Inspection robot

Abstract

The utility model relates to the technical field of robots, and discloses an inspection robot which comprises a driving device, a control device, a first shielding shell and a second shielding shell, and the driving device is used for driving the inspection robot to walk; the control device is electrically connected with the driving device, and the control device is used for controlling the driving device to start and stop; the first shielding shell surrounds the periphery of the control device; the second shielding shell is provided with an accommodating space, the first shielding shell is arranged in the accommodating space, the second shielding shell surrounds the periphery of the first shielding shell, and a gap is formed between the second shielding shell and the first shielding shell. The inspection robot aims to solve the technical problem that the inspection robot cannot work stably in a strong magnetic environment.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an inspection robot. Background Art

[0002] Inspection robots are autonomous mobile robots used to perform various inspection tasks, such as security patrols, equipment inspections, environmental monitoring, etc. Inspection robots are equipped with various sensors, cameras, laser scanners, and other perception devices to identify and record information in the environment and perform designated tasks.

[0003] In the related technologies, the working conditions in strong magnetic field environment are relatively bad. If manual inspection is relied on, it is not only time-consuming and laborious, but also poses a risk to personal safety. Moreover, manual inspection is not convenient in a small space. If inspection robots are used instead of manual inspection, they will be affected by the magnetic field in a strong magnetic environment (such as metal electrolysis industry, high-voltage substation, etc.), resulting in instability in operation. Utility Model Content

[0004] The utility model aims to provide an inspection robot to solve the technical problem that the inspection robot is affected by the magnetic field in a strong magnetic environment and cannot work stably.

[0005] In order to achieve the above object, the utility model provides an inspection robot, which includes:

[0006] A driving device, the driving device is used to drive the inspection robot to walk;

[0007] A control device, the control device is electrically connected to the driving device, and the control device is used to control the start and stop of the driving device;

[0008] a first shielding shell, wherein the first shielding shell surrounds the outer periphery of the control device;

[0009] The second shielding shell has a receiving space, the first shielding shell is arranged in the receiving space, the second shielding shell surrounds the outer periphery of the first shielding shell, and there is a gap between the second shielding shell and the first shielding shell.

[0010] In the inspection robot of the present application, the second shielding shell includes a first shell and a second shell, the first shell is arranged on the driving device and the top of the first shell is open, and the second shell covers the first shell to form the accommodating space.

[0011] In the inspection robot of the present application, the inspection robot further includes a connecting component, which is disposed in the gap and respectively connects the first shielding shell and the second shielding shell to connect and fix the first shielding shell and the second shielding shell.

[0012] In the inspection robot of the present application, the connection component is made of non-magnetic material.

[0013] In the inspection robot of the present application, the connection assembly includes a plurality of connection blocks arranged at intervals, and the plurality of connection blocks are respectively connected to the first shielding shell and the second shielding shell.

[0014] In the inspection robot of the present application, the first shielding shell includes a third shell and a fourth shell, the control device is arranged inside the third shell, and the fourth shell covers the third shell so that the first shielding shell surrounds the periphery of the control device.

[0015] In the inspection robot of the present application, the inspection robot includes a pan-tilt platform, which is arranged on the top of the second shielding shell and is used to obtain image information.

[0016] In the inspection robot of the present application, the inspection robot includes a first radar and a second radar, and the first radar and the second radar are respectively arranged at the front and rear positions of the second shielding shell along the forward direction of the inspection robot. The first radar is used to detect obstacles in front of the inspection robot, and the second radar is used to detect obstacles behind the inspection robot.

[0017] In the inspection robot of the present application, the inspection robot includes a third radar, which is arranged on the top of the second shielding shell, and the third radar is used to position the inspection robot.

[0018] In the inspection robot of the present application, the driving device includes a motor and a driving wheel. The motor is arranged inside the first shielding shell, and the motor is used to drive the driving wheel to rotate so that the inspection robot can walk.

