CN114115243A - Autonomous obstacle avoidance patrol robot - Google Patents
Autonomous obstacle avoidance patrol robot Download PDFInfo
- Publication number
- CN114115243A CN114115243A CN202111307769.4A CN202111307769A CN114115243A CN 114115243 A CN114115243 A CN 114115243A CN 202111307769 A CN202111307769 A CN 202111307769A CN 114115243 A CN114115243 A CN 114115243A
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- fixedly connected
- outer box
- plate
- inspection robot
- wall
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- 239000011521 glass Substances 0.000 claims abstract description 27
- 238000007689 inspection Methods 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000002093 peripheral effect Effects 0.000 claims abstract description 9
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims abstract description 6
- 235000017491 Bambusa tulda Nutrition 0.000 claims abstract description 6
- 241001330002 Bambuseae Species 0.000 claims abstract description 6
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims abstract description 6
- 239000011425 bamboo Substances 0.000 claims abstract description 6
- 230000001939 inductive effect Effects 0.000 claims abstract description 4
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 7
- 230000000007 visual effect Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to an inspection robot capable of avoiding obstacles autonomously. The technical scheme comprises the following steps: the utility model discloses a solar energy collecting device, including outer box, drive module case, bevel gear b and pivot transmission, outer box's inside is rotated and is pegged graft there is the pivot, the inductive head is all installed at the front and the back of outer box, two drive module casees are installed to the bottom inner wall of outer box, just the drive module case is used for the drive pivot to rotate, the inside of outer box is provided with the spline bar, just bevel gear a, bevel gear b and pivot transmission are connected through to the bottom of spline bar, the peripheral movable sleeve in top of spline bar is equipped with a spline section of thick bamboo, the top fixedly connected with keysets of spline section of thick bamboo, the top fixedly connected with fixed plate of keysets, the camera is installed to one side of fixed plate, the peripheral cover of camera is equipped with the glass dustcoat. The invention solves the problems of the existing inspection robot that the visual blind area exists and the detection range is limited.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an inspection robot capable of avoiding obstacles autonomously.
Background
The inspection robot is widely applied to the field of outdoor and indoor inspection, heavy labor of manual inspection is replaced, and the inspection robot can be applied to places where inspection is inconvenient manually, such as narrow channels and harmful environments.
The prior inspection robot mostly adopts a single-line laser radar to detect whether an obstacle exists in the front, the camera position is fixed, the monitoring range is limited, a large visual blind area exists, and the robot is easy to collide with other objects by mistake. In order to solve the problem, the prior patent No. CN111007528a4 proposes an inspection robot, which includes a casing, a multi-line laser radar, a single-line laser radar and a plurality of ultrasonic radars, wherein the single-line laser radar and the multi-line laser radar are all disposed on the top of the casing, each ultrasonic radar is disposed on the peripheral side of the casing, and the viewing angle of the multi-line laser radar and the viewing angle of the ultrasonic radar on the front side of the casing are overlapped. According to the inspection robot provided by the invention, the multi-line laser radar can identify the height information of an external object, and can circumferentially scan to obtain a three-dimensional scanning image of the surrounding environment, so that the navigation precision and the positioning precision of a vehicle can be enhanced. In addition, the top of casing is located to multi-thread lidar, and the distance of surveying is far away, and single line lidar and ultrasonic radar's detection range is near, and multi-thread lidar's detection zone overlaps with ultrasonic radar's detection zone and sets up to compensate single line lidar and the visual blind area of ultrasonic radar in the casing front side. However, in the patent, the camera can only observe the blind area in front of the camera, the area behind the camera cannot be detected, and the detection range is still limited.
The outer protection casing of camera among the robot that has now again often fixes the cover and establishes in the periphery of camera, leads to the maintenance of camera and maintains very inconvenient. Therefore, the inspection robot capable of avoiding obstacles automatically is provided.
Disclosure of Invention
The invention aims to provide a 360-degree autonomous obstacle avoidance inspection robot without a visual blind area, aiming at the problems in the background technology.
The technical scheme of the invention is as follows: the utility model provides an independently keep away patrolling and examining robot of barrier, includes outer box, and the inside of outer box is rotated and is pegged graft and have the pivot, the inductive head is all installed at the front and the back of outer box, two drive module casees are installed to the bottom inner wall of outer box, just the drive module case is used for the drive pivot to rotate, the inside of outer box is provided with the spline bar, just bevel gear an, bevel gear b and pivot transmission are connected through the bottom of spline bar, the peripheral movable sleeve in top of spline bar is equipped with a spline section of thick bamboo, the top fixedly connected with keysets of a spline section of thick bamboo, the top fixedly connected with fixed plate of keysets, the camera is installed to one side of fixed plate, the peripheral cover of camera is equipped with the glass dustcoat.
