CN210452803U

CN210452803U - Obstacle-avoiding inspection robot

Info

Publication number: CN210452803U
Application number: CN201921249307.XU
Authority: CN
Inventors: 王飞; 宋崇智
Original assignee: Research Institute Of Industrial Technology Of Ahut At Xuancheng Co ltd
Current assignee: Research Institute Of Industrial Technology Of Ahut At Xuancheng Co ltd
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2020-05-05
Anticipated expiration: 2029-08-02

Abstract

The utility model discloses a keep away barrier and patrol and examine robot belongs to the robotechnology field. The device comprises a chassis, wherein an outer protective cover is clamped on the chassis; the folding arm support device is used for the inspection work of the robot; the power and driving device is used for providing moving power for the inspection robot and driving the inspection robot; the data acquisition and monitoring device is used for acquiring field data and monitoring the field; the control device comprises an electric cabinet, the electric cabinet is positioned on the chassis and is respectively and electrically connected with the folding arm support device, the power and driving device and the data acquisition and monitoring device; safety and explosion-proof equipment, it is including keeping away the barrier subassembly, through distance sensor, detect and patrol and examine the robot surrounding environment in with patrol and examine the distance between the robot, ensure to patrol and examine the robot and can not collide the barrier at the in-process of walking, accomplish whole work of patrolling and examining through other devices.

Description

Obstacle-avoiding inspection robot

Technical Field

The utility model belongs to the technical field of the robot, more specifically say, relate to a keep away barrier and patrol and examine robot.

Background

With the development of modern petroleum and petrochemical production technology, the development of the technology brings a large amount of wealth and comfortable living environment for human beings on one hand, and on the other hand, due to frequent occurrence of serious accidents such as fire, explosion, poisoning and the like in production, the technology not only brings high economic loss for enterprises, but also enables the petroleum and petrochemical industry to be in high-energy consumption, high-pollution and high-destruction environment for a long time. The normal operation of production equipment and the maintenance of a good and stable production environment are key points of safe production, manual inspection of the equipment is always an important means for maintaining and monitoring the equipment, and workers regularly and programmatically inspect the equipment and check the working state or operation data of the equipment to ensure that the hidden danger of equipment failure is reduced to the minimum. For a long time, the management of personnel inspection is always a difficult problem for managers, in the traditional inspection management, the modes of tag hanging, pin pulling, sign-in and the like are generally adopted, and the defects of the modes are that the conditions of inspection without inspection according to inspection regulations, such as early inspection, late inspection, missed inspection and even no picking, often occur, so that the quality of inspection work cannot be ensured, and the safety of inspection area facilities is difficult to ensure; meanwhile, in the process of inspection by personnel, due to production equipment factors and production environment factors, great potential safety hazards are caused to the inspection personnel, and the life safety of the inspection personnel is threatened. What is needed is a method that can replace manual inspection, has good inspection effect, and can find potential equipment and environmental safety hazards in time. In view of the above problems and the rapid development of the robot industry, it has been proposed to perform chemical inspection by using a robot instead of a human.

Regarding the relevant system that the robot patrols and examines, chinese patent application number is: 201711230244.9, filing date: 2017.11.29 discloses an inspection system and method for an explosion-proof robot, wherein the inspection system comprises a management platform and an explosion-proof robot, the management platform is connected with the explosion-proof robot, when the explosion-proof robot receives the task sent by the management platform, the explosion-proof robot can navigate to the target explosion-proof area to inspect. After the management platform is in communication connection with the explosion-proof robot, a manager can operate the explosion-proof robot through the operation and control of the management platform at the background, so that the explosion-proof robot can enter a dangerous area to perform routing inspection instead of manual work; however, only the frame structure of the management platform and the explosion-proof robot is described, and no description is made for specific products. The Chinese patent application numbers are: 201810648091.8, filing date: 2018.06.21, it includes inspection track, mobile bearing system, control system for walking and detecting movement, detection system, database and analysis system and display alarm system; the mobile bearing system, the walking and motion detection control system and the detection system are integrated into a whole mobile body, the mobile body performs walking detection on the routing inspection track, detection data are stored in the walking and motion detection control system, and the functions of recording, displaying and alarming are realized in the display alarm system through comparison and calculation of the database and the analysis system. The inspection robot system is applied to inflammable and explosive places, can realize digital real-time monitoring and recording, and can inquire and analyze the running state and the trend of a chemical plant in time; however, it only describes the frame type, and how the system can achieve all-round monitoring and data collection is not described. The Chinese patent application numbers are: 201811596806.6, filing date: 2018.12.26, the core algorithm of the method is a depth reinforcement learning algorithm combining curiosity driving algorithm and depth certainty strategy gradient, the algorithm avoids the complex and tedious step of artificial design environment reward in the similar algorithm, but explores and adapts to unknown complex environment through the reward and sparse environment reward in the agent itself; meanwhile, a multi-Agent collaborative learning algorithm is adopted among the multiple robots to obtain an optimal collaborative working strategy. According to the method, a relatively optimal working strategy can be obtained by using a corresponding algorithm, execution is performed according to the established working strategy, and inspection is performed by using a corresponding inspection machine, so that chemical inspection can be well realized.

