CN112109067A - Rail-mounted vision robot system - Google Patents
Rail-mounted vision robot system Download PDFInfo
- Publication number
- CN112109067A CN112109067A CN202010924677.XA CN202010924677A CN112109067A CN 112109067 A CN112109067 A CN 112109067A CN 202010924677 A CN202010924677 A CN 202010924677A CN 112109067 A CN112109067 A CN 112109067A
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- China
- Prior art keywords
- rail
- robot system
- control board
- main control
- outer shell
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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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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
-
- 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
Abstract
The invention provides a rail-mounted vision robot system. The rail-mounted vision robot system comprises: a slide rail; the outer shell is connected to the sliding rail in a sliding mode through a driving assembly, a main control board and a peripheral board are fixedly installed on two sides of the interior of the outer shell respectively, and the main control board is connected with the peripheral board through a UART communication module; the depth camera is electrically connected to the main control board through a USB 3.0; the panoramic camera is electrically connected to the main control board through a USB2.0, and heating modules are arranged on the front sides of the lenses of the depth camera and the panoramic camera; and the RFID card reading module is electrically connected to the peripheral plate. The track type vision robot system provided by the invention has the advantages that the robot is small in size, convenient and flexible in track operation, strong in adaptability and wide in downward visual angle from the air, can realize independent operation without interference in various complex environments by matching with the panoramic camera and the depth camera, and is strong in sustainable working capability and convenient to maintain.
Description
Technical Field
The invention relates to the field of robots, in particular to a rail type vision robot system.
Background
The Robot (Robot) is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.
Most of existing robot equipment are heavy and inflexible, the visual range of the existing robot equipment is small due to the fact that the existing robot equipment is easily interfered by obstacles when moving on the ground, the requirement on the environment is high due to strong limitation, the sustainable working capability is poor due to the fact that the existing robot equipment is difficult to work in severe environment, and the existing robot equipment is difficult to maintain.
Therefore, it is necessary to provide an orbital vision robot system to solve the above technical problems.
Disclosure of Invention
The invention provides a rail-mounted vision robot system, which solves the problems that the existing robot is easy to interfere with a small vision range by obstacles when moving on the ground, has strong limitation and high requirement on environment.
In order to solve the above technical problem, the present invention provides a rail-mounted vision robot system, comprising: a slide rail;
the outer shell is connected to the sliding rail in a sliding mode through a driving assembly, a main control board and a peripheral board are fixedly installed on two sides of the interior of the outer shell respectively, and the main control board is connected with the peripheral board through a UART communication module;
the depth camera is electrically connected to the main control board through a USB 3.0;
the panoramic camera is electrically connected to the main control board through a USB2.0, and heating modules are arranged on the front sides of the lenses of the depth camera and the panoramic camera;
the RFID card reading module is electrically connected to the peripheral plate;
the EMMC storage module is arranged on the master control board of the EMMC storage module;
the wireless charging module is electrically connected to the peripheral plate.
Preferably, the left and right sides of the front side of shell body is provided with crashproof switch and three-color lamp respectively, crashproof switch and three-color lamp all with peripheral board electric connection.
The tricolor light can display three colors of red, green and blue and can be switched or flickered to represent different functions and working states, such as green light when the vehicle advances, red light flickers when the vehicle is charged, and the like
Preferably, the left side and the right side of shell body are provided with USB data interface and burn record interface respectively, the both sides of shell body just are located one side of USB data interface and burn record interface and pass through connecting band fixedly connected with sealed lid.
When the USB data interface and the burning interface are not used, the sealing cover can be sealed, and dust, moisture and the like enter.
Preferably, the main control board is electrically connected with a transmission module, one side of the outer shell is provided with an HDMI, and the HDMI is electrically connected with the main control board.
HDMI is a high definition interface for connecting a display
Preferably, the depth camera and the panoramic camera are both arranged on the front side of the bottom of the outer shell, and the panoramic camera is positioned on the front side of the depth camera.
Preferably, the top of shell body just is located one side fixedly connected with fixed plate of slide rail, one side of fixed plate and one side of drive assembly all are provided with guide assembly.
