Intelligent inspection robot in port engineering environment

Abstract

The invention relates to the field of robots, and particularly discloses an intelligent inspection robot in a port engineering environment. The control part controls the mobile vehicle body to drive the environment data acquisition part and the detection part to move in the port engineering site, the environment data acquisition part can acquire comprehensive environment data information in the port engineering site, and the control part judges the environment of the port engineering site according to the comprehensive environment data information. Meanwhile, the control part can control the moving vehicle body to move according to the comprehensive environment data information, obstacle avoidance operation can be carried out while the moving vehicle body advances according to a designed inspection route, it is ensured that the moving vehicle body can advance according to the designed inspection route, and some narrow places where the moving vehicle body cannot enter can be effectively protected. The environment data of a narrow place can be acquired through the detection part, so that a far-end operator can be helped to make more accurate judgment according to more detailed information.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to an intelligent inspection robot in the port engineering environment. Background Art

[0002] With the continuous growth of global trade, ports, as important international logistics hubs, their operational efficiency and safety directly affect the smooth flow of trade and economic development. Traditional port operations mainly rely on manual inspections and inspection equipment. This method not only has a high working intensity, but also has many potential safety hazards and low efficiency problems. In a complex port environment, the inspection tasks involve the inspection of container yards, terminal facilities, transportation equipment, and various infrastructure. Manual inspections are not only prone to omissions, but also restricted by various factors such as weather, working intensity, and time.

[0003] In recent years, with the rapid development of artificial intelligence, robot technology, and Internet of Things technology, more and more automation technologies have been applied to the port field to improve operational efficiency and ensure safety.

[0004] For example, Chinese Patent with the publication number CN116922410A discloses an intelligent inspection robot, including a console. A display lamp is arranged on the left side of the front surface of the console. Telescopic rods are fixedly connected to the middle parts of the left and right sides of the console. An installation mechanism is arranged below the console. A connection mechanism is arranged below the telescopic rods. The installation mechanism includes a fixed disk. The top of the fixed disk is fixedly connected to the middle part of the lower surface of the console. A threaded pipe is fixedly connected to the middle part of the lower surface of the fixed disk. A threaded head is arranged below the threaded pipe. The bottom of the threaded head is fixedly connected to a fixed frame. For this intelligent inspection robot, through the fixed disk connected to the lower surface of the console, the threaded head performs a threaded rotation movement inside the threaded pipe. The fixed frame is used to install a camera. The camera can be installed below the console through the threaded head at the top, so as to achieve the effect of facilitating the disassembly, assembly, and maintenance of the device by the staff.

[0005] During the application process, the applicant found that the above application has defects in use. The inspection robot disclosed in this application only uses a camera to obtain environmental information, and the collected information is limited. Based on the limited information, it is impossible to accurately judge the environment of the inspection site. Summary of the Invention

[0006] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide an intelligent inspection robot in the port engineering environment to solve the problem that traditional inspection robots only rely on the limited information collected by cameras and cannot effectively judge the environment of the inspection site.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] An intelligent inspection robot in a port engineering environment, comprising:

[0009] A mobile vehicle body for carrying equipment to collect port engineering environment data, including a vehicle shell, a chassis fixedly installed at the bottom of the vehicle shell, and drive wheels fixedly installed on the chassis;

[0010] An environmental data acquisition unit arranged on the vehicle shell for acquiring port engineering environment data around the mobile vehicle body;

[0011] A detection unit arranged at the rear end of the vehicle shell for detecting image data of a narrow environment;

[0012] A control unit arranged inside the vehicle shell for receiving and processing data information obtained by the environmental data acquisition unit and the detection unit, and storing and transmitting the data information to the background.

[0013] Preferably, the environmental data acquisition unit includes a turntable fixedly installed on the top of the vehicle shell and four infrared cameras fixedly installed on the turntable. An installation frame is rotatably connected to the turntable, and a four-in-one environmental data acquisition sensor for collecting environmental temperature, humidity, dust, and noise is arranged on the installation frame. The upper end of the installation frame is fixedly connected with a rotary joint, and a thermal imaging camera is rotatably connected through the rotary joint.

[0014] Preferably, an antenna for receiving transmission signals is fixedly connected to the top end of the installation frame.

[0015] Preferably, the environmental data acquisition unit further includes an ultrasonic sensor and a laser sensor fixedly installed on the vehicle shell.

