Inspection robot based on automatic obstacle avoidance perception

Abstract

The invention discloses an inspection robot based on automatic obstacle avoidance perception, and relates to the technical field of inspection robots, the inspection robot comprises a moving seat main body, and the outer side of the moving seat main body is provided with moving wheels; according to the inspection robot based on automatic obstacle avoidance perception, a gyroscope is arranged to detect that a moving seat body processes an unbalanced state, a balancing weight is controlled to adjust the position, the stability of the moving seat body is guaranteed, and a dust removal assembly is arranged on the outer side of a rotating seat, so that when a camera detects that image quality is not clear, the dust removal assembly can remove dust on the rotating seat. The control circuit board controls the output end of a driving motor to drive a connecting rod, a movable plate and a dust removal brush to remove dust along the outer sides of a rotating seat and the lens, the definition of a camera inspection picture is guaranteed, heat dissipation in a supporting seat can be carried out through arrangement of a temperature sensor, a heat dissipation motor and fan blades, and the service life of the camera is prolonged. And the phenomenon that internal components are damaged due to high temperature is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an inspection robot based on automatic obstacle avoidance perception. Background Art

[0002] An inspection robot is an automated device specially designed to perform various inspection tasks; these robots are usually equipped with advanced sensors and cameras, and can autonomously navigate and perform inspection tasks in various environments; they are widely used in fields such as electricity, transportation, industry, and security.

[0003] During use, existing inspection robots need to move continuously to perform inspections, but their moving environment cannot be a horizontal ground and they often experience uphill and downhill movements. Their center of gravity cannot be adjusted in real time when going uphill and downhill, so they are prone to shaking, and may even fall over. For this reason, the present invention proposes an inspection robot based on automatic obstacle avoidance perception. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an inspection robot based on automatic obstacle avoidance perception, which solves the problems raised by the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an inspection robot based on automatic obstacle avoidance perception, comprising a mobile seat body, a mobile wheel is arranged on the outside of the mobile seat body, a power motor and an adjustment component are arranged inside the mobile seat body, a support seat is arranged on the upper end of the mobile seat body, a control circuit board, a battery, a gyroscope and a temperature sensor are arranged inside the support seat, an illuminator, a photosensitive sensor and a signal antenna are arranged on the upper end of the mobile seat body, an infrared sensor and a rotating motor are arranged on the outside of the support seat, the rotating motor, the output end of the rotating motor is connected to a rotating seat, a lens, a dust cleaning component and an alarm are arranged on the outside of the rotating seat, and a camera is arranged inside the rotating seat; The adjustment component includes an adjustment motor, the output end of the adjustment motor is connected to a threaded rod, a guide rod and an adjustment seat are arranged inside the movable seat body, a threaded hole and a guide hole are opened in the middle of the adjustment seat, a counterweight block is arranged at the upper end of the adjustment seat, and a distance sensor is arranged on the outer side of the counterweight block.

[0006] As a further technical solution of the present invention, the moving seat body and the moving wheels are connected through a power motor, the number of the moving wheels is four groups and distributed in an array, the control circuit board is electrically connected to the battery and the gyroscope, the support seat and the rotating seat are connected through a rotating motor, and the rotating motor is electrically connected to the control circuit board.

[0007] As a further technical solution of the present invention, a remote control module and a communication module are installed inside the control circuit board, the camera is electrically connected to the control circuit board, and the lens is a disc structure.

[0008] As a further technical solution of the present invention, the alarm is electrically connected to the control circuit board, the signal antenna is connected to the movable seat body by bolts, a heat dissipation net is installed on the outer side of the support seat, and a mounting frame is fixedly connected to the inner side of the support seat close to the heat dissipation net, and a heat dissipation motor is installed in the middle of the mounting frame.

[0009] As a further technical solution of the present invention, the heat dissipation motor is electrically connected to the control circuit board, the output end of the heat dissipation motor is fixedly connected with fan blades, the number of the fan blades is four groups and distributed in an array, the infrared sensor is connected to the support base by bolts, and the infrared sensor is electrically connected to the control circuit board.

