An intelligent inspection robot

Abstract

The present invention discloses an intelligent inspection robot, which relates to the technical field of inspection robots, and comprises a shell, a control panel is arranged on the bottom inner wall of the shell, a battery is arranged on one side of the bottom inner wall of the shell near the control panel, two forward motors are arranged on the other side of the bottom inner wall of the shell near the control panel, front wheels are arranged at one end of the output shaft of the forward motor, and the bottom of the shell is located at the bottom of the battery and is rotatably connected to two rear wheels. The intelligent inspection robot disclosed by the present invention stops beside a fixed seat at a designated position until a certain mass of gravel is filled in a collection box, and removes the collection box and replaces it with a new one, which reduces the time for the robot to dump gravel and shortens the working path of the robot, reduces the load of the robot during inspection, and optimizes the use efficiency of the robot battery.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an intelligent inspection robot. Background Art

[0002] Airports and highways have very strict requirements for road cleaning, especially in the removal of debris such as gravel. Airport runways and taxiways must be kept highly clean to ensure the safe takeoff and landing of aircraft. Any loose gravel or debris may pose a serious threat to aircraft takeoff and landing. Therefore, airport management usually uses special cleaning equipment, such as vacuum sweepers and high-pressure water guns, to clean regularly to ensure that the surface condition of the runway meets safety requirements. Especially on highways, a combination of mechanical cleaning and manual inspections is used to promptly remove road debris to ensure driving safety.

[0003] Automated robots often face the problems of short cruising distance and low battery efficiency during the cruising process. The short cruising distance means that the robot cannot cover the predetermined working area after one charge, which limits its scope of application. General inspection robots automatically collect gravel during use, which increases the load of the robot, causing the robot to frequently need to be charged when performing tasks, reducing the battery life of the robot. Returning to clean up the gravel also increases the robot's ineffective distance, reducing the robot's work efficiency and failing to meet the requirements of ground inspections at airports or highways. Summary of the invention

[0004] The present invention discloses an intelligent inspection robot, which aims to solve the technical problem that a general inspection robot automatically collects gravel when in use, which increases the load of the robot, causes the robot to frequently need to be charged when performing tasks, reduces the battery life of the robot, and returns to clean up the gravel, which also increases the ineffective distance of the robot and reduces the working efficiency of the robot.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A smart inspection robot comprises a shell, a control panel is arranged on the bottom inner wall of the shell, a battery is arranged on one side of the bottom inner wall of the shell close to the control panel, two forward motors are arranged on the other side of the bottom inner wall of the shell close to the control panel, front wheels are arranged at one end of the output shaft of the forward motor, the bottom of the shell is located at the bottom of the battery and is rotatably connected to two rear wheels, a mounting plate is fixedly connected to the top outside of the shell, two slide rails are arranged on the outer wall of the shell, a second rack is fixedly connected to one side of the outer wall of the mounting plate close to the slide rail, a control rail is fixedly connected to one side of the upper surface of the mounting plate close to the second rack, a block is arranged on one side of the control rail, a first rack is fixedly connected to an edge position of the upper surface of the mounting plate close to one side, and a fixed The top of the moving plate is provided with a toothed structure, and the bottom of the toothed structure is provided with a toothed structure, and the toothed structure is connected with the toothed structure on one end of the moving plate, and the toothed structure is connected with the toothed structure on the other end of the moving plate.

[0007] One end of the rotating frame is rotatably connected to a support rod near the clamping block;

[0008] A mechanical arm mechanism is installed on the upper surface of one end of the housing, and the mechanical arm mechanism is used to pick up obstacles such as gravel;

[0009] A collecting mechanism is installed on the upper surface of the side wall at the other end of the housing, and the collecting mechanism is used to collect light garbage, such as shredded paper and leaves;

[0010] A visual mechanism is installed on the upper surface of the shell near the mechanical arm mechanism, and the visual mechanism is used to observe the road surface and automatically determine obstacles or road surface cracks.

[0011] A battery is arranged on one side of the bottom inner wall of the shell near the control panel, and two forward motors are arranged on the other side of the bottom inner wall of the shell near the control panel, one end of the forward motor output shaft is respectively arranged with a front wheel, the bottom of the shell is located at the bottom of the battery and is rotatably connected to the two rear wheels, one end of the rotating frame is provided with a block, one side of the block is provided with a slot, one side of the block is fixedly connected with a collection box, a fixed seat is arranged at the bottom of the collection box, a plurality of limit plates are arranged on the upper surface of the fixed seat, the driven gear is meshed with the driving gear, a sliding rod is arranged at the other end of the support rod, one end of the sliding rod is fixedly connected with a shifting gear, the sliding rod slides inside the sliding groove, the driven gear is meshed with the second rack, and the extrusion rod pushes the sliding rod so that the sliding rod can mesh with the first rack when it is inside the blocking block.

