Boarding inspection robot

Abstract

The present specification provides a boarding inspection robot. Comprising a machine body and a moving part, the machine body is arranged above the moving part; wherein the moving part at least comprises a first track structure and a second track structure; the first track structure is arranged on the left side of the moving part; the second track structure is arranged on the right side of the moving part; the first crawler belt structure and the second crawler belt structure are electrically connected with a first motor and a second motor which are arranged in the machine body respectively; a first supporting arm is further arranged on the outer side of the first crawler belt structure, and a second supporting arm is further arranged on the outer side of the second crawler belt structure. The first support arm and the second support arm are electrically connected with the first motor and the second motor respectively; the machine body at least comprises a first camera and a lifting mechanical arm; the first camera is arranged in front of the machine body; one end of the lifting mechanical arm is connected with the machine body, and the other end is provided with a second camera; a temperature sensor is further arranged at the other end of the lifting mechanical arm; wherein the second camera is a pan-tilt camera.

Description

Technical Field

[0001] This specification belongs to the technical field of robots, and particularly relates to a boarding inspection robot. Background Art

[0002] Currently, the boarding inspection at customs is mainly carried out by two customs inspectors boarding the cabin for manual inspection. Based on the above method, the labor cost is high and the inspection efficiency is low; moreover, effective inspection cannot be carried out in some deep and inconvenient exploration areas.

[0003] In response to the above problems, no effective solution has been proposed yet. Utility Model Content

[0004] This specification provides a boarding inspection robot, which can be well adapted to the boarding inspection scenario, automatically complete relevant boarding inspection work efficiently and flexibly, and improve the inspection efficiency.

[0005] Solve the problems of the limitation of the number of boarding inspectors and the inconvenience of exploring boarding passengers.

[0006] This specification provides a boarding inspection robot, including: a fuselage and a moving part; the fuselage is arranged above the moving part; wherein,

[0007] The moving part at least includes: a first crawler structure and a second crawler structure; the first crawler structure is arranged on the left side of the moving part, and the second crawler structure is arranged on the right side of the moving part; the first crawler structure and the second crawler structure are respectively electrically connected to a first motor and a second motor arranged inside the fuselage;

[0008] A first arm is further arranged outside the first crawler structure, and a second arm is further arranged outside the second crawler structure; the first arm and the second arm are respectively electrically connected to the first motor and the second motor;

[0009] The fuselage at least includes: a first camera and a lifting robotic arm; the first camera is arranged at the front position of the fuselage; one end of the lifting robotic arm is connected to the fuselage, and the other end is provided with a second camera; a temperature sensor is further arranged at the other end of the lifting robotic arm; wherein, the second camera is a pan-tilt camera.

[0010] In one embodiment, the boarding inspection robot further includes: an interactive display device; wherein,

[0011] The interactive display device is located on the robotic arm on the side close to the second camera; the interactive display device is further configured with a voice player and a microphone.

[0012] In one embodiment, the boarding inspection robot further includes: a ray scanner; wherein,

[0013] The ray scanner is located between the interactive display device and the second camera.

[0014] In one embodiment, the boarding inspection robot further includes: an environmental information detection sensor; wherein,

[0015] The environmental information detection sensor is located between the interactive display device and the second camera.

[0016] In one embodiment, the environmental information detection sensor includes at least one of the following: an infrared sensor, a speed sensor, and a rangefinder.

[0017] In one embodiment, a rotating disk is provided at the other end of the lifting robotic arm, and the second camera is connected to the other end of the lifting robotic arm through the rotating disk.

[0018] In one embodiment, imaging components are respectively provided on the inner sides of the first arm and the second arm.

[0019] In one embodiment, the lifting robotic arm is configured with an electromagnetic lock and a multi-stage telescopic wire arrangement.

[0020] In one embodiment, the moving part further includes a base, a first handle, and a second handle; wherein,

[0021] The first handle is located on one side of the base close to the first crawler structure, and the second handle is located on one side of the base close to the second crawler structure.

[0022] In one embodiment, the fuselage is further provided with a grasping robotic arm; the grasping robotic arm at least includes a first telescopic rod and a second telescopic rod;

[0023] Wherein, the first end of the first telescopic rod is connected to the fuselage, the second end of the first telescopic rod is connected to the first end of the second telescopic rod through a rotating joint, and a grasping part is further connected to the second end of the second telescopic rod.

[0024] This specification also provides an electronic device, including a processor and a memory for storing processor-executable instructions, and when the processor executes the instructions, a boarding inspection robot is implemented.

[0025] This specification also provides a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed, a boarding inspection robot is implemented.

[0026] A boarding inspection robot provided based on the present specification includes: a fuselage and a moving part; the fuselage is arranged above the moving part; wherein the moving part includes at least: a first crawler structure and a second crawler structure; the first crawler structure is arranged on the left side of the moving part, and the second crawler structure is arranged on the right side of the moving part; the first crawler structure and the second crawler structure are electrically connected to a first motor and a second motor arranged inside the fuselage, respectively; a first support arm is also provided on the outside of the first crawler structure, and a second support arm is also provided on the outside of the second crawler structure; the first support arm and the second support arm are electrically connected to the first motor and the second motor, respectively; the fuselage includes at least: a first camera and a lifting robotic arm; the first camera is arranged at the front position of the fuselage; one end of the lifting robotic arm is connected to the fuselage, and the other end is provided with a second camera; the other end of the lifting robotic arm is also provided with a temperature sensor; wherein the second camera is a pan-tilt camera. In this way, on the one hand, first, through the first crawler structure and the second crawler structure, the boarding inspection robot can have the ability to cope with complex road conditions. Secondly, when the boarding inspection robot encounters an obstacle, the first arm and the second arm can lift the fuselage to enable the boarding inspection robot to cross the obstacle. On the other hand, the boarding inspection robot can obtain the observation angle in the driving direction through the first camera. In addition, the boarding inspection robot can also obtain observation angles at different heights through the second camera and the lifting robotic arm. In addition, for epidemic prevention and control scenarios, the boarding inspection robot can also use the temperature sensor to obtain the temperature information of the object to be detected for prevention and control processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of this specification, the following is a brief introduction to the drawings required for use in the embodiments. The drawings described below are only some of the embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] Figure 1 This is a schematic diagram of the structure of a boarding inspection robot provided by one embodiment of this specification;

