CN220945364U - Machine vision guiding device for station inspection robot - Google Patents
Machine vision guiding device for station inspection robot Download PDFInfo
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- CN220945364U CN220945364U CN202323032160.8U CN202323032160U CN220945364U CN 220945364 U CN220945364 U CN 220945364U CN 202323032160 U CN202323032160 U CN 202323032160U CN 220945364 U CN220945364 U CN 220945364U
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- 238000007689 inspection Methods 0.000 title claims abstract description 55
- 230000001105 regulatory effect Effects 0.000 claims description 17
- 239000003973 paint Substances 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims 2
- 230000000007 visual effect Effects 0.000 abstract description 15
- 238000000034 method Methods 0.000 abstract description 12
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 230000002093 peripheral effect Effects 0.000 abstract description 3
- 230000001502 supplementing effect Effects 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Abstract
The application discloses a machine vision guiding device for a station inspection robot, and belongs to the technical field of station inspection equipment. The intelligent navigation system comprises a mounting plate and a navigation line, wherein the mounting plate is used for being mounted on a patrol robot, the navigation line is arranged on the patrol route, an adjusting plate is mounted on the mounting plate, the adjusting plate can adjust the height and the angle relative to the mounting plate, one side, far away from the mounting plate, of the adjusting plate is rotationally connected with a camera fixing seat, a visual camera is mounted on the camera fixing seat, an angle adjusting component used for controlling the angle of the visual camera is arranged on the adjusting plate, and the visual camera is used for collecting image information of the navigation line. Compared with the traditional mode of collecting and analyzing the peripheral side environment information, the method and the device only need to collect and analyze the navigation line information, greatly reduce the image processing information, reduce the necessity of embedding the magnetic navigation line in the ground, simplify and fast the arrangement of the navigation line, and are more beneficial to reducing the navigation cost of the inspection robot.
Description
Technical Field
The application relates to the field of station inspection equipment, in particular to a machine vision guiding device for a station inspection robot.
Background
In many fields (such as electric power, chemical industry, community security and the like), some devices need to be checked regularly, and at present, the mainly adopted checking mode is more traditional, and the manual checking mode is mainly carried out by means of regular timing and fixed points of personnel.
In the related art, a robot inspection mode is also adopted, the inspection robot can simulate professional manual operation based on OCR and image recognition capability, and perform inspection operations such as clicking, recognition and inspection on various scenes of the whole-station multi-level page and the whole fund transaction flow, so that APP page automatic inspection and monitoring can be realized. At present, a 'inspection robot' has a plurality of navigation modes, one of which is to monitor the external environment by using a visual navigation device, so that the inspection robot can judge where to locate, and the inspection robot can use different navigation schemes for different sites.
For the above related technologies, the inventor believes that the camera used on the visual navigation device can only measure 2D images and is easily affected by illumination and night, and at present, although a light supplementing lamp is used for supplementing light, in a wider scene, the light supplementing lamp cannot effectively supplement light, and further, the image information acquired by the camera is not perfect enough, so that the inspection robot needs to be navigated by using a more advanced algorithm, and the navigation cost of the inspection robot is increased.
Disclosure of utility model
In order to help reduce the navigation cost of the inspection robot, the application provides a machine vision guiding device for the station inspection robot.
The application provides a machine vision guiding device for a station inspection robot, which adopts the following technical scheme:
The utility model provides a station is patrolled and examined machine vision guider for robot, is including being used for installing the mounting panel on patrolling and examining the robot and setting up the navigation line on the route of patrolling and examining, install the regulating plate on the mounting panel, the regulating plate can for mounting panel height-adjusting and angle, one side that the mounting panel was kept away from to the regulating plate rotates and is connected with the camera fixing base, install the vision camera on the camera fixing base, be provided with on the regulating plate and be used for control the angle adjustment subassembly of vision camera angle, the vision camera is used for gathering the image information of navigation line.
Through adopting above-mentioned technical scheme, through the angle regulation subassembly angle of adjusting visual camera, make the collection end of visual camera towards the navigation line, utilize visual camera to gather the image information of navigation line, the navigation line sets up in advance on the route that needs inspection robot to patrol and examine, when inspection robot skew navigation line, visual camera shoots the image and sends the image to inspection robot's control system, control system carries out the analysis back control inspection robot and independently traveles along the navigation line to the image. Compared with the traditional method for collecting and analyzing the peripheral side environment information, the method only needs to collect and analyze the navigation line information, the image processing information is greatly reduced, and compared with the navigation method by arranging the magnetic navigation line on the ground, the method reduces the necessity of embedding the magnetic navigation line in the ground, and the arrangement of the navigation line in the method is simpler and faster, thereby being more beneficial to reducing the navigation cost of the inspection robot.
