Quadruped inspection robot upper mounting structure and quadruped inspection robot

Abstract

The application provides a four-legged inspection robot upper structure and a four-legged inspection robot. The four-legged inspection robot upper structure comprises a first laser radar, a shell, a first base and a second base. The shell has oppositely arranged A end and B end. An electrical appliance compartment for accommodating electronic components and a control panel is arranged near the A end inside the shell, and a battery compartment for placing a battery is arranged near the B end inside the shell. The A end of the shell is externally connected with the first base. The first base is externally connected with the second base. The upper end of the first base is provided with a holder. The upper end of the second base is provided with the first laser radar. The top of the shell is provided with the second laser radar. The second laser radar is arranged near the B end. The first laser radar, the second laser radar, the holder and the battery are electrically connected with the control panel respectively. The application eliminates the detection blind area and improves the obstacle avoidance reliability. The self-provided battery ensures the effective endurance time.

Description

Technical Field

[0001] This invention relates to the field of quadruped robot peripheral equipment technology, and in particular to a quadruped inspection robot upper structure and a quadruped inspection robot. Background Technology

[0002] Current quadruped inspection robots are equipped with only a single LiDAR sensor, resulting in blind spots during movement. Therefore, it is necessary to mount multiple navigation and detection devices on the quadruped inspection robot. However, the limited installation space on top of the current quadruped inspection robot makes it impossible to directly install the additional navigation and detection devices onto the robot body. Furthermore, if these additional devices were to use the robot's own battery, it would significantly shorten the robot's battery life, affecting its normal operation. Summary of the Invention

[0003] The purpose of this invention is to provide a quadruped inspection robot upper structure and a quadruped inspection robot, which solves the problems of blind spots in detection, lack of installation space and short battery life.

[0004] The technical solution of the present invention is: a quadruped inspection robot upper structure, including a first lidar, a shell, a first base, and a second base. The shell has an A end and a B end arranged opposite to each other. Inside the shell, there is an electrical compartment near the A end for accommodating electronic components and a control board, and a battery compartment near the B end for placing a battery. The A end of the shell is externally connected to the first base, and the first base is externally connected to the second base. A gimbal is provided at the upper end of the first base, and a first lidar is provided at the upper end of the second base. A second lidar is provided at the top of the shell, and the second lidar is located near the B end. The first lidar, the second lidar, the gimbal, and the battery are electrically connected to the control board.

[0005] In the above solution, a shell adapted to the quadruped inspection robot is designed. The structure of the shell forms multiple installation spaces, which can not only install a gimbal, two LiDARs (front and rear), but also a battery, forming a dual redundant sensing data source. This completely eliminates the blind spots of the quadruped inspection robot's side, rear, front, and lower near-ground detection, greatly improving the reliability of autonomous obstacle avoidance in complex terrain. Furthermore, it has its own battery, eliminating the need to borrow batteries from the quadruped inspection robot, ensuring effective battery life.

[0006] Preferably, a cover is detachably mounted on the top of the housing, and the cover is located next to the second lidar.

[0007] Preferably, a cooling fan is provided on the inner sidewall of end A of the housing, and the airflow generated by the cooling fan is in communication with the first base, and the sidewall of the first base is provided with heat dissipation holes.

[0008] Preferably, the inner bottom wall of the battery compartment is provided with a plug-in terminal, and the end of the battery is provided with a plug-in component that is inserted into the plug-in terminal.

[0009] Preferably, the inner wall of the battery compartment is provided with multiple guide strips, which are evenly distributed along the four inner walls of the battery compartment.

[0010] Preferably, the battery compartment has slots on two opposite side walls, and the battery has buckles on two opposite side walls, which engage with the slots.

[0011] Preferably, the first base is provided with a first protective cover, and the gimbal is installed inside the first protective cover.

[0012] Preferably, the second base is provided with a second protective cover, and the first lidar portion is installed in the second protective cover.

[0013] Preferably, the outer casing has a plurality of connecting rods arranged in a circular pattern, and the top of the plurality of connecting rods is provided with a top cover. The second lidar has a plurality of connecting rods and the interior of the top cover.

