Image acquisition mechanism and inspection robot

Abstract

The utility model discloses an image acquisition mechanism and an inspection robot. The image acquisition mechanism comprises a supporting seat, an image acquisition device, a first direction rotation driver and a second direction rotation driver, through the combination of the first direction rotation driver and the second direction rotation driver, the image collector can rotate and scan in the horizontal direction and the vertical direction at the same time, images of the surrounding environment are comprehensively collected, and better flexibility is achieved; the supporting seat is additionally arranged, so that the overall mounting stability is ensured; the supporting seat is provided with the mounting cavity and the opening, so that other detection sensors can be mounted, the image collector and the other detection sensors are integrated, the whole mechanism is more compact, and the size of the inspection robot can be optimized.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to an image acquisition mechanism and an inspection robot. Background Technology

[0002] Inspection robots are a significant achievement of modern technological development, greatly enhancing safety, efficiency, and sustainability across various industries. With continuous technological advancements, the application scope of inspection robots will expand further, making them an essential component of future intelligent maintenance and safety management.

[0003] Image acquisition mechanism is an important component of inspection robot. Existing image acquisition mechanisms mainly include an electric turntable installed on the top of the inspection robot, an electric telescopic column installed on the electric turntable, and an image acquisition device installed on the top of the electric telescopic column. This structural design can only achieve horizontal rotation adjustment, which is still insufficient in terms of flexibility. Moreover, the electric turntable is directly installed on the top of the inspection robot, which is easily affected by factors such as unevenness of the top of the inspection robot, resulting in unstable installation. The installation stability still needs to be further improved. Utility Model Content

[0004] In view of this, the purpose of this application is to provide an image acquisition mechanism and an inspection robot to solve the technical problems of insufficient flexibility and insufficient installation stability of existing image acquisition mechanisms.

[0005] To achieve the above technical objectives, this application provides an image acquisition mechanism, including a support base, an image acquisition device, a first-direction rotation driver, and a second-direction rotation driver;

[0006] The first direction rotation driver is mounted on the second direction rotation driver and is connected to the image acquisition device in a one-to-one correspondence, for driving the image acquisition device to rotate along the first direction;

[0007] The second direction rotation driver is mounted on the top of the support base and is used to drive the first direction rotation driver to rotate along the second direction;

[0008] The support base has an installation cavity;

[0009] At least one side of the support base has an opening that communicates with the mounting cavity.

[0010] Furthermore, there are two image acquisition devices, arranged symmetrically.

[0011] The first direction rotation driver is a vertical rotation driver, and there are two first direction rotation drivers, which are connected to the image acquisition unit one by one.

[0012] Furthermore, it also includes a connecting shell;

[0013] The connecting shell is mounted on the second direction rotation driver, which is a horizontal rotation driver.

[0014] The two image acquisition units are symmetrically arranged on both sides of the connecting shell;

[0015] Two first-direction rotation drivers are installed in the connecting housing, and their respective drive ends extend out of the connecting housing and are connected to the corresponding image acquisition unit.

[0016] Furthermore, the support base is U-shaped, and its three sequentially connected sides are provided with interconnected openings.

[0017] Furthermore, the support base includes an upper body and a lower body;

[0018] The lower seat has an L-shaped structure;

[0019] The upper seat is fixed to the top of the vertical portion of the lower seat;

[0020] The mounting cavity is formed between the horizontal portions of the upper seat and the lower seat.

[0021] Furthermore, the upper seat includes an upper frame, an upper top plate, and an upper outer shell;

[0022] The upper outer shell covers the outer periphery of the upper frame;

[0023] The upper top plate is fixed to the top of the upper frame and connected to the upper outer shell.

[0024] Furthermore, the lower seat body includes a lower frame, a lower top plate, and a lower outer shell;

[0025] The lower frame includes a first frame and a second frame;

[0026] The top of the first frame is connected to the upper body;

[0027] The second frame is disposed on one side of the first frame, and its height is lower than that of the first frame;

[0028] The lower outer shell covers the outer periphery of the first frame and the second frame;

[0029] The lower top plate is fixed to the top of the second frame and connected to the lower outer shell.