And a corresponding inspection robot is additionally arranged on the basis of the related system for robot inspection. The Chinese patent application numbers are: 201711411089.0, filing date: 2017.12.23, which discloses a petrochemical inspection robot structure, comprising a box assembly, a driving mechanism, a RFID positioning system, a front navigation assembly, an emergency stop button assembly, a PID gas detector, a front obstacle-avoiding sensor, an explosion-proof loudspeaker, an antenna, a pickup, an explosion-proof holder, a rear obstacle-avoiding sensor, an automatic charging assembly and a rear navigation assembly. The system can replace polling personnel to enter inflammable, explosive and toxic gas environments for polling and monitoring in the petroleum and chemical industries, and has the characteristics of small volume, flexible walking, long communication distance, long working time and convenient operation; however, when the video monitoring is carried out, the use process is not flexible, the monitoring has a view dead angle, and the use difficulty is higher in an environment with complex terrain. If again for Chinese patent application number 201810563796.X, application date is 2018.06.04 "a petrochemical plant intelligence patrols and examines robot", it mainly includes intelligence patrols and examines robot upper portion, intelligence patrols and examines the robot lower part, connecting device, intelligence patrols and examines robot upper portion and mainly includes pipeline motion portion, cloud platform portion, pipeline motion portion mainly includes right pipeline motion case, left pipeline motion case, lead screw motor, right pipeline motion case mainly includes pipeline wheel driving motor, pipeline wheel, left pipeline motion case with right pipeline motion case contains the same component, cloud platform portion mainly includes cloud platform motor, cloud platform chassis, telescopic arm, high definition digtal camera, data acquisition cover, connecting device includes female joint, male joint, female joint includes female joint casing, spring, swivel link, female joint lid. The inspection safety of an inspector is effectively guaranteed, the inspection form is improved, the operation efficiency is improved, the inspection quality is ensured, and the enterprise cost is reduced; similarly, the monitoring process has visual field dead angles, and for complex inspection work and complex geographic environments, the inspection consumes long time, the inspection efficiency is not high, and the use is not facilitated.

According to the scheme, the inspection efficiency is improved, meanwhile, effective obstacle avoidance can not be carried out in the complex environment of the petrochemical plant, and the continuous use of the inspection robot is not facilitated.

Disclosure of Invention

1. Problems to be solved

Under the complicated environment of robot petrochemical plant is patrolled and examined to the current, can not carry out the problem of reasonable effective obstacle avoidance, the utility model provides a keep away the obstacle and patrol and examine robot, through distance sensor, detect in patrolling and examining the robot surrounding environment and patrol and examine the distance between the robot, ensure to patrol and examine the robot and can not collide the barrier at the in-process of walking, patrol and examine the problem that the robot patrolled and examined the in-process and met for the follow-up processing of being convenient for, solve the influence of patrolling and examining that lighting condition is not good to cause, adopt thermal infrared imager to carry out infrared imaging, avoid portable object or biology to cause the damage to examining the robot.

2. Technical scheme

In order to solve the above problem, the utility model discloses the technical scheme who adopts as follows:

the utility model discloses an obstacle avoidance inspection robot, which comprises a chassis, wherein an outer protective cover is clamped on the chassis;

the foldable arm support device comprises a rotary table, a first foldable arm and a second foldable arm, wherein the rotary table is rotatably connected with the outer protective cover and is arranged outside the outer protective cover, one end of the first foldable arm is rotatably connected with the rotary table, and the other end of the first foldable arm is rotatably connected with the second foldable arm;

the power and driving device is used for providing moving power for the inspection robot and driving the inspection robot;

the data acquisition and monitoring device is used for acquiring field data and monitoring the field;

the control device comprises an electric cabinet, and the electric cabinet is positioned on the chassis and is respectively and electrically connected with the folding arm support device, the power and driving device and the data acquisition and monitoring device;

the safety and explosion-proof device comprises an obstacle avoidance assembly, the obstacle avoidance assembly comprises a distance sensor and a thermal infrared imager, the distance sensor and the thermal infrared imager are located on the side face of the outer protective cover, the distance sensor and the thermal infrared imager are respectively electrically connected with a power supply, and the distance sensor and the thermal infrared imager are respectively electrically connected with an electric cabinet.

As the utility model discloses preferred scheme, the outer guard shield outside is provided with the light along patrolling and examining robot advancing direction at least.

As a preferred scheme of the present invention, the power and driving device includes a power assembly and a driving assembly, and the power assembly is electrically connected to the driving assembly, the foldable boom device, the data collecting and monitoring device and the electric cabinet respectively;

as the utility model discloses preferred scheme, power component includes the power, drive component includes driving motor and wheel, driving motor is located the chassis to be connected with power and electric cabinet electricity respectively, the wheel is connected with driving motor.