Can be when meetting the bend on the slide rail through the direction subassembly, change drive assembly's reversal, the direction subassembly includes the dead lever, the leading wheel, the dead lever runs through the setting on fixed plate and drive assembly's shell body, and the tip sets up and keeps off the ring, leading wheel fixed mounting is at the tip of dead lever, one side cover on fixed rod surface is equipped with the propelling movement ring, the surface of dead lever just is located one side cover of propelling movement ring and is equipped with the elastic component.
Preferably, the drive assembly includes the motor, shaft coupling fixedly connected with axis of rotation is passed through to the one end of motor output shaft, the axis of rotation runs through the slide rail through the spout and extends to one side of slide rail, the one end of axis of rotation with the fixed plate rotates to be connected, the surface of axis of rotation and the both sides that are located the slide rail all are provided with the gyro wheel.
Preferably, shell body top both sides are rotated respectively and are connected with rotary rod and active rod, the top of active rod extends to the outside of shell body, the surface of rotary rod and active rod all overlaps and is equipped with the belt pulley, two connect through belt transmission between the belt pulley.
Preferably, the surface of the rotating rod and the surface of the driving rod are sleeved with a fan below the belt pulley, the surface of the rotating shaft is sleeved with a first bevel gear, the top end of the driving rod is sleeved with a second bevel gear, and the first bevel gear is meshed with the second bevel gear.
When the motor drives the rotation axis to rotate, when the whole robot is driven to move through the idler wheels, the rotation axis simultaneously drives the first bevel gear to rotate, the first bevel gear drives the second bevel gear to rotate, the second bevel gear drives the driving rod to rotate, the driving rod drives the rotating rod to rotate through the belt pulley and the belt transmission effect, so that the two fans are driven to rotate, and air cooling heat dissipation is carried out on the electric appliance element inside the outer shell.
Preferably, the fresh air inlet has been seted up at the shell body top, the top of shell body bonds and has had the dust screen, the exhaust vent has been seted up to the bottom of shell body, support column fixedly connected with installation component is passed through to shell body inner wall bottom, installation component includes the mounting panel, a plurality of through-holes have been seted up on the mounting panel, the top of mounting panel sets up to the wave face.
Through being provided with the mounting panel for fixed electron component leaves the air between its and the shell body inner wall bottom, and the top of mounting panel sets up the wave face, leaves the space between installed part and the mounting panel when also can, improves whole device's radiating effect.
Compared with the related art, the rail-mounted vision robot system provided by the invention has the following beneficial effects:
the invention provides a track type vision robot system, which has the advantages of small volume, convenient and flexible track operation, strong adaptability and wide downward visual angle from the air, can realize autonomous operation without interference under various complex environments by matching with a panoramic camera and a depth camera, and has strong sustainable working capability and convenient maintenance.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of a rail-mounted vision robot system provided by the present invention;
FIG. 2 is a schematic view of the interior of the outer housing shown in FIG. 1;
FIG. 3 is a schematic view of the outer part of FIG. 1;
FIG. 4 is a bottom view of the outer housing shown in FIG. 1;
FIG. 5 is a schematic block diagram provided by the present invention;
fig. 6 is a schematic structural diagram of a rail-mounted vision robot system according to a second embodiment of the present invention.