[0029] Figure 2 This is a schematic diagram of the structure of another boarding inspection robot provided by an embodiment of this specification;

[0030] Figure 3 This is a schematic diagram of a control method for a boarding inspection robot provided by an embodiment of this specification;

[0031] Figure 4 This is a schematic diagram of a control box controller provided by one embodiment of this specification;

[0032] Figure 5 It is a schematic diagram of the functional partition of the control panel of the control box provided by an embodiment of this specification;

[0033] Figure 6 It is a schematic diagram of the chassis control area provided by an embodiment of this specification;

[0034] Figure 7 It is a schematic diagram of the lifting load control provided by an embodiment of this specification;

[0035] Figure 8 It is a schematic diagram of the robot lighting and camera control panel provided by an embodiment of this specification;

[0036] Figure 9 It is a schematic diagram of the moving part of the boarding inspection robot provided by an embodiment of this specification.

[0037] Legend:

[0038] 100, fuselage; 101, first motor; 102, second motor; 103, first camera; 104, second camera; 105, lifting robotic arm; 106, temperature sensor; 200, moving part; 201, first track structure; 202, second track structure; 300, first arm; 400, second arm; 500, interactive display device; 600, ray scanner; 700, environmental information detection sensor; 800, camera assembly; 900, turntable; 1000, base; 1100, first handle; 1200, second handle; 1300, grasping robotic arm; 1301, first telescopic rod; 1302, second telescopic rod; 1303, grasping part. Detailed implementation manners

[0039] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this specification.

[0040] The embodiments of this specification provide a boarding inspection robot. When specifically implemented, refer to Figure 1 as shown, it includes at least: a fuselage 100 and a moving part 200; the fuselage 100 is arranged above the moving part 200; wherein,

[0041] The moving part 200 at least includes: a first crawler structure 201 and a second crawler structure 202; the first crawler structure 201 is arranged on the left side of the moving part 200, and the second crawler structure 202 is arranged on the right side of the moving part 200; the first crawler structure 201 and the second crawler structure 202 are respectively electrically connected to a first motor 101 and a second motor 102 arranged inside the fuselage 100;

[0042] A first arm 300 is further arranged on the outer side of the first crawler structure 201, and a second arm 400 is further arranged on the outer side of the second crawler structure 202; the first arm 300 and the second arm 400 are respectively electrically connected to the first motor 101 and the second motor 102;

[0043] The fuselage 100 at least includes: a first camera 103 and a lifting robotic arm 105; the first camera 103 is arranged at the front position of the fuselage 100; one end of the lifting robotic arm 105 is connected to the fuselage 100, and the other end is provided with a second camera 104; a temperature sensor 106 is further arranged at the other end of the lifting robotic arm 105; wherein, the second camera 104 is a pan-tilt camera.

[0044] In some embodiments, the positions of the temperature sensor 106 are adjusted through the above-mentioned first arm 300, second arm 400 and lifting robotic arm 105, so as to collect the temperature information of the person to be detected by the temperature sensor 106. Specifically, during implementation, it includes:

[0045] Through the combination of the above-mentioned first arm 300, second arm 400 and lifting robotic arm 105, the position of the temperature sensor 106 is adjusted to the height where the target temperature acquisition position of the person to be detected is located, so as to collect the temperature information of the person to be detected by the temperature sensor 106; wherein, the person to be detected includes passengers and / or flight attendants.

[0046] Specifically, taking the target temperature acquisition position as the forehead position of a passenger as an example, in the case where the height after the lifting robotic arm 105 extends cannot reach the height of the passenger's forehead, the first arm 300 and the second arm 400 can be lifted to lift the fuselage 100, so that the position of the forehead of the passenger to be detected is within the detection range of the temperature sensor 106, and then, the temperature of the forehead of the passenger to be detected can be collected by the temperature sensor 106.

[0047] Wherein, the power of the above-mentioned first motor 101 can be determined by the working environment parameters of the boarding inspection robot; the power of the above-mentioned second motor 102 can be determined by the reduction ratio corresponding to the reducer of the boarding inspection robot.

[0048] In some embodiments, the boarding inspection robot further includes: an interactive display device 500; wherein,

[0049] The interactive display device 500 is located on the robotic arm on the side close to the second camera 104; the interactive display device 500 is further configured with a voice player and a microphone.

[0050] Wherein, the above-mentioned interactive display device 500 includes a processor.

[0051] In some embodiments, the information of the person to be detected is collected by the interactive display device 500 configured with a voice player and a microphone. Specifically, in implementation, it may include:

[0052] Taking the person to be detected as a passenger as an example, when the temperature of the passenger to be detected collected by the temperature sensor 106 is greater than the preset temperature threshold, voice interaction can be carried out with the passenger through the voice player and the microphone to obtain the passenger's travel history;

[0053] Determine whether the passenger has an infection risk according to the travel history, and when it is determined that the passenger has an infection risk, send a preset warning message to the quarantine personnel;

[0054] Taking the person to be detected as a flight attendant as an example, when the temperature of the flight attendant to be detected collected by the temperature sensor 106 is greater than the preset temperature threshold, scan the health certificate of the flight attendant according to the interactive display device 500, and verify the information of the scanned health certificate.