As the utility model discloses preferred scheme, data acquisition and monitoring device includes data acquisition subassembly and video monitoring subassembly, the data acquisition subassembly is located the folding arm free end of second, rotates with the folding arm of second to be connected with the electric cabinet electricity, the outer shield outside is arranged in to the video monitoring subassembly to be connected with power and electric cabinet electricity.

As a preferred scheme of the utility model, the data acquisition assembly comprises a data collection box, and the data collection box is arranged at the free end of the second folding arm and is electrically connected with the electric cabinet; the data collection cartridge is provided with one or more sensors in a surface or an interior cavity.

As a preferred aspect of the present invention, the sensor includes, but is not limited to, a sound sensor, an odor sensor, a combustible gas detection sensor, a radiation sensor, a brightness sensor, a smoke sensor, a temperature sensor, and a pressure sensor.

As the utility model discloses preferred scheme, the video monitoring subassembly includes control cloud platform and camera, the control cloud platform is located the outer shield outside to be connected with power and electric cabinet electricity, the camera is located patrols and examines robot advancing direction one side at least, and is connected with power and electric cabinet electricity.

The petrochemical engineering inspection robot has two working states within the inspection time, wherein the first working state is a general working state, namely the petrochemical engineering inspection robot is started to reach the inspection initial point, the petrochemical engineering inspection robot finishes the process of returning the inspection work to the starting point, and at the moment, the foldable boom device and the data acquisition and monitoring device of the petrochemical engineering inspection robot do not work; the second type is the inspection working state, namely the petrochemical inspection robot reaches the inspection initial point until the inspection work is finished, and at the moment, the foldable boom device and the data acquisition and monitoring device of the petrochemical inspection robot are in the working state. The two working states of the petrochemical engineering inspection robot are divided, so that the consumption of electric energy of the petrochemical engineering inspection robot is reduced to a certain extent, and energy is saved; the use of the folding arm support device and the data acquisition and monitoring device in a non-inspection state is reduced, the judgment of irrelevant data on an inspection result is avoided, the accuracy of the inspection result is higher, the service life of corresponding parts is prolonged, and the expenditure is reduced.

3. Advantageous effects

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the utility model discloses a keep away barrier inspection robot, in the process of patrolling and examining at the robot, in order to guarantee the safety of patrolling and examining the robot, reduce the trouble of patrolling and examining the robot and take place, need set up reasonable obstacle-avoiding subassembly to patrolling and examining the robot, through distance sensor, detect the distance between patrolling and examining the robot and in the surrounding environment of patrolling and examining the robot, ensure that the patrolling and examining robot can not collide the barrier in the process of walking, for the problem that the robot patrols and examines in the process of patrolling and examining in the convenience of follow-up processing, solve the influence of patrolling and examining that illumination condition is not good and cause, adopt thermal infrared imager to carry out infrared imaging, avoid movable object or;

(2) the utility model discloses a keep away barrier inspection robot, accept the machine part of whole robot through the chassis, the outer guard shield separates the inside part of robot and outside part on the chassis, realizes the protection to inside part to provide installation space and installation basis for outside part; the foldable arm support device is used by combining the rotary table and the foldable arm, so that the foldable arm support has three degrees of freedom, the free end of the second foldable arm can move in all directions in space in the process of inspection, the robot cannot have inspection dead corners, and the inspection result is accurate;

(3) the utility model discloses a keep away barrier and patrol and examine robot sets up the lug on the outer protecting cover of robot, can use the machine of lifting by crane to lift by crane the robot, make things convenient for the transfer and the transportation of robot, in order to make the lift by crane steady in the in-process, the lug should be symmetrical to set up, in order to indicate the people who patrols and examines the direction of travel of robot, and provide the illumination condition that advances for patrolling and examining robot self, should be provided with the light in the direction of travel of patrolling and examining the robot at least, avoid patrolling and examining the robot and bumping in the in-process of advancing;

(4) the utility model discloses a keep away barrier and patrol and examine robot, power and drive arrangement include power component and drive assembly, power component provides the energy for whole robot, generally adopt the mode that the power provided as the energy, the setting of power generally is rechargeable battery, the battery carries out the electricity with the various parts that need the energy supply in patrolling and examining the robot and is connected to set up the charging mouth on the outer guard shield surface, when patrolling and examining the robot and accomplishing work or the electric energy is not enough, can be connected with the power of charging station through the charging mouth, replenish the electric energy for patrolling and examining the robot;

(5) the utility model discloses a keep away barrier and patrol and examine robot, drive assembly are used for patrolling and examining the marcing of robot, including the wheel and with the driving motor of wheel, driving motor links to each other with the power, for the marching of wheel provides power, in the process of patrolling and examining robot, in order to avoid the appearance of proruption situation, if suddenly appearing the barrier, patrol and examine robot need slow down or stop rapidly, need connect the reduction gear on driving motor, reach the rapid speed reduction or the stop of patrolling and examining the robot through the reduction gear, avoid robot and barrier to bump;