[0030] Furthermore, the lower seat also includes a fixing strip;

[0031] The fixing strip is connected to the first frame and the second frame.

[0032] Furthermore, at least two fixing strips are symmetrically arranged on both sides of the first frame and the second frame;

[0033] The lower outer shell is connected to the fixing strip.

[0034] This application also discloses an inspection robot, including the robot body and the aforementioned image acquisition mechanism;

[0035] The image acquisition mechanism is installed on the top of the robot body, and a detection sensor is installed in the mounting cavity of its support base.

[0036] As can be seen from the above technical solutions, the image acquisition mechanism designed in this application has the following beneficial effects:

[0037] 1. By combining the first-direction rotation driver and the second-direction rotation driver, the image acquisition unit can simultaneously rotate and scan in the first and second directions (vertical and horizontal directions) to comprehensively acquire images of the surrounding environment, thus providing greater flexibility.

[0038] 2. An additional support base is added to better install the second-direction rotary driver, avoiding insecure installation due to the top structure of the inspection robot and ensuring overall installation stability.

[0039] 3. The support base is equipped with a mounting cavity and an opening, which can be used to install other detection sensors, so that the image acquisition unit can be integrated with other detection sensors. The overall structure is more compact and helps to optimize the size of the inspection robot. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A perspective view of an image acquisition mechanism provided in this application;

[0042] Figure 2 A perspective view of an inspection robot provided in this application;

[0043] Figure 3 This is a partial structural diagram of an inspection robot provided in this application;

[0044] In the diagram: 1. Support base; 11. Upper base; 111. Upper top plate; 112. Upper outer shell; 12. Lower base; 121. Lower top plate; 122. Lower outer shell; 123. Lower frame; 1231. First frame; 1232. Second frame; 124. Fixing bar; 2. Image acquisition device; 3. Second direction rotation driver; 4. Connecting shell; 5. Detection sensor; 6. Robot body. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the embodiments of this application.

[0046] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0048] This application discloses an image acquisition mechanism and an inspection robot.

[0049] Please see Figure 1 as well as Figure 3 As shown, one embodiment of an image acquisition mechanism provided in this application includes:

[0050] Support base 1, image acquisition unit 2, first direction rotation driver (not shown in the figure) and second direction rotation driver 3.

[0051] The first direction rotation driver is mounted on the second direction rotation driver 3 and is connected to the image acquisition device 2 in a one-to-one correspondence, used to drive the image acquisition device 2 to rotate along the first direction. The first direction rotation driver is an existing rotation driver capable of forward and reverse rotation control, and will not be described in detail.

[0052] The second direction rotation driver 3 is mounted on the top of the support base 1 and is used to drive the first direction rotation driver to rotate along the second direction. The second direction rotation driver 3 can be an existing flat rotary motor that can control forward and reverse rotation, making the vertical structure more compact, which will not be described in detail.

[0053] Through the above design, the image acquisition unit 2 can rotate and scan simultaneously in the first direction and the second direction (vertical and horizontal directions) to comprehensively acquire images of the surrounding environment, thus providing better flexibility.

[0054] Furthermore, by adding a support base 1, the second-direction rotary driver 3 can be better installed, avoiding the problem of unstable installation caused by the top structure of the inspection robot, and ensuring the overall installation stability.

[0055] The support base 1 has a mounting cavity, and at least one side of the support base 1 has an opening communicating with the mounting cavity. The mounting cavity can be used to install other detection sensors 5, such as lidar, while the opening ensures that the installed detection sensors 5 can perform detection through the opening, ensuring normal operation. Through the above design, the image acquisition unit 2 can be integrated with other detection sensors 5, making the overall structure more compact and helping to optimize the size of the inspection robot.

[0056] The above is an embodiment of an image acquisition mechanism provided in this application. The following is an embodiment of an image acquisition mechanism provided in this application. Please refer to the following for details. Figure 1 as well as Figure 3 .