Reference numbers in the figures: 1. slide rail, 2, drive assembly, 201, the motor, 202, the gyro wheel, 3, the shell body, 4, the main control board, 5, the peripheral board, 6, RFID card reading module, 7, the trichromatic lamp, 8, the anticollision switch, 9, burn the interface, 10, shift knob, 11, direction subassembly, 12, USB data interface, 13, the depth camera, 14, the panoramic camera, 15, sealed lid, 16, wireless charging module, 17, the axis of rotation, 18, first bevel gear, 19, the rotary rod, 20, the initiative pole, 21, the second bevel gear, 22, the belt pulley, 23, the fan, 24, the fresh air inlet, 25, the dust screen, 26, installation component, 261, the mounting panel, 262, the through-hole, 267, the wave face, 27, the exhaust vent.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Please refer to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5 in combination, wherein fig. 1 is a schematic structural diagram of a first embodiment of a rail-mounted vision robot system according to the present invention; FIG. 2 is a schematic view of the interior of the outer housing shown in FIG. 1; FIG. 3 is a schematic view of the outer part of FIG. 1; FIG. 4 is a bottom view of the outer housing shown in FIG. 1; fig. 5 is a schematic block diagram provided by the present invention. An orbital vision robotic system comprising: a slide rail 1;
the outer shell 3 is connected to the sliding rail 1 in a sliding mode through a driving assembly 2, a main control board 4 and a peripheral board 5 are fixedly installed on two sides of the inside of the outer shell 3 respectively, and the main control board 4 is connected with the peripheral board 5 through a UART communication module;
the depth camera 13 is electrically connected to the main control board 4 through a USB 3.0;
the panoramic camera 14 is electrically connected to the main control board 4 through a USB2.0, and heating modules are arranged on the front sides of the lenses of the depth camera 13 and the panoramic camera 14;
the RFID card reading module 6 is electrically connected to the peripheral plate 5;
the EMMC storage module is arranged on the EMMC storage module main control board 4;
a wireless charging module 16, wherein the wireless charging module 16 is electrically connected to the peripheral plate 5.
The EMMC is a storage device with functions similar to a hard disk, and is different from the hard disk in that the EMMC is made into a chip and can be pasted on a mainboard; LPDDR3 is a type of memory, referred to herein as a low voltage memory, that is also mounted on board; the storage device saves space, has high transmission speed and low power consumption, and adopts the working mode of operation and data storage;
the main control board 4 and the peripheral board 5 are respectively an RK3399 mainboard and an STM32 mainboard, the main control board 4 and the peripheral board 5 communicate through UART serial ports, and DC IN 12V supplies power to the main control board 4
The main control board 4RK3399 processes the data and then performs data exchange and automatic control through a transmission module, namely WIFI, cloud communication or Bluetooth and the like;
the images are transmitted to a cloud platform through a wireless network for analysis and processing, and the panoramic camera can be controlled to be started or closed to live broadcast in real time through the cloud platform;
the heating module is a heating sheet in front of the lenses of the depth camera 13 and the panoramic camera 14, can heat glass in front of the lenses, can automatically adjust the temperature, and has the function of preventing mosquitoes, flies and the like from lying on the lenses of the cameras to generate secretions to pollute the lenses;
the wireless charging module 16: the device for charging the equipment wirelessly automatically starts charging after the equipment enters a charging bin; the motor 201 controls the roller 202 to move forward and backward or stop, and the battery supplies power to various devices and feeds back electric quantity information
The left and right sides of the front side of shell body 3 is provided with crashproof switch 8 and three-color lamp 7 respectively, crashproof switch 8 and three-color lamp all with peripheral board 5 electric connection.
The tricolor light can show three colors of red, green and blue and the color is switched or flickered to represent different functions and working states, for example, the light is green when advancing, the red light flickers when charging, and the motor can be controlled to rotate reversely when the anti-collision switch 8 is triggered, so that the whole body is extremely withdrawn.
The left and right sides of shell body 3 is provided with USB data interface 12 and burns record interface 9 respectively, the both sides of shell body 3 just are located USB data interface 12 and burn one side of record interface 9 and pass through connecting band fixedly connected with sealed lid 15.
The connecting belt and the sealing cover 15 are made of silica gel.
The electric connection has the transmission module on the main control board 4, one side of shell body 3 is provided with HDMI, HDMI with main control board 4 electric connection.
The HDMI is a high definition interface for connecting a display.
The depth camera 13 and the panoramic camera 14 are both disposed at the front side of the bottom of the outer housing 3, and the panoramic camera 14 is located at the front side of the depth camera 13.
The top of shell body 3 just is located one side fixedly connected with fixed plate of slide rail 1, one side of fixed plate and one side of drive assembly 2 all are provided with guide assembly 11.
