CN217484512U

CN217484512U - House quality inspection robot

Info

Publication number: CN217484512U
Application number: CN202220186414.8U
Authority: CN
Inventors: 王思聪; 李贵鸿; 太俊杰; 张鸿林; 毕研超
Original assignee: Tianjin University of Science and Technology
Current assignee: Tianjin University of Science and Technology
Priority date: 2022-01-24
Filing date: 2022-01-24
Publication date: 2022-09-23
Anticipated expiration: 2032-01-24

Abstract

The utility model discloses a house quality inspection robot, which comprises a crawler-type chassis for the robot to move and walk, and a singlechip, a raspberry group 4B microprocessor, a camera, a two-degree-of-freedom holder, a slam laser radar, a single-point laser ranging module, a display screen and a wireless Bluetooth communication module which are arranged on the crawler-type chassis and used as a main control board; the raspberry group 4B microprocessor is connected with the single chip microcomputer, the single chip microcomputer is connected with the wireless Bluetooth communication module, the raspberry group 4B microprocessor is connected with the slam laser radar, and the camera, the two-degree-of-freedom holder and the single-point laser ranging module are connected with the single chip microcomputer. The utility model discloses a house quality testing robot through internet of things and artificial intelligence technique, has realized the intellectuality of house quality detection, has improved the speed and the accuracy that detect, has saved a large amount of manpowers.

Description

House quality inspection robot

Technical Field

The utility model relates to a house quality inspection robot technical field especially relates to a house quality inspection robot.

Background

As society develops continuously, urbanization is spread all over the world, and various high-rise buildings are pulled out continuously. The monitoring of the quality of the house by the builder is also more intensive. In traditional house quality control, need carry various devices, it is portable enough, because artifical measuring often depends on experience can produce certain error, cause the mistake and the omission of measuring, need consume a large amount of manpowers, time.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a house quality inspection robot to the technical defect who exists among the prior art.

For realizing the utility model discloses a technical scheme that the purpose adopted is:

a house quality inspection robot comprises a crawler-type chassis used for moving and walking of the robot, and a single chip microcomputer, a raspberry group 4B microprocessor, a camera, a two-degree-of-freedom holder, a slam laser radar, a single-point laser ranging module, a display screen and a wireless Bluetooth communication module which are arranged on the crawler-type chassis and used as a main control board; the raspberry group 4B microprocessor is connected with the single chip microcomputer, the single chip microcomputer is connected with the wireless Bluetooth communication module, the raspberry group 4B microprocessor is connected with the slam laser radar, and the camera, the two-degree-of-freedom holder and the single-point laser ranging module are connected with the single chip microcomputer.

The utility model discloses house quality detection robot through internet of things and artificial intelligence technique, has realized the intellectuality of house quality detection, has improved the speed and the accuracy that detect, has saved a large amount of manpower resources.

Drawings

Fig. 1 is an overall structure schematic diagram of the house quality inspection robot of the present invention.

Fig. 2 is the utility model discloses a house quality testing robot detects principle sketch map.

Fig. 3 is a perspective schematic view of the overall structure of the house quality inspection robot of the present invention.

Fig. 4 is a schematic rear perspective view of the overall structure of the house quality inspection robot of the present invention.

Fig. 5 is a schematic structural diagram of the two-degree-of-freedom pan/tilt head of the present invention.

Fig. 6 is a schematic view of the overall structure of the house quality inspection robot of the present invention.

Reference numerals:

the system comprises a 1-SLAM laser radar, a 2-single point laser ranging module, a 3-two-degree-of-freedom cradle head, a 4-raspberry-Pi 4B microprocessor, a 5-crawler-type chassis, a 6-single chip microcomputer (STM32F407), a 7-robot display screen, an 8-wireless Bluetooth communication module and a 9-camera.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

As shown in fig. 1, the utility model discloses house quality inspection robot, including be used for the crawler-type chassis 5 that the robot removed the walking and install singlechip (STM32F407)6, raspberry group 4B microprocessor 4, camera 9, two degree of freedom cloud platforms 3, slam laser radar 1, single-point laser ranging module 2, display screen 7, wireless bluetooth communication module (HC-12)8 as the main control board on crawler-type chassis 5; raspberry group 4B microprocessor 4 be connected with singlechip (STM32F407)6, singlechip (STM32F407)6 is connected with wireless bluetooth communication module (HC-12)8, can realize with client communication, raspberry group 4B microprocessor 4 is connected with slam laser radar 1, camera 9, two degree of freedom cloud platforms 3, single-point laser ranging module 2 are connected with singlechip (STM32F407) 6.

The single chip microcomputer (STM32F407)6 is used as a main control board or a main controller and used for controlling the movement of the house quality inspection robot and processing the feedback information of the single-point laser ranging module 2, the camera 9, the raspberry pi 4B microprocessor 4 and the like, and the processed information can be fed back to the client through the wireless Bluetooth communication module 8, and the subsequent processing is carried out on the quality inspection computer.

The raspberry pi 4B microprocessor 4 is configured to process environment information scanned by the SLAM laser radar 4, feed the processed environment scanning information back to the single chip microcomputer (STM32F407)6, and control the encoder motor 10 of the crawler-type chassis 5 connected to the single chip microcomputer (STM32F407)6 to rotate according to the environment scanning information (see fig. 6), so that the crawler-type chassis 5 is controlled to move, and an autonomous navigation function is realized. The navigation control technology of the laser radar is the prior art and can be realized by utilizing the prior scanning navigation control technology.

