Inspection robot

Abstract

The utility model belongs to the technical field of plant inspection equipment, and discloses an inspection robot which comprises a base, an actuating mechanism, an image acquisition device and a control device. The base comprises a base body, a moving mechanism and a laser radar, the moving mechanism and the laser radar are arranged on the base body, the moving mechanism drives the base body to move, and the laser radar can detect the surrounding environment of the base. The action mechanism is arranged on the base body, the image acquisition device is arranged on the action mechanism and has six degrees of freedom, and the image acquisition device acquires an image of a target detection position of equipment to be detected. The control device can set the moving track of the moving mechanism and the action track of the action mechanism, and can also receive position information detected by the laser radar and image information collected by the image collection device. The inspection robot can improve the detection efficiency and automation degree of surface defects of large equipment such as airplanes, is high in flexibility, and can improve the consistency and accuracy of detection results.

Description

Technical Field

[0001] This utility model relates to the field of factory inspection equipment technology, and in particular to an inspection robot. Background Technology

[0002] Currently, the inspection of surface defects on aircraft relies heavily on manual labor. However, conventional manual inspection has some limitations. Manual inspection methods are difficult to detect minute defects, and the inspection accuracy needs to be improved. At the same time, manual inspection consumes a lot of manpower and has low inspection efficiency. The inspection results are affected by the subjective judgment of the inspectors, resulting in poor consistency of the inspection results.

[0003] Existing technologies propose using intelligent inspection robots for detecting surface defects on aircraft. However, the cameras of existing intelligent inspection robots are fixed to the vehicle body, resulting in a limited detection range. Furthermore, current intelligent inspection robots are generally based on tracked or rail-based movement, which is unsuitable for current inspection environments such as aircraft manufacturing plants. In summary, existing intelligent inspection robots suffer from limited application scenarios and poor flexibility, making it difficult to achieve accurate and efficient detection of surface defects on aircraft.

[0004] Therefore, there is an urgent need for an inspection robot to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide an inspection robot that can improve the efficiency and automation of surface defect detection in large equipment such as aircraft, has high flexibility, and can improve the consistency and accuracy of inspection results.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] Inspection robots, including:

[0008] The base includes a base body, a moving mechanism, and a lidar. The moving mechanism and the lidar are respectively disposed on the base body. The moving mechanism is configured to drive the base body to move, and the lidar is capable of detecting the surrounding environment of the base body.

[0009] The system includes an action mechanism and an image acquisition device. The action mechanism is mounted on the base body, and the image acquisition device is mounted on the action mechanism. The image acquisition device has six degrees of freedom under the action mechanism and is capable of acquiring images of the target detection position of the device under test.

[0010] A control device is mounted on the base body, and the moving mechanism, the lidar, the action mechanism and the image acquisition device are respectively communicatively connected to the control device;

[0011] The control device can set the movement trajectory of the moving mechanism and the action trajectory of the actuating mechanism. The control device can also receive the position information detected by the lidar and the image information acquired by the image acquisition device.

[0012] As a preferred embodiment of the inspection robot provided by this utility model, the control device includes a controller and a communication connection module. The controller and the communication connection module are respectively disposed on the base body. The moving mechanism, the lidar, the motion mechanism and the image acquisition device are respectively connected to the controller through the communication connection module.

[0013] As a preferred embodiment of the inspection robot provided by this utility model, the controller includes an obstacle avoidance module and a path planning module. The obstacle avoidance module and the path planning module can respectively read the position information detected by the lidar. The obstacle avoidance module can determine whether there is an obstacle, and the path planning module can plan the movement path of the base.

[0014] As a preferred embodiment of the inspection robot provided by this utility model, the control device further includes a protective housing, which covers the controller and the communication connection module.

[0015] As a preferred embodiment of the inspection robot provided by this utility model, the protective housing is provided with a door, which is movably disposed at the opening of the protective housing and can block or open the opening of the protective housing.

[0016] As a preferred embodiment of the inspection robot provided by this utility model, the control device further includes a display, which is disposed in the protective housing and connected to the controller. The display can display the movement path of the base, the image information acquired by the image acquisition device, and the detection result of the target detection position.

[0017] As a preferred embodiment of the inspection robot provided by this utility model, the control device further includes a waterproof layer, which covers the protective box.

[0018] As a preferred embodiment of the inspection robot provided by this utility model, the base further includes a power supply module, which is disposed on the base body and can provide power to the moving mechanism, the lidar, the motion mechanism, the image acquisition device and the control device.