[0012] The front wheel is driven by the rotation of the forward motor. Two forward motors are installed inside the shell to drive the shell forward. A single front wheel rotates, while the other front wheel does not rotate, so that the shell can be turned, thereby achieving steering.

[0013] In a preferred solution, the mechanical arm mechanism includes a mounting seat fixedly connected to the upper surface of one end of the housing, a steering motor is arranged inside the mounting seat, one end of the steering motor output shaft is fixedly connected to the main arm, the top end of the main arm is rotatably connected to the second arm, a second steering gear is arranged between the second arm and the main arm, one end of the second arm is rotatably connected to the first arm, and a first steering gear is arranged between the first arm and the second arm;

[0014] An operating mechanism is installed at one end of the first arm, and the operating mechanism is used to pick up the target and spray the mark.

[0015] The upper arm is rotationally connected to the mounting base, the steering motor, the first servo and the second servo are electrically connected to the control board respectively, one end of the outer shell is fixedly connected to a baffle shell, an acoustic wave sensor module is arranged inside the baffle shell, and the model of the acoustic wave sensor module is HC-SR04, and a GPS module is arranged inside the control board, and the model of the GPS module is ZED-F9P-01B-00.

[0016] The operating mechanism includes a clamping motor fixedly connected to one end of the first arm, one end of the clamping motor output shaft picks up a gear, one end of the first arm is rotatably connected to a clamp near the clamping motor, and an incomplete gear is provided on one side of the clamp.

[0017] A paint can is fixedly connected to one side of one end of the first arm near the clip, a solenoid valve is arranged at the bottom of the paint can, the solenoid valve is electrically connected to the control board, and the incomplete gear is meshed with the pickup gear.

[0018] In a preferred embodiment, the collection mechanism includes a trash bin fixedly connected to the other end of the outer shell, a funnel is fixedly connected to the inner wall of the trash bin, an air pump shell is fixedly connected to the upper surface of the outer shell near the funnel, an air pump is provided on one side of the air pump shell, a fan blade is fixedly connected to one end of the air pump output shaft, an air inlet pipe is connected to the other side of the air pump shell, and an air outlet pipe is connected to the top of the air pump shell.

[0019] The other end of the air intake pipe is inserted into the top of the funnel, and a sweep wheel is rotatably connected to the inner wall of the trash can near the funnel. One end of the sweep wheel is fixedly connected to a driven pulley, and one side of the rear wheel is fixedly connected to a driving pulley, and a belt is arranged between the driving pulley and the driven pulley.

[0020] In a preferred embodiment, the visual mechanism includes a fixed shell fixedly connected to the upper surface of the outer shell near the mounting seat, a lifting motor is fixedly connected to the inner bottom of the fixed shell, one end of the lifting motor output shaft is fixedly connected to a threaded rod, and one end of the threaded rod is threadedly connected to a sliding cylinder.

[0021] A visual camera is fixedly connected to the top of the sliding cylinder, the sliding cylinder is slidably connected to the fixed shell, and the lifting motor and the visual camera are electrically connected to the control panel respectively.

[0022] As can be seen from the above, the intelligent inspection robot provided by the present invention has the following technical effects.

[0023] First, one end of the sliding rod touches the bottom end of the squeezing rod, and the squeezing spring squeezes the squeezing rod so that the squeezing rod squeezes the sliding rod, causing the sliding rod to slide into the inside of the block, and the moving plate and the collecting box stop moving until a certain mass of gravel is filled in the collecting box. At the specified position, it stops next to the fixed seat, and the moving motor is controlled to rotate in the opposite direction. The first rack and the shifting gear are meshed, and when the moving plate moves to the edge of the mounting plate, the first rack and the shifting gear begin to mesh, driving the sliding rod at one end of the support rod to slide toward the bottom of the sliding groove, causing the sliding rod to return from the top of the sliding groove to the bottom, and removing the collecting box and replacing it with a new one, which reduces the time for the robot to dump gravel and shortens the working path of the robot, reduces the load of the robot during inspection, and optimizes the use efficiency of the robot battery.

[0024] Second: at the edge of the mounting plate, the position of the moving plate begins to change from vertical to horizontal. Since the support rod supports the weight of the collection box, the position of the sliding slot on the moving plate changes, and the slide bar at one end of the support rod will slide inside the sliding slot from the bottom to the top. The limit spring squeezes the limit rod, and the block at one end of the limit rod keeps the position of the slide bar stable, causing the position of the collection box to change by ninety degrees. Since the position of the moving plate also changes by ninety degrees, the change of the collection box offsets the angle change of the moving plate, and the collection box always remains horizontal with the opening facing upward.

