CN113547502A - Intelligent inspection robot - Google Patents
Intelligent inspection robot Download PDFInfo
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- CN113547502A CN113547502A CN202110880082.3A CN202110880082A CN113547502A CN 113547502 A CN113547502 A CN 113547502A CN 202110880082 A CN202110880082 A CN 202110880082A CN 113547502 A CN113547502 A CN 113547502A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
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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
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- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses an intelligent inspection robot, which comprises a robot body and a charging cabinet, wherein a positive charging plate and a negative charging plate are arranged on the periphery of the robot body, and the charging cabinet is provided with a charging contact matched with the positive charging plate and the negative charging plate; the robot body includes controlling means, drive arrangement and inspection device, inspection device is including stand, laser radar and the subassembly of making a video recording that is located the casing. According to the robot, through the matching of the control device, the driving device and the inspection device on the robot body, the robot moves in an inspection space to acquire the surrounding environment, draw an electronic map, plan an inspection route, periodically control the robot body to inspect and acquire surrounding information, fully-automatically finish inspection work, reduce the labor cost and improve the inspection efficiency and effect; simultaneously, the full-automatic charging of robot body is accomplished to the cabinet that charges that the cooperation was arranged in the space, satisfies the requirement of patrolling and examining for a long time, and is very convenient.
Description
Technical Field
The invention relates to an intelligent inspection robot, and belongs to the technical field of robots.
Background
The 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 work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.
At present, in many application scenes, the human input cost is high, and the inspection work can not be carried out continuously for 24 hours, and at the moment, the inspection robot is often adopted to replace the human power, so that the cost is reduced.
Disclosure of Invention
The invention aims to provide an intelligent inspection robot which can automatically identify an inspection space, acquire inspection space information, complete information collection and uploading work, is very convenient and fast, can automatically recharge, can perform inspection work for a long time without interruption, and can be well suitable for different terrains.
In order to achieve the purpose, the invention adopts the technical scheme that: an intelligent inspection robot comprises a robot body and a charging cabinet, wherein a positive charging plate and a negative charging plate are arranged on the periphery of the robot body, and the charging cabinet is provided with a charging contact matched with the positive charging plate and the negative charging plate;
the robot body comprises a control device, a driving device and an inspection device, wherein the control device comprises a battery, a signal receiver and a processor which are positioned in a shell of the robot body, and the battery is electrically connected with a positive electrode charging plate and a negative electrode charging plate;
the driving device comprises a plurality of driving wheel assemblies positioned below a base of the robot body and U-shaped plates fixed below the base, each driving wheel assembly comprises a driving wheel, a motor, a wheel carrier, a connecting rod and a compression elastic device, the driving wheel is connected with the motor through a coupler and is installed on the wheel carrier, the wheel carrier is connected with the U-shaped plates through the connecting rods, two ends of each connecting rod are rotatably connected with the U-shaped plates and the side surfaces of the wheel carrier, a rotating shaft of each connecting rod is horizontal and perpendicular to the rotating shaft of the driving wheel, the top end of the compression elastic device is hinged to the frame body of the robot body, and the bottom end of the compression elastic device is hinged to the top of the wheel carrier and extrudes the driving wheel to be in contact with the ground;
the inspection device comprises an upright post, a laser radar and a camera assembly, wherein the upright post, the laser radar and the camera assembly are positioned on the shell, the camera assembly is installed at the top of the upright post, and the laser radar is arranged on one side of the traveling direction of the robot body;
the infrared light filter that has arranged a plurality of absorbable laser radar infrared on the cabinet that charges, this infrared light filter is as high as laser radar on the robot body, the infrared emission module and the infrared receiving module that can send and receive the infrared light are arranged respectively on cabinet and the robot body that charges.
The further improved scheme in the technical scheme is as follows:
1. in the scheme, the charging cabinet is provided with a contact seat, the contact seat is provided with a through groove, the charging contact penetrates through the through groove and extends out of the charging cabinet, the rear side of the charging contact is fixedly provided with a baffle, and a compression spring is arranged between the rear end of the charging contact and the baffle.
2. In the above scheme, an indicator lamp is installed at the top of the charging cabinet, and the indicator lamp is connected in series with the charging circuit of the charging contact and the positive and negative charging plates.