[0016] Preferably, a headlight and a front anti-collision bar are fixedly connected to the front end of the vehicle shell, and a rear light and a rear anti-collision bar are fixedly connected to the rear end of the vehicle shell.

[0017] Preferably, the detection unit includes a remote control vehicle arranged inside a placement cavity at the rear end of the vehicle shell and a collection camera fixedly installed on the remote control vehicle. A lower backing plate and a sealing plate for sealing the placement cavity are hinged on the vehicle shell, and an electric telescopic rod is hinged between the lower backing plate and the sealing plate.

[0018] Preferably, an audible and visual alarm is fixedly connected to the vehicle shell.

[0019] Preferably, the control unit includes a microcomputer and a memory fixedly installed inside the vehicle shell. An algorithm program for the microcomputer to execute is arranged inside the memory, and the microcomputer is connected to the mobile vehicle body, the environmental data acquisition unit, and the detection unit.

[0020] Preferably, a rechargeable mobile battery is arranged inside the vehicle body shell.

[0021] Preferably, a wireless charging board is arranged at the bottom of the placement cavity, and a storage battery cooperating with the wireless charging board is arranged inside the remote control vehicle.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] In the present invention, the control unit controls the mobile vehicle body to drive the environmental data acquisition unit and the detection unit to move inside the port engineering site. The environmental data acquisition unit can collect comprehensive environmental data information inside the port engineering site. The control unit judges the environment of the port engineering site according to the comprehensive environmental data information. At the same time, the control unit can also control the movement of the mobile vehicle body according to the comprehensive environmental data information. While moving along the designed inspection route, obstacle avoidance operations can also be carried out to ensure that the mobile vehicle body can move along the designed inspection route. In some narrow places where the mobile vehicle body cannot enter, the environmental data of the narrow place can be obtained through the detection unit to help remote operators make more accurate judgments based on more detailed information. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the overall structure of the present invention Figure 1 ;

[0025] Figure 2 Schematic diagram of the overall structure of the present invention Figure 2 ;

[0026] Figure 3 Schematic diagram of the overall structure of the present invention Figure 3 ;

[0027] Figure 4 Schematic diagram of the overall structure of the remote control vehicle of the present invention;

[0028] In the figure: 1, vehicle body shell; 2, chassis; 3, drive wheel; 4, turntable; 5, infrared cameras around; 6, mounting bracket; 7, four-in-one environmental data acquisition sensor; 8, rotary joint; 9, thermal imaging camera; 10, antenna; 11, ultrasonic sensor; 12, headlight; 13, laser sensor; 14, front bumper; 15, rear bumper; 16, rear light; 17, sound and light alarm; 18, lower backing plate; 19, sealing plate; 20, electric telescopic rod; 21, remote control vehicle; 22, acquisition camera. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0030] Embodiment:

[0031] Please refer to Figure 1 - Figure 4 As shown in the figure, an intelligent inspection robot in a port engineering environment includes:

[0032] A mobile vehicle body for carrying equipment to collect port engineering environment data, including a vehicle shell 1, a chassis 2 fixedly installed at the bottom of the vehicle shell 1, and drive wheels 3 fixedly installed on the chassis 2. The chassis 2 adopts an integrated chassis design and can drive the drive wheels 3 to rotate;

[0033] An environmental data acquisition unit is arranged on the vehicle shell 1 for collecting port engineering environment data around the mobile vehicle body. The collected data includes but is not limited to image data, temperature, humidity, dust, and noise of the port engineering environment;

[0034] A detection unit is arranged at the rear end of the vehicle shell 1 for detecting image data of a narrow environment;

[0035] A control unit is arranged inside the vehicle shell 1 for receiving and processing data information obtained by the environmental data acquisition unit and the detection unit, and storing and transmitting the data information to the background.

[0036] As can be seen from the above, through the control unit, the mobile vehicle body is controlled to drive the environmental data acquisition unit and the detection unit to move inside the port engineering site. The environmental data acquisition unit can collect comprehensive environmental data information in the port engineering site. The control unit judges the environment of the port engineering site according to the comprehensive environmental data information. At the same time, the control unit can also control the movement of the mobile vehicle body according to the comprehensive environmental data information. While traveling along the designed inspection route, it can also perform obstacle avoidance operations to ensure that the mobile vehicle body can travel along the designed inspection route. In some narrow places where the mobile vehicle body cannot enter, the detection unit can obtain the environmental data of the narrow place to help remote operators make more accurate judgments based on more detailed information.

