CN215971835U - Autonomous inspection robot - Google Patents
Autonomous inspection robot Download PDFInfo
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- CN215971835U CN215971835U CN202121201784.6U CN202121201784U CN215971835U CN 215971835 U CN215971835 U CN 215971835U CN 202121201784 U CN202121201784 U CN 202121201784U CN 215971835 U CN215971835 U CN 215971835U
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- 238000007689 inspection Methods 0.000 title claims abstract description 58
- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000012423 maintenance Methods 0.000 claims abstract description 15
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 12
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 230000004044 response Effects 0.000 claims abstract description 4
- 230000008859 change Effects 0.000 claims abstract description 3
- 238000000034 method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 12
- 230000003993 interaction Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
An autonomous inspection robot comprises a frame, a walking driving mechanism, a shell, a lithium battery, an industrial personal computer, a holder, a GPS positioning module, an environment sensor, a wireless communication module and an operation and maintenance platform; the lithium battery provides power energy for the whole robot; the holder is used for shooting the surrounding environment; the GPS positioning module is used for positioning and navigating; the environment sensor is used for detecting the surrounding environment in real time; the wireless communication module is used for transmitting the acquired inspection information to the operation and maintenance platform; the industrial personal computer is used for carrying out real-time online detection and control on the robot, giving quick response to the change of the working condition, collecting and outputting in time for adjustment, and automatically resetting in case of danger so as to ensure the normal operation of the system. The utility model has good moving performance, obstacle crossing performance and simple operation performance; the system can adapt to different inspection scenes, acquires different inspection state parameters, overcomes the problems of long inspection time, high danger and high labor intensity in manual inspection, and can realize automatic inspection.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to an autonomous inspection robot.
Background
Traditional mode of patrolling and examining goes the inspection mostly through the manual work to ensure the normal operating of equipment, avoid the trouble to take place, avoid the hidden danger, nevertheless not every operational environment all is fit for the manual work to go to do, like high dangerous production operation region, the manual work is inconvenient to inspect. Even if the inspection tool can enter, the defects of high labor intensity, low working efficiency, low detection quality, single means and the like exist in the traditional manual inspection.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem of providing an autonomous inspection robot which can replace manpower to go to various scenes for inspection, fully ensure the safety of personnel, reduce loss risk and improve inspection efficiency.
The technical scheme of the utility model is that the autonomous inspection robot with the following structure is provided, and comprises a frame and a walking driving mechanism for driving the frame to walk, wherein the autonomous inspection robot also comprises a shell, a lithium battery, an industrial personal computer, a holder, a GPS positioning module, an environment sensor, a wireless communication module and an operation and maintenance platform; the shell is mounted on the frame, and the lithium battery and the industrial personal computer are mounted in the shell; the lithium battery is used for providing power energy for the whole robot; the cradle head, the GPS positioning module, the environment sensor and the wireless communication module are all arranged at the top of the shell and are simultaneously in signal connection with the industrial personal computer; the holder is used for shooting the surrounding environment; the GPS positioning module is used for positioning and navigating the robot; the environment sensor is used for detecting the surrounding environment in real time in the inspection process; the wireless communication module is used for transmitting the collected inspection information to the operation and maintenance platform; the industrial personal computer is used for carrying out real-time online detection and control on the robot, giving quick response to the change of the working condition, carrying out acquisition and output adjustment in time, and automatically resetting in case of danger to ensure the normal operation of the system; the operation and maintenance platform is a human-computer interaction platform.
The utility model relates to an autonomous inspection robot, wherein a laser radar is mounted at the top of a shell and is in signal connection with an industrial personal computer, infrared laser signals are emitted to a plurality of planes around through a laser emitter which rotates at a high speed, a reflected signal is formed after laser meets an object, the received signal is compared with the emitted signal after the signal is received by a receiver, the distance from a reflection point to the radar is obtained, a large amount of point cloud data is formed, and the whole three-dimensional scene information is constructed by taking the laser radar as a base point through the point cloud data.
