CN117863784A - Automatic detection device and method based on mobile robot - Google Patents
Automatic detection device and method based on mobile robot Download PDFInfo
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- CN117863784A CN117863784A CN202410283180.2A CN202410283180A CN117863784A CN 117863784 A CN117863784 A CN 117863784A CN 202410283180 A CN202410283180 A CN 202410283180A CN 117863784 A CN117863784 A CN 117863784A
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- 238000001514 detection method Methods 0.000 title claims abstract description 110
- 238000000034 method Methods 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 121
- 230000007246 mechanism Effects 0.000 claims abstract description 65
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- 210000001503 joint Anatomy 0.000 claims description 10
- 238000003032 molecular docking Methods 0.000 claims description 8
- 230000007306 turnover Effects 0.000 claims description 5
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 4
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- 230000007613 environmental effect Effects 0.000 abstract description 3
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- 230000002159 abnormal effect Effects 0.000 description 2
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- 238000012544 monitoring process Methods 0.000 description 1
- 239000008239 natural water Substances 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
- B60F3/0038—Flotation, updrift or stability devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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Abstract
The invention relates to the technical field of water quality detection, and particularly discloses an automatic detection device and method based on a mobile robot, comprising the following steps: the system comprises a control terminal, a movable detection mechanism and an auxiliary water surface detection mechanism; the mobile detection mechanism is arranged outside the control terminal; the auxiliary water surface detection mechanism is arranged outside the movable detection mechanism. According to the automatic detection device and method based on the mobile robot, when the existing mobile robot is used for detecting water, only limited areas of the water source bank side part can be covered, the problem that one detection robot is not suitable for detection requirements under different environmental conditions is solved, the water detection capability of the existing mobile robot is enhanced, the existing mobile robot has the capability of positioning and moving on the water surface in a large range, the whole water source area is covered, the water quality detection can be further carried out in a deeper and more distant range, and the detection efficiency and the applicability under different environments are improved.
Description
Technical Field
The invention relates to the technical field of water quality detection, in particular to an automatic detection device and method based on a mobile robot.
Background
The water quality detection refers to the process of detecting and analyzing indexes such as various material contents, microbial numbers, pH values, turbidity and the like in water to evaluate the applicability and safety of the water, and the outdoor water quality detection refers to the process of detecting and evaluating natural water sources such as rivers, lakes, oceans, rainwater, snowfall and the like in an outdoor environment, and the work generally relates to the evaluation of the application applicability of the water sources, the pollutant discharge condition and the condition of a water quality protection area, the laboratory analysis is carried out by collecting water samples or the field test is carried out by using portable water quality detection instruments, and common detection items comprise pH values, dissolved oxygen, turbidity, conductivity, heavy metals, bacteria, organic matters and the like, and the data are helpful for evaluating the health condition, the environmental influence and the effectiveness of protection measures of the water body;
at present, in the technical field, a mobile robot is already applied to outdoor water quality detection, but when the mobile robot is used for water quality detection, the mobile robot can only often cover a limited area of a water source bank side part, and when the mobile robot covers a wider water area and a water source, the mobile robot still needs manpower support, or other underwater detection robots are used for operation, so that the mobile robot is insufficient for meeting the detection requirements of one detection robot under different environmental conditions.
Disclosure of Invention
The present invention is directed to an automatic detection device and method based on a mobile robot, so as to solve the above-mentioned problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: an automatic detection device based on a mobile robot, comprising: the system comprises a control terminal, a movable detection mechanism and an auxiliary water surface detection mechanism; the mobile detection mechanism is arranged outside the control terminal; the auxiliary water surface detection mechanism is arranged outside the movable detection mechanism.
Preferably, the mobile detection mechanism includes: the device comprises a mobile robot, a first sub-control module, a mechanical arm, a detection module, a mounting groove and a docking assembly; the mobile robot is arranged at the outer side of the control terminal; the first sub-control module is arranged at the left side of the top end of the mobile robot and is electrically connected with the mobile robot, and the first sub-control module is connected with a control terminal through a remote network; the mechanical arm is arranged at the top of the mobile robot and is electrically connected with the first sub-control module; the detection module is arranged at the moving end of the mechanical arm and is electrically connected with the first sub-control module; the number of the mounting grooves is two, and the two mounting grooves are respectively formed in the middle of the front side and the rear side of the mobile robot; the number of the butt joint assemblies is two, and the two butt joint assemblies are respectively arranged at the bottoms of the inner cavities of the front mounting groove and the rear mounting groove.
Preferably, the docking assembly comprises: the device comprises a cylindrical shell, an annular seat, a clamping plate and a torsion spring; the cylindrical shell is embedded at the bottom of the inner cavity of the mounting groove; the annular seat is arranged at the top opening of the inner cavity of the cylindrical shell; the number of the clamping plates is three, and the three clamping plates are circumferentially spaced one hundred twenty degrees and are rotationally connected to the bottom of the inner side of the annular seat through pin shafts; the number of the torsion springs is three, one ends of the three torsion springs are respectively connected with the axle centers of the three clamping plates, and the other ends of the three torsion springs are respectively contacted with the bottom of the annular seat.
Preferably, the auxiliary water surface detection mechanism includes: the device comprises a pontoon, a water driving module, a second sub-control module, a mobile sensor, a fixing frame and a connecting mechanism; the number of the pontoons is two, and the two pontoons are arranged in parallel front and back along the left-right direction; the number of the water driving modules is two, the number of each water driving module is two, and the two water driving modules are respectively arranged at the left side and the right side of the front pontoon and the rear pontoon; the second sub control module is arranged in front of the water driving module at the left side of the rear end, the second sub control module is electrically connected with the water driving module, and the second sub control module is connected with a control terminal through a remote network; the number of the mobile sensors is two, the two mobile sensors are respectively arranged at the left ends of the front and rear groups of left-side water driving modules, and the mobile sensors are electrically connected with the second sub-control module; the fixing frame is arranged at the top of the front and rear groups of water driving modules; the connecting mechanism is arranged at the bottom of the inner side of the fixing frame.