3. In the above scheme, the number of the infrared filters is 2, the infrared filters are arranged on the outer wall of the charging cabinet at intervals, the outer wall is divided into 3 light reflecting regions in the horizontal direction, and the width ratio of the 3 light reflecting regions is 1:2: 3.
4. In the above scheme, the infrared emission module comprises an infrared lamp and a box body for restraining infrared light, the front end of the box body is provided with a through hole for infrared light to pass through, and two sides of the box body are provided with openings;
the infrared receiving module comprises at least 3 infrared receivers arranged on the left side, the front end and the right side of the robot body.
5. In the above scheme, a back infrared receiver is installed at the rear end of the robot body, and when the infrared receiver at the front end of the robot body receives the infrared lamp light rays in the middle of the box body, the infrared receiver is located on the extension line of the light rays.
6. In the above scheme, the infrared transmitting module and the infrared filter are covered by an infrared light-transmitting film.
7. In the above scheme, drive arrangement is still including installing 4 from the driving wheel in the base below to distribute in the base four corners, this follows the driving wheel and is the universal wheel, the figure of driving wheel subassembly is 2, and the symmetrical arrangement is in the both sides at base middle part.
8. In the above scheme, the subassembly of making a video recording includes cloud platform camera and degree of depth camera, cloud platform camera rotates and installs in the stand top, the figure of degree of depth camera is 2 at least, and follows vertical axis symmetric distribution in the same side of stand, and the field of vision that makes a video recording of this degree of depth camera corresponds the advancing direction of robot body, and field of vision width is not less than the width of robot body.
9. In the above scheme, the peripheral walls of the front end and the rear end of the shell are respectively provided with an ultrasonic sensor, the peripheral walls of two sides of the shell are respectively provided with an infrared sensor, and the bottom edges of the front end and the rear end of the shell are respectively provided with a plurality of anti-falling sensors.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. according to the intelligent inspection robot, through the matching of the control device, the driving device and the inspection device on the robot body, the robot moves in an inspection space to acquire the surrounding environment, draws an electronic map, plans an inspection route, periodically controls the robot body to inspect and acquire surrounding information, fully automatically finishes inspection work, reduces the labor cost, and improves the inspection efficiency and effect; simultaneously, the full-automatic charging of robot body is accomplished to the cabinet that charges that the cooperation was arranged in the space, satisfies the requirement of patrolling and examining for a long time, and is very convenient.
2. According to the intelligent inspection robot, the camera assembly is supported by the stand column, so that the intelligent inspection robot not only can assist a laser radar to complete map drawing and identification, but also can collect spatial information, and a signal receiver and a processor are used for completing information collection, processing and uploading, so that inspection work is performed fully automatically, manual work is replaced, the efficiency and convenience are improved, and the cost is reduced.
3. According to the intelligent inspection robot, the motor and the driving wheel are mounted on the robot through the connecting rod, the driving wheel is mounted at the bottom of the robot by virtue of the rotary connection of the two ends of the connecting rod and the hinge connection of the two ends of the compression elastic device, the driving wheel and the motor can move up and down, and the driving wheel can be in self-adaptive displacement and is in contact with the ground when encountering an obstacle or a depression by virtue of the elastic supporting force of the compression elastic device, so that the friction force required by traveling is maintained, and the robot is prevented from being stopped due to idling.
4. According to the intelligent inspection robot, the shell of the charging pile is transversely divided into the plurality of light reflecting interval areas through the plurality of infrared filters, the proportion of the light reflecting areas is a regular proportion which is set manually, and the light reflecting areas are distinguished from a single light absorbing area which possibly exists in a self-heating environment, so that the accuracy of the robot in remotely positioning the charging pile is improved.
5. According to the intelligent inspection robot, the charging contacts of the charging piles are in contact with the positive and negative charging plates of the robot, so that the charging operation of the charging piles on the self-contained storage battery of the robot is realized, and the inspection operation of the robot is maintained; meanwhile, the compression elastic piece is utilized to push the charging contact to abut against the positive and negative charging plates, so that on one hand, the situation that the positive and negative charging plates are separated from the charging contact due to rigid impact contact when the robot is reset for charging is avoided, and on the other hand, the contact tightness of the charging contact and the positive and negative charging plates can be improved, and the charging efficiency is improved.
