CN209425452U - A kind of modularization inspection robot and the system using the robot - Google Patents
A kind of modularization inspection robot and the system using the robot Download PDFInfo
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- CN209425452U CN209425452U CN201920026941.0U CN201920026941U CN209425452U CN 209425452 U CN209425452 U CN 209425452U CN 201920026941 U CN201920026941 U CN 201920026941U CN 209425452 U CN209425452 U CN 209425452U
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- modularization
- inspection robot
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Abstract
The utility model discloses a kind of modularization inspection robot and use the system of the robot, using the above structure, basic mould group is that bottom plate, supporting plate, support device and driving device are constituted, control module can be configured according to demand, and this programme further includes high-definition camera and color sensor needed for the inspection robot on basis；Robot realizes movement and steering to all directions by driving device, and the color sensor of robot bottom is used for the color to website below identification robot, the image of the high-definition camera in front line walking track for identification.Method by spraying track on ground, the program of robot is set to pertain only to identification track and along rail running, complicated positioning and Navigator are not needed, the region fixed suitable for this origin of school and destination, it is lower to program difficulty, high reliablity, and it is not take up the communication resource, it does not need background server to be supported, large batch of can use.
Description
Technical field
The utility model relates to robot navigation field, in particular to a kind of modularization inspection robot and use the machine
The system of people.
Background technique
Inspection robot: inspection robot is using mobile robot as carrier, with visible light camera, infrared thermal imaging
Instrument, other detecting instruments are as load system, using machine vision-electromagnetic field-GPS --- the fusion of the more information of GIS as
The navigation system of robot autonomous movement and autonomous inspection, it is flat as the hardware and software development of control system using embedded computer
Platform；With detection of obstacles identification and positioning, AUTONOMOUS TASK planning, active obstacle, autonomous to transmission line of electricity and its line corridor
The robot body of inspection, inspection image and data be automatically stored with long range radio transmissions, ground remote wireless monitoring and remote control,
Electric energy functions such as supply, backstage inspection job management and analyzing and diagnosing in real time online.
When being handed in homework due to student with teacher's breaking-out industry, has a large amount of exercise sheet and is carried between classroom and office,
Generally teacher is helped to complete by student, still, carrying heavy goods are easy to cause to damage to body, influence the development of student, therefore be badly in need of
A kind of tolerance is high, programs simple inspection robot auxiliary carrying heavy goods.
Summary of the invention
The purpose of this utility model is that: a kind of modularization inspection robot and the system using the robot are provided,
Solve due to student hand in homework with teacher break out industry when, have a large amount of exercise sheet and carried between classroom and office, one
As help teacher to complete by student, still, carrying heavy goods are easy to cause to damage to body, influence the development of student, therefore be badly in need of one
The problem of kind tolerance is high, programs simple inspection robot auxiliary carrying heavy goods.
The technical solution adopted in the utility model is as follows:
A kind of modularization inspection robot including bottom plate, is arranged in the support device at plate upper surface edge and passes through branch
Supporting plate parallel to the base plate is arranged above bottom plate in support arrangement；
Several driving devices that the plate upper surface is additionally provided with control module and connect with control module, the driving
Shaft is provided on device；
The lower surface of the bottom plate is provided with color sensor and holder, is also connected with high-definition camera on the holder,
The geometric center of lower surface of base plate is arranged in the color sensor, and the edge of lower surface of base plate is arranged in the holder.
Using the above structure, basic mould group is that bottom plate, supporting plate, support device and driving device are constituted, and control module can be with
It is configured according to demand, this programme further includes high-definition camera and color sensor needed for the inspection robot on basis；Machine
Device people realizes movement and steering to all directions by driving device, and the color sensor of robot bottom is used for cognitron
The color of website below device people, the image of the high-definition camera in front line walking track for identification.By spraying track on ground
Method, so that the program of robot is pertained only to identification track and along rail running, do not need complicated positioning and navigation journey
Sequence, the region fixed suitable for this origin of school and destination, programming difficulty is lower, high reliablity, and is not take up communication
Resource does not need background server and is supported, and large batch of can use.
Further, the support device includes the support base connecting with plate upper surface, and the upper surface of support base is provided with
Groove straight down further includes the support rod in one end insertion groove, and the other end of support rod is by being provided with and supporting plate
The connecting plate matched, the bottom that support rod is inserted into one end in groove are connected by the bottom of spring and groove.Using the above structure, exist
Robot effectively can carry out damping to robot when passing through the section jolted, and shock absorption principle is similar to the Non-carrying type knot of automobile
Structure, good damping effect.
