CN206748447U - A kind of Intelligent Mobile Robot - Google Patents
A kind of Intelligent Mobile Robot Download PDFInfo
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- CN206748447U CN206748447U CN201720438310.0U CN201720438310U CN206748447U CN 206748447 U CN206748447 U CN 206748447U CN 201720438310 U CN201720438310 U CN 201720438310U CN 206748447 U CN206748447 U CN 206748447U
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- chip removal
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- mobile robot
- intelligent mobile
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Abstract
A kind of Intelligent Mobile Robot, is related to robot field；Existing crusing robot, in night inspection, it is difficult to detect the less barrier of volume ratio, cause vibrating pictures, influence the judgement of breakdown judge system.The utility model includes body, located at intrinsic control device, the image acquisition device electrically connected with control device, radio transmitting device and running gear, described body front end is provided with the chip removal device for being used for arranging preceding object clast, described radio transmitting device includes wireless transmission trunk device, and wireless transmission trunk device is located at this body side surface.The technical program can easily exclude the clast in direction of advance, crusing robot is stablized and move ahead, while wireless transmission trunk device can also be opened when wireless connection is weaker, ensure the unobstructed of wireless connection.
Description
Technical field
It the utility model is related to robot field；Especially a kind of Intelligent Mobile Robot.
Background technology
Conventional power industry is directed to the inspection of outside transformer substation equipment, using manual inspection operating type, high pressure,
The bad weather condition such as super-pressure and rain, snow, mist descends, and not only endangers the inherently safe of patrol officer, while power grid security is transported
Row also brings certain hidden danger, often because that can not understand the failure of equipment appearance in time, and loses the chance overhauled in advance.
Go the rounds mode to solve the above problems and take into account transformer station, refer to robot technology, develop transformer station
Intelligent inspection robot product.Intelligent Mobile Robot is collection multi-sensor fusion technology, electromagnetic compatibility technology, navigation and rule
The technology of drawing, robot vision, security and guard technology, the Radio Transmission Technology of magnanimity information are in the compound movement system of one.Survey monitor
Device people can carry out temperature detection by thermal infrared imager to electrical equipment, equipment tie point and power circuit, pass through video camera
Detection is identified to hanging foreign matter in the abnormal appearance and circuit of operational outfit, the data collected by sound collector pass through
By wireless network transmissions to background computer data are carried out with the running situation that data analysis determines equipment.
Existing crusing robot is equipped with special obstacle avoidance system mostly, can it is obstructed on front road in the case of
Voluntarily adjustment position and find route.But some shortcomings are still had, because crusing robot is in order at night pair mostly
Transformer station is maked an inspection tour, and transformer station does not have special cleanup crew to be cleaned if night, if occurred on road broken
The clast such as stone or tree branches, the advance of crusing robot can be impacted, because obstacle avoidance system generally can not
The less barrier of such volume ratio is monitored, crusing robot can cause vibrating pictures etc. directly from clast if
Problem, and then influence the judgement of breakdown judge system.
Meanwhile existing robot mostly transmits the vision signal collected using the mode being wirelessly transferred in real time
Being handled into central control computer, wifi is medium as a kind of coverage, the fast communication of network transfer speeds,
It is extremely suitable for use on crusing robot, but because many equipment are all metal shells in transformer station, wireless signal can be made
Into larger barrier, particularly in some corners, it is likely that because poor signal causes transmission of video interim card or even interrupted.
Utility model content
The technical problems to be solved in the utility model and propose technical assignment be to prior art carry out improve with
Improve, there is provided a kind of Intelligent Mobile Robot, for the purpose of realizing chip removal and lifting wireless signal concatenation ability.Therefore, this
Utility model takes following technical scheme.
A kind of Intelligent Mobile Robot, including body, electrically connect located at intrinsic control device, with control device
Image acquisition device, radio transmitting device and running gear, described body front end, which is provided with, to be used to arrange preceding object clast
Chip removal device, described radio transmitting device include one be used for raising radio transmission device signal concatenation ability wireless biography
Defeated repeater, described wireless transmission trunk device are located at this body side surface.When crusing robot runs into rubble, rubbish during advance
When the clast such as rubbish or branches and leaves, it may not be necessary to halt, clast can be moved by chip removal device to both sides, without
Running gear can be influenceed, can avoid making crusing robot produce vibrations because of the collision of clast and running gear, cause shadow
Image blur as captured by harvester；In addition, in the case where wireless signal is faint, wireless transmission trunk can be discharged
Device, promotion signal intensity, to ensure the unobstructed of network connection between crusing robot and central control computer.
