Intelligent inspection robot with automatic power-off protection function
By adopting the dual limit protection mechanism of photoelectric sensors and limit switches in the intelligent inspection robot, combined with the automatic power-off protection function of the motor control board, the fault problem caused by environmental interference in special environments is solved, and the equipment safety protection and continuous completion of inspection tasks are achieved.
Patent Information
- Application Number
- CN202421784270.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-26
- Publication Date
- 2025-06-17
- Estimated Expiration
- 2034-07-26
AI Technical Summary
In special environments, intelligent inspection robots are prone to failure of the motion system or exceeding the limit due to environmental interference, and due to inability to maintain timely, it is difficult for the equipment to restore its working state, affecting the inspection effect.
An intelligent patrol robot with automatic power-off protection function is designed, and the dual limit protection mechanism of photoelectric sensors and limit switches is adopted. Through the OR and door logic chips and relays in the motor control board, the motor is automatically powered off and protected when the limit switch is triggered, avoiding damage due to blockage or overcurrent. At the same time, the robot can re-power and return to its normal position through remote control.
It effectively avoids motion failures and over-limit operation caused by environmental interference of the robot, protects the motor equipment, ensures the continuity and accuracy of patrols, and reduces the dependence on maintenance.
Smart Images
Figure CN222986946U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of intelligent inspection robots, and particularly relates to an intelligent inspection robot with an automatic power-off protection function. Background Technique
[0002] Robots have basic characteristics such as perception, decision-making, and execution, and can assist or even replace humans to complete dangerous, heavy, and complex work, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.
[0003] Robot experts in China divide robots into two categories from the application environment, namely industrial robots and special robots. Industrial robots refer to multi-joint manipulators or multi-degree-of-freedom robots for the industrial field. Special robots are various advanced robots other than industrial robots, which are used in non-manufacturing industries and serve humans, including service robots, underwater robots, entertainment robots, military robots, agricultural robots, etc. Among special robots, some branches are developing rapidly and tend to form independent systems, such as service robots, underwater robots, military robots, micro-operation robots, etc.
[0004] At present, intelligent inspection robots applied in special environments are prone to problems such as motion system failures or over-limit operations when affected by environmental interference. Due to the particularity of the application environment, staff cannot enter the site for maintenance in a timely manner, which is likely to cause the inspection robot equipment to not return to the working state in a timely manner and affect the inspection effect. Content of the Utility Model
[0005] In view of the above analysis, the utility model aims to provide an intelligent inspection robot with an automatic power-off protection function to solve the problems that existing intelligent inspection robots are prone to motion system failures or over-limit operations when affected by environmental interference.
[0006] The purpose of the utility model is mainly achieved through the following technical solutions:
[0007] An intelligent inspection robot with an automatic power-off protection function, the robot includes a housing, a main control board, a motor control board, a motor, a synchronous pulley, a limit switch, and a photoelectric sensor; the main control board, the motor control board, and the motor are arranged inside the housing, and a part of the synchronous pulley is exposed outside the hole through an opening at the bottom of the housing; the main control board is electrically connected to the motor control board, the motor control board is electrically connected to the motor, the motor is connected to the synchronous pulley, and drives the synchronous pulley to rotate so as to make the robot move; the limit switch is located on the side walls around the housing, the limit switch is electrically connected to the main control board and the motor control board, the photoelectric sensor is arranged on the side wall of the housing, and the photoelectric sensor is electrically connected to the main control board.
[0008] Further, the motor control board includes an OR gate, an AND gate logic chip, and a relay; the signal output terminal of the limit switch is connected to the first input pin of the OR gate and the signal input pin of the main control board at the same time, the first logic output pin of the main control board is connected to the second input pin of the OR gate, the output pin of the OR gate is connected to the first input pin of the AND gate, and the second logic output pin of the main control board is connected to the second input pin of the AND gate; the output pin of the AND gate is connected to the relay, and the relay is connected in series with the motor power line.
