An intelligent wheeled inspection robot

Abstract

The invention discloses an intelligent wheeled inspection robot, which mainly relates to the technical field of intelligent security equipment, including a body chassis module, an independent suspension travel mechanism, a data acquisition module, a front obstacle avoidance module, a rear obstacle avoidance module, two side shield modules, and an electric control module. The robot is a multifunctional intelligent inspection robot integrating automatic walking, automatic obstacle avoidance, automatic scanning, automatic data uploading, automatic charging, and automatic alarm. The robot conducts inspections in chemical plant areas, intelligent communities, unmanned parks, military areas, toxic and hazardous places, etc. in an all-weather autonomous patrol mode. The robot adopts a combination of laser navigation and Beidou navigation, and utilizes thermal imaging and high-definition camera technology to timely discover dangerous gas leaks, temperature anomalies, automatic analysis of instruments and valves, image comparison analysis, and record and upload equipment information to provide abnormal alarms.

Description

Technical Field

[0001] The invention mainly relates to the technical field of intelligent security equipment, and specifically to an intelligent wheeled inspection robot. Background Art

[0002] In chemical plant areas, smart communities, unmanned parks, military areas, and toxic and hazardous sites, regular inspections of various types of equipment and devices on site are essential to ensure reliable equipment operation and production safety. Regular inspections are mostly carried out by combining manual inspections with equipment monitoring, but most monitoring equipment is difficult to achieve remote data transmission, and relevant data must be recorded manually on a regular basis, which often puts inspectors in danger. Since the regular inspection process requires standardized operations and is highly dangerous, relevant personnel need to be regularly and strictly trained, which also increases costs. At the same time, the daily workload of regular inspections is large, and most of them are repetitive and regular work.

[0003] With the development of science and technology, people have an urgent need for new things. Intelligent inspection robots are a kind of inspection equipment that has emerged in recent years. They have a wide range of applications. They can be used for inspections in troops, factories, etc. Using inspection robots to work can greatly improve the shortcomings of manual inspections. However, due to the complex environment, numerous pipelines, and the stepped distribution of various instruments and equipment, it is difficult to use existing intelligent inspection robots on the market to complete the inspection tasks in this environment. Summary of the invention

[0004] In view of the deficiencies and defects in the prior art, the present invention provides an intelligent wheeled inspection robot.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: an intelligent wheeled inspection robot, including a body chassis module, an independent suspension travel mechanism, a data acquisition module, a front obstacle avoidance module, a rear obstacle avoidance module, two side shield modules and an electric control module;

[0006] The vehicle chassis module includes two driving devices, two front tension wheel devices, two rear tension wheel devices, two front driven sprocket devices, two rear driven sprocket devices, four chains, a charging device, a housing, a battery and an electronic control device; the front tension wheel device includes a small driven sprocket and a front driven sprocket support plate; the rear tension wheel device includes a small driven sprocket and a rear driven sprocket support plate; the front driven sprocket support plate and the rear driven sprocket support plate are respectively fixed on the housing, and the front driven sprocket support plate and the rear driven sprocket support plate are connected to the small driven sprocket with bearings to play the role of tensioning the chain;

[0007] The independent suspension traveling mechanism comprises an independent suspension, a tire, a hub cover and a universal joint coupling; the independent suspension comprises a hub main shaft, a hub connecting flange, an upper support arm, a lower support arm, four suspension fixing plates, four universal joint ball heads, a shock absorbing spring fixing block and a shock absorber; the independent suspension comprises two mirror-type and two non-mirror-type, which are symmetrically arranged on both sides of the shell; the data acquisition module comprises an upper hood, a pan-tilt camera, a laser obstacle avoider, two clearance lights, two Beidou signal receivers, a data transmission antenna, a picture transmission antenna, a brake light, an emergency stop, a rear control panel, a fan and a filter.