As further improving and supplementing to above-mentioned technical proposal, it is special that the utility model also includes following supplementary technology
Sign.
Chip removal device is connected by the front end of link and body, and chip removal device includes one piece of chip removal bottom plate and pressure sensing
Device, described chip removal bottom plate are connected to link front bottom end, and described pressure sensor is located at chip removal bottom plate upper front end, pressure
Force snesor electrically connects with the signal picker port of control device.The compression of chip removal device can be perceived by pressure sensor
Situation, in order to which control device makes corresponding forward chip removal, deviation movement, the judgement for retreating or detouring.
Described chip removal bottom plate is the symmetrical isosceles triangle plate kept flat, before the base of triangular plate and link
End connection, the top of described chip removal bottom plate are provided with chip removal plate, and the side of chip removal plate two is connected with the waist edges such as 2 of chip removal bottom plate, row
Sagittal low early and high after crest line is provided among bits plate, forms triangular pyramid structure, rear end and the link front end of chip removal plate
Face connects, and chip removal plate contacts with pressure sensor for zero pressure.By the chip removal plate of triangular pyramid structure, move ahead and touch in robot
During to clast, clast can move from crest line to both sides, and chip removal plate contacts with the zero pressure of pressure sensor can be really anti-
Present pressure condition of the chip removal plate by clast.
This described body side surface is additionally provided with the receiver for storing wireless transmission trunk device, is provided with body and is used to drive
The storage drive mechanism of receiver, described storage drive mechanism can drive receiver to move up and down.By to the upper of receiver
The driving of lower movement, it is easy to discharge and stores wireless transmission trunk device.
The side of the wireless transmission trunk device is provided with a shift knob, is set in wireless transmissions after the bottom of device
There is a cushion pad.Manually opened and close when shift knob is easy to need, the setting of cushion pad is easy to robot highly not
Flat road surface prevents the collision of wireless transmission trunk device and earth bulge thing when moving ahead.
Described storage drive mechanism includes the servomotor being arranged on this structure base board, and the output shaft of servomotor is upward
Set, be fixedly connected with leading screw on output shaft, nut be arranged with the leading screw, nut is fixedly connected with supporting table, supporting table
On be fixedly installed a hollow connecting rod, the connecting rod is fixedly connected with receiver after being passed from the side wall of body,
It is additionally provided with a cylinder in supporting table, the output end of cylinder is fixedly connected with a connecting shaft, and described connecting shaft is from connection
Pass through and extend into inside receiver in bar, a crawl plate, described servo electricity are further fixedly arranged in connection the tip of the axis
Machine and cylinder electrically connect with control device respectively.Leading screw is driven by servomotor, crawl plate is driven by cylinder, can be facilitated
Realize receiver promptly and move up and down.
Described image acquisition device is rotatably connected at the top of body by rotatable platform.Before being easy to complete observation
Side and the pavement behavior of side.
Described image acquisition device includes the video camera and 2 light compensating lamps being set up in parallel, and described video camera is starlight
Level video camera, described 2 light compensating lamps are respectively white light light compensating lamp and infrared light compensating lamp.Starlight level video camera, white light light compensating lamp
It is easy to the image collection at night with infrared light compensating lamp.
The body portion is additionally provided with an infrared distance sensor, and the signal of infrared distance sensor and control device is adopted
Storage port is electrically connected, and the sensing window of infrared distance sensor is opened on the body front end face that link is connected.Pass through
Towards the sensing window in front, infrared distance sensor can easily detect the object obstacle in front, and result is fed back to
Control device, it is easy to control device to judge.
Described link includes 2 pieces of low early and high after trapezoidal plates and is connected to the fixed plate of 2 pieces of trapezoidal front edge of board, described
Fixed plate height less than sensing window it is lower along position.By low early and high after link, and sense the lower edge of window
Position is higher than the fixation Board position of link front end, is easy to the forward looking detection of infrared distance sensor.
Beneficial effect：The clast in direction of advance can be easily excluded, crusing robot is stablized and moves ahead, together
When wireless transmission trunk device can also be opened when wireless connection is weaker, ensure the unobstructed of wireless connection.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram.