(6) the utility model discloses a keep away barrier inspection robot, data collection subassembly mainly collect the dangerous data of various detections petrochemical industry in the inspection robot process of marcing, specifically set up the data collection box through inspection robot second folding arm free end, select the sensor detection data according to the classification of the data that actually will detect in the data collection box, can realize the automated inspection of petrochemical factory data, and will detect the gained data and transmit to the external world through the control box;

(7) the utility model discloses a keep away barrier and patrol and examine robot, the video monitoring subassembly is different with the position that sets up of data acquisition subassembly, mainly because the collection and the processing of data between them are different, the video monitoring subassembly utilizes the environment around the robot is patrolled and examined in the control of control cloud platform on the one hand, machine trouble or the hazardous element that can be observed by naked eye in guaranteeing the environment, and when the sensor detects the hazardous data, use control cloud platform to carry out the specific situation that detects out in the vision and survey dangerous data position, the camera is used for detecting that patrol and examine the direction of travel of robot has or not barrier, guarantee that patrol and examine robot safety and stability patrols and examines;

drawings

The technical solution of the present invention will be described in further detail with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus are not intended to limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.

Fig. 1 is a schematic view of the overall structure of an inspection robot according to embodiment 1 of the present invention;

fig. 2 is an overall structural schematic diagram of the inspection robot according to embodiment 2 of the present invention;

fig. 3 is a schematic view of the overall structure of the inspection robot according to embodiment 3 of the present invention;

fig. 4 is an overall structural schematic diagram of the inspection robot according to embodiment 4 of the present invention;

FIG. 5 is a schematic view of the bottom structure of FIG. 4;

FIG. 6 is a schematic side view of the structure of FIG. 4;

FIG. 7 is a schematic view of the upper outer shroud and the connector on the outer shroud shown in FIG. 4.

In the drawings:

100. a chassis; 110. an outer shroud; 111. lifting lugs; 112. an illuminating lamp;

200. folding the arm support device; 210. a turntable; 220. a first folding arm; 230. a second folding arm;

300. a control device; 310. an electric cabinet;

400. a power and drive device; 410. a power assembly; 411. a power source; 420. a drive assembly; 421. a motor; 422. a wheel;

500. a data acquisition and monitoring device; 510. a data acquisition component; 511. a data collection box; 512. a sensor; 520. a video monitoring component; 521. monitoring the holder; 522. a camera;

600. safety and explosion-proof devices; 610. an obstacle avoidance assembly; 611. a distance sensor; 612. a thermal infrared imager; 620. protecting the fence; 630. an emergency stop button; 640. a warning light.

Detailed Description

The following detailed description of exemplary embodiments of the invention refers to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration exemplary embodiments in which the invention may be practiced. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, it should be understood that other embodiments may be realized and that various changes to the invention may be made without departing from the spirit and scope of the present invention. The following more detailed description of the embodiments of the present invention is not intended to limit the scope of the invention, as claimed, but is presented for purposes of illustration only and not limitation to provide the best mode contemplated for carrying out the invention and to enable any person skilled in the art to practice the invention. Accordingly, the scope of the invention is to be limited only by the following claims.

The detailed description and exemplary embodiments of the invention may be better understood when read in conjunction with the following drawings, where the elements and features of the invention are identified by reference numerals.

In the modern petrochemical production process, often need patrol and examine production facility and production environment, the artifical mode of patrolling and examining not only wastes time and energy, complicated environment can produce the potential safety hazard to the personnel of patrolling and examining, the personal safety of personnel is patrolled and examined in the guarantee that can not be fine, and current petrochemical patrols and examines the robot and does not have fine adaptability, there is the defect at the in-process that replaces the manual work to patrol and examine, this is exactly the starting point of this application scheme, aim at producing a petrochemical that replaces the manual work to patrol and examine the robot.

Example 1

The obstacle avoidance inspection robot of the embodiment provides a solution for a petrochemical inspection robot under the complex environment of a petrochemical factory and under the condition that the obstacle cannot be reasonably and effectively avoided.

As shown in fig. 2, the obstacle avoidance inspection robot of the present embodiment includes a chassis 100, a foldable boom device 200, a power and driving device 400, a control device 300, a power and driving device 400, a data acquisition and monitoring device 500, and a safety and explosion-proof device 600. The control device 300 and the power and driving device 400 are arranged on the chassis 100, and the foldable boom device 200, the power and driving device 400, the data acquisition and monitoring device 500 and the safety and explosion-proof device 600 are respectively electrically connected with the control device 300 and are uniformly controlled by the control device 300.