Preferably, the connecting mechanism includes: the device comprises a top frame body, a first clamping groove wheel seat, a second clamping groove wheel seat, an annular frame, an inner gear ring, a first motor and a first gear; the top frame body is arranged at the bottom of the inner side of the fixing frame along the left-right direction; the number of the first clamping groove wheel seats is two, the number of each group of the first clamping groove wheel seats is two, and the two groups of the first clamping groove wheel seats are respectively arranged at the front end and the rear end of the left side and the right side of the bottom end of the top frame body; the number of the second clamping groove wheel seats is two, the number of each group of the second clamping groove wheel seats is two, and the two groups of the second clamping groove wheel seats are respectively arranged at the inner sides of the front left water driving module and the rear left water driving module and at the right ends of the inner sides of the front pontoon and the rear pontoon; the number of the annular frames is two, the two annular frames are respectively clamped at the inner sides of the two groups of first clamping groove wheel seats and the second clamping groove wheel seats, and square grooves are formed in the inner sides of the left annular frame and the right annular frame; the inner gear ring is circumferentially arranged outside the right end of the right annular frame; the first motor is arranged on the right side of the bottom of the top frame body, and the first motor is electrically connected with the second sub-control module; the first gear screw is connected to the rotating end of the first motor, and the first gear is meshed with the inner side of the inner gear ring.
Preferably, the connection mechanism further comprises: the device comprises a bottom frame body, a screw rod jacking piece, a first gear box, a second motor, a second gear box, a lifting supporting plate, a chute frame, a limiting roller seat, a slot frame, a moving frame, a connecting component and a first electric telescopic rod; the bottom frame body is arranged at the bottoms of the inner sides of the left annular frame and the right annular frame along the left-right direction; the number of the screw rod jacking pieces is four, the number of each screw rod jacking piece is two, and the four screw rod jacking pieces are respectively arranged at the front side and the rear side of the top of the bottom frame body at intervals from left to right; the number of the first gear boxes is four, the four first gear boxes are respectively arranged at the top of the bottom frame body and positioned at the inner sides of the front screw rod jacking piece and the rear screw rod jacking piece, and the output ends of the front side and the rear side of the first gear boxes are respectively locked with the input ends of the front screw rod jacking piece and the rear screw rod jacking piece through universal couplings; the second motor is arranged at the center position of the front side of the top end of the bottom frame body, and the second motor is electrically connected with the second sub-control module; the second gear box is arranged in the middle of the top end of the bottom frame body, the input end of the second gear box is connected with the rotating end of the second motor, and the output ends at the left side and the right side of the second gear box are connected with the input ends of the left first gear box and the right first gear box at the left side and the right side through rotating shafts; the lifting supporting plates are arranged at the tops of the lifting ends of the four groups of screw rod jacking pieces; the number of the chute frames is two, and the two chute frames are respectively arranged at the front side and the rear side of the left end of the right annular frame along the up-down direction; the number of the limiting roller seats is two, the two limiting roller seats are respectively arranged at the right ends of the front side and the rear side of the lifting supporting plate, and the two limiting roller seats are respectively spliced with the inner sides of the two chute frames; the number of the slot frames is two, and the two slot frames are respectively arranged in the middle of the front side and the rear side of the bottom end of the lifting supporting plate; the number of the movable frames is two, the two movable frames are respectively inserted into the inner sides of the front slot frame and the rear slot frame, and the movable frames are U-shaped; the number of the connecting components is two, and the two connecting components are respectively arranged at the top parts of the inner sides of the front moving frame and the rear moving frame; the number of the first electric telescopic rods is two, the two first electric telescopic rods are respectively arranged at the tops of the front slot frame and the rear slot frame, the two telescopic ends of the first electric telescopic rods are respectively fixedly connected with the inner bottom ends of the two movable frames, and the first electric telescopic rods are electrically connected with the second sub-control module.
Preferably, the connection mechanism further comprises: the lifting device comprises a sliding rail rod, a lifting frame, a second electric telescopic rod, a sliding rail frame, a roller plate, a third motor, a second gear and a rack; the number of the sliding rail rods is two, and four groups of sliding rail rods are respectively arranged at the front end and the rear end of the right side of the bottom end of the top frame body from top to bottom; the lifting frame is sleeved on the outer sides of the front sliding rail rod and the rear sliding rail rod; the second electric telescopic rod is arranged at the center position of the right side of the top end of the top frame body, the telescopic end of the second electric telescopic rod extends out of the lower surface of the top frame body and is fixedly connected with the top end of the lifting frame, and the second electric telescopic rod is electrically connected with the second sub control module; the sliding rail frame is arranged at the bottom of the lifting frame; the roller plate is inserted into the inner side of the sliding rail frame; the number of the third motors is two, the two third motors are respectively arranged at the front side and the rear side of the bottom end of the sliding rail frame, and the third motors are electrically connected with the second sub-control module; the number of the second gears is two, the two second gears are respectively arranged at the rotating ends of the front third motor and the rear third motor, and the two second gears extend to the inner side of the sliding rail frame from the bottom end opening of the sliding rail frame; the number of the racks is two, and the two racks are respectively arranged on the front side and the rear side of the bottom end of the roller plate and are respectively meshed with the two second gears.
Preferably, the connection assembly includes: the device comprises a connecting component shell, a slot seat, a T-shaped rod, a clamping seat, a limiting spring, a counterweight sleeve, a roller, a fourth motor and a cam; the connecting component shell is arranged on the inner side of the movable frame; the slot seat is embedded in the opening at the bottom end of the inner cavity of the connecting component shell; the T-shaped rod is inserted into the inner side of the slot seat along the up-down direction; the clamping seat is arranged at the bottom end of the T-shaped rod, the bottom end of the clamping seat is conical, and the outer side of the top end of the clamping seat is arc-shaped; the limiting spring is sleeved on the outer side of the slot seat, one end of the limiting spring is fixedly connected with the outer side of the slot seat, and the other end of the limiting spring is connected with the outer side of the roller; the counterweight sleeve is sleeved outside the T-shaped rod, the outer side of the counterweight sleeve is in fit connection with the inner cavity of the slot seat, and the outer side of the bottom end of the counterweight sleeve is in fit connection with the top of the clamping seat; the roller is rotationally connected with the inner cavity of the groove at the top end of the T-shaped rod through a pin shaft; the fourth motor is arranged at the top of the inner cavity of the connecting assembly shell, and the fourth motor is electrically connected with the second sub-control module; the cam is arranged at the rotating end of the fourth motor, and the outer side of the cam is contacted with the roller.
Compared with the prior art, the invention has the beneficial effects that:
the lifting frame is driven to move downwards outside the sliding rail rod through the second electric telescopic rod, the third motors on two sides drive the second gears to rotate, the racks drive the roller plates to move leftwards on the inner side of the sliding rail frame under the action of the rotation force of the second gears, the roller plates penetrate through the right annular frame to be in butt joint with the lifting supporting plate, and the movable robot moves to the top of the lifting supporting plate along the lifting frame and the roller plates.