[0014] The present invention also provides a quadruped inspection robot, including a body and the above-mentioned quadruped inspection robot superstructure, wherein the shell of the quadruped inspection robot superstructure is disposed on the body, and the A end faces the front end of the body.

[0015] Compared with related technologies, the beneficial effects of the present invention are as follows: I. This invention employs dual lidar systems with complementary near and far ranges and elevations, completely eliminating blind spots near the ground and to the sides and rear, thus comprehensively improving sensing performance. Dual sensor redundancy ensures significantly better sensing stability than single-radar solutions in harsh environments such as strong light and dust.

[0016] Second, the upper structure of this invention has a built-in battery to protect the quadrupedal inspection robot body. It integrates an independent quick-change energy storage battery, and the external loads do not occupy the battery power of the main body, thus avoiding over-discharge of the main body battery and high-temperature damage to the motor.

[0017] Third, the present invention provides guide strips on the inner wall of the battery compartment to ensure that the connectors on the battery are accurately inserted into the connector terminals to achieve effective electrical connection.

[0018] Fourth, the battery of this invention is centrally located, and the center of gravity of the whole machine matches the original parameters of the quadruped inspection robot, so that the gait is stable when climbing slopes, crossing obstacles, and turning, and there is no risk of tipping over.

[0019] Fifth, the present invention is equipped with a cooling fan and heat dissipation holes to form a convection cooling air channel, continuously expelling the heat accumulated inside the electrical compartment and battery compartment, controlling the operating temperature of the battery, electronic control, and gimbal, and reducing battery degradation and sensor data drift failures caused by high temperature.

[0020] VI. This invention integrates dual lightning rods, gimbal, battery, and electrical system into a sealed housing. The wiring is neat, the protection level is high, the integration is high, and the weight of the whole machine is less than 5KG, which meets the load requirements of most quadruped inspection robots on the market. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the upper structure of the quadrupedal inspection robot provided by the present invention; Figure 2 An exploded view (I) of the upper structure of the quadrupedal inspection robot provided by the present invention. Figure 3 Exploded view (II) of the upper structure of the quadrupedal inspection robot provided by the present invention. Figure 4 This is a front sectional view of the upper structure of the quadruped inspection robot provided by the present invention. Figure 5 This is a top sectional view of the upper structure of the quadruped inspection robot provided by the present invention. Figure 6 A schematic diagram of the structure of the quadrupedal inspection robot is provided for this invention.

[0022] In the attached image: 1. Outer shell; 101. Electrical compartment; 102. Battery compartment; 103. Shell cover; 104. Slot; 105. Guide bar; 106. Spring buffer mechanism; 2. First base; 21. Heat dissipation hole; 3. Second base; 4. First protective cover; 5. Second protective cover; 6. Gimbal; 7. First lidar; 8. Second lidar; 9. Connecting rod; 10. Top cover; 11. Battery; 111. Buckle; 112. Connector; 12. Cooling fan; 13. Connecting terminal; 14. Control board; 100. Upper structure of quadrupedal inspection robot; 200. Main body. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. For ease of description, the terms "upper," "lower," "left," and "right" used below only indicate that they correspond to the upper, lower, left, and right directions in the accompanying drawings and do not limit the structure.

[0024] like Figure 1 , Figure 2 , Figure 3As shown, the quadrupedal inspection robot upper structure 100 provided in this embodiment includes a shell 1, a first base 2, a second base 3, a first protective cover 4, a second protective cover 5, a gimbal 6, a first lidar 7, a second lidar 8, a connecting rod 9, a top cover 10, a battery 11, a cooling fan 12, a plug-in terminal 13, and a control board 14.

[0025] The bottom of the outer shell 1 is flat and fits the top of the quadruped inspection robot body. The top of the outer shell 1 has a streamlined curved surface to enhance its aesthetics. The outer shell 1 has an A end and a B end that are positioned opposite each other. Inside the outer shell 1, there is an electrical compartment 101 near the A end for housing electronic components and the control board 14, and a battery compartment 102 near the B end for housing the battery 11. A second lidar 8 is mounted on the top of the outer shell 1, and a cover 103 is detachably mounted thereon. The second lidar 8 is positioned near the B end. The cover 103 facilitates the inspection and maintenance of the electrical components (including the control board 14) inside the outer shell 1.

