CN111975737A - Crawler-type inspection robot with self-balancing system - Google Patents
Crawler-type inspection robot with self-balancing system Download PDFInfo
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- CN111975737A CN111975737A CN202010709535.1A CN202010709535A CN111975737A CN 111975737 A CN111975737 A CN 111975737A CN 202010709535 A CN202010709535 A CN 202010709535A CN 111975737 A CN111975737 A CN 111975737A
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- 238000007689 inspection Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000012423 maintenance Methods 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 6
- 230000009467 reduction Effects 0.000 abstract description 5
- 238000011065 in-situ storage Methods 0.000 abstract description 4
- 239000007787 solid Substances 0.000 abstract description 4
- 238000007726 management method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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
- B25J19/0008—Balancing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention discloses a crawler-type inspection robot with a self-balancing system, which comprises a robot shell and an operation and maintenance management cloud platform, wherein a signal receiving mechanism is arranged on the outer surface of one side of the robot shell, a camera is arranged on the outer surface of the upper end of the robot shell, and a crawler base is connected to the outer surface of the lower end of the robot shell. This robot is patrolled and examined to crawler-type with self-balancing system, through robot hardware system and the gyroscope system that is equipped with: adopt brushless DC motor + reduction gear + solid rubber wheel, the strong trafficability characteristic of power is good, four-wheel differential turns to, can 360 degrees turn to in situ, it is flexible, it is little to turn to the space, the homonymy is with driving, all output at another round of homonymy when the unsettled all power of a round of one side, avoid unsettled power not enough, make the equilibrium stable, secondly be convenient for the robot pass through safely under the complicated condition in road surface again through gyroscope system, reduce the phenomenon that the robot was patrolled and is patrolled the in-process and fallen down.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a crawler-type inspection robot with a self-balancing system.
Background
A crawler-type inspection robot with a self-balancing system is a robot which realizes balance through a gyroscope.
The invention provides a crawler type inspection robot with a self-balancing system, which is characterized in that the flexibility of the existing crawler type inspection robot with the self-balancing system is not high, and other robots do not have the self-balancing system.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a crawler type inspection robot with a self-balancing system.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a robot is patrolled and examined to crawler-type with self-balancing system, includes robot shell, fortune dimension management cloud platform, one side surface mounting of robot shell has signal receiving mechanism, the upper end surface mounting of robot shell has the camera, the lower extreme surface connection of robot shell has the track base, the inside of track base includes robot hardware system, the track base is connected with robot hardware system.
Preferably, the outer surface of the lower end of the camera is connected with a fixed block, the outer surface of the lower end of the fixed block is fixedly connected with a movable shaft, the outer surface of the lower end of the movable shaft is rotatably connected with a shaft rod, the robot shell is rotatably connected with the shaft rod, the camera is fixedly connected with the fixed block, the fixed block is fixedly connected with the movable shaft, and the movable shaft is rotatably connected with the rotating shaft.
Preferably, install the bolt between signal receiving mechanism and the robot shell, signal receiving mechanism is connected for rotating with the bolt, the robot shell is connected for rotating with the bolt, the surface of one side of robot shell is through bolt and signal receiving mechanism's surface be fixed connection.
Preferably, install the carousel between robot shell and the track base, the robot shell is fixed connection with the carousel, the track base is fixed connection with the carousel, the lower extreme surface of robot shell is connected for rotating through the upper end surface of carousel with the track base.
Preferably, the signal receiving mechanism comprises a signal receiver, a robot server, an SLAM algorithm module and a gyroscope system, the signal receiving module is connected with the robot server, the robot server is connected with the SLAM algorithm module, the gyroscope system is connected with the robot server, the robot server comprises a wireless communication module, the robot server is connected with the wireless communication module, the SLAM algorithm module comprises a signal output module and a storage module, the SLAM algorithm module is connected with the storage module, and the SLAM algorithm module is connected with the signal output module.
Preferably, the operation and maintenance management cloud platform comprises a signal transmitter, and the operation and maintenance management cloud platform is connected with the signal transmitter.