[0009] Further, through holes are provided above the four side walls of the robot housing, and the photoelectric sensors are arranged in the through holes, and the sensitive surfaces of the photoelectric sensors are exposed outside the holes.
[0010] Further, a bracket is provided inside the housing; the photoelectric sensor is installed on the bracket inside the robot housing near the through hole on the side wall of the housing; the synchronous pulley is installed on the bracket inside the robot housing near the through hole at the bottom of the housing; the main control board, the motor control board, and the motor are installed on the bracket.
[0011] Further, the main control board is provided with a single-chip microcomputer and a motor drive chip, the photoelectric sensor is connected to the signal input pin of the single-chip microcomputer, the motor drive signal output pin of the single-chip microcomputer is connected to the motor drive chip, and the drive signal output terminal of the motor drive chip is connected to the motor control signal input terminal.
[0012] Further, an aviation connector is provided on the right side wall of the robot housing, and the cables on the aviation connector include a power line, a network cable, and a serial communication cable; the robot further includes a power board; the power line of the aviation connector is connected to the power board internally and to the power supply externally; the network cable and the serial communication cable of the aviation connector are connected to the main control board internally and to the upper computer externally.
[0013] Further, an audible and visual alarm is provided on the robot housing, and the audible and visual alarm is connected to the single-chip microcomputer of the main control board.
[0014] Further, a network port and a serial port digital isolation circuit are provided on the main control board, the signal input pins of the network port and the serial port digital isolation circuit are connected to the external upper computer through the cables of the aviation connector, the signal output pins of the network port and the serial port digital isolation circuit are connected to the signal input pins of the single-chip microcomputer of the main control board, and the corresponding signal output pins of the single-chip microcomputer are connected to the motor and the audible and visual alarm.
[0015] Further, a pick-up is provided on the robot housing, and the pick-up is signal-connected to the main control board.
[0016] Further, a groove is provided in the middle of the right side wall of the robot housing as a handle of the robot.
[0017] Compared with the prior art, the present utility model can at least achieve one of the following beneficial effects:
[0018] 1. The side walls around the robot housing of the present invention are provided with photoelectric sensors. During the movement of the robot, the soft limit of the movement position of the robot is realized by the induction of the photoelectric sensors to surrounding objects. Limit switches are provided on the side walls around the robot housing, and the limit switches are electrically connected to the main control board and the motor control board. When the limit switches touch obstacles, the change of the signal state of the limit switches is transmitted to the main control board and the motor control board, and the main control board and the motor control board control the motor to cut off power or rotate in the opposite direction, driving the robot to leave the limit area, avoiding collision damage to the robot or surrounding objects.
[0019] 2. The motor control board of the present invention includes an OR gate, an AND gate logic chip, and a relay, and the relay controls the power supply of the motor. When the robot runs to the hard limit, the limit switch is triggered to output a logic low to the OR gate, and the main control outputs a logic low to the OR gate. The OR gate outputs a logic low to the AND gate, and the AND gate outputs a logic low to control the relay to disconnect, and the power supply of the motor is disconnected. After the main control captures the signal that the limit switch is triggered, it sends an abnormal information through the network. Relevant personnel can remotely control the main control to output a logic high to the OR gate. At this time, the OR gate outputs a logic high to the AND gate, and the AND gate outputs a logic high to control the relay to close, and the motor is normally powered. When the robot goes out of bounds under artificial or abnormal conditions, this circuit can effectively protect the motor from damage caused by stall and the driver from overcurrent. When the motor protection situation occurs and the robot cannot perform inspection, personnel do not need to enter the site, and the motor can be remotely controlled to be powered on again and controlled to return to the normal position.
[0020] 3. A pickup is also provided on the housing of the present invention. The pickup is signal-connected to the main control board, and the main control board transmits the pickup signal to the upper computer through the network port. Audio analysis software is installed on the upper computer, and the analysis software analyzes the environmental noise collected by the pickup in real time. When the environmental noise shows abnormal fluctuations, the upper computer issues an alarm signal, and the robot performs lighting alarm and other processing.