[0008] As a further improvement of the present invention, the driving device includes a servo motor, a reducer, a reducer shaft and a driving sprocket. The two driving devices have exactly the same structure and are symmetrically arranged on both sides of the shell; the servo motor is connected to the electronic control device, and the servo motor transmits power to the reducer shaft through the reducer, and the driving sprocket and the reducer shaft are connected with a flat key; the front driven sprocket device includes a large driven sprocket, a front driven sprocket shaft, and a front driven sprocket seat; the rear driven sprocket device includes a large driven sprocket, a rear driven sprocket shaft, and a rear driven sprocket seat; the driving sprocket drives the chain to rotate, and the chain drives the large driven sprocket on the front driven sprocket seat and the large driven sprocket on the rear driven sprocket seat to rotate respectively, the front driven sprocket seat and the rear driven sprocket seat are respectively fixed to the shell, the large driven sprocket on the front driven sprocket seat is connected to the front driven sprocket shaft with a bearing, and the large driven sprocket on the rear driven sprocket seat is connected to the rear driven sprocket shaft with a bearing, and the charging device is connected to the battery to realize automatic charging.

[0009] As a further improvement of the present invention, the universal joint coupling transmits power to the wheel hub main shaft, the wheel hub main shaft is fixed to the tire, the power is transmitted to the tire, and the hub cover is fixed to the tire to play a protective role; the wheel hub main shaft is connected to the wheel hub connecting flange with a bearing, the upper support arm is connected to the wheel hub connecting flange with a bearing, the lower support arm is connected to the wheel hub connecting flange with a bearing, the upper support arm is connected to the suspension fixing plate through a universal joint ball head, the suspension fixing plate is fixed to the shell, the lower support arm is connected to the suspension fixing plate through a universal joint ball head, the lower support arm is fixed to the shock absorber, the shock absorber is fixed to the shock absorber spring fixing block, the shock absorber spring fixing block is fixed to the shell, and when the tire is running, the shock absorber plays a shock absorbing role.

[0010] As a further improvement of the present invention, the pan-tilt camera, laser obstacle avoider, two Beidou signal receivers, data transmission antenna, and image transmission antenna are arranged on the upper part of the upper machine cover. Multiple navigation methods are combined, and infrared thermal imaging and high-definition camera technology are used to timely detect dangerous gas leaks, abnormal temperatures, automatic analysis of instruments and valves, image analysis and comparison, and record and upload equipment information to provide abnormal alarms; two clearance lights, brake lights, emergency stop, and rear control panel are arranged on the outside of the rear of the upper machine cover. The two clearance lights and brake lights can serve to remind other people or vehicles to pay attention. The emergency stop can perform emergency braking in an emergency. The rear control panel is for data communication, power control, and manual charging; the fan and filter are arranged inside the rear of the upper machine cover. The fan and filter prevent dust and moisture from entering the robot and damaging the robot.

[0011] As a further improvement of the present invention, the front obstacle avoidance module includes a front hood; front ultrasonic obstacle avoiders are provided on both sides of the front hood, which can effectively and automatically avoid obstacles; a breathing light is provided in the middle, which serves as a notification and reminder; front searchlights are provided at the two upper corners, which can illuminate and search at a long distance.

[0012] As a further improvement of the present invention, the rear obstacle avoidance module includes a rear hood, and the rear hood is provided with a rear ultrasonic obstacle avoider, which can effectively and automatically avoid obstacles.

[0013] As a further improvement of the present invention, the two side shield modules include a right side shield and a left side shield, and speakers are provided on the right side shield and the left side shield to convert electrical signals into sound signals.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: an intelligent wheeled inspection robot of the present invention is a multifunctional intelligent inspection robot integrating automatic walking, automatic obstacle avoidance, automatic scanning, automatic data uploading, automatic charging and automatic alarm. It conducts inspections in chemical plant areas, intelligent communities, unmanned parks, military areas, toxic and harmful places, etc. in an all-weather autonomous patrol mode. The robot adopts a combination of laser navigation and Beidou navigation, and uses thermal imaging and high-definition camera technology to timely detect dangerous gas leaks, abnormal temperatures, automatic analysis of instruments and valves, image comparison analysis, and record and upload equipment information to provide abnormal alarms. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0016] Figure 1 A front isometric view of an intelligent wheeled inspection robot according to the present invention;