[0010] As a further technical solution of the present invention, the output end of the adjusting motor is fixedly connected to the threaded rod, a bearing seat is provided at the connection between the threaded rod and the movable seat body, the guide rod is adapted to the guide hole, the threaded hole is adapted to the threaded rod, the counterweight block is fixedly connected to the adjusting seat, and the number of the distance sensors is two groups and is symmetrically distributed.

[0011] As a further technical solution of the present invention, the cleaning component includes a support frame, which is fixedly connected to a rotating seat, a drive motor is fixedly connected to the outer side of the support frame, the drive motor is electrically connected to a control circuit board, a connecting rod is fixedly connected to the output end of the drive motor, and a through hole matching the connecting rod is opened in the middle of the rotating seat.

[0012] As a further technical solution of the present invention, a movable plate is fixedly connected to the outer side of the connecting rod, a cleaning brush is fixedly connected to one side of the movable plate, the cleaning brush is in contact with a rotating seat, an auxiliary frame is fixedly connected to the outer side of the rotating seat, a limit switch is fixedly connected to the bottom of the auxiliary frame, and the limit switch is electrically connected to the control circuit board.

[0013] The present invention provides an inspection robot based on automatic obstacle avoidance perception. Compared with the prior art, it has the following beneficial effects:

[0014] 1. This design is a patrol robot based on automatic obstacle avoidance perception. By setting a gyroscope and an adjustment component, when the mobile seat body goes uphill and downhill, the gyroscope detects the unbalanced state of the mobile seat body, and then feeds back to the control circuit board, controls the output end of the adjustment motor to drive the threaded rod to rotate along the bearing seat and the inside of the threaded hole, so that the adjustment seat drives the counterweight block to adjust the position, thereby avoiding the mobile seat body from tipping over when going uphill and downhill, and ensuring its stability.

[0015] 2. This design is a patrol robot based on automatic obstacle avoidance perception. A dust cleaning component is set on the outside of the rotating seat. When the camera detects that the image quality is not clear, it determines that dust is attached to the outside of the lens. The output end of the drive motor is controlled by the control circuit board to drive the connecting rod and the movable plate to rotate, and at the same time drives the cleaning brush to clean along the rotating seat and the outside of the lens to ensure the clarity of the camera inspection picture.

[0016] 3. This design is a patrol robot based on automatic obstacle avoidance perception. Through the setting of temperature sensors, heat dissipation motors and fan blades, a large amount of heat is generated during the use of the control circuit board, battery and gyroscope inside the support base. The temperature sensor detects the heat and feeds it back to the control circuit board. Under the support of the mounting frame, the output end of the heat dissipation motor drives the fan blades to evacuate the heat in the support base through the heat dissipation net, thereby dissipating the heat of the support base and ensuring that the internal components will not be damaged due to high temperature. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of an inspection robot based on automatic obstacle avoidance perception; Figure 2 Another perspective of an inspection robot based on automatic obstacle avoidance perception; Figure 3 This is the main view of an inspection robot based on automatic obstacle avoidance perception; Figure 4 A patrol robot based on automatic obstacle avoidance perception Figure 3 Side section view of middle AA; Figure 5 A patrol robot based on automatic obstacle avoidance perception Figure 4 A magnified view of middle; Figure 6 A patrol robot based on automatic obstacle avoidance perception Figure 4 Enlarged view of B.