[0019] As a preferred embodiment of the inspection robot provided by this utility model, the motion mechanism includes a fixed arm, a first movable arm, a second movable arm, and a mounting arm. The fixed arm is fixedly disposed on the base body along the Z direction. The first movable arm is rotatably connected to the fixed arm. The second movable arm is rotatably connected to the first movable arm. The mounting arm is rotatably connected to the second movable arm. The rotation axes of the first movable arm, the second movable arm, and the mounting arm are all parallel to the X direction. The image acquisition device is rotatably mounted on the mounting arm. The rotation axis of the image acquisition device is parallel to the extension direction of the mounting arm.

[0020] As a preferred embodiment of the inspection robot provided by this utility model, the moving mechanism includes multiple moving wheels, which are evenly arranged on both sides of the base body in the X direction, and can drive the base to move.

[0021] The beneficial effects of this utility model are:

[0022] The inspection robot provided by this utility model includes a base, a motion mechanism, an image acquisition device, and a control device. The base includes a base body, a moving mechanism, and a lidar. The moving mechanism and the lidar are respectively mounted on the base body. The moving mechanism is configured to drive the base body to move, and the lidar can detect the surrounding environment of the base body. Through the lidar, the surrounding environment can be accurately perceived, and the presence of obstacles around the base body can be determined. The motion mechanism is mounted on the base body, and the image acquisition device is mounted on the motion mechanism. Driven by the motion mechanism, the image acquisition device has six degrees of freedom and can acquire images of the target detection position of the device to be inspected. This configuration improves the flexibility of the image acquisition direction adjustment of the image acquisition device, effectively increasing the acquisition range and the clarity of target detection. The control device is mounted on the base body, and the moving mechanism, the lidar, the motion mechanism, and the image acquisition device are all communicatively connected to the control device. The control device can set the movement trajectory of the moving mechanism based on the position information collected by the lidar, and then automatically plan the inspection route; and set the movement trajectory of the motion mechanism based on the image information collected by the image acquisition device, thereby improving the detection efficiency and automation of surface defects of large equipment such as aircraft, and improving the consistency and accuracy of the detection results. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the inspection robot provided in an embodiment of the present utility model;

[0025] Figure 2 This is a partial structural schematic diagram of the control device provided in an embodiment of the present utility model.

[0026] In the picture:

[0027] 100. Base; 110. Base body; 120. Moving mechanism; 121. Moving wheels; 130. LiDAR;

[0028] 200. Motion mechanism; 210. Fixed arm; 220. First movable arm; 230. Second movable arm; 240. Mounting arm;

[0029] 300. Image acquisition device;

[0030] 400. Control device; 410. Controller; 420. Communication connection module; 430. Protective enclosure; 431. Enclosure door; 440. Display. Detailed Implementation

[0031] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0034] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0035] In the description of this utility model, it should be noted that the terms "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, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are used only for the convenience of describing this utility model and for 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 this utility model. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0036] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "connect," and "fix" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0037] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] In this embodiment, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0039] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0040] Figure 1 This diagram illustrates the inspection robot provided in an embodiment of the present invention. Figure 1 This embodiment provides an inspection robot. This inspection robot can be used to detect surface defects in large equipment such as aircraft. The inspection robot includes a base 100, an action mechanism 200, an image acquisition device 300, and a control device 400.

[0041] Specifically, the base 100 includes a base body 110, a moving mechanism 120, and a lidar 130. The moving mechanism 120 and the lidar 130 are respectively disposed on the base body 110, wherein the lidar 130 is disposed at the front of the base body 110. The moving mechanism 120 is configured to move the base body 110, and the lidar 130 can detect the surrounding environment of the base body 110. Through the lidar 130, the surrounding environment can be accurately perceived, and it can be determined whether there are obstacles around the base body 110.

[0042] More specifically, the actuation mechanism 200 is mounted on the base body 110, and the image acquisition device 300 is mounted on the actuation mechanism 200. Driven by the actuation mechanism 200, the image acquisition device 300 has six degrees of freedom: it can move in the X, Y, and Z directions, and can also rotate about the X, Y, and Z axes. The image acquisition device 300 can acquire images of the target detection position of the aircraft waiting for inspection.

[0043] Preferably, in this embodiment, the image acquisition device 300 can be a dual-spectrum thermal imaging pan-tilt unit. This dual-spectrum thermal imaging pan-tilt unit is a special type of camera that combines visible light and infrared spectral imaging technologies. It captures images under normal lighting conditions, providing clear color images, enabling daily monitoring and shooting in normal lighting environments. The dual-spectrum thermal imaging pan-tilt unit also has infrared imaging capabilities, capturing images in the infrared spectrum. Infrared imaging can be performed in low-light or complete darkness because many objects emit or reflect strong signals under infrared light, thus enabling monitoring and shooting at night or in low-light environments. The dual-spectrum thermal imaging pan-tilt unit can fuse visible light and infrared images, providing richer and more comprehensive image information. This fusion technology can help users better understand the detection scene and improve the ability to identify and analyze target detection locations. Furthermore, due to the characteristics of infrared imaging, the dual-spectrum infrared camera has excellent night vision capabilities, enabling monitoring and shooting in low-light or completely dark environments, allowing for detection procedures to be carried out at night, improving detection efficiency, and reducing the impact of light on the detection process.