Optionally, the rotation axis of camera fixing base extends along the horizontal direction, the regulating plate is provided with the opening towards the one side that keeps away from the mounting panel, the one end of vision camera extends the opening.
Through adopting above-mentioned technical scheme, assume that the navigation line sets up in ground, utilizes angle adjusting component can adjust visual camera, makes visual camera can be vertical towards ground, also can incline towards ground, and such setting has improved visual camera's image acquisition scope, further improves inspection robot's practicality.
Optionally, the regulating plate has seted up two at least and has been the first inclined hole that mirror image set up, the mounting panel has seted up two at least and is the second inclined hole that mirror image set up, adjacent first inclined hole with the second inclined hole alternately sets up, first inclined hole with wear to be equipped with the fastener in the second inclined hole.
Through adopting above-mentioned technical scheme, when assuming that the navigation line sets up on the wall, through first inclined hole and second inclined hole, can incline the adjustment regulating plate, make the collection end of vision camera towards the front side end of inspection robot to be favorable to the vision camera to can effectively gather the information of navigation line, improve the accuracy of navigation.
Optionally, the fastener includes fastening bolt, high adjusting nut and fastening nut, fastening bolt wears to locate in the first inclined hole with in the second inclined hole, high adjusting nut and fastening bolt threaded connection, high adjusting nut is located between mounting panel and the regulating plate, fastening nut keeps away from fastening bolt's head setting.
Through adopting above-mentioned technical scheme, utilize fastening bolt and fastening nut can fix regulating plate and mounting panel, high adjusting nut's effect is the height of adjustment regulating plate, and then adjusts the height of vision camera, reduces the phenomenon emergence that vision camera was knocked with in the inspection process.
Optionally, the navigation line is a paint line or a paint line.
Through adopting above-mentioned technical scheme, such setting is easy vision camera gathers and discerns, improves the accuracy of navigation to such setting is simple swift, can effectively reduce cost.
Optionally, the lateral wall of camera fixing base is fixed with the pivot, the camera fixing base passes through the pivot is connected with the regulating plate rotation, angle adjusting component includes angle adjusting motor, driving gear and driven gear, angle adjusting motor installs the lateral wall at the regulating plate, the output at angle adjusting motor is fixed to the driving gear, driven gear fixes the tip at the pivot, driving gear and driven gear mesh mutually.
Through adopting above-mentioned technical scheme, make things convenient for the staff to adjust the image acquisition angle of vision camera to the angle adjustment precision of vision camera also is easier to control, and then improves the acquisition precision of vision camera to external environment information, improves the accuracy of navigation.
Optionally, the lateral wall of regulating plate is fixed with the protection casing, the protection casing encloses to be established in angle adjusting component's week side.
Through adopting above-mentioned technical scheme, utilize the protection casing can reduce the influence of adjusting component such as dust, extension adjusting component's life.
Optionally, the threading hole has been seted up to the side of regulating plate.
Through adopting above-mentioned technical scheme, the circuit on the vision camera can pass the through wires hole and with patrol and examine the inside control system intercommunication of robot, the through wires hole can arrange the circuit in order, makes the circuit install along predetermined orbit, reduces the winding phenomenon of circuit and takes place.
In summary, the present application includes at least one of the following beneficial technical effects:
1. Compared with the traditional mode of collecting and analyzing the surrounding environment information, the scheme of the application only needs to collect and analyze the navigation line information, the image processing information is greatly reduced, and compared with the navigation mode of arranging the magnetic navigation line on the ground, the application reduces the necessity of embedding the magnetic navigation line in the ground, and the arrangement of the navigation line in the application is simpler and faster, thereby being more beneficial to reducing the navigation cost of the inspection robot.
2. The navigation line is arranged in the ground, the visual camera can be adjusted by utilizing the angle adjusting component, so that the visual camera can vertically face the ground and can incline towards the ground, the image acquisition range of the visual camera is improved by the arrangement, and the practicability of the inspection robot is further improved; when the navigation line is arranged on the wall, the adjusting plate can be obliquely adjusted through the first inclined hole and the second inclined hole, so that the acquisition end of the vision camera faces the front side end of the inspection robot, the vision camera can effectively acquire the information of the navigation line, and the navigation accuracy is improved.
3. The circuit on the vision camera can pass the through wires hole and with the inside control system intercommunication of inspection robot, the through wires hole can arrange the circuit in order, makes the circuit install along predetermined orbit, reduces the winding phenomenon of circuit and takes place.
Drawings
Fig. 1 is a schematic overall structure of an embodiment of the present application.
Fig. 2 is an exploded view of an embodiment of the regulator plate and mounting plate of the present application.
Fig. 3 is a top view of an embodiment of the application showing primarily the angle adjustment assembly.