Fig. 2 is the utility model storage drive mechanism and receiver attachment structure schematic diagram.
Fig. 3 is the utility model chip removal base arrangement schematic diagram.
Fig. 4 is the utility model wireless transmission trunk device structural representation.
In figure：1- bodies；2- image acquisition devices；3- rotatable platforms；4- receivers；5- links；6- chip removal devices；7-
Running gear；8- servomotors；9- leading screws；10- supporting tables；11- cylinders；12- connecting rods；13- connecting shafts；14- captures plate；
15- wireless transmission trunk devices；101- substrates；102- side walls；103- senses window；201- video cameras；202- light compensating lamps；501-
Trapezoidal plate；502- fixed plates；601- chip removal bottom plates；602- pressure sensors；603- chip removal plates；1501- shift knobs；1502-
Cushion pad.
Embodiment
The technical solution of the utility model is described in further detail below in conjunction with Figure of description.
As Figure 1-4, a kind of Intelligent Mobile Robot, including body 1, the control device in body 1 and control
Image acquisition device 2, radio transmitting device and the running gear 7 of device electrical connection processed, the front end of body 1, which is provided with, to be used to arrange front
The radio transmitting device of chip removal device 6,15 of obstacle clast is used for raising radio transmission device signal concatenation ability including one
Wireless transmission trunk device 15, wireless transmission trunk device 15 is located at the side of body 1.
For the ease of chip removal and control device is set to make correct judgement, chip removal device 6 passes through link 5 and body 1
Front end connects, and chip removal device 6 includes one piece of chip removal bottom plate 601 and pressure sensor 602, and chip removal bottom plate 601 is connected to link 5
Front bottom end, 15 pressure sensors 602 are located at the upper front end of chip removal bottom plate 601, the signal of pressure sensor 602 and control device
Collector port electrically connects.The compression situation of chip removal device 6 can be perceived by pressure sensor 602, in order to control device
Make corresponding forward chip removal, deviation movement, the judgement for retreating or detouring.
In order to obtain preferable chip removal effect, chip removal bottom plate 601 is the symmetrical isosceles triangle plate kept flat, triangle
The base of shape plate is connected with the front end of link 5, and the top of 15 chip removal bottom plates 601 is provided with chip removal plate 603,603 liang of sides of chip removal plate
It is connected with the waist edges such as 2 of chip removal bottom plate 601, sagittal low early and high after crest line is provided among chip removal plate 603, forms triangular pyramid
Shape structure, the rear end of chip removal plate 603 are connected with the front end face of link 5, and chip removal plate 603 connects with pressure sensor 602 for zero pressure
Touch.By the chip removal plate 603 of triangular pyramid structure, when robot moves ahead and encounters clast, clast can be from crest line to both sides
It is mobile, preferable chip removal effect can be obtained, chip removal plate 603 contacts with the zero pressure of pressure sensor 602 really to be fed back
Pressure condition of the chip removal plate 603 by clast.
In order to which receiver 4 discharges wireless transmission trunk device, the side of body 1 is additionally provided with for storing wireless transmission trunk device
Receiver 4, body 1 is interior to be provided with the storage drive mechanism for being used for driving receiver 4, and 15 storage drive mechanisms can drive receiver 4
Move up and down.By the driving moved up and down to receiver 4, it is easy to discharge and stores wireless transmission trunk device.
For the ease of manually opening and closing and preventing the hard collision with ground protrusion, the wireless transmission trunk device
15 side is provided with a shift knob 1501, and the bottom of device 15 is provided with a cushion pad 1502 in wireless transmissions.
Manually opened and closing when shift knob is easy to need, the setting of cushion pad are easy to robot when the uneven road surface in highland is forward
Prevent the collision of wireless transmission trunk device 15 and ground protrusion.
In order to realize simple accurate driving, storage drive mechanism includes the servomotor being arranged on the substrate 101 of body 1
8, the output shaft of servomotor 8 is set up, and leading screw 9 is fixedly connected with output shaft, nut, spiral shell are arranged with the leading screw 9
Mother is fixedly connected with supporting table 10, a hollow connecting rod 12 is fixedly installed in supporting table 10, the connecting rod 12 is from originally
The side wall 102 of body 1 is fixedly connected after passing with receiver 4, is additionally provided with a cylinder 11 in supporting table 10, cylinder 11 it is defeated
Go out end and be fixedly connected with a connecting shaft 13, connecting shaft 13 is passed through from connecting rod 12 and extend into inside receiver 4, connecting
The end of axle 13 is further fixedly arranged on a crawl plate 14, and servomotor 8 and cylinder 11 electrically connect with control device respectively.Pass through
Servomotor drives leading screw 9, and crawl plate 14 is driven by cylinder, in that context it may be convenient to firmly grasping and moving up and down for receiver 4 is realized,
Driving structure is simply accurate.