Preferably, the robot hardware system includes brushless DC motor and crawler wheel, the robot hardware system is connected with brushless DC motor, brushless DC motor is connected with the crawler wheel, brushless DC single machine includes the reduction gear, brushless DC motor is connected with the reduction gear.
Preferably, the wireless communication module includes a signal source unit, a converter unit, a transmitter unit, a transmission medium unit, and a receiver unit. The wireless communication module is connected with a signal source unit, the signal source unit is connected with a converter unit, the converter unit is connected with a transmitter unit, the transmitter unit is connected with a transmission medium unit, and the transmission medium unit is connected with a receiver unit.
Preferably, the gyroscope system comprises a current processor module, a transmitter module, a receiver module and a signal transmitting module, the gyroscope system is connected with the current processor module, the current processor module is connected with the transmitter module, the gyroscope system is connected with the receiver module, and the receiver module is connected with the signal transmitting module.
The invention provides a crawler-type inspection robot with a self-balancing system. Compared with the prior art, the method has the following beneficial effects:
(1) this robot is patrolled and examined to crawler-type with self-balancing system, through the robot hardware system who is equipped with: adopt direct current brushless motor + reduction gear + solid rubber wheel, the strong trafficability characteristic of power is good, and four-wheel differential turns to, can 360 degrees turn to in situ, and flexible, it is little to turn to the space, and the homonymy is with driving, and when the unsettled all power of a round of one side all at another round output of homonymy, it is not enough to avoid unsettled power, makes the equilibrium stable.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic block diagram of an operation and maintenance management cloud platform according to the present invention;
FIG. 3 is a functional block diagram of a robot hardware system of the present invention;
FIG. 4 is a functional block diagram of the robot server of the present invention;
FIG. 5 is a schematic block diagram of a gyroscope system in the robot server of the present invention;
FIG. 6 is a schematic block diagram of a wireless communication module in the robot server according to the present invention;
in the figure: 1. a camera; 2. a robot housing; 3. a track base; 4. and a signal receiving mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, an embodiment of the present invention provides a technical solution: the utility model provides a robot is patrolled and examined to crawler-type with self-balancing system, includes robot housing 2, fortune dimension management cloud platform, and the surface mounting in one side of robot housing 2 has signal receiving mechanism 4, and the surface mounting in the upper end of robot housing 2 has camera 1, and the lower extreme surface connection of robot housing 2 has track base 3, and the inside of track base 3 includes robot hardware system, and track base 3 is connected with robot hardware system.
The lower extreme surface connection of camera 1 has the fixed block, and the lower extreme surface fixed connection of fixed block has the loose axle, and the lower extreme surface rotation of loose axle is connected with the axostylus axostyle, and robot housing 2 is connected for rotating with the axostylus axostyle, and camera 1 is fixed connection with the fixed block, and the fixed block is fixed connection with the loose axle, and the loose axle is connected for rotating with the pivot.
A bolt is arranged between the signal receiving mechanism 4 and the robot shell 2, the signal receiving mechanism 4 is rotatably connected with the bolt, the robot shell 2 is rotatably connected with the bolt, and the outer surface of one side of the robot shell 2 is fixedly connected with the outer surface of the signal receiving mechanism 4 through the bolt.
Install the carousel between robot housing 2 and the track base 3, robot housing 2 is fixed connection with the carousel, and track base 3 is fixed connection with the carousel, and the lower extreme surface of robot housing 2 is connected for rotating through the upper end surface of carousel with track base 3.
The signal receiving mechanism 4 comprises a signal receiver, a robot server, an SLAM algorithm module and a gyroscope system, the signal receiving module is connected with the robot server, the robot server is connected with the SLAM algorithm module, the gyroscope system is connected with the robot server, the robot server comprises a wireless communication module, the robot server is connected with the wireless communication module, the SLAM algorithm module comprises a signal output module and a storage module, the SLAM algorithm module is connected with the storage module, and the SLAM algorithm module is connected with the signal output module.
The operation and maintenance management cloud platform comprises a signal transmitter, and is connected with the signal transmitter.
