Intelligent inspection robot with sensing function

Abstract

The invention relates to the technical field of inspection machines, in particular to an intelligent inspection robot with a sensing function, which comprises a vehicle body, two rollers arranged at an interval are rotatably mounted on both sides of the vehicle body, two first cameras arranged at an interval are mounted at the lower end of one side of the vehicle body, the first cameras are arranged downwards, and a bracket is arranged at the upper end of the vehicle body. According to the design, images of a front road surface can be captured in real time through the first camera, an operator can find the road surface condition in time, the second camera and the thermal imaging camera can shoot power equipment in front of the device, and the operation state of the power equipment can be monitored in real time; by capturing images or videos of the equipment, an operator can timely find equipment faults or abnormal conditions, the thermal imaging camera captures temperature distribution on the surface of the power equipment and displays the temperature distribution in a thermal image mode, a thermal abnormal area on the surface of the power equipment can be accurately recognized, and potential faults can be early warned in advance.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection machines, and in particular to an intelligent inspection robot with a sensing function. Background Art

[0002] Intelligent inspection robots are a type of special robot that is based on intelligent technology, is programmable, and can simulate manual operations to replace traditional manual inspections. Intelligent inspection robots integrate advanced sensor technology, artificial intelligence algorithms, machine vision, autonomous navigation and other technologies, and can perform autonomous inspections according to preset routes or tasks.

[0003] The existing intelligent inspection robot with publication number CN116922410A specifically discloses a control console, a display light is arranged on the left side of the front of the control console, telescopic rods are fixedly connected to the middle of the left and right sides of the control console, a mounting mechanism is arranged below the control console, a connecting mechanism is arranged below the telescopic rod, the mounting mechanism includes a fixed plate, the top of the fixed plate is fixedly connected to the middle of the lower surface of the control console, the middle of the lower surface of the fixed plate is fixedly connected to a threaded pipe, a threaded head is arranged below the threaded pipe, and the bottom of the threaded head is fixedly connected to a fixing frame.

[0004] Existing intelligent robots used for power inspection are equipped with spray systems. These systems can be activated when high temperature or fire is detected, and can reduce the indoor temperature and extinguish the fire by spraying carbon dioxide. However, the existing spray mechanism has a single adjustment dimension and cannot be adjusted in multiple dimensions. A single spray angle may not effectively cover the fire source area, resulting in some fire sources not being extinguished in time, thereby prolonging the fire extinguishing time. For this reason, we propose an intelligent inspection robot with perception function. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the prior art and to propose an intelligent inspection robot with perception function.

[0006] In order to achieve the above-mentioned objectives, the present invention adopts the following technical solution: an intelligent inspection robot with a sensing function, comprising a vehicle body, two rollers rotatably installed on both sides of the vehicle body, and two first cameras installed at intervals at the lower end of one side of the vehicle body, and the first cameras are arranged to face downward.

[0007] A bracket is provided at the upper end of the vehicle body, and the lower end of the bracket is inserted into the vehicle body. A protective cover is fixedly installed in the bracket, and the protective cover is a transparent protective cover. A thermal imaging camera is installed in the protective cover. A support is fixedly installed on the upper end of the bracket, and a second camera is fixedly installed on both sides of the support, and the second camera is set to face the horizontal front. A driving mechanism is provided in the vehicle body, and the driving mechanism is connected to the protective cover. The driving mechanism is used to drive the thermal imaging camera and the second camera to move in a vertical direction. A storage cavity is opened in the vehicle body, and an air injection pipe is fixedly installed on the vehicle body, and the air injection pipe is connected to the storage cavity. A valve is installed on the air injection pipe, and an exhaust mechanism is provided on the vehicle body, and the exhaust mechanism is connected to the storage cavity.

[0008] As a further technical solution of the present invention, the driving mechanism includes a screw rod, the lower end of which is rotatably mounted on the top of the vehicle body, and the upper end of which passes through the protective cover and is threadedly connected to the protective cover.

[0009] As a further technical solution of the present invention, a cabin is provided in the vehicle body, a first motor is fixedly installed in the cabin, and an output shaft of the first motor passes through the vehicle body and is fixedly connected to the screw rod.