6. According to the intelligent inspection robot, infrared light for near distance positioning is divided into three areas through the box body, and the infrared receivers on the left side, the right side and the middle of the robot are matched, so that the robot can automatically judge the state of the relative position of the robot and a charging pile when one infrared receiver receives infrared light, and the robot can be adjusted to be in an aligned state.
7. According to the intelligent inspection robot, the infrared light-transmitting film is arranged to shield other visible light, so that the infrared light passing rate is improved, and the positioning accuracy of the robot is improved.
8. According to the intelligent inspection robot, the ultrasonic sensor, the infrared sensor and the anti-falling sensor are used for assisting the laser radar and the depth camera to sense the surrounding space, so that the adverse factors such as obstacles and steps are automatically identified, and the normal operation of the inspection work of the robot is ensured.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an intelligent inspection robot according to the present invention;
FIG. 2 is a schematic structural diagram of a robot body;
FIG. 3 is a partial structural diagram of the robot body;
fig. 4 is a bottom view of the robot body;
FIG. 5 is a schematic structural view of a drive wheel assembly;
fig. 6 is an exploded view of the rear of the charging cabinet;
fig. 7 is an exploded view of the charging contact portion;
fig. 8 is an exploded view of the front of the charging cabinet;
fig. 9 is an exploded view of an infrared emission module.
Description of reference numerals: 01. a robot body; 011. a positive and negative electrode charging plate; 012. a housing; 013. a base; 02. a charging cabinet; 021. a charging contact; 022. a contact seat; 023. a through groove; 024. a baffle plate; 025. a compression spring; 026. an indicator light; 1. a control device; 11. a battery; 12. a signal receiver; 13. a processor; 2. a drive device; 21. a drive wheel assembly; 211. a drive wheel; 212. a motor; 213. a wheel carrier; 214. a connecting rod; 22. a U-shaped plate; 23. a coupling; 24. a driven wheel; 3. a routing inspection device; 31. a column; 32. a laser radar; 33. a camera assembly; 331. a pan-tilt camera; 332. a depth camera; 34. an ultrasonic sensor; 35. an infrared sensor; 36. a fall arrest sensor; 4. compressing the elastic means; 41. a telescopic rod, 42, a spring; 43. a stop plate; 5. an infrared filter; 51. a light reflecting region; 6. an infrared emission module; 61. an infrared lamp; 62. a box body; 7. an infrared receiving module; 71. an infrared receiver; 72. a rear infrared receiver; 8. an infrared light-transmitting film.
Detailed Description
Example 1: the utility model provides an intelligence inspection robot, refers to attached figure 1 ~ 9, includes robot 01 and the cabinet 02 that charges, robot 01 periphery has arranged a positive negative pole charging panel 011, the cabinet 02 that charges has one with positive negative pole charging panel 011 complex charging contact 021.
The robot body 01 comprises a control device 1, a driving device 2 and an inspection device 3, wherein the control device 1 comprises a battery 11, a signal receiver 12 and a processor 13 which are positioned in a shell 012 of the robot body 011, and the battery 11 is electrically connected with a positive and negative charging plates 011.
The driving device 2 comprises a plurality of driving wheel assemblies 21 positioned below a base 013 of the robot body 011 and a U-shaped plate 22 fixed below the base 013, each driving wheel assembly 21 comprises a driving wheel 211, a motor 212, a wheel frame 213, connecting rods 214 and a compression elastic device 4, the driving wheel 211 is connected with the motor 212 through a coupler 23 and is installed on the wheel frame 213, the wheel frame 213 is connected with the U-shaped plate 22 through the connecting rods 214, two ends of each connecting rod 214 are rotatably connected with the side surfaces of the U-shaped plate 22 and the wheel frame 213, the number of the connecting rods 214 in one driving wheel assembly 21 is 4, the connecting rods 214 are symmetrically distributed on two sides of the motor 212, rotating shafts of the connecting rods are horizontal and perpendicular to the rotating shafts of the driving wheel 211, the top ends of the compression elastic devices 4 are hinged to a frame body of the robot body 011, and the bottom ends of the compression elastic devices are hinged to the top of the wheel frames 213 and press the driving wheel 211 to be in contact with the ground; here, the compression elastic device 4 includes an extendable rod 41, a spring 42 sleeved outside the extendable rod 41, and stop plates 43 located at both ends of the extendable rod 41, and both ends of the spring 42 are in contact with the inner sides of the stop plates 43.