[0021] 4. A network port and a serial port digital isolation circuit are provided on the main control board of the present invention. The signal input pins of the network port and the serial port digital isolation circuit are connected to the external upper computer through the cable of the aviation plug connector. The signal output pins of the network port and the serial port digital isolation circuit are connected to the signal input pins of the single-chip microcomputer on the main control board, and the corresponding signal output pins of the single-chip microcomputer are connected to the motor and the sound and light alarm. The remote control of the robot can be realized through the upper computer.
[0022] In the present utility model, the above technical solutions can also be combined with each other to realize more preferred combination schemes. Other features and advantages of the present utility model will be described in the following content. Moreover, some advantages can be made obvious from the specification or understood by implementing the present utility model. The purpose and other advantages of the present utility model can be realized and obtained through the content specifically pointed out in the text and the drawings. Brief Description of the Drawings
[0023] The drawings are only for the purpose of showing specific embodiments and are not considered as limitations to the present utility model. Throughout the drawings, the same reference signs denote the same components.
[0024] Figure 1 It is a schematic view of the appearance of an intelligent inspection robot with an automatic power-off protection function;
[0025] Figure 2 It is a flow chart of controlling the motor power supply of an intelligent inspection robot with an automatic power-off protection function by a limit switch.
[0026] Reference Signs:
[0027] 1 - Photoelectric sensor;
[0028] 2 - Limit switch;
[0029] 3 - Handle;
[0030] 4 - Synchronous pulley;
[0031] 5 - Aviation connector. Detailed Embodiments
[0032] The following will specifically describe the preferred embodiments of the present utility model in conjunction with the drawings. The drawings form a part of this application and are used together with the embodiments of the present utility model to explain the principle of the present utility model, rather than to limit the scope of the present utility model.
[0033] A specific embodiment of the present utility model discloses an intelligent inspection robot with an automatic power-off protection function, and the schematic view of the appearance is as Figure 1 shown.
[0034] The robot includes a housing, a main control board, a motor control board, a motor, a synchronous pulley 4, a limit switch 2, and a photoelectric sensor 1; the main control board, the motor control board, and the motor are arranged inside the housing, and a part of the synchronous pulley 4 is exposed outside the hole through the opening at the bottom of the housing; the main control board is electrically connected to the motor control board, the motor control board is electrically connected to the motor, the motor is connected to the synchronous pulley 4, and drives the synchronous pulley 4 to rotate so as to make the robot move; the limit switch 2 is located on the side walls around the housing, the limit switch 2 is electrically connected to the main control board and the motor control board, the photoelectric sensor 1 is arranged on the side wall of the housing, and the photoelectric sensor 1 is electrically connected to the main control board.
[0035] Specifically, the robot includes a dual limit protection function of a photoelectric sensor 1 and a limit switch 2. The photoelectric sensor 1 is arranged around the side wall of the robot housing. During the movement of the robot, the soft limit of the movement position of the robot is realized by the induction of the photoelectric sensor 1 to surrounding objects; the limit switch 2 is arranged on the side walls around the robot housing to realize the hard limit of the movement position of the robot; the limit switch 2 is electrically connected to the main control board and the motor control board. When the limit switch 2 touches an obstacle, the change of the signal state of the limit switch 2 is transmitted to the main control board and the motor control board, and the main control board and the motor control board control the motor to cut off the power or rotate in the opposite direction to drive the robot to leave the limit area; this avoids collision damage to the robot or surrounding objects.
[0036] The motor control board includes an OR gate, an AND gate logic chip, and a relay; the signal output terminal of the limit switch 2 is simultaneously connected to the first input pin of the OR gate and the signal input pin of the main control board. The first logic output pin of the main control board is connected to the second input pin of the OR gate. The output pin of the OR gate is connected to the first input pin of the AND gate. The second logic output pin of the main control board is connected to the second input pin of the AND gate; the output pin of the AND gate is connected to the relay, and the relay is connected in series with the motor power line.