The movable frame is driven by the first electric telescopic rod to move inwards in the inner cavity of the slot frame, the movable frame driving connecting components on two sides are inserted into the inner cavities of the front mounting groove and the rear mounting groove, the fourth motor in the connecting components on two sides drives the cam to rotate, the cam rotates to the far hub end of the movable frame and contacts with the outer sides of the rollers, the rollers push the T-shaped rod to drive the clamping seat to move downwards through the slot seat, the T-shaped rod extrudes the limiting spring, the clamping seat is downwards inserted into the inner side of the annular seat along with the clamping seat under the action of gravity of the T-shaped rod, the clamping seat and the counterweight sleeve push the torsion spring to downwards overturn and extrude the torsion spring, the first motor drives the first gear to rotate, the inner gear ring rotates under the action of the rotation of the first gear, the annular frame drives the bottom frame body to drive the lifting supporting plate to circumferentially rotate and overturn to the upper position under the cooperation of the screw jacking component, the lifting supporting plate drives the movable detecting mechanism to overturn one hundred eighty degrees under the cooperation of the movable frame and the connecting components, and simultaneously downwards moves the clamping plate and the clamping seat under the action of gravity to enable the clamping plate to be clamped with the clamping seat so as to realize the connection and fixation of the movable detecting mechanism under the action of the gravity, the internal motor blade of the clamping seat and the action of the clamping plate and the clamping seat under the action of the limiting spring, the gravity of the clamping plate and the clamping seat so that the water quality detecting module can be detected to be fixedly arranged to the water quality detected to the water quality.
In summary, the invention can enhance the water detection capability of the existing mobile robot, so that the mobile robot has the capability of performing large-scale positioning and movement on the water surface, realizes the whole coverage of the whole water source area, can perform water quality detection in a longer distance and deeper, and improves the detection efficiency and the applicability under different environments.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an exploded view of the mobile detection mechanism of FIG. 1;
FIG. 3 is an exploded view of the docking assembly of FIG. 2;
FIG. 4 is an exploded view of the auxiliary water surface detection mechanism of FIG. 1;
FIG. 5 is an exploded view of the attachment mechanism of FIG. 4;
FIG. 6 is an enlarged view at A of FIG. 5;
FIG. 7 is an enlarged view at B of FIG. 5;
fig. 8 is an exploded view of the connection assembly of fig. 5.
In the figure: 1. a control terminal; 2. a mobile detection mechanism; 21. a mobile robot; 22. a first sub-control module; 23. a mechanical arm; 24. a detection module; 25. a mounting groove; 3. a docking assembly; 31. a cylindrical housing; 32. an annular seat; 33. a clamping plate; 34. a torsion spring; 4. an auxiliary water surface detection mechanism; 41. a pontoon; 42. a water driving module; 43. a second control module; 44. a movement sensor; 45. a fixing frame; 5. a connecting mechanism; 51. a top frame; 52. a first clamping groove wheel seat; 53. a second clamping groove wheel seat; 54. an annular frame; 55. an inner gear ring; 56. a first motor; 57. a first gear; 58. a bottom frame; 59. a screw rod jacking piece; 510. a first gear box; 511. a second motor; 512. a second gear box; 513. lifting the supporting plate; 514. a chute frame; 515. limiting roller seat; 516. a slot frame; 517. a moving rack; 518. a first electric telescopic rod; 519. a slide rail rod; 520. a lifting frame; 521. a second electric telescopic rod; 522. a slide rail frame; 523. a roller plate; 524. a third motor; 525. a second gear; 526. a rack; 6. a connection assembly; 61. a connection assembly housing; 62. a socket seat; 63. a T-bar; 64. a clamping seat; 65. a limit spring; 66. a counterweight sleeve; 67. a roller; 68. a fourth motor; 69. a cam.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-8, the present invention provides a technical solution: an automatic detection device based on a mobile robot, comprising: the control terminal 1, the mobile detection mechanism 2 and the auxiliary water surface detection mechanism 4 are arranged in the control terminal 1, a network module is arranged in the control terminal 1 and can be connected with an external partial control module remote network, a display screen or an interface is arranged in the control terminal 1 and is presented to an operator to help the operator to monitor the water quality condition in real time, the control terminal 1 can record and store data, store history detection data for subsequent analysis and comparison, and assist in identifying the water quality change trend and abnormal condition; the mobile detection mechanism 2 is arranged outside the control terminal 1; the auxiliary water surface detection mechanism 4 is provided outside the mobile detection mechanism 2.
As a preferred embodiment, as shown in fig. 2, the mobile detection mechanism 2 includes: the mobile robot 21, the first sub-control module 22, the mechanical arm 23, the detection module 24, the mounting groove 25 and the docking assembly 3; the mobile robot 21 is arranged at the outer side of the control terminal 1, the mobile robot 21 is controlled by the first sub-control module 22, and the mobile robot 21 can perform off-road movement in a shoreside or beach environment; the first sub control module 22 is arranged at the left side of the top end of the mobile robot 21, the first sub control module 22 is electrically connected with the mobile robot 21, the first sub control module 22 is connected with the control terminal 1 through a remote network, and a prefabricated program is arranged in the first sub control module 22; the mechanical arm 23 is arranged at the top of the mobile robot 21, the mechanical arm 23 is electrically connected with the first sub-control module 22, the mechanical arm 23 is controlled by the first sub-control module 22, and the mechanical arm 23 can drive the detection module 24 to move in a multi-angle direction; the detection module 24 is arranged at the moving end of the mechanical arm 23, the detection module 24 is electrically connected with the first sub-control module 22, the detection module 24 is controlled by the first sub-control module 22, the detection module 24 is inserted into the water surface to detect the water quality, and the detection module 24 can detect indexes such as pH value, dissolved oxygen, turbidity, conductivity and the like of the water quality of a water source; the number of the mounting grooves 25 is two, and the two mounting grooves 25 are respectively formed in the middle of the front side and the rear side of the mobile robot 21; the number of the butt joint assemblies 3 is two, and the two butt joint assemblies 3 are respectively arranged at the bottoms of the inner cavities of the front mounting groove 25 and the rear mounting groove 25.