Inspection device 3 is including stand 31, lidar 32 and the subassembly 33 of making a video recording that is located on casing 012, the subassembly 33 of making a video recording is installed in stand 31 top, lidar 32 arranges in one side of the 01 advancing direction of robot body.
The robot charging system is characterized in that a plurality of infrared filters 5 capable of absorbing infrared light of a laser radar 32 are arranged on the charging cabinet 02, the infrared filters 5 are as high as the laser radar 32 on the robot body 01, and an infrared transmitting module 6 and an infrared receiving module 7 capable of sending and receiving infrared light are respectively arranged on the charging cabinet 02 and the robot body 01.
Example 2: the utility model provides an intelligence inspection robot, refers to attached figure 1 ~ 9, includes robot 01 and the cabinet 02 that charges, robot 01 periphery has arranged a positive negative pole charging panel 011, the cabinet 02 that charges has one with positive negative pole charging panel 011 complex charging contact 021.
The robot body 01 comprises a control device 1, a driving device 2 and an inspection device 3, wherein the control device 1 comprises a battery 11, a signal receiver 12 and a processor 13 which are positioned in a shell 012 of the robot body 011, and the battery 11 is electrically connected with a positive and negative charging plates 011.
The driving device 2 comprises a plurality of driving wheel assemblies 21 positioned below a base 013 of the robot body 011 and a U-shaped plate 22 fixed below the base 013, each driving wheel assembly 21 comprises a driving wheel 211, a motor 212, a wheel frame 213, a connecting rod 214 and a compression elastic device 4, the driving wheel 211 is connected with the motor 212 through a coupler 23 and is installed on the wheel frame 213, the wheel frame 213 is connected with the U-shaped plate 22 through the connecting rod 214, two ends of the connecting rod 214 are rotatably connected with the U-shaped plate 22 and the side surface of the wheel frame 213, the rotating shaft of the connecting rod is horizontal and vertical to the rotating shaft of the driving wheel 211, the top end of the compression elastic device 4 is hinged to the frame body of the robot body 011, and the bottom end of the compression elastic device is hinged to the top of the wheel frame 213 and presses the driving wheel 211 to be in contact with the ground; here, the compression elastic device 4 includes an extendable rod 41, a spring 42 sleeved outside the extendable rod 41, and stop plates 43 located at both ends of the extendable rod 41, and both ends of the spring 42 are in contact with the inner sides of the stop plates 43.
Inspection device 3 is including stand 31, lidar 32 and the subassembly 33 of making a video recording that is located on casing 012, the subassembly 33 of making a video recording is installed in stand 31 top, lidar 32 arranges in one side of the 01 advancing direction of robot body.
The robot charging system is characterized in that a plurality of infrared filters 5 capable of absorbing infrared light of a laser radar 32 are arranged on the charging cabinet 02, the infrared filters 5 are as high as the laser radar 32 on the robot body 01, and an infrared transmitting module 6 and an infrared receiving module 7 capable of sending and receiving infrared light are respectively arranged on the charging cabinet 02 and the robot body 01.
The charging cabinet 02 is provided with a contact seat 022, the contact seat is provided with a through groove 023, the charging contact 021 passes through the through groove 023 and extends out of the charging cabinet 02, a baffle 024 is fixed at the rear side of the charging contact 021, and a compression spring 025 is arranged between the rear end of the charging contact 021 and the baffle 024; an indicator lamp 026 is installed on the top of the charging cabinet 02, and the indicator lamp 026 is connected in series with the charging circuit of the charging contact 021 and the positive and negative charging plates 011.
The number of the infrared filters 5 is 2, the infrared filters are arranged on the outer wall of the charging cabinet 02 at intervals, the outer wall is divided into 3 reflecting areas 51 in the horizontal direction, and the width ratio of the 3 reflecting areas 51 is 1:2: 3.