[0025] Third: During the robot's inspection, light garbage on the road, such as shredded paper and leaves, can be collected by the trash bin at the rear of the shell. The rotation of the rear wheel drives the active pulley, belt and driven pulley to rotate, thereby driving the sweeping wheel to rotate, sweeping the light garbage to the bottom of the funnel. By starting the air pump, the fan blades are driven to rotate, generating suction inside the air pump shell, sucking away the light garbage through the air inlet pipe and funnel, and blowing the garbage into the collection box through the air outlet pipe, achieving the effect of cleaning up road garbage.

[0026] Fourthly: when the cracks on the road surface are identified, the solenoid valve is controlled to open by the controller, so that the paint inside the paint can is sprayed onto the cracks on the ground, making it easy for repair personnel to observe the position. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the main structure of an intelligent inspection robot proposed by the present invention.

[0028] Figure 2 This is a schematic cross-sectional structural diagram of an intelligent inspection robot proposed in the present invention.

[0029] Figure 3 This is a schematic diagram of the visual mechanism structure of an intelligent inspection robot proposed in the present invention.

[0030] Figure 4 This is a schematic diagram of the external structure of an intelligent inspection robot proposed in the present invention.

[0031] Figure 5 This is a schematic diagram of the structure of a fixed seat of an intelligent inspection robot proposed in the present invention.

[0032] Figure 6 This is a schematic diagram of the internal structure of an intelligent inspection robot proposed in the present invention.

[0033] Figure 7 This is a schematic diagram of the partial structure of an intelligent inspection robot proposed in the present invention.

[0034] Figure 8 This is a schematic diagram of the motion plate structure of an intelligent inspection robot proposed in the present invention.

[0035] Fig. 9 This is a schematic diagram of the structure of a card block motion plate of an intelligent inspection robot proposed by the present invention.

[0036] In the figure: 1, housing; 2, front wheel; 3, fixing seat; 4, collection box; 5, driving pulley; 6, belt; 7, rear wheel; 8, trash can; 9, mounting plate; 10, baffle housing; 11, air pump; 12, air outlet pipe; 13, air pump housing; 14, fan blade; 15, air inlet pipe; 16, funnel; 17, sweeping wheel; 18, battery; 19, control board; 20, forward motor; 21, mounting seat; 22, solenoid valve; 23, paint can; 24, clamp; 25, clamping motor; 26, first arm; 27, first steering gear; 28, second arm; 29, second steering gear; 30 , upper arm; 31, lifting motor; 32, threaded rod; 33, sliding cylinder; 34, visual camera; 35, limit plate; 36, slide rail; 37, control rail; 38, first rack; 39, second rack; 40, rotating frame; 41, moving plate; 42, moving block; 43, driven gear; 44, driving gear; 45, moving motor; 46, limit rod; 47, limit spring; 48, support rod; 49, clamping block; 50, fixing plate; 51, extrusion spring; 52, extrusion rod; 53, sliding groove; 54, mounting rod; 55, displacement gear; 56, clamping groove. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely 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.

[0038] The intelligent inspection robot disclosed in the present invention is mainly used in scenarios where general inspection robots automatically collect gravel when in use, which increases the weight of the robot, causes the robot to frequently need to be charged when performing tasks, reduces the battery life of the robot, and returns to clean up the gravel, which also increases the robot's ineffective distance and reduces the robot's work efficiency.

[0039] Reference Figure 1 — Fig. 9, an intelligent inspection robot comprises a shell 1, a control board 19 is arranged on the bottom inner wall of the shell 1, a battery 18 is arranged on one side of the bottom inner wall of the shell 1 near the control board 19, two forward motors 20 are arranged on the other side of the bottom inner wall of the shell 1 near the control board 19, one end of the output shaft of the forward motor 20 is respectively provided with a front wheel 2, the bottom of the shell 1 is located at the bottom of the battery 18 and is rotatably connected to two rear wheels 7, a mounting plate 9 is fixedly connected to the top outside of the shell 1, two slide rails 36 are arranged on the outer wall of the shell 1, a second rack 39 is fixedly connected to one side of the outer wall of the mounting plate 9 near the slide rail 36, a control rail 37 is fixedly connected to one side of the upper surface of the mounting plate 9 near the second rack 39, a block 49 is arranged on one side of the control rail 37, a first rack 38 is fixedly connected to the edge position of the upper surface of the mounting plate 9 near one side, and a fixing plate is fixedly connected to the other side of the upper surface of the mounting plate 9 near the slide rail 36 50, a squeezing rod 52 is slidably connected to the bottom of the fixed plate 50, one end of the squeezing rod 52 is sleeved with a squeezing spring 51, one side of the slide rail 36 is slidably connected to two guide wheels, one side of the guide wheel is fixedly connected with a mounting rod 54, both ends of the mounting rod 54 are rotatably connected to the moving plate 41, one side of the moving plate 41 is fixedly connected to a moving block 42, one side of the moving plate 41 is rotatably connected to the rotating frame 40 near the moving block 42, one end of the mounting rod 54 is fixedly connected to a driven gear 43 near the guide wheel, one side of the moving plate 41 is fixedly connected to a moving motor 45 near the driven gear 43, one end of the output shaft of the moving motor 45 is fixedly connected to the driving gear 44, a sliding groove 53 is provided on one side of the moving plate 41, a cavity is provided inside the moving block 42, a limiting rod 46 is slidably connected to the inner wall of the cavity, one end of the limiting rod 46 is sleeved with a limiting spring 47, and one end of the limiting rod 46 is fixedly connected to a stopper.