[0017] Figure 2 A rear isometric view of an intelligent wheeled inspection robot according to the present invention;

[0018] Figure 3 A structural schematic diagram of a vehicle chassis module of the present invention I;

[0019] Figure 4 Structural schematic diagram II of the vehicle chassis module of the present invention;

[0020] Figure 5 A schematic diagram of the structure of the electric control module of the present invention;

[0021] Figure 6 An internal isometric view of the independent suspension traveling mechanism of the present invention;

[0022] Figure 7 An isometric view of the independent suspension travel mechanism of the present invention;

[0023] Figure 8 A schematic diagram of the structure of the independent suspension of the present invention;

[0024] Fig. 9 A front isometric view of the data acquisition module of the present invention;

[0025] Fig.10 A rear isometric view of the data acquisition module of the present invention;

[0026] Fig.11 An internal isometric view of the data acquisition module of the present invention;

[0027] [ Fig.12 A schematic structural diagram of the front obstacle avoidance module of the present invention;

[0028] Fig.13 A schematic structural diagram of the rear obstacle avoidance module of the present invention;

[0029] Fig.14 Isometric view of the shield modules on both sides of the present invention;

[0030] In the figure: 1 servo motor, 2 reducer, 3 reducer shaft, 4 driving sprocket, 5 chain, 6 small driven sprocket, 7 front driven sprocket support plate, 8 rear driven sprocket support plate, 9 large driven sprocket, 10 front driven sprocket shaft, 11 front driven sprocket seat, 12 rear driven sprocket shaft, 13 rear driven sprocket seat, 14 charging device, 15 housing, 16 battery, 17 electronic control device, 18 hub spindle, 19 hub connecting flange, 20 upper support arm, 21 lower support arm, 22 suspension fixing plate, 23 universal joint ball head, 24 shock absorbing spring fixing block, 25 shock absorber, 26 tire, 27 hub cover, 28 universal joint coupling, 29 upper machine cover, 30 pan / tilt camera, 31 laser obstacle avoider, 32 two clearance lights , 33 two Beidou signal receivers, 34 data transmission antenna, 35 image transmission antenna, 36 brake light, 37 emergency stop, 38 rear control panel, 39 fan, 40 filter, 41 front hood, 42 front ultrasonic obstacle avoider, 43 front searchlight, 44 breathing light, 45 rear hood, 46 rear ultrasonic obstacle avoider, 47 right side guard, 48 left side guard, 49 speaker, 50 body chassis module, 51 independent suspension running mechanism, 52 data acquisition module, 53 front obstacle avoidance module, 54 rear obstacle avoidance module, 55 both side guard modules, 56 independent suspension, 57 electronic control module, 58 drive device, 59 front tensioner device, 60 rear tensioner device, 61 front driven sprocket device, 62 rear driven sprocket device. DETAILED DESCRIPTION

[0031] In order to make the technical scheme and beneficial effects of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments. It should be understood that the specific implementation methods described herein are only used to understand the present invention and are not used to limit the present invention. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0032] Figure 1 , Figure 2 An axonometric view of an intelligent wheeled inspection robot of the present invention includes a vehicle chassis module 50 , an independent suspension travel mechanism 51 , a data acquisition module 52 , a front obstacle avoidance module 53 , a rear obstacle avoidance module 54 , two side shield modules 55 , and an electric control module 57 .

[0033] Figure 3 , Figure 4 , Figure 5The structural diagram of the vehicle chassis module of the present invention; the vehicle chassis module 50 includes two driving devices 58, two front tensioning wheel devices 59, two rear tensioning wheel devices 60, two front driven sprocket devices 61, two rear driven sprocket devices 62, four chains 5, a charging device 14, a housing 15, a battery 16, and an electronic control device 17. The front tensioning wheel device 59 includes a small driven sprocket 6 and a front driven sprocket support plate 7, and the rear tensioning wheel device 60 includes a small driven sprocket 6 and a rear driven sprocket support plate 8. The front driven sprocket support plate 7 and the rear driven sprocket support plate 8 are respectively fixed on the housing 15, and the front driven sprocket support plate 7 and the rear driven sprocket support plate 8 are connected to the small driven sprocket 6 by bearings, which play the role of tensioning the chain 5. The driving device 58 includes a servo motor 1, a reducer 2, a reducer shaft 3, and a driving sprocket 4. The two driving devices 58 have exactly the same structure and are symmetrically placed on both sides of the housing 15.