[0010] As a further technical solution of the present invention, a plurality of heat dissipation slots are provided on both sides of the vehicle body, the heat dissipation slots are communicated with the engine room, and handles are fixedly installed on both sides of the top of the vehicle body.

[0011] As a further technical solution of the present invention, an arc-shaped baffle is provided at the upper end of the roller, and the arc-shaped baffle is fixedly connected to the vehicle body. A battery power display panel is installed on one side of the vehicle body.

[0012] As a further technical solution of the present invention, the exhaust mechanism includes a mounting groove, which is fixedly installed on one side of the vehicle body, a movable sphere is installed in the mounting groove, a hole is opened on the sphere, and the hole runs through the sphere, two symmetrically distributed elastic parts are fixedly connected in the mounting groove, and the other ends of the elastic parts are fixedly connected to the sphere, and a conduit is fixedly installed in the storage cavity, and one end of the conduit is connected to the mounting groove.

[0013] As a further technical solution of the present invention, a vertical pipe is integrally provided on the conduit, and the vertical pipe is communicated with the conduit. A sealing plug is provided in the vertical pipe, and the sealing plug can block the conduit. An inner hole is opened on the sealing plug, and the inner hole can be communicated with the conduit. A second motor is fixedly installed in the storage cavity, and the output shaft of the second motor is fixedly connected to the top of the sealing plug.

[0014] As a further technical solution of the present invention, a nozzle is fixedly installed on the outside of the sphere, the nozzle is connected to the channel, an annular magnet is fixedly installed on the outside of the nozzle, an annular frame is arranged outside the mounting groove, one end of the annular frame can be rotatably installed on the vehicle body, an electromagnet is fixedly installed on the inside of the annular frame, and the electromagnet is arranged toward the annular magnet.

[0015] As a further technical solution of the present invention, a gear ring is disposed and fixedly installed on the annular frame, a third motor is fixedly installed on the vehicle body, a driving wheel is fixedly installed on the output shaft end of the third motor, and the driving wheel is meshed with the gear ring.

[0016] The intelligent inspection robot with perception function proposed by the present invention has the following beneficial effects:

[0017] 1. An intelligent inspection robot with perception function, which shoots the road ahead through the first camera. The first camera can capture the image ahead in real time, so that the operator can find the road condition in time. The second camera and the thermal imaging camera can both shoot the power equipment in front of the device, and can monitor the operating status of the power equipment in real time. By capturing the image or video of the equipment, the operator can find equipment failure or abnormality in time. The thermal imaging camera captures the temperature distribution on the surface of the power equipment and displays it in the form of a thermal image. It can accurately identify the abnormal thermal area on the surface of the power equipment and warn of potential failures in advance.

[0018] 2. An intelligent inspection robot with perception function, during the image capture process, drives the thermal imaging camera and the second camera to move in the vertical direction, so as to adapt to power equipment at different heights. It can obtain the monitoring data of the robot's front patrol without changing the overall position of the robot, so that the robot can better inspect and shoot the front scene and reduce omissions.

[0019] 3. An intelligent inspection robot with sensing function sprays fire extinguishing agent onto power equipment through a nozzle. The electromagnet is energized and exerts repulsive force on the annular magnet. The annular magnet and the nozzle move due to external force, and the sphere moves synchronously in the installation groove. The movement of the nozzle can be controlled by adjusting the magnetic force of the electromagnet. By driving the electromagnet to rotate to different positions of the nozzle, repulsive force in different directions can be exerted on the nozzle, thereby controlling the movement direction of the nozzle. The nozzle can move in multi-dimensional directions to more effectively extinguish fires. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of an intelligent inspection robot with perception function proposed by the present invention. Figure 1 .

[0021] Figure 2This is a schematic diagram of the structure of an intelligent inspection robot with perception function proposed by the present invention. Figure 2 .

[0022] Figure 3 This is a cross-sectional view of an intelligent inspection robot with perception function proposed by the present invention.

