CN110231180A - A kind of intelligent overhaul robot - Google Patents
A kind of intelligent overhaul robot Download PDFInfo
- Publication number
- CN110231180A CN110231180A CN201910540690.2A CN201910540690A CN110231180A CN 110231180 A CN110231180 A CN 110231180A CN 201910540690 A CN201910540690 A CN 201910540690A CN 110231180 A CN110231180 A CN 110231180A
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- China
- Prior art keywords
- driving device
- overhaul robot
- intelligent overhaul
- stepper motor
- intelligent
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of intelligent overhaul robot, including ball-shaped camera, infrared sensor, driving device, control system, data storage, and ball-shaped camera, infrared sensor, driving device, data storage are electrically connected with control system；The ball-shaped camera is fixedly connected on driving device top, and the driving device both ends are equipped with infrared sensor.Intelligent overhaul robot of the present invention, according to the comparison of the distance of infrared sensor detection and pre-determined distance, automatically controls intelligent overhaul robot in automobile chassis all standing camera-shooting scanning by the way that infrared sensor is arranged in driving device end；Using three stepper motor operating modes, it is ensured that the straight-line travelling of intelligent overhaul robot and normal direction of rotation guarantee that it is normally exercised according to desired guiding trajectory without departing from guaranteeing the normal acquisition of image.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of intelligent overhaul robot.
Background technique
With the development of technology, intelligent development becomes mainstream, and intelligent robot is gradually promoted in various application fields,
It is gradually dissolved into different social sectors.With the increase of cost of labor, more and more robots are instead of people
Work, such as apply also more next in auto show meeting, Auto Expo, 4 S auto shop, the intelligent robot of auto repair service shops
It is more.
Automobile chassis is the important component of automobile, often needs to check the state of automobile chassis for safety, existing
Some test modes are often artificial to be carried out, and is manually checked after automobile is raised by zipper, the above process is time-consuming to be taken
Power.In the prior art, intelligent overhaul robot is also applied in automobile chassis inspection, by intelligent overhaul robot to vapour
Chassis carries out camera-shooting scanning, and maintenance personal is checked by the image that robot is shot, but current intelligent servicing machine
Device people's the degree of automation is not high, it is also necessary to which manual control adjusts robot and imaged in the enforcement position on chassis.How to solve
Above-mentioned technical problem is the current robotic technology field technical issues that need to address.
Summary of the invention
In view of the above technical problems, the embodiment of the invention provides a kind of intelligent overhaul robots, to solve above-mentioned background
The problem of being proposed in technology.
The present invention provides following technical schemes: including ball-shaped camera, infrared sensor, driving device, control system
System, data storage, and ball-shaped camera, infrared sensor, driving device, data storage electrically connect with control system
It connects；The ball-shaped camera is fixedly connected on driving device top, and the driving device both ends are equipped with infrared sensor.
Preferably, the driving device includes shell, is provided with the first stepper motor in the shell, in the shell
Fan is equipped at the side plate of the first stepper motor side；First stepper motor output shaft connects the second rotary shaft, institute
It states and is fixedly connected with first bevel gear in the second rotary shaft, the first bevel gear is engaged with second bevel gear, the second cone tooth
Wheel is fixedly connected with the first driving shaft, and first driving shaft is rotatably connected on shell side plate；First both ends of main drive shaft is all provided with
There is driving wheel, the driving wheel is connected with driven wheel by crawler haulage.
Preferably, second stepper motor and third stepper motor, the second stepper motor are respectively equipped in the shell
Driven wheel is respectively connected with third stepper motor output shaft.
Preferably, automobile fault diagnostic apparatus is equipped in the driving device, in the automobile fault diagnostic apparatus and automobile
OBD diagnoses interface connection, and the automobile fault diagnostic apparatus and control system are electrically connected.
Preferably, voice module is set in the driving device, the voice module includes loudspeaker, and institute's voice module
It is electrically connected with control system.
Preferably, the driving device is equipped with touch screen.
Preferably, petroleum gas sensor and alarm, the petroleum gas sensor and alarm are equipped in the driving device
Device is electrically connected with control system.
Preferably, around setting LED light around the camera in the ball-shaped camera.
Preferably, wireless communication module built in the driving device, the wireless communication module electrically connect with control system
It connects.
Preferably, the driving device two sides are equipped with air bag.