Further, it is provided with screw hole on the connecting plate, supporting plate is fixed by bolt and connecting plate.Using the above structure,
It is dismounted convenient for more supporting plates, supporting plate can be replaced in time to adapt to different demands.
Further, light compensating lamp is additionally provided with around the color sensor.The environment below bottom plate is avoided to cross by leading
Cause color sensor that can not identify the color of bottom.
Further, the side of the bottom plate is additionally provided with ultrasonic sensor.For detecting the obstacle around robot
Object provides service for robot obstacle-avoiding.
Further, including at least one position and the matched ultrasonic sensor of holder.Due to holder direction one
As the direction that faces for robot, robot is most in face of holder direction running under normal circumstances, therefore matched with holder
Ultrasonic sensor is arranged in position.
Further, the upper surface of the supporting plate is additionally provided with sensor group, and holder is being arranged in just in the sensor group
Top.The sensor group includes ultrasonic sensor and color sensor, and ultrasonic sensor is for detecting when on supporting plate
Cargo code it is higher when, eminence whether have protrusion obstacle, reduce bottom plate around ultrasonic sensor blind area.Color sensor
For detecting the color of surrounding environment light, corrected parameter is provided for the color sensor below bottom plate.
Further, the top surface edge of the supporting plate is additionally provided with spud pile.It is fixed by being arranged in splint upper surface
The traction rope of cargo or cargo can be fixed on spud pile in stacking cargo on supporting plate, make cargo not by the method for stake
Easily slid from supporting plate.
Further, Mecanum wheel is connected in the shaft.This all-around mobile mode is that had perhaps based on one
Multidigit is in the principle of the centre wheel of the wheel shaft on wheel periphery, these angled periphery wheel shafts are a part of wheel steering force
It is transformed into above a wheel normal force.Direction and speed by respective wheel, the final synthesis of these power is in any requirement
Direction on generate resultant force vector to ensure that this platform can be moved freely on the direction of final resultant force vector
It is dynamic, the direction without changing wheel itself.Diagonally distribute many small rollers on its wheel rim, therefore wheel can be slided laterally
It moves.The bus of small roller is very special, and when wheel is around fixed wheel arbor rotation, the envelope of each small roller is cylinder
Face, so the wheel being capable of continuously rolls forward.Mecanum wheel is compact-sized, and movement is a kind of very successful full side flexibly
Position wheel.There is a this novel wheel to be combined, it can be with more flexible convenient realization all-around mobile function.
A kind of modularization inspection robot system, including the modularization inspection robot, further include preset website and
Line walking track between website and website；
The website is the circular indicia of spraying on the ground, and the color of each website and the color of other websites are different；
The line walking track is the mark band of spraying on the ground, and the mark band includes two sections and connect with both ends website
Holding area between cog region and two sections of cog regions, the holding area are white bottom tape identification item, are also set up on the identification strip
There are black bars, the cog region is to be parallel to the spaced targeted sites color of mark band extending direction and white indicia
Item.
This programme is based on image recognition technology keeps trolley past by the way that website is arranged before each class or office
It returns in each classroom and office, meanwhile, the method by spraying track on ground makes the program of trolley pertain only to identification track
With along rail running, complicated positioning and Navigator are not needed, is fixed suitable for this origin of school and destination
Region, programming difficulty is lower, and high reliablity, and be not take up the communication resource does not need background server and is supported, Neng Gou great
The use of batch.
In conclusion by adopting the above-described technical solution, the beneficial effects of the utility model are:
1. a kind of modularization inspection robot of the utility model and the system using the robot are solved since student hands over
When operation and teacher's breaking-out industry, has a large amount of exercise sheet and carried between classroom and office, generally help teacher complete by student
At still, carrying heavy goods are easy the problem of causing to damage to body, influencing the development of student；
2. a kind of modularization inspection robot of the utility model and the system using the robot, by spraying rail on ground
The method in road makes the program of robot pertain only to identification track and along rail running, does not need complicated positioning and navigation
Program, the region fixed suitable for this origin of school and destination；
3. a kind of modularization inspection robot of the utility model and the system using the robot, programming difficulty is lower, can
By property height, and it is not take up the communication resource, does not need background server and be supported, large batch of can use；
4. a kind of modularization inspection robot of the utility model and the system using the robot, robot use modularization
Design, convenient for being customized upgrading according to demand.
