body, device is connect the industrial personal computer with host computer by wireless communication.Intelligent inspection robot precision and efficiency of detecting of the invention is high, and detection range is wide.
Description
Technical field
The present invention relates to robot field more particularly to a kind of intelligent inspection robots.
Background technique
Currently, in the power system, start the intelligent robot routine inspection mode for substituting manual inspection, it can be to avoid high electricity
Pressure, high Radiation On Human cause damages, and working efficiency and quality also can be improved, really play the role of personnel reduction and enlargement, preferably add
The fast intelligent Process for pushing substation unattended.But existing robot detection range is small, and precision is low.
Summary of the invention
In order to overcome the defects of the prior art described above, the present invention provides a kind of intelligent inspection robot, and detection accuracy is high,
Detection range is wide.
The present invention provides a kind of intelligent inspection robot, and the robot includes robot body, holder, cradle head control
Device, industrial personal computer, camera, light compensating lamp, laser range finder and sound pick-up, the holder are set on the robot body, institute
It states camera and light compensating lamp is all set on the holder, the laser range finder is set to the front of the robot body,
The sound pick-up is set on the robot body, and the chassis of the robot uses two-wheel differential driving method, the cloud
Platform controller is rotated freely for controlling the holder, and the industrial personal computer is fixedly mounted on the robot body, institute
Stating industrial personal computer, device is connect with host computer by wireless communication,
The camera is for being monitored warehouse environment, and the laser range finder is for acquiring robot and with detection
The range data of object, the sound pick-up are used to acquire the abnormal sound of examined object sending；
The industrial personal computer is used to receive the real-time status number of the camera, camera, laser range finder and sound pick-up transmission
According to, and real-time status data is sent to host computer；
The host computer is used to receive the data of the industrial personal computer transmission, and will be in the real-time status data and database
Data compare and generate comparing result.
It further, further include angular transducer, servo motor and motor driver, the motor driver and angle pass
Sensor is connect with the cradle head controllor,
The angular transducer is used to acquire the angular position information of holder, and the cradle head controllor is used for according to the angle
It spends location information and controls the motor driver driving servo motor movement, the servo motor drives the holder rotation.
Further, the holder is two degree-of-freedom cradle heads, and described two freedom degrees include horizontal freedom degree and vertical
Freedom degree, horizontally rotating range is ± 180 °, and pitch rotation range is -30 °~90 °.
Further, the robot body includes travel driving unit, and the travel driving unit passes through bus and work
The connection of control machine, two, the chassis front-wheel of the robot are driving wheel, and two, robot chassis rear-wheel is universal wheel, the walking
Driving device is for driving the driving wheel to move.
Further, the light compensating lamp is located at the top of the camera, and adjacent with the camera.
Further, the camera is high-definition camera.
Further, the sound pick-up is set to the front of the robot body, and the sound pick-up is for acquiring inspection
Transformer and highly resistance equipment sound in the process.
It further, further include alarm and loudspeaker, the alarm and loudspeaker pass through I/O with the industrial personal computer
Agreement connection.
Further, the wireless communication device is technical grade antenna, and the technical grade antenna is two, two industry
Grade antenna is installed on the rear of the robot body, and the host computer is computer.
It further, further include battery；The battery is installed on the robot body, and the battery is used for
For robot power supply.
Compared with prior art, the present invention has the advantage that
Intelligent inspection robot of the invention, flexible with bobbin movement, autonomous holder precision is high, backstage is seamless collection
At, three-level avoidance technology, rapid deployment application and the advantages of high-level vision function, and detection range is wide, and precision is high.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.Wherein:
Fig. 1 is the block diagram of intelligent inspection robot of the present invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
" one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one implementation of the invention
A particular feature, structure, or characteristic." in one embodiment " that different places occur in the present specification not refers both to same
A embodiment, nor the individual or selective embodiment mutually exclusive with other embodiments.
Referring to Fig. 1, it is the block diagram of intelligent inspection robot of the present invention, a kind of 1. intelligent inspection robots, feature
Be: the robot includes robot body, holder, cradle head controllor, industrial personal computer, camera, camera, light compensating lamp, laser
Rangefinder and sound pick-up, the holder are set on the robot body, and the camera, camera and light compensating lamp are all set in
On the holder, the laser range finder is set to the front of the robot body, and the sound pick-up is set to the machine
On human body, the chassis of the robot uses two-wheel differential driving method, and the cradle head controllor is for controlling the holder
It is rotated freely, the industrial personal computer is fixedly mounted on the robot body, industrial personal computer device by wireless communication
It is connect with host computer.
