CN219910878U - Inspection robot system - Google Patents

Abstract

The utility model provides a patrol robot system, which comprises: the inspection robot is movably arranged along a preset track, the inspection robot comprises a shell and a charging induction panel, the charging induction panel is connected with the shell, the number of the wireless charging devices is multiple, and the wireless charging devices are arranged at intervals along the advancing direction of the inspection robot; the charging sensing panel is provided with a hidden position inside the shell, and the charging sensing panel is provided with a working position moving to the outside of the shell. According to the utility model, the charging induction panel is arranged on the shell of the inspection robot, so that when the inspection robot moves to a preset position away from the wireless charging device along a preset track, the charging induction panel can be selectively positioned at a working position and a hidden position, the inspection robot can perform wireless induction charging, and the problems of cost improvement and maintenance difficulty increase caused by conventional circuit laying are solved.

Description

Inspection robot system

Technical Field

The utility model relates to the technical field of mining robots, in particular to a patrol robot system.

Background

In the prior art, the mining inspection robot has no automatic positioning calibration of wireless charging and a driving flow of charging action, and lacks a low-power protection function when in low power, so that the inspection robot cannot be driven and needs to be hoisted or manually transported to a charging place.

The existing inspection robot driving device is driven through electric power, common electric power supply is used for completing the power supply requirement of the inspection robot through laying a power supply line, the installation wiring of the laid power supply line is complex, after the line is laid, the maintenance and overhaul cost is high, meanwhile, the intelligent induction and the electric power control technology of the existing inspection robot facing a radio charging pile in driving equipment are single, the problem of difficult positioning in the charging process is caused, and the phenomenon that the driving is invalid due to insufficient electric quantity of the inspection robot before approaching the radio charging pile is influenced, so that the integral operation efficiency of the inspection robot is influenced.

Disclosure of Invention

The utility model mainly aims to provide a patrol robot system so as to solve the problem that the inspection robot system in the prior art is difficult to charge.

In order to achieve the above object, according to one aspect of the present utility model, there is provided a patrol robot system comprising: the inspection robot is movably arranged along a preset track and comprises a shell and a charging induction panel, and the charging induction panel is connected with the shell; the plurality of wireless charging devices are arranged at intervals along the advancing direction of the inspection robot; the charging induction panel is provided with a hidden position positioned inside the shell, and the charging induction panel is provided with a working position which moves to the outside of the shell; the inspection robot moves to a preset position away from the wireless charging device along a preset track, and the charging induction panel is selectively positioned at a working position and a hiding position.

Further, all be provided with a plurality of light source transmitters on the wireless charging device, be provided with a plurality of light source receivers on the induction panel that charges, a plurality of light source transmitters set up with a plurality of light source receivers one-to-one, patrol and examine inside still being provided with of robot drive arrangement, drive arrangement is connected with induction panel that charges, and drive arrangement can drive induction panel to the working position according to the received signal of light source receiver.

Further, the housing is internally provided with a containing groove, an opening is formed in one side face of the housing, the charging induction panel is located in the containing groove when located at the hidden position, and the charging induction panel is arranged opposite to the wireless charging device when located at the working position.

Further, the one end that charges the induction panel and keep away from the opening is provided with limit stop, and the inner wall of casing is provided with backstop portion, and limit stop is in quiescent condition with backstop portion butt time, charges the induction panel.

Further, be provided with the slide rail on the lateral wall of holding tank, charge the induction panel and pass through slide rail slidable mounting in the holding tank, charge one side that induction panel deviates from wireless charging device and be provided with the rack, drive arrangement's output shaft passes through drive gear and rack transmission and is connected.

Further, the inspection robot system further includes: the inspection track comprises an annular steel cable, the outer side of a shell of the inspection robot is provided with travelling wheels, the travelling wheels are slidably mounted on the annular steel cable, and the inspection robot can move to a preset position close to any wireless charging device along the annular steel cable.

Further, the inspection robot further comprises an inspection device, the inspection device is connected with the shell, the inspection device can perform an inspection task on a preset space around the inspection track, and the inspection device comprises at least one of a pickup, a temperature sensor, a smoke sensor, an image collector and a methane sensor.