Detailed description of the invention
The utility model will illustrate by example and with reference to the appended drawing, in which:
Fig. 1 is robot module's structure chart of the utility model；
Fig. 2 is the system cartographic model schematic diagram of the utility model；
Fig. 3 is the system cartographic model schematic diagram of the utility model；
In figure, 1- bottom plate, 2- supporting plate, 3- control module, 4- driving device, 401- shaft, 501- support base, 502 springs,
503- support rod, 504- connecting plate, 505- bolt, 6- color sensor, 7- high-definition camera, 8- holder, 9- supersonic sensing
Device, 10- light compensating lamp, 11- sensor group, 12- spud pile.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
It elaborates below with reference to Fig. 1, Fig. 2 to the utility model.
Embodiment 1
A kind of modularization inspection robot including bottom plate 1, is arranged in the support device of 1 top surface edge of bottom plate and passes through
1 top of the bottom plate supporting plate 2 parallel with bottom plate 1 is arranged in support device；
Several driving devices 4 that 1 upper surface of bottom plate is additionally provided with control module 3 and connect with control module 3, it is described
Shaft 401 is provided in driving device 4；
The lower surface of the bottom plate 1 is provided with color sensor 6 and holder 8, is also connected with high-definition camera on the holder 8
First 7, the geometric center of 1 lower surface of bottom plate is arranged in the color sensor 6, and the side of 1 lower surface of bottom plate is arranged in the holder 6
Edge.
Using the above structure, basic mould group is that bottom plate 1, supporting plate 2, support device and driving device 4 are constituted, control module 3
It can be configured according to demand, this programme further includes high-definition camera 7 needed for the inspection robot on basis and color sensing
Device 6；Robot realizes movement and steering to all directions by driving device 4, and the color sensor 6 of robot bottom is used for
To the color of website below identification robot, the image of the high-definition camera 7 in front line walking track for identification.By on ground
The method for spraying track makes the program of robot pertain only to identification track and along rail running, does not need complicated positioning
And Navigator, the region fixed suitable for this origin of school and destination, programming difficulty is lower, high reliablity, and not
The communication resource is occupied, background server is not needed and is supported, large batch of can use.
Embodiment 2
The present embodiment the difference from embodiment 1 is that, the support device includes the support base connecting with 1 upper surface of bottom plate
501, the upper surface of support base 501 is provided with groove straight down, further includes the support rod 503 in one end insertion groove, support
For the other end of bar 503 by being provided with the matched connecting plate 504 of supporting plate 2, the bottom that support rod 503 is inserted into one end in groove is logical
Spring 502 is crossed to connect with the bottom of groove.It using the above structure, can be effectively to machine when robot passes through the section jolted
People carries out damping, and shock absorption principle is similar to the Non-carrying type structure of automobile, good damping effect.
Further, screw hole is provided on the connecting plate, supporting plate 2 is fixed by bolt 505 and connecting plate 504.Using upper
Structure is stated, is dismounted convenient for more supporting plates 2, supporting plate 2 can be replaced in time to adapt to different demands.
Further, light compensating lamp 10 is additionally provided with around the color sensor 6.Avoid the environment mistake of 1 lower section of bottom plate
By the color for causing color sensor 6 that can not identify bottom.
Further, the side of the bottom plate 1 is additionally provided with ultrasonic sensor 9.For detecting the barrier around robot
Hinder object, provides service for robot obstacle-avoiding.
Further, including at least one position and the matched ultrasonic sensor 9 of holder 8.Due to 8 direction of holder
The generally direction that faces of robot, robot is most in face of 8 direction running of holder under normal circumstances, thus with holder 8
The position setting ultrasonic sensor 9 matched.
Further, the upper surface of the supporting plate 2 is additionally provided with sensor group 11, and the sensor group 11 is arranged in holder
8 surface.The sensor group 11 includes ultrasonic sensor and color sensor, and ultrasonic sensor is for detecting when support
Cargo code on plate 2 it is higher when, whether eminence has the obstacle of protrusion, reduces the blind area of ultrasonic sensor 9 around bottom plate.Face
Colour sensor is used to detect the color of surrounding environment light, and the color sensor 6 for 1 lower section of bottom plate provides corrected parameter.
Further, the top surface edge of the supporting plate 2 is additionally provided with spud pile 12.By being arranged in 2 upper surface of supporting plate
The traction rope of cargo or cargo can be fixed on spud pile 12 in stacking cargo on supporting plate 2 by the method for spud pile 12
On, make cargo be not easy to slide from supporting plate 2.