Example 3: the utility model provides an intelligence inspection robot, refers to attached figure 1 ~ 9, includes robot 01 and the cabinet 02 that charges, robot 01 periphery has arranged a positive negative pole charging panel 011, the cabinet 02 that charges has one with positive negative pole charging panel 011 complex charging contact 021.
The robot body 01 comprises a control device 1, a driving device 2 and an inspection device 3, wherein the control device 1 comprises a battery 11, a signal receiver 12 and a processor 13 which are positioned in a shell 012 of the robot body 011, and the battery 11 is electrically connected with a positive and negative charging plates 011.
The driving device 2 comprises a plurality of driving wheel assemblies 21 positioned below a base 013 of the robot body 011 and a U-shaped plate 22 fixed below the base 013, each driving wheel assembly 21 comprises a driving wheel 211, a motor 212, a wheel frame 213, a connecting rod 214 and a compression elastic device 4, the driving wheel 211 is connected with the motor 212 through a coupler 23 and is installed on the wheel frame 213, the wheel frame 213 is connected with the U-shaped plate 22 through the connecting rod 214, two ends of the connecting rod 214 are rotatably connected with the U-shaped plate 22 and the side surface of the wheel frame 213, the rotating shaft of the connecting rod is horizontal and vertical to the rotating shaft of the driving wheel 211, the top end of the compression elastic device 4 is hinged to the frame body of the robot body 011, and the bottom end of the compression elastic device is hinged to the top of the wheel frame 213 and presses the driving wheel 211 to be in contact with the ground; here, the compression elastic device 4 includes an extendable rod 41, a spring 42 sleeved outside the extendable rod 41, and stop plates 43 located at both ends of the extendable rod 41, and both ends of the spring 42 are in contact with the inner sides of the stop plates 43.
Inspection device 3 is including stand 31, lidar 32 and the subassembly 33 of making a video recording that is located on casing 012, the subassembly 33 of making a video recording is installed in stand 31 top, lidar 32 arranges in one side of the 01 advancing direction of robot body.
The robot charging system is characterized in that a plurality of infrared filters 5 capable of absorbing infrared light of a laser radar 32 are arranged on the charging cabinet 02, the infrared filters 5 are as high as the laser radar 32 on the robot body 01, and an infrared transmitting module 6 and an infrared receiving module 7 capable of sending and receiving infrared light are respectively arranged on the charging cabinet 02 and the robot body 01.
The charging cabinet 02 is provided with a contact seat 022, the contact seat is provided with a through groove 023, the charging contact 021 passes through the through groove 023 and extends out of the charging cabinet 02, a baffle 024 is fixed at the rear side of the charging contact 021, and a compression spring 025 is arranged between the rear end of the charging contact 021 and the baffle 024; an indicator lamp 026 is installed on the top of the charging cabinet 02, and the indicator lamp 026 is connected in series with the charging circuit of the charging contact 021 and the positive and negative charging plates 011.
The number of the infrared filters 5 is 2, the infrared filters are arranged on the outer wall of the charging cabinet 02 at intervals, the outer wall is divided into 3 reflecting areas 51 in the horizontal direction, and the width ratio of the 3 reflecting areas 51 is 1:2: 3.
The infrared emission module 6 comprises an infrared lamp 61 and a box body 62 for restraining infrared light, the front end of the box body 62 is provided with a through hole 621 for infrared light to pass through, and two sides of the box body 62 are open; the infrared receiving module 7 comprises at least 3 infrared receivers 71 arranged at the left side, the front end and the right side of the robot body 01; a rear infrared receiver 72 is installed at the rear end of the robot body 01, and when the infrared receiver 71 at the front end of the robot body 01 receives the light of the infrared lamp 61 in the middle of the box 62, the rear infrared receiver 72 is positioned on the extension line of the light; and an infrared light-transmitting film 8 is covered outside the infrared emission module 7 and the infrared filter 5.
Example 4: the utility model provides an intelligence inspection robot, refers to attached figure 1 ~ 9, includes robot 01 and the cabinet 02 that charges, robot 01 periphery has arranged a positive negative pole charging panel 011, the cabinet 02 that charges has one with positive negative pole charging panel 011 complex charging contact 021.
