CN115922737A

CN115922737A - Multifunctional safety inspection robot

Info

Publication number: CN115922737A
Application number: CN202310163153.7A
Authority: CN
Inventors: 刘萌萌; 王三明; 袁钰翔
Original assignee: Henan Anyuan Industrial Internet Technology Co ltd
Current assignee: Henan Anyuan Industrial Internet Technology Co ltd
Priority date: 2023-02-24
Filing date: 2023-02-24
Publication date: 2023-04-07

Abstract

The invention discloses a multifunctional safety inspection robot, belonging to the technical field of safety inspection; the laser radar device comprises a moving base, wherein a trapezoidal table is arranged at the front end position above the moving base, an upright post is arranged on the trapezoidal table, and a laser radar is arranged at the top end of the upright post through a holder; a lifting rod is arranged above the movable base, a rotating table is arranged at the top end of the lifting rod, extension rods are horizontally arranged outwards on two sides of the rotating table, and a camera group is rotationally arranged at the end part of each extension rod; and a calling button is arranged at the top end of the lifting rod. According to the invention, the laser radar arranged on the holder is used for measuring and identifying objects around the running route, so as to provide assistance for automatic driving; the perception to the actual environment is further improved by combining the road identification camera inclined downwards; the infrared sensing probe matched with the trapezoidal table is used for sensing the animals and the human bodies and then avoiding the animals and the human bodies independently, so that the adaptation to the movement of the animals and the personnel is improved.

Description

Multifunctional safety inspection robot

Technical Field

The invention relates to the technical field of safety inspection, in particular to a multifunctional safety inspection robot.

Background

With the progress of science and technology, intelligent control is more and more appeared in industry and life. The robot is a device capable of semi-autonomous or fully-autonomous working, and can replace a human to carry out a series of works. The inspection robot can run indoors or outdoors, and monitors the running of equipment and the industrial environment.

At present, most of inspection robots adopt tires or tracks to advance and are combined with camera shooting to perform inspection. But the function is relatively single, most of the functions can only carry out image acquisition or partial sensing identification, and the requirement on the whole safety inspection cannot be well met; and, the automation degree thereof has further space for improvement.

Therefore, according to years of industrial internet and intelligent equipment experience, the multifunctional safety inspection robot is designed.

Disclosure of Invention

The invention aims to solve the problem that a multifunctional and more intelligent device is needed in the prior art, and provides a multifunctional safety inspection robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

a multifunctional safety inspection robot comprises a movable base, wherein a trapezoidal table is arranged at the front end position above the movable base, an upright post is arranged on the trapezoidal table, and a laser radar is arranged at the top end of the upright post through a holder;

a lifting rod is arranged above the movable base, a rotating table is arranged at the top end of the lifting rod, extension rods are horizontally arranged outwards on two sides of the rotating table, and a camera group is rotationally arranged at the end part of each extension rod;

and a calling button is arranged at the top end of the lifting rod.

In some embodiments, an infrared sensing probe which is inclined upwards is arranged on the front end face of the trapezoidal table.

In some embodiments, angle-adjustable illuminating lamps are arranged on two sides of the front end face of the trapezoidal table.

In some embodiments, the front end surface of the trapezoidal table is provided with a slot for accommodating a lighting lamp; the lower end of the illuminating lamp is hinged in the groove, and the rear end of the illuminating lamp is provided with a driving piece.

In some embodiments, the front end of the pillar is provided with a road recognition camera inclined downward.

In some embodiments, a bumper is connected to the rear of the movable base through a telescopic rod;

the bumper comprises a main bar and side bars which are arranged at the two ends of the main bar and bent forwards;

and the bumper is provided with an ultrasonic radar.

In some embodiments, the rear side of the lifting rod is hinged with a display screen;

an input area is arranged below the display screen, and a keyboard and a card reading module are arranged in the input area.

And an infrared sensing probe and a face recognition camera are arranged above the display screen.

In some embodiments, a storage groove is arranged below the movable base, and a support plate is arranged in the storage groove through a telescopic rod;

and a distance sensor is arranged below the movable base in a cross array manner.

In some embodiments, the upper two sides of the moving base are provided with multi-joint mechanical arms.

In some embodiments, a water immersion sensor is disposed below the front end of the mobile base;

the front end of the movable base is provided with an inclined surface, a containing groove is formed in the inclined surface, and the water sensor can be arranged in the containing groove in a lifting mode;

and a high-pressure air nozzle is arranged below the front end of the movable base.

Compared with the prior art, the multifunctional safety inspection robot provided by the invention has the following beneficial effects.