Further, the inspection robot further comprises a controller, a storage battery and a position acquisition device, wherein the controller is electrically connected with the position acquisition device, the storage battery and the inspection device, and the controller can control the on-off state of the inspection device according to the position signal acquired by the position acquisition device and the electric quantity signal of the storage battery.

Further, the inspection robot further comprises an information transmission device arranged inside the shell, the information transmission device is communicated with the remote server or the terminal, and the information transmission device is electrically connected with the inspection device.

Further, wireless induction coils are installed in the charging induction panel and the wireless charging device.

By applying the technical scheme of the utility model, the charging induction panel is arranged on the shell of the inspection robot, so that when the inspection robot moves to a preset position away from the wireless charging device along a preset track, the charging induction panel can be selectively positioned at a working position and a hidden position, the inspection robot can perform wireless induction charging, and the problems of cost improvement and maintenance difficulty increase caused by conventional circuit laying are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:

fig. 1 shows a schematic structural view of an embodiment of a inspection robot system according to the present utility model;

fig. 2 shows a schematic structural view of a first embodiment of a inspection robot according to the present utility model;

fig. 3 shows a schematic structural view of a second embodiment of a inspection robot according to the present utility model;

fig. 4 shows a schematic structural view of an embodiment of a wireless charging device according to the present utility model.

Wherein the above figures include the following reference numerals:

10. inspection robot; 11. a housing; 111. a receiving groove; 112. a slide rail; 12. a charging induction panel; 121. a light source receiver; 122. a limit stop; 123. a rack; 13. a driving device; 14. a walking wheel; 15. a patrol device; 16. a controller; 17. a storage battery; 18. a position acquisition device;

20. a wireless charging device; 21. a light source emitter;

30. an annular steel cable;

40. a wireless induction coil;

50. and (5) a roadway.

Detailed Description

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present utility model. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the utility model described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Exemplary embodiments according to the present utility model will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art, that in the drawings, it is possible to enlarge the thicknesses of layers and regions for clarity, and that identical reference numerals are used to designate identical devices, and thus descriptions thereof will be omitted.

Referring to fig. 1 to 4, according to an embodiment of the present utility model, a patrol robot system is provided.

Specifically, a patrol robot system includes: the inspection robot 10 and the wireless charging device 20, the inspection robot 10 is movably arranged along a preset track, the inspection robot 10 comprises a shell 11 and a charging induction panel 12, and the charging induction panel 12 is connected with the shell 11; the wireless charging devices 20 are multiple, the wireless charging devices 20 are arranged at intervals along the travelling direction of the inspection robot 10, the charging induction panel 12 is provided with a hidden position inside the shell 11, and the charging induction panel 12 is provided with a working position moving to the outside of the shell 11; the inspection robot 10 moves along a predetermined trajectory to a predetermined position from the wireless charging device 20, and the charging sensing panel 12 is selectively located at a working position and a hidden position.

In this embodiment, the charging induction panel 12 is disposed on the housing 11 of the inspection robot 10, so that when the inspection robot 10 moves to a preset position away from the wireless charging device 20 along a preset track, the charging induction panel 12 is selectively located at a working position and a hidden position, so that the inspection robot 10 can perform wireless induction charging, and the problems of cost improvement and maintenance difficulty increase caused by conventional circuit laying are solved.

Further, the wireless charging device 20 is provided with a plurality of light source transmitters 21, the charging induction panel 12 is provided with a plurality of light source receivers 121, the light source transmitters 21 and the light source receivers 121 are arranged in a one-to-one correspondence, the inspection robot 10 is also internally provided with a driving device 13, the driving device 13 is connected with the charging induction panel 12, and the driving device 13 can drive the charging induction panel 12 to a working position according to a receiving signal of the light source receivers 121. In this embodiment, the number of the light source transmitters 21 is four, and the number of the light source receivers 121 is four, so that when the electric quantity is insufficient and charging is required, the driving device 13 drives the inspection robot 10 to receive the positioning light source of the light source transmitters 21 by using the light source receivers 121, and the positioning action of wireless induction charging is completed.

Further, the housing 11 has a receiving groove 111 therein, the receiving groove 111 forms an opening on one side of the housing 11, when the charging sensing panel 12 is located at the hidden position, the charging sensing panel 12 is located in the receiving groove 111, and when the charging sensing panel 12 is located at the working position, the charging sensing panel 12 is disposed opposite to the wireless charging device 20. The charging induction panel 12 is hidden in the accommodating groove 111 when no charging is needed, so that the charging induction panel 12 is effectively protected, and the charging induction panel 12 can be moved to a working position opposite to the wireless charging device 20 when charging is needed.

