Robot

Abstract

The utility model provides a robot, which comprises a suspension part, a machine main body and a detection part, the detection part comprises a group of obstacle identification units, the obstacle identification units comprise at least one close-range obstacle identification unit, and the close-range obstacle identification unit is used for judging whether an obstacle exists in a second distance in a specified identification direction or not; at least two groups of obstacle recognition units are arranged on the machine main body, the two groups of obstacle recognition units are oppositely arranged, and the two groups of recognition units are respectively arranged along a first direction and a second direction; wherein the included angle between the first direction and the second direction is 0-90 degrees. By using the robot provided by the invention, remote and close obstacles in multiple directions can be identified and judged, the identification and judgment operation is more targeted, and the uploaded distance data related to the obstacles is more accurate.

Description

Technical Field

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

[0002] Equipment inspections in traditional power stations in power systems are mainly carried out through manual inspections and fixed video inspections, which mainly rely on the inspectors' senses and supporting testing instruments to conduct simple qualitative inspections of electrical equipment, or remote static inspections of equipment through video. This method has defects such as high labor intensity, dispersed detection quality, and many subjective factors.

[0003] In recent years, with the rapid development of computer technology and the popularization of robots in power plants, power plant inspection robots have gradually taken on inspection tasks in unmanned power plant equipment control rooms because of their flexible control methods and unaffected by factors such as time and weather. However, during operation, power plant inspection robots are usually subject to complex electromagnetic interference in the equipment control room. Complex equipment environmental factors such as glass doors in equipment cabinets, passage of equipment control room personnel, and shielding of equipment maintenance safety measures can also easily affect their normal operation. In similar situations, the robot may accidentally collide or have inspection blind spots, and the images it obtains will also be affected, resulting in blurred and damaged images, and failure to obtain inspection data, which is not convenient for later image and data processing.

[0004] Therefore, in order to prevent accidents and ensure the safe operation of equipment, it is necessary to propose a robot to solve the above problems. Utility Model Content

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, the utility model provides a robot, comprising a suspension part, a machine body and a detection part, wherein the suspension part is connected to the machine body and is used to suspend the machine body at a specified position, and the detection part is arranged on the machine body;

[0007] The detection unit includes a group of obstacle recognition units, the obstacle recognition units include at least one short-distance obstacle recognition unit, and the short-distance obstacle recognition unit is used to determine whether there is an obstacle within a second distance in a specified recognition direction;

[0008] At least two groups of obstacle recognition units are arranged on the machine body, the two groups of obstacle recognition units are arranged opposite to each other, and the two groups of obstacle recognition units are arranged along a first direction and a second direction respectively;

[0009] The angle between the first direction and the second direction is 0°-90°.

[0010] In the above technical solution, the obstacle recognition unit further includes at least one long-distance obstacle recognition unit, and the long-distance obstacle recognition unit is used to determine whether there is an obstacle within a first distance in a specified recognition direction, and the first distance is greater than the second distance.

[0011] In the above technical solution, the long-distance obstacle recognition unit includes a laser radar.

[0012] In the above technical solution, the suspension part includes a suspension beam and a boom assembly, the boom assembly is connected to the suspension beam, and the boom assembly has a telescopic structure.

[0013] In the above technical solution, the close-range obstacle recognition unit includes an ultrasonic radar.

[0014] In the above technical solution, at least two groups of obstacle recognition units are arranged on the machine body, and the two groups of obstacle recognition units are arranged along the first direction and the third direction respectively;

[0015] Wherein, the angle between the first direction and the third direction is 45°-90°.

[0016] In the above technical solution, a collision sensing unit is also provided on the machine body, and the collision sensing unit is used to collect and upload first data when a collision occurs.

[0017] In the above technical solution, the collision sensing unit includes a collision sensor.

[0018] In the above technical solution, an image recording device is also provided on the machine body, and the image recording device is used to collect image information.

[0019] In the above technical solution, the image recording device includes a binocular camera.

[0020] In the above technical solution, the machine body includes a spherical shell.

[0021] In summary, due to the adoption of the above technical features, the beneficial effects of the utility model are:

[0022] The robot provided by the present application can identify and judge obstacles in multiple directions, both long and short distances. Its identification and judgment operations are more targeted, and the distance data of the obstacles uploaded by it is also more accurate.