1. According to the invention, the laser radar arranged on the holder is used for measuring and identifying objects around the running route, so as to provide assistance for automatic driving; the perception to the actual environment is further improved by combining the road identification camera which inclines downwards; the infrared sensing probe matched with the trapezoidal table is used for sensing the animals and the human bodies and then avoiding the animals and the human bodies independently, so that the adaptation to the movement of the animals and the personnel is improved.

2. According to the invention, the angle-adjustable illuminating lamp can obtain a better auxiliary effect; the camera group with omnibearing acquisition has comprehensive and efficient information acquisition; the system can collect images and videos and identify instruments, indicator lights and the like at specific positions; a call button is arranged at the top end, a control center is triggered to carry out two-way communication, and emergency, abnormal and other conditions are met; the display screen is matched with the infrared sensing probe and the face recognition camera, non-contact triggering is achieved, and energy is saved.

3. According to the invention, the supporting disk lifts up the whole body, so that the wheel is separated from the ground and stably stops at a position; the distance sensors arranged in the cross array can identify the defects of the road and ensure the levelness when supporting; the multi-joint mechanical arm is combined with a detachable matching assembly to realize function expansion.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows; and will be apparent to those skilled in the art, to a certain extent, upon a study of the following; or may be learned by the practice of the invention.

Drawings

FIG. 1 is a schematic view of the present invention.

Fig. 2 is a rear side structure diagram of the present invention.

FIG. 3 is a schematic view of the lower structure of the present invention.

Fig. 4 is a schematic structural view of the support plate in an extended state.

FIG. 5 is a second state structure diagram of the present invention.

Fig. 6 is a structural diagram of a first state of the multi-joint mechanical arm.

Fig. 7 is a structural diagram of a multi-joint mechanical arm in a second state.

In the figure:

1. moving the base; 2. a trapezoidal table; 3. a column; 4. a laser radar; 5. a lifting rod; 6. a rotating table; 7. an extension rod; 8. a camera group; 9. a call button; 10. an infrared sensing probe; 11. a work indicator light; 12. an illuminating lamp; 13. a road identification camera; 14. an antenna; 15. a bumper; 1501. a main bar; 1502. side bars; 16. an ultrasonic radar; 17. a display screen; 18. a keyboard; 19. a card reading module; 20. a face recognition camera; 21. a receiving groove; 22. a support disc; 23. a distance sensor;

24. a multi-joint mechanical arm; 2401. swinging arms; 2402. a vertical support arm; 2403. a sleeve; 2404. an L-shaped support arm; 2405. a first rotating drum; 2406. an extension arm; 2407. a second rotating drum;

25. a flange plate; 26. a sensor group; 27. a water immersion sensor; 28. and a high-pressure air nozzle.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-3, the multifunctional safety inspection robot comprises a movable base 1, wherein the movable base 1 is of a trolley structure, driving wheels are arranged on two sides of the movable base, and installation bases of all components are formed above the movable base 1.

The upper front end position of the movable base 1 is provided with a trapezoidal table 2, an upright post 3 is arranged on the trapezoidal table 2, and the top end of the upright post 3 is provided with a laser radar 4 through a holder.

It can be understood that the upright 3 is arranged in an upper middle position of the trapezoidal table 2; the laser radar 4 can rotate and adjust under the action of the holder, measure and identify objects around the running route, and provide assistance for automatic driving.

Further, a road recognition camera 13 inclined downward is provided at the front end of the upright column 3; and the perception to the actual environment is further improved by combining the image recognition of the camera with the measurement of the laser radar.

It can be understood that the road identification camera 13 shooting obliquely downwards is mainly used for close-range identification and judging obstacles on the road surface; in addition, the automatic routing inspection system can be combined with a road auxiliary line, so that the route accuracy and the high reliability of automatic routing inspection are further improved.

Furthermore, it is understood that an antenna 14 is provided above the trapezoidal table 2; the antenna 14 includes a communications antenna, a GPS antenna, to provide network connectivity and location signals.

It can be understood that the device is internally provided with conventional components such as a navigation module, a data communication module, a power supply module and the like.

In some embodiments, an infrared sensing probe 10 is disposed on the front end surface of the trapezoidal table 2, and is inclined upward.

As shown in fig. 1; due to the height limitation of the device, the installation position of the infrared induction probe 10 is lower; the sensor is arranged on the front end inclined plane of the trapezoidal table 2, so that the detection direction of the sensor is inclined upwards, and a larger sensing range can be obtained; thus, infrared sensing can be performed on a general-type object, an animal, a human, and the like.