[0055] In some embodiments, the boarding inspection robot further includes: a ray scanner 600; wherein,

[0056] The ray scanner 600 is located between the interactive display device 500 and the second camera 104.

[0057] Wherein, the above-mentioned ray scanner 600 can be an integrated high-resolution X-ray scanner 600. The ray scanner 600 can be used to detect whether there are contraband items (such as liquids, props, explosives, etc.) in the luggage. If contraband items are detected, the boarding inspection robot can send a preset warning message to the relevant staff.

[0058] In some embodiments, the boarding inspection robot further includes: an environmental information detection sensor 700; wherein,

[0059] The environmental information detection sensor 700 is located between the interactive display device 500 and the second camera 104.

[0060] Among them, the environmental information detection sensor 700 includes at least one of the following: an infrared sensor, a speed sensor, and a rangefinder.

[0061] In specific implementation, the above infrared sensor can be used to detect the surface temperature of luggage or items. When detecting luggage or items with a temperature higher than a preset temperature threshold (such as overheating of electronic devices, battery short circuits, etc.), the boarding inspection robot can also send an alarm prompt to relevant staff.

[0062] Furthermore, the infrared sensor can also detect the temperature of liquids. For example, the infrared sensor can also be used to assist in inspecting liquid contraband such as suspicious flammable liquids.

[0063] In specific implementation, the above speed sensor can be used to detect the movement speed of the boarding inspection robot in real time. The boarding inspection robot can adjust the current movement speed according to the detected current movement speed and environmental information. For example, when the boarding inspection robot approaches luggage, passengers, or obstacles, and the speed sensor detects that the current movement speed is greater than a preset speed threshold, the boarding inspection robot can adjust the current movement speed to avoid collisions.

[0064] Furthermore, the boarding inspection robot can also judge whether there is abnormal movement of the moving part 200 (such as slipping on a slope or a smooth ground, etc.) according to the movement speeds of the first track structure 201 and the second track structure 202 detected by the speed sensor. And when it is determined that there is abnormal movement of the moving part 200, the current movement speed or the output power is adjusted so that the boarding inspection robot can pass normally.

[0065] Among them, the above rangefinder can be used to measure the distance between the boarding inspection robot and obstacles (such as luggage, passengers, seats, etc.). The registration and quarantine robot can adjust the moving direction and / or moving speed of the moving part 200 according to the measured distance to avoid collisions between the registration and quarantine robot and obstacles.

[0066] In some embodiments, a rotating disk 900 is provided at the other end of the lifting robotic arm 105, and the second camera 104 is connected to the other end of the lifting robotic arm 105 through the rotating disk 900.

[0067] Specifically, by installing the second camera 104 on the rotating disk 900 at the end of the lifting robotic arm 105, a 360-degree rotation view can be achieved. In this way, by flexibly adjusting the viewing angle and height of the second camera 104, a full-range detection ability can be provided.

[0068] For example, since luggage may be stacked, some items to be inspected may be obscured. Therefore, the boarding inspection robot can adjust the height of the second camera 104 using the lifting arm 105 and simultaneously rotate the second camera 104 around the items to be inspected using the rotating disk 900, allowing observation of the items from different angles to ensure no blind spots during inspection. This allows the second camera 104 to be flexibly positioned for optimal inspection, even in narrow passages or areas with dense obstacles.

[0069] Furthermore, for luggage stacked at different heights, the lifting mechanical arm 105 can adjust the lifting position of the second camera 104 according to the environmental information detected in real time.

[0070] The above structure not only enhances the flexibility and environmental adaptability of the boarding inspection robot, but also reduces the need for manual intervention. By jointly controlling the rotating disk 900 and the lifting arm 105, a viewing angle is achieved through the combined control of vertical lift and horizontal rotation. This allows the second camera 104 to quickly switch viewing angles, easily navigating complex and ever-changing boarding inspection environments, ensuring safety and efficient inspections.

[0071] In some embodiments, a camera assembly 800 is respectively disposed on the inner side of the first arm 300 and the inner side of the second arm 400 .

[0072] Specifically, the presence of abnormal items in the stacked luggage can be determined by using the inner camera assembly 800 of the first arm 300 and the second arm 400 .

[0073] Furthermore, for example, when luggage is stacked or blocked in a narrow space, the inner camera assemblies 800 of the first arm 300 and the second arm 400 can respectively photograph the luggage from two different directions, thereby quickly identifying any abnormal items.

[0074] In some embodiments, the lifting robot arm 105 is equipped with an electromagnetic lock and a multi-stage telescopic rod for arranging cables.

[0075] Specifically, the multi-stage telescopic rod with a cable arrangement can enable the lifting mechanical arm 105 to have a multi-stage telescopic function, and the lifting mechanical arm 105 can be adjusted according to luggage or items of different heights.

[0076] Furthermore, the electromagnetic lock can provide additional fixing and stabilizing functions for the lifting robot arm 105 after it is extended or reaches a designated operating position, thereby avoiding positional deviation or operational errors caused by gravity or vibration of the lifting robot arm 105 .

[0077] Furthermore, when the robotic arm extends to its maximum length, the electromagnetic lock can lock its position to ensure that the task is completed in a stable state and improve the operation accuracy.

[0078] In some embodiments, the moving part 200 further includes a base 1000, a first handle 1100 and a second handle 1200; wherein,

[0079] The first handle 1100 is located on the base 1000 on the side close to the first crawler structure 201, and the second handle 1200 is located on the base 1000 on the side close to the second crawler structure 202.

