An outdoor wheeled inspection robot vision recognition device

Abstract

The present invention relates to the technical field of inspection robots, and discloses a visual recognition device for an outdoor wheeled inspection robot. Above the support chassis, two sets of shock absorption components are symmetrically arranged. At the top of the shock absorption components, armrests are symmetrically fixed. At the top of the armrests, an angle adjustment component is arranged. At the top of the angle adjustment component, a visual probe is fixed. The present invention has stable support performance. Through the elastic support of the shock absorption components for the visual probe, it can not only reduce the mechanical vibration caused by external bumps and jitters, but also reduce the impact of external vibration on the visual probe. And through the up-and-down swing adjustment and horizontal swing adjustment of the camera angle of the visual probe by the angle adjustment component, it can not only improve the camera ability of the visual probe, facilitate the inspection and camera work in all directions, but also perform clear camera search work on the walking route, so as to facilitate the stable driving of the inspection robot.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to a visual recognition device for an outdoor wheeled inspection robot. Background Art

[0002] As a type of robot, the wheeled inspection robot can protect and ensure public safety, reduce labor costs, autonomously navigate and accurately locate, adapt to all-terrain environments, improve patrol command efficiency, and provide overall inspection solutions, including transmission corridors, power plant booster stations, power grid substations, enterprise substations, metallurgical rectifier rooms, converter stations, etc.

[0003] After searching, China Patent Network discloses a composite wheeled rail-hanging inspection robot (publication number CN111216092A), in which a driving wheel is rotatably installed at the bottom of the main body shell, and a driving mechanism for controlling the driving wheel is arranged inside the main body shell; a rail-hanging lifting mechanism, which includes an outer sleeve, an inner sleeve, a threaded rod and a vertical motor, the outer sleeve is movably sleeved on the outside of the inner sleeve, the threaded rod is installed inside the inner sleeve through a threaded connection, the upper end of the output shaft of the vertical motor is welded to the lower end of the threaded rod, and the lower end of the outer sleeve is welded to the top of the vertical motor through a connecting rod; a rail-hanging connection mechanism, which includes a top plate, a left friction wheel and a right friction wheel; the composite wheeled rail-hanging inspection robot of this scheme effectively combines the advantages of the wheeled and rail-hanging structures, while solving the problem of robot walking and positioning in a narrow space, reducing the workload of indoor track deployment. However, during the inspection process, the camera probe of such a device has poor stability and is easily affected by external vibrations during walking, resulting in unclear images and damage to the camera probe. In addition, during use, it is difficult to flexibly adjust the camera angle, making it inconvenient to inspect in all directions. Therefore, those skilled in the art provide an outdoor wheeled inspection robot visual recognition device to solve the problems raised in the above background technology. Summary of the invention

[0004] The purpose of the present invention is to provide a visual recognition device for an outdoor wheeled inspection robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A visual recognition device for an outdoor wheeled inspection robot comprises a supporting frame, two groups of shock absorbing components are symmetrically arranged above the supporting frame, and a transparent protective cover is covered at the edge position above the supporting frame, an arm frame is symmetrically fixed to the top of the shock absorbing component, an angle adjustment component is arranged at the top of the arm frame, and a visual probe is fixed to the top of the angle adjustment component.

[0007] Furthermore, the shock absorbing assembly includes a mounting base plate, two groups of guide rail frames are symmetrically arranged above the mounting base plate, a guide slot is opened through the middle of the guide rail frame, and matching support rods are symmetrically embedded and engaged on the top of the guide rail frame, two groups of pin rods are symmetrically penetrated and engaged on the inner side of the guide slot, the pin rods penetrate the tail end of the matching support rod, and the pin rods are connected by shock absorbing tension springs, the top end of the matching support rod is rotatably connected to the mounting bracket, and the matching support rod is connected to the mounting bracket through a rotating shaft, the inner side of the matching support rod is rotatably connected to a swing gear, and a pressing gear is fixed to the inner side of the mounting bracket.

[0008] Furthermore, shock absorbing springs are symmetrically arranged at both ends of the inner side of the guide rail frame, and elastic pads are symmetrically arranged on the bottom ends of the mating support rods extending to the inner side of the guide rail frame, and the elastic pads are fixedly connected to the shock absorbing springs.

[0009] Furthermore, hanging rings are symmetrically arranged at both ends of the shock-absorbing tension spring, and the shock-absorbing tension spring is hung with the pin rod through the hanging rings.

[0010] Furthermore, the teeth of the pressing gear mesh with the teeth of the swing gear.

