Crawling Robot System

Abstract

The utility model discloses a crawling robot system, which can adapt to working in tunnels in a water-filled state and a water-free state at the same time, and can perform fixed-point careful observation of the tunnel. The crawling robot system comprises a robot body (9), a walking component (7), a controller, a mechanical arm (3) and a camera (2). The walking component (7) is arranged at the lower part of the robot body (9) and is used to drive the robot body (9) to move. The controller is arranged in the robot body (9) and is electrically connected to the walking system (7) and is used to control the motion state of the walking system (7). The mechanical arm (3) is fixed on the upper surface of the robot body (9) and is electrically connected to the controller and is used to adjust the position of the free end of the telescopic arm (3) under the control of the controller. The camera (2) is arranged on the free end of the mechanical arm (3) and is electrically connected to the controller and is used to obtain an optical image in the tunnel under the control of the controller.

Description

Technical Field

[0001] The utility model specifically relates to a crawling robot system. Background Art

[0002] There are multiple water intake tunnels in a nuclear power plant. After long-term use, there may be blockages or damage in the water intake tunnels, so regular inspections of the water intake tunnels are required.

[0003] Existing underwater floating robots rely on thrusters to move, and the propeller blades need to be immersed in water to work. This results in the underwater floating robot being able to work in a tunnel full of water, but unable to work in a tunnel without water; and the camera in the underwater floating robot is usually fixed at the front end, and the viewing angle of the camera can only be adjusted by adjusting the posture of the underwater floating robot, making it difficult to conduct a detailed observation of the tunnel at a fixed point, resulting in its inconvenient use. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a crawling robot system for the above-mentioned deficiencies in the prior art, which can adapt to work in tunnels that are both full of water and dry, and perform careful observation of the tunnel at a fixed point.

[0005] In a first aspect, an embodiment of the utility model provides a crawling robot system, which includes a robot body, a walking component, a controller, a mechanical arm and a camera. The walking component is arranged at the lower part of the robot body, and is used to drive the robot body to move. The controller is arranged in the robot body and is electrically connected to the walking component, and is used to control the motion state of the walking component. The mechanical arm is fixed on the upper surface of the robot body and is electrically connected to the controller, and is used to adjust the position of the free end of the mechanical arm under the control of the controller. The camera is arranged on the free end of the mechanical arm and is electrically connected to the controller, and is used to obtain an optical image in the tunnel under the control of the controller.

[0006] In some embodiments, the crawling robot system further comprises a range-finding sonar. The range-finding sonar is arranged on the camera and is electrically connected to the controller, and is used to detect the distance between the camera and the tunnel wall, and transmit the detection result to the controller. The controller is also used to control the position of the free end of the robot arm and the working state of the walking component according to the detection result, so that the camera avoids the tunnel wall.

[0007] In some embodiments, the crawling robot system further comprises a scanning sonar, which is disposed at the front end of the robot body and is electrically connected to the controller, and is used to obtain an acoustic image of the tunnel wall through sonar scanning under the control of the controller.

[0008] In some embodiments, the crawling robot system further comprises an above-water operation panel, which is in communication with the controller and is used to send control instructions to the controller. The camera is also used to transmit the acquired optical image in the tunnel to the controller, the scanning sonar is also used to transmit the acquired acoustic image of the tunnel wall to the controller, and the controller is also used to transmit the optical image in the tunnel and the acoustic image of the tunnel wall to the above-water operation panel.

[0009] In some embodiments, the crawling robot system further includes an umbilical cable and a retracting device. One end of the umbilical cable is fixed to the rear end of the robot body, and the other end is fixed to the above-water operation panel, and the above-water operation panel is connected to the controller through the umbilical cable. The retracting device is arranged at the rear end of the robot body, and is used to recycle the robot body.

[0010] In some embodiments, the crawling robot system further comprises a power supply. The power supply is electrically connected to the above-water operation panel and the controller respectively, and is used to supply power to the above-water operation panel and the controller; the controller has a power distribution function.

[0011] In some embodiments, the crawling robot system further comprises a backup power supply, which is disposed inside the robot body and electrically connected to the controller to provide electrical energy to the controller in the event of a failure of the power supply.

[0012] In some embodiments, the crawling robot system further includes an underwater acoustic communication device. The underwater acoustic communication device is disposed at the rear end of the robot body and is electrically connected to the controller; the above-water operation panel realizes communication connection with the controller through the underwater acoustic communication device.

[0013] In some embodiments, the crawling robot system further includes a navigation component, which is disposed inside the robot body. The navigation component is electrically connected to the controller, and is used to automatically generate a recovery signal and transmit it to the controller after the above-water operation panel encounters a fault. The controller is used to control the walking component to work according to the recovery signal, so that the robot body returns to the location where the above-water operation panel is located.