[0080] In some embodiments, referring to Figure 2 as shown, the fuselage 100 is further provided with a grasping robotic arm 1300; the grasping robotic arm 1300 at least includes a first telescopic rod 1301 and a second telescopic rod 1302;

[0081] Wherein, the first end of the first telescopic rod 1301 is connected to the fuselage 100, the second end of the first telescopic rod 1301 is connected to the first end of the second telescopic rod 1302 through a rotary joint, and the second end of the second telescopic rod 1302 is further connected with a grasping part 1303.

[0082] Specifically, the first telescopic rod 1301 and the second telescopic rod 1302 of the grasping robotic arm 1300 can flexibly extend and retract according to the height and position of the stacked luggage to ensure that the luggage can be smoothly grasped even when the stacked luggage is relatively high.

[0083] For example, when the passengers' luggage is randomly stacked together and some luggage may be at a relatively high position, the first telescopic rod 1301 can first extend the grasping robotic arm 1300 to an appropriate height, and then the second telescopic rod 1302 makes precise adjustments to the grasping position to ensure that the target luggage can be accurately grasped from the top.

[0084] As can be seen from the above, a boarding inspection robot provided by an embodiment of this specification includes: a fuselage 100 and a moving part 200; the fuselage 100 is arranged above the moving part 200; wherein, the moving part 200 at least includes: a first crawler structure 201 and a second crawler structure 202; the first crawler structure 201 is arranged on the left side of the moving part 200, and the second crawler structure 202 is arranged on the right side of the moving part 200; the first crawler structure 201 and the second crawler structure 202 are respectively electrically connected to a first motor 101 and a second motor 102 arranged inside the fuselage 100; a first support arm 300 is further arranged outside the first crawler structure 201, and a second support arm 400 is further arranged outside the second crawler structure 202; the first support arm 300 and the second support arm 400 are respectively electrically connected to the first motor 101 and the second motor 102; the fuselage 100 at least includes: a first camera 103 and a lifting robotic arm 105; the first camera 103 is arranged at the front position of the fuselage 100; one end of the lifting robotic arm 105 is connected to the fuselage 100, and the other end is provided with a second camera 104; a temperature sensor 106 is further arranged at the other end of the lifting robotic arm 105; wherein, the second camera 104 is a pan-tilt camera. In this way, on the one hand, first of all, through the first crawler structure 201 and the second crawler structure 202, the boarding inspection robot can have the ability to cope with complex road conditions. Secondly, when the boarding inspection robot encounters an obstacle, it can lift the fuselage 100 through the first support arm 300 and the second support arm 400 so that the boarding inspection robot can cross the obstacle; on the other hand, the boarding inspection robot can obtain the viewing angle in the driving direction through the first camera 103. In addition, the boarding inspection robot can also obtain viewing angles at different heights through the second camera 104 and the lifting robotic arm 105. In addition, for prevention and control scenarios such as the epidemic, the boarding inspection robot can also obtain the temperature information of the object to be detected through the temperature sensor 106 for prevention and control processing.

[0085] Refer to Figure 3 As shown, an embodiment of this specification also provides a control method for the above-mentioned boarding inspection robot, which is applied to the boarding inspection robot and includes:

[0086] S301: Obtain the inspection scenario where the boarding inspection robot is located; wherein, the inspection scenario at least includes: a boarding quarantine scenario and a prohibited item detection scenario;

[0087] S302: Obtain the inspection rules corresponding to the inspection scenario;

[0088] S303: Collect image information of the object to be detected through the second camera, and perform inspection processing on the inspection scenario according to the inspection rules and the image information;

[0089] Among them, the inspection rules include a first inspection rule corresponding to the boarding quarantine scenario and a second inspection rule corresponding to the prohibited item detection scenario.

[0090] Based on the above method, the boarding inspection robot can be well adapted to different boarding inspection scenarios, so as to efficiently and flexibly complete the relevant boarding inspection work and improve the inspection efficiency.

[0091] In addition, there are various processing methods for the above S303. For example, the inspection processing for the boarding quarantine scenario may specifically include the following steps:

[0092] S3031: According to the image information, identify the objects to be detected included in the inspection scenario, and determine the user types of the objects to be detected. The user types include: passengers and / or flight attendants;

[0093] S3032: According to the user type, determine the corresponding first inspection rule, and according to the first inspection rule, determine the control instructions for the lifting robotic arm, the first arm, and the second arm;

[0094] S3033: According to the control instructions, control the lifting robotic arm, the first arm, and the second arm to inspect the objects to be detected.

[0095] Specifically, the first inspection rule may include a first sub-inspection rule corresponding to passengers. The first sub-inspection rule may be a rule for inspecting the temperature information of passengers. Correspondingly, when determining the control instructions for the lifting robotic arm, the first arm, and the second arm according to the first inspection rule, it may specifically include:

[0096] S1: According to the image information, obtain the height information of the temperature detection position corresponding to the object to be detected;

[0097] S2: In the case where the height after the extension of the lifting robotic arm does not match the height information, adjust the lifting height of the first arm and the second arm according to the first sub-inspection rule.

[0098] In this way, the height of the fuselage can be adjusted by combining the first arm and the second arm with the lifting robotic arm, so that the passenger temperature detection positions (such as the forehead, armpit, etc.) can be within the detection range of the temperature sensor, and the temperature information of the passengers can be collected by the temperature sensor.

[0099] In addition, the first inspection rule may include a second sub-inspection rule corresponding to the flight attendant, and the second sub-inspection rule may be a rule for inspecting the health certificate of the flight attendant. Correspondingly, determining the control instructions for the lifting robotic arm, the first arm, and the second arm according to the first inspection rule may specifically include:

[0100] S1: Identify the health certificate information of the flight attendant according to the image information;

[0101] S2: Determine whether the health certificate of the flight attendant is within the valid period according to the health certificate information.