[0011] Further, the angle adjustment assembly includes a guide sleeve, an upper end surface of the guide sleeve is symmetrically provided with two groups of guide slots, and a swing seat is engaged with the top of the guide sleeve, and the swing seat is engaged with the guide slot through the guide seat, a dual-axis transmission motor is provided at the middle position of the inner side of the guide sleeve, and a transmission arm is symmetrically provided at the output end of the dual-axis transmission motor, and the dual-axis transmission motor is connected to the guide seat through the transmission arm, a positioning shell is provided above the swing seat, a rotation transmission motor is provided at the bottom position of the inner side of the positioning shell, and a connecting seat is embedded and engaged at the middle position of the upper side of the positioning shell, a synchronous gear B is provided at the output end of the connecting seat, two groups of transmission main shafts are symmetrically connected at the top position of the inner side of the positioning shell, a synchronous gear A is provided at the top of the transmission main shaft, and a driven pulley is provided at the bottom end of the transmission main shaft, and a driving pulley is provided at the output end of the rotation transmission motor, and the driving pulley is connected to the driven pulley through a transmission belt.

[0012] Furthermore, the guide slot is a semi-annular structure, and the guide seat is rotationally engaged with the guide slot via a transmission arm.

[0013] Furthermore, there are two groups of transmission belts, and anti-skid teeth are arranged on the inner side of the transmission belts, and the driving pulley and the driven pulley rotate synchronously through the transmission belts.

[0014] Furthermore, the teeth of the synchronous gear A mesh with the teeth of the synchronous gear B, and the size of the toothed disc of the synchronous gear A is half of the size of the toothed disc of the synchronous gear B.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention has stable supporting performance. The elastic support of the visual probe by the shock-absorbing component can not only reduce the mechanical vibration caused by external bumps and shakes, ensuring the camera clarity of the visual probe, but also reduce the influence of external vibration shock on the visual probe, ensuring the long service life of the visual probe. In the process of use, the up and down swing and horizontal swing adjustment of the camera angle of the visual probe by the angle adjustment component can not only improve the camera capability of the visual probe, but also facilitate the inspection and camera work in various directions, and at the same time can perform clear camera search and illumination work on the walking route, so as to facilitate the stable driving of the inspection robot.

[0017] Furthermore, during the outdoor inspection work of the wheeled inspection robot, when the inspection robot generates mechanical vibration due to bumps, the vibration impact generated by the bumps is synchronously transmitted to the visual probe, and the visual probe transmits the vibration impact to the mounting bracket. During the up and down vibration of the mounting bracket, the pressed matching support rods are symmetrically opened, and synchronously transmitted through the meshing transmission of the pressed gear and the swing gear. During the up and down movement of the pressed gear, the pressed swing gear rotates, so that the matching support rods remain in a precise open state.

[0018] Furthermore, shock-absorbing springs are symmetrically arranged at both ends of the inner side of the guide rail frame, and elastic pads are symmetrically arranged on the bottom ends of the mating support rods extending to the inner side of the guide rail frame. The elastic pads are fixedly connected to the shock-absorbing springs. The dual elastic displacement of the shock-absorbing tension springs and the shock-absorbing springs can reduce vibration impacts caused by external bumps, thereby ensuring the stability of the visual probe's shooting.

[0019] Furthermore, hanging rings are symmetrically arranged at both ends of the shock-absorbing tension spring, and the shock-absorbing tension spring is hung on the pin rod through the hanging rings, so the installation is convenient.

[0020] Furthermore, there are two groups of transmission belts, and anti-skid teeth are arranged on the inner side of the transmission belts. The driving pulley and the driven pulley rotate synchronously through the transmission belts, thereby ensuring the reliability of transmission.

[0021] Furthermore, the teeth of the synchronous gear A mesh with the teeth of the synchronous gear B, and the toothed disc of the synchronous gear A is half the size of the toothed disc of the synchronous gear B. The small synchronous gear A drives the large synchronous gear B to rotate, so that the connecting seat rotates, and drives the visual probe to rotate slowly and steadily in the horizontal direction, thereby increasing the camera range of the visual probe.

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the specific implementation modes of the present invention, the drawings required for use in the description of the specific implementation modes will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is a structural diagram of a visual recognition device for an outdoor wheeled inspection robot;

[0025] Figure 2 It is a structural schematic diagram of a shock-absorbing component in a visual recognition device of an outdoor wheeled inspection robot;

[0026] Figure 3 A visual recognition device for an outdoor wheeled inspection robot Figure 2 The enlarged schematic diagram of point A in the middle;

[0027] Figure 4 This is a schematic diagram of the structure of an angle adjustment component in a visual recognition device of an outdoor wheeled inspection robot;

[0028] Figure 5 This is a schematic diagram of the internal structure of an angle adjustment component in a visual recognition device of an outdoor wheeled inspection robot;

[0029] Figure 6 A visual recognition device for an outdoor wheeled inspection robot Figure 5 A magnified schematic diagram of center A.