[0014] In some embodiments, the crawling robot system further includes a collision avoidance sonar. The collision avoidance sonar is disposed at the front end of the robot body, and is electrically connected to the controller, and is used to detect obstacles in the water and transmit the detection results to the controller. The controller is used to control the working state of the walking component according to the detection results, so that the robot body avoids obstacles.

[0015] Therefore, the crawling robot system provided by the embodiment of the utility model, by setting a walking component and a controller, when the tunnel is in a full water state or a waterless state, the walking component will keep in contact with the bottom wall of the tunnel due to the gravity of the robot body, so that the walking component can move the robot body to any position in the tunnel under the control of the controller, so that the crawling robot system can adapt to work in tunnels in a full water state and a waterless state, and compared with underwater floating robots that need to be completely immersed in water, the versatility of the crawling robot system is improved. In addition, by setting the camera at the free end of the mechanical arm, when the position of the free end of the mechanical arm is adjusted by the controller, the camera can be moved to the target position, so that the camera can perform a fixed-point careful observation of the target position, thereby improving the convenience of using the crawling robot system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 : A structural diagram of a crawling robot system provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0018] Embodiment 1:

[0019] like Figure 1 As shown, an embodiment of the utility model provides a crawling robot system, which is mainly used in nuclear power plants to observe water intake tunnels of nuclear power plants.

[0020] like Figure 1 As shown, the crawling robot system includes a robot body 9, a walking component 7, a controller, a mechanical arm 3 and a camera 2. The walking component 7 is arranged at the lower part of the robot body 9, and is used to drive the robot body 9 to move. The controller is arranged in the robot body 9, and is electrically connected to the walking component 7, and is used to control the motion state of the walking component 7. The mechanical arm 3 is fixed on the upper surface of the robot body 9, and is electrically connected to the controller, and is used to adjust the position of the free end of the mechanical arm 3 under the control of the controller. The camera 2 is arranged on the free end of the mechanical arm 3, and is electrically connected to the controller, and is used to obtain an optical image in the tunnel under the control of the controller.

[0021] Exemplarily, the robot body 9 includes a watertight compartment, buoyancy material and a frame, which are used to carry other components of the robot system and provide waterproof protection for the components disposed inside the robot body.

[0022] The walking assembly 7 can be a crawler-type walking assembly or a wheeled walking assembly. Figure 1 As shown, taking the traveling assembly 7 as a wheeled traveling assembly as an example, the traveling assembly 7 has six traveling wheels.

[0023] The motion state of the walking assembly 7 may include moving forward, moving backward, stopping or turning, etc. By controlling the motion state of the walking assembly 7, the robot body 9 may be moved to any position in the water intake tunnel.

[0024] When the tunnel is full of water or dry, the walking component 7 will maintain contact with the bottom wall of the tunnel due to the gravity of the robot body 9, so the robot body 9 can be driven to move. Compared with underwater floating robots that need to be completely immersed in water, the walking component 7 in this embodiment can adapt to working in tunnels that are full of water or dry, so the crawling robot system can be moved to any position to be observed, thereby improving the versatility of the crawling robot system.

[0025] Exemplarily, the controller has data input, data processing and data output functions.

[0026] For example, the controller may be a single chip microcomputer or a microcomputer.

[0027] Exemplarily, the robotic arm 3 may be a telescopic robotic arm or an articulated robotic arm.

[0028] Through the above settings, when the camera 2 needs to conduct a fixed-point and detailed observation of a certain position in the tunnel (for example, the top wall of the tunnel), the controller can control the robotic arm 3 to move the camera 2 on its free end to that position, so that the camera 2 can obtain a detailed optical image of the position, thereby achieving a fixed-point and detailed observation of the position.

[0029] Exemplarily, the camera 2 is also provided with a fill light, which is electrically connected to the controller and is used to be turned on or off under the control of the controller.

[0030] When the light in the tunnel is dark, the fill light can be turned on under the control of the controller to increase the brightness in the tunnel so that the camera 2 can better acquire the optical image in the tunnel.

[0031] Therefore, the crawling robot system provided by the embodiment of the utility model, by setting the walking component 7 and the controller, when the tunnel is in a full water state or a waterless state, the walking component 7 will keep in contact with the bottom wall of the tunnel due to the gravity of the robot body 9, so that the walking component 7 can move the robot body 9 to any position in the tunnel under the control of the controller, so that the crawling robot system can adapt to work in tunnels in a full water state and a waterless state, and compared with underwater floating robots that need to be completely immersed in water, the versatility of the crawling robot system is improved. In addition, by setting the camera 2 at the free end of the mechanical arm 3, when the position of the free end of the mechanical arm 3 is adjusted by the controller, the camera 2 can be moved to the target position, so that the camera 2 can carefully observe the target position at a fixed point, thereby improving the convenience of using the crawling robot system.