The drive assembly includes motor 201, shaft coupling fixedly connected with axis of rotation 17 is passed through to the one end of motor 201 output shaft, axis of rotation 17 runs through slide rail 1 and extends to one side of slide rail 1 through the spout, axis of rotation 17's one end with the fixed plate rotates to be connected, the surface of axis of rotation 17 and the both sides that are located slide rail 1 all are provided with gyro wheel 202.
The working principle of the rail-mounted vision robot system provided by the invention is as follows:
the main control board 4 and the peripheral board 5 are communicated through a UART serial port, and the DC IN 12V supplies power to the main control board;
the main control board 4 processes the data and then communicates with the cloud or the Bluetooth through WIFI to exchange data and automatically control
The peripheral devices to which the peripheral board 5 is connected mainly include: the working states of the functional modules can be communicated and fed back through the STM32 and the RK3399, and cloud control can be realized;
the motor 201 drives the roller 202 to rotate and move along the sliding rail 1, and the vision of the robot is improved by arranging the panoramic camera 14 and the depth camera 13 and looking from top to bottom.
Compared with the related art, the rail-mounted vision robot system provided by the invention has the following beneficial effects:
the robot is small in size, convenient and flexible in track operation, high in adaptability, wide in downward visual angle from the air, capable of achieving autonomous operation without interference in various complex environments by matching with a panoramic camera and a depth camera, high in sustainable working capacity and convenient to maintain.
Second embodiment
Referring to fig. 6, based on the orbital vision robot system provided in the first embodiment of the present application, a second embodiment of the present application provides another orbital vision robot system. The second embodiment is only the preferred mode of the first embodiment, and the implementation of the second embodiment does not affect the implementation of the first embodiment alone.
Specifically, the difference of rail mounted vision robot system that the second embodiment of this application provided lies in rail mounted vision robot system, shell body 3 top both sides are rotated respectively and are connected with rotary rod 19 and active rod 20, the top of active rod 20 extends to the outside of shell body 3, rotary rod 19 and active rod 20's surface all overlaps and is equipped with belt pulley 22, two connect through belt drive between the belt pulley 22.
The motors 201 are preferably provided in two sets, i.e., the active lever 20 and the rotating lever 19 are provided in two sets.
The fan 23 is sleeved on the surfaces of the rotating rod 19 and the driving rod 20 and below the belt pulley 22, the first bevel gear 18 is sleeved on the surface of the rotating shaft 17, the second bevel gear 21 is sleeved on the top end of the driving rod 20, and the first bevel gear 18 is meshed with the second bevel gear 21.
The fresh air inlet 24 has been seted up at 3 tops of shell body, the top of shell body 3 bonds and has had dust screen 25, exhaust vent 27 has been seted up to the bottom of shell body 3, support column fixedly connected with installation component 26 is passed through to 3 inner wall bottoms of shell body, installation component 26 includes mounting panel 261, a plurality of through-holes 262 have been seted up on mounting panel 261, the top of mounting panel 261 sets up to the wave face.
Dust and the like can be placed into the outer shell 3 by arranging the dust screen 25;
when the motor 210 drives the rotating shaft 17 to rotate, and the whole robot is driven to move by the roller 202, the rotating shaft 17 simultaneously drives the first bevel gear 18 to rotate, the first bevel gear 18 drives the second bevel gear 21 to rotate, the second bevel gear 21 drives the driving rod 20 to rotate, the driving rod 20 drives the rotating rod 19 to rotate through the belt pulley 22 and the belt transmission action, so as to drive the two fans 23 to rotate, perform air cooling heat dissipation on electrical components inside the outer shell 3, and the motor 201 drives the roller 202 to rotate to drive the equipment and simultaneously drive the fans to rotate, so that the overall heat dissipation effect is improved, and the robot is more energy-saving and environment-friendly;
and through being provided with mounting panel 261 for fixed electron component leaves the air between its and the 3 inner wall bottoms of shell body, and the top of mounting panel 261 sets up the wave face, also can leave the space between installed part and the mounting panel 261, improves the radiating effect of whole device
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An orbital vision robotic system, comprising: a slide rail;
the outer shell is connected to the sliding rail in a sliding mode through a driving assembly, a main control board and a peripheral board are fixedly installed on two sides of the interior of the outer shell respectively, and the main control board is connected with the peripheral board through a UART communication module;
the depth camera is electrically connected to the main control board through a USB 3.0;
the panoramic camera is electrically connected to the main control board through a USB2.0, and heating modules are arranged on the front sides of the lenses of the depth camera and the panoramic camera;
the RFID card reading module is electrically connected to the peripheral plate;
the EMMC storage module is arranged on the master control board of the EMMC storage module;
the wireless charging module is electrically connected to the peripheral plate.