Further, a limit stop 122 is disposed at one end of the charging sensing panel 12 far away from the opening, a stop portion is disposed on an inner wall of the housing 11, and when the limit stop 122 abuts against the stop portion, the charging sensing panel 12 is in a static state. This effectively prevents the charging sensing panel 12 from being damaged by collision with the inner wall of the housing 11.

Further, a sliding rail 112 is disposed on a side wall of the accommodating groove 111, the charging induction panel 12 is slidably mounted in the accommodating groove 111 through the sliding rail 112, a rack 123 is disposed on a side of the charging induction panel 12 facing away from the wireless charging device 20, and an output shaft of the driving device 13 is in transmission connection with the rack 123 through a transmission gear. When the charging induction panel is in an unused state, the charging induction panel is positioned inside the inspection robot, when the electric quantity is insufficient and needs to be charged, the driving device drives the gear to be meshed with the rack, so that the charging induction panel is driven to move outwards to the outside of the shell of the inspection robot, a light source receiver is utilized to receive a positioning light source of a light source emitter, the positioning of the light source is judged through a singlechip inside the inspection robot, a servo motor is controlled to change the position of the charging induction panel, the positioning action of wireless induction charging is completed, and the technical problem that the positioning of the charging process is difficult when the conventional inspection robot is driven to the wireless charging panel is solved.

Further, the inspection robot system further includes: the inspection track comprises an annular steel cable 30, the walking wheel 14 is arranged on the outer side of the shell 11 of the inspection robot 10, the walking wheel 14 is slidably mounted on the annular steel cable 30, and the inspection robot 10 can move to a preset position close to any wireless charging device 20 along the annular steel cable 30.

In another alternative embodiment, the travelling wheels are mounted on steel cables, and a plurality of wireless inductive charges are arranged on the steel cables at equal intervals according to different path points by arranging the steel cables in the mine tunnel. The driving of the inspection robot is realized by driving the steel cable through the driving wheel, the walking wheel arranged on the steel cable drives the shell of the inspection robot to finish walking, and the inspection device is utilized to inspect the internal environment of the mine tunnel and the mine equipment, so as to finish information acquisition, storage, transmission and equipment fault positioning in the tunnel.

Further, the inspection robot 10 further includes an inspection device 15, where the inspection device 15 is connected to the housing 11, and the inspection device 15 may perform an inspection task on a preset space around the inspection track, where the inspection device 15 includes at least one of a pickup, a temperature sensor, a smoke sensor, an image collector, and a methane sensor. The arrangement enables the robot to monitor in real time, and the working efficiency is effectively improved.

Further, the inspection robot 10 further includes a controller 16, a battery 17, and a position obtaining device 18, where the controller 16 is electrically connected to the position obtaining device, the battery 17, and the inspection device 15, and the controller 16 can control the on-off state of the inspection device 15 according to the position signal obtained by the position obtaining device and the electric quantity signal of the battery 17. When the current electric quantity of the storage battery is monitored to detect, the electric quantity is insufficient for the current inspection robot to normally operate to the nearest wireless induction charging plate, the running state of the inspection device is automatically closed, the low electric quantity protection state is achieved, the electric quantity consumption is reduced, the inspection robot moves to the wireless induction charging plate to conduct charging action, and the phenomenon that the driving is invalid due to the fact that the electric quantity is insufficient before the inspection robot approaches a wireless charging pile is relieved.

Further, the inspection robot 10 further includes an information transmission device disposed inside the housing 11, where the information transmission device communicates with a remote server or terminal, and the information transmission device is electrically connected to the inspection device 15. In this embodiment, the distance between the current position of the inspection robot and the nearest next wireless induction charging device in the roadway can be determined, when the current battery power is not enough to normally operate the inspection robot to the nearest wireless induction charging device, the driving module automatically closes the running state of the inspection module, achieves a low power protection state, reduces power consumption, and sends low power early warning to the ground console by using the information transceiver module until the inspection robot moves to the wireless induction charging device for charging.