[0023] Figure 4 This is an enlarged cross-sectional view of the body of an intelligent inspection robot with perception function proposed by the present invention.

[0024] Figure 5 The present invention proposes an intelligent inspection robot with perception function. Figure 3 A is an enlarged schematic diagram.

[0025] Figure 6 This is a schematic diagram of an enlarged structure of part of the sphere of an intelligent inspection robot with perception function proposed by the present invention.

[0026] In the figure: body 1, roller 2, first camera 3, bracket 4, protective cover 5, thermal imaging camera 6, support 7, second camera 8, storage chamber 9, gas injection pipe 10, screw 11, cabin 12, first motor 13, heat dissipation groove 14, arc baffle 15, battery power display panel 16, mounting groove 17, sphere 18, channel 19, elastic member 20, conduit 21, vertical pipe 22, sealing plug 23, inner hole 24, second motor 25, nozzle 26, annular magnet 27, annular frame 28, electromagnet 29, ring gear 30, third motor 31, driving wheel 32. DETAILED DESCRIPTION

[0027] 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.

[0028] Embodiment 1

[0029] Reference Figure 1-6As shown, an intelligent inspection robot with sensing function includes a body 1, two rollers 2 rotatably installed on both sides of the body 1 are spaced apart, and two first cameras 3 spaced apart are installed at the lower end of one side of the body 1, and the first cameras 3 are arranged to face downward. A bracket 4 is provided at the upper end of the vehicle body 1, and the lower end of the bracket 4 is inserted into the vehicle body 1. A protective cover 5 is fixedly installed in the bracket 4, and the protective cover 5 is a transparent protective cover. A thermal imaging camera 6 is installed in the protective cover 5. A support 7 is fixedly installed on the upper end of the bracket 4. A second camera 8 is fixedly installed on both sides of the support 7. The second camera 8 is arranged toward the horizontal front. A driving mechanism is provided in the vehicle body 1, and the driving mechanism is connected to the protective cover 5. The driving mechanism is used to drive the thermal imaging camera 6 and the second camera 8 to move in the vertical direction. A storage cavity 9 is opened in the vehicle body 1, and an air injection pipe 10 is fixedly installed on the vehicle body 1. The air injection pipe 10 is connected to the storage cavity 9. A valve is installed on the air injection pipe 10. An exhaust mechanism is provided on the vehicle body 1, and the exhaust mechanism is connected to the storage cavity 9. The vehicle body 1 is moved by setting a roller 2 and driven to move to different positions for inspection. The first camera 3 shoots the road ahead. The first camera 3 can capture the image of the road ahead in real time, so that the operator can find the road condition in time. Both the second camera 8 and the thermal imaging camera 6 can take pictures of the power equipment in front of the device and monitor the operating status of the power equipment in real time. By capturing images or videos of the equipment, operators can promptly discover equipment failures or abnormal conditions. The thermal imaging camera 6 captures the temperature distribution on the surface of the power equipment and displays it in the form of a thermal image. It can accurately identify thermal abnormal areas on the surface of the power equipment and provide early warning of potential failures.

[0030] Among them, Figure 3 and Figure 4 As shown, the driving mechanism includes a screw 11, the lower end of which is rotatably mounted on the top of the vehicle body 1, and the upper end of the screw 11 passes through the protective cover 5 and is threadedly connected to the protective cover 5. A cabin 12 is provided in the vehicle body 1, and a first motor 13 is fixedly installed in the cabin 12. The output shaft of the first motor 13 passes through the vehicle body 1 and is fixedly connected to the screw 11. A plurality of heat dissipation slots 14 are provided on both sides of the vehicle body 1, and the heat dissipation slots 14 are connected to the cabin 12. Handles are fixedly installed on both sides of the top of the vehicle body 1, and arc baffles 15 are provided on the upper ends of the rollers 2. The arc baffles 15 are fixedly connected to the vehicle body 1, and a battery power display panel 16 is installed on one side of the vehicle body 1. During the image capture process, the screw 11 can be driven to rotate by the first motor 13, and the screw 11 rotates and drives the protective cover 5 and the bracket 4 to move in the vertical direction, which can drive the thermal imaging camera 6 and the second camera 8 to move synchronously, thereby adapting to power equipment of different heights.