2. The rail-mounted vision robot system of claim 1, wherein the left side and the right side of the front side of the outer shell are respectively provided with an anti-collision switch and a tri-color lamp, and the anti-collision switch and the tri-color lamp are electrically connected with the peripheral plate.
3. The rail-mounted vision robot system of claim 1, wherein the outer shell is provided with a USB data interface and a burning interface at the left and right sides thereof, and sealing covers are fixedly connected to the two sides of the outer shell and located at one side of the USB data interface and the burning interface through a connecting belt.
4. The rail-mounted vision robot system of claim 1, wherein the main control board is electrically connected with a transmission module, and one side of the outer shell is provided with an HDMI, and the HDMI is electrically connected with the main control board.
5. The orbital vision robot system of claim 1, wherein the depth camera and the panoramic camera are both disposed on a front side of the bottom of the outer shell, and the panoramic camera is located on the front side of the depth camera.
6. The rail-mounted vision robot system of claim 1, wherein a fixing plate is fixedly connected to the top of the outer housing and located on one side of the slide rail, and a guide assembly is arranged on each of one side of the fixing plate and one side of the driving assembly.
7. The rail-mounted vision robot system of claim 1, wherein the driving assembly comprises a motor, one end of an output shaft of the motor is fixedly connected with a rotating shaft through a coupling, the rotating shaft penetrates through the sliding rail through a sliding groove and extends to one side of the sliding rail, one end of the rotating shaft is rotatably connected with the fixing plate, and rollers are arranged on the surface of the rotating shaft and on two sides of the sliding rail.
8. The rail-mounted vision robot system of claim 1, wherein a rotating rod and a driving rod are respectively rotatably connected to two sides of the top of the outer shell, the top end of the driving rod extends to the outside of the outer shell, belt pulleys are respectively sleeved on the surfaces of the rotating rod and the driving rod, and the two belt pulleys are connected through belt transmission.
9. The rail-mounted vision robot system of claim 8, wherein a fan is sleeved on the surfaces of the rotating rod and the driving rod below the belt pulley, a first bevel gear is sleeved on the surface of the rotating shaft, a second bevel gear is sleeved on the top end of the driving rod, and the first bevel gear is meshed with the second bevel gear.
10. The rail-mounted vision robot system of claim 9, wherein an air inlet is formed in the top of the outer housing, a dust screen is bonded to the top of the outer housing, an air outlet is formed in the bottom of the outer housing, a mounting assembly is fixedly connected to the bottom of the inner wall of the outer housing through a support column, the mounting assembly comprises a mounting plate, a plurality of through holes are formed in the mounting plate, and the top of the mounting plate is a wavy surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010924677.XA CN112109067A (en) | 2020-09-05 | 2020-09-05 | Rail-mounted vision robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010924677.XA CN112109067A (en) | 2020-09-05 | 2020-09-05 | Rail-mounted vision robot system |
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| CN112109067A true CN112109067A (en) | 2020-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010924677.XA Pending CN112109067A (en) | 2020-09-05 | 2020-09-05 | Rail-mounted vision robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116787462A (en) * | 2023-06-02 | 2023-09-22 | 江苏珂尔玛智控技术有限公司 | Robot for inspecting coal mine channel |
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| CN116787462A (en) * | 2023-06-02 | 2023-09-22 | 江苏珂尔玛智控技术有限公司 | Robot for inspecting coal mine channel |
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Application publication date: 20201222 |
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