[0040] In this embodiment, one end of the rotating frame 40 is rotatably connected to a support rod 48 near the clamping block 49;

[0041] A mechanical arm mechanism is installed on the upper surface of one end of the housing 1, and the mechanical arm mechanism is used to pick up obstacles such as gravel;

[0042] A collecting mechanism is installed on the upper surface of the side wall at the other end of the housing 1, and the collecting mechanism is used to collect light garbage, such as shredded paper and leaves;

[0043] A visual mechanism is installed on the upper surface of the housing 1 near the mechanical arm mechanism, and the visual mechanism is used to observe the road surface and automatically determine obstacles or road surface cracks.

[0044] A battery 18 is disposed on one side of the bottom inner wall of the housing 1 near the control board 19, and two forward motors 20 are disposed on the other side of the bottom inner wall of the housing 1 near the control board 19. One end of the output shaft of the forward motor 20 is respectively disposed with a front wheel 2. The bottom of the housing 1 is located at the bottom of the battery 18 and is rotatably connected to two rear wheels 7. ， A block 49 is provided at one end of the rotating frame 40, a slot 56 is provided on one side of the block 49, a collecting box 4 is fixedly connected to one side of the block 49, a fixing seat 3 is provided at the bottom of the collecting box 4, a plurality of limit plates 35 are provided on the upper surface of the fixing seat 3, a driven gear 43 is meshed with a driving gear 44, a sliding rod is provided at the other end of the support rod 48, a shifting gear 55 is fixedly connected to one end of the sliding rod, the sliding rod slides inside the sliding slot 53, the driven gear 43 is meshed with the second rack 39, the extrusion rod 52 pushes the sliding rod so that the sliding rod can mesh with the first rack 38 when it is inside the block 49.

[0045] In this embodiment, the forward motor 20 rotates to drive the front wheel 2. Two forward motors 20 are installed inside the housing 1 to drive the housing 1 forward. A single front wheel 2 rotates, while the other front wheel 2 does not rotate, so that the housing 1 can be turned, thereby achieving steering.

[0046] It should be noted that two fixed seats 3 are set every 500 meters along the path of the inspection robot, the top of one fixed seat 3 is empty, and an empty collecting box 4 is placed on the top of the other. A certain mass of gravel and other debris is collected inside the collecting box 4 on the mounting plate 9 on the top of the outer shell 1, and then the outer shell 1 is controlled by the control panel 19 to stop next to the fixed seat 3 at the specified position. The collecting box 4 containing the gravel is first unloaded and placed on the fixed seat 3 with an empty top.

[0047] The driven gear 43 and the second rack 39 are engaged by rotating the motion motor 45, so that the guide wheel slides inside the slide rail 36, driving the rotating frame 40, the moving plate 41 and the moving block 42 to move upward, thereby driving the rotating frame 40 to be stuck inside the block 49, thereby driving a new collection box 4 to move upward. Due to the supporting effect of the support rod 48, the collection box 4 does not rotate. At the edge of the mounting plate 9, the position of the moving plate 41 begins to change from vertical to horizontal. Since the support rod 48 supports the weight of the collection box 4, the position of the sliding groove 53 on the moving plate 41 changes, and the slide bar at one end of the support rod 48 will slide inside the sliding groove 53, sliding from the bottom end of the sliding groove 53 to the top end. The limit spring 47 squeezes the limit rod 46, and the block at one end of the limit rod 46 keeps the position of the slide bar stable, so that the position of the collection box 4 changes by ninety degrees. Since the position of the moving plate 41 also changes by ninety degrees, the change of the collection box 4 offsets the angle change of the moving plate 41, and the collection box 4 always remains horizontal with the opening upward.

