Inspection robot and image acquisition device

Abstract

The embodiment of the utility model provides an inspection robot and an image acquisition device, and the inspection robot comprises a housing which is configured to move along one side of a road; the image acquisition mechanism can movably extend out of or retract into the shell and is configured to acquire image information of an external environment; the driving mechanism is arranged in the shell and is connected with the image acquisition mechanism; the driving mechanism is configured to drive the image acquisition mechanism to lift relative to the shell so as to extend out of or retract into the shell; the driving mechanism is further configured to drive the image collecting mechanism to rotate relative to the machine shell so as to collect image information at different angles.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of highway maintenance equipment, and particularly relates to a patrol robot and an image acquisition device. BACKGROUND

[0002] The patrol robot is an intelligent device integrating multiple high-tech technologies, and is used for assisting or replacing manual patrol work on the highway.

[0003] Generally, the patrol robot comprises a camera fixedly arranged outside a shell of the patrol robot, and the camera is used for acquiring external environment information such as the speed of a vehicle or the state of the vehicle, so as to determine whether the vehicle has a safety hazard or whether a traffic accident occurs.

[0004] However, the above patrol robot cannot accurately acquire the external environment information. CONTENT OF THE UTILITY MODEL

[0005] The application provides a patrol robot and an image acquisition device, which can accurately acquire external environment information.

[0006] In one aspect, the application provides a patrol robot, which comprises:

[0007] a shell configured to move along one side of a highway;

[0008] an image acquisition mechanism movably extended or retracted from the shell and configured to acquire image information of an external environment;

[0009] a driving mechanism arranged in the shell and connected with the image acquisition mechanism;

[0010] The driving mechanism is configured to drive the image acquisition mechanism to ascend or descend relative to the shell, so as to extend or retract the shell; and the driving mechanism is further configured to drive the image acquisition mechanism to rotate relative to the shell, so as to acquire image information at different angles.

[0011] In some implementations, the driving mechanism comprises:

[0012] a driving member;

[0013] a transmission member connected with the driving member to ascend and rotate relative to the shell under the driving of the driving member;

[0014] The image acquisition mechanism is connected to the transmission member to ascend and rotate under the driving of the transmission member.

[0015] In some implementations, the transmission member comprises:

[0016] a lead screw connected with the driving member to rotate under the driving of the driving member;

[0017] The moving part is threadedly sleeved on the screw rod and rotates and ascends along the screw rod during rotation of the screw rod.

[0018] The image collecting mechanism is arranged on the moving part to move under driving of the moving part.

[0019] In some implementations, the moving part comprises:

[0020] The telescopic sleeve is movably sleeved on the screw rod, and the image collecting mechanism is connected to the telescopic sleeve.

[0021] The nut is threadedly sleeved on the screw rod and connected to the telescopic sleeve.

[0022] The nut is configured to drive the telescopic sleeve to rotate and ascend along the screw rod during rotation of the screw rod.

[0023] In some implementations, the driving mechanism further comprises a cylinder, which is sleeved on at least part of the screw rod and the moving part.

[0024] The cylinder is provided with a limiting structure configured to cooperate with the nut to limit the ascending height of the nut.

[0025] In some implementations, the transmission part further comprises:

[0026] The gear set comprises at least one gear fixedly sleeved on the output shaft of the driving part to rotate under driving of the driving part, and at least another gear fixedly sleeved on the screw rod to drive the screw rod to rotate.

[0027] In some implementations, the gear fixedly sleeved on the driving part is a helical gear.

[0028] In some implementations, the driving mechanism further comprises:

[0029] The housing is detachably installed in the casing, and at least part of the transmission part and at least part of the driving part are installed in the housing.

[0030] The bottom shell is detachably installed in the casing, and one end of the transmission part and one end of the driving part protrude from the housing and are installed on the bottom shell.

[0031] In some implementations, one end of the driving mechanism is provided with a first connecting part.

[0032] The first connecting part comprises a first connecting lug and a second connecting lug, which are oppositely and spacedly arranged; the image collecting mechanism is provided with a second connecting part, which is inserted into the gap between the first connecting lug and the second connecting lug.

[0033] In some implementations, a cap is further included.

[0034] The cap is placed on top of the image acquisition mechanism, and the outer edge of the cap protrudes beyond the outer edge of the image acquisition mechanism to block the image acquisition mechanism.

[0035] Another aspect of this application provides an image acquisition device, including:

[0036] The image acquisition mechanism can extend or retract the casing of the inspection robot and is configured to acquire image information of the external environment.

[0037] The drive mechanism is configured to be housed within the housing and connected to the image acquisition mechanism;

[0038] The drive mechanism is configured to drive the image acquisition mechanism to rise and fall relative to the housing to extend or retract the housing; the drive mechanism is also configured to drive the image acquisition mechanism to rotate relative to the housing to acquire image information at different angles.

[0039] The inspection robot and image acquisition device provided in this application embodiment, by setting up an image acquisition mechanism and driving the image acquisition mechanism to rotate and lift, can increase the shooting range of the image acquisition mechanism in the horizontal and vertical directions, thereby capturing more image information. That is, it can accurately obtain external environmental information, provide more accurate environmental information to the host computer, and improve the detection results of the host computer. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this disclosure, 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 disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a usage state diagram of an inspection robot provided in one embodiment of this application;

[0042] Figure 2 yes Figure 1 Partial structural diagram;

[0043] Figure 3 This is an exploded view of an inspection robot provided in one embodiment of this application;

[0044] Figure 4 This is a partial structural schematic diagram of an image acquisition device provided in one embodiment of this application;

[0045] Figure 5 yes Figure 4 Exploded view;

[0046] Figure 6Fig. 1 is a structural schematic diagram of a transmission member in an image acquisition device according to an embodiment of the present application.