[0044] Continue to refer to Figure 1 The control device 400 is mounted on the base body 110. The moving mechanism 120, the lidar 130, the motion mechanism 200, and the image acquisition device 300 are all communicatively connected to the control device 400. The control device 400 can set the movement trajectory of the moving mechanism 120 based on the position information collected by the lidar 130, thereby automatically planning the inspection route. The control device 400 can also set the motion trajectory of the motion mechanism 200 based on the image information collected by the image acquisition device 300, thereby improving the efficiency and automation of surface defect detection in large equipment such as aircraft, and improving the consistency and accuracy of the detection results.

[0045] Figure 2 This diagram shows a partial structural schematic of the control device provided in an embodiment of the present invention, with reference to... Figure 2 The control device 400 includes a controller 410 and a communication connection module 420. The controller 410 and the communication connection module 420 are respectively mounted on the base body 110. The moving mechanism 120, the lidar 130, the actuation mechanism 200, and the image acquisition device 300 are respectively connected to the controller 410 through the communication connection module 420. In this embodiment, the communication connection module 420 can specifically be a router, and the controller 410 can specifically be a server in the prior art.

[0046] Specifically, the controller 410 integrates an obstacle avoidance module and a path planning module. The obstacle avoidance module and the path planning module can respectively read the position information detected by the lidar 130. The obstacle avoidance module can determine whether there are obstacles, and the path planning module can plan the movement path of the base 100 based on the reading results of the obstacle avoidance module.

[0047] More specifically, the controller 410 integrates a defect detection module and a target detection module. The target detection module is used to locate the target to be detected in the input image. The defect detection module is used to detect the located target position, making it easier for the user to detect whether there is a defect at this position.

[0048] More specifically, the control device 400 also includes a protective enclosure 430, which covers the controller 410 and the communication connection module 420. The protective enclosure 430 protects the controller 410 and the communication connection module 420, ensuring their service life.

[0049] Preferably, the control device 400 further includes a waterproof layer covering the outer surface of the protective housing 430. This waterproof layer can be a waterproof film or a waterproof coating applied to the outer surface of the protective housing 430, as long as it ensures the sealing of the protective housing 430 and prevents water damage to the controller 410 and the communication connection module 420. The specific method is not limited in this embodiment.

[0050] More specifically, the protective enclosure 430 is provided with a door 431. The door 431 is movably disposed at the opening of the protective enclosure 430, capable of sealing or opening the opening. This design facilitates opening the door 431 for inspection and maintenance of the controller 410 and the communication connection module 420 within the protective enclosure 430, thereby improving the operability of the inspection robot.

[0051] Optionally, the door 431 is equipped with a lock, which can lock the door 431 at the opening of the protective box 430, preventing the door 431 from being accidentally opened due to bumps or other reasons during the inspection process. At the same time, it can prevent the loss of materials such as the controller 410, the communication connection module 420 and wires inside the protective box 430, thereby improving the anti-theft performance and security of the inspection robot.

[0052] Continue to refer to Figure 1 and Figure 2The control device 400 also includes a display 440. The display 440 is located on the outside of the protective housing 430 and is communicatively connected to the controller 410. The display 440 can display the movement path of the base 100, the image information acquired by the image acquisition device 300, and the detection results of the target detection position. Operators can monitor the above information in real time through the display 440, ensuring the normal operation of the inspection process and enabling timely and intuitive judgment of defects at the current detection position.

[0053] Optionally, the base 100 also includes a power supply module. This power supply module is located within a cavity inside the base body 110 and includes a driving battery pack and an upper battery pack. The driving battery pack powers the moving mechanism 120 and the lidar 130 to ensure the reliability of the inspection robot's movement and the normal operation of the lidar 130. The upper battery pack provides power to the motion mechanism 200, the image acquisition device 300, and the control device 400 to ensure the normal operation of the inspection robot's image acquisition process and automatic inspection route generation process.