[0048] Furthermore, the moving plate 41 and the rotating frame 40 on the upper surface of the mounting plate 9 drive the collecting box 4 to continue to slide to one side. At this time, the first rack 38 is not engaged with the shifting gear 55, and the shifting gear 55 is located above the first rack 38, until one end of the slide bar touches the bottom end of the squeezing rod 52, and the squeezing spring 51 squeezes the squeezing rod 52 so that the squeezing rod 52 squeezes the slide bar, so that the slide bar slides into the inside of the block 49, and the moving plate 41 and the collecting box 4 stop moving until a certain mass of gravel is filled in the collecting box 4, and it stops next to the fixed seat 3 at a specified position, and the moving motor 45 is controlled to rotate in the opposite direction, so that the moving plate 41 and the collecting box 4 stop moving. The plate 41 returns, and at this time the slide bar is inside the block 49, and the first rack 38 and the shift gear 55 are meshed. When the moving plate 41 moves to the edge of the mounting plate 9, the first rack 38 and the shift gear 55 begin to mesh, driving the slide bar at one end of the support rod 48 to slide toward the bottom of the sliding groove 53, so that the slide bar returns from the top of the sliding groove 53 to the bottom. Similarly, the position of the collection box 4 is kept horizontal, and the collection box 4 is removed and replaced with a new collection box 4, which reduces the time for the robot to dump gravel and shortens the working path of the robot, reduces the load of the robot during inspection, and optimizes the use efficiency of the robot battery 18.

[0049] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 In a preferred embodiment, the mechanical arm mechanism includes a mounting seat 21 fixedly connected to the upper surface of one end of the housing 1, a steering motor is arranged inside the mounting seat 21, one end of the steering motor output shaft is fixedly connected to a large arm 30, the top of the large arm 30 is rotatably connected to a second arm 28, a second steering gear 29 is arranged between the second arm 28 and the large arm 30, one end of the second arm 28 is rotatably connected to a first arm 26, and a first steering gear 27 is arranged between the first arm 26 and the second arm 28;

[0050] An operating mechanism is mounted at one end of the first arm 26, and the operating mechanism is used to pick up the target and spray the mark.

[0051] The upper arm 30 is rotationally connected to the mounting base 21, the steering motor, the first servo 27 and the second servo 29 are electrically connected to the control board 19 respectively, one end of the outer shell 1 is fixedly connected to the baffle shell 10, the interior of the baffle shell 10 is provided with an acoustic wave sensor module, the model of the acoustic wave sensor module is HC-SR04, the interior of the control board 19 is provided with a GPS module, the model of the GPS module is ZED-F9P-01B-00.

[0052] The operating mechanism includes a clamping motor 25 fixedly connected to one end of a first arm 26, one end of an output shaft of the clamping motor 25 picks up a gear, one end of the first arm 26 is rotatably connected to a clamp 24 near the clamping motor 25, and an incomplete gear is provided on one side of the clamp 24.

[0053] A paint can 23 is fixedly connected to one end of the first arm 26 near the position of the clamp 24. A solenoid valve 22 is provided at the bottom of the paint can 23. The solenoid valve 22 is electrically connected to the control board 19, and the incomplete gear is meshed with the pickup gear.

[0054] In this embodiment, the controller controls the steering motor, the second servo 29 and the first servo 27 to respectively drive the upper arm 30, the second arm 28 and the first arm 26 to rotate and reach the specified position, controls the clamping motor 25 to rotate and drive the picking gear to rotate, drives the incomplete gear to rotate so that the two clamps 24 rotate relative to each other, clamps the gravel, and puts it into the collection box 4, thereby realizing the accurate picking of gravel and other obstacles and achieving the effect of automatically clearing road obstacles.

[0055] Furthermore, when the cracks on the road surface are identified, the solenoid valve 22 is controlled by the controller to open, so that the paint inside the paint can 23 is sprayed onto the cracks on the ground, so that the repair personnel can easily observe the position.

[0056] Reference Figure 1 and Figure 2 In a preferred embodiment, the collection mechanism includes a trash bin 8 fixedly connected to the other end of the outer shell 1, a funnel 16 is fixedly connected to the inner wall of the trash bin 8, an air pump shell 13 is fixedly connected to the upper surface of the outer shell 1 near the funnel 16, an air pump 11 is provided on one side of the air pump shell 13, a fan blade 14 is fixedly connected to one end of the output shaft of the air pump 11, an air inlet pipe 15 is inserted on the other side of the air pump shell 13, and an air outlet pipe 12 is inserted on the top of the air pump shell 13.

[0057] The other end of the air intake pipe 15 is inserted into the top of the funnel 16. A sweep wheel 17 is rotatably connected to the inner wall of the trash can 8 near the funnel 16. One end of the sweep wheel 17 is fixedly connected to a driven pulley. A driving pulley 5 is fixedly connected to one side of the rear wheel 7. A belt 6 is provided between the driving pulley 5 and the driven pulley.