A kind of intelligent overhaul robot provided in an embodiment of the present invention has the advantages that intelligence maintenance of the invention
Robot is by being arranged infrared sensor in driving device end, according to the distance and pre-determined distance of infrared sensor detection
It compares, automatically controls intelligent overhaul robot in automobile chassis all standing camera-shooting scanning；Using three stepper motor operating modes,
Straight-line travelling and the normal direction of rotation that can guarantee intelligent overhaul robot, guarantee that it is normally exercised according to desired guiding trajectory without inclined
From guaranteeing the normal acquisition of image.
Detailed description of the invention
Fig. 1 is intelligent overhaul robot structural schematic diagram of the present invention；
Fig. 2 is driving device structure schematic diagram of the present invention；
Fig. 3 is crawler haulage structural schematic diagram in driving device of the present invention；
Fig. 4 is intelligent overhaul robot of the present invention in automobile chassis automatic exercise track schematic diagram；
1. ball-shaped camera, 2. infrared sensors, 3. driving devices, 4. touch screens, 5. air bags, 6. exercise track, 3-1.
Crawler belt, 3-2. driven wheel, 3-3. driving wheel, the first stepper motor of 3-4., 3-5. first bevel gear, 3-6. second bevel gear, 3-
7. second stepper motor, 3-8. third stepper motor, the first driving shaft of 3-9., 3-11. fan, 3-12. shell, 3-13. second
Rotary shaft, 6-1. exercise starting point, and 6-2. exercises terminal.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those skilled in the art's every other reality obtained without creative efforts
Example is applied, shall fall within the protection scope of the present invention.
Embodiment 1, refering to fig. 1, Fig. 1 are intelligent overhaul robot structural schematic diagram of the present invention, a kind of intelligence inspection of the present invention
Robot, including ball-shaped camera 1, infrared sensor 2, driving device 3, control system, data storage are repaired, and ball-type is taken the photograph
Camera 1, infrared sensor 2, driving device 3, data storage are electrically connected with control system；The ball-shaped camera 1 is solid
Surely it is connected to 3 top of driving device, 3 both ends of driving device are equipped with infrared sensor 2.
The preferred microprocessor of control system, is also possible to PLC control system；The data storage is for storing
Intelligent overhaul robot photographed images.
It should be noted that ball-shaped camera is the representative of advance TV monitoring development, its integrated colored integration camera shooting
Machine, holder, decoder, shield etc. it is multi-functional with it is integrated, it is easy for installation, using simple, be widely used in various fields.This
Ball-shaped camera in invention is purchased in piercing eye Science and Technology Ltd., Shenzhen, model HYJ601-CVBS, Ke Yitong
Cross control system, intelligent zoom, 360 ° of rotations etc..
The infrared sensor 2 can detect intelligent overhaul robot at a distance from automobile chassis, and control system can root
According to intelligent overhaul robot at a distance from automobile chassis, control ball-shaped camera automatic focusing and rotation angle；Infrared biography simultaneously
Sensor 2 can be compared according to the actual range of the intelligent overhaul robot and automobile chassis that detect with pre-determined distance
Right, the distance of such as infrared sensor 2 detection is greater than the pre-determined distance of setting, illustrates that intelligent overhaul robot has run out
Automobile chassis, the distance that infrared sensor 2 detects at this time should be intelligent overhaul robot to its place room ceiling away from
From, at this time need control system control 180 ° of intelligent overhaul robot be redirected into automobile chassis continue exercise take pictures.
Embodiment 2, refering to fig. 1, Fig. 2, Fig. 3 and Fig. 4, Fig. 1 are intelligent overhaul robot structural schematic diagram of the present invention, Fig. 2
For driving device structure schematic diagram of the present invention, Fig. 3 is crawler haulage structural schematic diagram in driving device of the present invention, and Fig. 4 is this hair
Bright intelligent overhaul robot is in automobile chassis automatic exercise track schematic diagram.
The driving device 3 includes shell 3-12, and the first stepper motor 3-4 is provided in the shell 3-12, described outer
Fan 3-11 is equipped in shell 3-12 at the side plate of the first side stepper motor 3-4；The first stepper motor 3-4 output
First bevel gear 3-5, the first cone tooth are fixedly connected on the second rotary shaft of axis connection 3-13, the second rotary shaft 3-13
Wheel 3-5 is engaged with second bevel gear 3-6, and the second bevel gear 3-6 is fixedly connected with the first driving shaft 3-9, and described first actively
Axis 3-9 is rotatably connected on shell 3-12 side plate；The both ends first driving shaft 3-9 are equipped with driving wheel 3-3, the driving wheel
3-3 and driven wheel 3-2 are sequentially connected by crawler belt 3-1.