[0057] Based on the solution of Embodiment 1 above:

[0058] Furthermore, the image acquisition device 2 is preferably designed as two devices, symmetrically arranged, to achieve binocular acquisition, improve acquisition accuracy and acquisition range, etc.; of course, three or more can be set as needed, without limitation.

[0059] Correspondingly, there are two first-direction rotation drivers, which are connected one-to-one with the image acquisition unit 2.

[0060] The first direction rotation driver can be a vertical rotation driver; in specific design, it can be designed to drive the image acquisition unit 2 to rotate 90° up and down.

[0061] Furthermore, it also includes a connecting shell 4, which is mounted on the second-direction rotary actuator 3. Taking two image acquisition units 2 as an example, they can be symmetrically arranged on both sides of the connecting shell 4; two first-direction rotary actuators are mounted in the connecting shell 4, and their respective drive ends extend out of the connecting shell 4 and connect to the corresponding image acquisition unit 2. By setting the connecting shell 4, the first-direction rotary actuators can be hidden, which also improves the installation reliability of the first-direction rotary actuators. At the same time, bearings can be added between the image acquisition unit 2 and the connecting shell 4 for connection, so as to improve the rotational smoothness of the image acquisition unit 2.

[0062] The second-direction rotary driver 3 is a horizontal rotary driver; in specific design, it can be designed to drive the first-direction rotary driver to rotate horizontally 360°.

[0063] Furthermore, in order to form the required mounting cavity and opening, the support 1 can be designed in the shape of an inverted triangle (U), which forms the mounting cavity, and its three sequentially connected sides are each provided with interconnected openings. The inverted triangle design not only meets the requirements of the mounting cavity design, but also forms a large range of openings to provide the detection sensor 5 with a wide detection field of view.

[0064] Furthermore, taking the U-shaped structure design as an example, the support base 1 structure is specifically designed to include an upper base 11 and a lower base 12.

[0065] The upper seat 11 has a plate-shaped structure, and the lower seat 12 has an L-shaped structure. The upper seat 11 is fixed to the top of the vertical part of the lower seat 12, and the mounting cavity is formed between the upper seat 11 and the horizontal part of the lower seat 12.

[0066] Furthermore, the upper seat 11 includes an upper frame (not shown in the figure), an upper top plate 111, and an upper outer shell 112.

[0067] The upper frame is assembled from several connecting rods, which enhances the structural strength. The upper outer shell 112 covers the outer periphery of the upper frame, and the upper top plate 111 is fixed to the top of the upper frame and connected to the upper outer shell 112. The upper outer shell 112, the upper top plate 111, and the upper frame can be fastened together with screws or other fasteners. A sealing ring can be provided between the upper top plate 111 and the upper outer shell 112 to achieve a sealed connection; no specific restrictions apply.

[0068] Furthermore, the lower seat 12 includes a lower frame 123, a lower top plate 121, and a lower outer shell 122.

[0069] The lower frame 123 includes a first frame 1231 and a second frame 1232. Both the first frame 1231 and the second frame 1232 are assembled from several connecting rods, which play a role in improving the structural strength.

[0070] The top of the first frame 1231 is connected to the upper seat 11, and the second frame 1232 is disposed on one side of the first frame 1231 and is lower than the first frame 1231 to form a height difference. This height difference area can be used to form the required mounting cavity.

[0071] The lower outer shell 122 covers the outer periphery of the first frame 1231 and the second frame 1232. The lower top plate 121 is fixed to the top of the second frame 1232 and connected to the lower outer shell 122. Referring to the above design, the lower outer shell 122 and the lower top plate 121 can also be connected to the lower frame 123 by fasteners such as screws. At the same time, a sealing ring can be added between the lower top plate 121 and the lower outer shell 122 to improve the connection sealing performance. No specific restrictions are imposed.

[0072] Furthermore, the lower support body 12 also includes a fixing strip 124, which is connected to the first frame 1231 and the second frame 1232. By adding the fixing strip 124 to connect the first frame 1231 and the second frame 1232 into a whole, the stability of the entire support base 1 is enhanced.