[0032] In some embodiments, Figure 1 As shown, the crawling robot system also includes a ranging sonar 4. The ranging sonar 4 is arranged on the camera 2 and is electrically connected to the controller, and is used to detect the distance between the camera 2 and the tunnel wall, and transmit the detection result to the controller. The controller is also used to control the position of the free end of the robot arm 3 and the working state of the walking component 7 according to the detection result, so that the camera 2 avoids the tunnel wall.

[0033] Exemplarily, during the movement of the crawling robot system, the ranging sonar 4 detects the distance between the camera 2 and the tunnel wall in real time. When the ranging sonar 4 detects that the distance between the camera 2 and the tunnel wall is less than 10 cm, the controller controls the walking component 7 to stop moving according to the detection result, and controls the robotic arm 3 to retract so as to retract the camera 2 fixed on the free end of the robotic arm 3.

[0034] Through the above arrangement, it is possible to avoid collision between the camera 2 and the tunnel wall.

[0035] In some embodiments, Figure 1 As shown, the crawling robot system further includes a scanning sonar 1. The scanning sonar 1 is arranged at the front end of the robot body 9 and is electrically connected to the controller, and is used to obtain an acoustic image of the tunnel wall by sonar scanning under the control of the controller.

[0036] Exemplarily, the scanning sonar 1 is a multi-beam forward-looking sonar.

[0037] The scanning sonar 1 can be used to perform a 3D scan of the inner wall of the tunnel to obtain continuous high-resolution acoustic images of the underwater tunnel wall, and use high-frequency, low-power acoustic multi-beam technology to obtain continuous 360-degree profile data. Based on the optical image of the tunnel obtained by the camera 2, detection inside the tunnel can be achieved in multiple dimensions.

[0038] In some embodiments, Figure 1 As shown, the crawling robot system also includes an above-water operation panel 10, which is connected to the controller for sending control instructions to the controller. The camera 2 is also used to transmit the acquired optical image in the tunnel to the controller, the scanning sonar 1 is also used to transmit the acquired acoustic image of the tunnel wall to the controller, and the controller is also used to transmit the optical image in the tunnel and the acoustic image of the tunnel wall to the above-water operation panel 10.

[0039] Exemplarily, the above-water operation panel 10 is a component for controlling and monitoring the parts entering the tunnel.

[0040] Exemplarily, the above-water operation panel 10 has a display screen and operation buttons.

[0041] Exemplarily, the water operation panel 10 and the controller can be communicatively connected via wired or wireless means, so that the water operation panel 10 can send control signals to the controller, and the controller can transmit the optical image inside the tunnel and the acoustic image of the tunnel wall to the water operation panel 10.

[0042] Illustratively, the operator can send a "forward signal" to the controller through the water operation panel 10. After receiving the above-mentioned "forward signal", the controller controls the walking component 7 to work and move the underwater part forward; or, the operator can send a "start observation" signal to the controller through the water operation panel 10. After receiving the above-mentioned start observation signal, the controller controls the camera 2 and the scanning sonar 1 to start so as to observe the inside of the water intake tunnel, and transmits the optical image and acoustic image observed by the camera 2 and the scanning sonar 1 to the water operation panel 10. The operator can then observe the image inside the water intake tunnel in real time on the water operation panel 10.

[0043] Through the above-mentioned setting, the underwater part can be remotely controlled through the surface part, and the image inside the water intake tunnel can be observed.

[0044] In some embodiments, Figure 1 As shown, the crawling robot system also includes an umbilical cable and a retracting device 5. One end of the umbilical cable is fixed to the rear end of the robot body 9, and the other end is fixed to the water operation panel 10. The water operation panel 10 is connected to the controller through the umbilical cable. The retracting device 5 is arranged at the rear end of the robot body 9 and is used to recycle the robot body 9.

[0045] Exemplarily, the umbilical cable includes electrical cables and optical cables, and the umbilical cable can simultaneously transmit electrical energy through the electrical cables and transmit optical signals through the optical cables.

[0046] Exemplarily, the controller and the above-water operation panel 10 are communicated via optical signals, and the controller transmits the optical signals to the operation panel 10 via the optical cable in the umbilical cable.

[0047] For example, after the tunnel observation is completed, the robot body 9 can be recovered by the retracting device 5 .