The robot hardware system comprises a direct current brushless motor and a crawler wheel, the robot hardware system is connected with the direct current brushless motor, the direct current brushless motor is connected with the crawler wheel, the direct current brushless single machine comprises a speed reducer, and the direct current brushless motor is connected with the speed reducer.
The wireless communication module comprises a signal source unit, a converter unit, a transmitter unit, a transmission medium unit and a receiver unit. The wireless communication module is connected with the signal source unit, the signal source unit is connected with the converter unit, the converter unit is connected with the transmitter unit, the transmitter unit is connected with the transmission medium unit, and the transmission medium unit is connected with the receiver unit.
The gyroscope system comprises a current processor module, a transmitter module, a receiver module and a signal transmitting module, the gyroscope system is connected with the current processor module, the current processor module is connected with the transmitter module, the gyroscope system is connected with the receiver module, and the receiver module is connected with the signal transmitting module.
And those not described in detail in this specification are well within the skill of those in the art.
Instructions for use: the robot is started firstly, then the robot sends an instruction by using a signal sending module through operating an operation and maintenance management cloud platform, receives information by using a signal receiving module in a signal receiving mechanism 4, and then is operated by using a robot server, the operated instruction is realized by using a SLAM algorithm module, a wireless communication module and a gyroscope system, and the laser radar + vision + IMU can be fused into a figure and positioned; path planning and navigation; pothole detection, falling prevention, obstacle avoidance and other functions; the laser radar camera is connected with a motor, drives the robot to walk and the like, and is connected with a laser radar camera; the head obtains the functions of environment information and the like; the robot has the functions of automatic charging control, position reporting, remote control of the robot, navigation to a target point and electronic map, and then is controlled by a robot hardware system in the crawler base 3, so that the direct-current brushless motor, the reducer and the solid rubber wheel are adopted, and the power is strong and the passing performance is good; the four wheels are steered in a differential mode, so that the four wheels can be steered in 360 degrees in situ, the steering is flexible, and the steering space is small; the same-side driving is carried out on the same side, and when one wheel on one side is suspended, all power is output from the other wheel on the same side, so that the problem that the suspended power is insufficient is avoided, and the balance of the cruise robot is improved.
Through the robot hardware system who is equipped with: 1. adopt direct current brushless motor + reduction gear + solid rubber wheel, the strong trafficability characteristic of power is good, 2, four-wheel differential turn to, can 360 degrees turn to in situ, and flexible, turn to the space little, 3, homonymy are with driving, and all the unsettled all power of a round of one side is all at another round of output of homonymy, avoids unsettled power not enough, makes the equilibrium stable.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a robot is patrolled and examined to crawler-type with self-balancing system, includes robot shell (2), fortune dimension management cloud platform, its characterized in that: one side surface mounting of robot shell (2) has signal receiver (4), the upper end surface mounting of robot shell (2) has camera (1), the lower extreme surface connection of robot shell (2) has track base (3), the inside of track base (3) includes robot hardware system, track base (3) and robot hardware system are connected.
2. The tracked inspection robot with the self-balancing system according to claim 1, characterized in that: the outer surface of the lower end of the camera (1) is connected with a fixed block, the outer surface of the lower end of the fixed block is fixedly connected with a movable shaft, the outer surface of the lower end of the movable shaft is rotatably connected with a shaft rod, the robot shell (2) is rotatably connected with the shaft rod, the camera (1) is fixedly connected with the fixed block, the fixed block is fixedly connected with the movable shaft, and the movable shaft is rotatably connected with the rotating shaft.
3. The tracked inspection robot with the self-balancing system according to claim 1, characterized in that: install the bolt between signal receiving mechanism (4) and robot housing (2), signal receiving mechanism (4) are connected for rotating with the bolt, robot housing (2) are connected for rotating with the bolt, the surface that one side surface of robot housing (2) passes through bolt and signal receiving mechanism (4) is fixed connection.
4. The tracked inspection robot with the self-balancing system according to claim 1, characterized in that: install the carousel between robot shell (2) and track base (3), robot shell (2) are fixed connection with the carousel, track base (3) are fixed connection with the carousel, the lower extreme surface of robot shell (2) is connected for rotating through the upper end surface of carousel with track base (3).