The camera for being monitored to warehouse environment, believe examined object image for acquiring by the camera
Breath, for the laser range finder for acquiring robot and the range data with detection object, the sound pick-up is to be checked for acquiring
Survey the abnormal sound that object issues.
The industrial personal computer is used to receive the real-time status number of the camera, camera, laser range finder and sound pick-up transmission
According to, and real-time status data is sent to host computer.
The host computer is used to receive the data of the industrial personal computer transmission, and will be in the real-time status data and database
Data compare and generate comparing result.
In one embodiment, the robot further includes angular transducer, servo motor and motor driver, the motor
Driver and angular transducer are connect with the cradle head controllor.
The angular transducer is used to acquire the angular position information of holder, and the cradle head controllor is used for according to the angle
It spends location information and controls the motor driver driving servo motor movement, the servo motor drives the holder rotation.
Further, the holder is two degree-of-freedom cradle heads, and described two freedom degrees include horizontal freedom degree and vertical
Freedom degree, horizontally rotating range is ± 180 °, and pitch rotation range is -30 °~90 °.
A in one embodiment, the robot body includes travel driving unit, and the travel driving unit passes through
Bus is connect with industrial personal computer, and two, the chassis front-wheel of the robot is driving wheel, and two, robot chassis rear-wheel is universal wheel,
The travel driving unit is for driving the driving wheel to move.
Preferably, the camera and the setting of camera horizontal Tile, the light compensating lamp are located at the camera and phase
The top of machine, and it is adjacent with the camera and camera respectively.The camera is high-definition camera, can carry out HD video reality
When monitor, the camera be true feeling 3D stereoscopic camera, depth environmental information identification can be carried out.
The sound pick-up is set to the front of the robot body, and the sound pick-up is used to acquire the change during inspection
Depressor and highly resistance equipment sound.
In one embodiment, the wireless communication device is technical grade antenna, and the technical grade antenna is two, this two
Root technical grade antenna is installed on the rear of the robot body, and the host computer is computer.
In one embodiment, the robot further includes battery；The battery is installed on the robot body
On, the battery is used to power for the robot.In another embodiment, by designing charging pile in predetermined position,
The robot can independently realize charging.
In one embodiment, further include alarm and loudspeaker, the alarm and loudspeaker with the industrial personal computer
It is connected by I/O agreement.In one embodiment, the industrial personal computer is used for camera, camera, laser range finder and sound pick-up
The real-time status data of transmission is analyzed, and analysis result is exported to host computer.If analysis result have it is different, control described in
Alarm and loudspeaker sound an alarm.
Intelligent inspection robot of the invention, flexible with bobbin movement, autonomous holder precision is high, backstage is seamless collection
At, three-level avoidance technology, rapid deployment application and the advantages of high-level vision function, and detection range is wide, and precision is high.Through testing,
Robot speed of the invention is 0-1.2m/s, and climbing capacity is 15 °, degree of protection IP55, and positioning accuracy is ± 10mm,
Obstacle climbing ability is 5cm, fording depth 100mm, working time 8h.
It should be noted that robot of the invention can be applied to strip of paper used for sealing damage testing, direction board in designated position, fire extinguishing
Device region leaves about detection, ceiling falls off, and leak water detdction, cabinet damage testing and goods and materials quantity calculate etc..
Above description sufficiently discloses a specific embodiment of the invention.It should be pointed out that being familiar with the field
Range of any change that technical staff does a specific embodiment of the invention all without departing from claims of the present invention.
Correspondingly, the scope of the claims of the invention is also not limited only to previous embodiment.
Claims (10)
1. a kind of intelligent inspection robot, it is characterised in that: the robot include robot body, holder, cradle head controllor,
Industrial personal computer, camera, light compensating lamp, laser range finder and sound pick-up, the holder is set on the robot body, described to take the photograph
As head and light compensating lamp are all set on the holder, the laser range finder is set to the front of the robot body, described
Sound pick-up is set on the robot body, and the chassis of the robot uses two-wheel differential driving method, the holder control
Device processed is rotated freely for controlling the holder, and the industrial personal computer is fixedly mounted on the robot body, the work
Device is connect control machine with host computer by wireless communication,
The camera is for being monitored warehouse environment, and the laser range finder is for acquiring robot and with detection object
Range data, the sound pick-up be used for acquire examined object sending abnormal sound；
The industrial personal computer is used to receive the real-time status data of the camera, laser range finder and sound pick-up transmission, and will be real
When status data be sent to host computer；
The host computer is used to receive the data of industrial personal computer transmission, and by data in the real-time status data and database
It compares and generates comparing result.