When the intelligent control device is used, animals and human bodies are sensed in front through the infrared sensing probe 10, and then the animals and the human bodies can be judged autonomously to avoid the animals or the human bodies, or a prompt is sent to a control center, so that the adaptability to the movement of the animals and the personnel is improved.

In addition, the device can be used for expelling animals or reminding human beings to avoid by combining with sounding.

In some embodiments, a working indicator light 11 is provided on the front face of the trapezoidal table 2 to show the current working state.

In some embodiments, the two sides of the front end surface of the trapezoidal table 2 are provided with angle-adjustable illuminating lamps 12 to assist in illumination in environments with poor light; meanwhile, the lighting angle and range can be adjusted according to the requirements of the situation, and a better auxiliary effect is obtained.

Specifically, a slot for accommodating the illuminating lamp 12 is formed on the front end face of the trapezoidal table 2; the lower end of the illuminating lamp 12 is hinged in the groove, and the rear end is provided with a driving part.

It can be understood that the driving member can be a telescopic rod for pushing and pulling, or a driving motor for driving the hinge shaft to rotate, etc.

In some embodiments, a lifting rod 5 is arranged above the moving base 1, a rotating platform 6 is arranged at the top end of the lifting rod 5, extending rods 7 are horizontally arranged on two sides of the rotating platform 6 outwards, and a camera group 8 is rotatably arranged at the ends of the extending rods 7.

Specifically, the lifting rod 5 adopts an electric or hydraulic form; the rotating platform 6 is driven by a motor, and the two extension rods 7 are coaxially arranged; a driving component is arranged in the camera group 8 to realize the rotary connection with the extension rod 7; preferably, the driving assembly adopts a motor arranged in the camera group 8 to match with a gear arranged on the extension rod 7.

The camera group 8 comprises an infrared camera, a visible light camera and a laser focusing assembly.

In some embodiments, the top end of the lifting rod 5 is provided with a call button 9.

The lifting rod 5 is arranged at the top end of the lifting rod, so that the lifting rod has a higher installation position; in operation, a person can send a call to the control center by triggering the call button 9 and make a two-way call.

In some embodiments, a bumper 15 is connected to the rear of the movable base 1 through a telescopic rod; to reduce damage when rear collision occurs.

Specifically, the telescopic rod consists of an inner rod and an outer rod which are sleeved and installed, and a spring is arranged inside the telescopic rod.

In some embodiments, the bumper 15 includes a main bar 1501 and side bars 1502 disposed at both ends of the main bar 1501 and bent forward.

Further, the bumper 15 is provided with an ultrasonic radar 16; the oblique outer sides of the rear side and the rear side can be measured simultaneously.

Further, a horizontal ultrasonic radar 16 is provided at the front end of the mobile base 1, and radar measurement is performed forward.

In some embodiments, the rear side of the lifting rod 5 is hinged with a display screen 17 to display working state, data, video call, etc.

It will be appreciated that the display screen 17 displays when a person follows an operation, or a person looks up, or triggers a communication; when the device is operating independently, the display screen 17 does not operate.

Correspondingly, the angle of the display screen 17 is adjusted through the electric telescopic rod.

It can be understood that both ends of the electric telescopic rod are respectively hinged with the display screen 17 and the movable base 1.

Further, an input area is provided below the display screen 17, and a keyboard 18, a card reading module 19, and the like are provided in the input area.

The card reading module 19 adopts an NFC module to perform identity authentication on an operator, and can perform information reading and interaction.

In some embodiments, the infrared sensing probe 10, the face recognition camera 20, the microphone and the speaker are disposed above the display screen 17.

Sensing a human body through the infrared sensing probe 10; when people approach, the face recognition camera 20 is activated to recognize, and the dormant screen is started, so that non-contact triggering can be realized, and energy is saved.

In some embodiments, a receiving groove 21 is disposed below the movable base 1, and a supporting plate 22 is disposed in the receiving groove 21 through a telescopic rod.

As shown in fig. 3 and 4; in a daily state, the supporting disc 22 is hidden in the accommodating groove 21, so that the normal walking of the device is not influenced; when the movable base 1 needs to be supported and positioned at a fixed position for working, the supporting plate 22 extends downwards under the driving action of the telescopic rod to lift the whole body, so that the wheels are separated from the ground and stably stop at one position.

Preferably, four support disks 22 are provided to provide sufficient balance and stability.

Further, a distance sensor 23 is arranged in a cross array below the movable base 1.