[0037] The flow chart of controlling the motor power supply by the limit switch 2 is as Figure 2 shown.
[0038] Specifically, the switch signal cable of the limit switch 2 located on the side walls around the housing is simultaneously connected to the signal input pin of the single-chip microcomputer of the main control board and the first input pin of the OR gate of the motor control board. When the limit switch 2 is not triggered, the limit switch 2 is closed, and the switch signal is at a high level, that is, the first input pin of the OR gate is at a high level. The first logic output pin of the main control board outputs a logic low to the OR gate; the OR gate outputs a high level to the first input pin of the AND gate; the second logic output pin of the main control board outputs a logic high to the second input pin of the AND gate; the output pin of the AND gate outputs a high level to control the relay to close. The relay is connected in series with the motor power line, and the motor is normally powered. When the limit switch 2 of the robot device is triggered, the limit switch 2 is opened, and the switch signal cable emits a low level; the first input pin of the OR gate is at a low level, and the first logic output pin of the main control board still outputs a logic low to the OR gate; the OR gate outputs a low level to the first input pin of the AND gate, and the output pin of the AND gate outputs a low level to control the relay to disconnect; the motor cuts off the power. When the single-chip microcomputer of the main control board captures the low level of the signal of the limit switch 2, it sends an abnormal message to the upper computer through the network. Relevant personnel can remotely control the main control board to output a logic high to the OR gate. At this time, the OR gate outputs a logic high to the AND gate, and the AND gate outputs a logic high to control the relay to close, and the motor is normally powered.
[0039] Through holes are arranged above the four side walls of the robot housing, and the photoelectric sensor 1 is arranged in the through holes, and the sensitive surface of the photoelectric sensor is exposed outside the hole.
[0040] A bracket is provided inside the shell; the photoelectric sensor 1 is installed on the bracket inside the robot shell near the through hole on the shell side wall; the synchronous wheel 4 is installed on the bracket inside the robot shell near the through hole at the bottom of the shell; the main control board, the motor control board, and the motor are installed on the bracket.
[0041] Specifically, in addition to the limit switch 2 realizing hard limit (by cutting off the power to the motor) to control the movement of the robot, the robot shell is also provided with a photoelectric sensor 1. The motor is provided with multiple protections through a combination of software and hardware. When the photoelectric sensor 1 detects the limit point, it sends a sensing signal to the main control board. After receiving the sensing signal, the main control board sends a command through the single-chip microcomputer to control the robot motor to stop running. If the photoelectric sensor 1 does not detect the sensing signal or the command sent by the main control board is missing or the software is out of control, and the robot continues to run in one direction, the hard limit switch 2 power-off protection device will be triggered, forcing the motor to be powered off, thereby protecting the motor from damage due to stalling. The device can be reset manually in the background to perform the restoration operation later.
[0042] The main control board is provided with a single chip microcomputer and a motor drive chip, the photoelectric sensor 1 is connected to the single chip microcomputer signal input pin, the single chip microcomputer motor drive signal output pin is connected to the motor drive chip, and the motor drive chip drive signal output end is connected to the motor control signal input end.
[0043] Specifically, the soft limit realized by the photoelectric sensor 1 controls the motor through the PWM control signal line sent by the single chip microcomputer of the main control board.
[0044] An aviation head connector 5 is provided on the right side wall of the robot shell, and the cables on the aviation head connector 5 include a power cable, a network cable, and a serial communication cable; the robot also includes a power board; the power cable pair of the aviation head connector 5 is connected to the power board internally and to the power supply externally; the network cable and serial communication cable pair of the aviation head connector 5 are connected to the main control board internally and to the host computer externally.
[0045] Specifically, the robot main control board is connected to the host computer through the network cable and serial communication cable of the aviation head connector 5, and can receive remote control from the host computer and upload information detected on site to the host computer.