Second stepper motor 3-7 and third stepper motor 3-8, second stepping are respectively equipped in the shell 3-12
Motor 3-7 and third stepper motor 3-8 output shaft respectively connect driven wheel 3-2.
Intelligent overhaul robot can encounter various rough road surfaces during enforcement, common intelligence maintenance
Robot driving device is difficult in this road surface normally travel, if falling into ditch or road surface crack, driving device is because of nobody
It is difficult normally to reach target position in the case where to intervene.
The present invention, as power device, passes through the second rotary shaft 3-13, first bevel gear using the first stepper motor 3-4
3-5, second bevel gear 3-6, the first driving shaft 3-9 assembling setting, provide crawler belt power transmission for intelligent overhaul robot, move
Power is powerful, can cross various concave-convex road surfaces, smoothly reach target position.
It is known that crawler haulage power general at present is provided by two motor, the two motor difference
The operating for controlling two crawler belts, makes robot motion.When two motor operate simultaneously, toy car realizes straight-line travelling, when
One motor runs well, and when another shuts down, toy car realizes turning driving.But when toy car straight-line travelling
When, two motor operate synchronously, but the revolving speed of two motor can not maintain always to synchronize, so toy car
Straight-line travelling will inevitably be deviateed in straight-line travelling, such case cannot be guaranteed our intelligent overhaul robot
It is shot in automobile chassis according to our preset camera-shooting scanning tracks, can not achieve automation.
The present invention is respectively equipped with second stepper motor 3-7 and third stepper motor 3-8 in the shell 3-12, described
Second stepper motor 3-7 and third stepper motor 3-8 output shaft respectively connect driven wheel 3-2.Second stepper motor 3-7 and
Three stepper motor 3-8, which only provide to turn to intelligent overhaul robot, adjusts power, when intelligent overhaul robot needs to turn to,
The first stepper motor 3-4 of control system control control is out of service, then controls second stepper motor 3-7 and third stepping electricity
Machine 3-8 is run in different revolving speeds, using between the two
This three stepper motors operating mode of the present invention, the first stepper motor 3-4 are only provided to intelligent overhaul robot
Exercise driving force, it is ensured that the straight-line travelling of intelligent overhaul robot, second stepper motor 3-7 and third stepper motor 3-8 are only
It is to provide to turn to intelligent overhaul robot to adjust power, it is ensured that the normal direction of rotation of intelligent overhaul robot.
When intelligent overhaul robot of the present invention uses, intelligent overhaul robot is placed on automobile chassis close to vehicle
Wheel inside, is such as placed on and exercises the position starting point 6-1, and the infrared sensor 2 can detect intelligent overhaul robot and automobile bottom
The distance of disk, control system can control ball-shaped camera and adjust automatically according to intelligent overhaul robot at a distance from automobile chassis
Burnt and rotation angle.Intelligent overhaul robot is exercised since enforcement starting point 6-1 position beginning, straight line, because the driving fills
It sets 3 both ends and is equipped with infrared sensor 2, if intelligent overhaul robot is driven out to automobile chassis, the end of the driving device 3
The distance that the infrared sensor 2 in portion detects is greater than the pre-determined distance of setting, illustrates that intelligent overhaul robot has run out automobile
Then chassis controls second stepper motor 3- at this point, the first stepper motor 3-4 of control system control control stops straight line and exercises
7 and third stepper motor 3-8 is run in different revolving speeds, and 180 ° of steerings can be completed using differential between the two, turn to knot
Control system control second stepper motor 3-7 and third stepper motor 3-8 is out of service after beam, and the first stepper motor 3-4 continues
Straight line is exercised.Repeatedly, intelligent overhaul robot full coverage type shooting scanning under automobile chassis, exercising route is Fig. 4 institute
Show snakelike route, until the automobile tire that intelligent overhaul robot encounters the automobile chassis other side cannot exercise, is such as in row
Make the position terminal 6-2, the default residence time that intelligent overhaul robot cannot be exercised is set, if setting time is 15s, at this time
Control system controls the first stepper motor 3-4 reverse linear and exercises, and is driven out to from automobile chassis, shooting terminates.
Embodiment 3, is equipped with automobile fault diagnostic apparatus in the driving device 3, in the automobile fault diagnostic apparatus and automobile
OBD diagnosis interface connection, and the automobile fault diagnostic apparatus and control system are electrically connected.
