CN204203767U - A kind of intelligent inspection robot - Google Patents
A kind of intelligent inspection robot Download PDFInfo
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- CN204203767U CN204203767U CN201420535240.7U CN201420535240U CN204203767U CN 204203767 U CN204203767 U CN 204203767U CN 201420535240 U CN201420535240 U CN 201420535240U CN 204203767 U CN204203767 U CN 204203767U
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- robot body
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- intelligent inspection
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Abstract
The utility model relates to a kind of intelligent inspection robot, comprise robot body, above robot body, be provided with finder, four sides of finder are respectively equipped with corresponding video acquisition device, finder top is provided with a support, and support is provided with lighting device; Robot body is respectively equipped with control device, guider, falling detection device, warning horn and photoreceptor, below robot body, is provided with running gear; Described video acquisition device, lighting device, guider, falling detection device, warning horn, photoreceptor and running gear are connected with control device respectively.The utility model structure is simple, reasonable in design, not only can carry out multi-faceted observation simultaneously, have navigation feature, but also can process the robot state of falling.
Description
Technical field
The utility model belongs to technical field of automation, specifically relates to a kind of intelligent inspection robot.
Background technology
Robot is the interdisciplinary study that developed recently gets up.It has concentrated the multi-disciplinary latest scientific research such as mechanical engineering, electronic engineering, computer engineering, automatic control engineering and artificial intelligence, and representing the most overachievement of electromechanical integration, is one of most active field of current development in science and technology.
Robot is generally made up of topworks, drive unit and control system etc.Topworks and robot body, its arm generally adopts space open chain linkage assembly, and kinematic pair (revolute pair or moving sets) wherein is often called joint, and joint number is the number of degrees of freedom, of robot usually.According to the difference of joint configuration and coordinates of motion form, robot actuating mechanism can be divided into the types such as Cartesian coordinate type, circular cylindrical coordinate formula, polar coordinates type and joint coordinates formula.For the consideration personalized, often the relevant portion of robot body is called pedestal, waist, arm, wrist, hand (clamper or end effector) and travel unit (for mobile robot) etc.
Drive unit is the mechanism ordering about topworks's motion, and the command signal sent according to control system, makes robot carry out action by means of dynamical element.Its input be electric signal, output be line, angular displacement.The drive unit mainly power-jdriven gear that robot uses, as stepper motor, servomotor etc., also has in addition and adopts hydraulic pressure, the drive unit such as pneumatic.
Control system generally has two kinds of modes, and one is centerized fusion, and namely whole controls of robot are completed by a microcomputer.Another kind is that dispersion (level) formula controls, namely multiple stage microcomputer is adopted to share the control of robot, as when adopting upper and lower two-level microcomputer jointly to complete the control of robot, main frame is usually used in the management of responsible system, communication, kinematics and dynamics calculation, and sends command information to subordinate's microcomputer; As subordinate from machine, each joint is a corresponding CPU respectively, carries out interpolation operation and servocontrol process, realizes given motion, and to main frame feedback information.According to the difference that job task requires, point position control, continuous path can be divided into again to control for the control mode of robot and power (moment) controls.
The move mode of current robot comprises wheeled, crawler type, walking, creeps, wriggling etc.Wheeled, crawler type motion itself is ripe, to research that is wheeled, caterpillar mobile robot mainly concentrate on autokinetic movement control on, but these two kinds of modes to environment space require higher, thus its range of application is subject to certain restrictions.To creep and crawling type robot is mainly used in operation in pipeline and other narrow space, there is good quiet, dynamic stability, but translational speed is slower.
Intelligent inspection robot supplements as the security protection of community, square, megastore, operation that must be reliable, efficient, stable.Therefore, in autokinetic movement process, the judgement for the various state of robot is essential.Owing to lacking perception link in the motion process of robot own, therefore, also can continue to run even if fall, add unnecessary energy consumption, cause and patrol and examine leak and potential safety hazard.
Utility model content
In order to overcome the deficiency that prior art exists, the utility model provides a kind of intelligent inspection robot that can carry out multi-faceted observation simultaneously, have navigation feature, can process the state of falling.
A kind of intelligent inspection robot, comprise robot body, above described robot body, be provided with finder, four sides of described finder are respectively equipped with corresponding video acquisition device, described finder top is provided with a support, and described support is provided with lighting device; Described robot body is respectively equipped with control device, guider, falling detection device, warning horn and photoreceptor, described control device, photoreceptor are separately positioned on the medium position of robot body, guider is arranged on side, robot body top, falling detection device is arranged at robot body top opposite side, and described warning horn is arranged on the lower position of robot body; Running gear is provided with below described robot body; Described video acquisition device, lighting device, guider, falling detection device, warning horn, photoreceptor and running gear are connected with control device respectively.
Preferably, described robot body is also provided with Remote receiver, described Remote receiver is connected with control device.For receiving instruction that control center sends and starting corresponding action according to instruction, realize staff and the Remote of robot is operated.
Preferably, described robot body is also provided with timer.When robot normally patrols and examines, can the monitoring time of recorder people; When occur in the process of patrolling and examining robot fall situation time, the signal of the acceleration transducer that timer real time record robot falls, if this signal disappears at the appointed time, illustrate that robot processes the state of falling voluntarily, if exceed the stipulated time, then alert trigger device gives the alarm signal, is convenient to staff and processes in time.
Preferably, described falling detection device comprises acceleration transducer, and described acceleration transducer is connected with control device.For checkout equipment state change and be responsible for by status information feedback to control device, control device is used for driving, controlling and acceleration transducer and feedack thereof described in integrated management, and described acceleration transducer is selected by SPI sheet with described control device, MOSI with MIS04 line is connected and communicates.