[0058] In this embodiment, during the robot inspection, light garbage on the road, such as shredded paper and leaves, can be collected by the trash can 8 at the rear of the shell 1. The rotation of the rear wheel 7 drives the active pulley 5, the belt 6 and the driven pulley to rotate, thereby driving the sweeping wheel 17 to rotate, and sweeping the light garbage to the bottom of the funnel 16. By starting the air pump 11, the fan blades 14 are driven to rotate, and suction is generated inside the air pump shell 13. The light garbage is sucked away through the air inlet pipe 15 and the funnel 16, and the garbage is blown into the collection box 4 through the air outlet pipe 12, thereby achieving the effect of cleaning the road garbage.

[0059] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4In a preferred embodiment, the visual mechanism includes a fixed shell fixedly connected to the upper surface of the outer shell 1 near the mounting seat 21, a lifting motor 31 is fixedly connected to the inner bottom of the fixed shell, one end of the output shaft of the lifting motor 31 is fixedly connected to a threaded rod 32, and one end of the threaded rod 32 is threadedly connected to a sliding cylinder 33.

[0060] A visual camera 34 is fixedly connected to the top of the sliding cylinder 33 . The sliding cylinder 33 is slidably connected to the fixed shell. The lifting motor 31 and the visual camera 34 are electrically connected to the control board 19 , respectively.

[0061] In this embodiment, the threaded rod 32 is driven to rotate by the rotation of the lifting motor 31, so that the sliding cylinder 33 slides up and down inside the fixed shell, thereby achieving the effect of changing the height of the visual camera 34 and increasing the field of view of the visual camera 34. During the process of the robot inspecting the road surface, the visual camera 34 uses an image recognition algorithm to detect cracks or gravel on the road surface, detects road obstacles such as gravel, and sends an electrical signal to the controller, so that the controller can control the robot to make corresponding instructions. The model of the visual camera 34 is "BFS-U3-51S5C-C".

[0062] Working principle: When in use, the forward motor 20 rotates to drive the front wheel 2. Two forward motors 20 are installed inside the shell 1 to drive the shell 1 forward. A single front wheel 2 rotates, and the other front wheel 2 does not rotate, so that the shell 1 can be turned, thereby realizing steering. The lifting motor 31 rotates to drive the threaded rod 32 to rotate, so that the sliding cylinder 33 slides up and down inside the fixed shell, achieving the effect of changing the height of the visual camera 34 and increasing the field of view of the visual camera 34. During the process of the robot inspecting the road surface, the visual camera 34 uses the image recognition algorithm to find cracks or gravel on the road surface. When it finds road obstacles such as gravel, the controller controls the steering motor, the second steering gear 29 and the first steering gear 27 to respectively drive the upper arm 30, the second arm 28 and the first arm 26 to rotate. When the robot reaches the designated position, the gripping motor 25 is controlled to rotate to drive the picking gear to rotate, and the incomplete gear is driven to rotate so that the two grippers 24 rotate relative to each other, and the gravel is clamped and put into the collection box 4, so as to achieve the accurate picking of obstacles such as gravel, and realize the effect of automatically cleaning road obstacles. When the road cracks are identified, the solenoid valve 22 is controlled to open by the controller, so that the paint inside the paint can 23 is sprayed to the cracks on the ground, so that the repair personnel can easily observe the position. During the inspection of the robot, light garbage on the road surface, such as shredded paper and leaves, can be collected by the garbage bin 8 at the rear of the shell 1. The rotation of the rear wheel 7 drives the active pulley 5, the belt 6 and the driven pulley to rotate, thereby driving the sweeping wheel 17 to rotate, and the light garbage is swept to the bottom of the funnel 16, and the air pump 1 is started. 1, drives the fan blade 14 to rotate, generates suction inside the air pump housing 13, sucks away light garbage through the air inlet pipe 15 and the funnel 16, blows the garbage into the collection box 4 through the air outlet pipe 12, and achieves the effect of cleaning road garbage. Two fixed seats 3 are set every 500 meters along the path of the inspection robot, one fixed seat 3 is empty on the top, and an empty collection box 4 is placed on the top of the other. A certain amount of gravel and other debris is collected inside the collection box 4 on the mounting plate 9 on the top of the shell 1, and then the control panel 19 is used to control the shell 1 to stop next to the fixed seat 3 at the specified position. First, remove the collection box 4 with gravel, and place it on the fixed seat 3 with an empty top. The driven gear 43 is driven by the rotation of the motion motor 45 to engage with the second rack 39, so that the guide The wheel slides inside the slide rail 36, driving the rotating frame 40, the moving plate 41 and the moving block 42 to move upward, thereby driving the rotating frame 40 to be stuck inside the block 49, thereby driving a new collection box 4 to move upward. Due to the supporting effect of the support rod 48, the collection box 4 does not rotate. At the edge of the mounting plate 9, the position of the moving plate 41 begins to change from vertical to horizontal. Since the support rod 48 supports the weight of the collection box 4, the position of the sliding groove 53 on the moving plate 41 changes, and the slide bar at one end of the support rod 48 slides inside the sliding groove 53 from the bottom end to the top end of the sliding groove 53. The limit spring 47 squeezes the limit rod 46. The block at one end of the limit rod 46 keeps the position of the slide bar stable, so that the position of the collection box 4 changes by ninety degrees.Since the position of the moving plate 41 also changes by ninety degrees, the change of the collecting box 4 offsets the angle change of the moving plate 41, and the collecting box 4 always remains horizontal with its opening facing upward. The moving plate 41 and the rotating frame 40 on the upper surface of the mounting plate 9 drive the collecting box 4 to continue to slide to one side. At this time, the first rack 38 is not engaged with the shifting gear 55, and the shifting gear 55 is located above the first rack 38, until one end of the slide bar touches the bottom end of the squeezing rod 52, and the squeezing spring 51 squeezes the squeezing rod 52 so that the squeezing rod 52 squeezes the slide bar, causing the slide bar to slide into the inside of the block 49, and the moving plate 41 and the collecting box 4 stop moving until a certain mass of gravel is filled in the collecting box 4 and stops at the designated position. Next to the fixed seat 3, the motion motor 45 is controlled to rotate in the opposite direction to make the motion plate 41 return. At this time, the slide bar is inside the block 49, and the first rack 38 and the shifting gear 55 are meshed. When the motion plate 41 moves to the edge of the mounting plate 9, the first rack 38 and the shifting gear 55 begin to mesh, driving the slide bar at one end of the support rod 48 to slide toward the bottom of the sliding groove 53, so that the slide bar returns from the top of the sliding groove 53 to the bottom. Similarly, the position of the collection box 4 is kept horizontal. Removing the collection box 4 and replacing it with a new one reduces the time for the robot to dump gravel and shortens the robot's working path, reduces the load of the robot during inspection, and optimizes the use efficiency of the robot battery 18.