In the driving process, the defects of the road can be identified, and a prompt is provided; in addition, when the support plate 22 is used for support, the levelness of the support is ensured.

In some embodiments, the mobile base 1 is provided with a multi-joint mechanical arm 24 at two sides above the mobile base, and a flange 25 is arranged at the end of the multi-joint mechanical arm 24.

The flange 25 is detachably provided with an optional assembly.

Wherein, the apolegamy subassembly includes one or more of gripper, camera, near field communication module, audible-visual annunciator, printing shower nozzle etc..

Correspondingly, a mechanical claw is used for carrying out operations such as object grabbing; the camera is matched with the multi-joint mechanical arm 24 to shoot in multiple angles and multiple directions, so that the object can be conveniently checked; the near field communication module is used for information interaction with an intelligent module of the equipment, so that operations such as meter reading, detection, task establishment, data reading and the like are realized; the audible and visual alarm is used for reminding safety and events; the printing nozzle is used for spraying symbols and marks at specific positions, and indicating fault positions, special places and the like.

In some embodiments, the multi-joint robot arm 24 is mounted by a spindle provided on the mobile base 1; wherein the spindle is rotationally driven by a motor.

The swing arm 2401 of the multi-joint mechanical arm 24 is fixedly connected with the main shaft and is driven by the main shaft to rotate; a vertical supporting arm 2402 is rotatably arranged at the other end of the swinging arm 2401, and the vertical supporting arm 2402 is driven to rotate by a motor arranged in the swinging arm 2401; an axially horizontal sleeve 2403 is arranged at the top end of the vertical support arm 2402, an L-shaped support arm 2404 is rotatably arranged in the sleeve 2403, and the L-shaped support arm 2404 is driven by a motor arranged in the sleeve 2403; a first rotary drum 2405 is arranged at the other end of the L-shaped support arm 2404, and the first rotary drum 2405 is driven by a motor arranged in the L-shaped support arm 2404; an extension arm 2406 is fixedly connected to the outer side of the first rotary drum 2405; a second drum 2407 is provided at the end of the extension arm 2406, the second drum 2407 being driven by a motor provided inside the extension arm 2406; the end of the second drum 2407 is provided with a flange.

It should be noted that, as for the driving form of the motor, the conventional technology is adopted for implementation; for example, a motor is coaxially arranged in the sleeve 2403, and a driving shaft of the motor is fixedly connected with the L-shaped supporting arm 2404; a motor is coaxially arranged at the end part of the L-shaped supporting arm 2404, and the output end of the motor is fixedly connected with the first rotary drum 2405; it will be appreciated that the motor has a brake function.

As shown in fig. 6 and 7, there are two exemplary states of the articulated robot arm 24.

As shown in fig. 1, a schematic view of the retracted state of the articulated robot arm 24; as shown in fig. 5, the multi-joint robot arm 24 is shown in an extended state.

The selected components can be adjusted by the movement of the multi-joint mechanical arm 24; for example, the device is made to approach an induction chip of some equipment for data reading, a camera is made to approach to shoot, an object is grabbed through a mechanical claw, and the like.

Further, the overall balance can be controlled by the movement of the articulated robot arm 24.

In some embodiments, a sensor group 26 is disposed above the trapezoidal table 2.

The sensor group 26 includes a gas detector, a temperature and humidity sensor, a smoke detector, and the like; the device can be selected and installed according to the actual environment, and an interface is reserved on a control panel arranged in the device.

In some embodiments, a water immersion sensor 27 is provided below the front end of the mobile base 1.

Specifically, the front end of the movable base 1 is arranged to be an inclined surface so as to move forward and move; meanwhile, a storage groove is formed in the inclined surface, and the water sensor 27 can be arranged in the storage groove in a lifting mode.

As can be understood, the water immersion sensor 27 is housed, hidden, and the like in a daily state; when water immersion detection is required, the water immersion sensor 27 protrudes downward for sensing.

In addition, the detection of the areas suspected of liquid can be automatically carried out in combination with the object recognition of the road recognition camera 13 and the camera group 8.

In some embodiments, a high-pressure air nozzle 28 is arranged below the front end of the mobile base 1, so that sundries on the routing inspection line can be blown away, and the tidiness of the routing inspection line is kept.

