CN210256112U

CN210256112U - Intelligent inspection robot with snake-shaped detection head

Info

Publication number: CN210256112U
Application number: CN201921248541.0U
Authority: CN
Inventors: 杨剑乐
Original assignee: Shaanxi Zhongjianle Intelligent Robot Co ltd
Current assignee: Shaanxi Zhongjian Jianle intelligent robot Co.,Ltd.
Priority date: 2019-08-05
Filing date: 2019-08-05
Publication date: 2020-04-07
Anticipated expiration: 2029-08-05

Abstract

The utility model provides an intelligent robot patrols and examines with snakelike detecting head, include: organism, two triangle track drive wheels, survey base, a plurality of serpentine motion module, snake head detecting head, triangle track drive wheel is located organism side below for the robot motion of advancing, it is located the organism top to survey the base, a plurality of serpentine motion modules at first are connected with surveying the base, connect gradually again, snake head detecting head is connected in snake head module end, the organism includes infrared temperature measurement module, gas detection module, humidity detection module, handles analysis module, data transmission module, autonomic location navigation module, drive module, provides a method of patrolling and examining intelligent robot who has snake head simultaneously, can realize closely surveying, no dead angle is surveyed, ensures the discernment rate and the rate of accuracy of patrolling and examining abnormal signal.

Description

Intelligent inspection robot with snake-shaped detection head

Technical Field

The utility model belongs to the intelligent robot field, more specifically relates to an intelligent robot patrols and examines that has snakelike detecting head that can adapt to in utility tunnel.

Background

The utility tunnel is underground city pipeline utility tunnel, with various engineering pipelines such as electric power, communication, gas, heat supply, plumbing collection in an organic whole, underground utility tunnel system not only solves the crowded problem of city traffic, still greatly made things convenient for the maintenance and the maintenance of municipal facilities such as electric power, communication, gas, water supply and drainage, in addition, this system has certain shockproof disaster reduction effect, the utility tunnel is the important infrastructure and the "lifeline" of guarantee city operation, exert important effect to satisfying the basic demand of civilian life and improving city comprehensive bearing capacity.

In developed countries, the utility tunnel has existed for more than a century, the system has a trend of increasing scale while becoming perfect day by day, the cities in which the utility tunnels are built in China are still few, but a plurality of cities have been provided with utility tunnel construction guidance and management files one after another, the development of the utility tunnel has become a trend today in the high-speed development of China, and the utility tunnel inspection technology matched with the utility tunnel is also needed to be perfect.

The current comprehensive pipe gallery inspection robot mainly comprises three types, namely a wheel type robot, a rail hanging robot and a crawler type robot, wherein the crawler type robot is strong in road surface adaptability, can climb and step up, can realize trackless automatic positioning navigation, does not need large-scale civil engineering construction, is large in moving range, flexible and adjustable in walking route, high in transmission efficiency and strong in load capacity.

The snake-shaped robot is a novel robot simulating the motion of a biological snake, can well complete the motion with multiple degrees of freedom like a snake body, and can be applied to various working fields due to the advantages of slender body, small cross section, stable motion state, strong flexibility, strong environment adaptability and the like.

The inspection process of the conventional comprehensive pipe gallery inspection robot is possibly influenced by angles and light rays, the problem that video acquisition is fuzzy or some narrow and small positions are difficult to detect precisely is caused, the snake-shaped robot is adopted for inspection, the inspection flexibility is high, the transmission efficiency is low, the snake-shaped robot is generally only suitable for pipelines with complex structures, and the conventional comprehensive pipe gallery inspection robot is not suitable for short-distance detection and dead-angle-free detection.

Disclosure of Invention

The utility model aims at providing an intelligent robot patrols and examines with snakelike detecting head can realize closely surveying, do not have the dead angle and survey, guarantee inspection abnormal signal's recognition rate and rate of accuracy.

The embodiment of the utility model provides an intelligent inspection robot with a snake-shaped detection head, which comprises a machine body, a triangular crawler transmission wheel, a detection base, a plurality of snake-shaped motion modules and a large-range video acquisition module; the triangle track drive wheel symmetry sets up in the both sides of organism for the robot walks, it is located the organism top to survey the base, video acquisition module sets up on a large scale and is surveying the base lateral part, survey the base and connect a plurality of serpentine motion modules, connect gradually between a plurality of serpentine motion modules, there is the snake head detecting head at a plurality of serpentine motion module end-to-end connections that connect gradually.