For the ease of the road conditions of in front of complete observation and both sides, 15 image acquisition devices 2 by rotatable platform 3 rotationally
It is connected to the top of body 1.It is easy to the pavement behavior of in front of complete observation and side.
In order to collect clearly image at night, image acquisition device 2 includes the video camera 201 and 2 being set up in parallel
Individual light compensating lamp 202, video camera 201 are starlight level video camera, and 152 light compensating lamps 202 are respectively white light light compensating lamp and infrared light filling
Lamp.Starlight level video camera, white light light compensating lamp and infrared light compensating lamp are easy to night to collect clearly image.
For the ease of the barrier in detection front, the front portion of body 1 is additionally provided with an infrared distance sensor, infrared survey
Electrically connected away from sensor with the signal picker port of control device, the company of being opened in of sensing window 103 of infrared distance sensor
Connect on the front end face of body 1 that frame 5 is connected.By the sensing window 103 towards front, infrared distance sensor can be convenient
The object obstacle in front is detected, and result is fed back to control device, is easy to control device to judge.
In order that infrared distance sensor is not connected frame 5 in forward looking detection and blocked, 15 links 5 are low before including 2 pieces
High trapezoidal plate 501 and the fixed plate 502 for being connected to 2 pieces of front ends of trapezoidal plate 501, the height of fixed plate 502 are less than induction window afterwards
Mouthfuls 103 it is lower along position.By low early and high after link 5, and sense window 103 it is lower along position be higher than link 5 before
The position of fixed plate 502 at end, it is easy to the forward looking detection of infrared distance sensor.
When crusing robot is running into the clasts such as rubble, rubbish or branches and leaves during advance, it may not be necessary to
Halt, clast can be moved by chip removal device 6 to both sides, without influenceing running gear 7, can be avoided because of clast
Collision with running gear 7 and crusing robot is produced vibrations, cause the image blur captured by image acquisition device 2；Separately
Outside, in the case where wireless signal is faint, storage drive mechanism is controlled by control device, discharges wireless transmission trunk device 15,
Promotion signal intensity, to ensure the unobstructed of network connection between crusing robot and central control computer.
A kind of Intelligent Mobile Robot shown in figure 1 above -4 is specific embodiment of the utility model, has been embodied
Go out the utility model in essence feature and progress, under enlightenment of the present utility model, it can be entered according to the use needs of reality
The equivalent modifications of row shape, structure etc., this programme protection domain row.
Claims (10)
1. a kind of Intelligent Mobile Robot, including body（1）, located at body（1）Interior control device, it is electrically connected with control device
The image acquisition device connect（2）, radio transmitting device and running gear（7）, it is characterised in that：Described body（1）Front end is set
There is the chip removal device for arranging preceding object clast（6）, described radio transmitting device is wireless for being lifted including one
The wireless transmission trunk device of transmitting device signal concatenation ability（15）, described wireless transmission trunk device（15）Located at body（1）
Side.
A kind of 2. Intelligent Mobile Robot according to claim 1, it is characterised in that：Chip removal device（6）Pass through connection
Frame（5）With body（1）Front end connection, chip removal device（6）Including one piece of chip removal bottom plate（601）And pressure sensor（602）, institute
The chip removal bottom plate stated（601）It is connected to link（5）Front bottom end, described pressure sensor（602）Located at chip removal bottom plate
（601）Upper front end, pressure sensor（602）Electrically connected with the signal picker port of control device.
A kind of 3. Intelligent Mobile Robot according to claim 2, it is characterised in that：Described chip removal bottom plate（601）
For the symmetrical isosceles triangle plate kept flat, the base of triangular plate and link（5）Front end connects, described chip removal bottom
Plate（601）Top be provided with chip removal plate（603）, chip removal plate（603）Two sides and chip removal bottom plate（601）The waist edges such as 2 connection, row
Consider plate to be worth doing（603）Centre is provided with sagittal low early and high after crest line, forms triangular pyramid structure, chip removal plate（603）Rear end with
Link（5）Front end face connects, chip removal plate（603）With pressure sensor（602）Contacted for zero pressure.