Preferably, the inner wall of the bottom of the outer box body is provided with a steering module, and the steering module is provided with a steering wheel.
Preferably, both ends of the rotating shaft are fixedly connected with advancing wheels.
Preferably, circular through holes are formed in two side walls of the outer box body, bearings a are fixedly connected inside the circular through holes, and inner rings of the bearings a are fixedly sleeved on the peripheries of two ends of the rotating shaft.
Preferably, the periphery of the bottom end of the spline rod is fixedly sleeved with a bearing b, the outer ring outer wall of the bearing b is fixedly connected with two L-shaped positioning rods, and the bottom ends of the L-shaped positioning rods are fixedly connected with the inner wall of the bottom of the outer box body.
Preferably, the top fixedly connected with motor of drive module case, the output shaft fixedly connected with threaded rod of motor, and the top of threaded rod and the top inner wall of outer box rotate to be connected, the peripheral threaded connection of threaded rod have with outer box inner wall sliding connection's sliding plate, just the keysets rotates the inside of connecting at the sliding plate.
Preferably, a guide rod is fixedly connected between the top of the other driving module box and the inner wall of the top of the outer box body, and the guide rod movably penetrates through the sliding plate.
Preferably, the top of the sliding plate is fixedly connected with two vertical plates, one side, away from each other, of each vertical plate is fixedly connected with a transverse plate, the top of each transverse plate is rotatably connected with a hook plate, and a spring is fixedly connected between each hook plate and each vertical plate.
Preferably, a plurality of clamping grooves are formed in the bottom of the glass outer cover, a plurality of clamping blocks are fixedly connected to the top of the outer box body, and the clamping blocks correspond to the clamping grooves one to one; the inner wall of the glass outer cover is fixedly connected with an annular clamping plate.
Compared with the prior art, the invention has the following beneficial technical effects:
1: the driving module box drives the rotating shaft and the advancing wheel to rotate, so that the robot advances or retreats, and the camera and the fixing plate can be synchronously driven to rotate for 360 degrees under the driving force, so that the robot has no blind area and better detection effect.
2: the camera can be protected by arranging the glass outer cover, the glass outer cover is simple and convenient to mount and dismount, maintenance personnel can conveniently overhaul and maintain the camera, the glass outer cover is dismounted in an internal starting mode, and the glass outer cover cannot be dismounted by the outside, so that the damage of harmful molecules to the camera is avoided.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a cut-away view of the elevation structure of FIG. 1;
FIG. 3 is an enlarged view of the structure at A in FIG. 2;
FIG. 4 is a schematic perspective view of the glass cover of FIG. 1.
Reference numerals: 1. an outer case; 2. an inductive head; 31. a forward wheel; 32. a steering wheel; 4. a steering module; 5. a drive module box; 6. a rotating shaft; 7. a sliding plate; 81. a bearing a; 82. a bearing b; 91. a bevel gear a; 92. a bevel gear b; 10. an L-shaped positioning rod; 11. a motor; 12. a threaded rod; 13. a guide bar; 14. an adapter plate; 15. a spline cylinder; 16. a vertical plate; 17. a fixing plate; 18. a camera; 19. a clamping block; 20. a glass housing; 21. a transverse plate; 22. a hook plate; 23. a spring; 24. an annular clamping plate; 25. a splined rod.
Detailed Description
The technical solution of the present invention is further explained with reference to the accompanying drawings and specific embodiments.
Example one
As shown in fig. 1, the inspection robot capable of avoiding obstacles automatically provided by the invention comprises an outer box 1, a rotating shaft 6 is inserted into the outer box 1 in a rotating manner, the front and back of the outer box 1 are both provided with induction heads 2, the distance between the robot and peripheral articles can be monitored by arranging the induction heads 2, so that the robot can avoid obstacles automatically, two driving module boxes 5 are arranged on the inner wall of the bottom of the outer box 1, the driving module boxes 5 are used for driving the rotating shaft 6 to rotate, a spline rod 25 is arranged inside the outer box 1, the bottom end of the spline rod 25 is in transmission connection with the rotating shaft 6 through a bevel gear a91 and a bevel gear b92, a spline cylinder 15 is movably sleeved on the periphery of the top end of the spline rod 25, the top of the spline cylinder 15 is fixedly connected with an adapter plate 14, the top of the adapter plate 14 is fixedly connected with a fixing plate 17, one side of the fixing plate 17 is provided with a camera 18, the periphery of the camera 18 is fitted with a glass cover 20.