The utility model relates to an autonomous inspection robot, wherein ultrasonic radars are arranged on the front side wall, the rear side wall, the left side wall and the right side wall of a shell, the condition of surrounding obstacles is detected by receiving reflected ultrasonic waves, and the ultrasonic radars are in signal connection with an industrial personal computer.
The utility model relates to an autonomous inspection robot, wherein safety contact edges are arranged at the front part and the rear part of a shell, the safety contact edges are flexible and bendable belt-shaped objects, when the safety contact edges impact an operator or an object, the safety contact edges are pressed and transmit signals to an industrial personal computer, so that corresponding movement is stopped, and the safety contact edges are in signal connection with the industrial personal computer.
The utility model discloses an autonomous inspection robot, wherein a voltage display device is mounted at the rear part of a frame and used for judging the electric quantity of a battery according to voltage display in the using process, and the voltage display device is in signal connection with an industrial personal computer.
The utility model discloses an autonomous inspection robot, wherein limiting assemblies for limiting gear carriers in a walking driving mechanism are mounted on the left side wall and the right side wall of a shell.
After adopting the structure, compared with the prior art, the autonomous inspection robot has the following advantages: the utility model comprises a frame, a walking driving mechanism for driving the frame to walk, a shell, a lithium battery, an industrial personal computer, a cradle head, a GPS positioning module, an environment sensor, a wireless communication module and an operation and maintenance platform, so that during working, the vehicle can enter a highly dangerous production operation area through manual remote control, and collected related information is transmitted back to the operation and maintenance platform through the wireless communication module in real time in the inspection process so as to be checked by a worker, abnormal conditions can be found in time, and dangerous accidents are avoided. Therefore, the utility model fully ensures the safety of personnel, effectively reduces the loss risk and improves the inspection efficiency by replacing the manual inspection mode of going to various scenes for inspection.
Drawings
Fig. 1 is a schematic perspective view of an autonomous inspection robot according to the present invention;
FIG. 2 is a schematic perspective view of the left wheel hidden in FIG. 1;
fig. 3 is a block diagram of an autonomous inspection robot according to the present invention.
Detailed Description
The autonomous inspection robot of the present invention will be described in further detail with reference to the accompanying drawings and embodiments:
as shown in fig. 1 and 3, in the present embodiment, the autonomous inspection robot of the present invention includes a walking driving mechanism 2, a frame 3, a housing 4, a lithium battery 12, an industrial personal computer 13, a pan/tilt head 8, a GPS positioning module 10, an environmental sensor 16, a wireless communication module 7, and an operation and maintenance platform 14. The walking driving mechanism 2 is used for driving the whole inspection robot to walk; the walking driving mechanism 2 mainly comprises wheels, a gear rack 21, a plurality of meshed transmission gears positioned in the gear rack 21 and a driving motor for driving the gears to rotate, which are all the prior art and refer to the publication No. CN102267506A and the utility model publication named as a composite wheel type moving platform.
Casing 4 installs on frame 3, and lithium cell 12, industrial computer 13 and driving motor all adorn in casing 4, through the seal structure of casing 4, can reach waterproof purpose. The lithium battery provides power energy for the whole robot.
The cloud deck 8, the GPS positioning module 10, the environment sensor 16 and the wireless communication module 7 are all arranged on the top of the shell 4 and are in signal connection with the industrial personal computer 13.
The pan/tilt head 8 is used for shooting the surrounding environment. The GPS positioning module 10 is used for positioning and navigating the robot, and specifically adopts GPS real-time differential positioning (GPS-RTK), so as to obtain a high-precision positioning result. The environmental sensor 16 is used for real-time detection of the surrounding environment during the inspection process. The wireless communication module 7 is used for transmitting the collected patrol inspection information to the operation and maintenance platform 14. The operation and maintenance platform 14 is a human-computer interaction platform, and the motion state of the robot can be remotely controlled through the wireless communication module 7 and the operation and maintenance platform 14, so that different inspection tasks can be selected and issued.