An outer protective cover 110 is clamped on the chassis 100, the outer protective cover 110 is made of sheet metal parts and welded on the chassis 100, and the outer protective cover 110 is integrally clamped on the chassis 100 by two cuboids lacking one surface and fixed by bolts. The chassis 100 receives the machine components of the whole robot, and the outer shield 110 on the chassis 100 separates the internal components from the external components of the robot, so that the internal components are protected, and an installation space and an installation foundation are provided for the external components. An illumination lamp 112 is provided outside the outer cover 110 along the traveling direction of the inspection robot. For prompting people who patrol the advancing direction of the robot and providing the advancing illumination condition for the patrol robot, the illuminating lamp 112 is at least arranged on the advancing direction of the patrol robot, so that the patrol robot is prevented from colliding in the advancing process.

The folding arm support device 200 comprises a rotary table 210, a first folding arm 220 and a second folding arm 230, wherein the rotary table 210 is rotatably connected with the outer shield 110 and is arranged outside the outer shield 110, one end of the first folding arm 220 is rotatably connected with the rotary table 210, and the other end of the first folding arm is rotatably connected with the second folding arm 230. Folding cantilever crane device 200 adopts electric drive, revolving platform 210 can be rotatory at the horizontal direction, possess a rotatory degree of freedom, first folding arm 220 passes through the hub connection with revolving platform 210, first folding arm 220 can be around the hub connection, second folding arm 230 passes through the hub connection with first folding arm 220, second folding arm 230 can be around the rotation with the connecting axle of first folding arm 220, thus, through the combined use of revolving platform 210 and folding arm, make folding cantilever crane possess three degree of freedom, the free end of second folding arm 230 is patrolling and examining the in-process of work, can realize the interior omnidirectional motion of space, the robot can not have and patrols and examines the dead angle, it is comparatively accurate to patrol and examine the result.

The control device 300 includes an electric cabinet 310, and the electric cabinet 310 is electrically connected to the folding boom apparatus 200, the power and driving device 400, and the data collecting and monitoring device 500, respectively. The embedded processor is used in the electric cabinet 310 to solve the problems of information processing and information transmission of the petrochemical engineering inspection robot in the inspection process and control the inspection work of the whole petrochemical engineering inspection robot.

The power and driving device 400 is used for providing moving power for the inspection robot and driving the inspection robot, the power and driving device 400 comprises a power component 410 and a driving component 420, and the power component 410 is electrically connected with the driving component 420, the folding arm support device 200, the data acquisition and monitoring device 500 and the electric cabinet 310 respectively; the power assembly 410 comprises a power supply 411, the driving assembly 420 comprises a motor 421 and wheels 422, the motor 421 is located on the chassis 100 and is electrically connected with the power supply 411 and the electric cabinet 310, respectively, and the wheels 422 are connected with the motor 421. Power and drive arrangement 400 includes power component 410 and drive assembly 420, power component 410 provides the energy for whole robot that patrols and examines, generally adopt power 411 as the mode that the energy provided, power 411 sets up to rechargeable lithium ion battery group, the battery with patrol and examine various parts that need the energy supply in the robot and carry out the electricity and be connected, and with set up the mouth that charges on outer guard shield 110 surface and be connected, when patrolling and examining the robot and accomplishing work or the electric energy is not enough, can be connected with the power 411 of charging station through the mouth that charges, for patrolling and examining the robot and supplementing the electric energy. The driving assembly 420 is used for patrolling and examining the marching of robot, including wheel 422 and with the motor 421 of wheel 422, the motor 421 links to each other with power 411, for the marching of wheel 422 provides power, is located patrolling and examining robot both sides box by wheel 422 in, protects the motor 421 not receive external force damage through the cover of box. In the process of patrolling and examining at patrolling and examining robot, in order to avoid the emergence of proruption situation, if the barrier appears suddenly, it needs slow down rapidly or stop to patrol and examine the robot, need connect the reduction gear on motor 421, reaches the rapid speed reduction or the stop of patrolling and examining the robot through the reduction gear, avoids robot and barrier to bump.

The data acquisition and monitoring device 500, the data acquisition and monitoring device 500 is used for collecting the field data and monitoring the field. The data collecting and monitoring device 500 comprises a data collecting component 510 and a video monitoring component 520, wherein the data collecting component 510 is located at the free end of the second folding arm 230, is rotatably connected with the second folding arm 230 and is electrically connected with the electric cabinet 310, and the video monitoring component 520 is arranged outside the outer shield 110 and is electrically connected with the power supply 411 and the electric cabinet 310. The data collection assembly 510 comprises a data collection box 511, and the data collection box 511 is arranged at the free end of the second folding arm 230 and is electrically connected with the electric cabinet 310; the data collection box 511 is provided with various sensors 512 on the surface, and specific sensors 512 include, but are not limited to, a sound sensor, an odor sensor, a combustible gas detection sensor, a radioactivity sensor, a brightness sensor, a smoke sensor, a temperature sensor, and a pressure sensor. The position of its setting and the quantity of corresponding sensor 512 can be adjusted to above sensor 512 optional, finally satisfy the requirement of patrolling and examining work. The data collection component mainly collects various data for detecting petrochemical engineering dangers in the advancing process of the inspection robot, the data collection box 511 is arranged at the free end of the second folding arm 230 of the inspection robot, the sensor 512 is selected to detect the data according to the type of the data to be detected actually in the data collection box 511, automatic detection of petrochemical plant data can be achieved, and the detected data are transmitted to the outside through the control box.