In this embodiment: the rotating shaft 6 drives the spline rod 25 to rotate when rotating through the transmission modes of the bevel gear a91 and the bevel gear b92, in practical application, other transmission modes with the same function can be adopted for transmission, and meanwhile, in the embodiment, the two relative diameters of the bevel gear a91 and the bevel gear b92 can be adjusted so as to adjust the corresponding rotation rate of the camera 18 when the robot walks in the heart; the inner wall of the bottom of the outer box body 1 is provided with a steering module 4, a steering wheel 32 is arranged on the steering module 4, and the steering module 4 and the steering wheel 32 play a steering role; circular through holes are formed in two side walls of the outer box body 1, bearings a81 are fixedly connected inside the circular through holes, inner rings of the bearings a81 are fixedly sleeved on the peripheries of two ends of the rotating shaft 6, in the embodiment, the rotating shaft 6 is rotatably inserted into the outer box body 1, and the switching component of the switching component optimally adopts the bearings a81, because the bearings are low in manufacturing cost and high in operation stability; both ends of the rotating shaft 6 are fixedly connected with advancing wheels 31; the bearing b82 is fixedly sleeved on the periphery of the bottom end of the spline rod 25, the outer ring outer wall of the bearing b82 is fixedly connected with two L-shaped positioning rods 10, the bottom ends of the L-shaped positioning rods 10 are fixedly connected with the inner wall of the bottom of the outer box body 1, and it needs to be explained that the bearing b82 and the L-shaped positioning rods 10 play a role in supporting and positioning the spline rod 25 in an auxiliary mode, and in practical application, the spline rod can be replaced by other components with the same function.
Firstly, the robot drives the rotating shaft 6 and the advancing wheel 31 to rotate under the driving of the driving module box 5, so as to drive the robot to advance and retreat, the rotating shaft 6 drives the spline rod 25 and the spline cylinder 15 to rotate under the transmission of the bevel gear a91 and the bevel gear b92 while rotating, the spline cylinder 15 rotates to drive the adapter plate 14 and the fixing plate 17 to rotate, so as to drive the camera 18360 to rotate continuously, so that the robot has no blind area, and the detection effect is better. And the camera 18 rotates without adding an additional driving component, so that the utilization rate of resources is greatly improved.
Example two
As shown in fig. 1-4, compared with the first embodiment, the inspection robot capable of avoiding obstacles autonomously provided by the present invention further includes a driving module box 5, a motor 11 is fixedly connected to the top of the driving module box 5, a threaded rod 12 is fixedly connected to an output shaft of the motor 11, the top end of the threaded rod 12 is rotatably connected to the inner wall of the top of the outer box 1, a sliding plate 7 slidably connected to the inner wall of the outer box 1 is connected to the periphery of the threaded rod 12 through a thread, and an adapter plate 14 is rotatably connected to the inside of the sliding plate 7; a guide rod 13 is fixedly connected between the top of the other driving module box 5 and the inner wall of the top of the outer box 1, and the guide rod 13 movably penetrates through the sliding plate 7; two risers 16 of top fixedly connected with of sliding plate 7, the equal fixedly connected with diaphragm 21 in one side that two risers 16 kept away from each other, the top of diaphragm 21 is rotated and is connected with hook plate 22, and fixedly connected with spring 23 between hook plate 22 and the riser 16.
According to the invention, the camera 18 can be protected by arranging the glass outer cover 20, the glass outer cover 20 is not only simple and convenient to mount and dismount, and is convenient for maintenance personnel to overhaul and maintain the camera 18, but also the glass outer cover 20 is dismounted in a manner of internal starting, and the glass outer cover 20 cannot be dismounted by the outside, so that the damage of bad molecules to the camera 18 is avoided.
The glass outer cover 20 is disassembled in the following way: the operation motor 11 drives the threaded rod 12 to rotate, the sliding plate 7 is driven to slide upwards under the guiding action of the guide rod 13, the sliding plate 7 slides upwards to drive the vertical plate 16, the transverse plate 21 and the hook plate 22 to move upwards integrally, so that the hook part of the hook plate 22 is separated from the top of the annular clamping plate 24, the glass outer cover 20 can be held by hands to lift the glass outer cover 20 upwards by a small height, the clamping groove is separated from the clamping block 19, then the glass outer cover 20 is deviated obliquely, the hook plate 22 is separated from the annular clamping plate 24, then the glass outer cover 20 can be taken down, when the glass outer cover 20 is installed, the hook plate 22 is held by hands to rotate towards the spring 23 direction until the hook plate 22 extends into the upper part of the inner annular clamping plate 24 of the glass outer cover 20, then the clamping block 19 and the clamping groove are aligned to be pressed upwards, finally, the motor 11 is operated reversely, the hook plate 22 is driven to hook the top of the annular clamping plate 24 under the elastic force of the spring 23 in the same manner, the positioning and installation of the glass housing 20 is thus completed, and the glass housing 20 cannot be removed from the outside without operating the motor 11.