Reference numerals illustrate:
10. Inspection robot; 20. a navigation line; 30. a mounting plate; 31. a second inclined hole; 40. an adjusting plate; 41. a first inclined hole; 42. installing a side plate; 43. an opening; 44. a threading hole; 50. a camera fixing seat; 51. a rotating shaft; 60. a vision camera; 70. an angle adjustment assembly; 71. an angle adjusting motor; 72. a drive gear; 73. a driven gear; 74. a protective cover; 80. a fastener; 81. a fastening bolt; 82. a height adjusting nut; 83. and (5) fastening the nut.
Detailed Description
The application is described in further detail below with reference to fig. 1-3.
The embodiment of the application discloses a machine vision guiding device for a station inspection robot. Referring to fig. 1, the machine vision guide device includes a guide line 20, a mounting plate 30, an adjusting plate 40, a camera fixing seat 50, a vision camera 60 and an angle adjusting assembly 70, wherein the guide line 20 is disposed along a routing inspection path, in this embodiment, the guide line 20 is a paint line or a paint line, the paint line or the paint line is a white line with a certain width, the vision camera 60 faces the guide line 20, when the routing inspection robot 10 deviates from the guide line 20, the vision camera 60 captures an image and sends the image to a control system of the routing inspection robot 10, and the control system controls the routing inspection robot 10 to autonomously travel along the guide line 20 after analyzing the image.
Referring to fig. 1 and 2, the mounting plate 30 and the adjusting plate 40 are all L-shaped plates, the mounting plate 30 is fixed on the front side wall of the inspection robot 10, the adjusting plate 40 is mounted on the top surface of the mounting plate 30, in this embodiment, the adjusting plate 40 is provided with two first inclined holes 41 arranged in a mirror image manner, the mounting plate 30 is provided with two second inclined holes 31 arranged in a mirror image manner, and the extending directions of the adjacent first inclined holes 41 and second inclined holes 31 are projected to the same horizontal plane to be in a cross arrangement, and the fasteners 80 are penetrated into the first inclined holes 41 and the second inclined holes 31.
The fastening piece 80 comprises a fastening bolt 81, a height adjusting nut 82 and a fastening nut 83, wherein the fastening bolt 81 penetrates through the first inclined hole 41 and the second inclined hole 31, one end of the fastening bolt 81 penetrates through the first inclined hole 41 and the second inclined hole 31, the height adjusting nut 82 and the fastening nut 83 are in threaded connection with the fastening bolt 81, and the height adjusting nut 82 is positioned between the mounting plate 30 and the adjusting plate 40 and used for adjusting the height of the adjusting plate 40; the fastening nut 83 is provided away from the head of the fastening bolt 81, and the adjustment plate 40 and the mounting plate 30 are clamped by the fastening nut 83 and the head of the fastening bolt 81.
In addition, by the arrangement of the first inclined hole 41 and the second inclined hole 31, the adjustment plate 40 can deflect to some extent in the horizontal plane with respect to the mounting plate 30 to adjust the image capturing angle of the vision camera 60.
Referring to fig. 2 and 3, two mounting side plates 42 are fixed to one side of the adjusting plate 40 facing away from the mounting plate 30, an opening 43 is formed between the two mounting side plates 42 and the adjusting plate 40, the opening 43 is arranged in a direction facing away from the adjusting plate 40, a camera fixing seat 50 is arranged between the two mounting side plates 42, a rotating shaft 51 is fixed to a side wall of the camera fixing seat 50, the rotating shaft 51 penetrates through the mounting side plates 42 and is rotatably connected with the mounting side plates 42, a vision camera 60 is mounted on the camera fixing seat 50, an angle adjusting assembly 70 is mounted on the side wall of the mounting side plates 42, and an output end of the angle adjusting assembly 70 is connected with an end portion of the rotating shaft 51.
The angle adjusting assembly 70 includes an angle adjusting motor 71, a driving gear 72 and a driven gear 73, the angle adjusting motor 71 is mounted on a side wall of the mounting side plate 42, the driving gear 72 is fixed at an output end of the angle adjusting motor 71, the driven gear 73 is fixed at an end of the rotating shaft 51, and the driven gear 73 is meshed with the driving gear 72. The side wall of the mounting side plate 42 is also fixed with a protective cover 74 surrounding the circumference side of the angle adjusting assembly 70, and the service life of the angle adjusting assembly 70 is prolonged by the protective cover 74.
Referring to fig. 2, the side wall of the adjusting plate 40 is further provided with a threading hole 44, the line of the vision camera 60 passes through the threading hole 44 and leads into the inspection robot 10, and the line is sorted by using the threading hole 44, so that the line winding phenomenon is reduced.