The video monitoring assembly 520 comprises a monitoring cradle head 521 and a camera 522, the monitoring cradle head 521 is located on the outer side of the outer shield 110 and is electrically connected with the power supply 411 and the electric cabinet 310, and the camera 522 is at least located on one side of the traveling direction of the inspection robot and is electrically connected with the power supply 411 and the electric cabinet 310. Video monitoring subassembly 520 is different with data acquisition subassembly 510's the position that sets up, it is mainly different because the collection and the processing of data between them are different, video monitoring subassembly 520 utilizes monitoring cloud platform 521 to monitor the environment of patrolling and examining robot around on the one hand, it is ensured that there is not machine trouble or the danger element that the naked eye can observe in the environment, and when sensor 512 detects dangerous data, use monitoring cloud platform 521 to detect out the particular case that has dangerous data position in the vision, camera 522 is used for detecting and patrols and examines the robot advancing direction and have or not barrier, ensure to patrol and examine robot safety and stability and patrol and examine.

The safety and explosion-proof device 600 comprises an obstacle avoidance assembly 610, the obstacle avoidance assembly 610 comprises a distance sensor 611 and a thermal infrared imager 612, the distance sensor 611 and the thermal infrared imager 612 are located on the side surface of the outer shield 110, the distance sensor 611 and the thermal infrared imager 612 are respectively electrically connected with the power supply 411, and the distance sensor 611 and the thermal infrared imager 612 are respectively electrically connected with the electric cabinet 310. The distance sensors 611 are located on four sides of the outer cover 110, and the thermal infrared imagers 612 are respectively located on the chassis on two sides of the advancing direction of the inspection robot, perform infrared imaging on the surrounding environment, and transmit the imaging result to the electric cabinet 310.

Example 2

As shown in fig. 2, compared with embodiment 1, the obstacle avoidance inspection robot of the present embodiment removes the safety and explosion-proof device 600, and performs the following corresponding adjustment: the obstacle avoidance inspection robot of the embodiment includes a chassis 100, a folding arm support device 200, a power and driving device 400, a control device 300, a power and driving device 400, and a data acquisition and monitoring device 500. The control device 300 and the power and driving device 400 are disposed on the chassis 100, and the foldable boom device 200, the power and driving device 400 and the data collecting and monitoring device 500 are respectively electrically connected to the control device 300 and are controlled by the control device 300 in a unified manner.

An outer protective cover 110 is clamped on the chassis 100, the outer protective cover 110 is made of sheet metal parts and welded on the chassis 100, and the outer protective cover 110 is integrally clamped on the chassis 100 by two cuboids lacking one surface and fixed by bolts. The chassis 100 receives the machine components of the whole robot, and the outer shield 110 on the chassis 100 separates the internal components from the external components of the robot, so that the internal components are protected, and an installation space and an installation foundation are provided for the external components. The outer shield 110 is provided with four lifting lugs 111 and four illuminating lamps 112, and the four lifting lugs 111 are respectively arranged on four vertical ridges of the cuboid outer shield 110. The lifting lugs 111 are arranged on the outer protective cover 110 of the robot, so that the robot can be lifted by using a lifting machine, the transfer and the transportation of the robot are facilitated, and the lifting lugs 111 are symmetrically arranged in order to enable the lifting to be stable in the lifting process. An illumination lamp 112 is provided outside the outer cover 110 along the traveling direction of the inspection robot. For prompting people who patrol the advancing direction of the robot and providing the advancing illumination condition for the patrol robot, the illuminating lamp 112 is at least arranged on the advancing direction of the patrol robot, so that the patrol robot is prevented from colliding in the advancing process.

To the work of patrolling and examining of above petrochemical inspection robot, still need control platform and petrochemical inspection robot and establish signal connection, the petrochemical inspection robot video information of shooing transmits to controlling the platform through electric cabinet 310, patrols and examines the operating condition of robot by control personnel control petrochemical, and the petrochemical inspection robot's sensor 512 catches behind corresponding information simultaneously, compares through electric cabinet 310 and standard numerical range, if surpass standard range, with corresponding information transfer to controlling the platform. There are GPS and big dipper locator in the electric cabinet 310, can patrol and examine the robot to petrochemical and carry out accurate location for petrochemical patrols and examines the automatic work of patrolling and examining of accomplishing of robot.