2. robot according to claim 1, it is characterised in that:
Further include angular transducer, servo motor and motor driver, the motor driver and angular transducer with it is described
Cradle head controllor connection,
The angular transducer is used to acquire the angular position information of holder, and the cradle head controllor is used for according to the angle position
Confidence breath controls the motor driver driving servo motor movement, and the servo motor drives the holder rotation.
3. robot according to claim 2, it is characterised in that: the holder is two degree-of-freedom cradle heads, described two
Freedom degree includes horizontal freedom degree and vertical degree of freedom, and horizontally rotating range is ± 180 °, and pitch rotation range is -30 °~
90°。
4. robot according to claim 1, it is characterised in that:
The robot body includes travel driving unit, and the travel driving unit is connect by bus with industrial personal computer, described
Two, the chassis front-wheel of robot is driving wheel, and two, robot chassis rear-wheel is universal wheel, and the travel driving unit is used for
The driving wheel is driven to move.
5. robot according to claim 1, it is characterised in that: the light compensating lamp is located at the top of the camera.
6. robot according to claim 1, it is characterised in that: the camera is high-definition camera, and is taken the photograph with described
Picture is adjacent.
7. robot according to claim 1, it is characterised in that: before the sound pick-up is set to the robot body
Side, the sound pick-up are used to acquire the transformer and highly resistance equipment sound during inspection.
8. robot according to claim 1, it is characterised in that: further include alarm and loudspeaker, the alarm and
Loudspeaker is connect with the industrial personal computer by I/O agreement.
9. robot according to claim 1, it is characterised in that: the wireless communication device is technical grade antenna, described
Technical grade antenna is two, which is installed on the rear of the robot body, and the host computer is to calculate
Machine.
10. robot according to claim 1, it is characterised in that: further include battery；The battery is installed on described
On robot body, the battery is used to power for the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187657.8A CN109202852A (en) | 2018-10-12 | 2018-10-12 | A kind of intelligent inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187657.8A CN109202852A (en) | 2018-10-12 | 2018-10-12 | A kind of intelligent inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109202852A true CN109202852A (en) | 2019-01-15 |
Family
ID=64979519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811187657.8A Withdrawn CN109202852A (en) | 2018-10-12 | 2018-10-12 | A kind of intelligent inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109202852A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110941233A (en) * | 2019-12-04 | 2020-03-31 | 奚小忠 | Inspection robot inspection and supervision system based on VR technology |
| CN111432517A (en) * | 2019-10-10 | 2020-07-17 | 深圳市海洋王照明工程有限公司 | Visual light control system and method |
| CN111432532A (en) * | 2019-10-10 | 2020-07-17 | 深圳市海洋王照明工程有限公司 | Visual light control system and method |
| CN111618884A (en) * | 2020-06-29 | 2020-09-04 | 天津市三特电子有限公司 | Intelligent inspection robot suitable for furnace body with tuyere structure |
| CN113920612A (en) * | 2021-10-13 | 2022-01-11 | 国网山西省电力公司输电检修分公司 | Intelligent drilling and crossing inspection device and method |
-
2018
- 2018-10-12 CN CN201811187657.8A patent/CN109202852A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111432517A (en) * | 2019-10-10 | 2020-07-17 | 深圳市海洋王照明工程有限公司 | Visual light control system and method |
| CN111432532A (en) * | 2019-10-10 | 2020-07-17 | 深圳市海洋王照明工程有限公司 | Visual light control system and method |
| CN110941233A (en) * | 2019-12-04 | 2020-03-31 | 奚小忠 | Inspection robot inspection and supervision system based on VR technology |
| CN111618884A (en) * | 2020-06-29 | 2020-09-04 | 天津市三特电子有限公司 | Intelligent inspection robot suitable for furnace body with tuyere structure |
| CN111618884B (en) * | 2020-06-29 | 2023-09-26 | 天津市三特电子有限公司 | Intelligent inspection robot suitable for furnace body with tuyere structure |
| CN113920612A (en) * | 2021-10-13 | 2022-01-11 | 国网山西省电力公司输电检修分公司 | Intelligent drilling and crossing inspection device and method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190115 |
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| WW01 | Invention patent application withdrawn after publication |