Data storage stores the diagnostic message of automobile fault diagnostic apparatus, is carried out according to the information of vehicles of different maintenance
Fault message carries out statistics registration, with the maintenance for facilitating vehicle long-term；On the other hand, staff is in advance in data storage
Store various vehicle trouble messages is explained in more detail explanation or the reasonable solution of offer, and staff is helped to carry out
Maintenance.
Voice module is set in the driving device 3, the voice module includes loudspeaker, and institute's voice module and control
System is electrically connected.Intelligent overhaul robot reads vehicle trouble messages by automobile fault diagnostic apparatus, can pass through loudspeaker
Carry out voice broadcast.
It should be noted that automobile fault diagnostic apparatus is vehicle trouble self-test terminal, also known as automobile decoder is for examining
The vehicle failure self-detecting instrument of vehicle failure is surveyed, user can use it and promptly read failure in automobile electric control system, rapidly
Find out the position broken down and reason.
OBD is onboard diagnostic system, this system at any time monitors the operation conditions and exhaust gas aftertreatment system of engine
Working condition can issue warning once discovery is possible to cause to discharge exceeded situation at once.When system breaks down, therefore
Hinder lamp or check that engine emergency warning lamp is bright, while fault message can be stored in memory by OBD system, pass through the diagnostic equipment of standard
Device and diagnosis interface can read relevant information in the form of error code, and according to the prompt of error code, maintenance personal can be quasi- rapidly
Really determine property and the position of failure.Automobile fault diagnostic apparatus is equipped in intelligent overhaul robot of the present invention, staff can
It to connect with the OBD diagnosis interface in automobile, automobile fault information is read, staff's subsequent maintenance is convenient for.
Further, the driving device 3 is equipped with touch screen 4, and staff can carry out information by touch screen 4
Input inquiry such as inquires vehicle failure solution, or playback automobile chassis shooting scanning can be carried out by touch screen 4
Video.
Further, the body 2 is equipped with petroleum gas sensor and alarm, the petroleum gas sensor and alarm
Device is electrically connected with control system, the preferred combined aural and visual alarm of alarm.When petroleum gas sensor detects flammable gas
When bulk concentration reaches preset value, combined aural and visual alarm can alarm, and staff is reminded to take safety prevention measure immediately.
It should be noted that the buying of petroleum gas sensor enjoys Electronics Co., Ltd. in City Residents of Shenzhen, product type is M Q-5
Petroleum gas sensor, for detecting butane, propane, methane, for determining whether to occur automotive oil tank oil and gas leakage, Yi Mianfa
The fortuitous events such as calamity of lighting a fire.
It further, is camera in automobile bottom around setting LED light around the camera in the ball-shaped camera 1
Portion's detection provides necessary illumination.
Further, wireless communication module built in the driving device 3, the wireless communication module and control system electricity
Property connection.By can be realized between remote terminal and intelligent overhaul robot in wireless communication module built in driving device 3
Docking, such staff can manipulate intelligent overhaul robot automobile chassis designated position image, it is simple and fast,
The remote terminal can be the remote controler exclusively for intelligent overhaul robot configuration, be also possible to mobile phone terminal.
Further, 3 two sides of driving device are equipped with air bag 5, and air bag 5 can buffer intelligent overhaul robot punching
Barrier is hit, guarantees that intelligent overhaul robot is normally exercised.
It should be noted that the 3 internal battery group of intelligent overhaul robot driving device, is intelligent sound machine
People provides power.
A kind of intelligent overhaul robot provided in an embodiment of the present invention has the advantages that intelligence maintenance of the invention
Robot is by being arranged infrared sensor in driving device end, according to the distance and pre-determined distance of infrared sensor detection
It compares, automatically controls intelligent overhaul robot in automobile chassis all standing camera-shooting scanning；Using three stepper motor operating modes,
Straight-line travelling and the normal direction of rotation that can guarantee intelligent overhaul robot, guarantee that it is normally exercised according to desired guiding trajectory without inclined
From guaranteeing the normal acquisition of image.
The apparatus embodiments described above are merely exemplary, wherein the unit as illustrated by the separation member
It may or may not be physically separated, component shown as a unit may or may not be physics
Unit, it can it is in one place, or may be distributed over multiple network units.It can select according to the actual needs
Some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.
In the present invention unless specifically defined or limited otherwise, term " installation ", " setting ", " connection ", " fixation ",
Terms such as " being screwed on " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside two elements, unless otherwise restricted clearly, for the general of this field
For logical technical staff, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
It, can according to the technique and scheme of the present invention and this hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to appended claims of the invention
Protection scope.