[0023] Additional aspects and advantages of the present invention will become apparent in the following description or will be understood through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0025] Figure 1 is a schematic diagram of a robot according to an embodiment of the present application;

[0026] Figure 2 is a front view of a robot according to an embodiment of the present application;

[0027] Figure 3 is a back view of a robot according to an embodiment of the present application;

[0028] in, Figures 1 to 3 The corresponding relationship between the reference numerals and the component names is as follows:

[0029] 1. Suspension beam; 2. Boom assembly; 3. Image recording device; 4. Front ultrasonic radar; 5. Left ultrasonic radar; 6. Left laser radar; 7. Lower ultrasonic radar; 8. Machine body; 9. Right ultrasonic radar; 10. Right laser radar; 11. Back ultrasonic radar. DETAILED DESCRIPTION

[0030] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0032] Refer to the following Figures 1 to 3 To describe a robot provided according to some embodiments of the present utility model.

[0033] Some embodiments of the present application provide a robot, including a suspension part, a machine body and a detection part, wherein the suspension part is connected to the machine body. Specifically, the suspension part is used to hang the machine body at a specified position, and the detection part is arranged on the machine body to detect and identify obstacles.

[0034] More specifically, in a preferred embodiment, the robot is placed in a power plant control room, and a track for the robot suspension part to walk on can be laid on the top of the power plant control room. The suspension part can be placed in the track to stabilize the robot's walking path. The machine body 8 can be suspended by the suspension part. In a specific embodiment, a suspension part is provided, such as Figure 1 As shown, the suspension part includes a suspension beam 1 and an arm assembly 2, the arm assembly 2 is connected to the suspension beam 1, and the arm assembly 2 has a telescopic structure. Specifically, the robot provided in this embodiment is suspended in the track through the suspension beam 1, and the telescopic structure of the arm assembly 2 can enable the robot to move up and down in the vertical direction to facilitate subsequent obstacle avoidance operations.

[0035] More specifically, in another preferred embodiment, the detection unit includes a group of obstacle recognition units, and the obstacle recognition units include at least one short-range obstacle recognition unit, and the short-range obstacle recognition unit is used to determine whether there is an obstacle within a second distance in a specified recognition direction. The short-range obstacle recognition unit is preferably an ultrasonic radar, which is also often used in reversing radar systems in life. The receiving sensor receives the ultrasonic wave reflected by the obstacle, and converts it into a distance based on the time difference of the ultrasonic wave reflection reception. The ultrasonic radar has a small error when calculating short distances.

[0036] In one embodiment of the present application, two groups of obstacle recognition units are provided on the machine body 8, and the two groups of obstacle recognition units are arranged opposite to each other along a first direction and a second direction, wherein the angle between the first direction and the second direction is 0°-90°. That is, when the angle between the first direction and the second direction is 0°, the recognition directions of the two groups of obstacle recognition units are completely opposite to each other. Figure 1 For the robot shown, two groups of obstacle recognition units are respectively arranged on the front ultrasonic radar 4 on the front of the machine body 8 and the back ultrasonic radar 11 on the back of the machine body 8. The two groups of obstacle recognition units can be used in the operation of the robot. The obstacle recognition unit can identify and judge obstacles. While identifying and judging obstacles, it can upload the distance data between the obstacles.

[0037] More specifically, in the present application, a set of obstacle identification can also include a long-distance obstacle identification unit. The long-distance obstacle identification unit and the short-distance obstacle identification unit can respectively identify and judge obstacles within the first distance and the second distance, that is, long-distance and short-distance obstacles. The identification and judgment operations are more targeted, and the distance data of the obstacles uploaded are also more accurate.

[0038] Specifically, the long-distance obstacle recognition unit includes a laser radar, which is a radar system that emits laser beams to detect characteristic quantities such as the position and speed of a target. When in use, it can identify and judge obstacles at a long distance and upload distance data of the obstacles.

[0039] More specifically, two groups of obstacle recognition units may be provided on the machine body 8 along the first direction and the third direction, and the angle between the first direction and the third direction is 45°-90°. Figure 2-Figure 3 A group of left obstacle recognition units is arranged on the left side of the machine body 8, and the group of obstacle recognition units includes a left ultrasonic radar 5 and a left laser radar 6. A group of right obstacle recognition units can also be arranged on the right side of the machine body 8, and the group of obstacle recognition units includes a right ultrasonic radar 9 and a right laser radar 10. The recognition direction of the left obstacle recognition unit and the front ultrasonic radar 4 can be set at 90 degrees, which can provide recognition judgments in two different directions.