Aiming at the working method of the petrochemical engineering inspection robot, the working method comprises the following steps:

s1, modeling according to the environment of the petrochemical plant, and drawing up a routing inspection path and routing inspection time of the petrochemical inspection robot;

s2, transmitting the planned routing inspection path information to the electric cabinet 310 of the petrochemical engineering routing inspection robot, and starting the petrochemical engineering routing inspection robot to leave the starting point when the routing inspection time is up;

s3, automatically positioning the petrochemical engineering inspection robot to the initial point of the planned inspection path, starting working by the sensor 512, the monitoring holder 521 and the camera 522, and enabling the petrochemical engineering inspection robot to enter an inspection working state;

s4, the petrochemical engineering inspection robot in the inspection working state detects whether an obstacle exists on the planned inspection path through the illuminating lamp 112 and the camera 522, judges the size of the obstacle through the electric cabinet 310 and determines whether the petrochemical engineering inspection robot bypasses;

and S5, after the petrochemical engineering inspection robot finishes inspection according to the planned inspection path, returning to the starting point of the petrochemical engineering inspection robot, automatically charging, and waiting for the next inspection time.

The petrochemical engineering inspection robot has two working states within the inspection time, wherein the first working state is a general working state, namely the petrochemical engineering inspection robot starts to reach the initial inspection point, and the petrochemical engineering inspection robot finishes the process of returning the inspection work to the starting point, and at the moment, the foldable boom device 200 and the data acquisition and monitoring device 500 of the petrochemical engineering inspection robot do not work; the second is a patrol inspection working state, that is, the petrochemical patrol inspection robot reaches the patrol inspection initial point until the patrol inspection work is completed, and at this time, the foldable boom device 200 and the data acquisition and monitoring device 500 of the petrochemical patrol inspection robot are in working states. The two working states of the petrochemical engineering inspection robot are divided, so that the consumption of electric energy of the petrochemical engineering inspection robot is reduced to a certain extent, and energy is saved; the use of the folding arm support device 200 and the data acquisition and monitoring device 500 in a non-inspection state is reduced, the judgment of irrelevant data on inspection results is avoided, the accuracy of the inspection results is higher, the service lives of corresponding parts are prolonged, and the expenditure is reduced.

Example 3

The structure of the embodiment is basically the same as that of the embodiment 1, and the difference is that a solution is provided for the situation that the petrochemical inspection robot cannot perform safety warning aiming at emergency under the complex environment of a petrochemical plant.

As shown in fig. 3, the safety warning inspection robot of the present embodiment includes a chassis 100, a foldable boom device 200, a power and driving device 400, a control device 300, a power and driving device 400, a data collecting and monitoring device 500, and a safety and explosion-proof device 600. The control device 300 and the power and driving device 400 are arranged on the chassis 100, and the foldable boom device 200, the power and driving device 400, the data acquisition and monitoring device 500 and the safety and explosion-proof device 600 are respectively electrically connected with the control device 300 and are uniformly controlled by the control device 300.

The warning light 640 is located outer shield 110 top surface one side to be connected with power 411 and electric cabinet 310 electricity, warning light 640 is rotation type warning light 640, is equipped with audible alarm in the rotation type warning light 640. The warning light 640 can carry out the reputation warning simultaneously, and warning effect is better, and the warning light 640 outside can set up the switch, and warning effect accessible two kinds of modes of warning light 640 realize, one kind is patrolling and examining the robot and detecting that corresponding data is not within the standard range to with the testing result conveying to controlling the platform, warning light 640 sends out the police dispatch newspaper simultaneously, another kind is for controlling or controlling platform through external switch and send instruction control warning light 640 and send out the police dispatch newspaper.

Example 4

The structure of the embodiment is basically the same as that of the embodiment 3, and the difference is that a solution is provided for the situation that the petrochemical inspection robot cannot perform corresponding processing on the working abnormity of the inspection robot in the complex environment of a petrochemical plant.

As shown in fig. 4 to 7, the safety explosion-proof inspection robot of the present embodiment includes a chassis 100, a foldable boom device 200, a power and driving device 400, a control device 300, a power and driving device 400, a data collecting and monitoring device 500, and a safety and explosion-proof device 600. The control device 300 and the power and driving device 400 are arranged on the chassis 100, and the foldable boom device 200, the power and driving device 400, the data acquisition and monitoring device 500 and the safety and explosion-proof device 600 are respectively electrically connected with the control device 300 and are uniformly controlled by the control device 300.

The safety and explosion-proof device 600 comprises an obstacle avoidance assembly 610, a protective guard 620, an emergency stop button 630 and a warning lamp 640, wherein the obstacle avoidance assembly 610 comprises a distance sensor 611 and an infrared thermal imager 612, the distance sensor 611 and the infrared thermal imager 612 are located on the side surface of the outer shield 110, the distance sensor 611 and the infrared thermal imager 612 are respectively and electrically connected with the power supply 411, and the distance sensor 611 and the infrared thermal imager 612 are respectively and electrically connected with the electric cabinet 310. The distance sensors 611 are located on four sides of the outer cover 110, and the thermal infrared imagers 612 are respectively located on two sides of the advancing direction of the inspection robot.