[0030] In the figure: 1. Support chassis; 2. Transparent protective cover; 3. Visual probe; 4. Shock absorption assembly; 41. Mounting base plate; 42. Guide rail frame; 43. Guide slide groove; 44. Pin rod; 45. Matching support rod; 46. Swing gear; 47. Rotating shaft; 48. Pressing gear; 49. Mounting bracket; 410. Shock absorption tension spring; 411. Elastic pad; 412. Shock absorption spring; 5. Arm force frame; 6. Angle adjustment assembly; 61. Guide sleeve; 62. Guide slot; 63. Swing seat; 64. Positioning shell; 65. Connecting seat; 66. Dual-axis transmission motor; 67. Transmission support arm; 68. Guide card seat; 69. Rotating transmission motor; 610. Driving pulley; 611. Transmission belt; 612. Driven pulley; 613. Synchronous gear A; 614. Transmission main shaft; 615. Synchronous gear B. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figures 1 to 6 In an embodiment of the present invention, an outdoor wheeled inspection robot visual recognition device includes a supporting frame 1, two groups of shock absorbing components 4 are symmetrically arranged above the supporting frame 1, and the shock absorbing component 4 includes a mounting base plate 41, and two groups of guide rail frames 42 are symmetrically arranged above the mounting base plate 41. A guide slot 43 is provided through the middle of the guide rail frame 42, and a matching support rod 45 is symmetrically embedded and engaged above the guide rail frame 42, and two groups of pin rods 44 are symmetrically penetrated and engaged on the inner side of the guide slot 43, and the pin rod 44 passes through the tail end of the matching support rod 45, and the pin rod 44 is connected by a shock absorbing tension spring 410, and shock absorbing springs 412 are symmetrically arranged at the two end positions of the inner side of the guide rail frame 42, and the bottom end of the matching support rod 45 extends to the inner side of the guide rail frame 42. Elastic pads 411 are symmetrically arranged on the sides, and the elastic pads 411 are fixedly connected to the shock-absorbing springs 412. Hanging rings are symmetrically arranged on both ends of the shock-absorbing tension springs 410, and the shock-absorbing tension springs 410 are hung with the pin rods 44 through the hanging rings. During the symmetrical opening process of the matching support rods 45, the pin rods 44 are pushed to slide symmetrically in the guide grooves 43. During the symmetrical sliding process, the pin rods 44 drive the shock-absorbing tension springs 410 to elastically stretch and reset. During the symmetrical opening process, the matching support rods 45 push the elastic pads 411 at their bottom ends to slide symmetrically, and elastically stretch and move with the shock-absorbing springs 412, thereby reducing the vibration impact caused by external bumps through the dual elastic displacement of the shock-absorbing tension springs 410 and the shock-absorbing springs 412, thereby ensuring the shooting stability of the visual probe 3.

[0033] The top of the mating support rod 45 is rotatably connected to a mounting bracket 49, and the mating support rod 45 is connected to the mounting bracket 49 through a rotating shaft 47, and the inner side of the mating support rod 45 is rotatably connected to a swing gear 46, and a pressing gear 48 is fixed to the inner side of the mounting bracket 49, and the teeth of the pressing gear 48 and the teeth of the swing gear 46 are meshed with each other. During the outdoor inspection work of the wheeled inspection robot, when the inspection robot generates mechanical vibration due to bumps, the vibration impact generated by the bumps is synchronously transmitted to the visual probe 3, and the visual probe 3 transmits the vibration impact to the mounting bracket 49. During the up and down vibration process of the mounting bracket 49, the mating support rod 45 is pressed to open symmetrically, and the meshing transmission is synchronously transmitted through the pressing gear 48 and the swing gear 46. During the up and down movement of the pressing gear 48, the swing gear 46 is pressed to rotate, so that the mating support rod 45 maintains a precise open state.