[0040] Of course, in another embodiment, the machine body 8 is not only provided with a front ultrasonic radar 4, a left ultrasonic radar 5, a left laser radar 6, a right ultrasonic radar 9, a right laser radar 10, and a back ultrasonic radar 11, but also provided with a lower ultrasonic radar 7. For example, when the robot moves downward to avoid obstacles or other movements, the lower ultrasonic radar 7 can timely identify and judge the distance to the obstacle, and upload the distance data in time to avoid collision. In this embodiment, the obstacle recognition unit can cover the front, back, left, right and bottom of the robot, so as to identify and judge obstacles in all directions, improve the accuracy of its recognition and judgment, and transmit more accurate data information. Furthermore, if Figure 1-3 As shown, only one embodiment of the present application shows a robot, which is provided with a group of obstacle recognition units in the more special and representative front, rear, left, right and bottom parts. However, a robot claimed for protection in the present application may also be provided with multiple groups of obstacle recognition units in 8 other directions of the machine body, so as to improve the obstacle recognition range and obstacle recognition sensitivity, and can identify obstacles more accurately and quickly, providing data guarantee for subsequent robot operation.

[0041] More specifically, in a preferred embodiment, the machine body 8 is a spherical shell, which has a more regular and smooth shape, and can avoid collision between the machine body 8 and obstacles. Of course, a collision sensing unit can also be set on the machine body 8, and the collision sensing unit can be used to collect and upload the first data when the collision occurs. The first data includes the collision time node, coordinate data, etc., that is, when a collision occurs, the collision sensing unit can collect the time node when the collision occurs and the coordinate data of the machine body 8 when the collision occurs, and upload the time node and data to the relevant processing device. The relevant processing device can be a controller. More specifically, when a collision occurs, the controller can control the boom assembly 2 of the suspension part to shrink to avoid the obstacle that collides with it. Of course, the controller can also control the suspension part to move in the track to avoid the obstacle that collides with it.

[0042] Preferably, the collision sensing unit includes a collision sensor. Of course, the entire body of the machine body 8 may also be designed with a collision sensor shell to expand the area for receiving collision signals and improve sensitivity.

[0043] Specifically, the machine body 8 may also be provided with an image recording device 3, which can collect image information, and specifically can collect and record the equipment status and data in the power station control room where the robot is installed. In a preferred embodiment of the present application, the image recording device 3 may be a binocular camera. It is easy to understand that the binocular camera can obtain the real three-dimensional coordinates of the obstacle by calculating from the obtained two-dimensional image information. More specifically, the binocular camera can be placed in front of the robot to identify and judge when the robot approaches the obstacle at a close distance, and can transmit relevant distance data.

[0044] The robot provided by the present application can identify and judge obstacles in multiple directions, both long and short distances. Its identification and judgment operations are more targeted, and the distance data of the obstacles uploaded by it is also more accurate.

[0045] In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0046] Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this utility model should be included in the protection scope of this utility model.

Claims

1. A robot, characterized in that: It comprises a hanging part, a machine body and a detection part, wherein the hanging part is connected to the machine body and is used to hang the machine body at a specified position, and the detection part is arranged on the machine body; The detection unit includes a group of obstacle recognition units, the obstacle recognition units include at least one short-distance obstacle recognition unit, and the short-distance obstacle recognition unit is used to determine whether there is an obstacle within a second distance in a specified recognition direction; At least two groups of obstacle recognition units are arranged on the machine body, the two groups of obstacle recognition units are arranged opposite to each other, and the two groups of obstacle recognition units are arranged along a first direction and a second direction respectively; The angle between the first direction and the second direction is 0°-90°.

2. A robot according to claim 1, characterized in that: The obstacle recognition unit further includes at least one long-distance obstacle recognition unit, and the long-distance obstacle recognition unit is used to determine whether there is an obstacle within a first distance in a specified recognition direction, and the first distance is greater than a second distance.

3. A robot according to claim 2, characterized in that: The long-range obstacle recognition unit includes a laser radar.

4. A robot according to claim 1, characterized in that: The suspension part includes a suspension beam and a suspension arm assembly, the suspension arm assembly is connected to the suspension beam, and the suspension arm assembly has a telescopic structure; And / or, the close-range obstacle recognition unit includes an ultrasonic radar.

5. A robot according to any one of claims 1 to 4, characterized in that: At least two groups of obstacle recognition units are arranged on the machine body, and the two groups of obstacle recognition units are arranged along the first direction and the third direction respectively; Wherein, the angle between the first direction and the third direction is 45°-90°.

6. A robot according to claim 1, characterized in that: The machine body is also provided with a collision sensing unit, and the collision sensing unit is used to collect and upload first data when a collision occurs.

7. A robot according to claim 6, characterized in that: The collision sensing unit includes a collision sensor.

8. A robot according to claim 1, characterized in that: The machine body is also provided with an image recording device, which is used to collect image information.

9. A robot according to claim 8, characterized in that: The image recording device includes a binocular camera.

10. A robot according to claim 1, characterized in that: The machine body includes a spherical shell.

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