[0048] Through the above arrangement, the influence of the arrangement positions of the umbilical cable and the retracting and releasing device 5 on the movement of the robot body 9 can be reduced.

[0049] In some embodiments, the crawling robot system further includes a power supply ( Figure 1 The power supply is electrically connected to the water operation panel 10 and the controller respectively, and is used to supply power to the water operation panel 10 and the controller; the controller has a power distribution function.

[0050] Exemplarily, the power supply may be a battery or a power supply cabinet.

[0051] Exemplarily, the power supply is electrically connected to the controller via an electrical cable within the umbilical cable.

[0052] Exemplarily, the electric energy of the power supply is first transmitted to the controller, and then transmitted to each power-consuming component (such as the camera 2, the fill light, the walking component 7, etc.) through the power distribution function of the controller.

[0053] The above arrangement is helpful to reduce the number of connecting wires for transmitting electric energy inside the crawling robot system.

[0054] In some embodiments, the crawling robot system further includes a backup power supply ( Figure 1 The backup power supply is arranged inside the robot body 9, and the backup power supply is electrically connected to the controller to provide power to the controller in case of a power failure.

[0055] Exemplarily, the backup power source is a rechargeable battery.

[0056] Through the above-mentioned arrangement, when the power supply fails and cannot power the controller located underwater, the backup power supply can be used to power the controller so that components such as the walking component 7 can work normally, and the robot body 9 can be recovered under the control of the water operation panel 10.

[0057] In some embodiments, Figure 1 As shown, the crawling robot system further includes an underwater acoustic communication device 6. The underwater acoustic communication device 6 is disposed at the rear end of the robot body 9 and is electrically connected to the controller; the water operation panel 10 realizes communication connection with the controller through the underwater acoustic communication device 6.

[0058] The underwater acoustic communication device 6 can perform underwater communication using sound waves.

[0059] Exemplarily, the water operation panel 10 also has the functions of receiving and transmitting sound waves, so as to receive signals transmitted by the underwater acoustic communicator 6 and transmit signals to the underwater acoustic communicator 6 .

[0060] Through the above-mentioned arrangement, the underwater acoustic communicator 6 can be conveniently configured to emit sound waves upward, avoiding interference of other components with the sound waves, thereby ensuring the communication quality of the underwater acoustic communicator 6, realizing wireless communication between the water operation panel 10 and the controller, and avoiding the influence of the wired communication line of the wired communication on the movement of the robot body 9.

[0061] In some embodiments, the crawling robot system further includes a navigation component ( Figure 1 The navigation component is arranged inside the robot body 9. The navigation component is electrically connected to the controller, and is used to automatically generate a recovery signal and transmit it to the controller after the above-water operation panel 10 encounters a fault. The controller is used to control the walking component 7 to work according to the recovery signal, so that the robot body 9 returns to the position where the above-water operation panel 10 is located.

[0062] Exemplarily, the navigation component has a positioning function, an automatic path planning function, and the like.

[0063] For example, after the above-water operating panel 10 encounters a fault, the part of the crawling robot system that enters the tunnel must undergo an underwater safe recovery process. The navigation component can automatically generate a recovery signal based on the current position and transmit it to the controller. The controller controls the walking component 7 to operate according to the recovery signal to return the robot body 9 to the position of the above-water part.

[0064] Illustratively, during the autonomous return of the underwater part, the surface operation panel 10 can also monitor the working status of the robot system and make corresponding corrections to the motion trajectory of the robot body 9 to ensure the safe recovery of the part of the crawling robot system that enters the tunnel.

[0065] Through the above arrangement, when the above-mentioned operation panel 10 fails and it is difficult to control the robot body 9, the robot body 9 can be automatically recovered.

[0066] In some embodiments, Figure 1 As shown, the crawling robot system also includes a collision avoidance sonar 8. The collision avoidance sonar 8 is arranged at the front end of the robot body 9, and the collision avoidance sonar 8 is electrically connected to the controller, and is used to detect obstacles in the water and transmit the detection results to the controller. The controller is used to control the working state of the walking component 7 according to the detection results, so that the robot body 9 avoids obstacles.

[0067] Exemplarily, the collision avoidance sonar 8 generates a first collision signal when encountering an obstacle or detecting that the distance to the obstacle is less than a preset value. The first collision signal is transmitted to the controller. After receiving the first collision signal and processing it, the controller sends a corresponding control signal to the walking component 7, causing the walking component 7 to change the propulsion direction so that the robot body 9 changes the motion trajectory and avoids the above-mentioned obstacle.

