Gradient detection robot

Abstract

The utility model provides a slope detection robot, which belongs to the field of slope detection, and comprises a walking mechanism and a detection mechanism, the walking mechanism is used for bearing the detection mechanism and running on a slope to be detected, the walking mechanism comprises a frame, a wheel carrier, a wheel axle, a damping spring, a driving motor and wheels, and the detection mechanism comprises a detection main body. And the detection main body is detachably mounted in a limiting seat arranged at the top of the frame through a support. The walking mechanism adopted by the gradient detection robot is independently driven by four wheels, can realize in-situ rotation, has certain cross-country performance, and has high adaptability to terrains; the dynamic tilt angle sensor is adopted to measure an angle value in real time, and the angle value is processed and converted into a required value through the processor, so that rapid and accurate measurement is realized, and the detection efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the field of slope detection devices, and particularly relates to a slope detection robot. Background Art

[0002] Traditional slope measuring instruments, or slope gauges, are mostly used in static environments, have poor real-time response, are not suitable for dynamic measurement, and cannot accurately feedback real-time slope information. Moreover, the slopes of some places to be measured are more complex, and the same slope may have obvious ups and downs. Using existing slope measuring instruments to measure such slopes has the problems of low measurement efficiency and poor flexibility.

[0003] Therefore, it is necessary to develop a slope detection robot to solve the above problems. Summary of the invention

[0004] The utility model aims at the above-mentioned defects of the existing slope measuring instruments and provides a slope detection robot, thereby realizing fast and accurate slope measurement and improving detection efficiency.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is to provide a slope detection robot, including a walking mechanism and a detection mechanism;

[0006] The walking mechanism is used to carry the detection mechanism and travel on the slope to be tested, and includes a frame, a wheel frame, a wheel axle, a shock-absorbing spring, a driving motor, and a wheel. Two wheel axles are arranged in parallel at the lower part of the frame, one end of the wheel frame is rotatably mounted on the end of the wheel axle, and the other end of the wheel frame is fixedly connected to the housing of the driving motor. The output shaft of the driving motor is coaxially connected to the wheel shaft, and one end of the shock-absorbing spring is hinged to the frame, and the other end is hinged to the housing of the driving motor.

[0007] The detection mechanism is used for real-time detection of the slope of the slope where the walking mechanism is located, and comprises a detection body, which is detachably mounted in a limit seat arranged on the top of the frame through a support.

[0008] Furthermore, the wheel is a magnetic wheel.

[0009] Furthermore, the limit seat is a rectangular frame, permanent magnets are embedded inside the four frame edges of the limit seat, and the support is made of steel.

[0010] Furthermore, a plurality of limiting columns are evenly arranged on the bottom surface of the limiting seat, and a plurality of limiting holes matching the limiting columns are arranged on the bottom of the support.

[0011] Furthermore, the detection body includes a shell, a processor, a dynamic inclination sensor, a wireless communication module, and a GPS positioning module are arranged in the shell, the wireless communication module is electrically connected to an antenna arranged outside the shell, a power module is arranged in the body, a charging socket is arranged at the rear of the body, a power switch is arranged at the rear of the support, the power switch and the charging socket are electrically connected to the power switch respectively, and the processor is electrically connected to the power module, the dynamic inclination sensor, the wireless communication module, and the GPS positioning module respectively.

[0012] Furthermore, a searchlight and a camera are installed on the front side of the vehicle body, and the searchlight and the camera are electrically connected to the processor respectively.

[0013] Furthermore, a distance measuring sensor is arranged on the top surface of the vehicle body, and the distance measuring sensor is electrically connected to the processor.