[0019] The utility model provides an inspection robot, which has the following beneficial effects:

[0020] The control device includes electrical components such as a controller. The control device is prone to failure in a strong magnetic field environment. In order to avoid interference from an external magnetic field during the inspection process, the utility model sets a double-layer shielding shell outside the control device, the first shielding shell as an inner shell surrounds the control device, and the second shielding shell as an outer shell surrounds the first shielding shell. When in use, the driving device drives the inspection robot to walk on the ground, and the control device is electrically connected to the driving device and controls the start and stop of the driving device, so that the inspection robot can walk along a preset path, and stop walking or adjust the direction when necessary, thereby completing the inspection task. When the inspection robot walks in a strong magnetic field environment, the second shielding layer as an outer shell can shield most of the magnetic field, but when the external magnetic field is very strong, there will still be a small number of magnetic flux lines that can penetrate the second shielding shell and affect the control device inside it. At this time, the first shielding layer as an inner shell surrounds the outer periphery of the control device, and shields other magnetic flux lines that penetrate the second shielding layer. Compared with a single-layer shielding body, the combined double-layer shielding shell of the present application can effectively enhance the shielding effect to prevent the inspection robot from being disturbed by the external magnetic field during the inspection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of the inspection robot provided by an embodiment of the utility model;

[0022] Figure 2 A schematic cross-sectional view of an inspection robot provided by an embodiment of the utility model;

[0023] Figure 3 An internal schematic diagram of the inspection robot provided by an embodiment of the utility model;

[0024] Figure 4 An exploded view of the inspection robot provided in an embodiment of the utility model.

[0025] The following are marked in the figure:

[0026] 10. First shielding shell; 11. Third shell; 12. Fourth shell; 20. Second shielding shell; 21. First shell; 22. Second shell; 30. Driving device; 31. Driving wheel; 40. Gap; 50. Connecting assembly; 51. Connecting block; 60. Pan / tilt; 70. First radar; 80. Second radar; 90. Third radar. DETAILED DESCRIPTION

[0027] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0028] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "inside", "outside", etc. used in the present invention to indicate the orientation or positional relationship are based on the positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices and elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In the description of the present invention, it should be understood that the terms "first", "second", etc. are used in the present invention to describe various information, but these information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0030] In the related technologies, the application scenarios of inspection robots include power inspection, campus inspection and computer room inspection. Power inspection is outdoor inspection, and computer room inspection is indoor inspection. There are strong magnetic fields in these occasions. However, the strong magnetic field environment will seriously interfere with the inspection robot, affecting its stable operation and accurate execution of tasks, such as interfering with the robot's sensors, electronic components and navigation systems, causing the robot to lose its positioning or be unable to correctly perceive the surrounding environment.

[0031] like Figures 1 to 4 As shown, an embodiment of the utility model provides an inspection robot, which includes a driving device 30, a control device (not shown in the drawings), a first shielding shell 10 and a second shielding shell 20, wherein the driving device 30 is used to drive the inspection robot to walk; the control device is electrically connected to the driving device 30, and the control device is used to control the start and stop of the driving device 30; the first shielding shell 10 is surrounded by the outer periphery of the control device; the second shielding shell 20 has a accommodating space, the first shielding shell 10 is arranged in the accommodating space, the second shielding shell 20 is surrounded by the outer periphery of the first shielding shell 10, and the second shielding shell 20 and the first shielding shell 10 have a gap 40.

[0032] Based on the above technical solution, the control device includes electrical components such as a controller. The control device is prone to fail in a strong magnetic field environment. In order to avoid interference from the external magnetic field during the inspection process, the present application sets a double-layer shielding shell on the outside of the control device. The first shielding shell 10 serves as an inner shell to surround the control device, and the second shielding shell 20 serves as an outer shell to surround the first shielding shell 10.

[0033] When in use, the driving device 30 drives the inspection robot to walk on the ground, and the control device is electrically connected to the driving device 30 and controls the start and stop of the driving device 30, so that the inspection robot can walk along a preset path, and stop walking or adjust the direction when necessary, thereby completing the inspection task. When the inspection robot walks in a strong magnetic field environment, the second shielding layer 20 as an outer shell can shield most of the magnetic field, but when the external magnetic field is very strong, there will still be a small number of magnetic flux lines that can penetrate the second shielding shell 20 and affect the control device inside it. At this time, the first shielding layer 10 as an inner shell surrounds the outer periphery of the control device, and shields other magnetic flux lines that penetrate the second shielding layer 20. Compared with a single-layer shielding body, the combined double-layer shielding shell of the present application can effectively enhance the shielding effect to prevent the inspection robot from being disturbed by the external magnetic field during the inspection process.