The industrial personal computer 13 is used for carrying out real-time online detection and control on the robot, giving quick response to changes of working conditions, carrying out acquisition and output adjustment in time, and resetting in case of danger so as to ensure normal operation of the system.
In order to further improve the reliability and safety of the robot operation, a laser radar 9 is further mounted on the top of the shell 4, and the laser radar 9 is in signal connection with an industrial personal computer 13. The laser radar 9 transmits infrared laser signals to a plurality of planes around through a laser transmitter rotating at a high speed, reflected signals can be formed when laser meets an object, the received signals are compared with the transmitted signals after the signals are received by a receiver, and the distance between a reflection point and the radar can be obtained, so that a large amount of point cloud data are formed, and the whole three-dimensional scene information can be constructed by taking the laser radar as a base point through the point cloud data. In addition, ultrasonic radars 5 are mounted on four side walls of the front, rear, left and right of the housing 4, the reflected ultrasonic waves are received to detect surrounding obstacles, and the ultrasonic radars 5 are in signal connection with the industrial personal computer 13. Safety edges 6 are arranged at the front part and the rear part of the shell 4, the safety edges 6 are flexible and bendable belts, and when the safety edges hit an operator or an object, the safety edges are pressed and transmit signals to the industrial personal computer 13, so that the corresponding movement of the robot is stopped. The safety contact edge 6 is in signal connection with an industrial personal computer 13.
And a voltage display device 11 is arranged at the rear part of the frame 3 and used for displaying and judging the electric quantity of the battery according to the voltage in the using process, and the voltage display device 11 is in signal connection with an industrial personal computer 13.
Referring to fig. 2, the left and right side walls of the housing 4 are each provided with a stopper assembly 1 for stopping the gear frame 21 of the travel drive mechanism 2. The limiting assembly 1 is an annular limiting sleeve and is fixedly arranged on the side wall of the shell 4; the outside cover of annular stop collar is equipped with the rubber sleeve. When the walking driving mechanism 2 works, the limiting assembly 1 can mechanically limit the gear rack 21, so that the situations of side turning, overturning and the like in the operation process of the inspection robot are prevented, and the operation safety performance is further improved.
By means of the SLAM technology, synchronous positioning and map construction are carried out through the laser radar 9 and the GPS positioning module 10, so that autonomous movement of the inspection robot is achieved, and the inspection robot is moved to a set inspection point position from a current position. The obstacle can be avoided in the robot autonomous inspection process through the laser radar 9, the ultrasonic radar 5 and the obstacle avoidance algorithm, the safety of the robot autonomous inspection process is improved, and the robot is prevented from colliding with people or objects in the robot autonomous inspection process. The environmental sensor 16 can detect the surrounding environment in real time during the inspection process. Through cloud platform 8 and environmental sensor 16, can gather different information of patrolling and examining. After the appointed point location of patrolling and examining is arrived, adjust cloud platform 8 according to predetermineeing the angle and shoot, after preprocessing and discernment, return the picture of shooing and the result after the discernment back to the server. Finally, the collected inspection information is transmitted to the operation and maintenance platform 14 in time through the wireless communication module 7, and the staff can find abnormal conditions in time according to the inspection information, so that dangerous accidents are avoided.
The inspection robot can help enterprises to solve a plurality of problems well, meanwhile, a corresponding electromechanical interface is reserved, and sensors appointed by customers, such as a gas sensor, a sound sensor, a temperature and humidity sensor and the like, can be additionally arranged according to needs. The autonomous inspection robot can play a great role in the aspects of ensuring the safety of personnel, reducing loss risk, improving inspection efficiency and the like.
The utility model has good moving performance, obstacle crossing performance and simple operation performance. Can adapt to different scenes of patrolling and examining to can gather the state parameter of patrolling and examining of multiple difference, make and patrol and examine the effect and obtain promoting. The utility model overcomes the problems of long polling time, high danger and high labor intensity in a manual polling mode, can realize automatic polling, and has stable operation and high polling quality.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention by those skilled in the art should fall within the protection scope of the present invention without departing from the design spirit of the present invention.