[0034] The servo motor 1 is connected to the electronic control device 17, and the servo motor 1 transmits power to the reducer shaft 3 through the reducer 2. The driving sprocket 4 and the reducer shaft 3 are connected with a flat key. The front driven sprocket device 61 includes a large driven sprocket 9, a front driven sprocket shaft 10, and a front driven sprocket seat 11. The rear driven sprocket device 62 includes a large driven sprocket 9, a rear driven sprocket shaft 12, and a rear driven sprocket seat 13. The driving sprocket 4 drives the chain 5 to rotate, and the chain 5 drives The large driven sprocket 9 on the front driven sprocket seat 11 and the large driven sprocket 9 on the rear driven sprocket 13 rotate, the front driven sprocket seat 11 and the rear driven sprocket seat 13 are respectively fixed to the housing 15, the large driven sprocket 9 on the front driven sprocket seat 11 is connected to the front driven sprocket shaft 10 with a bearing, the large driven sprocket 9 on the rear driven sprocket seat 13 is connected to the rear driven sprocket shaft 12 with a bearing, and the charging device 14 is connected to the battery 16 to realize automatic charging.

[0035] Figure 6 , Figure 7 An axonometric view of the independent suspension traveling mechanism of the present invention; the independent suspension traveling mechanism 51 includes an independent suspension 56, a tire 26, a hub cover 27, and a universal joint coupling 28.

[0036] Figure 8 Structural schematic diagram of the independent suspension of the present invention; the independent suspension 56 includes a hub spindle 18, a hub connecting flange 19, an upper support arm 20, a lower support arm 21, four suspension fixing plates 22, four universal joint ball heads 23, a shock absorbing spring fixing block 24, and a shock absorber 25, two of the independent suspensions are mirror-oriented and two are non-mirror-oriented, and are symmetrically placed on both sides of the shell 15.

[0037] The universal joint coupling 28 transmits power to the wheel hub main shaft 18, the wheel hub main shaft 18 is fixed to the tire 26, the power is transmitted to the tire 26, the hub cover 27 is fixed to the tire 26, and plays a protective role. The wheel hub main shaft 18 is connected to the wheel hub connecting flange 19 with a bearing, the upper support arm 20 is connected to the wheel hub connecting flange 19 with a bearing, the lower support arm 21 is connected to the wheel hub connecting flange 19 with a bearing, the upper support arm 20 is connected to the suspension fixing plate 22 through the universal joint ball head 23, the suspension fixing plate 22 is fixed to the shell 15, the lower support arm 21 is connected to the suspension fixing plate 22 through the universal joint ball head 23, the lower support arm 21 is fixed to the shock absorber 25, the shock absorber 25 is fixed to the shock absorbing spring fixing block 24, the shock absorbing spring fixing block 24 is fixed to the shell 15, the tire 26 is running, and the shock absorber 25 plays a shock absorbing role.