[0046] The main control board is provided with an Ethernet port and a serial port digital isolation circuit. The signal input pins of the Ethernet port and the serial port digital isolation circuit are connected to an external host computer through an aviation head connector 5 cable. The signal output pins of the Ethernet port and the serial port digital isolation circuit are connected to the signal input pins of the main control board microcontroller. The corresponding signal output pins of the microcontroller are connected to the motor and the sound and light alarm.
[0047] Specifically, the network port and serial port digital isolation circuit can prevent false triggering caused by external signal level interference and eliminate noise interference; meanwhile, it also plays a role in protecting the device.
[0048] An audible and visual alarm is also provided on the robot housing, and the audible and visual alarm is connected to the single-chip microcomputer of the main control board.
[0049] Specifically, when the robot detects abnormal information, the single-chip microcomputer controls the audible and visual alarm to give an alarm and reports the abnormal information to the upper computer.
[0050] A pickup is also provided on the robot housing, and the pickup is signal-connected to the main control board.
[0051] Specifically, the pickup can transmit the collected audio signal to the upper computer through the network port. An audio analysis software is installed on the upper computer to judge the collected sound. If the sound is abnormal (such as on-site explosion, abnormal collision, someone entering, etc.), relevant personnel can discover and handle the problem immediately through the upper computer.
[0052] A groove is also provided in the middle of the right side wall of the robot housing as the handle 3 of the robot.
[0053] Specifically, the handle 3 makes the transportation of the robot more convenient.
[0054] Compared with the prior art, a photoelectric sensor 1 is provided around the side wall of the robot housing of this embodiment. During the movement of the robot, the soft limit of the movement position of the robot is realized by the induction of the photoelectric sensor 1 on surrounding objects; limit switches 2 are provided on the side walls around the robot housing, and the limit switches 2 are electrically connected to the main control board and the motor control board. When the limit switches 2 touch an obstacle, the change of the signal state of the limit switches 2 is transmitted to the main control board and the motor control board, and the main control board and the motor control board control the motor to cut off the power supply or rotate in the opposite direction to drive the robot to leave the limit area; this avoids collision damage to the robot or surrounding objects. The robot motor control board provided in this embodiment includes an OR gate, an AND gate logic chip, and a relay, and the relay controls the power supply to the motor; when the robot runs to the hard limit, the limit switch 2 is triggered to output a logic low to the OR gate, and the main control outputs a logic low to the OR gate. The OR gate outputs a logic low to the AND gate, and the AND gate outputs a logic low to control the relay to disconnect, and the power supply to the motor is disconnected. After the main control captures the signal that the limit switch 2 is triggered, it sends an abnormal information through the network. Relevant personnel can remotely control the main control to output a logic high to the OR gate. At this time, the OR gate outputs a logic high to the AND gate, and the AND gate outputs a logic high to control the relay to close, and the motor is normally powered. When the robot goes out of bounds under artificial or abnormal conditions, this circuit can effectively protect the motor from damage caused by stall and the driver from overcurrent. When a motor protection situation occurs and causes the robot to be unable to perform inspection, personnel do not need to enter the site. The motor can be remotely controlled to be powered on again and controlled to return to the normal position. A pickup is also provided on the robot housing of this embodiment. The pickup is signal-connected to the main control board, and the main control board transmits the pickup signal to the upper computer through the network port. Audio analysis software is installed on the upper computer. The analysis software analyzes the ambient noise collected by the pickup in real time. When the ambient noise shows abnormal fluctuations, the upper computer issues an alarm signal, and the robot performs lighting alarm and other processes. A network port and a serial port digital isolation circuit are provided on the main control board of the robot of this embodiment. The signal input pins of the network port and the serial port digital isolation circuit are connected to an external upper computer through a cable of an aviation plug connector 5. The signal output pins of the network port and the serial port digital isolation circuit are connected to the signal input pins of the main control board single-chip microcomputer. The corresponding signal output pins of the single-chip microcomputer are connected to the motor and the sound and light alarm, and the robot can be remotely controlled through the upper computer.