[0037] Please refer to Figure 1 - Figure 3As shown in the figure, the environmental data acquisition unit includes a turntable 4 fixedly installed on the top of the vehicle body 1 and four-sided infrared cameras 5 fixedly installed on the turntable 4. The turntable 4 is rotatably connected to a mounting frame 6. The turntable 4 itself can rotate, which means that the turntable 4 can drive the mounting frame 4 to rotate, and the lower end of the turntable 4 does not rotate. At this time, the four-sided infrared cameras 5 can stably obtain the environmental images around, and have an infrared function capable of shooting night scenes, enabling the inspection robot to work at night, effectively broadening the inspection working hours of the robot. Moreover, a four-in-one environmental data acquisition sensor 7 for collecting environmental temperature, humidity, dust, and noise is provided on the mounting frame 6. In addition, users can also add some other sensors, such as adding some hazardous gas sensors to detect hazardous gas leakage, or adding some sensors with special functions for special detection. The upper end of the mounting frame 6 is fixedly connected to a rotary joint 8, and a thermal imaging camera 9 is rotatably connected through the rotary joint 8. The rotary joint 8 can drive the thermal imaging camera 9 to rotate, and in some special occasions, the thermal imaging can be used to obtain scenes that are invisible to the naked eye.

[0038] As can be seen from the above, when the user controls the movement of the vehicle body 1, the four-sided infrared cameras 5 and the thermal imaging camera 9 can obtain the image data around the vehicle body 1. The rotation of the turntable 4 can drive the rotation of the thermal imaging camera 9, and the rotary joint 8 can also drive the thermal imaging camera 9 to perform a pitching motion, changing the orientation of the thermal imaging camera 9, so that the thermal imaging camera 9 can obtain image data at multiple angles more flexibly.

[0039] Please refer to Figure 2 - Figure 3 As shown in the figure, an antenna 10 for receiving transmission signals is fixedly connected to the top end of the mounting frame 6. The control unit can receive and transmit data through the antenna 10.

[0040] The environmental data acquisition unit also includes an ultrasonic sensor 11 and a laser sensor 13 fixedly installed on the vehicle body 1. The ultrasonic sensor 11 and the laser sensor 13 are used to detect external object information, which serves as the data basis for the control unit to command and control the movement of the mobile vehicle body. A related obstacle avoidance algorithm is set in the control unit, and an existing mature algorithm can be used for the obstacle avoidance algorithm. Since the inspection robot moves very slowly, some relatively simple obstacle avoidance algorithms can meet the usage requirements.

[0041] A headlight 12 and a front bumper 14 are fixedly connected to the front end of the vehicle body 1, and a rear light 16 and a rear bumper 15 are fixedly connected to the rear end of the vehicle body 1. The front bumper 14 protrudes from the headlight 12, and the rear bumper 15 protrudes from the rear light 16, which can play a good protective role for the laser sensor 13, the headlight 12, and the rear light 16.

[0042] Please refer toFigure 3 - Figure 4 As shown, the detection unit includes a remote control car 21 arranged inside the placement cavity at the rear end of the car shell 1 and a collection camera 22 fixedly installed on the remote control car 21. The car shell 1 is hinged with a lower pad 18 and a sealing plate 19 for sealing the placement cavity, and an electric telescopic rod 20 is hinged between the lower pad 18 and the sealing plate 19. When it is necessary to detect some lower or narrower places, the electric telescopic rod 20 can be controlled to extend, and the extended electric telescopic rod 20 will open the lower pad 18 and the sealing plate 19, and the lower pad 18 will be grounded. At this time, the remote control car 21 can slide down along the lower pad 18, and the user can control the remote control car 21 to move forward through the image data obtained by the environmental data collection unit. At the same time, the collection camera 22 on the remote control car 21 can also obtain the image data in front of the remote control car 21. A communication connection is established between the remote control car 21 and the control unit, and the control unit transfers the instructions of the remote operator.

[0043] The vehicle shell 1 is fixedly connected with an audible and visual alarm 17, and when the inspection robot is working, the audible and visual alarm 17 can be activated for prompting.

[0044] The control unit includes a microcomputer and a memory fixedly installed inside the vehicle shell 1. The memory is provided with an algorithm program for execution by the microcomputer. The microcomputer is connected to the mobile vehicle body, the environmental data acquisition unit and the detection unit.