[0102] In addition, there can be various processing methods for the above S303. For example, the inspection process for the prohibited item detection scenario may specifically include the following steps:

[0103] S1: Detect the surface temperature of the object to be detected according to the infrared sensor;

[0104] S2: Identify and process the type of item to which the object to be detected belongs according to the image information, and determine the type of item to which the object to be detected belongs;

[0105] S3: Determine the corresponding second inspection rule according to the type of item to which the object to be detected belongs, and determine the temperature threshold corresponding to the object to be detected according to the second inspection rule;

[0106] S4: Inspect whether the surface temperature of the object to be detected is higher than the preset temperature threshold, and issue an alarm prompt to the relevant staff when the surface temperature of the object to be detected is higher than the preset temperature threshold.

[0107] In addition, for example, the inspection process for the prohibited item detection scenario may also specifically include the following steps:

[0108] S1: Obtain the item information inside the object to be detected according to the ray scanner;

[0109] S2: Identify and process the type of item to which the object to be detected belongs according to the image information, and determine the type of item to which the object to be detected belongs;

[0110] S3: When it is determined that the object to be detected meets the preset detection conditions according to the item information and the type of item to which the object to be detected belongs, control the boarding inspection robot to move the object to be detected to the preset detection position.

[0111] In addition, for example, the inspection process for the prohibited item detection scenario may also specifically include the following steps:

[0112] S1: Obtain the item information inside the object to be detected according to the ray scanner;

[0113] S2: Determine the weight of the object to be detected according to the item information;

[0114] S3: Determine the position information of the object to be detected according to the image information;

[0115] S4: When the weight of the object to be detected is not greater than the preset weight and the position information of the object to be detected meets the preset grasping conditions, control the grasping manipulator to grasp the object to be detected to the preset detection position;

[0116] S5: When the weight of the object to be detected is greater than the preset weight and the position information of the object to be detected meets the preset grasping conditions, send a prompt message to the relevant staff.

[0117] In a specific scenario example, a boarding inspection robot provided in this specification can be applied to solve the problems of the limitation of the number of boarding inspections and the inconvenience of detecting boarding passengers. The specific implementation process can include the following content.

[0118] The collaborative operation mode can be realized by means of remote control. Refer to Figure 4 as shown, configure a control box controller for the boarding inspection robot. Specifically, refer to Figure 5 as shown, the function partition of the control box control panel, where A. Power control area, controls the power supply of the control box; B. Voice intercom function; C. Chassis control area, controls the driving and arm movement of the robot; D. Mechanical lifting device control area, controls the joint movement of the robot; E. Light and image control area, controls the on / off of the light and the selection of images and the focal length of the second camera 104; F. Information display area, displays relevant information; G. Reserved button area, buttons in this area can be used for additional functions in subsequent projects.

[0119] Further, refer to Figure 6 as shown, the chassis control area, where the 1st area is a slider for controlling the driving speed. Slide the slider down to reduce the driving speed of the boarding inspection robot, and slide the slider up to increase the driving speed of the boarding inspection robot. The 2nd area is a joystick for controlling the first arm 300 and the second arm 400 and the driving control of the boarding inspection robot.

[0120] Further, refer to Figure 7 , the joint control operations are shown in Table 1.

[0121] Table 1

[0122]

[0123] Further, refer to Figure 8 As shown, the operating instructions for the lighting and camera of the boarding inspection robot are shown in Table 2 below.

[0124] Table 2

[0125]

[0126] During specific implementation, the moving part of the boarding inspection robot adopts an articulated crawler structure to achieve the all-terrain adaptability and shock and drop resistance of the boarding inspection robot. Private network communication is adopted to achieve one-to-one control with strong anti-interference ability. The lifting height of the pan-tilt reaches 1.9 meters, enabling the observation of high-position items such as the luggage compartment.

[0127] S1: Traveling power calculation and motor selection

[0128] The moving part 200 adopts a crawler structure. The first crawler structure 201 and the second crawler structure 202 are respectively located on both sides of the moving part 200. Each side of the crawler is driven by a motor (i.e., the first motor 101 and the second motor 102). By rotating the motor in different directions, the forward, backward, left and right turning of the fuselage 100 are realized. Its structure is as Figure 9 shown.

[0129] According to the requirements, it is determined that the maximum traveling speed requirement is not less than 1.5 m / s. The diameter of the primary selected crawler driving wheel is 180 mm, and the speed converted to the crawler driving wheel is 2.65 revolutions per second, that is, 159 rpm. The self-weight of the boarding inspection robot is controlled within 41.5 kg. The friction coefficient μ between the bottom surface and the chassis of the boarding inspection robot during the driving process of the entire boarding inspection robot is 0.2. During the uniform forward movement of the boarding inspection robot, the acceleration is 0. The power P1 required to reach the maximum speed can be obtained according to the following formula:

[0130] P1 = f * v = μmg * v = 0.2 * 41.5 * 9.8 * 2 = 122 W

[0131] The transmission system efficiency is 80%, so the minimum power output of the traveling motor is 152.5 W.

[0132] Further, the climbing requirement is not less than 35°. Since there is no speed requirement during climbing, a relatively low speed of 0.5 m / s is selected. Then the power P2 required during climbing can be obtained according to the following formula:

[0133] P2 = F * v = mg(sin 35° + μcos 35°) * v = 150 W

[0134] The efficiency of the drive system is 80%, so the minimum power output of the driving motor is 187.5W. During use, energy losses such as air resistance and electrical losses during movement, acceleration power, and the design concept of exceeding the indicators as much as possible need to be considered. Therefore, a DC motor with a rated power of 200W (operating temperature -40°C to 75°C) is initially selected, and its parameters are shown in Table 3 below.