Claims (6)
1. The utility model provides an independently patrol and examine robot, includes frame (3) and is used for driving about walking drive mechanism (2) of frame (3) walking, its characterized in that: the device is characterized by also comprising a shell (4), a lithium battery (12), an industrial personal computer (13), a cradle head (8), a GPS (global positioning system) positioning module (10), an environment sensor (16), a wireless communication module (7) and an operation and maintenance platform (14);
the shell (4) is mounted on the frame (3), and the lithium battery (12) and the industrial personal computer (13) are mounted in the shell (4);
the lithium battery (12) is used for providing power energy for the whole robot;
the cloud deck (8), the GPS positioning module (10), the environment sensor (16) and the wireless communication module (7) are all arranged at the top of the shell (4) and are in signal connection with the industrial personal computer (13) at the same time;
the holder (8) is used for shooting the surrounding environment;
the GPS positioning module (10) is used for positioning and navigating the robot;
the environment sensor (16) is used for detecting the surrounding environment in real time in the inspection process;
the wireless communication module (7) is used for transmitting the collected patrol inspection information to the operation and maintenance platform (14);
the industrial personal computer (13) is used for carrying out real-time online detection and control on the robot, giving quick response to the change of the working condition, carrying out acquisition and output adjustment in time, and resetting in case of danger to ensure the normal operation of the system;
the operation and maintenance platform (14) is a human-computer interaction platform.
2. The autonomous inspection robot according to claim 1, wherein: laser radar (9) are installed at the top of casing (4), laser radar (9) and industrial computer (13) signal connection.
3. The autonomous inspection robot according to claim 2, wherein: all install ultrasonic radar (5) on four preceding, back, left and right lateral walls of casing (4), ultrasonic radar (5) and industrial computer (13) signal connection.
4. The autonomous inspection robot according to claim 3, wherein: the front part and the rear part of the shell (4) are respectively provided with a safe touch edge (6), the safe touch edges (6) are flexible and bendable strips, and the safe touch edges (6) are in signal connection with the industrial personal computer (13).
5. The autonomous inspection robot according to claim 4, wherein: and a voltage display device (11) is mounted at the rear part of the frame (3) and used for displaying and judging the electric quantity of the battery according to the voltage in the using process, and the voltage display device (11) is in signal connection with an industrial personal computer (13).
6. The autonomous inspection robot according to any one of claims 1 to 5, wherein: and the left side wall and the right side wall of the shell (4) are respectively provided with a limiting assembly (1) for limiting a gear carrier (21) in the walking driving mechanism (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121201784.6U CN215971835U (en) | 2021-05-31 | 2021-05-31 | Autonomous inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121201784.6U CN215971835U (en) | 2021-05-31 | 2021-05-31 | Autonomous inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN215971835U true CN215971835U (en) | 2022-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121201784.6U Active CN215971835U (en) | 2021-05-31 | 2021-05-31 | Autonomous inspection robot |
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| Country | Link |
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| CN (1) | CN215971835U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117001632A (en) * | 2023-09-26 | 2023-11-07 | 高维智控机器人科技(苏州)有限公司 | Industrial inspection robot |
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2021
- 2021-05-31 CN CN202121201784.6U patent/CN215971835U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117001632A (en) * | 2023-09-26 | 2023-11-07 | 高维智控机器人科技(苏州)有限公司 | Industrial inspection robot |
| CN117001632B (en) * | 2023-09-26 | 2023-12-15 | 高维智控机器人科技(苏州)有限公司 | Industrial inspection robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231221 Address after: 610, Floor 6, Block A, No. 2, Lize Middle Second Road, Chaoyang District, Beijing 100102 Patentee after: Zhongguancun Technology Leasing Co.,Ltd. Address before: 215000 No.2 Yunshen Road, Southeast street, Changshu City, Suzhou City, Jiangsu Province Patentee before: Gaowei intelligent control robot technology (Suzhou) Co.,Ltd. |
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| TR01 | Transfer of patent right |