[0034] A transparent protective cover 2 is covered at the edge of the support frame 1, an arm frame 5 is symmetrically fixed to the top of the shock absorbing assembly 4, an angle adjustment assembly 6 is arranged at the top of the arm frame 5, a visual probe 3 is fixed to the top of the angle adjustment assembly 6, and the angle adjustment assembly 6 includes a guide sleeve 61, two groups of guide slots 62 are symmetrically opened on the upper end surface of the guide sleeve 61, and a swing seat 63 is clamped on the top of the guide sleeve 61, and the swing seat 63 is clamped and connected with the guide slot 62 through a guide seat 68, and a double-axis transmission motor 66 is arranged at the inner side of the guide sleeve 61 at the middle position, and a transmission support arm 67 is symmetrically arranged at the output end of the double-axis transmission motor 66, and the double-axis transmission motor 66 is connected to the guide slot 62 through a guide seat 68. It is connected to the guide card seat 68 through the transmission support arm 67, and a positioning shell 64 is arranged above the swing seat 63. The guide card slot 62 is a semi-annular structure. The guide card seat 68 is rotatably engaged with the guide card slot 62 through the transmission support arm 67. During the operation and use of the visual probe 3, the dual-axis transmission motor 66 works to drive the transmission support arm 67 to rotate, push the guide card seat 68 to slide in the guide card slot 62, and synchronously push the swing seat 63 to swing left and right on the guide sleeve 61, so as to adjust the upward or downward search angle of the visual probe 3, improve the camera capability range of the visual probe 3, and at the same time, can clearly shoot and search the walking route of the inspection robot, so as to facilitate the stable driving of the inspection robot.

[0035] A rotary transmission motor 69 is provided at the bottom position of the inner side of the positioning housing 64, and a connecting seat 65 is embedded and engaged at the middle position above the positioning housing 64, and a synchronous gear B615 is provided at the output end of the connecting seat 65. Two sets of transmission main shafts 614 are symmetrically connected at the top position of the inner side of the positioning housing 64, and a synchronous gear A613 is provided at the top of the transmission main shaft 614, and a driven pulley 612 is provided at the bottom end of the transmission main shaft 614. A driving pulley 610 is provided at the output end of the rotary transmission motor 69, and the driving pulley 610 is connected to the driven pulley 612 through a transmission belt 611. There are two sets of transmission belts 611, and the inner side of the transmission belt 611 is provided with anti-skid teeth. The driving pulley 610 and the driven pulley 612 are connected to each other through a transmission belt 611. Through the synchronous rotation of the transmission belt 611, the teeth of the synchronous gear A613 mesh with the teeth of the synchronous gear B615, and the size of the toothed disc of the synchronous gear A613 is half the size of the toothed disc of the synchronous gear B615. During the operation of the visual probe 3, the rotary transmission motor 69 works to drive the active pulley 610 to rotate, and through the intermediate transmission of the transmission belt 611, the driven pulley 612 is driven to rotate, and then the transmission main shaft 614 is driven to rotate. During the rotation process, the transmission main shaft 614 drives the synchronous gear A613 to rotate, and the large synchronous gear B615 is driven to rotate through the small synchronous gear A613, so that the connecting seat 65 rotates, and the visual probe 3 is driven to rotate slowly and steadily in the horizontal direction, thereby improving the camera range of the visual probe 3.

[0036] The working principle of the present invention is as follows: during the outdoor inspection work of the wheeled inspection robot, when the inspection robot generates mechanical vibration due to bumps, the vibration impact generated by the bumps is synchronously transmitted to the visual probe 3, and the visual probe 3 transmits the vibration impact to the mounting bracket 49. During the up and down vibration process of the mounting bracket 49, the pressing and driving coupling support rods 45 are symmetrically opened, and synchronously transmitted through the meshing transmission of the pressing gear 48 and the swinging gear 46. During the up and down movement of the pressing gear 48, the pressing and driving swinging gear 46 rotates, so that the coupling support rods 45 maintain a precise opening state. During the symmetrical opening process, the coupling support rods 45 push the pin rods 44 to slide symmetrically in the guide slide grooves 43. During the symmetrical sliding process, the pin rods 44 drive the shock-absorbing tension springs 410 to elastically stretch and reset. During the symmetrical opening process, the synchronous coupling support rods 45 push the elastic pads 411 at their bottom ends to slide symmetrically, and elastically stretch and move with the shock-absorbing springs 412, thereby reducing the vibration impact generated by external bumps through the dual elastic displacement of the shock-absorbing tension springs 410 and the shock-absorbing springs 412. , ensuring the stability of the visual probe 3. Further, during the operation of the visual probe 3, the dual-axis transmission motor 66 works, drives the transmission arm 67 to rotate, pushes the guide card seat 68 to slide in the guide card slot 62, and synchronously pushes the swing seat 63 to swing left and right on the guide sleeve 61, so as to adjust the upward or downward search angle of the visual probe 3, improve the range of the visual probe 3, and at the same time, can clearly shoot and search the walking route of the inspection robot, so as to facilitate the stable driving of the inspection robot. The synchronous rotation transmission motor 69 works, drives the active pulley 610 to rotate, and drives the driven pulley 612 to rotate through the intermediate transmission of the transmission belt 611, and then drives the transmission main shaft 614 to rotate. During the rotation process, the transmission main shaft 614 drives the synchronous gear A613 to rotate, and drives the large synchronous gear B615 to rotate through the small synchronous gear A613, so that the connecting seat 65 rotates, drives the visual probe 3 to rotate slowly and steadily in the horizontal direction, and improves the imaging range of the visual probe 3.