[0026] The outer casing 1 is externally connected to the first base 2 at end A. The first base 2 has a first protective cover 4, and the gimbal 6 is installed inside the first protective cover 4. The first base 2 is externally connected to the second base 3, and the second base 3 has a second protective cover 5. The first lidar 7 is partially installed in the second protective cover 5. The installation height of the first lidar 7 is lower than the installation height of the second lidar 8. The first lidar 7 is a Mid360 lidar, and the second lidar 8 is a 16-line lidar. The first protective cover 4 protects the gimbal 6. The second protective cover 5 protects the first lidar 7.

[0027] The outer casing 1 has multiple connecting rods 9 arranged in a circular pattern, and the top of each connecting rod 9 is covered with a top cover 10. The second lidar 8 is equipped with the multiple connecting rods 9 and the top cover 10. The connecting rods 9 and the top cover 10 protect the second lidar 8.

[0028] like Figure 3 As shown, the battery compartment 102 has multiple guide strips 105 on its inner wall, and these guide strips 105 are evenly distributed along the four inner walls of the battery compartment 102. Figure 5 As shown, the inner bottom wall of the battery compartment 102 is provided with a plug-in terminal 13, and the end of the battery 11 is provided with a plug-in member 112 that is inserted into the plug-in terminal 13. Under the guidance of the guide bar 105, the battery 11 slides into the battery compartment 102, so that the plug-in member 112 is inserted into the plug-in terminal 13, realizing conductive power supply and preventing misalignment. The first lidar 7, the second lidar 8, the gimbal 6, and the battery 11 are electrically connected to the control board 14.

[0029] like Figure 3As shown, the battery compartment 102 has slots 104 on its two opposite side walls, and the battery 11 has buckles 111 on its two opposite side walls. The buckles 111 engage with the slots 104. Figure 4 As shown, a spring buffer mechanism 106 is provided on the inner wall of the battery compartment 102. After the battery 11 is installed, it abuts against the spring buffer mechanism 106. By pressing the buckle 111 on the battery 11, the pressure applied to the spring buffer mechanism 106 is released, and the spring buffer mechanism 106 applies a spring force to the battery 11, causing the battery 11 to pop out of the battery compartment 102 for easy removal.

[0030] like Figure 2 , Figure 4 As shown, a cooling fan 12 is provided on the inner sidewall of end A of the outer casing 1. The airflow generated by the cooling fan 12 is connected to the first base 2. The sidewall of the first base 2 is provided with heat dissipation holes 21. Air can enter from the battery slot and flow out through the heat dissipation holes 21, forming a heat dissipation airflow channel to dissipate heat from the battery 11 and the electrical components in the electrical compartment 101.

[0031] like Figure 6 The present invention also provides a quadruped inspection robot, including a body 200 and the quadruped inspection robot superstructure 100 described above. The outer shell 1 of the quadruped inspection robot superstructure 100 is disposed on the body 200, and the A end faces the front end of the body 200.

[0032] Addressing the inherent shortcomings of all single-radar mounted designs on the market, this invention adopts a combined layout of a rear-end (B-end) vertical 16-line main radar and a front-end (A-end) tilted Mid360 auxiliary radar: the rear radar is responsible for long-range 360° global mapping, while the front tilted radar is specifically designed for detecting low obstacles near the ground. The two radars are integrated onto the same rigid housing 1, with constant relative positions and factory-calibrated, forming a dual-redundant sensing data source. This completely eliminates near-ground detection blind spots on the sides and rear, and front and lower of the fuselage, significantly improving the reliability of autonomous obstacle avoidance in complex terrain, a design distinct from the industry's conventional single-radar design.

[0033] This invention overcomes the limitations of existing commercially available, generic robot casings that lack external batteries and rely entirely on the quadruped robot body for power. It designs an integrated, centrally located energy storage battery structure. The battery, housed within the outer casing 1, independently handles all power consumption from external devices, isolating the load from external devices from causing wear and tear on the main battery and walking motor, thus extending the device's lifespan. The centrally located battery 11 precisely matches the quadruped robot's center of gravity, avoiding issues such as center of gravity shift, gait imbalance, and side-tipping wear caused by external batteries. Simultaneously, it significantly improves the overall battery life, enabling long-term, uninterrupted industrial operation, representing a major functional upgrade over existing battery-less, simplified casings.