The guard rail 620 is provided at one side of the inspection robot in the advancing direction and at the opposite side of the advancing direction. The guard rails 620 on the two sides are made of metal plates, uniform holes are formed in the metal plates, protrusions are arranged between the adjacent holes, the protrusions are made of materials with good buffering performance, such as rubber materials, the protrusions provide buffering space for collision, the holes are convenient for collision energy to be released, and the materials of the metal plates can ensure that the guard rails 620 are not prone to damage in the collision process. In the case of an emergency, the inspection robot has no time to react and may collide. The installation guard rail 620 can reduce damage to the inspection robot itself due to collision as much as possible. The scram button 630 is used for damaging the inspection robot, and when the control of the inspection robot cannot be completed by the control of the console, the scram button 630 needs to be pressed down to stop all work of the inspection robot, the scram button 630 is arranged at the edge of the outer shield 110 and is convenient to approach, the scram button 630 is directly connected with the power supply 411, and after the scram button 630 is pressed down, the power supply 411 stops supplying power to all electric parts.

Example 5

On the basis of embodiments 1 to 4, the obstacle avoidance inspection robot of the embodiment has one lifting lug 111, which is arranged at the central point on the top surface of the outer protective cover 110, and the driving mode of the folding arm support device 200 is hydraulic driving.

Example 6

The obstacle avoidance inspection robot of the present embodiment has a structure substantially the same as that of embodiment 5, and is different in that the driving mode of the folding boom device 200 is air pressure driving.

Claims

1. The obstacle avoidance inspection robot is characterized by comprising a chassis (100), wherein an outer shield (110) is clamped on the chassis (100);

the foldable boom device (200) comprises a rotary table (210), a first foldable arm (220) and a second foldable arm (230), wherein the rotary table (210) is rotatably connected with an outer shield (110) and is arranged on the outer side of the outer shield (110), one end of the first foldable arm (220) is rotatably connected with the rotary table (210), and the other end of the first foldable arm is rotatably connected with the second foldable arm (230);

the power and driving device (400), the said power and driving device (400) is used for providing the power that moves for patrolling and examining the robot and driving;

the data acquisition and monitoring device (500), the said data acquisition and monitoring device (500) is used for gathering the on-the-spot data and monitoring the scene;

the control device (300) comprises an electric cabinet (310), wherein the electric cabinet (310) is positioned on the chassis (100) and is respectively and electrically connected with the folding arm support device (200), the power and driving device (400) and the data acquisition and monitoring device (500);

safety and explosion-proof equipment (600), safety and explosion-proof equipment (600) are including keeping away barrier subassembly (610), keep away barrier subassembly (610) including distance sensor (611) and thermal infrared imager (612), distance sensor (611) and thermal infrared imager (612) are located the outer dustcoat side, and distance sensor (611) and thermal infrared imager (612) are connected with the power electricity respectively, and distance sensor (611) and thermal infrared imager (612) are connected with the electric cabinet electricity respectively.

2. The obstacle avoidance inspection robot according to claim 1, wherein an illuminating lamp (112) is arranged outside the outer shield (110) at least along the traveling direction of the inspection robot.

3. The obstacle avoidance inspection robot according to claim 1 or 2, wherein the power and driving device (400) comprises a power assembly (410) and a driving assembly (420), and the power assembly (410) is electrically connected with the driving assembly (420), the folding arm support device (200), the data acquisition and monitoring device (500) and the electric cabinet (310) respectively.

4. The obstacle avoidance inspection robot according to claim 3, wherein the power assembly (410) comprises a power supply (411), the driving assembly (420) comprises a driving motor (421) and wheels (422), the driving motor (421) is located on the chassis (100) and is electrically connected with the power supply (411) and the electric cabinet (310) respectively, and the wheels (422) are connected with the driving motor (421).

5. The obstacle avoidance inspection robot according to any one of claims 1 or 2, wherein the data acquisition and monitoring device (500) comprises a data acquisition component (510) and a video monitoring component (520), the data acquisition component (510) is located at a free end of the second folding arm (230), is rotatably connected with the second folding arm (230), and is electrically connected with the electric cabinet (310), and the video monitoring component (520) is arranged outside the outer shield (110) and is electrically connected with the power supply (411) and the electric cabinet (310).

6. The obstacle avoidance inspection robot according to claim 5, wherein the data acquisition assembly (510) comprises a data collection box (511), the data collection box (511) is arranged at the free end of the second folding arm (230) and is electrically connected with the electric cabinet (310); the data collection cartridge (511) is provided with one or more sensors (512) in a surface or an interior cavity.

7. An obstacle avoidance inspection robot according to claim 6, wherein the sensors (512) include, but are not limited to, sound sensors, odor sensors, combustible gas detection sensors, radiation sensors, brightness sensors, smoke sensors, temperature sensors, pressure sensors.

8. The obstacle avoidance inspection robot according to claim 7, wherein the video monitoring assembly (520) comprises a monitoring cradle head (521) and a camera (522), the monitoring cradle head (521) is located on the outer side of the outer shield (110) and electrically connected with the power supply (411) and the electric cabinet (310), and the camera (522) is located on at least one side of the traveling direction of the inspection robot and electrically connected with the power supply (411) and the electric cabinet (310).