[0045] A rechargeable mobile battery is arranged inside the vehicle shell 1 to supply power to the electrical components inside the inspection robot.

[0046] A wireless charging plate is provided at the bottom of the placement cavity, and a battery that cooperates with the wireless charging plate is provided inside the remote control car 21. When the remote control car 21 returns to the placement cavity, it will be automatically charged. Since the remote control car 21 is charged wirelessly, it will not affect the movement of the remote control car 21.

[0047] The standard parts used in the present invention can all be purchased from the market, and the special-shaped parts can be customized according to the description and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0048] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0049] In the present invention, unless otherwise clearly defined and limited, the terms such as "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0051] In the description of this specification, the descriptions with reference to terms such as "an embodiment", "some embodiments", "example", "specific example" or "some examples" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0052] In the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are involved, and other structures may refer to the general design. Without conflict, the same embodiment and different embodiments of the present invention may be combined with each other.

Claims

1. An intelligent inspection robot in a port engineering environment, characterized in that: include: A mobile vehicle body, used for carrying equipment for collecting port engineering environmental data, comprising a vehicle shell (1), a chassis (2) fixedly mounted on the bottom of the vehicle shell (1), and a driving wheel (3) fixedly mounted on the chassis (2); An environmental data collection unit, arranged on the vehicle shell (1) and used for collecting port engineering environmental data around the mobile vehicle body; A detection unit, arranged at the rear end of the vehicle shell (1) and used for detecting image data in a narrow environment; A control unit is arranged inside the vehicle shell (1) and is used for receiving and processing data information acquired by the environmental data acquisition unit and the detection unit, and storing and transmitting the data information to a background.

2. The intelligent inspection robot for a port engineering environment according to claim 1, characterized in that: The environmental data collection unit comprises a turntable (4) fixedly mounted on the top of the vehicle shell (1) and a surrounding infrared camera (5) fixedly mounted on the turntable (4); a mounting frame (6) is rotatably connected to the turntable (4), and a four-in-one environmental data collection sensor (7) for collecting environmental temperature, humidity, dust and noise is arranged on the mounting frame (6); a rotating joint (8) is fixedly connected to the upper end of the mounting frame (6), and a thermal imaging camera (9) is rotatably connected to the mounting frame (6) via the rotating joint (8).

3. The intelligent inspection robot for a port engineering environment according to claim 2, characterized in that: An antenna (10) for receiving transmission signals is fixedly connected to the top of the mounting frame (6).

4. The intelligent inspection robot for a port engineering environment according to claim 2, characterized in that: The environmental data collection unit also includes an ultrasonic sensor (11) and a laser sensor (13) fixedly mounted on the vehicle shell (1).

5. The intelligent inspection robot for a port engineering environment according to claim 1, characterized in that: The front end of the vehicle shell (1) is fixedly connected to a headlamp (12) and a front bumper (14), and the rear end of the vehicle shell (1) is fixedly connected to a rearlamp (16) and a rear bumper (15).

6. The intelligent inspection robot for a port engineering environment according to claim 1, characterized in that: The detection unit comprises a remote-controlled vehicle (21) arranged inside a placement cavity at the rear end of the vehicle shell (1) and a collection camera (22) fixedly mounted on the remote-controlled vehicle (21); a lower pad (18) and a sealing plate (19) for sealing the placement cavity are hingedly connected to the vehicle shell (1); an electric telescopic rod (20) is hingedly connected between the lower pad (18) and the sealing plate (19).

7. The intelligent inspection robot for a port engineering environment according to claim 1, characterized in that: The vehicle shell (1) is fixedly connected with an audible and visual alarm (17).

8. The intelligent inspection robot for a port engineering environment according to claim 1, characterized in that: The control unit comprises a microcomputer and a memory fixedly mounted inside the vehicle shell (1); an algorithm program for execution by the microcomputer is arranged inside the memory; the microcomputer is connected to the mobile vehicle body, the environmental data collection unit and the detection unit.

9. The intelligent inspection robot for a port engineering environment according to claim 1, characterized in that: A rechargeable mobile storage battery is arranged inside the vehicle shell (1).

10. The intelligent inspection robot for port engineering environment according to claim 6, characterized in that: A wireless charging plate is arranged at the bottom of the placement cavity, and a storage battery cooperating with the wireless charging plate is arranged inside the remote control car (21).

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