[0018] In the figure: 1. mobile seat body; 2. mobile wheel; 3. power motor; 4. control circuit board; 5. battery; 6. gyroscope; 7. adjustment component; 71. adjustment motor; 72. threaded rod; 73. guide rod; 74. adjustment seat; 75. threaded hole; 76. guide hole; 77. counterweight; 78. distance sensor; 8. support seat; 9. lighting; 10. photosensitive sensor; 11. rotating seat; 12. rotating motor; 13. camera; 14. lens; 15. dust cleaning component; 151. support frame; 152. drive motor; 153. connecting rod; 154. mobile plate; 155. dust cleaning brush; 156. auxiliary frame; 157. limit switch; 16. alarm; 17. signal antenna; 18. heat dissipation net; 19. temperature sensor; 20. mounting frame; 21. heat dissipation motor; 22. fan blade; 23. infrared sensor. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-6 The present invention provides a technical solution of an inspection robot based on automatic obstacle avoidance perception: an inspection robot based on automatic obstacle avoidance perception, comprising a moving seat body 1, a moving wheel 2 is arranged on the outer side of the moving seat body 1, a power motor 3 and an adjustment component 7 are arranged inside the moving seat body 1, a support seat 8 is arranged on the upper end of the moving seat body 1, a control circuit board 4, a battery 5, a gyroscope 6 and a temperature sensor 19 are arranged inside the support seat 8, an illuminating lamp 9, a photosensitive sensor 10 and a signal antenna 17 are arranged on the upper end of the moving seat body 1, an infrared sensor 23 and a rotating motor 12 are arranged on the outer side of the supporting seat 8, the rotating motor 12, the output end of the rotating motor 12 is connected to a rotating seat 11, a lens 14, a dust cleaning component 15 and an alarm 16 are arranged on the outer side of the rotating seat 11, and a camera 13 is arranged inside the rotating seat 11; Among them, the adjustment component 7 includes an adjustment motor 71, the output end of the adjustment motor 71 is connected to a threaded rod 72, a guide rod 73 and an adjustment seat 74 are arranged inside the movable seat body 1, a threaded hole 75 and a guide hole 76 are opened in the middle of the adjustment seat 74, a counterweight block 77 is arranged at the upper end of the adjustment seat 74, and a distance sensor 78 is arranged on the outer side of the counterweight block 77.

[0021] like Figure 1-4As shown, the moving seat body 1 and the moving wheels 2 are connected through a power motor 3. The number of the moving wheels 2 is four and they are distributed in an array, which is conducive to the movement of the moving seat body 1. The control circuit board 4 is electrically connected to the battery 5 and the gyroscope 6, which is conducive to detecting the position of the center of gravity of the moving seat body 1 during movement. The support seat 8 and the rotating seat 11 are connected through a rotating motor 12. The rotating motor 12 and the control circuit board 4 are electrically connected. A remote control module and a communication module are installed inside the control circuit board 4. The camera 13 and the control circuit board 4 are electrically connected. The lens 14 is a disc structure, which is convenient for daily inspections.

[0022] like Figure 1-4 and Figure 6 As shown, the alarm 16 is electrically connected to the control circuit board 4, the signal antenna 17 is connected to the mobile seat body 1 by bolts, a heat dissipation net 18 is installed on the outer side of the support seat 8, and a mounting frame 20 is fixedly connected to the inner side of the support seat 8 close to the heat dissipation net 18, a heat dissipation motor 21 is installed in the middle of the mounting frame 20, the heat dissipation motor 21 is electrically connected to the control circuit board 4, the output end of the heat dissipation motor 21 is fixedly connected to the fan blades 22, the number of the fan blades 22 is four groups and distributed in an array, which is conducive to temperature detection and heat dissipation inside the support seat 8, and avoids high temperature damage to internal components, the infrared sensor 23 is connected to the support seat 8 by bolts, and the infrared sensor 23 is electrically connected to the control circuit board 4, which is convenient for detecting objects and thus performing obstacle avoidance perception.

[0023] like Figure 4 As shown, the output end of the adjusting motor 71 is fixedly connected to the threaded rod 72, a bearing seat is provided at the connection between the threaded rod 72 and the moving seat body 1, the guide rod 73 and the guide hole 76 are matched, the threaded hole 75 and the threaded rod 72 are matched, the counterweight block 77 and the adjusting seat 74 are fixedly connected, and the number of distance sensors 78 is two groups and is symmetrically distributed, which is conducive to changing the center of gravity of the moving seat body 1, thereby avoiding the tipping phenomenon of the moving seat body 1 during uphill and downhill processes.

[0024] like Figure 4-5As shown, the cleaning component 15 includes a support frame 151, which is fixedly connected to the rotating seat 11, a driving motor 152 is fixedly connected to the outer side of the support frame 151, and the driving motor 152 is electrically connected to the control circuit board 4, and a connecting rod 153 is fixedly connected to the output end of the driving motor 152. A through hole matching the connecting rod 153 is provided in the middle of the rotating seat 11, and a moving plate 154 is fixedly connected to the outer side of the connecting rod 153. A cleaning brush 155 is fixedly connected to one side of the moving plate 154, and the cleaning brush 155 is in contact with the rotating seat 11. An auxiliary frame 156 is fixedly connected to the outer side of the rotating seat 11, and a limit switch 157 is fixedly connected to the bottom of the auxiliary frame 156. The limit switch 157 is electrically connected to the control circuit board 4, which is conducive to cleaning the lens 14 and avoiding dust accumulation on the lens 14 that affects inspection.