[0063] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent inspection robot, comprising a housing (1), characterized in that: A control panel (19) is arranged on the inner wall of the bottom of the housing (1); a mounting plate (9) is fixedly connected to the top of the housing (1); two slide rails (36) are arranged on the outer wall of the housing (1); a second rack (39) is fixedly connected to the outer wall of the mounting plate (9) on one side close to the slide rail (36); a control rail (37) is fixedly connected to the upper surface of the mounting plate (9) on one side close to the second rack (39); a block (49) is arranged on one side of the control rail (37). A first rack (38) is fixedly connected to an edge position of one side of the upper surface of the mounting plate (9), a fixing plate (50) is fixedly connected to the other side of the upper surface of the mounting plate (9) near the slide rail (36), a squeezing rod (52) is slidably connected to the bottom of the fixing plate (50), one end of the squeezing rod (52) is sleeved with a squeezing spring (51), one side of the slide rail (36) is respectively slidably connected to two guide wheels, and one side of the guide wheel is respectively fixedly connected to the mounting rod ( 54), the two ends of the installation rod (54) are rotatably connected to a moving plate (41), one side of the moving plate (41) is fixedly connected to a moving block (42), one side of the moving plate (41) is rotatably connected to a rotating frame (40) near the moving block (42), one end of the installation rod (54) is fixedly connected to a driven gear (43) near the guide wheel, one side of the moving plate (41) is fixedly connected to a moving motor (45) near the driven gear (43), and the moving plate (41) is fixedly connected to a moving motor (45) near the driven gear (43). One end of the output shaft of the driving motor (45) is fixedly connected to a driving gear (44), one side of the moving plate (41) is provided with a sliding groove (53), a cavity is provided inside the moving block (42), a limit rod (46) is slidably connected to the inner wall of the cavity, one end of the limit rod (46) is sleeved with a limit spring (47), one end of the limit rod (46) is fixedly connected to a stop block, and one end of the rotating frame (40) is rotatably connected to a support rod (48) near a clamping block (49); A mechanical arm mechanism is installed on the upper surface of one end of the housing (1), and the mechanical arm mechanism is used to pick up obstacles such as gravel; A collecting mechanism is installed on the upper surface of the side wall at the other end of the housing (1), and the collecting mechanism is used to collect light garbage, such as shredded paper and leaves; A visual mechanism is installed on the upper surface of the housing (1) near the mechanical arm mechanism, and the visual mechanism is used to observe the road surface and automatically determine obstacles or road surface cracks.