Further, Mecanum wheel is connected in the shaft.This all-around mobile mode is that had perhaps based on one
Multidigit is in the principle of the centre wheel of the wheel shaft on wheel periphery, these angled periphery wheel shafts are a part of wheel steering force
It is transformed into above a wheel normal force.Direction and speed by respective wheel, the final synthesis of these power is in any requirement
Direction on generate resultant force vector to ensure that this platform can be moved freely on the direction of final resultant force vector
It is dynamic, the direction without changing wheel itself.Diagonally distribute many small rollers on its wheel rim, therefore wheel can be slided laterally
It moves.The bus of small roller is very special, and when wheel is around fixed wheel arbor rotation, the envelope of each small roller is cylinder
Face, so the wheel being capable of continuously rolls forward.Mecanum wheel is compact-sized, and movement is a kind of very successful full side flexibly
Position wheel.There are 4 this novel wheels to be combined, it can be with more flexible convenient realization all-around mobile function.
Embodiment 3
A kind of modularization inspection robot system, including the modularization inspection robot, further include preset website and
Line walking track between website and website；
The website is the circular indicia of spraying on the ground, and the color of each website and the color of other websites are different；
The line walking track is the mark band of spraying on the ground, and the mark band includes two sections and connect with both ends website
Holding area between cog region and two sections of cog regions, the holding area are white bottom tape identification item, are also set up on the identification strip
There are black bars, the cog region is to be parallel to the spaced targeted sites color of mark band extending direction and white indicia
Item.
This programme is based on image recognition technology keeps trolley past by the way that website is arranged before each class or office
It returns in each classroom and office, meanwhile, the method by spraying track on ground makes the program of trolley pertain only to identification track
With along rail running, complicated positioning and Navigator are not needed, is fixed suitable for this origin of school and destination
Region, programming difficulty is lower, and high reliablity, and be not take up the communication resource does not need background server and is supported, Neng Gou great
The use of batch.
Embodiment 4
The line walking track includes three parallel white bottom tape identification items.The robot drives into holding by cog region
Area, keeping traveling includes straightway and turning end during entering website by next cog region, in which:
Straightway is by, into three parallel white bottom tape identification items on right side, intermediate is white on the left of robot driving direction
The spraying of color tail band identification strip is black；
Left-hand rotation section by the left of robot driving direction into three parallel white bottom tape identification items on right side, between left side
The spraying of white bottom tape identification item is black；
Right-hand rotation section by the left of robot driving direction into three parallel white bottom tape identification items on right side, between right side
The spraying of white bottom tape identification item is black.
Using the above method, structure is simple, does not need complicated control program, it is only necessary to parallel white by transformation three
The position of black bars can guided robot progress straight-line travelling or turning on color tail band identification strip.
Under line walking state, the camera in front reads the black and white state of three parallel white bottom tape identification items for robot
Such as the following table 1 of processing afterwards:
| It is left | In | It is right | Movement |
| It is black | It is white | It is white | Turn left |
| It is white | It is white | It is black | It turns right |
| It is white | It is black | It is white | Straight trip |
Table 1
Embodiment 5
As shown in Figure 1, 2, 3, the present embodiment is a kind of specific implementation, totally 4 websites, 5 sections of line walking tracks, 4 stations
Point is coated with red, yellow, blue, green four colour codes respectively to be known, and solid line, which represents, in 5 sections of line walking tracks is provided with black color on white bottom band
Band, dotted line indicate to be not provided with black bars on white bottom band.
When user needs article being transferred to yellow station from red station, robot is placed in red mark first, so
Input destination website is yellow website afterwards, after robot detects that bottom mark color is red by color sensor 6, root
Cartographic model planning path according to pre- typing is red-blue-Huang, and robot starts to rotate in place, until robot is taken the photograph by high definition
Start to move after being aligned as the judgement of first 7 acquired image with blue white alternate cog region, be moved after passing through cog region along holding area
It moves until the color sensor 6 of robot bottom detects that robot enters blue tag slot, robot starts to rotate in place, directly
Start to move after being aligned by the judgement of 7 acquired image of high-definition camera with yellowish-white alternate cog region to robot, pass through
It moves along holding area until the color sensor 6 of robot bottom detects that robot enters yellow tag slot, arrives after cog region
Up to destination,
Further, when red station to blue station or blue station congestion occur to yellow station, user can be by congestion
Section is set as barrier, and robot planning route is switched to red-green-yellow.
The above, only preferred embodiments of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art, can be without creative labor in the technical scope disclosed by the utility model
The dynamic change or replacement expected, should be covered within the scope of the utility model.Therefore, the protection model of the utility model
Enclosing be determined by the scope of protection defined in the claims.