[0034] It should be noted that in the traditional technical solution, the inspection robot adopts a single-layer shielding, and the shielding method is simple and crude. The entire shell is thickened to enhance the shielding effect, which makes the weight of the entire inspection robot heavier and bulky. Under the same battery capacity, the battery life of the inspection robot is significantly reduced. Different from the traditional technical solution, this embodiment avoids the thickening of the entire shell by setting a gap 40 between the second shielding shell 20 and the first shielding shell 10, thereby reducing the weight and volume of the inspection robot, which makes the inspection robot lighter and more flexible, and can perform inspection tasks for a longer time under the same condition of reduced battery life.

[0035] It should be understood that the control device includes some wires, which carry the function of transmitting various signals and data. When electromagnetic interference affects the wires, it may cause signal loss or distortion, thereby affecting the normal operation and performance of the robot. Based on this, this embodiment uses shielded wires or electromagnetic shielding materials to cover the wires to reduce the interference of external electromagnetic fields on the wires.

[0036] As an implementation method, Figure 4 As shown, the second shielding shell 20 includes a first shell 21 and a second shell 22. The first shell 21 is disposed on the driving device 30 and the top of the first shell 21 is open. The second shell 22 covers the first shell 21 to form a receiving space.

[0037] Specifically, the second shell 22 and the first shell 21 are detachably connected. The shapes of the second shell 22 and the first shell 21 can be regular cubes or irregular cuboids, or cylinders or spheres. This embodiment does not specifically limit the shape of the second shielding shell 20. The connection between the second shell 22 and the first shell 21 can be a snap-fit ​​connection or a bolt-fastened connection. In practical applications, the art can adaptively adjust the shape and connection of the second shell 22 and the first shell 21 according to the arrangement of the control device, so that the second shell 22 covers the first shell 21 to form a accommodating space, so that the second shielding shell 20 can surround the control device and play an effective shielding role.

[0038] As an implementation method, Figure 2 and Figure 4 As shown, the inspection robot further includes a connecting component 50 , which is disposed in the gap 40 and respectively connects the first shielding shell 10 and the second shielding shell 20 to connect and fix the first shielding shell 10 and the second shielding shell 20 .

[0039] Specifically, the connecting assembly 50 is disposed in the gap 40 between the second shielding shell 20 and the first shielding shell 10, and respectively connects the first shielding shell 10 and the second shielding shell 20, connects and fixes them together, thereby ensuring the stability and integration between the first shielding shell 10 and the second shielding shell 20. The fixed connection of the two shielding shells helps prevent the connection from loosening, and improves the stability and reliability of the inspection robot during use.

[0040] As an implementation method, the connection assembly 50 is made of a non-magnetic conductive material.

[0041] Specifically, magnetic materials absorb or conduct electromagnetic fields, causing electromagnetic interference to adversely affect the signals and circuits inside the inspection robot. In this embodiment, the connection component 50 is made of non-magnetic materials, which can reduce the spread of electromagnetic interference, thereby improving the overall performance and reliability of the robot. For example, plastic, ceramic or glass fiber is used to make the connection component 50. Plastic is a common non-magnetic material with good insulation properties and mechanical strength. Plastics such as polyimide and polytetrafluoroethylene (PTFE) are often used to make wires and connectors to isolate and protect internal circuits from electromagnetic interference.

[0042] As an implementation method, Figure 4 As shown, the connection assembly 50 includes a plurality of connection blocks 51 arranged at intervals, and the plurality of connection blocks 51 are respectively connected to the first shielding shell 10 and the second shielding shell 20 .

[0043] Specifically, the strength and reliability of the connection can be enhanced by connecting the first shielding shell 10 and the second shielding shell 20 with a plurality of connection blocks 51. Each connection block 51 bears a portion of the connection force, and the joint action of the plurality of connection blocks 51 achieves a balanced and stable fixation of the connection structure, which helps to maintain a stable connection between the first shielding shell 10 and the second shielding shell 20.

[0044] As an implementation method, Figure 4 As shown, the first shielding shell 10 includes a third shell 11 and a fourth shell 12. The control device is arranged inside the third shell 11, and the fourth shell 12 covers the third shell 11 so that the first shielding shell 10 surrounds the periphery of the control device.