The robot body 01 comprises a control device 1, a driving device 2 and an inspection device 3, wherein the control device 1 comprises a battery 11, a signal receiver 12 and a processor 13 which are positioned in a shell 012 of the robot body 011, and the battery 11 is electrically connected with a positive and negative charging plates 011.
The driving device 2 comprises a plurality of driving wheel assemblies 21 positioned below a base 013 of the robot body 011 and a U-shaped plate 22 fixed below the base 013, each driving wheel assembly 21 comprises a driving wheel 211, a motor 212, a wheel frame 213, a connecting rod 214 and a compression elastic device 4, the driving wheel 211 is connected with the motor 212 through a coupler 23 and is installed on the wheel frame 213, the wheel frame 213 is connected with the U-shaped plate 22 through the connecting rod 214, two ends of the connecting rod 214 are rotatably connected with the U-shaped plate 22 and the side surface of the wheel frame 213, the rotating shaft of the connecting rod is horizontal and vertical to the rotating shaft of the driving wheel 211, the top end of the compression elastic device 4 is hinged to the frame body of the robot body 011, and the bottom end of the compression elastic device is hinged to the top of the wheel frame 213 and presses the driving wheel 211 to be in contact with the ground; here, the compression elastic device 4 includes an extendable rod 41, a spring 42 sleeved outside the extendable rod 41, and stop plates 43 located at both ends of the extendable rod 41, and both ends of the spring 42 are in contact with the inner sides of the stop plates 43.
Inspection device 3 is including stand 31, lidar 32 and the subassembly 33 of making a video recording that is located on casing 012, the subassembly 33 of making a video recording is installed in stand 31 top, lidar 32 arranges in one side of the 01 advancing direction of robot body.
The robot charging system is characterized in that a plurality of infrared filters 5 capable of absorbing infrared light of a laser radar 32 are arranged on the charging cabinet 02, the infrared filters 5 are as high as the laser radar 32 on the robot body 01, and an infrared transmitting module 6 and an infrared receiving module 7 capable of sending and receiving infrared light are respectively arranged on the charging cabinet 02 and the robot body 01.
The charging cabinet 02 is provided with a contact seat 022, the contact seat is provided with a through groove 023, the charging contact 021 passes through the through groove 023 and extends out of the charging cabinet 02, a baffle 024 is fixed at the rear side of the charging contact 021, and a compression spring 025 is arranged between the rear end of the charging contact 021 and the baffle 024; an indicator lamp 026 is installed on the top of the charging cabinet 02, and the indicator lamp 026 is connected in series with the charging circuit of the charging contact 021 and the positive and negative charging plates 011.
The number of the infrared filters 5 is 2, the infrared filters are arranged on the outer wall of the charging cabinet 02 at intervals, the outer wall is divided into 3 reflecting areas 51 in the horizontal direction, and the width ratio of the 3 reflecting areas 51 is 1:2: 3.
The infrared emission module 6 comprises an infrared lamp 61 and a box body 62 for restraining infrared light, the front end of the box body 62 is provided with a through hole 621 for infrared light to pass through, and two sides of the box body 62 are open; the infrared receiving module 7 comprises at least 3 infrared receivers 71 arranged at the left side, the front end and the right side of the robot body 01; a rear infrared receiver 72 is installed at the rear end of the robot body 01, and when the infrared receiver 71 at the front end of the robot body 01 receives the light of the infrared lamp 61 in the middle of the box 62, the rear infrared receiver 72 is positioned on the extension line of the light; and an infrared light-transmitting film 8 is covered outside the infrared emission module 7 and the infrared filter 5.
The driving device 2 further comprises 4 driven wheels 24 installed below the base 013 and distributed at four corners of the base 013, the driven wheels 24 are universal wheels, the number of the driving wheel assemblies 21 is 2, and the driving wheel assemblies are symmetrically arranged at two sides of the middle part of the base 013.