The implementation principle of the machine vision guiding device for the station inspection robot provided by the embodiment of the application is as follows: the navigation line 20 is set on a route to be inspected by the inspection robot 10 in advance, for example, on the ground, and the vision camera 60 collects image information of the navigation line 20 and performs inspection according to the image information of the navigation line 20; when the inspection robot 10 deviates from the navigation line 20, the vision camera 60 captures an image and transmits the image to the control system of the inspection robot 10, and the control system analyzes the image and controls the inspection robot 10 to autonomously travel along the navigation line 20. Compared with the traditional method for collecting and analyzing the peripheral side environment information, the method only needs to collect and analyze the information of the navigation line 20, the image processing information is greatly reduced, and compared with the navigation method by arranging the magnetic navigation line 20 on the ground, the method reduces the necessity of embedding the magnetic navigation line 20 in the ground, and the arrangement of the navigation line 20 in the method is simpler and faster, thereby being more beneficial to reducing the navigation cost of the inspection robot 10.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (8)
1. The utility model provides a station inspection robot is with machine vision guider which characterized in that: including being used for installing mounting panel (30) on patrolling and examining robot (10) and setting up guide line (20) on the route of patrolling and examining, install regulating plate (40) on mounting panel (30), regulating plate (40) can for mounting panel (30) height and angle are kept away from one side rotation of mounting panel (30) and are connected with camera fixing base (50), install vision camera (60) on camera fixing base (50), be provided with on regulating plate (40) and be used for control angle adjustment subassembly (70) of vision camera (60) angle, vision camera (60) are used for gathering the image information of guide line (20).
2. A machine vision guide for a station inspection robot as set forth in claim 1, wherein: the rotation axis (51) line of camera fixing base (50) extends along the horizontal direction, adjusting plate (40) are provided with opening (43) towards the one side that keeps away from mounting panel (30), the one end of vision camera (60) extends opening (43).
3. A machine vision guide for a station inspection robot as set forth in claim 1, wherein: the adjusting plate (40) is provided with at least two first inclined holes (41) which are arranged in a mirror image mode, the mounting plate (30) is provided with at least two second inclined holes (31) which are arranged in a mirror image mode, the first inclined holes (41) and the second inclined holes (31) are adjacent to each other in a crossing mode, and fastening pieces (80) are arranged in the first inclined holes (41) and the second inclined holes (31) in a penetrating mode.
4. A machine vision guide for a station inspection robot as set forth in claim 3, wherein: the fastener (80) comprises a fastening bolt (81), a height adjusting nut (82) and a fastening nut (83), wherein the fastening bolt (81) is arranged in the first inclined hole (41) and the second inclined hole (31) in a penetrating mode, the height adjusting nut (82) and the fastening nut (83) are in threaded connection with the fastening bolt (81), the height adjusting nut (82) is located between the mounting plate (30) and the adjusting plate (40), and the fastening nut (83) is arranged away from the head portion of the fastening bolt (81).
5. A machine vision guide for a station inspection robot as set forth in claim 1, wherein: the navigation line (20) is a paint line or a paint line.
6. A machine vision guide for a station inspection robot as set forth in claim 1, wherein: the camera fixing base (50) is characterized in that a rotating shaft (51) is fixed on the side wall of the camera fixing base (50), the camera fixing base (50) is rotationally connected with the adjusting plate (40) through the rotating shaft (51), the angle adjusting assembly (70) comprises an angle adjusting motor (71), a driving gear (72) and a driven gear (73), the angle adjusting motor (71) is mounted on the side wall of the adjusting plate (40), the driving gear (72) is fixed at the output end of the angle adjusting motor (71), the driven gear (73) is fixed at the end portion of the rotating shaft (51), and the driving gear (72) is meshed with the driven gear (73).
7. The machine vision guide device for a station inspection robot of claim 6, wherein: the side wall of the adjusting plate (40) is fixedly provided with a protective cover (74), and the protective cover (74) is arranged on the periphery of the angle adjusting component (70) in a surrounding mode.
8. A machine vision guide for a station inspection robot as set forth in claim 1, wherein: threading holes (44) are formed in the side faces of the adjusting plates (40).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323032160.8U CN220945364U (en) | 2023-11-09 | 2023-11-09 | Machine vision guiding device for station inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323032160.8U CN220945364U (en) | 2023-11-09 | 2023-11-09 | Machine vision guiding device for station inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220945364U true CN220945364U (en) | 2024-05-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323032160.8U Active CN220945364U (en) | 2023-11-09 | 2023-11-09 | Machine vision guiding device for station inspection robot |
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| Country | Link |
|---|---|
| CN (1) | CN220945364U (en) |
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2023
- 2023-11-09 CN CN202323032160.8U patent/CN220945364U/en active Active
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