[0038] Fig. 9 , Fig.10 , Fig.11 The structural diagram of the data acquisition module of the present invention, the data acquisition module 52 includes an upper machine cover 29, a PTZ camera 30, a laser obstacle avoider 31, two clearance lights 32, two Beidou signal receivers 33, a data transmission antenna 34, a picture transmission antenna 35, a brake light 36, an emergency stop 37, a rear control panel 38, a fan 39, and a filter 40. The PTZ camera 30, the laser obstacle avoider 31, two Beidou signal receivers 33, the data transmission antenna 34, and the picture transmission antenna 35 are arranged on the upper part of the upper machine cover 29. A variety of navigation methods are combined, and infrared thermal imaging and high-definition camera technology are used to detect dangerous gas leaks in a timely manner. , temperature abnormality, automatic analysis of instruments and valves, image analysis and comparison, and recording and uploading of equipment information, providing abnormal alarm, two clearance lights 32, brake lights 36, emergency stop 37, and rear control panel 38 are arranged on the outside of the tail of the upper machine cover 29, two clearance lights 32 and brake lights 36 can serve to remind other people or vehicles to pay attention, emergency stop 37, emergency braking can be performed in case of emergency, rear control panel 38 is for data communication, power control, and manual charging, fan 39 and filter 40 are arranged inside the tail of the upper machine cover 29, fan 39 and filter 40 prevent dust and moisture from entering the robot and damaging the robot.

[0039] Fig.12 Schematic diagram of the structure of the front obstacle avoidance module of the present invention; the front obstacle avoidance module 53 includes a front hood 41, and front ultrasonic obstacle avoiders 42 are provided on both sides of the front hood 41, which can effectively and automatically avoid obstacles, and a breathing light 44 is provided in the middle to serve as a notification and reminder, and front searchlights 43 are provided at the upper two corners to illuminate and search at a long distance.

[0040] Fig.13 A schematic structural diagram of the rear obstacle avoidance module of the present invention; the rear obstacle avoidance module 54 includes a rear hood 45, on which a rear ultrasonic obstacle avoider 46 is provided, which can effectively and automatically avoid obstacles.

[0041] Fig.14 An isometric view of the two side shield modules of the present invention; the two side shield modules 55 include a right side shield 47 and a left side shield 48, and speakers 49 are provided on the right side shield 47 and the left side shield 48 to convert electrical signals into sound signals.

[0042] It is worth noting that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operate in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. An intelligent wheeled inspection robot, characterized in that: It comprises a vehicle chassis module (50), an independent suspension travel mechanism (51), a data acquisition module (52), a front obstacle avoidance module (53), a rear obstacle avoidance module (54), two side shield modules (55) and an electric control module (57); The vehicle chassis module (50) comprises two driving devices (58), two front tension wheel devices (59), two rear tension wheel devices (60), two front driven sprocket devices (61), two rear driven sprocket devices (62), four chains (5), a charging device (14), a housing (15), a battery (16) and an electronic control device (17); the front tension wheel device (59) comprises a small driven sprocket (6) and a front driven sprocket support plate (7); the rear tension wheel device (60) comprises a small driven sprocket (6) and a rear driven sprocket support plate (8); the front driven sprocket support plate (7) and the rear driven sprocket support plate (8) are respectively fixed on the housing (15); the front driven sprocket support plate (7) and the rear driven sprocket support plate (8) are connected to the small driven sprocket (6) by bearings, and play the role of tensioning the chain (5); The independent suspension travel mechanism (51) comprises an independent suspension (56), a tire (26), a hub cover (27) and a universal joint coupling (28); the independent suspension (56) comprises a hub spindle (18), a hub connecting flange (19), an upper support arm (20), a lower support arm (21), four suspension fixing plates (22), four universal joint ball heads (23), a shock absorbing spring fixing block (24) and a shock absorber (25); the independent suspension (56) has two mirror-shaped parts and two non-mirror-shaped parts, which are symmetrically arranged on both sides of the housing (15); The data acquisition module (52) includes an upper hood (29), a pan / tilt camera (30), a laser obstacle avoider (31), two clearance lights (32), two Beidou signal receivers (33), a data transmission antenna (34), an image transmission antenna (35), a brake light (36), an emergency stop (37), a rear control panel (38), a fan (39) and a filter (40); The universal joint coupling (28) transmits power to the wheel hub main shaft (18), the wheel hub main shaft (18) is fixed to the tire (26), the power is transmitted to the tire (26), and the wheel hub cover (27) is fixed to the tire (26) to play a protective role; the wheel hub main shaft (18) is connected to the wheel hub connecting flange (19) by a bearing, the upper support arm (20) is connected to the wheel hub connecting flange (19) by a bearing, the lower support arm (21) is connected to the wheel hub connecting flange (19) by a bearing, and the upper support arm (20) is connected to the wheel hub connecting flange (19) by a bearing. ) is connected to a suspension fixing plate (22) through a universal joint ball head (23), the suspension fixing plate (22) is fixed to a housing (15), the lower arm (21) is connected to the suspension fixing plate (22) through a universal joint ball head (23), the lower arm (21) is fixed to a shock absorber (25), the shock absorber (25) is fixed to a shock absorbing spring fixing block (24), the shock absorbing spring fixing block (24) is fixed to the housing (15), the tire (26) is running, and the shock absorber (25) plays a shock absorbing role; The rear obstacle avoidance module (54) comprises a rear hood (45), and a rear ultrasonic obstacle avoider (46) is provided on the rear hood (45), which can effectively and automatically avoid obstacles.