As a preferred solution, as shown in fig. 3, the docking assembly 3 further includes: a cylindrical housing 31, an annular seat 32, a clamp 33 and a torsion spring 34; the cylindrical shell 31 is embedded at the bottom of the inner cavity of the mounting groove 25; the annular seat 32 is arranged at the top opening of the inner cavity of the cylindrical shell 31; the number of the clamping plates 33 is three, the three clamping plates 33 are rotationally connected to the bottom of the inner side of the annular seat 32 through pin shafts at intervals of one hundred twenty degrees along the circumferential direction, and the clamping plates 33 can rotate by taking the pin shaft rotational connection positions of the clamping plates and the annular seat 32 as shafts; the number of the torsion springs 34 is three, one end of each of the three torsion springs 34 is connected with the axle center of each of the three clamping plates 33, the other ends of the three torsion springs 34 are respectively contacted with the bottom of the annular seat 32, and the torsion springs 34 can be extruded in the rotation process of the clamping plates 33.
As a preferred embodiment, as shown in fig. 4, the auxiliary water surface detection mechanism 4 includes: the pontoon 41, the water driving module 42, the second sub-control module 43, the movement sensor 44, the fixing frame 45 and the connecting mechanism 5; the number of the pontoons 41 is two, the two pontoons 41 are arranged in parallel front and back along the left-right direction, and the pontoons 41 float on the water surface through self buoyancy; the number of the water driving modules 42 is two, the number of each water driving module 42 is two, the two water driving modules 42 are respectively arranged on the left side and the right side of the front pontoon 41 and the rear pontoon 41, the water driving modules 42 are controlled by the second sub-control module 43, and the motor inside the water driving modules 42 drives the paddles to rotate so as to realize water surface movement; the second sub control module 43 is arranged in front of the water driving module 42 at the left side of the rear end, the second sub control module 43 is electrically connected with the water driving module 42, the second sub control module 43 is connected with the control terminal 1 through a remote network, and a prefabricated program is arranged in the second sub control module 43; the number of the mobile sensors 44 is two, the two mobile sensors 44 are respectively arranged at the left ends of the front and rear groups of left-side water driving modules 42, the mobile sensors 44 are electrically connected with the second sub-control modules 43, and the mobile sensors 44 can record the external environment in real time in the water surface moving process of the auxiliary water surface detection mechanism 4 and send image information to the inside of the control terminal 1 for display through the second sub-control modules 43; the fixing frame 45 is arranged at the top of the front and rear groups of water driving modules 42; the connecting mechanism 5 is provided at the inner bottom of the fixing frame 45.
As a preferred embodiment, as shown in fig. 5, 6 and 7, the connection mechanism 5 includes: the top frame 51, the first card slot wheel seat 52, the second card slot wheel seat 53, the annular frame 54, the inner gear ring 55, the first motor 56, the first gear 57, the bottom frame 58, the screw jack 59, the first gear box 510, the second motor 511, the second gear box 512, the lifting supporting plate 513, the chute frame 514, the limit roller seat 515, the slot frame 516, the moving frame 517, the connecting assembly 6, the first electric telescopic rod 518, the slide rail rod 519, the lifting frame 520, the second electric telescopic rod 521, the slide rail frame 522, the roller plate 523, the third motor 524, the second gear 525 and the rack 526; the top frame 51 is installed at the bottom of the inner side of the fixing frame 45 in the left-right direction; the number of the first clamping groove wheel seats 52 is two, the number of each group of the first clamping groove wheel seats 52 is two, and the two groups of the first clamping groove wheel seats 52 are respectively arranged at the front end and the rear end of the left side and the right side of the bottom end of the top frame body 51; the number of the second clamping sheave seats 53 is two, the number of each group of the second clamping sheave seats 53 is two, and the two groups of the second clamping sheave seats 53 are respectively arranged at the inner sides of the front and rear groups of left-side water driving modules 42 and the inner right ends of the front and rear pontoons 41; the number of the annular frames 54 is two, the two annular frames 54 are respectively clamped on the inner sides of the two groups of first clamping groove wheel seats 52 and the second clamping groove wheel seats 53, square grooves are formed in the inner sides of the left and right annular frames 54, and the first clamping groove wheel seats 52 and the second clamping groove wheel seats 53 can limit the inner gear ring 55; the internal gear ring 55 is circumferentially provided outside the right end of the right ring frame 54; the first motor 56 is installed on the right side of the bottom of the top frame 51, the first motor 56 is electrically connected with the second sub-control module 43, the first motor 56 is controlled by the second sub-control module 43, and the first motor 56 can drive the first gear 57 to rotate clockwise or anticlockwise; the first gear 57 is connected to the rotating end of the first motor 56 by screws, the first gear 57 is meshed with the inner side of the inner gear ring 55, and the inner gear ring 55 can rotate under the action of the rotating force of the first gear 57; the bottom frame 58 is mounted on the inner bottoms of the left and right ring frames 54 in the left and right direction; the number of the screw rod jacking pieces 59 is four, the number of each screw rod jacking piece 59 is two, the four screw rod jacking pieces 59 are respectively arranged at the front side and the rear side of the top of the bottom frame 58 from left to right at intervals, and the screw rod in the screw rod jacking pieces 59 can jack up and move the lifting supporting plate 513; the number of the first gear boxes 510 is four, the four first gear boxes 510 are respectively arranged at the top of the bottom frame 58 and are positioned at the inner sides of the front screw lifting piece 59 and the rear screw lifting piece 59, the output ends of the front side and the rear side of the first gear boxes 510 are respectively locked with the input ends of the front screw lifting piece 59 and the rear screw lifting piece 59 through universal couplings, and the first gear boxes 510 can play a role in driving the front screw lifting piece 59 and the rear screw lifting piece 59; the second motor 511 is installed at the center position of the front end of the bottom frame 58, the second motor 511 is electrically