[0068] Through the above arrangement, the collision avoidance sonar 8 can be placed closer to potential obstacles, so as to quickly detect obstacles and enable the robot body 9 to avoid obstacles.

[0069] When using the crawling robot system, first establish a communication connection between the controller and the water operation panel 10, then release the robot body 9 to the vicinity of the tunnel to be observed, control the working state of the walking component 7 through the water operation panel 10, make the robot body 9 enter the tunnel, and monitor the tunnel through the scanning sonar 1 and the camera 2. When a certain position needs to be carefully observed, control the robot arm 3 to move the camera 2 to the position. After the observation is completed, the robot body 9 is recovered by the retractable device 5.

[0070] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A crawling robot system, characterized in that: include: Robot body (9); A walking assembly (7), arranged at the lower part of the robot body (9), and used for driving the robot body (9) to move; a controller, arranged in the robot body (9) and electrically connected to the walking component (7), and used for controlling the motion state of the walking component (7); a mechanical arm (3), fixed to the upper surface of the robot body (9) and electrically connected to the controller, and used to adjust the position of the free end of the mechanical arm (3) under the control of the controller; and, A camera (2) is arranged on the free end of the mechanical arm (3) and is electrically connected to the controller, and is used to obtain an optical image in the tunnel under the control of the controller.

2. The crawling robot system according to claim 1, characterized in that: The crawling robot system also includes a ranging sonar (4); The distance measuring sonar (4) is arranged on the camera (2) and is electrically connected to the controller, and is used to detect the distance between the camera (2) and the tunnel wall, and transmit the detection result to the controller; The controller is also used to control the position of the free end of the mechanical arm (3) and the working state of the walking component (7) according to the detection result, so that the camera (2) avoids the tunnel wall.

3. The crawling robot system according to claim 1 or 2, characterized in that: The crawling robot system also includes a scanning sonar (1); The scanning sonar (1) is arranged at the front end of the robot body (9) and is electrically connected to the controller, and is used to obtain an acoustic image of the tunnel wall through sonar scanning under the control of the controller.

4. The crawling robot system according to claim 3, characterized in that: The crawling robot system further comprises an above-water operating panel (10), wherein the above-water operating panel (10) is communicatively connected to the controller and is used to send control instructions to the controller; The camera (2) is also used to transmit the acquired optical image of the tunnel to the controller, the scanning sonar (1) is also used to transmit the acquired acoustic image of the tunnel wall to the controller, and the controller is also used to transmit the optical image of the tunnel and the acoustic image of the tunnel wall to the above-water operation panel (10).

5. The crawling robot system according to claim 4, characterized in that: The crawling robot system also includes an umbilical cable and a retracting and releasing device (5); One end of the umbilical cable is fixed to the rear end of the robot body (9), and the other end is fixed to the above-water operation panel (10), and the above-water operation panel (10) is connected to the controller through the umbilical cable. The retracting device (5) is arranged at the rear end of the robot body (9) and is used for retrieving the robot body (9).

6. The crawling robot system according to claim 5, characterized in that: The crawling robot system also includes a power supply; The power supply is electrically connected to the above-water operation panel (10) and the controller respectively, and is used to supply power to the above-water operation panel (10) and the controller; the controller has a power distribution function.

7. The crawling robot system according to claim 6, characterized in that: The crawling robot system also includes a backup power supply; The backup power supply is arranged inside the robot body (9) and is electrically connected to the controller, and is used to provide electrical energy to the controller in the event of a failure of the power supply.

8. The crawling robot system according to claim 4, characterized in that: The crawling robot system also includes an underwater acoustic communication device (6); The underwater acoustic communication device (6) is arranged at the rear end of the robot body (9) and is electrically connected to the controller; the above-water operation panel (10) realizes communication connection with the controller through the underwater acoustic communication device (6).

9. The crawling robot system according to claim 4, characterized in that: The crawling robot system further comprises a navigation component, wherein the navigation component is arranged inside the robot body (9); The navigation component is electrically connected to the controller and is used to automatically generate a recovery signal and transmit it to the controller after the above-water operation panel (10) encounters a fault; The controller is used to control the operation of the walking component (7) according to the recovery signal, so as to make the robot body (9) return to the position where the above-water operating panel (10) is located.

10. The crawling robot system according to claim 1 or 2, characterized in that: The crawling robot system also includes a collision avoidance sonar (8); The collision avoidance sonar (8) is arranged at the front end of the robot body (9), and the collision avoidance sonar (8) is electrically connected to the controller, and is used to detect obstacles in the water and transmit the detection results to the controller; The controller is used to control the working state of the walking component (7) according to the detection result, so that the robot body (9) avoids obstacles.

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