The utility model structure is simple, reasonable in design, not only can carry out multi-faceted observation simultaneously, have navigation feature, but also can process the robot state of falling; The utility model also has the advantages such as low cost, low-power consumption, small size, little weight, high real-time, high reliability.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail, but protection domain of the present utility model is not limited to this.
With reference to Fig. 1, a kind of intelligent inspection robot, comprises robot body 1, finder 2 is provided with above described robot body 1, four sides of described finder 2 are respectively equipped with corresponding video acquisition device 3, multi-faceted observation can be carried out simultaneously, avoid video blind spot; Described finder 2 top is provided with a support 4, and described support 4 is provided with lighting device 5, can carry out choosing of opening and closing according to actual conditions, avoids the defect because insufficient light causes that video is not known etc.; Described robot body 1 is respectively equipped with control device 6, guider 7, falling detection device 8, warning horn 9 and photoreceptor 10, described control device 6, photoreceptor 10 are separately positioned on the medium position of robot body 1, control device 6 is arranged on this position, be convenient to the connection of itself and other device, photoreceptor 10 is arranged on this position, is convenient to its photosensitive accurate of environment to external world; Guider 7 is arranged on side, robot body 1 top, is convenient to road pavement data and carries out Real-time Collection, and adjust walking states in real time according to the data collected; Falling detection device 8 is arranged at robot body 1 top opposite side, is convenient to the change of detected state; Warning horn 9 is arranged on the lower position at robot body 1, can not impact, convenient operation to other devices; Running gear 11 is provided with below described robot body 1; Described video acquisition device 3, lighting device 5, guider 7, falling detection device 8, warning horn 9, photoreceptor 10 and running gear 11 are connected with control device respectively.
Described robot body 1 is also provided with Remote receiver 12, described Remote receiver 12 is connected with control device 6, for receiving instruction that control center sends and starting corresponding action according to instruction, realize staff and the Remote of robot is operated.Described robot body is also provided with timer 13, when robot normally patrols and examines, can the monitoring time of recorder people; When occur in the process of patrolling and examining robot fall situation time, the signal of the acceleration transducer that timer real time record robot falls, if this signal disappears at the appointed time, illustrate that robot processes the state of falling voluntarily, if exceed the stipulated time, then alert trigger device gives the alarm signal, is convenient to staff and processes in time.Described falling detection device comprises acceleration transducer, and described acceleration transducer is connected with control device.For detected state change and be responsible for by status information feedback to control device, control device is used for driving, controlling and acceleration transducer and feedack thereof described in integrated management, and described acceleration transducer is selected by SPI sheet with described control device, MOSI with MISO line is connected and communicates.
Claims (4)
1. an intelligent inspection robot, comprise robot body, it is characterized in that: above described robot body, be provided with finder, four sides of described finder are respectively equipped with corresponding video acquisition device, described finder top is provided with a support, and described support is provided with lighting device; Described robot body is respectively equipped with control device, guider, falling detection device, warning horn and photoreceptor, described control device, photoreceptor are separately positioned on the medium position of robot body, guider is arranged on side, robot body top, falling detection device is arranged at robot body top opposite side, and described warning horn is arranged on the lower position of robot body; Running gear is provided with below described robot body; Described video acquisition device, lighting device, guider, falling detection device, warning horn, photoreceptor and running gear are connected with control device respectively.
2. intelligent inspection robot according to claim 1, is characterized in that: described robot body is also provided with Remote receiver, and described Remote receiver is connected with control device.
3. intelligent inspection robot according to claim 1, is characterized in that: described robot body is also provided with timer.
4. intelligent inspection robot according to claim 1, is characterized in that: described falling detection device comprises acceleration transducer, and described acceleration transducer is connected with control device.
Priority Applications (1)
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CN201420535240.7U CN204203767U (en) | 2014-09-16 | 2014-09-16 | A kind of intelligent inspection robot |
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CN201420535240.7U CN204203767U (en) | 2014-09-16 | 2014-09-16 | A kind of intelligent inspection robot |
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CN201420535240.7U Expired - Lifetime CN204203767U (en) | 2014-09-16 | 2014-09-16 | A kind of intelligent inspection robot |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020061999A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Control method for ground remote control robot and ground remote control robot |
CN111405250A (en) * | 2020-03-24 | 2020-07-10 | 北京海益同展信息科技有限公司 | Video stream data processing method, device, robot and storage medium |
-
2014
- 2014-09-16 CN CN201420535240.7U patent/CN204203767U/en not_active Expired - Lifetime
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020061999A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Control method for ground remote control robot and ground remote control robot |
CN111405250A (en) * | 2020-03-24 | 2020-07-10 | 北京海益同展信息科技有限公司 | Video stream data processing method, device, robot and storage medium |
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Date | Code | Title | Description |
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C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
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CP01 | Change in the name or title of a patent holder |
Address after: Jiaxing City, Zhejiang province 314000 Ling Gong Tang Road No. 3339, Jiaxing science and technology city building C, room 217 Patentee after: ZHEJIANG SKUO DIGITAL TECHNOLOGY Co.,Ltd. Address before: Jiaxing City, Zhejiang province 314000 Ling Gong Tang Road No. 3339, Jiaxing science and technology city building C, room 217 Patentee before: ZHEJIANG SKUO DIGITAL TECHNOLOGY Co.,Ltd. |
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CX01 | Expiry of patent term |
Granted publication date: 20150311 |