The snakelike motion modules comprise a snakelike module upper connecting part, a snakelike module lower connecting part and a snakelike module steering engine, and a connector of the snakelike module upper connecting part can rotate 90 degrees.

And the snake head detecting head is provided with a precise video acquisition module, a precise gas detection module, an illumination module and a distance sensor.

The detection base is also provided with a lifting mechanism for lifting the detection base.

The utility model discloses an adaptable inspection robot in utility tunnel and an inspection method who patrols and examines robot can use snakelike detecting head to carry out the precision and survey when detecting abnormal signal, also can survey the analysis to the pipeline back that the robot is difficult to observe of generally patrolling and examining, can provide the accurate video of backstage managers and detect data the very first time, and the guarantee patrols and examines abnormal signal's recognition rate and rate of accuracy.

Drawings

Fig. 1 is a schematic structural diagram of an inspection intelligent robot with a snake-shaped detection head;

fig. 2 is a schematic view of the elevation of the probing base of the present invention;

fig. 3 is a schematic view of the serpentine motion module of the present invention;

fig. 4 is a schematic view illustrating that the connection port of the module upper connection part of the present invention is rotated by 90 degrees;

fig. 5 is a block diagram of the inspection intelligent robot with the snake-shaped probe of the present invention;

fig. 6 is a flow chart of the inspection method of the inspection robot of the present invention;

fig. 7 is a flow chart of an alternative inspection method of the inspection robot of the utility model;

reference numerals: 1. the device comprises a triangular crawler belt transmission wheel, 2 a snake head detection head, 3 a snake-shaped module upper connecting part, 4 a snake-shaped module steering engine, 5 a snake-shaped module lower connecting part, 6 a detection base, 7 a large-range video acquisition module, 8 a machine body, 9 an infrared temperature measurement module, 10 a gas detection module and 11 a humidity detection module.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.

As shown in fig. 1, the utility model discloses a first aspect, a smart robot patrols and examines with snakelike detecting head, include: organism 8, two triangle track drive wheels 1, survey base 6, a plurality of snakelike motion module, snake head detecting head 2, triangle track drive wheel 1 is located organism 8 side below for the robot motion of advancing, it is located the organism top to survey base 6, a plurality of snakelike motion modules at first are connected with surveying base 6, connect gradually again, snake head detecting head 2 is connected in snakelike motion module end.

The machine body 8 comprises an infrared temperature measurement module 9, a gas detection module 10, a humidity detection module 11, a processing and analysis module, a data transmission module, an autonomous positioning navigation module and a driving module, wherein the autonomous positioning navigation module adopts a Gaoxian GS-SR module, the infrared temperature measurement module 9, the gas detection module 10 and the humidity detection module 11 are used for detecting in the routine inspection process, collected data are concentrated in the processing and analysis module for judgment and analysis, the autonomous positioning navigation module adopts the Gaoxian GS-SR module, automatic inspection can be realized after a route is planned, and an obstacle avoidance function is integrated.

Survey base 6 including video acquisition module 7, the interactive module of talkbacking on a large scale, video acquisition module 7 is used for piping lane real-time supervision on a large scale, and is optional, can carry out algorithm identification image, carries out analysis and transmission to pipeline spatial information, pipeline arrangement attribute information etc. makes data management platform possess clear understanding to the piping lane circuit, and the interactive module of talkbacking is used for talkbacking of data management platform and robot terminal.

As shown in fig. 2, the detection base 6 has a lifting function for accommodating pipe galleries of different heights.

The snake head detecting head 2 comprises a precise video acquisition module, a precise gas detection module, an illumination module and a distance sensor, when abnormal detection is found, the precise gas detection module, the precise video acquisition module are matched with the illumination module and the distance sensor, more accurate leakage information and more clear video information can be acquired, and the detailed site situation of the data management platform can be known at the first time.

As shown in fig. 3, the utility model discloses serpentine motion module's schematic diagram, a plurality of serpentine motion modules include connecting portion 3 on the module, connecting portion 5 under the module and module steering wheel 4.