The front end and the rear end of the shell 012 are provided with an ultrasonic sensor 34 on the circumferential wall thereof, the two side circumferential walls of the shell 012 are provided with an infrared sensor 35, and the bottom edges of the front end and the rear end of the shell 012 are provided with a plurality of anti-falling sensors 36; the inspection device 3 can also be additionally provided with detection equipment such as a greenhouse wet sensor (not shown in the figure) according to the requirement.
By adopting the scheme, through the matching of the control device, the driving device and the inspection device on the robot body, the robot moves in the inspection space to acquire the surrounding environment, draws an electronic map, plans an inspection route, periodically controls the robot body to inspect and acquire surrounding information, fully automatically finishes inspection work, reduces the labor cost and improves the inspection efficiency and effect; simultaneously, the full-automatic charging of robot body is accomplished to the cabinet that charges that the cooperation was arranged in the space, satisfies the requirement of patrolling and examining for a long time, and is very convenient.
In addition, prop up the subassembly of making a video recording through the stand, not only can assist laser radar to accomplish mapping and discernment, can also gather spatial information, utilize signal receiver and treater to accomplish the collection, the processing and the uploading of information, the work of patrolling and examining is carried out in full-automatic, replaces artifically, raises the efficiency and the convenience, reduce cost.
In addition, the motor and the driving wheel are installed on the robot through the connecting rod, the rotating connection at the two ends of the connecting rod and the hinging at the two ends of the compression elastic device are utilized, the driving wheel is installed at the bottom of the robot, the vertical displacement of the driving wheel and the motor is realized, and the driving wheel can be in self-adaptive displacement and is in contact with the ground when encountering obstacles or potholes by matching with the elastic supporting force of the compression elastic device, so that the friction force required by traveling is maintained, and the robot stagnation caused by idling is avoided.
In addition, through a plurality of infrared filters, the casing of filling electric pile transversely divides into a plurality of reflection of light interval regions, and the proportion in reflection of light region is the regularity proportion of artificial settlement, distinguishes with the single extinction area that probably exists in the self-heating environment, improves the remote location of robot and fills electric pile's precision.
In addition, the charging contacts of the charging piles are in contact with positive and negative charging plates of the robot, so that the charging piles charge the self-contained storage battery of the robot, and the inspection work of the robot is maintained; meanwhile, the compression elastic piece is utilized to push the charging contact to abut against the positive and negative charging plates, so that on one hand, the situation that the positive and negative charging plates are separated from the charging contact due to rigid impact contact when the robot is reset for charging is avoided, and on the other hand, the contact tightness of the charging contact and the positive and negative charging plates can be improved, and the charging efficiency is improved.
In addition, infrared light for near distance positioning is divided into three areas through the box body, and the left side, the right side and the middle infrared receiver of the robot are matched, so that the robot can automatically judge which state the relative position of the robot and the charging pile is when a certain infrared receiver receives infrared light, and the robot can be adjusted to be in an aligned state.
In addition, through the setting of infrared printing opacity membrane, shield other visible light, improve the transmissivity of infrared light to improve the accuracy of robot location.
In addition, through the ultrasonic sensor, the infrared sensor and the anti-falling sensor, the laser radar and the depth camera are assisted to sense the surrounding space, the adverse factors such as obstacles and steps are automatically identified, and the normal operation of the inspection work of the robot is ensured.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The intelligent inspection robot is characterized by comprising a robot body (01) and a charging cabinet (02), wherein a positive and negative charging plate (011) is arranged on the periphery of the robot body (01), and the charging cabinet (02) is provided with a charging contact (021) matched with the positive and negative charging plate (011);
the robot body (01) comprises a control device (1), a driving device (2) and a routing inspection device (3), wherein the control device (1) comprises a battery (11), a signal receiver (12) and a processor (13) which are positioned in a shell (012) of the robot body (011), and the battery (11) is electrically connected with a positive charging plate and a negative charging plate (011);
the driving device (2) comprises a plurality of driving wheel assemblies (21) positioned below a base (013) of the robot body (011) and a U-shaped plate (22) fixed below the base (013), the driving wheel assembly (21) comprises a driving wheel (211), a motor (212), a wheel carrier (213), a connecting rod (214) and a compression elastic device (4), the driving wheel (211) is connected with the motor (212) through a coupling (23) and is arranged on the wheel carrier (213), the wheel frame (213) is connected with the U-shaped plate (22) through a connecting rod (214), two ends of the connecting rod (214) are rotatably connected with the U-shaped plate (22) and the side surface of the wheel frame (213), the rotating shaft of the elastic compression device is horizontal and vertical to the rotating shaft of the driving wheel (211), the top end of the elastic compression device (4) is hinged on the frame body of the robot body (011), the bottom end of the driving wheel is hinged to the top of the wheel frame (213) and presses the driving wheel (211) to be contacted with the ground;
the inspection device (3) comprises an upright post (31), a laser radar (32) and a camera shooting assembly (33) which are positioned on a shell (012), wherein the camera shooting assembly (33) is installed at the top of the upright post (31), and the laser radar (32) is arranged on one side of the traveling direction of the robot body (01);
a plurality of infrared filters (5) capable of absorbing infrared light of a laser radar (32) are arranged on the charging cabinet (02), the infrared filters (5) are as high as the laser radar (32) on the robot body (01), and an infrared transmitting module (6) and an infrared receiving module (7) capable of sending and receiving infrared light are respectively arranged on the charging cabinet (02) and the robot body (01).