When the device is used, GPS navigation is carried out through a preset route; in the advancing process, the laser radar 4 is matched with the road identification camera 13 to identify the actual road condition and autonomously avoid the actual road condition; radar-assisted detection distance of the front end; meanwhile, the infrared sensing probe 10 arranged on the trapezoidal table 2 senses animals and human bodies, and improves the adaptability to moving objects; in the whole working process, the camera group 8 collects images and videos and identifies instruments, indicator lights and the like at specific positions; the sensor group 26 identifies and judges the condition to be detected; the multi-joint mechanical arm 24 is combined with the matching component to expand the functions; in addition, in the inspection process, symbols and marks can be sprayed at abnormal positions; when the driving work is suspended at a required fixed position, the supporting disc 22 below is integrally lifted up and kept stable; when the person at the rear approaches, the display screen 17 is automatically identified and started; in case interaction is required, communication with the control center may be triggered by the call button 9.

In the invention, the laser radar 4 arranged on the holder is used for measuring and identifying objects around the running route, so as to provide assistance for automatic driving; the perception to the actual environment is further improved by combining the road identification camera 13 which inclines downwards; the infrared sensing probe 10 arranged in cooperation with the trapezoidal table 2 senses animals and human bodies and then autonomously avoids the animals and the human bodies, so that the adaptability to the movement of the animals and the personnel is improved; the angle-adjustable illuminating lamp 12 can obtain better auxiliary effect; the camera group 8 with all-directional acquisition has comprehensive and efficient information acquisition; a calling button 9 is arranged at the top end to trigger the control center to carry out two-way conversation to deal with the situations of emergency, abnormity and the like; the display screen 17 is matched with the infrared induction probe 10 and the face recognition camera 20 to realize non-contact triggering and save energy; the support plate 22 will be lifted as a whole, so that the wheel is disengaged from the ground and stably stops in one position; the distance sensors 23 arranged in a cross array can identify road defects and ensure levelness during supporting; the multi-joint mechanical arm 24 is combined with a detachably mounted matching assembly to realize function expansion.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A multifunctional safety inspection robot comprises a movable base (1), and is characterized in that a trapezoidal table (2) is arranged at the front end of the upper part of the movable base (1), an upright column (3) is arranged on the trapezoidal table (2), and a laser radar (4) is arranged at the top end of the upright column (3) through a holder;

a lifting rod (5) is arranged above the movable base (1), a rotating table (6) is arranged at the top end of the lifting rod (5), extension rods (7) are horizontally arranged outwards on two sides of the rotating table (6), and a camera group (8) is rotatably arranged at the end part of each extension rod (7);

and a calling button (9) is arranged at the top end of the lifting rod (5).

2. The multifunctional safety inspection robot according to claim 1, wherein the front end face of the trapezoid table (2) is provided with an infrared sensing probe (10) which inclines upwards.

3. The multifunctional safety inspection robot according to claim 1, wherein angle-adjustable illuminating lamps (12) are arranged on two sides of the front end surface of the trapezoidal table (2).

4. The multifunctional safety inspection robot according to claim 3, wherein a slot for accommodating the illuminating lamp (12) is formed on the front end surface of the trapezoidal table (2); the lower end of the illuminating lamp (12) is hinged in the groove, and the rear end of the illuminating lamp is provided with a driving piece.

5. The multifunctional safety inspection robot according to claim 1, wherein the front end of the upright (3) is provided with a road identification camera (13) which is inclined downwards.

6. The multifunctional safety inspection robot according to claim 1, wherein a bumper (15) is connected to the rear of the movable base (1) through a telescopic rod;

the bumper (15) comprises a main bar (1501) and side bars (1502) which are arranged at two ends of the main bar (1501) and bent forwards;

and an ultrasonic radar (16) is arranged on the bumper (15).

7. The multifunctional safety inspection robot according to claim 1, wherein a display screen (17) is hinged to the rear side of the lifting rod (5);

an input area is arranged below the display screen (17), and the input area is provided with a keyboard (18) and a card reading module (19);

an infrared sensing probe (10) and a face recognition camera (20) are arranged above the display screen (17).

8. The multifunctional safety inspection robot according to claim 1, wherein a storage groove (21) is formed below the movable base (1), and a support plate (22) is arranged in the storage groove (21) through a telescopic rod;

distance sensors (23) are arranged below the movable base (1) in a cross array mode.

9. The multifunctional safety inspection robot according to claim 1, wherein multi-joint mechanical arms (24) are arranged on two sides above the movable base (1).

10. The multifunctional safety inspection robot according to claim 9, wherein a water immersion sensor (27) is arranged below the front end of the movable base (1);

the front end of the movable base (1) is provided with an inclined surface, a containing groove is formed in the inclined surface, and the water sensor (27) can be arranged in the containing groove in a lifting mode;

and a high-pressure air nozzle (28) is arranged below the front end of the movable base (1).