[0135] Table 3

[0136] Serial number Type Parameter 1 Voltage 24V 2 Power 200W 3 Rated torque 640 mNm 4 Rated speed 5970 rpm 5 Locked-rotor torque 13800 mNm

[0137] When the boarding inspection robot moves on a horizontal ground, the frictional force provided by the ground to the chassis is equal to the traction force of the motor moving forward.

[0138] m*a = F1 - f

[0139] Among them, m is the torque of the motor, and F1 is the traction force of the motor moving forward.

[0140] Furthermore, the traction force F1 is calculated according to the above formula:

[0141] F1 = f = μmg = 0.2 * 41.5 * 9.8 = 81.34N

[0142] Then, the torque M required for the driving wheel can be obtained according to the following formula:

[0143] M = F1 * r = 81.34 * 0.09 = 7.32N·m

[0144] From the motor parameters in Table 3, it can be seen that the rated speed of the motor is 5970rpm, and the required speed of the crawler driving wheel is 159rpm. Then, the maximum total reduction ratio can be obtained according to the following formula:

[0145]

[0146] Among them, i max represents the maximum reduction ratio, n1 represents the rated speed of the motor, and n2 represents the required speed of the crawler driving wheel.

[0147] When the boarding inspection robot climbs a slope, the traction force of the motor moving forward is greater than the sum of the frictional force of the slope on the chassis and the component force of the boarding inspection robot parallel to the slope, that is:

[0148] m*a = F1 - mg(sin 35° + μcos 35°)

[0149] The traction force is calculated from the above formula:

[0150] F1 >= mg(sin 35° + μcos 35°) = 41.5 * 9.8 * 0.74 = 300N

[0151] The torque required for the driving wheel is:

[0152] M = F1 * r = 300 * 0.09 = 27 N·m

[0153] From the motor parameters in Table 3, it can be seen that the rated torque of the motor is 640 mN·m. The chassis moves forward with dual-motor drive, and the total output torque can be 1280 mN·m, that is, 1.28 N·m. According to the above formula, the torque required for climbing is 27 N·m, so the minimum total reduction ratio is:

[0154]

[0155] Based on the above torque calculation method, it is obtained that under the rated working condition, the reduction ratio is 21 to meet the torque requirement. To sum up, the actual reduction ratio is greater than the maximum torque reduction ratio and less than the maximum speed reduction ratio. That is, 21 < i < 38. And the actual working environment of the robot is more severe, and the demand for torque is much greater than the demand for speed. While meeting the basic speed requirements, ensure that the robot has sufficient power, and determine that the reduction ratio is close to 38. According to the comparison of the robot structure design and the combination of reducers, it is determined that the reducer is a two-stage reducer with a reduction ratio i = 21. A gear set with a reduction ratio of 1.75 is designed inside the side vertical plate for non-coaxial power transmission. Therefore, the final reduction ratio is i = 21×1.75 = 36.75. Calculate backward whether the motor meets the usage requirements in this way. The transmission system efficiency is 80%, and the corresponding actual torque is:

[0156]

[0157] According to the motor parameters in Table 3, the torque constant of the motor is 68 mNm / A, the rated current is 9.36 A, and the rated torque is 640 mNm. Then the current I required for the motor to reach 460 mNm:

[0158]

[0159] It can be seen that the motor has abundant power reserves and can cope with more complex environments.

[0160] Furthermore, for the maximum moving speed of the boarding inspection robot, the rated speed of the boarding inspection robot motor is 5970 rpm, the reduction ratio i = 36.75, and the diameter of the driving wheel d = 180 mm. Therefore, the maximum theoretical speed v of the boarding inspection robot is

[0161]

[0162] Due to different road conditions, etc., the rated speed of the boarding inspection robot motor decreases slightly under the actual load. Finally, the measured maximum speed of the boarding inspection robot is 1.52 m / s.

[0163] S2: Upgrade of the robotic arm 105 and motor selection

[0164] The lifting robotic arm 105 is fixed on the robotic arm tube. A driving scheme of a motor, a reducer, and a worm and worm gear reducer is adopted. The reducer is connected to the turntable to pull the wire rope to control the lifting of the device. The weight of the lifting device is 7.86 kg, the diameter of the driving turntable is 20 mm, and the torque T for driving the lifting device is as follows:

[0165] T = mgs = 7.86 * 9.8 * 0.1 = 7.7 N·m

[0166] The parameters of the selected motor (operating temperature -20°C to 75°C) are shown in Table 4 below.

[0167] Table 4

[0168] Rated voltage (V / DC) 24 Rated speed (RPM) 5450 Rated current (A) 2.25 Rated torque (N*M) 0.078

[0169] Select the energy-saving reducer p32h-66 with a reduction ratio of 66. The transmission structure is selected as a high-ratio hyperbolic gear with a reduction ratio of 10, and the total reduction ratio is 660. The total efficiency of the transmission process is 60%. Then the torque T of the driving motor of the boom joint acting on the joint arm is ` :

[0170] T ` = mgs = 0.078 * 660 * 0.6 = 31 N·m

[0171] Since T ` > T, the selected motor can meet the usage requirements.