[0014] Compared with the prior art, due to the adoption of the above technical solution, the beneficial technical effects of the utility model are:

[0015] The walking mechanism adopted by the slope detection robot of the utility model is a four-wheel independent drive, which can realize on-the-spot rotation, has certain off-road performance, and has high adaptability to terrain; a dynamic inclination sensor is used to measure the angle value in real time, and is converted into the required value through processor processing, thereby realizing fast and accurate measurement and improving detection efficiency; the GPS positioning module accurately locates the position of the slope detection robot, and the processor wirelessly transmits the data collected by each sensor to the host computer or mobile phone through the wireless communication module. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional diagram of the slope detection robot of the utility model;

[0017] Figure 2 This is a front view of the slope detection robot of the utility model;

[0018] Figure 3 It is a right side view of the slope detection robot of the utility model;

[0019] Figure 4 It is a top view of the slope detection robot of the utility model;

[0020] Figure 5 This is a rear view of the slope detection robot of the utility model;

[0021] Figure 6 yes Figure 1 Schematic diagram of the limit seat structure

[0022] Figure 7 This is a control principle block diagram of the slope detection robot of the utility model;

[0023] Figure numerals: 1-body, 2-wheel frame, 3-axle, 4-shock-absorbing spring, 5-drive motor, 6-wheel, 7-limit seat, 701-permanent magnet, 702-limit column, 8-support, 9-detection body, 10-antenna, 11-searchlight, 12-camera, 13-distance measuring sensor, 14-charging socket, 15-power switch, 16-power module, 17-processor, 18-dynamic tilt sensor, 19-wireless communication module, 20-GPS positioning module. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below through preferred embodiments.

[0025] like Figure 1-7 As shown, the slope detection robot of this embodiment includes a walking mechanism and a detection mechanism, and the detection mechanism can be detachably mounted on the walking mechanism.

[0026] In this embodiment, the walking mechanism is used to carry the detection mechanism and travel on the slope to be tested. It includes a frame, a wheel frame 2, an axle 3, a shock-absorbing spring 4, a drive motor 5, and a wheel 6. The two axles 3 are arranged in parallel at the lower part of the frame. One end of the wheel frame 2 is rotatably installed on the end of the axle 3, and the other end of the wheel frame 2 is fixedly connected to the housing of the drive motor 5. The output shaft of the drive motor 5 is coaxially connected to the rotating shaft of the wheel 6. One end of the shock-absorbing spring 4 is hinged to the frame, and the other end thereof is hinged to the housing of the drive motor 5. The detection mechanism is used to detect the slope of the slope where the walking mechanism is located in real time. It includes a detection body 9, and the detection body 9 can be detachably installed in a limit seat 7 set on the top of the frame through a support 8.

[0027] In this embodiment, the walking mechanism adopts four-wheel independent drive, can realize on-the-spot rotation, has certain off-road performance, and has a maximum climbing angle of 30 degrees.

[0028] In this embodiment, the wheel 6 is a magnetic wheel. When the slope detection robot detects the slope of the rail surface or is in a steel pipeline, the magnetic wheel is used for adsorption to improve the walking stability of the slope detection robot.

[0029] In this embodiment, the limiting seat 7 is a rectangular frame, and the inner sides of the four frame edges of the limiting seat 7 are embedded with permanent magnets 701, and the support 8 is made of steel; a plurality of limiting posts 702 are evenly arranged on the bottom surface of the limiting seat 7, and a plurality of limiting holes matching the limiting posts 702 are arranged at the bottom of the support 8. As the support 8 is placed in the limiting seat 7, the lower end of the limiting post 702 slides into the limiting hole, thereby improving the stability of the support 8, and the permanent magnet 701 is used to further improve the stability of the support 8 in the limiting seat 7.

[0030] In this embodiment, the detection body 9 includes a shell, in which a processor 17, a dynamic tilt sensor 18, a wireless communication module 19, and a GPS positioning module 20 are arranged. The wireless communication module 19 is electrically connected to an antenna 10 arranged outside the shell. A power module 16 is arranged in the vehicle body 1, a charging socket 14 is arranged at the rear of the vehicle body 1, and a power switch 15 is arranged at the rear of the support 8. The power switch 15 and the charging socket 14 are electrically connected to the power switch 15 respectively, and the processor 17 is electrically connected to the power module 16, the dynamic tilt sensor 18, the wireless communication module 19, and the GPS positioning module 20 respectively. The processor 17 in this embodiment adopts the model STM32F107 chip, and the dynamic inclination sensor 18 adopts the model ZCT245RD-LAQ-75. The dynamic inclination sensor 18 measures the angle value in real time and converts it into the required value through processing by the processor 17, thereby realizing fast and accurate measurement. The GPS positioning module 20 adopts the model UM220-IV N to accurately locate the position of the slope detection robot. The processor 17 wirelessly transmits the data collected by each sensor to the mobile phone or the host computer through the wireless communication module 19.

[0031] In this embodiment, a searchlight 11 and a camera 12 are installed on the front side of the vehicle body 1, and the searchlight 11 and the camera 12 are respectively electrically connected to the processor 17. In this embodiment, the searchlight 11 and the camera 12 are used to facilitate the slope detection robot to illuminate and capture images in front of the vehicle body 1 in the scenario of slope measurement in a large-diameter pipeline.

[0032] In this embodiment, a distance sensor 13 is provided on the top surface of the vehicle body 1, and the distance sensor 13 is electrically connected to the processor 17. The distance sensor 13 in this embodiment adopts a HQHC-110 laser distance sensor 13, and the number of distance sensors 13 is 4, which is used to prevent the slope detection robot from colliding with obstacles during driving.

[0033] The slope detection robot of the utility model can be applied to the slope detection of places such as roads, large-diameter pipelines, and mining working faces in mining areas with an inclination angle of less than 30 degrees.

[0034] The above description is a preferred embodiment of the present invention, which is used to explain the technical solution of the present invention. Those skilled in the art can also make routine modifications, equivalent substitutions and improvements within the spirit and principles of the present invention.

Claims

1. A slope detection robot, comprising a walking mechanism and a detection mechanism; characterized in that: The walking mechanism is used to carry the detection mechanism and travel on the slope to be tested, and includes a frame, a wheel frame, a wheel axle, a shock-absorbing spring, a driving motor, and a wheel. Two wheel axles are arranged in parallel at the lower part of the frame, one end of the wheel frame is rotatably mounted on the end of the wheel axle, and the other end of the wheel frame is fixedly connected to the housing of the driving motor. The output shaft of the driving motor is coaxially connected to the wheel shaft, and one end of the shock-absorbing spring is hinged to the frame, and the other end is hinged to the housing of the driving motor. The detection mechanism is used for real-time detection of the slope of the slope where the walking mechanism is located, and comprises a detection body, which is detachably mounted in a limit seat arranged on the top of the frame through a support.

2. The slope detection robot according to claim 1, characterized in that: The wheel is a magnetic wheel.

3. The slope detection robot according to claim 1, characterized in that: The limiting seat is a rectangular frame, the inner sides of the four frame edges of the limiting seat are embedded with permanent magnets, and the support is made of steel.

4. The slope detection robot according to claim 3, characterized in that: A plurality of limiting columns are evenly arranged on the bottom surface of the limiting seat, and a plurality of limiting holes matching the limiting columns are arranged on the bottom of the support.

5. The slope detection robot according to claim 1, characterized in that: The detection body includes a shell, a processor, a dynamic tilt sensor, a wireless communication module, and a GPS positioning module are arranged in the shell, the wireless communication module is electrically connected to an antenna arranged outside the shell, a power module is arranged in the body, a charging socket is arranged at the rear of the body, a power switch is arranged at the rear of the support, the power switch and the charging socket are electrically connected to the power switch respectively, and the processor is electrically connected to the power module, the dynamic tilt sensor, the wireless communication module, and the GPS positioning module respectively.

6. The slope detection robot according to claim 5, characterized in that: A searchlight and a camera are installed on the front side of the vehicle body, and the searchlight and the camera are electrically connected to the processor respectively.

7. The slope detection robot according to claim 6, characterized in that: The top surface of the vehicle body is provided with a distance measuring sensor, and the distance measuring sensor is electrically connected to the processor.

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