Claims (10)
1. a kind of intelligent overhaul robot, it is characterized in that: including ball-shaped camera (1), infrared sensor (2), driving device
(3), control system, data storage, and ball-shaped camera (1), infrared sensor (2), driving device (3), data storage
It is electrically connected with control system；The ball-shaped camera (1) is fixedly connected on driving device (3) top, the driving device
(3) both ends are equipped with infrared sensor (2).
2. a kind of intelligent overhaul robot as described in claim 1, it is characterized in that: the driving device (3) includes shell (3-
12) it, is provided with the first stepper motor (3-4) in the shell (3-12), close to the first stepper motor in the shell (3-12)
Fan (3-11) is equipped at the side plate of the side (3-4)；First stepper motor (3-4) exports the second rotary shaft of axis connection (3-
13) it, is fixedly connected first bevel gear (3-5) on second rotary shaft (3-13), the first bevel gear (3-5) and the second cone
Gear (3-6) engagement, the second bevel gear (3-6) are fixedly connected the first driving shaft (3-9), first driving shaft (3-9)
It is rotatably connected on shell (3-12) side plate；First driving shaft (3-9) both ends are equipped with driving wheel (3-3), the driving wheel
(3-3) and driven wheel (3-2) are sequentially connected by crawler belt (3-1).
3. a kind of intelligent overhaul robot as claimed in claim 2, it is characterized in that: being respectively equipped with the in the shell (3-12)
Two stepping motor (3-7) and third stepper motor (3-8), the second stepper motor (3-7) and third stepper motor (3-8) are defeated
Shaft respectively connects driven wheel (3-2).
4. a kind of intelligent overhaul robot as described in claim 1, it is characterized in that: being equipped with automobile in the driving device (3)
Failure diagnostic apparatus, the automobile fault diagnostic apparatus in automobile OBD diagnosis interface connect, and the automobile fault diagnostic apparatus and
Control system is electrically connected.
5. a kind of intelligent overhaul robot as claimed in claim 4, it is characterized in that: setting voice mould in the driving device (3)
Block, the voice module include loudspeaker, and institute's voice module and control system are electrically connected.
6. a kind of intelligent overhaul robot as described in claim 1, touches it is characterized in that: the driving device (3) is equipped with
Shield (4).
7. a kind of intelligent overhaul robot as described in claim 1, it is characterized in that: being equipped with petroleum in the driving device (3)
Gas sensor and alarm, the petroleum gas sensor and alarm are electrically connected with control system.
8. a kind of intelligent overhaul robot as described in claim 1, it is characterized in that: the camera shooting in the ball-shaped camera (1)
Around setting LED light around head.
9. a kind of intelligent overhaul robot as described in claim 1, it is characterized in that: channel radio built in the driving device (3)
Believe that module, the wireless communication module and control system are electrically connected.
10. a kind of intelligent overhaul robot as described in claim 1, it is characterized in that: the driving device (3) two sides are equipped with
Air bag (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910540690.2A CN110231180A (en) | 2019-06-21 | 2019-06-21 | A kind of intelligent overhaul robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910540690.2A CN110231180A (en) | 2019-06-21 | 2019-06-21 | A kind of intelligent overhaul robot |
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| CN110231180A true CN110231180A (en) | 2019-09-13 |
Family
ID=67856396
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| CN201910540690.2A Pending CN110231180A (en) | 2019-06-21 | 2019-06-21 | A kind of intelligent overhaul robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111220978A (en) * | 2020-01-10 | 2020-06-02 | 陕西师范大学 | Cordyceps sinensis detection vehicle |
| CN112247995A (en) * | 2020-08-28 | 2021-01-22 | 南京昱晟机器人科技有限公司 | Intelligent robot for power equipment inspection |
| CN113242412A (en) * | 2021-05-18 | 2021-08-10 | 深圳市路安仪器设备有限公司 | Remote control type vehicle bottom safety detection system |
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| CN109333504A (en) * | 2018-12-05 | 2019-02-15 | 博众精工科技股份有限公司 | A kind of patrol robot and patrol robot management system |
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| CN111220978A (en) * | 2020-01-10 | 2020-06-02 | 陕西师范大学 | Cordyceps sinensis detection vehicle |
| CN111220978B (en) * | 2020-01-10 | 2022-03-29 | 陕西师范大学 | Cordyceps sinensis detection vehicle |
| CN112247995A (en) * | 2020-08-28 | 2021-01-22 | 南京昱晟机器人科技有限公司 | Intelligent robot for power equipment inspection |
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