[0172] S3: Realization of the functional scenarios of the boarding inspection robot

[0173] 1. Flat ground driving control

[0174] First, turn on the control box and then turn on the boarding inspection robot, and confirm that the boarding inspection robot is in the posture with the lifting device retracted. The right joystick of the control box and the speed potentiometer cooperate to control the flat ground driving of the boarding inspection robot. Observe the surrounding roads in real time through the four-screen display, adjust the running speed and direction, and mainly observe the front environment through the first camera 103 during operation, and the second camera 104 is used for auxiliary observation.

[0175] 2. Climbing

[0176] Operate the boarding inspection robot to go uphill

[0177] 1) When the boarding inspection robot goes uphill, in order to prevent it from tipping over from the ramp, the center of gravity of the boarding inspection robot should be lowered as much as possible and the center of gravity should be as far forward as possible. Therefore, the lifting device should be retracted as much as possible to lower the overall center of gravity. If the slope is too large, the first arm 300 and the second arm 400 should be extended as far forward as possible to make the center of gravity forward.

[0178] 2) First, adjust the first flipping arm 300 and the second flipping arm 400 so that they are basically in the same plane as the fuselage 100. Do not let the first flipping arm 300 and the second flipping arm 400 support on the ramp to bear force.

[0179] 3) When the boarding inspection robot reaches the top of the ramp and the first flipping arm 300 and the second flipping arm 400 are already suspended, adjust the first flipping arm 300 and the second flipping arm 400 to make them contact the ground downward, and then slowly control the boarding inspection robot to move forward.

[0180] 4) After the boarding inspection robot finishes going up the ramp, adjust the first flipping arm 300 and the second flipping arm 400 so that they form an angle of about 45° with the ground as much as possible.

[0181] Control the boarding inspection robot to go down the ramp

[0182] 1) When the boarding inspection robot goes down the ramp, in order to prevent it from tipping over from the ramp, lower the center of the boarding inspection robot as much as possible and make the center of gravity as far back as possible.

[0183] 2) Adjust the first flipping arm 300 and the second flipping arm 400 so that they are basically in the same plane as the fuselage 100. Do not let the first flipping arm 300 and the second flipping arm 400 support on the ramp to bear force.

[0184] 3) After the boarding inspection robot finishes going down the ramp, adjust the first flipping arm 300 and the second flipping arm 400 so that they form an angle of about 45° with the ground as much as possible.

[0185] 3. Crossing a trench

[0186] When operating the boarding inspection robot to cross a trench, first visually estimate the width of the trench. The width of the trench that the boarding inspection robot can safely cross is 20 cm.

[0187] Adjust the boarding inspection robot to align with the edge of the trench, lift the first arm 300 and the second arm 400 a little off the ground without touching the ground, and walk forward an appropriate distance.

[0188] To prevent the boarding inspection robot from falling into the trench, it is necessary to lower the center of gravity of the boarding inspection robot as much as possible, place the lifting device backward, retract the first arm 300 and the second arm 400 towards the rear of the vehicle, and make the center of gravity of the boarding inspection robot as far back as possible.

[0189] Control the boarding inspection robot so that the front part of its crawler crosses to the other end of the trench and obtains reliable support.

[0190] Adjust the first arm 300 and the second arm 400 to rotate forward so that the center of gravity of the boarding inspection robot is forward.

[0191] Maneuver the boarding inspection robot so that the rear part of its tracks leaves the edge of the trench.

[0192] When the trench is too wide, the first support arm 300 and the second support arm 400 can be used to support the vehicle to the edge of the trench so as to pass through smoothly.

[0193] 4. Overcoming obstacles

[0194] When operating the boarding inspection robot to climb over an obstacle, you must first visually check the height of the obstacle. The height of the obstacle that the boarding inspection robot can safely climb over is 20cm.

[0195] Adjust the boarding inspection robot to face the obstacle, and raise the first arm 300 and the second arm 400 to about 45 degrees.

[0196] Retract the lifting device of the boarding inspection robot.

[0197] The boarding inspection robot is controlled to move forward so that the front ends of the first arm 300 and the second arm 400 touch the edge of the obstacle.

[0198] Maneuver the boarding inspection robot to slowly climb over the obstacle. If necessary, adjust the center of gravity of the boarding inspection robot by adjusting the angle of the lifting device.

[0199] 5. Going up and down stairs

[0200] When operating the boarding inspection robot up stairs, you must first observe the slope of the stairs. The stairs that the boarding inspection robot can climb do not exceed 35 degrees.

[0201] To prevent the boarding inspection robot from falling down the stairs, the center of gravity of the boarding inspection robot must be kept as low as possible and the center of gravity as forward as possible. Therefore, the lifting device should be retracted as much as possible to keep the overall center of gravity low. If the stairs are steep, the lifting device should be extended as far as possible to move the center of gravity forward.

[0202] Adjust the movement direction of the fuselage 100 and aim it at the stairs.

[0203] The first arm 300 and the second arm 400 are adjusted to be away from the ground at a certain angle, the speed of the fuselage 100 is reduced, and the first arm 300 and the second arm 400 are used to assist in climbing the first step.

[0204] Adjust the first arm 300 and the second arm 400 so that they are substantially in the same plane as the fuselage 100 , and do not allow the first arm 300 and the second arm 400 to be subjected to any force.

[0205] When the main tracks on both sides of the fuselage 100 climb up the last step of the stairs, the first arm 300 and the second arm 400 are adjusted downward to contact the ground to obtain ground support and prevent tipping.

[0206] The fuselage 100 continues to move forward while lifting the first arm 300 and the second arm 400 upward to press the main tracks on both sides against the ground. After completing the stair-climbing operation, retract the arms.

[0207] When climbing stairs, try to reduce the speed of the fuselage 100 and keep the fuselage 100 moving at a constant speed to avoid accelerating and decelerating too quickly.