2. The intelligent wheeled inspection robot according to claim 1, characterized in that: The driving device (58) comprises a servo motor (1), a reducer (2), a reducer shaft (3) and a driving sprocket (4). The two driving devices (58) are completely identical in structure and are symmetrically arranged on both sides of the housing (15). The servo motor (1) is connected to the electronic control device (17). The servo motor (1) transmits power to the reducer shaft (3) through the reducer (2). The driving sprocket (4) and the reducer shaft (3) are connected by a flat key. The front driven sprocket device (61) comprises a large driven sprocket (9), a front driven sprocket shaft (10) and a front driven sprocket seat (11). The rear driven sprocket device (62) comprises a large driven sprocket (9), a rear driven sprocket shaft (12 ), and a rear driven sprocket seat (13); the driving sprocket (4) drives the chain (5) to rotate, and the chain (5) respectively drives the large driven sprocket (9) on the front driven sprocket seat (11) and the large driven sprocket (9) on the rear driven sprocket seat (13) to rotate, the front driven sprocket seat (11) and the rear driven sprocket seat (13) are respectively fixed to the housing (15), the large driven sprocket (9) on the front driven sprocket seat (11) is connected to the front driven sprocket shaft (10) by a bearing, and the large driven sprocket (9) on the rear driven sprocket seat (13) is connected to the rear driven sprocket shaft (12) by a bearing, and the charging device (14) is connected to the battery (16) to realize automatic charging.

3. The intelligent wheeled inspection robot according to claim 1, characterized in that: The pan / tilt camera (30), laser obstacle avoider (31), two Beidou signal receivers (33), data transmission antenna (34), and image transmission antenna (35) are arranged on the upper part of the upper cover (29). A plurality of navigation modes are combined, infrared thermal imaging and high-definition camera technology are used to timely detect dangerous gas leakage, temperature abnormality, automatic analysis of instruments and valves, image analysis and comparison, and record and upload equipment information to provide abnormal alarm; two clearance lights (32), brake lights (36), emergency stop (37), and rear control panel (38) are arranged on the rear exterior of the upper cover (29). The two clearance lights (32) and brake lights (36) can serve to remind other people or vehicles to pay attention. The emergency stop (37) can be emergency braked in case of emergency. The rear control panel (38) is for data communication, power supply control, and manual charging; the fan (39) and filter (40) are arranged on the rear interior of the upper cover (29). The fan (39) and filter (40) prevent dust and moisture from entering the robot and causing damage to the robot.

4. The intelligent wheeled inspection robot according to claim 1, characterized in that: The front obstacle avoidance module (53) comprises a front hood (41); front ultrasonic obstacle avoiders (42) are provided on both sides of the front hood (41) to effectively and automatically avoid obstacles; a breathing light (44) is provided in the middle to serve as a notification and reminder; and front searchlights (43) are provided at the two corners of the upper part to enable long-distance lighting and searching.

5. The intelligent wheeled inspection robot according to claim 1, characterized in that: The two side shield modules (55) include a right side shield (47) and a left side shield (48), and speakers (49) are provided on the right side shield (47) and the left side shield (48) to convert electrical signals into sound signals.

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