[0031] Working principle of this embodiment: When in use, the vehicle body 1 is moved by setting the roller 2 and driving the vehicle body 1 to move to different positions for inspection. The first camera 3 shoots the road ahead. The first camera 3 can capture the image of the road ahead in real time, so that the operator can find the road condition in time. The second camera 8 and the thermal imaging camera 6 can both shoot the power equipment in front of the device, and can monitor the operating status of the power equipment in real time. By capturing the image or video of the equipment, the operator can find equipment failure or abnormality in time. The thermal imaging camera 6 captures the temperature distribution on the surface of the power equipment and displays it in the form of a thermal image, which can accurately identify the thermal abnormal area on the surface of the power equipment and warn of potential failures in advance.

[0032] During the image capture process, the screw 11 can be driven to rotate by the first motor 13. The screw 11 rotates and drives the protective cover 5 and the bracket 4 to move in the vertical direction, which can drive the thermal imaging camera 6 and the second camera 8 to move synchronously, so as to adapt to power equipment at different heights. Monitoring data at different heights can be obtained without changing the overall position of the robot. The robot has a more comprehensive inspection of the area ahead and reduces omissions. It should be added that: due to the use of the driving mechanism to cooperate with the image capture work, the roller 2 moves the vehicle body 1 and drives the vehicle body 1 to move to different positions for inspection. The first camera 3 shoots the road ahead, and the screw 11 is driven to rotate by the first motor 13. The screw 11 rotates and drives the protective cover 5 and the bracket 4 to move in the vertical direction, which can drive the thermal imaging camera 6 and the second camera 8 to move synchronously, so as to adapt to power equipment at different heights. The monitoring data at different heights in front can be obtained without changing the overall position of the robot, so that the robot can shoot the inspection area in front of it to reduce omissions. This design obtains monitoring pictures with different height angles by adjusting the camera height. Compared with the situation where the thermal imaging camera 6 and the second camera 8 are fixed in height, it mainly shoots the pictures of the front patrol, not the pictures around. The pictures around require the vehicle body 1 to move continuously or change direction.

[0033] Embodiment 2

[0034] Reference Figure 5-6As shown, as another preferred embodiment of the present invention, the difference from the embodiment 1 is that the exhaust mechanism includes a mounting groove 17, the mounting groove 17 is fixedly mounted on one side of the vehicle body 1, a movable sphere 18 is mounted in the mounting groove 17, a hole 19 is provided on the sphere 18, the hole 19 runs through the sphere 18, two symmetrically distributed elastic members 20 are fixedly connected in the mounting groove 17, the other ends of the elastic members 20 are fixedly connected to the sphere 18, a conduit 21 is fixedly mounted in the storage chamber 9, one end of the conduit 21 is connected to the mounting groove 17. A vertical pipe 22 is integrally arranged on the conduit 21, the vertical pipe 22 is connected to the conduit 21, a sealing plug 23 is arranged in the vertical pipe 22, the sealing plug 23 can block the conduit 21, an inner hole 24 is provided on the sealing plug 23, the inner hole 24 can be connected to the conduit 21, a second motor 25 is fixedly mounted in the storage chamber 9, and the output shaft of the second motor 25 is fixedly connected to the top of the sealing plug 23;

[0035] When in use, carbon dioxide gas is injected into the storage chamber 9 through the gas injection pipe 10. The storage chamber 9 contains liquid carbon dioxide. When the liquid carbon dioxide is sprayed out, it will quickly vaporize and expand. During this process, the liquid carbon dioxide will absorb heat from the surrounding area and may form dry ice-like frost to play a cooling role. Subsequently, the vaporized carbon dioxide will surround the combustion point, isolate and dilute the surrounding oxygen. When the carbon dioxide content exceeds a certain value, the combustion will stop, thereby achieving the purpose of extinguishing the fire.