[0045] Specifically, the first shielding shell 10, as a closed shell, has the function of electromagnetic shielding, which can further block external electromagnetic radiation and interference, reduce the sensitivity of the control device to external electromagnetic signals, help maintain the stability of the internal signal of the control device, and prevent the influence of electromagnetic interference on the system performance. Among them, the third shell 11 accommodates the control device inside, provides physical protection and sealing, and prevents the control device from being damaged by mechanical shock, vibration or other environmental factors. At the same time, the cover of the fourth shell 12 further strengthens the entire shell structure and protects the internal control device from external damage. In addition, the structure of the first shielding shell 10 also has the advantage of easy maintenance. When the control device needs to be repaired or replaced, the fourth shell 12 can be easily opened to facilitate the disassembly or maintenance of the internal control device, saving maintenance time and cost, and reducing the downtime of the robot during maintenance.

[0046] As an implementation method, Figure 1 As shown, the inspection robot includes a pan-tilt platform 60, which is disposed on the top of the second shielding shell 20 and is used to obtain image information.

[0047] Specifically, as a part of the inspection robot, the pan-tilt 60 is equipped with a camera or other visual sensor to capture image information of the surrounding environment. Through the rotation and adjustment of the pan-tilt 60, the robot can obtain image data from various angles for tasks such as target recognition, monitoring and analysis. The pan-tilt 60 obtains image information and transmits it to the control device inside the inspection robot for processing and analysis. The image processing algorithm and artificial intelligence technology are used to realize functions such as target detection, image recognition, and path planning. In this embodiment, the pan-tilt 60 is located at the top of the second shielding shell to provide a wider field of view coverage. The rotation and adjustment of the pan-tilt 60 can enable the camera or visual sensor to obtain image information in different directions, ensuring that the robot can perceive and analyze the surrounding environment in all directions. At the same time, the position at the top can also prevent random collisions or accidental touches from affecting the pan-tilt 60.

[0048] As an implementation method, Figure 2 As shown, the inspection robot includes a first radar 70 and a second radar 80. The first radar 70 and the second radar 80 are respectively arranged at the front and rear positions of the second shielding shell 20 along the forward direction of the inspection robot. The first radar 70 is used to detect obstacles in front of the inspection robot, and the second radar 80 is used to detect obstacles behind the inspection robot.

[0049] Specifically, the inspection robot is equipped with a first radar 70 and a second radar 80. Among them, the first radar 70 is used to detect obstacles in front of the robot, and the second radar 80 is used to detect obstacles behind the robot. These two radars can emit signals such as radio waves or lasers, and determine whether there are obstacles by receiving the reflected signals. In this way, the robot can promptly detect and avoid collisions with obstacles in front and behind. It can be seen that the application of the first radar 70 and the second radar 80 can improve the safety and obstacle avoidance ability of the inspection robot, timely detect obstacles in front and behind, and take targeted measures such as avoidance or stopping to avoid collisions or other safety problems, which can reduce the risk of accidents and protect the safety of the robot itself and the surrounding environment.

[0050] As an implementation method, Figure 1 As shown, the inspection robot includes a third radar 90. The third radar 90 is disposed on the top of the second shielding shell 20. The third radar 90 is used to locate the inspection robot.

[0051] Specifically, the third radar 90 can determine the position of the robot by sending a signal and receiving the signal reflected back. By using the positioning function, the robot can know its specific position, so as to better navigate and perform inspection tasks. When in use, the third radar 90 is placed on the top of the second shielding shell 20. Since the radar is located on the top of the robot, it can cover the space around the robot, including its front, back, left, right and top. Such an arrangement helps to detect obstacles, environmental features and relative positions with other equipment or structures, thereby achieving more accurate positioning.

[0052] As an implementation method, Figure 1 As shown, the driving device 30 includes a motor (not shown in the drawings) and a driving wheel 31. The motor is arranged inside the first shielding shell 10, and the motor is used to drive the driving wheel 31 to rotate so that the inspection robot can walk.

[0053] Specifically, the driving device 30 realizes the walking function of the inspection robot by rotating the driving wheel 31, and the inspection robot can move under different ground conditions. Since a strong magnetic field environment will cause serious interference and interfere with the motor, in this embodiment, the motor and the control device are arranged inside the first shielding shell 10, and the shielding effect is enhanced by the double-layer shielding shell to prevent the motor of the inspection robot from being interfered by the external magnetic field during the inspection process.