2. The intelligent inspection robot according to claim 1, wherein the charging cabinet (02) has a contact seat (022) therein, the contact seat is provided with a through groove (023), the charging contact (021) extends out of the charging cabinet (02) through the through groove (023), a baffle plate (024) is fixed at the rear side of the charging contact (021), and a compression spring (025) is arranged between the rear end of the charging contact (021) and the baffle plate (024).
3. The intelligent inspection robot according to claim 1, wherein an indicator light (026) is mounted to a top of the charging cabinet (02), and the indicator light (026) is connected in series to a charging circuit between the charging contact (021) and the positive and negative charging plates (011).
4. The intelligent inspection robot according to claim 1, wherein the number of the infrared filters (5) is 2, the infrared filters are arranged on the outer wall of the charging cabinet (02) at intervals, the outer wall is divided into 3 reflective areas (51) in the horizontal direction, and the width ratio of the 3 reflective areas (51) is 1:2: 3.
5. The intelligent inspection robot according to claim 1, wherein the infrared emission module (6) comprises an infrared lamp (61) and a box body (62) for restraining infrared light, a through hole (621) for infrared light to pass through is formed in the front end of the box body (62), and two sides of the box body (62) are arranged in an open manner;
the infrared receiving module (7) comprises at least 3 infrared receivers (71) arranged on the left side, the front end and the right side of the robot body (01).
6. The intelligent inspection robot according to claim 5, wherein a rear infrared receiver (72) is mounted at the rear end of the robot body (01), and when the infrared receiver (71) at the front end of the robot body (01) receives the light of the infrared lamp (61) at the middle of the box body (62), the rear infrared receiver (72) is located on the extension line of the light.
7. An intelligent inspection robot according to claim 1, wherein the infrared emission module (7) and the infrared filter (5) are covered by an infrared transparent film (8).
8. The intelligent inspection robot according to claim 1, wherein the driving device (2) further comprises 4 driven wheels (24) installed below the base (013) and distributed at four corners of the base (013), the driven wheels (24) are universal wheels, the number of the driving wheel assemblies (21) is 2, and the driving wheel assemblies are symmetrically distributed at two sides of the middle of the base (013).
9. The intelligent inspection robot according to claim 1, wherein the camera assembly (33) comprises a pan-tilt camera (331) and a depth camera (332), the pan-tilt camera (331) is rotatably mounted at the top end of the upright column (31), the number of the depth cameras (332) is at least 2, the depth cameras are symmetrically distributed on the same side of the upright column (31) along a vertical axis, the camera view of the depth cameras (332) corresponds to the advancing direction of the robot body (01), and the view width is not less than the width of the robot body (01).
10. The intelligent inspection robot according to claim 1, wherein the peripheral walls of the front end and the rear end of the shell (012) are respectively provided with an ultrasonic sensor (34), the peripheral walls of two sides of the shell (012) are respectively provided with an infrared sensor (35), and the bottom edges of the front end and the rear end of the shell (012) are respectively provided with a plurality of anti-drop sensors (36).
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Application publication date: 20211026 |