[0036] During cooling and fire extinguishing, the second motor 25 drives the sealing plug 23 to rotate, so that the inner hole 24 on the sealing plug 23 is connected with the conduit 21, and the carbon dioxide gas can enter the installation groove 17 through the conduit 21 and the inner hole 24, and then enter the nozzle 26 through the channel 19, and then be sprayed on the power equipment by the nozzle 26. The position of the nozzle 26 is kept in a stable state by setting the elastic member 20;

[0037] When the direction of the nozzle 26 needs to be adjusted, the electromagnet 29 is energized and exerts a repulsive force on the annular magnet 27. The annular magnet 27 and the nozzle 26 move under the external force, and the sphere 18 moves synchronously in the mounting groove 17. The movement of the nozzle 26 can be controlled by adjusting the magnetic force of the electromagnet 29.

[0038] Among them, a nozzle 26 is fixedly installed on the outside of the sphere 18, and the nozzle 26 is connected to the channel 19. An annular magnet 27 is fixedly installed on the outside of the nozzle 26. An annular frame 28 is provided on the outer surface of the mounting groove 17. One end of the annular frame 28 can be rotatably installed on the vehicle body 1. An electromagnet 29 is fixedly installed on the inner side of the annular frame 28. The electromagnet 29 is arranged toward the annular magnet 27. A gear ring 30 is arranged and fixedly installed on the outer surface of the annular frame 28. A third motor 31 is fixedly installed on the vehicle body 1. A driving wheel 32 is fixedly installed on the output shaft end of the third motor 31, and the driving wheel 32 is meshed with the gear ring 30. The driving wheel 32 is driven to rotate by the third motor 31, and the driving wheel 32 drives the gear ring 30 to rotate. The annular frame 28 and the electromagnet 29 on the annular frame 28 rotate synchronously. The electromagnet 29 can rotate to different positions of the nozzle 26, and can apply repulsive forces in different directions to the nozzle 26, thereby controlling the moving direction of the nozzle 26.

[0039] The working principle of this embodiment is as follows: when in use, carbon dioxide gas is injected into the storage chamber 9 through the gas injection pipe 10. When cooling and extinguishing the fire, the second motor 25 drives the sealing plug 23 to rotate, so that the inner hole 24 on the sealing plug 23 is connected with the conduit 21. The carbon dioxide gas can enter the installation groove 17 through the conduit 21 and the inner hole 24, and then enter the nozzle 26 through the channel 19, and then be sprayed on the power equipment by the nozzle 26. The position of the nozzle 26 is kept in a stable state by setting the elastic member 20;

[0040] When the direction of the nozzle 26 needs to be adjusted, the electromagnet 29 is energized and exerts a repulsive force on the annular magnet 27. The annular magnet 27 and the nozzle 26 move under the external force, and the ball 18 moves synchronously in the mounting groove 17. By adjusting the magnetic force of the electromagnet 29, the movement amount of the nozzle 26 can be controlled.

[0041] Furthermore, the third motor 31 drives the driving wheel 32 to rotate, the driving wheel 32 drives the gear ring 30 to rotate, the annular frame 28 and the electromagnet 29 on the annular frame 28 rotate synchronously, and the electromagnet 29 can rotate to different positions of the nozzle 26, and can apply repulsive forces in different directions to the nozzle 26, thereby controlling the moving direction of the nozzle 26;

[0042] In summary, the nozzle 26 can move in multiple dimensions. The ability of the nozzle 26 to move in multiple dimensions means that it can target the fire source more accurately. Regardless of whether the fire source is located high, low, on the side or in other complex locations, the nozzle 26 can accurately spray the fire extinguishing agent by adjusting the angle and position, thereby more effectively extinguishing the fire.