[0208] If during the process of climbing the first step, the inclination of the fuselage 100 is too large and there is a tendency to tip backward, immediately retreat to flat ground, further lower the center of gravity of the lifting device and then try again.

[0209] During the stair-climbing process, when there is always a situation of drifting to one side, it may be due to a relatively large slope or heavy load, resulting in insufficient driving ability of one side of the track. At this time, the fuselage 100 can be retreated, the body can be turned and adjusted, and then continue to move forward.

[0210] When the boarding inspection robot goes down the stairs, in order to prevent it from falling over the stairs, the center of the boarding inspection robot should be lowered as much as possible and the center of gravity should be as far back as possible. Therefore, the lifting device should be retracted as much as possible to lower the overall center of gravity. If the stairs are relatively steep, rotate the lifting device counterclockwise by 180° so that the lifting device faces the rear of the vehicle and the center of gravity is behind.

[0211] Adjust the moving direction of the fuselage 100 to align with the stairs.

[0212] When the main tracks on both sides of the fuselage 100 press on the edge of the stair plane, the first arm 300 and the second arm 400 should be turned downward to make contact with the first step of the stairs. Slowly move the fuselage 100 while lifting the first arm 300 and the second arm 400 upward to press the main tracks on both sides against the stairs and relieve the force on the first arm 300 and the second arm 400.

[0213] Adjust the first arm 300 and the second arm 400 so that they are basically in the same plane as the fuselage 100. Do not let the first arm 300 and the second arm 400 bear force, and keep the fuselage 100 climbing down the stairs slowly and at a constant speed.

[0214] When the fuselage 100 reaches the bottom of the stairs and the first arm 300 and the second arm 400 contact the horizontal ground, the first arm 300 and the second arm 400 should be slowly lifted upward to make the fuselage 100 slowly climb down the last step. After completing the operation of the boarding inspection robot going down the stairs, retract the arms.

[0215] When climbing stairs, try to reduce the speed of the fuselage 100 and keep the fuselage 100 moving at a constant speed to avoid accelerating and decelerating too quickly.

[0216] Operate with caution and pay attention to observation. When the operation is not proficient, there must be a companion to assist and watch near the boarding inspection robot. Once there is a sign of tipping over, quickly press the handle.

[0217] 6. Detection Techniques

[0218] Observe by using the functions and mutual cooperation of the second camera 104 and the first camera 103. At the same time, observe by using the rotation of the base 1000 of the lifting device and the pitching of the boom, and pay attention to the center of gravity of the boarding inspection robot. After the lifting device is raised, do not place the lifting device forward to avoid unstable center of gravity and damage to the boarding inspection robot.

[0219] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the related embodiment, the description is relatively simple, and the relevant parts can refer to the description of the related embodiment. In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of this specification. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0220] The above description is only for the embodiments of this specification and does not limit the embodiments of this specification. For those skilled in the art, various changes and modifications can be made to the embodiments of this specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of this specification shall be included within the scope of the claims of the embodiments of this specification.

Claims

1. A boarding inspection robot, characterized in that, At least including: The fuselage and the moving part; The fuselage is arranged above the moving part; wherein, The moving part at least includes: a first crawler structure and a second crawler structure; the first crawler structure is arranged on the left side of the moving part, and the second crawler structure is arranged on the right side of the moving part; the first crawler structure and the second crawler structure are respectively electrically connected to a first motor and a second motor arranged inside the fuselage; A first arm is further arranged outside the first crawler structure, and a second arm is further arranged outside the second crawler structure; the first arm and the second arm are respectively electrically connected to the first motor and the second motor; The fuselage at least includes: a first camera and a lifting robotic arm; the first camera is arranged at the front position of the fuselage; one end of the lifting robotic arm is connected to the fuselage, and the other end is provided with a second camera; a temperature sensor is further arranged at the other end of the lifting robotic arm; wherein, the second camera is a pan-tilt camera.

2. The boarding inspection robot according to claim 1, wherein The boarding inspection robot further includes: an interactive display device; wherein, The interactive display device is located on the robotic arm on the side close to the second camera; the interactive display device is further configured with a voice player and a microphone.

3. The boarding inspection robot according to claim 2, wherein, The boarding inspection robot further includes: a ray scanner; wherein, The ray scanner is located between the interactive display device and the second camera.

4. The boarding inspection robot according to claim 3, wherein, The boarding inspection robot further includes: an environmental information detection sensor; wherein, The environmental information detection sensor is located between the interactive display device and the second camera.

5. The boarding inspection robot according to claim 4, wherein The environmental information detection sensor includes at least one of the following: an infrared sensor, a speed sensor, and a rangefinder.

6. The boarding inspection robot according to claim 1, wherein, A rotating disk is arranged at the other end of the lifting robotic arm, and the second camera is connected to the other end of the lifting robotic arm through the rotating disk.

7. The boarding inspection robot according to claim 1, wherein Camera assemblies are respectively arranged on the inner sides of the first arm and the second arm.

8. The boarding inspection robot according to claim 1, characterized in that, The lifting robotic arm is configured with an electromagnetic lock and a multi-stage telescopic cable.

9. The boarding inspection robot according to claim 1, wherein The moving part further includes a base, a first handle, and a second handle; wherein, The first handle is located on the base on the side close to the first crawler structure, and the second handle is located on the base on the side close to the second crawler structure.

10. The boarding inspection robot according to claim 1, wherein A grasping robotic arm is further arranged on the fuselage; the grasping robotic arm at least includes a first telescopic rod and a second telescopic rod; wherein, The first end of the first telescopic rod is connected to the fuselage, the second end of the first telescopic rod is connected to the first end of the second telescopic rod through a rotating joint, and a grasping part is further connected to the second end of the second telescopic rod.

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