connected with the second sub-control module 43, the second motor 511 is controlled by the second sub-control module 43, and the second motor 511 can drive the second gear box 512 to rotate; the second gear box 512 is disposed in the middle of the top end of the bottom frame 58, the input end of the second gear box 512 is connected with the rotating end of the second motor 511, the output ends on the left and right sides of the second gear box 512 are connected with the input ends of the left and right first gear boxes 510 on the left and right sides through rotating shafts, and the second gear box 512 can play a role in transmission between the second motor 511 and the first gear boxes 510; the lifting supporting plate 513 is arranged at the top of the lifting ends of the four groups of screw rod jacking pieces 59; the number of the chute frames 514 is two, and the two chute frames 514 are respectively arranged at the front side and the rear side of the left end of the right annular frame 54 along the up-down direction; the number of the limiting roller seats 515 is two, the two limiting roller seats 515 are respectively arranged at the right ends of the front side and the rear side of the lifting supporting plate 513, the two limiting roller seats 515 are respectively spliced with the inner sides of the two chute frames 514, and the limiting roller seats 515 can move up and down on the inner sides of the chute frames 514; the number of the slot frames 516 is two, and the two slot frames 516 are respectively arranged in the middle of the front side and the rear side of the bottom end of the lifting supporting plate 513; the number of the movable frames 517 is two, the two movable frames 517 are respectively inserted into the inner sides of the front slot frame 516 and the rear slot frame 516, and the movable frames 517 are U-shaped; the number of the connecting components 6 is two, and the two connecting components 6 are respectively arranged at the top of the inner sides of the front movable frame 517 and the rear movable frame 517; the number of the first electric telescopic rods 518 is two, the two first electric telescopic rods 518 are respectively arranged at the top parts of the front slot frame 516 and the rear slot frame 516, the telescopic ends of the two first electric telescopic rods 518 are respectively and fixedly connected with the inner bottom ends of the two movable frames 517, the first electric telescopic rods 518 are electrically connected with the second sub-control modules 43, the first electric telescopic rods 518 are controlled by the second sub-control modules 43, and the first electric telescopic rods 518 can be stretched by themselves to shorten and drive the movable frames 517 to move; the number of the sliding rail rods 519 is two, and four groups of sliding rail rods 519 are respectively arranged at the front end and the rear end of the right side of the bottom end of the top frame body 51 from top to bottom; the lifting frame 520 is sleeved on the outer sides of the front slide rail rod 519 and the rear slide rail rod 519; the second electric telescopic rod 521 is installed at the center position of the right side of the top end of the top frame body 51, the telescopic end of the second electric telescopic rod 521 extends out of the lower surface of the top frame body 51 and is fixedly connected with the top end of the lifting frame 520, the second electric telescopic rod 521 is electrically connected with the second sub-control module 43, the second electric telescopic rod 521 is controlled by the second sub-control module 43, and the second electric telescopic rod 521 can drive the lifting frame 520 to move up and down through self-extension and shortening; the sliding rail frame 522 is arranged at the bottom of the lifting frame 520; the roller plate 523 is inserted into the inner side of the slide rail frame 522; the number of the third motors 524 is two, the two third motors 524 are respectively arranged at the front side and the rear side of the bottom end of the sliding rail frame 522, the third motors 524 are electrically connected with the second sub-control module 43, the third motors 524 are controlled by the second sub-control module 43, and the third motors 524 can drive the second gears 525 to rotate; the number of the second gears 525 is two, the two second gears 525 are respectively arranged at the rotating ends of the front third motor 524 and the rear third motor 524, and the two second gears 525 extend to the inner side of the sliding rail frame 522 from the bottom end opening of the sliding rail frame 522; the number of the racks 526 is two, the two racks 526 are respectively disposed at front and rear sides of the bottom end of the roller plate 523 and are respectively engaged with the two second gears 525, and the racks 526 can be moved by the rotation force of the second gears 525.
As a preferred embodiment, as shown in fig. 8, the connection assembly 6 includes: the connecting assembly housing 61, the slot seat 62, the T-shaped rod 63, the clamping seat 64, the limiting spring 65, the counterweight sleeve 66, the roller 67, the fourth motor 68 and the cam 69; the connection assembly housing 61 is installed at the inner side of the moving frame 517; the slot seat 62 is embedded in the bottom end opening of the inner cavity of the connecting component shell 61; the T-shaped rod 63 is inserted into the inner side of the slot seat 62 along the up-down direction; the clamping seat 64 is arranged at the bottom end of the T-shaped rod 63, the bottom end of the clamping seat 64 is conical, the outer side of the top end of the clamping seat 64 is arc-shaped, and the clamping seat 64 can push the clamping plate 33 to rotate outwards; the limiting spring 65 is sleeved on the outer side of the slot seat 62, one end of the limiting spring 65 is fixedly connected with the outer side of the slot seat 62, and the other end of the limiting spring 65 is connected with the outer side of the roller 67; the counterweight sleeve 66 is sleeved outside the T-shaped rod 63, the outer side of the counterweight sleeve 66 is in fit connection with the inner cavity of the slot seat 62, the outer side of the bottom end of the counterweight sleeve 66 is in fit connection with the top of the clamping seat 64, the outer diameter of the counterweight sleeve 66 is in fit connection with the clamping seat 64 after being sleeved, and the counterweight sleeve 66 can move up and down outside the T-shaped rod 63; the roller 67 is rotatably connected to the inner cavity of the groove at the top end of the T-shaped rod 63 through a pin shaft; the fourth motor 68 is arranged at the top of the inner cavity of the connecting assembly shell 61, the fourth motor 68 is electrically connected with the second sub-control module 43, the fourth motor 68 is controlled by the second sub-control module 43, and the fourth motor 68 can drive the cam 69 to rotate; the cam 69 is provided at the rotating end of the fourth motor 68, and the outside of the cam 69 is in contact with the roller 67.