5. The tracked inspection robot with the self-balancing system according to claim 1, characterized in that: the signal receiving mechanism (4) comprises a signal receiver, a robot server, an SLAM algorithm module and a gyroscope system, the signal receiving module is connected with the robot server, the robot server is connected with the SLAM algorithm module, the gyroscope system is connected with the robot server, the robot server comprises a wireless communication module, the robot server is connected with the wireless communication module, the SLAM algorithm module comprises a signal output module and a storage module, the SLAM algorithm module is connected with the storage module, and the SLAM algorithm module is connected with the signal output module.
6. The tracked inspection robot with the self-balancing system according to claim 1, characterized in that: the operation and maintenance management cloud platform comprises a signal transmitter, and is connected with the signal transmitter.
7. The tracked inspection robot with the self-balancing system according to claim 1, characterized in that: the robot hardware system comprises a direct-current brushless motor and a crawler wheel, the robot hardware system is connected with the direct-current brushless motor, the direct-current brushless motor is connected with the crawler wheel, the direct-current brushless single machine comprises a speed reducer, and the direct-current brushless motor is connected with the speed reducer.
8. The tracked inspection robot with the self-balancing system according to claim 1, characterized in that: the wireless communication module comprises a signal source unit, a converter unit, a transmitter unit, a transmission medium unit and a receiver unit. The wireless communication module is connected with a signal source unit, the signal source unit is connected with a converter unit, the converter unit is connected with a transmitter unit, the transmitter unit is connected with a transmission medium unit, and the transmission medium unit is connected with a receiver unit.
9. The tracked inspection robot with the self-balancing system according to claim 1, characterized in that: the gyroscope system comprises a current processor module, a transmitter module, a receiver module and a signal transmitting module, the gyroscope system is connected with the current processor module, the current processor module is connected with the transmitter module, the gyroscope system is connected with the receiver module, and the receiver module is connected with the signal transmitting module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010709535.1A CN111975737A (en) | 2020-07-22 | 2020-07-22 | Crawler-type inspection robot with self-balancing system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010709535.1A CN111975737A (en) | 2020-07-22 | 2020-07-22 | Crawler-type inspection robot with self-balancing system |
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| CN111975737A true CN111975737A (en) | 2020-11-24 |
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| CN202010709535.1A Pending CN111975737A (en) | 2020-07-22 | 2020-07-22 | Crawler-type inspection robot with self-balancing system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113311840A (en) * | 2021-05-28 | 2021-08-27 | 邵昱博 | Special feed tube inspection robot for broadcast transmitting machine room |
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| CN107717942A (en) * | 2017-10-25 | 2018-02-23 | 浙江大华技术股份有限公司 | A kind of small-sized scouting self-balance robot |
| CN110421544A (en) * | 2019-08-13 | 2019-11-08 | 山东省科学院自动化研究所 | A kind of Dual-Arm Mobile Robot of electro-hydraulic combination drive |
| CN209812335U (en) * | 2019-04-25 | 2019-12-20 | 哈尔滨玄智科技有限公司 | Lightweight modular snatching robot |
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2020
- 2020-07-22 CN CN202010709535.1A patent/CN111975737A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104568475A (en) * | 2015-02-02 | 2015-04-29 | 中南大学 | Mobile numerical control model vehicle |
| CN106542016A (en) * | 2015-09-22 | 2017-03-29 | 万书亭 | A kind of crawler type detects robot with the varistructured cable tunnel of sufficient formula |
| CN105411761A (en) * | 2016-01-12 | 2016-03-23 | 重庆交通大学 | Self-balancing wheel stretcher |
| KR20180007208A (en) * | 2016-07-12 | 2018-01-22 | 국민대학교산학협력단 | Two wheel self-balancing robot and its control method by control moment gyroscope |
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| CN209812335U (en) * | 2019-04-25 | 2019-12-20 | 哈尔滨玄智科技有限公司 | Lightweight modular snatching robot |
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| CN113311840A (en) * | 2021-05-28 | 2021-08-27 | 邵昱博 | Special feed tube inspection robot for broadcast transmitting machine room |
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