[0043] 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 with perception function, characterized in that: It comprises a vehicle body (1), two rollers (2) arranged at intervals are rotatably mounted on both sides of the vehicle body (1), two first cameras (3) arranged at intervals are mounted on the lower end of one side of the vehicle body (1), and the first cameras (3) are arranged to face downwards; The vehicle body (1) is provided with a bracket (4) at the upper end, the lower end of the bracket (4) is inserted into the vehicle body (1), a protective cover (5) is fixedly installed in the bracket (4), the protective cover (5) is a transparent protective cover, a thermal imaging camera (6) is installed in the protective cover (5), a support (7) is fixedly installed at the upper end of the bracket (4), a second camera (8) is fixedly installed on both sides of the support (7), and the second camera (8) is arranged to face the horizontal front, and a driving device (1) is provided in the vehicle body (1). A driving mechanism is provided, the driving mechanism being connected to the protective cover (5), the driving mechanism being used to drive the thermal imaging camera (6) and the second camera (8) to move in a vertical direction, a storage chamber (9) being provided in the vehicle body (1), an air injection pipe (10) being fixedly mounted on the vehicle body (1), the air injection pipe (10) being in communication with the storage chamber (9), a valve being mounted on the air injection pipe (10), an exhaust mechanism being provided on the vehicle body (1), the exhaust mechanism being in communication with the storage chamber (9); The driving mechanism comprises a screw rod (11), the lower end of which is rotatably mounted on the top of the vehicle body (1), and the upper end of which passes through the protective cover (5) and is threadedly connected to the protective cover (5).

2. The intelligent inspection robot with perception function according to claim 1 is characterized in that: A cabin (12) is provided in the vehicle body (1), a first motor (13) is fixedly installed in the cabin (12), and an output shaft of the first motor (13) passes through the vehicle body (1) and is fixedly connected to the screw rod (11).

3. The intelligent inspection robot with perception function according to claim 1 is characterized in that: A plurality of heat dissipation slots (14) are provided on both sides of the vehicle body (1), and the heat dissipation slots (14) are communicated with the engine compartment (12). Handles are fixedly installed on both sides of the top of the vehicle body (1).

4. The intelligent inspection robot with perception function according to claim 1 is characterized in that: The upper ends of the rollers (2) are each provided with an arc-shaped baffle (15), and the arc-shaped baffle (15) is each fixedly connected to the vehicle body (1). A battery power display panel (16) is installed on one side of the vehicle body (1).

5. The intelligent inspection robot with perception function according to claim 4 is characterized in that: The exhaust mechanism comprises a mounting groove (17), wherein the mounting groove (17) is fixedly mounted on one side of the vehicle body (1), a movable sphere (18) is mounted in the mounting groove (17), a hole (19) is provided on the sphere (18), and the hole (19) passes through the sphere (18), two symmetrically distributed elastic members (20) are fixedly connected in the mounting groove (17), and the other ends of the elastic members (20) are fixedly connected to the sphere (18), and a conduit (21) is fixedly mounted in the storage cavity (9), and one end of the conduit (21) is connected to the mounting groove (17).

6. The intelligent inspection robot with perception function according to claim 5 is characterized in that: The conduit (21) is integrally provided with a vertical pipe (22), the vertical pipe (22) and the conduit (21) are communicated with each other, a sealing plug (23) is provided in the vertical pipe (22), the sealing plug (23) can block the conduit (21), an inner hole (24) is opened in the sealing plug (23), the inner hole (24) can be communicated with the conduit (21), a second motor (25) is fixedly installed in the storage cavity (9), and an output shaft of the second motor (25) is fixedly connected to the top of the sealing plug (23).

7. The intelligent inspection robot with perception function according to claim 6 is characterized in that: A nozzle (26) is fixedly mounted on the outside of the sphere (18), the nozzle (26) being communicated with the hole (19), an annular magnet (27) is fixedly mounted on the outside of the nozzle (26), an annular frame (28) is provided on the outer surface of the mounting groove (17), one end of the annular frame (28) is rotatably mounted on the vehicle body (1), an electromagnet (29) is fixedly mounted on the inside of the annular frame (28), and the electromagnet (29) is arranged toward the annular magnet (27).

8. The intelligent inspection robot with perception function according to claim 7 is characterized in that: A gear ring (30) is disposed and fixedly mounted on the outer surface of the annular frame (28), a third motor (31) is fixedly mounted on the vehicle body (1), a driving wheel (32) is fixedly mounted on the output shaft end of the third motor (31), and the driving wheel (32) is meshed with the gear ring (30).

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