2. The intelligent inspection robot according to claim 1, characterized in that: A battery (18) is arranged on one side of the bottom inner wall of the housing (1) close to the control panel (19), two forward motors (20) are arranged on the other side of the bottom inner wall of the housing (1) close to the control panel (19), front wheels (2) are arranged at one end of the output shaft of each forward motor (20), and the bottom of the housing (1) is located at the bottom of the battery (18) and is rotatably connected to two rear wheels (7). ， A block (49) is provided at one end of the rotating frame (40), a slot (56) is provided at one side of the block (49), a collection box (4) is fixedly connected to one side of the block (49), a fixed seat (3) is provided at the bottom of the collection box (4), a plurality of limit plates (35) are provided on the upper surface of the fixed seat (3), the driven gear (43) and the driving gear (44) are meshed, a sliding rod is provided at the other end of the support rod (48), one end of the sliding rod is fixedly connected to a shifting gear (55), the sliding rod slides inside the sliding slot (53), the driven gear (43) is meshed with the second rack (39), and the extrusion rod (52) pushes the sliding rod so that the sliding rod can mesh with the first rack (38) when it is inside the block (49).

3. The intelligent inspection robot according to claim 2, characterized in that: The mechanical arm mechanism comprises a mounting seat (21) fixedly connected to the upper surface of one end of the housing (1); a steering motor is arranged inside the mounting seat (21); one end of the steering motor output shaft is fixedly connected to a large arm (30); the top end of the large arm (30) is rotatably connected to a second arm (28); a second steering gear (29) is arranged between the second arm (28) and the large arm (30); one end of the second arm (28) is rotatably connected to a first arm (26); a first steering gear (27) is arranged between the first arm (26) and the second arm (28); An operating mechanism is installed at one end of the first arm (26), and the operating mechanism is used to pick up the target and spray the mark.

4. The intelligent inspection robot according to claim 3, characterized in that: The upper arm (30) and the mounting seat (21) are rotatably connected, the steering motor, the first steering gear (27) and the second steering gear (29) are electrically connected to the control board (19) respectively, one end of the housing (1) is fixedly connected to a stopper shell (10), an acoustic wave sensor module is arranged inside the stopper shell (10), and a GPS module is arranged inside the control board (19).

5. The intelligent inspection robot according to claim 4, characterized in that: The operating mechanism comprises a clamping motor (25) fixedly connected to one end of a first arm (26), one end of an output shaft of the clamping motor (25) picks up a gear, and one end of the first arm (26) is rotatably connected to a clamp (24) near the clamping motor (25), and an incomplete gear is arranged on one side of the clamp (24).

6. The intelligent inspection robot according to claim 5, characterized in that: A paint can (23) is fixedly connected to one end of the first arm (26) near the clamp (24), a solenoid valve (22) is provided at the bottom of the paint can (23), the solenoid valve (22) is electrically connected to the control board (19), and the incomplete gear is meshed with the pickup gear.

7. The intelligent inspection robot according to claim 6, characterized in that: The collecting mechanism comprises a trash bin (8) fixedly connected to the other end of the outer shell (1), a funnel (16) fixedly connected to the inner wall of the trash bin (8), an air pump shell (13) fixedly connected to the upper surface of the outer shell (1) near the funnel (16), an air pump (11) being arranged on one side of the air pump shell (13), a fan blade (14) being fixedly connected to one end of the output shaft of the air pump (11), an air inlet pipe (15) being plugged into the other side of the air pump shell (13), and an air outlet pipe (12) being plugged into the top of the air pump shell (13).

8. The intelligent inspection robot according to claim 7, characterized in that: The other end of the air intake pipe (15) is plugged into the top of the funnel (16); a sweep wheel (17) is rotatably connected to the inner wall of the garbage bin (8) near the funnel (16); one end of the sweep wheel (17) is fixedly connected to a driven pulley; one side of the rear wheel (7) is fixedly connected to a driving pulley (5); a belt (6) is provided between the driving pulley (5) and the driven pulley.

9. The intelligent inspection robot according to claim 8, characterized in that: The visual mechanism comprises a fixed shell fixedly connected to the upper surface of the outer shell (1) near the mounting seat (21), a lifting motor (31) being fixedly connected to the inner bottom of the fixed shell, a threaded rod (32) being fixedly connected to one end of the output shaft of the lifting motor (31), and a sliding cylinder (33) being threadedly connected to one end of the threaded rod (32).

10. The intelligent inspection robot according to claim 9, characterized in that: A visual camera (34) is fixedly connected to the top of the sliding cylinder (33), the sliding cylinder (33) is slidably connected to the fixed shell, and the lifting motor (31) and the visual camera (34) are electrically connected to the control panel (19) respectively.

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