The working principle is as follows, including the following steps:
step one: the auxiliary water surface detection mechanism 4 is placed in a water source bank designated position in advance, a worker starts the control terminal 1, the control terminal 1 and the first sub-control module 22 are in stable communication connection, and the first sub-control module 22 is controlled to start internal electric devices of the movable detection mechanism 2;
step two: the mobile robot 21 moves along the bank of the detected water source, the mechanical arm 23 drives the detection module 24 to move, the detection module 24 is inserted into the water surface to carry out water quality detection preparation work, the detection module 24 detects indexes such as pH value, dissolved oxygen, turbidity, conductivity and the like of the water source, the first sub-control module 22 receives and transmits data detected by the detection module 24 in real time, the data are transmitted to the inside of the equipment control terminal 1 in real time, the data are presented to an operator through an interface form through a display screen in the control terminal 1, the real-time monitoring of the water quality condition is facilitated, the control terminal 1 records and stores the data, and historical detection data are saved for subsequent analysis and comparison, so that the water quality change trend and abnormal condition are assisted to be identified, and the bank water quality detection is realized;
step three: the mobile robot 21 moves to the corresponding position of the auxiliary water surface detection mechanism 4, the control terminal 1 and the control equipment second sub-control module 43 are in stable communication connection, and the second sub-control module 43 is controlled to start the internal electric devices of the auxiliary water surface detection mechanism 4;
Step four: the second electric telescopic rod 521 drives the lifting frame 520 to move downwards to the position with the same height as the lifting supporting plate 513 outside the sliding rail rod 519, the third motors 524 on two sides drive the second gears 525 to rotate, the racks 526 drive the roller plates 523 to move leftwards inside the sliding rail frame 522 under the action of the rotation force of the second gears 525, the roller plates 523 penetrate through the inside of the right annular frame 54 to be butted with the lifting supporting plate 513 to form a channel, the movable robot 21 moves to the top of the lifting supporting plate 513 along the lifting frame 520 and the roller plates 523, and the second electric telescopic rod 521 drives the lifting frame 520 to rise and reset;
step five: the first electric telescopic rods 518 on the two sides drive the movable frames 517 on the corresponding positions to move inwards in the inner cavities of the slot frames 516, the movable frames 517 on the two sides drive the connecting assemblies 6 to be inserted into the inner cavities of the front and rear mounting grooves 25, the fourth motor 68 in the connecting assemblies 6 on the two sides drive the cams 69 to rotate, so that the distal hub ends of the cams 69 are contacted with the outer sides of the rollers 67, the T-shaped rods 63 are pushed by the rollers 67 to drive the clamping seats 64 to move downwards through the slot seats 62, the T-shaped rods 63 press the limiting springs 65, the counterweight sleeves 66 are inserted downwards into the inner sides of the annular seats 32 along with the clamping seats 64 under the action of self gravity, and the clamping seats 64 and the counterweight sleeves 66 push the torsion springs 34 to overturn downwards and press the torsion springs 34;
Step six: the first motor 56 drives the first gear 57 to rotate, the internal gear ring 55 rotates under the action of the first gear 57, the annular frame 54 drives the bottom frame 58 to drive the lifting supporting plate 513 to circumferentially rotate and turn over to the upper position under the cooperation of the screw rod jacking piece 59, the lifting supporting plate 513 drives the movable detection mechanism 2 to turn over one hundred eighty degrees under the cooperation of the movable frame 517 and the connecting assembly 6, the counterweight sleeve 66 simultaneously moves downwards under the action of gravity outside the T-shaped rod 63, the clamping plate 33 is clamped with the clamping seat 64, so that the movable detection mechanism 2 is connected and fixed, the second motor 511 drives the first gear boxes 510 in the left side and the right side directions to rotate under the cooperation of the second gear boxes 512, and drives the screws inside the four groups of screw rod jacking pieces 59 to drive the movable detection mechanism 2 to descend to the designated height position under the transmission of the first gear boxes 510;
step seven: the motor in the water driving module 42 drives the paddles to rotate, the mobile sensor 44 sends external image information to the inside of the control terminal 1 for display through the second sub-control module 43, and then the auxiliary water surface detection mechanism 4 is guided to run on the water surface, the auxiliary water surface detection mechanism 4 runs to the central position of the water source, the mechanical arm 23 drives the detection module 24 to be inserted into the water surface, the detection module 24 detects the central water quality of the water source and transmits the data to the inside of the equipment control terminal 1 in real time so as to obtain water quality data at the central position of the water source;
Step eight: after the detection is finished, the first motor 56 drives the first gear 57 to reversely rotate, so that the annular frame 54 drives the lifting supporting plate 513 to overturn to the bottom position, the counterweight sleeve 66 moves downwards under the action of self gravity and is sleeved with the top of the clamping seat 64 again to push the clamping plate 33 to overturn downwards, the fourth motor 68 drives the cam 69 to rotate, so that the cam 69 rotates to the position close to the hub end and contacts with the outer side of the roller 67, the limit spring 65 drives the T-shaped rod 63 to drive the counterweight sleeve 66 to move upwards to pass through the clamping plate 33 under the self elastic action, the connection state of the connecting assembly 6 and the docking assembly 3 is further released, and the second motor 511 drives the lifting supporting plate 513 to descend to the designated position under the cooperation of the second gear box 512 and the first gear box 510 by the lead screw jacking piece 59;
step nine: the second electric telescopic rod 521 drives the lifting frame 520 to descend again, and the roller plate 523 penetrates through the inside of the right annular frame 54 to be in butt joint with the lifting supporting plate 513 to form a channel, and after the mobile robot 21 moves to the shore along the lifting supporting plate 513, the lifting frame 520 and the roller plate 523, the worker can recover the mobile detection mechanism 2.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An automatic detection device based on mobile robot, characterized by comprising:
a control terminal (1);
a mobile detection mechanism (2) arranged outside the control terminal (1);
an auxiliary water surface detection mechanism (4) which is arranged outside the movable detection mechanism (2);
the mobile detection mechanism (2) comprises:
a mobile robot (21) provided outside the control terminal (1);
the first sub-control module (22) is arranged at the left side of the top end of the mobile robot (21), the first sub-control module (22) is electrically connected with the mobile robot (21), and the first sub-control module (22) is connected with a control terminal (1) in a remote network;
the mechanical arm (23) is arranged at the top of the mobile robot (21), and the mechanical arm (23) is electrically connected with the first sub-control module (22);
the detection module (24) is arranged at the moving end of the mechanical arm (23), and the detection module (24) is electrically connected with the first sub-control module (22);
the number of the mounting grooves (25) is two, and the two mounting grooves (25) are respectively formed in the middle of the front side and the rear side of the mobile robot (21);
The number of the butt joint assemblies (3) is two, and the two butt joint assemblies (3) are respectively arranged at the bottoms of the inner cavities of the front mounting groove and the rear mounting groove (25).
2. A mobile robot-based automatic detection device according to claim 1, characterized in that the docking assembly (3) comprises:
a cylindrical housing (31) embedded in the bottom of the inner cavity of the mounting groove (25);
the annular seat (32) is arranged at the top opening of the inner cavity of the cylindrical shell (31);
the clamping plates (33) are three in number, and the three clamping plates (33) are circumferentially spaced one hundred twenty degrees and are rotationally connected to the bottom of the inner side of the annular seat (32) through pin shafts;
the number of the torsion springs (34) is three, one ends of the three torsion springs (34) are respectively connected with the axle centers of the three clamping plates (33), and the other ends of the three torsion springs (34) are respectively contacted with the bottom of the annular seat (32).
3. An automatic mobile robot-based inspection device according to claim 2, wherein the auxiliary water surface inspection mechanism (4) comprises:
The number of the pontoons (41) is two, and the two pontoons (41) are arranged in parallel front and back along the left-right direction;
the water driving modules (42) are arranged in two groups, each group of water driving modules (42) is arranged in two groups, and the two groups of water driving modules (42) are respectively arranged on the left side and the right side of the front group of pontoons (41) and the right side of the rear group of pontoons (41);
the second sub control module (43) is arranged in front of the water driving module (42) at the left side of the rear end, the second sub control module (43) is electrically connected with the water driving module (42), and the second sub control module (43) is connected with the control terminal (1) in a remote network manner;
the number of the mobile sensors (44) is two, the two mobile sensors (44) are respectively arranged at the left ends of the front and rear groups of left-side water driving modules (42), and the mobile sensors (44) are electrically connected with the second sub-control module (43);
the fixing frame (45) is arranged at the top of the front and rear groups of the water driving modules (42);
the connecting mechanism (5) is arranged at the bottom of the inner side of the fixing frame (45).