The above embodiments are merely some preferred embodiments of the present invention, and those skilled in the art can make various alternative modifications and combinations of the above embodiments based on the technical solution of the present invention and the related teaching of the above embodiments.
Claims (9)
1. The utility model provides an independently keep away robot of patrolling and examining of barrier, includes outer box (1), and the inside of outer box (1) is rotated and is pegged graft and has pivot (6), inductive head (2), its characterized in that are all installed to the front and the back of outer box (1): two drive module casees (5) are installed to the bottom inner wall of outer box (1), just drive module case (5) are used for drive shaft (6) to rotate, the inside of outer box (1) is provided with spline rod (25), just bevel gear a (91), bevel gear b (92) and pivot (6) transmission are passed through to the bottom of spline rod (25) and are connected, the peripheral movable sleeve in top of spline rod (25) is equipped with spline section of thick bamboo (15), the top fixedly connected with keysets (14) of spline section of thick bamboo (15), the top fixedly connected with fixed plate (17) of keysets (14), camera (18) are installed to one side of fixed plate (17), the peripheral cover of camera (18) is equipped with glass outer cover (20).
2. The inspection robot capable of avoiding obstacles automatically according to claim 1, wherein a steering module (4) is installed on the inner wall of the bottom of the outer box body (1), and a steering wheel (32) is installed on the steering module (4).
3. The inspection robot for avoiding obstacles automatically according to claim 1, wherein both ends of the rotating shaft (6) are fixedly connected with advancing wheels (31).
4. The inspection robot for the automatic obstacle avoidance according to claim 3, wherein circular through holes are formed in both side walls of the outer box body (1), bearings a (81) are fixedly connected inside the circular through holes, and inner rings of the bearings a (81) are fixedly sleeved on the peripheries of both ends of the rotating shaft (6).
5. The inspection robot capable of avoiding obstacles automatically according to claim 4, wherein a bearing b (82) is fixedly sleeved on the periphery of the bottom end of the spline rod (25), two L-shaped positioning rods (10) are fixedly connected to the outer wall of the outer ring of the bearing b (82), and the bottom ends of the L-shaped positioning rods (10) are fixedly connected with the inner wall of the bottom of the outer box body (1).
6. The inspection robot capable of avoiding obstacles automatically according to claim 2, wherein a motor (11) is fixedly connected to the top of the driving module box (5), a threaded rod (12) is fixedly connected to an output shaft of the motor (11), the top end of the threaded rod (12) is rotatably connected to the inner wall of the top of the outer box body (1), a sliding plate (7) is slidably connected to the inner wall of the outer box body (1) in a threaded manner and is connected to the periphery of the threaded rod (12), and the adapter plate (14) is rotatably connected to the inside of the sliding plate (7).
7. The inspection robot for avoiding obstacles automatically according to claim 6, wherein a guide rod (13) is fixedly connected between the top of the other driving module box (5) and the inner wall of the top of the outer box body (1), and the guide rod (13) movably penetrates through the sliding plate (7).
8. The inspection robot capable of avoiding obstacles automatically according to claim 7, wherein two vertical plates (16) are fixedly connected to the top of the sliding plate (7), a transverse plate (21) is fixedly connected to one side, away from each other, of each vertical plate (16), a hook plate (22) is rotatably connected to the top of the transverse plate (21), and a spring (23) is fixedly connected between the hook plate (22) and the vertical plate (16).
9. The inspection robot capable of avoiding obstacles automatically according to claim 8, wherein a plurality of clamping grooves are formed in the bottom of the glass outer cover (20), a plurality of clamping blocks (19) are fixedly connected to the top of the outer box body (1), and the clamping blocks (19) correspond to the clamping grooves one by one; the inner wall of the glass outer cover (20) is fixedly connected with an annular clamping plate (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111307769.4A CN114115243A (en) | 2021-11-05 | 2021-11-05 | Autonomous obstacle avoidance patrol robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111307769.4A CN114115243A (en) | 2021-11-05 | 2021-11-05 | Autonomous obstacle avoidance patrol robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114115243A true CN114115243A (en) | 2022-03-01 |
Family
ID=80380989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111307769.4A Withdrawn CN114115243A (en) | 2021-11-05 | 2021-11-05 | Autonomous obstacle avoidance patrol robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114115243A (en) |
-
2021
- 2021-11-05 CN CN202111307769.4A patent/CN114115243A/en not_active Withdrawn
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20220301 |