[0054] Continue to refer to Figure 1 The actuation mechanism 200 includes a fixed arm 210, a first movable arm 220, a second movable arm 230, and a mounting arm 240. The fixed arm 210 is fixedly mounted to the base body 110 along the Z-direction. The first movable arm 220 is rotatably connected to the fixed arm 210, the second movable arm 230 is rotatably connected to the first movable arm 220, and the mounting arm 240 is rotatably connected to the second movable arm 230. The rotation axes of the first movable arm 220, the second movable arm 230, and the mounting arm 240 are all parallel to the X-direction. The image acquisition device 300 is rotatably mounted on the mounting arm 240, and the rotation axis of the image acquisition device 300 is parallel to the extension direction of the mounting arm 240. This configuration ensures the installation reliability of the image acquisition device 300 and improves the flexibility of adjusting the acquisition direction of the image acquisition device 300.

[0055] Continue to refer to Figure 1 The moving mechanism 120 includes multiple moving wheels 121. These wheels 121 are evenly arranged on both sides of the base body 110 in the X direction, enabling the base 100 to move. In this embodiment, there are specifically four moving wheels 121, arranged in pairs on both sides of the base body 110. Preferably, in this embodiment, the moving wheels 121 can be Mecanum wheels from the prior art. By using Mecanum wheels, omnidirectional movement of the base body 110 can be achieved, and Mecanum wheels also have the advantages of compact structure and flexible movement.

[0056] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An inspection robot, characterized in that, include: The base (100) includes a base body (110), a moving mechanism (120), and a lidar (130). The moving mechanism (120) and the lidar (130) are respectively disposed on the base body (110). The moving mechanism (120) is configured to drive the base body (110) to move. The lidar (130) is capable of detecting the surrounding environment of the base body (110). The actuation mechanism (200) and the image acquisition device (300) are provided. The actuation mechanism (200) is disposed on the base body (110), and the image acquisition device (300) is disposed on the actuation mechanism (200). The actuation mechanism (200) has six degrees of freedom under the drive of the actuation mechanism (200). The image acquisition device (300) is capable of acquiring images of the target detection position of the device to be detected. A control device (400) is disposed on the base body (110), and the moving mechanism (120), the lidar (130), the action mechanism (200) and the image acquisition device (300) are respectively communicatively connected to the control device (400); The control device (400) can set the movement trajectory of the moving mechanism (120) and the action trajectory of the action mechanism (200). The control device (400) can also receive the position information detected by the lidar (130) and the image information acquired by the image acquisition device (300).

2. The inspection robot according to claim 1, characterized in that, The control device (400) includes a controller (410) and a communication connection module (420). The controller (410) and the communication connection module (420) are respectively disposed on the base body (110). The moving mechanism (120), the lidar (130), the action mechanism (200) and the image acquisition device (300) are respectively connected to the controller (410) through the communication connection module (420).

3. The inspection robot according to claim 2, characterized in that, The controller (410) includes an obstacle avoidance module and a path planning module. The obstacle avoidance module and the path planning module can read the position information detected by the lidar (130) respectively. The obstacle avoidance module can determine whether there is an obstacle. The path planning module can plan the movement path of the base (100).

4. The inspection robot according to claim 2, characterized in that, The control device (400) also includes a protective enclosure (430) which covers the controller (410) and the communication connection module (420).

5. The inspection robot according to claim 4, characterized in that, The protective enclosure (430) is provided with a door (431), which is movably disposed at the opening of the protective enclosure (430) and can block or open the opening of the protective enclosure (430).

6. The inspection robot according to claim 4, characterized in that, The control device (400) further includes a display (440), which is disposed in the protective housing (430) and connected to the controller (410). The display (440) can display the movement path of the base (100), the image information acquired by the image acquisition device (300), and the detection result of the target detection position.

7. The inspection robot according to claim 4, characterized in that, The control device (400) also includes a waterproof layer that covers the outside of the protective housing (430).

8. The inspection robot according to claim 1, characterized in that, The base (100) also includes a power supply module, which is disposed on the base body (110) and can provide power to the moving mechanism (120), the lidar (130), the action mechanism (200), the image acquisition device (300) and the control device (400).

9. The inspection robot according to claim 1, characterized in that, The actuation mechanism (200) includes a fixed arm (210), a first movable arm (220), a second movable arm (230), and a mounting arm (240). The fixed arm (210) is fixedly disposed on the base body (110) along the Z direction. The first movable arm (220) is rotatably connected to the fixed arm (210). The second movable arm (230) is rotatably connected to the first movable arm (220). The mounting arm (240) is rotatably connected to the second movable arm (230). The rotation axes of the first movable arm (220), the second movable arm (230), and the mounting arm (240) are all parallel to the X direction. The image acquisition device (300) is rotatably mounted on the mounting arm (240). The rotation axis of the image acquisition device (300) is parallel to the extension direction of the mounting arm (240).

10. The inspection robot according to any one of claims 1-9, characterized in that, The moving mechanism (120) includes a plurality of moving wheels (121), which are evenly arranged on both sides of the base (100) in the X direction, and can drive the base body (110) to move.

Images