As shown in fig. 4, the connection port of the connection part 3 on the module can rotate by 90 degrees, the number and the type of the module can be adjusted according to the actual inspection scene, the modules of different types have different lengths, and the adjacent modules are orthogonally connected to realize snake-shaped multi-degree-of-freedom motion.

As shown in fig. 6, the second aspect of the present invention provides a method for inspecting an intelligent robot with a snake-shaped probe, comprising:

step S110: using a high-speed GS-SR autonomous positioning navigation module to perform autonomous scanning and path planning on the inspection range;

step S120: starting automatic inspection, acquiring an image of an inspection area, and acquiring infrared temperature measurement information, gas detection information and humidity detection information;

step S130: processing information;

step S1301: the information is normal, and the information is normally sent; step S1302: if the information is abnormal, sending alarm information;

step S1312: when abnormal data are found, the snake-shaped probe 2 moves to the position close to the abnormal pipeline, and the precise video acquisition module, the precise gas detection module and the illumination module are used for detecting;

step S140: and transmitting the information to a data management station.

In the inspection method of the inspection intelligent robot with the snake-shaped detection head, firstly, an autonomous positioning navigation module is used for autonomously scanning an inspection range and planning a path, an environment map and a path are formed in a processing and analyzing module, and automatic inspection is realized; secondly, starting automatic inspection work, wherein the infrared temperature measurement module 9, the gas detection module 10, the humidity detection module 11 and the large-range video acquisition module 7 start working, transmitting the acquired information to the processing and analysis module, and judging whether abnormal conditions exist in analysis; when the condition is normal, the information is remotely transmitted to a data management platform without alarm information; when the condition is abnormal, information long-range transmission gives data management platform to report to the police, remind management platform personnel, snakelike detecting head carries out work simultaneously, can stretch into near dead angle, back position even with snake head detecting head 2 through the multi freedom motion, can cooperate the lift of surveying base 6 when needing, enlarge the motion range of snake head detecting head 2, later use precision video acquisition module and precision gas detection module, lighting module, distance sensor survey to give data management platform with detailed information transmission, help the detailed understanding on-the-spot condition of data management platform very first time, when needing, interactive module of talkbacking can work, makes managers and on-the-spot personnel talkback.

As shown in fig. 7, optionally, the step S130 further includes a step S1303: use algorithm identification image, carry out analysis transmission to pipeline spatial information, pipeline arrangement attribute information etc. make data management platform possess clear understanding to the piping lane circuit, when the change of piping lane circuit is updated, realize independently updating piping lane data through patrolling and examining the robot, optional, can generate the three-dimensional arrangement mode of piping lane circuit.

It is to be understood that the above embodiments are merely exemplary embodiments that have been employed to illustrate the principles of the present invention, and that the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.

Claims

1. An intelligent inspection robot with a snake-shaped detection head is characterized by comprising a robot body (8), a triangular crawler transmission wheel (1), a detection base (6), a plurality of snake-shaped motion modules and a large-range video acquisition module (7); triangle track drive wheel (1) symmetry sets up in the both sides of organism (8) for the robot walking, it is located the organism top to survey base (6), video acquisition module (7) set up on a large scale and surveying base (6) lateral part, survey a plurality of serpentine motion modules of base (6) connection, connect gradually between a plurality of serpentine motion modules, there is snake head detecting head (2) at a plurality of serpentine motion module end-to-end connections that connect gradually.

2. The inspection intelligent robot with the snake-shaped detection head as claimed in claim 1, wherein the snake-shaped motion modules comprise a snake-shaped module upper connecting part (3), a snake-shaped module lower connecting part (5) and a snake-shaped module steering engine (4), and a connecting port of the snake-shaped module upper connecting part (3) can rotate by 90 degrees.

3. The inspection intelligent robot with the snake-shaped detection head as claimed in claim 1, wherein a precise video acquisition module, a precise gas detection module, an illumination module and a distance sensor are arranged on the snake-shaped detection head (2).

4. The inspection intelligent robot with the snake-shaped detection head as claimed in claim 1, wherein a lifting mechanism is further arranged on the detection base (6) and used for detecting the lifting of the detection base (6).