4. A mobile robot-based automatic detection device according to claim 3, characterized in that the connection mechanism (5) comprises:
A top frame (51) mounted on the bottom of the inner side of the fixing frame (45) along the left-right direction;
the first clamping groove wheel seats (52) are two groups, each group of the first clamping groove wheel seats (52) is two, and the two groups of the first clamping groove wheel seats (52) are respectively arranged at the front end and the rear end of the left side and the right side of the bottom end of the top frame body (51);
the number of the second clamping groove wheel seats (53) is two, each group of the second clamping groove wheel seats (53) is two, and the two groups of the second clamping groove wheel seats (53) are respectively arranged at the inner sides of the front left water driving module (42) and the rear left water driving module and at the inner right ends of the front pontoon (41) and the rear pontoon (41);
the annular frames (54) are two in number, the two annular frames (54) are respectively clamped on the inner sides of the two groups of first clamping groove wheel seats (52) and the second clamping groove wheel seats (53), and square grooves are formed in the inner sides of the left annular frame (54) and the right annular frame (54);
an internal gear ring (55) circumferentially provided outside the right end of the right ring frame (54);
the first motor (56) is arranged on the right side of the bottom of the top frame body (51), and the first motor (56) is electrically connected with the second sub-control module (43);
And a first gear (57) connected to the rotating end of the first motor (56) by a screw, wherein the first gear (57) is meshed with the inner side of the inner gear ring (55).
5. The mobile robot-based automatic inspection device of claim 4, wherein the connection mechanism (5) further comprises:
a bottom frame (58) which is mounted on the inner bottoms of the left and right ring frames (54) along the left and right directions;
the four groups of screw jacking pieces (59) are respectively arranged at the front side and the rear side of the top of the bottom frame body (58) at intervals from left to right;
the number of the first gear boxes (510) is four, the four first gear boxes (510) are respectively arranged at the top of the bottom frame body (58) and are positioned at the inner sides of the front screw rod jacking piece and the rear screw rod jacking piece (59), and the output ends of the front side and the rear side of the first gear boxes (510) are respectively locked with the input ends of the front screw rod jacking piece and the rear screw rod jacking piece (59) through universal couplings;
the second motor (511) is arranged at the center position of the front end of the top end of the bottom frame body (58), and the second motor (511) is electrically connected with the second sub-control module (43);
The second gear box (512) is arranged in the middle of the top end of the bottom frame body (58), the input end of the second gear box (512) is connected with the rotating end of the second motor (511), and the output ends on the left side and the right side of the second gear box (512) are connected with the input ends of the left first gear box (510) and the right first gear box (510) on the left side and the right side through rotating shafts;
the lifting supporting plates (513) are arranged at the tops of the lifting ends of the four groups of screw rod jacking pieces (59);
the number of the chute frames (514) is two, and the two chute frames (514) are respectively arranged at the front side and the rear side of the left end of the right annular frame (54) along the up-down direction;
the two limiting roller seats (515) are respectively arranged at the right ends of the front side and the rear side of the lifting supporting plate (513), and the two limiting roller seats (515) are respectively spliced with the inner sides of the two chute frames (514);
the number of the slot frames (516) is two, and the two slot frames (516) are respectively arranged in the middle of the front side and the rear side of the bottom end of the lifting supporting plate (513);
the movable frames (517), the number of the movable frames (517) is two, the two movable frames (517) are respectively inserted into the inner sides of the front slot frame and the rear slot frame (516), and the movable frames (517) are U-shaped;
The connecting assemblies (6), the number of the connecting assemblies (6) is two, and the two connecting assemblies (6) are respectively arranged at the top of the inner sides of the front moving frame (517) and the rear moving frame (517);
the number of the first electric telescopic rods (518) is two, the two first electric telescopic rods (518) are respectively arranged at the tops of the front slot frame and the rear slot frame (516), the telescopic ends of the two first electric telescopic rods (518) are respectively fixedly connected with the inner bottom ends of the two movable frames (517), and the first electric telescopic rods (518) are electrically connected with the second sub-control module (43).
6. The mobile robot-based automatic inspection device of claim 5, wherein the connection mechanism (5) further comprises:
the number of the sliding rail rods (519) is two, and four groups of the sliding rail rods (519) are respectively arranged at the front end and the rear end of the right side of the bottom end of the top frame body (51) from top to bottom;
the lifting frame (520) is sleeved on the outer sides of the front sliding rail rod (519) and the rear sliding rail rod;
the second electric telescopic rod (521) is arranged at the center position of the right side of the top end of the top frame body (51), the telescopic end of the second electric telescopic rod (521) extends out of the lower surface of the top frame body (51) and is fixedly connected with the top end of the lifting frame (520), and the second electric telescopic rod (521) is electrically connected with the second sub control module (43);
A slide rail frame (522) arranged at the bottom of the lifting frame (520);
the roller plate (523) is inserted into the inner side of the sliding rail frame (522);
the number of the third motors (524) is two, the two third motors (524) are respectively arranged at the front side and the rear side of the bottom end of the sliding rail frame (522), and the third motors (524) are electrically connected with the second sub-control module (43);
the number of the second gears (525) is two, the two second gears (525) are respectively arranged at the rotating ends of the front third motor (524) and the rear third motor (524), and the two second gears (525) extend to the inner side of the sliding rail frame (522) from the bottom end opening of the sliding rail frame (522);
the number of the racks (526) is two, and the two racks (526) are respectively arranged at the front side and the rear side of the bottom end of the roller plate (523) and are respectively meshed with the two second gears (525).