Wherein, the single-point laser rangefinder module 2 will be measured information transfer to the singlechip after measuring the distance, can set to and be handled ranging information according to current laser rangefinder information processing technology by singlechip (STM32F407)6 to can obtain the effective information such as the straightness that hangs down of the height in house, wall.

A gyroscope (not shown) can be arranged on the single-point laser ranging module 2, so that the gyroscope can be used for sensing the pose of the single-point laser ranging module 2 and feeding back pose information to the single chip microcomputer, and the single chip microcomputer can be further arranged to control and adjust the pose of the single-point laser ranging module 2 by controlling the rotation motion of the two-degree-of-freedom holder 3 according to the pose information of the gyroscope, so that the accuracy of the measurement data of the single-point laser ranging module can be ensured (the pose adjustment technology is the prior art and is not repeated); the display screen can be connected with the single-chip microcomputer, and therefore the single-point laser distance measuring module can be designed to display the measured distance data of the single-point laser distance measuring module.

The two-degree-of-freedom cradle head 3 is mounted on a top plate 50 of a supporting structure of the crawler-type chassis 5, the two-degree-of-freedom cradle head 3 can be driven by a motor and can rotate to adjust the pose, so that the pose of a single-point laser ranging module mounted on the two-degree-of-freedom cradle head 3 can be adjusted, and the single-point laser ranging module 2 is mounted on the top of the two-degree-of-freedom cradle head 3 through a U-shaped frame, as shown in fig. 1.

Specifically, the two-degree-of-freedom pan/tilt 3 is controlled by a first steering engine 31 and a second steering engine 32 respectively to move, so that the pan/tilt has two degrees of freedom, the two steering engines can rotate 360 degrees respectively, the first steering engine 31 is mounted on the second steering engine 32 and is driven to rotate by the second steering engine 32, the second steering engine 32 drives the first steering engine 31 to rotate horizontally, and the second steering engine 31 drives the single-point laser ranging module to rotate at a pitch angle, so that two degrees of freedom are realized, as shown in fig. 5.

The raspberry pi 4B microprocessor 4 is mounted on a bottom plate 51 of the support structure, and the top plate 50 and the bottom plate 51 are arranged up and down, spaced up and down, and supported and spaced by a support block arranged in the middle.

The display screen 7 and the wireless Bluetooth communication module (HC-12)8 can be arranged on the outer side of the top plate 50, the slam laser radar 1 is installed on a support, and the support is fixed on the top plate and is arranged opposite to the two-degree-of-freedom holder 3 in a spaced mode.

The camera 9 may be fixedly mounted on one end of the top plate 50, such as the left end shown in fig. 1.

The single chip microcomputer (STM32F407)6 serving as the main control board can be placed on the bottom board 51 and is located below the same side of the camera 9.

Referring to fig. 2, the operation mode of the house quality inspection robot of the embodiment of the present invention is:

carrying the robot to a blank room or other environments needing to be detected;

starting the robot, wherein the robot can autonomously scan the surrounding environment through an SLAM laser radar and autonomously realize the navigation movement of the house quality inspection robot through a laser radar navigation technology, so that the movement detection is realized;

the single-point laser ranging module on the two-freedom-degree holder on the house quality inspection robot can adjust the pose of the two-freedom-degree platform through the gyroscope, so that the pose of the single-point laser ranging module is adjusted, the single-point laser ranging module can accurately measure whether the angle of a wall is vertical or not, the height of a roof and the like, and measured information or data can be obtained by feeding back measurement data to a user end through the wireless Bluetooth communication module by the single chip microcomputer;

the camera can transmit images, and feeds back shot wall information to the client side for checking the wall quality after wireless transmission through the single chip microcomputer and the wireless Bluetooth communication module.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A house quality inspection robot is characterized by comprising a crawler-type chassis for moving and walking of the robot, and a singlechip, a raspberry group 4B microprocessor, a camera, a two-degree-of-freedom holder, a slam laser radar, a single-point laser ranging module, a display screen and a wireless Bluetooth communication module which are installed on the crawler-type chassis and used as a main control board; the raspberry group 4B microprocessor is connected with the single chip microcomputer, the single chip microcomputer is connected with the wireless Bluetooth communication module, the raspberry group 4B microprocessor is connected with the slam laser radar, and the camera, the two-degree-of-freedom holder and the single-point laser ranging module are connected with the single chip microcomputer.

2. The house quality inspection robot of claim 1, wherein the two-degree-of-freedom pan-tilt is mounted on a top plate of a support structure of a tracked chassis, and the single-point laser ranging module is mounted on a top of the two-degree-of-freedom pan-tilt.

3. The house quality inspection robot of claim 2, wherein the raspberry pi 4B microprocessor is mounted on a bottom plate of the support structure, and the top plate is spaced above and below the bottom plate and is supported by a centrally disposed support block.

4. The house quality inspection robot of claim 3, wherein the display screen and the wireless Bluetooth communication module are arranged on the top plate and on the outer side, the slam lidar is mounted on a bracket, and the bracket is fixed on the top plate and is arranged opposite to and spaced from the two-degree-of-freedom pan-tilt.

5. The house quality inspection robot of claim 4, wherein the camera is fixedly mounted at one end of the top plate.

6. The house quality inspection robot of claim 5, wherein a single chip microcomputer as a main control board is placed on the bottom board below the same side as the camera.