A kind of 4. Intelligent Mobile Robot according to claim 1, it is characterised in that：Described body（1）Side is also
Provided with the receiver for storing wireless transmission trunk device（4）, body（1）Interior be provided with is used to drive receiver（4）Storage drive
Motivation structure, described storage drive mechanism can drive receiver（4）Move up and down.
A kind of 5. Intelligent Mobile Robot according to claim 4, it is characterised in that：The wireless transmission trunk device
（15）Side be provided with a shift knob（1501）, in wireless transmissions after device（15）Bottom be provided with a cushion pad
（1502）.
A kind of 6. Intelligent Mobile Robot according to claim 4, it is characterised in that：Described storage drive mechanism bag
Include and be arranged at body（1）Substrate（101）On servomotor（8）, servomotor（8）Output shaft set up, on output shaft
It is fixedly connected with leading screw（9）, the leading screw（9）On be arranged with nut, nut is fixedly connected with supporting table（10）, supporting table（10）
On be fixedly installed a hollow connecting rod（12）, the connecting rod（12）From body（1）Side wall（102）With receiving after passing
Case（4）It is fixedly connected, in supporting table（10）On be additionally provided with a cylinder（11）, cylinder（11）Output end be fixedly connected with
One connecting shaft（13）, described connecting shaft（13）From connecting rod（12）In pass through and extend into receiver（4）Inside, connecting
Axle（13）End be further fixedly arranged on one crawl plate（14）, described servomotor（8）And cylinder（11）Respectively with control
Device electrically connects.
A kind of 7. Intelligent Mobile Robot according to claim 5, it is characterised in that：Described image acquisition device
（2）Pass through rotatable platform（3）It is rotatably connected at body（1）Top.
A kind of 8. Intelligent Mobile Robot according to claim 1, it is characterised in that：Described image acquisition device
（2）Including the video camera being set up in parallel（201）With 2 light compensating lamps（202）, described video camera（201）For starlight level video camera,
2 described light compensating lamps（202）Respectively white light light compensating lamp and infrared light compensating lamp.
A kind of 9. Intelligent Mobile Robot according to claim 2, it is characterised in that：The body（1）Front portion is also set
There is an infrared distance sensor, infrared distance sensor electrically connects with the signal picker port of control device, infrared distance measurement
The sensing window of sensor（103）It is opened in link（5）The body connected（1）On front end face.
A kind of 10. Intelligent Mobile Robot according to claim 9, it is characterised in that：Described link（5）Including
2 pieces of low early and high after trapezoidal plates（501）Be connected to 2 pieces of trapezoidal plates（501）The fixed plate of front end（502）, described fixed plate
（502）Height less than sensing window（103）It is lower along position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720438310.0U CN206748447U (en) | 2017-04-25 | 2017-04-25 | A kind of Intelligent Mobile Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720438310.0U CN206748447U (en) | 2017-04-25 | 2017-04-25 | A kind of Intelligent Mobile Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206748447U true CN206748447U (en) | 2017-12-15 |
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ID=60614909
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720438310.0U Expired - Fee Related CN206748447U (en) | 2017-04-25 | 2017-04-25 | A kind of Intelligent Mobile Robot |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108564870A (en) * | 2018-03-19 | 2018-09-21 | 四川银沙科技有限公司 | A kind of bionical educational robot |
| CN109103798A (en) * | 2018-08-26 | 2018-12-28 | 国网新疆电力有限公司和田供电公司 | A kind of substation's cruising inspection system |
| CN109397306A (en) * | 2018-11-15 | 2019-03-01 | 国网浙江宁波市鄞州区供电有限公司 | A kind of robot for power pipeline inspection |
-
2017
- 2017-04-25 CN CN201720438310.0U patent/CN206748447U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108564870A (en) * | 2018-03-19 | 2018-09-21 | 四川银沙科技有限公司 | A kind of bionical educational robot |
| CN109103798A (en) * | 2018-08-26 | 2018-12-28 | 国网新疆电力有限公司和田供电公司 | A kind of substation's cruising inspection system |
| CN109397306A (en) * | 2018-11-15 | 2019-03-01 | 国网浙江宁波市鄞州区供电有限公司 | A kind of robot for power pipeline inspection |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20171215 |