[0037] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An outdoor wheeled inspection robot vision recognition device, including a support chassis (1), characterized in that, above the support chassis (1), two groups of shock absorption components (4) are symmetrically arranged, and a transparent protective cover (2) is covered at the edge position above the support chassis (1). The top ends of the shock absorption components (4) are symmetrically fixed with arm force frames (5). The top ends of the arm force frames (5) are provided with an angle adjustment component (6), and the top end of the angle adjustment component (6) is fixed with a vision probe (3); the shock absorption component (4) includes a mounting base plate (41). Above the mounting base plate (41), two groups of guide rail frames (42) are symmetrically arranged. A guide chute (43) is penetrated and opened in the middle of the guide rail frame (42). Above the guide rail frame (42), two pairs of mating support rods (45) are symmetrically embedded and engaged. Two groups of pin rods (44) are symmetrically penetrated and engaged inside the guide chute (43). The pin rods (44) penetrate the tail ends of the mating support rods (45), and the pin rods (44) are connected by shock absorption springs (410). The top end of the mating support rod (45) is rotatably connected with a mounting bracket (49), and the mating support rod (45) is connected with the mounting bracket (49) through a rotating shaft (47). A swing gear (46) is rotatably connected inside the mating support rod (45), and a pressing gear (48) is fixed inside the mounting bracket (49); the teeth of the pressing gear (48) are meshed with the teeth of the swing gear (46); the angle adjustment component (6) includes a guide sleeve (61). Two groups of guide slots (62) are symmetrically opened on the upper end face of the guide sleeve (61). Above the guide sleeve (61), a swing seat (63) is engaged. The swing seat (63) is engaged and connected with the guide slot (62) through a guide clamping seat (68). Inside the guide sleeve (61), a double-shaft drive motor (66) is arranged at the middle position. The output ends of the double-shaft drive motor (66) are symmetrically provided with drive support arms (67), and the double-shaft drive motor (66) is connected with the guide clamping seat (68) through the drive support arms (67). Above the swing seat (63), a positioning housing (64) is provided. Inside the positioning housing (64), a rotary drive motor (69) is arranged at the bottom end position. Above the positioning housing (64), a connecting seat (65) is embedded and engaged at the middle position. The output end of the connecting seat (65) is provided with a synchronous gear B (615). Inside the positioning housing (64), two groups of drive main shafts (614) are symmetrically connected at the top end position. The top end of the drive main shaft (614) is provided with a synchronous gear A (613), and the bottom end of the drive main shaft (614) is provided with a driven pulley (612). The output end of the rotary drive motor (69) is provided with a driving pulley (610), and the driving pulley (610) is connected with the driven pulley (612) through a transmission belt (611); The teeth of the synchronous gear A (613) mesh with the teeth of the synchronous gear B (615), and the disk size of the synchronous gear A (613) is one-half of the disk size of the synchronous gear B (615).

2. An outdoor wheeled inspection robot vision recognition device according to claim 1, wherein, Damping springs (412) are symmetrically arranged at both ends inside the guide rail frame (42), elastic cushion blocks (411) are symmetrically arranged at the bottom end of the mating support rod (45) extending to the inside of the guide rail frame (42), and the elastic cushion blocks (411) are fixedly connected to the damping springs (412).

3. An outdoor wheeled inspection robot vision recognition device according to claim 1, wherein, Hanging rings are symmetrically arranged at both ends of the damping tension spring (410), and the damping tension spring (410) is hung on the pin rod (44) through the hanging rings.

4. An outdoor wheeled inspection robot vision recognition device according to claim 1, wherein, The guide slot (62) is of a semi-circular structure, and the guide seat (68) is rotationally engaged with the guide slot (62) through a transmission arm (67).

5. An outdoor wheeled inspection robot vision recognition device according to claim 1, wherein, There are two sets of transmission belts (611), anti-slip teeth are arranged on the inner side of the transmission belts (611), and the driving pulley (610) and the driven pulley (612) rotate synchronously through the transmission belts (611).

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