[0025] The working principle of the present invention is as follows: during the operation of the robot, the output end of the power motor 3 drives the moving wheel 2 to rotate, so that the moving seat body 1 moves, and the infrared sensor 23 is used to sense obstacles and feedback is given to the control circuit board 4, so that the power motor 3 stops running, and the moving seat body 1 avoids obstacles. At the same time, the camera 13 records daily inspection images, and at the same time, the output end of the rotating motor 12 drives the rotating seat 11 and the camera 13 to rotate, so that multi-angle inspection can be performed. At the same time, when inspecting in a dark environment, the light sensor 10 is used for detection and feedback is given to the control circuit board 4 to control the lighting lamp 9 to light up. Finally, when the moving seat body 1 goes uphill and downhill, the gyroscope 6 is used for detection, and finally the center of gravity is adjusted by the adjustment component 7 to ensure that the moving seat body 1 can be used normally and the inspection efficiency is improved.

[0026] It should be noted that, through the setting of the gyroscope 6 and the adjustment component 7, when the moving seat body 1 goes uphill or downhill, the gyroscope 6 detects that the moving seat body 1 is in an unbalanced state, and then feeds back to the control circuit board 4, controls the output end of the adjustment motor 71 to drive the threaded rod 72 to rotate along the inside of the bearing seat and the threaded hole 75, so that the adjustment seat 74 drives the counterweight block 77 to adjust the position. During the movement of the adjustment seat 74, the guide hole 76 slides along the outside of the guide rod 73, and the distance sensor 78 detects the position of the counterweight block 77 in real time. When going uphill, the counterweight block 77 is moved to the front end of the moving seat body 1, and when going downhill, the counterweight block 77 is moved to the rear end of the moving seat body 1, thereby avoiding the mobile seat body 1 from tipping over when going uphill and downhill, thereby ensuring its stability.

[0027] It should be noted that, through the setting of the cleaning component 15, when the camera 13 detects that the image quality is not clear, it is determined that dust is attached to the outside of the lens 14, and the output end of the drive motor 152 is controlled by the control circuit board 4 to drive the connecting rod 153 and the movable plate 154 to rotate, and at the same time drive the cleaning brush 155 to clean along the rotating seat 11 and the outside of the lens 14, under the support of the auxiliary frame 156, until the movable plate 154 contacts the limit switch 157, feedback is given to the control circuit board 4, and then the output end of the drive motor 152 is controlled to reverse, which will drive the cleaning brush 155 to rotate in the opposite direction to clean the lens 14. The operation is repeated. After the set number of times is reached, the operation of the output end of the drive motor 152 is stopped, thereby cleaning the lens 14 to ensure the clarity of the inspection picture of the camera 13.

[0028] It should be noted that, through the arrangement of the temperature sensor 19, the heat dissipation motor 21 and the fan blades 22, a large amount of heat is generated during the use of the control circuit board 4, the battery 5 and the gyroscope 6 inside the support base 8, which is detected by the temperature sensor 19 and fed back to the control circuit board 4. Under the support of the mounting frame 20, the output end of the heat dissipation motor 21 drives the fan blades 22 to evacuate the heat in the support base 8 through the heat dissipation net 18, thereby dissipating the heat of the support base 8 and ensuring that the internal components will not be damaged due to high temperature.

[0029] The above are only preferred embodiments of the invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the invention, and these improvements and modifications should also be considered as the protection scope of the invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to conventional means in the art unless otherwise specified and limited.