Further, a wireless induction coil 40 is installed inside the charging induction panel 12 and inside the wireless charging device 20. The electromagnetic induction principle is mainly adopted, energy is transmitted through energy coupling of the coil, and wireless power supply is realized for the inspection robot.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition to the foregoing, references in the specification to "one embodiment," "another embodiment," "an embodiment," etc., indicate that the particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the utility model, as generally described. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is intended that such feature, structure, or characteristic be implemented within the scope of the utility model.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A patrol robot system, comprising:

the inspection robot (10), the inspection robot (10) is movably arranged along a preset track, the inspection robot (10) comprises a shell (11) and a charging induction panel (12), and the charging induction panel (12) is connected with the shell (11);

the plurality of wireless charging devices (20) are arranged at intervals along the travelling direction of the inspection robot (10), and the plurality of wireless charging devices (20) are arranged at intervals along the travelling direction of the inspection robot (10);

the charging induction panel (12) has a hidden position inside the housing (11), and the charging induction panel (12) has a working position moving outside the housing (11); the inspection robot (10) moves to a preset position away from the wireless charging device (20) along the preset track, and the charging induction panel (12) is selectively positioned at the working position and the hiding position.

2. The inspection robot system according to claim 1, wherein a plurality of light source transmitters (21) are arranged on the wireless charging device (20), a plurality of light source receivers (121) are arranged on the charging induction panel (12), the light source transmitters (21) and the light source receivers (121) are arranged in a one-to-one correspondence manner, a driving device (13) is further arranged inside the inspection robot (10), the driving device (13) is connected with the charging induction panel (12), and the driving device (13) can drive the charging induction panel (12) to the working position according to a receiving signal of the light source receiver (121).

3. The inspection robot system according to claim 2, wherein the housing (11) has a receiving groove (111) therein, the receiving groove (111) forms an opening on one side of the housing (11), the charging sensing panel (12) is located in the receiving groove (111) when the charging sensing panel (12) is located in the hidden position, and the charging sensing panel (12) is located in the working position, the charging sensing panel (12) being disposed opposite to the wireless charging device (20).

4. A patrol robot system according to claim 3, wherein the end of the charging induction panel (12) remote from the opening is provided with a limit stop (122), the inner wall of the housing (11) is provided with a stop portion, and the charging induction panel (12) is in a stationary state when the limit stop (122) abuts against the stop portion.

5. A patrol robot system according to claim 3, wherein a sliding rail (112) is provided on a side wall of the accommodating groove (111), the charging induction panel (12) is slidably mounted in the accommodating groove (111) through the sliding rail (112), a rack (123) is provided on a side of the charging induction panel (12) facing away from the wireless charging device (20), and an output shaft of the driving device (13) is in transmission connection with the rack (123) through a transmission gear.

6. The inspection robot system of claim 1, further comprising:

the inspection track comprises an annular steel cable (30), a travelling wheel (14) is arranged on the outer side of a shell (11) of the inspection robot (10), the travelling wheel (14) is slidably mounted on the annular steel cable (30), and the inspection robot (10) can move along the annular steel cable (30) to a preset position close to any wireless charging device (20).

7. The inspection robot system according to claim 6, wherein the inspection robot (10) further comprises an inspection device (15), the inspection device (15) is connected with the housing (11), the inspection device (15) can perform an inspection task on a preset space around the inspection track, and the inspection device (15) comprises at least one of a sound pickup, a temperature sensor, a smoke sensor, an image collector, and a methane sensor.

8. The inspection robot system according to claim 7, wherein the inspection robot (10) further comprises a controller (16), a storage battery (17) and a position acquisition device (18), the controller (16) is electrically connected with the position acquisition device, the storage battery (17) and the inspection device (15), and the controller (16) can control the on-off state of the inspection device (15) according to the position signal acquired by the position acquisition device (18) and the electric quantity signal of the storage battery (17).

9. The inspection robot system according to claim 7 or 8, wherein the inspection robot (10) further comprises an information transmission device disposed inside the housing (11), the information transmission device being in communication with a remote server or terminal, the information transmission device being electrically connected with the inspection device (15).

10. The inspection robot system of any one of claims 1 to 8, wherein a wireless induction coil (40) is mounted inside the charging induction panel (12) and inside the wireless charging device (20).