[0034] The quadruped inspection robot's superstructure is secured to the back of the robot via pre-drilled standard mounting holes in the outer shell, eliminating the need for drilling and damaging the purchased main body. A removable cover is provided on the top of the outer shell, allowing for inspection of internal electrical wiring without disassembling the external radar or gimbal. This facilitates easy assembly, disassembly, and maintenance, and is compatible with various models of purchased quadruped inspection robots.

[0035] This invention utilizes the battery compartment air inlet, internal cooling fan, and gimbal base heat dissipation holes to form a complete unidirectional air duct, continuously removing heat from the cavity, stabilizing the battery operating temperature, reducing sensor thermal drift faults, and extending the service life of the equipment.

[0036] All software control systems, electronic components, usage methods, and principles involved in this invention are available for external purchase and are not considered improvements to this invention; therefore, they will not be elaborated upon here.

[0037] In specific implementations of this invention, the contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0038] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A superstructure for a quadruped inspection robot, comprising a first lidar (7), characterized in that, It also includes a housing (1), a first base (2) and a second base (3). The housing (1) has an A end and a B end that are arranged opposite to each other. Inside the housing (1), there is an electrical compartment (101) near the A end for accommodating electronic components and a control board (14) and a battery compartment (102) near the B end for placing a battery (11). The A end of the housing (1) is connected to the first base (2), and the outside of the first base (2) is connected to the second base (3). The upper end of the first base (2) is provided with a gimbal (6), and the upper end of the second base (3) is provided with a first laser radar (7). The top of the housing (1) is provided with a second laser radar (8), which is located near the B end. The first laser radar (7), the second laser radar (8), the gimbal (6), and the battery (11) are electrically connected to the control board (14).

2. The quadrupedal inspection robot superstructure according to claim 1, characterized in that, The top of the outer casing (1) is detachably fitted with a cover (103), which is located on the side of the second lidar (8).

3. The quadrupedal inspection robot superstructure according to claim 1, characterized in that, A cooling fan (12) is provided on the inner side wall of end A of the outer shell (1). The airflow generated by the cooling fan (12) is connected to the first base (2). The side wall of the first base (2) is provided with a heat dissipation hole (21).

4. The quadrupedal inspection robot superstructure according to claim 1, characterized in that, The battery compartment (102) has a plug-in terminal (13) on its inner bottom wall, and the battery (11) has a plug-in component (112) at its end that is inserted into the plug-in terminal (13).

5. The quadrupedal inspection robot superstructure according to claim 1, characterized in that, The battery compartment (102) has multiple guide strips (105) on its inner wall, and the multiple guide strips (105) are evenly distributed along the four inner walls of the battery compartment (102).

6. The quadrupedal inspection robot superstructure according to claim 1, characterized in that, The battery compartment (102) has slots (104) on its two opposite side walls, and the battery (11) has buckles (111) on its two opposite side walls. The buckles (111) are engaged with the slots (104).

7. The quadrupedal inspection robot superstructure according to claim 1, characterized in that, The first base (2) is provided with a first protective cover (4), and the gimbal (6) is installed inside the first protective cover (4).

8. The quadrupedal inspection robot superstructure according to claim 1, characterized in that, The second base (3) is provided with a second protective cover (5), and the first laser radar (7) is partially installed in the second protective cover (5).

9. The quadrupedal inspection robot superstructure according to claim 1, characterized in that, The outer shell (1) is provided with a plurality of connecting rods (9) in a circular pattern, and the top of the plurality of connecting rods (9) is provided with a top cover (10). The second laser radar (8) is provided with a plurality of connecting rods (9) and the inside of the top cover (10).

10. A quadruped inspection robot, comprising a body, characterized in that, It also includes the quadrupedal inspection robot superstructure as described in any one of claims 1-9, wherein the outer shell (1) of the quadrupedal inspection robot superstructure is disposed on the body, and the A end faces the front end of the body.

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