7. The mobile robot-based automatic inspection device and method of claim 6, wherein the connection assembly (6) comprises:
a connection assembly housing (61) mounted on the inner side of the movable frame (517);
The slot seat (62) is embedded in the opening at the bottom end of the inner cavity of the connecting component shell (61);
the T-shaped rod (63) is inserted into the inner side of the slot seat (62) along the up-down direction;
the clamping seat (64) is arranged at the bottom end of the T-shaped rod (63), the bottom end of the clamping seat (64) is conical, and the outer side of the top end of the clamping seat (64) is arc-shaped;
the limiting spring (65) is sleeved on the outer side of the slot seat (62), one end of the limiting spring (65) is fixedly connected with the outer side of the slot seat (62), and the other end of the limiting spring (65) is connected with the outer side of the roller (67);
the counterweight sleeve (66) is sleeved outside the T-shaped rod (63), the outer side of the counterweight sleeve (66) is in fit connection with the inner cavity of the slot seat (62), and the outer side of the bottom end of the counterweight sleeve (66) is in fit connection with the top of the clamping seat (64);
the roller (67) is rotationally connected with the inner cavity of the groove at the top end of the T-shaped rod (63) through a pin shaft;
the fourth motor (68) is arranged at the top of the inner cavity of the connecting assembly shell (61), and the fourth motor (68) is electrically connected with the second sub-control module (43);
and a cam (69) arranged at the rotating end of the fourth motor (68), wherein the outer side of the cam (69) is contacted with the roller (67).
8. The method for detecting an automatic detection device based on a mobile robot according to claim 7, comprising the steps of:
step one: the auxiliary water surface detection mechanism (4) is placed at a specified position on the water source bank in advance, a worker starts the control terminal (1), the control terminal (1) is in stable communication connection with the first sub-control module (22) and controls the first sub-control module (22) to start an internal electric device of the movable detection mechanism (2);
step two: the mobile robot (21) moves along the bank of the detected water source, the mechanical arm (23) drives the detection module (24) to move, the detection module (24) is inserted into the water surface to carry out water quality detection preparation work, the detection module (24) detects indexes such as pH value, dissolved oxygen, turbidity and conductivity of the water source, the first sub-control module (22) receives and transmits data detected by the detection module (24) in real time, the data is transmitted to the inside of the equipment control terminal (1) in real time, and the data is presented to an operator through an internal display screen of the control terminal (1) in an interface mode;
step three: the mobile robot (21) moves to a position corresponding to the auxiliary water surface detection mechanism (4), the control terminal (1) and the second sub-control module (43) of the control equipment are in stable communication connection, and the second sub-control module (43) is controlled to start an internal electric device of the auxiliary water surface detection mechanism (4);
Step four: the second electric telescopic rod (521) drives the lifting frame (520) to move downwards outside the sliding rail rod (519) to the position with the same height as the lifting supporting plate (513), the third motors (524) on two sides drive the second gears (525) to rotate, the racks (526) drive the roller plates (523) to move leftwards inside the sliding rail frame (522) under the action of the rotating force of the second gears (525), the roller plates (523) penetrate through the inside of the right annular frame (54) to be in butt joint with the lifting supporting plate (513) to form a channel, the movable robot (21) moves to the top of the lifting supporting plate (513) along the lifting frame (520) and the roller plates (523), and the second electric telescopic rod (521) drives the lifting frame (520) to rise and reset;
step five: the first electric telescopic rods (518) on two sides drive the movable frames (517) on corresponding positions to move inwards in the inner cavities of the slot frames (516), the movable frames (517) on two sides drive the connecting assemblies (6) to be inserted into the inner cavities of the front and rear side mounting grooves (25), a fourth motor (68) in the connecting assemblies (6) on two sides drives a cam (69) to rotate, so that the cam (69) rotates to the far hub end of the cam to be contacted with the outer side of the roller (67), the T-shaped rod (63) is pushed by the roller (67) to drive the clamping seat (64) to move downwards through the slot seat (62), the T-shaped rod (63) presses the limit spring (65), the balance weight sleeve (66) is downwards inserted into the inner side of the annular seat (32) along with the clamping seat (64) under the action of self gravity, and the clamping seat (64) and the balance weight sleeve (66) push the torsion spring (34) to downwards turn over and press the torsion spring (34);
Step six: the first motor (56) drives the first gear (57) to rotate, the internal gear ring (55) rotates under the action of the first gear (57), the annular frame (54) drives the bottom frame (58) to drive the lifting support plate (513) to circumferentially rotate and turn over to the upper position under the cooperation of the screw rod jacking piece (59), the lifting support plate (513) drives the movable detection mechanism (2) to turn over for one hundred eighty degrees under the cooperation of the movable frame (517) and the connecting assembly (6), meanwhile, the counterweight sleeve (66) downwards moves outside the T-shaped rod (63) under the action of gravity, the clamping plate (33) is clamped with the clamping seat (64) to realize the connection and fixation of the movable detection mechanism (2), the second motor (511) drives the first gear box (510) on the left side and the right side under the cooperation of the second gear box (512), and drives the inside the four groups of screw rod jacking pieces (59) to drive the movable detection mechanism (2) to descend to the designated height position under the transmission of the first gear box (510);
step seven: the motor inside the water driving module (42) drives the paddles to rotate, the mobile sensor (44) sends external image information to the inside of the control terminal (1) through the second sub-control module (43) to display, and then the auxiliary water surface detection mechanism (4) is guided to run on the water surface, the auxiliary water surface detection mechanism (4) is driven to a water source central position, the mechanical arm (23) drives the detection module (24) to be inserted into the water surface, the detection module (24) detects the water quality in the water source central position, and data are transmitted to the inside of the equipment control terminal (1) in real time to obtain water quality data in the water source central position;
Step eight: after detection, the first motor (56) drives the first gear (57) to reversely rotate, the annular frame (54) drives the lifting supporting plate (513) to turn to the bottom position, the counterweight sleeve (66) moves downwards under the action of self gravity and is sleeved with the top of the clamping seat (64) again to push the clamping plate (33) to turn downwards, the fourth motor (68) drives the cam (69) to rotate until the near hub end of the cam (69) contacts with the outer side of the roller (67), the limiting spring (65) pushes the T-shaped rod (63) to drive the counterweight sleeve (66) to move upwards to pass through the clamping plate (33) under the self elastic action, the connection state of the connecting assembly (6) and the butting assembly (3) is further released, and the second motor (511) is matched with the first gear box (510) to enable the screw lifting supporting plate (513) to be driven to descend to the designated position;
step nine: the second electric telescopic rod (521) drives the lifting frame (520) to descend again, the roller plate (523) penetrates through the right annular frame (54) to be in butt joint with the lifting supporting plate (513) to form a channel, and after the movable robot (21) moves to the shore along the lifting supporting plate (513), the lifting frame (520) and the roller plate (523), a worker can recover the movable detection mechanism (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410283180.2A CN117863784B (en) | 2024-03-13 | 2024-03-13 | Automatic detection device and method based on mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410283180.2A CN117863784B (en) | 2024-03-13 | 2024-03-13 | Automatic detection device and method based on mobile robot |
Publications (2)
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