CN209717722U - A kind of crusing robot with barrier avoiding function - Google Patents
A kind of crusing robot with barrier avoiding function Download PDFInfo
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- CN209717722U CN209717722U CN201821655957.XU CN201821655957U CN209717722U CN 209717722 U CN209717722 U CN 209717722U CN 201821655957 U CN201821655957 U CN 201821655957U CN 209717722 U CN209717722 U CN 209717722U
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Abstract
The utility model provides a kind of crusing robot with barrier avoiding function, including robot body, holder, the cradle head controllor rotated freely for controlling the holder, ultrasonic detection device, camera, light compensating lamp, industrial personal computer and host computer, the holder is set on the robot body, the camera, camera and light compensating lamp are all set on the holder, the ultrasonic detection device is set to the front of the robot body, the quantity at least two of the ultrasonic detection device, the at least two ultrasonic detection devices level, one row setting, the ultrasonic detection device, camera and light compensating lamp are connect with the industrial personal computer, the chassis of the robot uses two-wheel differential driving method, the industrial personal computer is fixedly mounted on the robot body, the industrial personal computer by technical grade antenna with Host computer connection.The robot detection range of the utility model is wide, detection accuracy is high.
Description
Technical field
The utility model relates to robot field more particularly to a kind of crusing robots with barrier avoiding function.
Background technique
Currently, in the power system, start the intelligent robot routine inspection mode for substituting manual inspection, it can be to avoid high electricity
Pressure, high Radiation On Human cause damages, and working efficiency and quality also can be improved, really play the role of personnel reduction and enlargement, preferably add
The fast intelligent Process for pushing substation unattended.But existing robot detection range is small, and detection accuracy is low.
Therefore, it is necessary to provide a kind of new technical solution.
Utility model content
In order to overcome the defects of the prior art described above, the utility model provides a kind of inspection machine with barrier avoiding function
People, detection accuracy is high, and detection range is wide.
The utility model provides a kind of crusing robot with barrier avoiding function, the robot include robot body,
Holder, cradle head controllor, ultrasonic detection device, camera, the light compensating lamp, work rotated freely for controlling the holder
Control machine and host computer, the holder are set on the robot body, and the camera, camera and light compensating lamp are all set in institute
It states on holder, the ultrasonic detection device is set to the front of the robot body, the ultrasonic detection device
Quantity at least two, at least two ultrasonic detection devices level, one row setting, the ultrasonic detection device, camera
It is connect with the industrial personal computer with light compensating lamp, the chassis of the robot uses two-wheel differential driving method, and the industrial personal computer is solid
On the robot body, the industrial personal computer is connect by technical grade antenna with host computer for Dingan County.
Further, the ultrasonic detection device includes supersonic generator, connect with the supersonic generator
Ultrasonic sensor and detection of obstacles module.
It further, further include laser range finder, sound pick-up, angular transducer, servo motor and motor driver, it is described
Laser range finder is set to the front of the robot body, and the sound pick-up is set on the robot body, the electricity
Machine driver and angular transducer are connect with the cradle head controllor.
Further, the holder is two degree-of-freedom cradle heads, and described two freedom degrees include horizontal freedom degree and vertical
Freedom degree, horizontally rotating range is ± 180 °, and pitch rotation range is -30 °~90 °.
Further, the robot body includes travel driving unit, and the travel driving unit passes through bus and work
The connection of control machine, two, the chassis front-wheel of the robot are driving wheel, and two, robot chassis rear-wheel is universal wheel, the walking
Driving device is for driving the driving wheel to move.
Further, the light compensating lamp is located at the top of the camera, and adjacent with the camera.
Further, the camera is high-definition camera.
Further, the sound pick-up is set to the front of the robot body, and the sound pick-up is for acquiring inspection
Transformer and highly resistance equipment sound in the process.
It further, further include alarm and loudspeaker, the alarm and loudspeaker are connect with the industrial personal computer.
Further, the technical grade antenna is two, which is installed on the robot body
Rear, the host computer are computer.
Compared with prior art, the utility model has the advantages that
The crusing robot with barrier avoiding function of the utility model, flexible with bobbin movement, autonomous holder precision
The advantages of height, backstage Seamless integration-, three-level avoidance technology, rapid deployment application and high-level vision function, and detection range is wide, essence
Degree is high.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution of the utility model embodiment
The attached drawing used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the utility model
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.Wherein:
Fig. 1 is the block diagram for the crusing robot that the utility model has barrier avoiding function.
Specific embodiment
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing and have
Body embodiment is described in further detail the utility model.
" one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one realization side of the utility model
A particular feature, structure, or characteristic in formula." in one embodiment " that different places occur in the present specification not refers both to
The same embodiment, nor the individual or selective embodiment mutually exclusive with other embodiments.