[0073] Furthermore, at least two fixing strips 124 are symmetrically arranged on both sides of the first frame 1231 and the second frame 1232; increasing the number of fixing strips 124 and adopting a symmetrical design can further improve the overall connection between the first frame 1231 and the second frame 1232, thereby further improving the support stability.

[0074] Meanwhile, the fixing strips 124 on both sides can also be connected to the lower outer shell 122 to connect and fix the lower shell. The lower shell can be connected to the fixing strips 124 by screws.

[0075] like Figure 2 as well as Figure 3 As shown, this application also discloses an inspection robot, including a robot body 6 and an image acquisition mechanism; the image acquisition mechanism is installed on the top of the robot body 6, and a detection sensor 5 is installed in the mounting cavity of its support base 1.

[0076] The above provides a detailed description of an image acquisition mechanism and inspection robot provided in this application. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An image acquisition mechanism, characterized in that, Includes a support base (1), an image acquisition unit (2), a first-direction rotation driver, and a second-direction rotation driver (3); The first direction rotation driver is mounted on the second direction rotation driver (3) and is connected to the image acquisition device (2) in a one-to-one correspondence, for driving the image acquisition device (2) to rotate along the first direction; The second direction rotation driver (3) is mounted on the top of the support base (1) and is used to drive the first direction rotation driver to rotate along the second direction; The support base (1) has an installation cavity; At least one side of the support base (1) is provided with an opening communicating with the mounting cavity.

2. The image acquisition mechanism according to claim 1, characterized in that, There are two image acquisition devices (2), and they are arranged symmetrically. The first direction rotation driver is a vertical rotation driver, and there are two first direction rotation drivers, which are connected one-to-one with the image acquisition device (2).

3. The image acquisition mechanism according to claim 2, characterized in that, It also includes a connecting shell (4); The connecting shell (4) is mounted on the second direction rotation driver (3), which is a horizontal rotation driver; The two image acquisition units (2) are symmetrically arranged on both sides of the connecting shell (4); Two first-direction rotation drivers are installed in the connecting shell (4), and their respective drive ends extend out of the connecting shell (4) and are connected to the corresponding image acquisition device (2).

4. The image acquisition mechanism according to claim 1, characterized in that, The support base (1) is shaped like an inverted circle, and its three sequentially connected sides are provided with interconnected openings.

5. The image acquisition mechanism according to claim 4, characterized in that, The support base (1) includes an upper base (11) and a lower base (12); The lower seat (12) has an L-shaped structure; The upper seat (11) is fixed to the top of the vertical portion of the lower seat (12); The mounting cavity is formed between the horizontal portions of the upper seat (11) and the lower seat (12).

6. The image acquisition mechanism according to claim 5, characterized in that, The upper seat (11) includes an upper frame, an upper top plate (111), and an upper outer shell (112). The upper outer shell (112) covers the outer periphery of the upper frame; The upper plate (111) is fixed to the top of the upper frame and connected to the upper outer shell (112).

7. The image acquisition mechanism according to claim 5, characterized in that, The lower seat (12) includes a lower frame (123), a lower top plate (121), and a lower outer shell (122). The lower frame (123) includes a first frame (1231) and a second frame (1232). The top of the first frame (1231) is connected to the upper seat (11); The second frame (1232) is disposed on one side of the first frame (1231) and its height is lower than that of the first frame (1231). The lower outer shell (122) covers the outer periphery of the first frame (1231) and the second frame (1232); The lower top plate (121) is fixed to the top of the second frame (1232) and connected to the lower outer shell (122).

8. The image acquisition mechanism according to claim 7, characterized in that, The lower seat (12) also includes a fixing strip (124); The fixing strip (124) is connected to the first frame (1231) and the second frame (1232).

9. The image acquisition mechanism according to claim 8, characterized in that, At least two fixing strips (124) are symmetrically arranged on both sides of the first frame (1231) and the second frame (1232); The lower outer shell (122) is connected to the fixing strip (124).

10. An inspection robot, characterized in that, Includes the robot body (6) and the image acquisition mechanism as described in any one of claims 1 to 9; The image acquisition mechanism is installed on the top of the robot body (6), and a detection sensor (5) is installed in the mounting cavity of its support base (1).

Images