Claims

1. A patrol robot based on automatic obstacle avoidance perception, comprising a mobile seat body (1), characterized in that: A moving wheel (2) is arranged on the outside of the moving seat body (1), a power motor (3) and an adjustment component (7) are arranged inside the moving seat body (1), a support seat (8) is arranged on the upper end of the moving seat body (1), a control circuit board (4), a battery (5), a gyroscope (6) and a temperature sensor (19) are arranged inside the support seat (8), an illuminating lamp (9), a photosensitive sensor (10) and a signal antenna (17) are arranged on the upper end of the moving seat body (1), an infrared sensor (23) and a rotating motor (12) are arranged on the outside of the support seat (8), the rotating motor (12), the output end of the rotating motor (12) is connected to the rotating seat (11), a lens (14), a dust cleaning component (15) and an alarm (16) are arranged on the outside of the rotating seat (11), and a camera (13) is arranged inside the rotating seat (11); The adjustment assembly (7) comprises an adjustment motor (71), the output end of the adjustment motor (71) is connected to a threaded rod (72), a guide rod (73) and an adjustment seat (74) are arranged inside the movable seat body (1), a threaded hole (75) and a guide hole (76) are opened in the middle of the adjustment seat (74), a counterweight block (77) is arranged at the upper end of the adjustment seat (74), and a distance sensor (78) is arranged on the outer side of the counterweight block (77).

2. The inspection robot based on automatic obstacle avoidance perception according to claim 1, characterized in that: The moving seat body (1) and the moving wheels (2) are connected via a power motor (3); the moving wheels (2) are provided in four groups and arranged in an array; the control circuit board (4) is electrically connected to the battery (5) and the gyroscope (6); the support seat (8) and the rotating seat (11) are connected via a rotating motor (12); and the rotating motor (12) and the control circuit board (4) are electrically connected.

3. The inspection robot based on automatic obstacle avoidance perception according to claim 1, characterized in that: A remote control module and a communication module are installed inside the control circuit board (4); the camera (13) and the control circuit board (4) are electrically connected; and the lens (14) is a disc structure.

4. The inspection robot based on automatic obstacle avoidance perception according to claim 1, characterized in that: The alarm (16) is electrically connected to the control circuit board (4), the signal antenna (17) is connected to the mobile seat body (1) by bolts, a heat dissipation net (18) is installed on the outside of the support seat (8), and a mounting frame (20) is fixedly connected to the inside of the support seat (8) on a side close to the heat dissipation net (18), and a heat dissipation motor (21) is installed in the middle of the mounting frame (20).

5. The inspection robot based on automatic obstacle avoidance perception according to claim 4 is characterized in that: The heat dissipation motor (21) is electrically connected to the control circuit board (4); the output end of the heat dissipation motor (21) is fixedly connected to a fan blade (22); the fan blades (22) are in four groups and distributed in an array; the infrared sensor (23) is connected to the support seat (8) by bolts; and the infrared sensor (23) is electrically connected to the control circuit board (4).

6. The inspection robot based on automatic obstacle avoidance perception according to claim 1, characterized in that: The output end of the adjusting motor (71) is fixedly connected to the threaded rod (72); a bearing seat is provided at the connection between the threaded rod (72) and the movable seat body (1); the guide rod (73) is matched with the guide hole (76); the threaded hole (75) is matched with the threaded rod (72); the counterweight (77) is fixedly connected to the adjusting seat (74); and the distance sensors (78) are provided in two groups and are symmetrically distributed.

7. The inspection robot based on automatic obstacle avoidance perception according to claim 1 is characterized in that: The dust cleaning component (15) comprises a support frame (151), the support frame (151) is fixedly connected to the rotating seat (11), a driving motor (152) is fixedly connected to the outer side of the support frame (151), the driving motor (152) is electrically connected to the control circuit board (4), the output end of the driving motor (152) is fixedly connected to a connecting rod (153), and a through hole matching the connecting rod (153) is opened in the middle of the rotating seat (11).

8. The inspection robot based on automatic obstacle avoidance perception according to claim 7, characterized in that: The outer side of the connecting rod (153) is fixedly connected to a movable plate (154), one side of the movable plate (154) is fixedly connected to a dust cleaning brush (155), the dust cleaning brush (155) is in contact with the rotating seat (11), the outer side of the rotating seat (11) is fixedly connected to an auxiliary frame (156), the bottom of the auxiliary frame (156) is fixedly connected to a limit switch (157), and the limit switch (157) is electrically connected to the control circuit board (4).

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