Referring to Fig. 1, the block diagram of its crusing robot for the utility model with barrier avoiding function, 1. is a kind of with avoidance
The crusing robot of function, it is characterised in that: the robot include robot body, holder, cradle head controllor, industrial personal computer,
Ultrasonic detection device, camera, camera, light compensating lamp, laser range finder and sound pick-up.
The holder is set on the robot body, and the camera, camera and light compensating lamp are all set in the cloud
On platform.The ultrasonic detection device, camera, camera and light compensating lamp are connect with the industrial personal computer.
The supersonic sensing that the ultrasonic detection device includes supersonic generator, is connect with the supersonic generator
Device and detection of obstacles module, for the supersonic generator for issuing ultrasonic wave, the ultrasonic sensor is super for detecting
Sound wave, the detection of obstacles module will test result transmission for whether there are obstacles according to the ultrasound examination
To industrial personal computer.The ultrasonic detection device is set to the front of the robot body, the ultrasonic detection device
Quantity at least two, at least two ultrasonic detection devices level, one row setting.Preferably, the ultrasonic detection device
The ultrasonic wave of sending is trackless laser.
The laser range finder is set to the front of the robot body, and the sound pick-up is set to the robot sheet
On body.
The chassis of the robot use two-wheel differential driving method, the cradle head controllor for control the holder into
Row rotate freely, the industrial personal computer is fixedly mounted on the robot body, the industrial personal computer by wireless communication device with
Host computer connection.
The camera for being monitored to warehouse environment, believe examined object image for acquiring by the camera
Breath, for the laser range finder for acquiring robot and the range data with detection object, the sound pick-up is to be checked for acquiring
Survey the abnormal sound that object issues.
The industrial personal computer is used to receive the real-time status number of the camera, camera, laser range finder and sound pick-up transmission
According to, and real-time status data is sent to host computer.
The host computer is used to receive the data of the industrial personal computer transmission, and will be in the real-time status data and database
Data compare and generate comparing result.
In one embodiment, the robot further includes angular transducer, servo motor and motor driver, the motor
Driver and angular transducer are connect with the cradle head controllor.
The angular transducer is used to acquire the angular position information of holder, and the cradle head controllor is used for according to the angle
It spends location information and controls the motor driver driving servo motor movement, the servo motor drives the holder rotation.
Further, the holder is two degree-of-freedom cradle heads, and described two freedom degrees include horizontal freedom degree and vertical
Freedom degree, horizontally rotating range is ± 180 °, and pitch rotation range is -30 °~90 °.
A in one embodiment, the robot body includes travel driving unit, and the travel driving unit passes through
Bus is connect with industrial personal computer, and two, the chassis front-wheel of the robot is driving wheel, and two, robot chassis rear-wheel is universal wheel,
The travel driving unit is for driving the driving wheel to move.
Preferably, the camera and the setting of camera horizontal Tile, the light compensating lamp are located at the camera and phase
The top of machine, and it is adjacent with the camera and camera respectively.The camera is high-definition camera, can carry out HD video reality
When monitor, the camera be true feeling 3D stereoscopic camera, depth environmental information identification can be carried out.
The sound pick-up is set to the front of the robot body, and the sound pick-up is used to acquire the change during inspection
Depressor and highly resistance equipment sound.
In one embodiment, the wireless communication device is technical grade antenna, and the technical grade antenna is two, this two
Root technical grade antenna is installed on the rear of the robot body, and the host computer is computer.
In one embodiment, the robot further includes battery；The battery is installed on the robot body
On, the battery is used to power for the robot.In another embodiment, by designing charging pile in predetermined position,
The robot can independently realize charging.
In one embodiment, further include alarm and loudspeaker, the alarm and loudspeaker with the industrial personal computer
It is connected by I/O agreement.In one embodiment, the industrial personal computer is used for camera, camera, laser range finder and sound pick-up
The real-time status data of transmission is analyzed, and analysis result is exported to host computer.If analysis result have it is different, control described in
Alarm and loudspeaker sound an alarm.
The crusing robot with barrier avoiding function of the utility model, flexible with bobbin movement, autonomous holder precision
The advantages of height, backstage Seamless integration-, three-level avoidance technology, rapid deployment application and high-level vision function, and detection range is wide, essence
Degree is high.Through testing, the robot speed of the utility model is 0-1.2m/s, and climbing capacity is 15 °, degree of protection IP55, fixed
Position precision is ± 10mm, obstacle climbing ability 5cm, fording depth 100mm, working time 8h.
It should be noted that the robot of the utility model can be applied to strip of paper used for sealing damage testing, direction board designated position,
Fire extinguisher region leaves about detection, ceiling falls off, and leak water detdction, cabinet damage testing and goods and materials quantity calculate etc..