[0054] As an implementation method, the inspection robot also includes components such as an infrared thermal imager, a visible light camera, a signal light, a cooling fan, a charging brush, front and rear anti-collision strips, an all-in-one gas sensor, an emergency stop button, and an antenna (not shown in the attached figure). Among them, the infrared thermal imager is used for temperature detection; the visible light camera is used for visible light shooting; the signal light is used for feedback of the robot's operating status; the cooling fan is used for heat dissipation inside the robot; the charging brush is used as an interface for automatic charging of the robot; the front and rear anti-collision strips are used as a detection and protection device for mechanical collisions on the front and rear sides of the robot; the all-in-one gas sensor can realize the detection requirements of temperature and humidity, SF6, CO, HS, CO2, methane, O2, etc., and the specific detection items can be increased, decreased, and replaced according to different needs; the emergency stop button is a protection button for stopping the robot in an emergency; the antenna is used to receive and transmit robot signals.

[0055] In summary, the inspection robot of the utility model embodiment has the following excellent characteristics: First, by placing the motor in an internal double-layer shielding shell and using appropriate shielding materials, the interference of the external magnetic field can be effectively shielded, so that the robot can operate normally in a strong magnetic environment and maintain the stable performance of its motor. Therefore, the inspection robot can perform inspection tasks safely and reliably without worrying about damage or functional failure caused by magnetic field interference. Second, the inspection robot has a small product size, compact design and portability, so that the inspection robot can adapt to various narrow spaces, including narrow pipes, equipment interiors or other restricted spaces. Due to its small size, the robot can easily enter and perform inspection tasks. Third, the inspection robot has a high degree of autonomy and can perform inspection tasks independently, reducing dependence on manpower. Compared with manual inspections, robots can complete inspections more efficiently, and can work continuously and operate in complex environments. By replacing manual inspections, labor costs are saved and the efficiency of inspection tasks is improved.

[0056] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principle of the present invention. These improvements and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A patrol robot, characterized in that: include: A driving device, the driving device is used to drive the inspection robot to walk; A control device, the control device is electrically connected to the driving device, and the control device is used to control the start and stop of the driving device; a first shielding shell, wherein the first shielding shell surrounds the outer periphery of the control device; The second shielding shell has a receiving space, the first shielding shell is arranged in the receiving space, the second shielding shell surrounds the outer periphery of the first shielding shell, and there is a gap between the second shielding shell and the first shielding shell.

2. The inspection robot according to claim 1, characterized in that: The second shielding shell includes a first shell and a second shell, the first shell is arranged on the driving device and the top of the first shell is open, and the second shell covers the first shell to form the accommodating space.

3. The inspection robot according to claim 1, characterized in that: The inspection robot further includes a connecting component, which is disposed in the gap and respectively connects the first shielding shell and the second shielding shell to connect and fix the first shielding shell and the second shielding shell.

4. The inspection robot according to claim 3, characterized in that: The connecting component is made of non-magnetic conductive material.

5. The inspection robot according to claim 3, characterized in that: The connection assembly includes a plurality of connection blocks arranged at intervals, and the plurality of connection blocks are respectively connected to the first shielding shell and the second shielding shell.

6. The inspection robot according to claim 1, characterized in that: The first shielding shell includes a third shell and a fourth shell. The control device is arranged inside the third shell. The fourth shell covers the third shell so that the first shielding shell surrounds the outer periphery of the control device.

7. The inspection robot according to claim 1, characterized in that: The inspection robot comprises a pan-tilt platform, which is arranged on the top of the second shielding shell and is used to obtain image information.

8. The inspection robot according to claim 1, characterized in that: The inspection robot includes a first radar and a second radar, which are arranged at the front and rear positions of the second shielding shell along the forward direction of the inspection robot. The first radar is used to detect obstacles in front of the inspection robot, and the second radar is used to detect obstacles behind the inspection robot.

9. The inspection robot according to claim 8, characterized in that: The inspection robot includes a third radar, which is arranged on the top of the second shielding shell and is used to locate the inspection robot.

10. The inspection robot according to claim 1, characterized in that: The driving device includes a motor and a driving wheel. The motor is arranged inside the first shielding shell. The motor is used to drive the driving wheel to rotate so that the inspection robot can walk.

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