[0055] Those skilled in the art can understand that the programs / software involved in the above embodiments are common methods in the prior art, and the present invention does not involve any improvement in software. The present invention only needs to connect the devices with corresponding functions through the connection relationships given in the embodiments of the present invention, and does not involve any improvement in program software. As for the connection methods between the hardware devices with corresponding functions, those skilled in the art can all implement them using the prior art, and will not be described in detail here.
[0056] The above are only the preferred specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present utility model should be covered within the protection scope of the present utility model.
Claims
1. An intelligent inspection robot with automatic power-off protection function, characterized in that: The robot includes a shell, a main control board, a motor control board, a motor, a synchronous wheel, a limit switch, and a photoelectric sensor; the main control board, the motor control board and the motor are arranged inside the shell, and a part of the synchronous wheel is exposed outside the hole through the opening at the bottom of the shell; the main control board is electrically connected to the motor control board, the motor control board is electrically connected to the motor, and the motor is connected to the synchronous wheel, driving the synchronous wheel to rotate so that the robot moves; the limit switch is located on the side walls around the shell, the limit switch is electrically connected to the main control board and the motor control board, the photoelectric sensor is arranged on the side wall of the shell, and the photoelectric sensor is electrically connected to the main control board.
2. The robot according to claim 1, characterized in that: The motor control board includes an OR gate, an AND gate logic chip, and a relay; the signal output end of the limit switch is simultaneously connected to the first input pin of the OR gate and the signal input pin of the main control board, the first logic output pin of the main control board is connected to the second input pin of the OR gate, the output pin of the OR gate is connected to the first input pin of the AND gate, and the second logic output pin of the main control board is connected to the second input pin of the AND gate; the output pin of the AND gate is connected to the relay, and the relay is connected in series with the motor power line.
3. The robot according to claim 1, characterized in that: Through holes are arranged above the four side walls of the robot housing, and the photoelectric sensors are arranged in the through holes, and the sensitive surfaces of the photoelectric sensors are exposed outside the holes.
4. The robot according to claim 3, characterized in that: A bracket is provided inside the shell; the photoelectric sensor is installed on the bracket inside the robot shell near the through hole on the shell side wall; the synchronous wheel is installed on the bracket inside the robot shell near the through hole at the bottom of the shell; the main control board, the motor control board and the motor are installed on the bracket.
5. The robot according to claim 4, characterized in that: The main control board is provided with a single-chip microcomputer and a motor drive chip, the photoelectric sensor is connected to the single-chip microcomputer signal input pin, the single-chip microcomputer motor drive signal output pin is connected to the motor drive chip, and the motor drive chip drive signal output end is connected to the motor control signal input end.
6. The robot according to claim 1, characterized in that: An aviation head connector is provided on the right side wall of the robot shell, and the cables on the aviation head connector include a power cable, a network cable, and a serial communication cable; the robot also includes a power board; the power cable of the aviation head connector is connected to the power board internally and to the power supply externally; the network cable and serial communication cable of the aviation head connector are connected to the main control board internally and to the host computer externally.
7. The robot according to claim 5, characterized in that: The robot shell is also provided with an audible and visual alarm, which is connected to the single chip microcomputer of the main control board.
8. The robot according to claim 7, characterized in that: The main control board is provided with an Ethernet port and a serial port digital isolation circuit. The signal input pins of the Ethernet port and the serial port digital isolation circuit are connected to an external host computer through an aviation head connector cable. The signal output pins of the Ethernet port and the serial port digital isolation circuit are connected to the signal input pins of the main control board microcontroller. The corresponding signal output pins of the microcontroller are connected to the motor and the sound and light alarm.
9. The robot according to claim 5, characterized in that: The robot shell is also provided with a microphone, and the microphone signal is connected to the main control board.
10. The robot according to claim 9, characterized in that: A groove is also provided in the middle of the right side wall of the robot housing, serving as a handle for the robot.