Above description sufficiently discloses specific embodiment of the present utility model.It should be pointed out that being familiar with the neck
Right of any change that the technical staff in domain does specific embodiment of the present utility model all without departing from the utility model
The range of claim.Correspondingly, the scope of the claims of the utility model is also not limited only to aforementioned specific embodiment party
Formula.
Claims (8)
1. a kind of crusing robot with barrier avoiding function, it is characterised in that: the robot include robot body, holder,
Cradle head controllor, ultrasonic detection device, camera, light compensating lamp, the industrial personal computer rotated freely for controlling the holder
And host computer, the holder are set on the robot body, the camera and light compensating lamp are all set on the holder,
The ultrasonic detection device is set to the front of the robot body, and the quantity of the ultrasonic detection device is at least
Two, at least two ultrasonic detection devices level, one row setting, the ultrasonic detection device, camera and light compensating lamp are equal
It is connect with the industrial personal computer, the chassis of the robot uses two-wheel differential driving method, and the industrial personal computer is fixedly mounted on institute
It states on robot body, the industrial personal computer is connect by technical grade antenna with host computer；The robot further includes laser ranging
Instrument, sound pick-up, angular transducer, servo motor and motor driver, the laser range finder are set to the robot body
Front, the sound pick-up is set on the robot body, the motor driver and angular transducer with the cloud
The connection of platform controller；The sound pick-up is set to the front of the robot body, and the sound pick-up is for acquiring inspection process
In transformer and highly resistance equipment sound.
2. robot according to claim 1, it is characterised in that: the ultrasonic detection device includes ultrasonic wave
Device, the ultrasonic sensor being connect with the supersonic generator and detection of obstacles module.
3. robot according to claim 1, it is characterised in that: the holder is two degree-of-freedom cradle heads, described two
Freedom degree includes horizontal freedom degree and vertical degree of freedom, and horizontally rotating range is ± 180 °, and pitch rotation range is -30 °~
90°。
4. robot according to claim 1, it is characterised in that: the robot body includes travel driving unit, institute
It states travel driving unit to connect by bus with industrial personal computer, two, the chassis front-wheel of the robot is driving wheel, robot bottom
Two rear-wheels of disk are universal wheel, and the travel driving unit is for driving the driving wheel to move.
5. robot according to claim 1, it is characterised in that: the light compensating lamp is located at the top of the camera, and
It is adjacent with the camera.
6. robot according to claim 1, it is characterised in that: the camera is high-definition camera.
7. robot according to claim 1, it is characterised in that: further include alarm and loudspeaker, the alarm and
Loudspeaker is connect with the industrial personal computer.
8. robot according to claim 1, it is characterised in that: the technical grade antenna is two, two technical grades
Antenna is installed on the rear of the robot body, and the host computer is computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821655957.XU CN209717722U (en) | 2018-10-12 | 2018-10-12 | A kind of crusing robot with barrier avoiding function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821655957.XU CN209717722U (en) | 2018-10-12 | 2018-10-12 | A kind of crusing robot with barrier avoiding function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209717722U true CN209717722U (en) | 2019-12-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821655957.XU Active CN209717722U (en) | 2018-10-12 | 2018-10-12 | A kind of crusing robot with barrier avoiding function |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409065A (en) * | 2020-01-15 | 2020-07-14 | 上海锵玫人工智能科技有限公司 | Robot chassis working in complex environment |
| CN111618884A (en) * | 2020-06-29 | 2020-09-04 | 天津市三特电子有限公司 | Intelligent inspection robot suitable for furnace body with tuyere structure |
| CN112060104A (en) * | 2020-08-21 | 2020-12-11 | 北京全路通信信号研究设计院集团有限公司 | Double-wheel inspection robot |
-
2018
- 2018-10-12 CN CN201821655957.XU patent/CN209717722U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409065A (en) * | 2020-01-15 | 2020-07-14 | 上海锵玫人工智能科技有限公司 | Robot chassis working in complex environment |
| CN111618884A (en) * | 2020-06-29 | 2020-09-04 | 天津市三特电子有限公司 | Intelligent inspection robot suitable for furnace body with tuyere structure |
| CN111618884B (en) * | 2020-06-29 | 2023-09-26 | 天津市三特电子有限公司 | Intelligent inspection robot suitable for furnace body with tuyere structure |
| CN112060104A (en) * | 2020-08-21 | 2020-12-11 | 北京全路通信信号研究设计院集团有限公司 | Double-wheel inspection robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210415 Address after: 2 / F and 5 / F (West Side) of Building 2, 38 Kaitai Avenue, Huangpu District, Guangzhou, Guangdong 510000 Patentee after: Guangdong robot Innovation Center Co.,Ltd. Address before: No.204, No.14, no.828, Maogang Road, Huangpu District, Guangzhou, Guangdong 510000 Patentee before: SINOMACH INTELLIGENCE TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |