Robot follow-up vision system for remote intelligent inspection

Abstract

The utility model discloses a robot follow-up vision system for remote intelligent inspection. Comprising head-mounted FPV glasses, transmitting antennas A and B, receiving antennas A, B and C, gyroscope sensors A and B, a control handle, a control button, terminal equipment, an interface converter, a frame, a motor, wheels, a control circuit board, a communication module, a driving circuit board, a two-degree-of-freedom steering engine and a wireless image transmission camera. Wherein the head-mounted FPV glasses are provided with a receiving antenna A, and gyroscope sensors A and B are arranged on the top and the side surfaces of the head-mounted FPV glasses; the control handle is provided with a control button and a transmitting antenna A; the terminal equipment is provided with an interface converter and a receiving antenna B; a motor is arranged on the inner side of the frame; a control circuit board, a driving circuit board and a two-degree-of-freedom steering engine are arranged at the top end of the frame; the control circuit board is provided with a communication module and a receiving antenna C; the two-degree-of-freedom steering engine is provided with a wireless image transmission camera and a transmitting antenna B; the system can realize wireless image transmission and attitude control, and is suitable for remote intelligent inspection.

Description

Technical Field

[0001] The utility model relates to a robot system, in particular to a robot follow-up vision system for remote intelligent inspection. Background Art

[0002] In many application fields such as production workshops and emergency rescue, there are many dangerous places that need to be checked for safety hazards; in scenarios such as smart factories, there are some dead corners that are limited by space and are inconvenient for workers to enter; in venues that are too large, long-distance transportation of personnel takes too much time and financial resources; in today's rapidly developing science and technology, people's demand for personal experience is increasing, and a tool that can achieve remote control and provide a real experience is particularly important.

[0003] With the development of science and technology, remote inspection robots play an increasingly important role in various fields. For example, industries such as electricity, petroleum, chemical industry, and transportation all need to use remote inspection robots to monitor, maintain, and troubleshoot equipment. The visual system of the remote inspection robot is one of its core components, which directly affects the operator's perception and control ability of the on-site environment. However, the traditional inspection robot vision system usually uses fixed or remote-controlled cameras, which have the following problems: fixed cameras can only provide images in a single direction and cannot meet the multi-angle and all-round visual needs, resulting in the operator's cognition of the on-site environment is not comprehensive and accurate; although the remote-controlled camera can adjust the direction through the remote control, it is not flexible and intuitive to operate, and it needs to distract the operator's attention, which increases the difficulty of operation and reaction time; the image display method of the traditional visual system is usually to present a 2D flat image on the screen, which lacks three-dimensionality and immersion, and cannot bring a real and natural visual experience to the operator. Summary of the invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the utility model provides a robot follow-up vision system for remote intelligent inspection, which effectively solves the problems of inflexible, inconvenient and unintelligent image acquisition of fixed or remote-controlled cameras on traditional inspection robots. The remote inspection robot follow-up vision system has a novel structure and ingenious design, which meets the needs of remote inspection and effectively improves the convenience of use.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot follow-up visual system for remote intelligent inspection, comprising head-mounted FPV (First Person View) glasses, a control handle, a control button, a terminal device, an interface converter, a frame, a motor, a wheel, a control circuit board, a communication module, a drive circuit board, a two-degree-of-freedom servo, a wireless image transmission camera, a transmitting antenna, and a receiving antenna. The head-mounted FPV (First Person View) glasses are equipped with a receiving antenna and a gyroscope sensor on the top, and a gyroscope sensor is installed on the side. The control handle is equipped with a control button and a transmitting antenna on the top, the terminal device is equipped with an interface converter on the side, and the interface converter is equipped with a receiving antenna on the side. Wheels are installed at the four corners of the bottom end of the frame, and a motor is installed on the frame inside the wheel. A control circuit board, a drive circuit board, and a two-degree-of-freedom servo are installed on the top of the frame. A communication module and a receiving antenna are installed on the top of the control circuit board, and a wireless image transmission camera and a transmitting antenna are installed on the top of the two-degree-of-freedom servo.

[0006] Preferably, the head-mounted FPV (First Person View) glasses have a gyro sensor A installed on the side and a gyro sensor B installed on the top.

[0007] Preferably, the gyro sensor A is vertically deployed on the side of the head-mounted FPV (First Person View) glasses, and the gyro sensor B is horizontally deployed on the top of the head-mounted FPV (First Person View) glasses, and both transmit data through wireless transmission technology.

[0008] Preferably, the receiving antenna A and the receiving antenna B can receive the signal of the transmitting antenna A; the receiving antenna C can receive the signal of the transmitting antenna B.

[0009] Preferably, the control handle can control the robot to move forward, backward, turn left, and turn right through control buttons.

[0010] Preferably, the control circuit board adopts a programmable main control board, the communication module adopts a wireless communication module, and the drive circuit board adopts a multi-channel servo drive board.

[0011] Preferably, the two-degree-of-freedom steering gear adopts a high-precision two-degree-of-freedom steering gear, which can rotate following the posture change of the head-mounted FPV (First Person View) glasses.

[0012] Preferably, the wireless image transmission camera adopts a machine vision module, which can perform intelligent analysis on the collected image data and prompt abnormal situations in time, and the prompt information can be displayed in head-mounted FPV (First Person View) glasses.

[0013] Preferably, the terminal device can synchronously receive and display video images and perform intelligent processing.

[0014] The beneficial effects of the utility model are:

[0015] 1. The head-mounted FPV (First Person View) glasses can detect angle parameters such as roll angle, pitch angle, heading angle, etc. under different head rotation postures through the gyroscope sensor A deployed on the side and the gyroscope sensor B deployed on the top.

[0016] 2. The inspection robot receives the control signal transmitted by the control handle through the receiving antenna, and performs operations such as moving forward, backward, turning left, and turning right according to the control buttons.

[0017] 3. The two-degree-of-freedom servo receives the gyro sensor data through the communication module, and performs lateral rotation and pitch operations by driving the circuit board to simulate the rotation posture of head-mounted FPV (First Person View) glasses.

[0018] 4. The head-mounted FPV (First Person View) glasses and the terminal device receive the image information transmitted by the wireless image transmission camera through the receiving antenna for display and intelligent processing.

[0019] 5. The wireless image transmission camera can intelligently analyze the collected image data and promptly prompt abnormal situations. The prompt information can be displayed in the head-mounted FPV (First Person View) glasses. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model;

[0022] Figure 2 It is a schematic diagram of the system architecture;

[0023] Numbers in the figure: 1. Head-mounted FPV (First Person View) glasses; 2. Receiving antenna A; 3. Gyroscope sensor A; 4. Gyroscope sensor B; 5. Control handle; 6. Control button; 7. Transmitting antenna A; 8. Terminal device; 9. Interface converter; 10. Receiving antenna B; 11. Frame; 12. Motor; 13. Wheel; 14. Control circuit board; 15. Communication module; 16. Receiving antenna C; 17. Drive circuit board; 18. Two-degree-of-freedom servo; 19. Wireless image transmission camera; 20. Transmitting antenna B; 21. Inspection robot subsystem; 22. Visual follow-up control subsystem; 23. Video return and display subsystem; 24. Application subsystem. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] Example, by Figure 1-2 The utility model provides a robot follow-up visual system for remote intelligent inspection, including head-mounted FPV (First Person View) glasses 1, a receiving antenna A2, a vertically deployed gyroscope sensor A3, a horizontal gyroscope sensor B4, a control handle 5, a control button 6, a transmitting antenna A7, a terminal device 8, an interface converter 9, a receiving antenna B10, a frame 11, a motor 12, a wheel 13, a control circuit board 14, a communication module 15, a receiving antenna C16, a driving circuit board 17, a two-degree-of-freedom servo 18, a wireless image transmission camera 19, and a transmitting antenna B20. The top of the head-mounted FPV (First Person View) glasses 1 is equipped with a receiving antenna A2, a horizontally deployed gyroscope sensor B 4, a vertical gyroscope sensor A3 is installed on the side, a control button 6 and a transmitting antenna A7 are installed on the top of the control handle 5, an interface converter 9 is installed on the side of the terminal device 8, and a receiving antenna B10 is installed on the side of the interface converter 9, wheels 13 are installed at the four corners of the bottom of the frame 11, a motor 12 is installed on the frame 11 inside the wheel 13, a control circuit board 14, a drive circuit board 17, and a two-degree-of-freedom steering gear 18 are installed on the top of the frame 11, a communication module 15 and a receiving antenna C16 are installed on the top of the control circuit board 14, and a wireless image transmission camera 19 and a transmitting antenna B 20 are installed on the top of the two-degree-of-freedom steering gear 18.

[0026] The head-mounted FPV (First Person View) glasses 1 have a vertically deployed gyro sensor A3 installed on the side and a horizontally deployed gyro sensor B 4 installed on the top for easy control and viewing.

[0027] Gyro sensor A3 is vertically deployed on the side of the head-mounted FPV (First Person View) glasses, and gyro sensor B4 is horizontally deployed on the top of the head-mounted FPV (First Person View) glasses. Both transmit data through wireless transmission technology to facilitate detection of head rotation posture.

[0028] The receiving antenna A2 and the receiving antenna B10 can receive the signal of the transmitting antenna A7; the receiving antenna C16 can receive the signal of the transmitting antenna B20, which facilitates signal transmission.

[0029] The control handle 5 can control the robot to move forward, backward, turn left, and turn right through the control button 6, which is easy to control.

[0030] The control circuit board 14 adopts a programmable main control board, the communication module 15 adopts a wireless communication module, and the drive circuit board 17 adopts a multi-channel steering gear drive board, which is convenient for controlling the robot.

[0031] The two-degree-of-freedom steering gear 18 adopts a high-precision two-degree-of-freedom steering gear, which can rotate following the posture change of the head-mounted FPV (First Person View) glasses 1, and is easy to control.

[0032] The wireless image transmission camera 19 adopts a machine vision module, which can perform intelligent analysis on the collected image data and promptly prompt abnormal situations. The prompt information can be displayed in the head-mounted FPV (First Person View) glasses 1 for easy prompting.

[0033] The terminal device 8 can synchronously receive and display video images and perform intelligent processing to facilitate identification.

[0034] Working principle: When the utility model is used, the head-mounted FPV (First Person View) glasses 1 worn by the user can detect angle parameters such as roll angle, pitch angle, heading angle, etc. under different head rotation postures through the gyro sensor A 3 deployed on the side and the gyro sensor B 4 deployed on the top; the two-degree-of-freedom servo 18 receives the data of the gyro sensors A 3 and B 4 through the communication module 15, and performs lateral rotation and pitch operations through the driving circuit board 17 to simulate the rotation posture of the head-mounted FPV (First Person View) glasses; the inspection robot is controlled to move forward, backward, turn left, turn right, etc. through the control button 6 deployed on the top of the control handle 5; the head-mounted FPV (First Person View) glasses 1 and the terminal device 8 receive the image information transmitted by the wireless image transmission camera 19, display it and perform intelligent processing; the wireless image transmission camera 19 can perform intelligent analysis on the collected image data and prompt abnormal situations in time, and the prompt information can be displayed in the head-mounted FPV (First Person View) glasses 1.

[0035] Beneficial effects: The utility model has a novel structure and ingenious conception, which meets the requirements of flexible, convenient and intelligent image acquisition of the inspection robot, effectively improves the convenience of use, and provides a convenient and intelligent visual following system for the remote inspection robot.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A robot follow-up vision system for remote intelligent inspection, comprising head-mounted FPV glasses (1), a receiving antenna A (2), a gyro sensor A (3), a gyro sensor B (4), a control handle (5), a control button (6), a transmitting antenna A (7), a terminal device (8), an interface converter (9), a receiving antenna B (10), a frame (11), a motor (12), a wheel (13), a control circuit board (14), a communication module (15), a receiving antenna C (16), a driving circuit board (17), a two-degree-of-freedom steering gear (18), a wireless image transmission camera (19), and a transmitting antenna B (20), characterized in that: The head-mounted FPV glasses (1) are provided with a receiving antenna A (2) and a gyroscope sensor B (4) on the top, and a gyroscope sensor A (3) on the side. The control handle (5) is provided with a control button (6) and a transmitting antenna A (7) on the top. The terminal device (8) is provided with an interface converter (9) on the side. The interface converter (9) is provided with a receiving antenna B (10) on the side. Wheels (13) are provided at the four corners of the bottom of the frame (11). A motor (12) is provided on the frame (11) inside the wheel (13). A control circuit board (14), a drive circuit board (17), and a two-degree-of-freedom steering gear (18) are provided at the top of the frame (11). A communication module (15) and a receiving antenna C (16) are provided at the top of the control circuit board (14). A wireless image transmission camera (19) and a transmitting antenna B (20) are provided at the top of the two-degree-of-freedom steering gear (18).

2. The robot follow-up visual system for remote intelligent inspection according to claim 1, characterized in that: The head-mounted FPV glasses (1) have a gyro sensor A (3) installed on the side and a gyro sensor B (4) installed on the top.

3. The robot follow-up visual system for remote intelligent inspection according to claim 1, characterized in that: The gyro sensor A (3) is vertically deployed on the side of the head-mounted FPV glasses (1), and the gyro sensor B (4) is horizontally deployed on the top of the head-mounted FPV glasses (1), and both transmit data through wireless transmission technology.

4. The robot follow-up visual system for remote intelligent inspection according to claim 1, characterized in that: The receiving antenna A (2) and the receiving antenna B (10) can receive the signal of the transmitting antenna A (7); the receiving antenna C (16) can receive the signal of the transmitting antenna B (20).

5. The robot follow-up visual system for remote intelligent inspection according to claim 1 is characterized in that: The control handle (5) can control the robot to move forward, backward, turn left, and turn right via the control button (6).

6. The robot follow-up visual system for remote intelligent inspection according to claim 1, characterized in that: The control circuit board (14) adopts a programmable main control board, the communication module (15) adopts a wireless communication module, and the drive circuit board (17) adopts a multi-channel steering gear drive board.

7. The robot follow-up visual system for remote intelligent inspection according to claim 1 is characterized in that: The two-degree-of-freedom steering gear (18) adopts a high-precision two-degree-of-freedom steering gear and can rotate in accordance with the posture change of the head-mounted FPV glasses (1).

8. The robot follow-up visual system for remote intelligent inspection according to claim 1, characterized in that: The wireless image transmission camera (19) adopts a machine vision module, which can perform intelligent analysis on the collected image data and promptly prompt abnormal situations, and the prompt information can be displayed in the head-mounted FPV glasses (1).

9. The robot follow-up visual system for remote intelligent inspection according to claim 1, characterized in that: The terminal device (8) can synchronously receive and display video images and perform intelligent processing.

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