Claims (10)
1. a kind of modularization inspection robot, it is characterised in that:
It is arranged in the support device of bottom plate (1) top surface edge and by support device in bottom plate (1) including bottom plate (1), setting
The top supporting plate parallel with bottom plate (1) (2)；
Several driving devices (4) that bottom plate (1) upper surface is additionally provided with control module (3) and connect with control module (3),
Shaft (401) are provided on the driving device (4)；
The lower surface of the bottom plate (1) is provided with color sensor (6) and holder (8), is also connected with high definition on the holder (8)
Camera (7), color sensor (6) setting is in the geometric center of bottom plate (1) lower surface, and holder (8) setting is the bottom of at
The edge of plate (1) lower surface.
2. a kind of modularization inspection robot according to claim 1, it is characterised in that: the support device includes and bottom
The support base (501) of plate (1) upper surface connection, it further includes one end that the upper surface of support base (501), which is provided with groove straight down,
The support rod (503) being inserted into groove, the other end of support rod (503) is by being provided with and supporting plate (2) matched connecting plate
(504), the bottom of one end is connect by spring (502) with the bottom of groove in support rod (503) insertion groove.
3. a kind of modularization inspection robot according to claim 2, it is characterised in that: be provided with spiral shell on the connecting plate
Hole, supporting plate (2) are fixed by bolt (505) and connecting plate (504).
4. a kind of modularization inspection robot according to claim 1, it is characterised in that: the color sensor (6)
Surrounding is additionally provided with light compensating lamp (10).
5. a kind of modularization inspection robot according to claim 1, it is characterised in that: the side of the bottom plate (1) is also
It is provided with ultrasonic sensor (9).
6. a kind of modularization inspection robot according to claim 5, it is characterised in that: including at least one position and cloud
Platform (8) matched ultrasonic sensor (9).
7. a kind of modularization inspection robot according to claim 1, it is characterised in that: the upper surface of the supporting plate (2)
It is additionally provided with sensor group (11), surface of sensor group (11) setting in holder (8).
8. a kind of modularization inspection robot according to claim 1, it is characterised in that: the upper surface of the supporting plate (2)
Edge is additionally provided with spud pile (12).
9. a kind of modularization inspection robot according to claim 1, it is characterised in that: be connected with Mike in the shaft
Na Mu wheel.
10. a kind of modularization inspection robot system, including a kind of modularization inspection robot as described in claim 1,
It is characterized in that: further including the line walking track between preset website and website and website；
The website is the circular indicia of spraying on the ground, and the color of each website and the color of other websites are different；
The line walking track is the mark band of spraying on the ground, and the mark band includes two sections of identifications connecting with both ends website
Holding area between area and two sections of cog regions, the holding area are white bottom tape identification item, are additionally provided on the identification strip black
Color colour band, the cog region are to be parallel to the spaced targeted sites color of mark band extending direction and white indicia item.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920026941.0U CN209425452U (en) | 2019-01-08 | 2019-01-08 | A kind of modularization inspection robot and the system using the robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920026941.0U CN209425452U (en) | 2019-01-08 | 2019-01-08 | A kind of modularization inspection robot and the system using the robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209425452U true CN209425452U (en) | 2019-09-24 |
Family
ID=67975633
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920026941.0U Expired - Fee Related CN209425452U (en) | 2019-01-08 | 2019-01-08 | A kind of modularization inspection robot and the system using the robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110954167A (en) * | 2019-12-11 | 2020-04-03 | 云南电网有限责任公司昆明供电局 | Line inspection robot fault maintenance and self-checking data acquisition method |
| CN113799131A (en) * | 2021-09-24 | 2021-12-17 | 国网山东省电力公司曲阜市供电公司 | Transformer substation inspection and maintenance robot control system and method |
-
2019
- 2019-01-08 CN CN201920026941.0U patent/CN209425452U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110954167A (en) * | 2019-12-11 | 2020-04-03 | 云南电网有限责任公司昆明供电局 | Line inspection robot fault maintenance and self-checking data acquisition method |
| CN110954167B (en) * | 2019-12-11 | 2022-02-15 | 云南电网有限责任公司昆明供电局 | Line inspection robot fault maintenance and self-checking data acquisition method |
| CN113799131A (en) * | 2021-09-24 | 2021-12-17 | 国网山东省电力公司曲阜市供电公司 | Transformer substation inspection and maintenance robot control system and method |
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Granted publication date: 20190924 Termination date: 20210108 |