[0047] Legend of reference signs:

[0048] 10 - inspection robot; 20 - guardrail; 30 - guide rail; 40 - charging pile;

[0049] 100 - machine shell;

[0050] 200 - image acquisition mechanism; 210 - second connecting part;

[0051] 300 - driving mechanism; 310 - driving member; 320 - transmission member; 321 - screw rod; 322 - moving member; 3221 - telescopic sleeve; 3222 - nut; 323 - gear set; 3231 - first gear; 3232 - second gear; 3233 - third gear; 324 - third mounting part; 330 - cylinder body; 340 - outer shell; 341 - first through hole; 350 - bottom shell; 351 - first mounting part; 352 - second mounting part; 360 - first connecting part; 361 - first connecting lug; 362 - second connecting lug;

[0052] 400 - cap;

[0053] 500 - walking mechanism. DETAILED DESCRIPTION

[0054] In order to make the personnel in the technical field better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the person of ordinary skill in the art without making creative labor should belong to the protection scope of the present application.

[0055] It should be noted that in the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0056] In the description of the present application, it needs to be understood that the terms "upper", "lower", "horizontal", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium.

[0057] In the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. However, it is noted that direct connection means that the connection between the two main bodies does not form a connection relationship through an excessive structure, but is connected only through the connection structure to form a whole. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0058] In the present application, the description related to "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features.

[0059] Figure 1 is a use state diagram of the inspection system provided by an embodiment of the present application. Referring to Figure 1 As shown in the figure, the present embodiment provides an inspection system, which includes an inspection robot, and the inspection robot is configured to detect external environmental information.

[0060] For example, the inspection robot 10, such as a highway inspection robot 10, is usually equipped with high-definition cameras, sensors and other devices, which can monitor and analyze the road conditions in real time. These robots can detect cracks, potholes, water accumulation and other problems on the road, and can also detect the conditions of passing vehicles, such as traffic accidents, and timely feedback information to the relevant departments for repair and maintenance work.

[0061] The highway inspection robot 10 is also equipped with various safety devices, such as sound and light alarms, mobile devices, etc., which can remind passing vehicles to pay attention to safety through sound and light when abnormal conditions are found. At the same time, the robot can also be linked with the tunnel information display board to display the nearest escape route, broadcast the real-time conditions in the tunnel, and guide personnel to evacuate in time and remind vehicles not to enter the tunnel.

[0062] The application of the expressway inspection robot 10 can not only improve the inspection efficiency and reduce the labor cost, but also reduce the error and omission caused by human factors, and improve the accuracy and reliability of highway maintenance.

[0063] In practice, guardrails 20 are arranged on both sides of the highway, and the inspection robot 10 can move along the extension direction of the guardrails 20.

[0064] In order to effectively support the inspection robot 10 and guide the walking path, in some examples, the inspection robot 10 can walk along the guardrails 20 on the side of the highway, for example, the guardrails 20 are three-wave plates, and the inspection robot 10 walks along the corrugated protrusions on the three-wave plates to detect the running conditions of the highway and vehicles on the highway in real time. In addition, a charging pile 40 is arranged on the walking path of the inspection robot 10, and the inspection robot 10 can walk along the guardrails 20 until reaching the charging pile 40, and the inspection robot 10 is charged through the charging pile 40 to ensure the normal work of the inspection robot 10.

[0065] Figure 2 is a partial structural schematic diagram of Figure 1 Figure 3 is an exploded view of the inspection robot 10 provided by an embodiment of the present application. In other examples, a guide rail 30 can be arranged on the guardrail 20, and the inspection robot 10 walks along the guide rail 30 to detect the environmental information of different positions of the highway, thereby reducing the wear of the guardrail 20 and improving the service life of the guardrail 20. When the guide rail 30 is damaged, the guide rail 30 can be directly detached from the guardrail 20 for repair or replacement, without the need to replace the guardrail 20, so that the maintenance and replacement of the inspection system are more convenient and fast.

[0066] In the related art, a camera is fixedly arranged outside the shell 100 of the inspection robot 10, and the camera is used to collect external environmental information such as the speed of a vehicle or the state of the vehicle, so as to determine whether the vehicle has a safety hazard or whether a traffic accident occurs.

[0067] Generally, the camera feeds back the captured external environmental information such as pictures to a host computer, and the host computer determines the road condition result. However, the shooting range of the camera with a fixed angle is limited, and more pictures cannot be shot, and the external environmental information cannot be accurately obtained, and thus the road condition result determined by the host computer. For example, when a traffic accident occurs on the highway, one of the cameras can only shoot pictures within a predetermined range, and cannot shoot pictures outside the predetermined range, so that the overall situation of the traffic accident cannot be accurately obtained, which affects the road condition result determined by the host computer, so that the road condition result is inaccurate.

[0068] ​The image acquisition device provided by the embodiment of the present application is provided with an image acquisition mechanism 200, and the image acquisition mechanism 200 is driven by a driving mechanism 300 to rotate and lift, so that the shooting range of the image acquisition mechanism 200 in the horizontal direction and the vertical direction is increased, more image information can be shot, that is, the external environment information can be accurately acquired, more accurate environment information is provided for the host computer, and the detection result of the host computer is improved.

[0069] The image acquisition device provided by the embodiment of the present application is provided with an image acquisition mechanism 200, and the image acquisition mechanism 200 is driven by a driving mechanism 300 to rotate and lift, so that the shooting range of the image acquisition mechanism 200 in the horizontal direction and the vertical direction is increased, more image information can be shot, that is, the external environment information can be accurately acquired, more accurate environment information is provided for the host computer, and the detection result of the host computer is improved.

[0070] Figure 4 is a partial structure diagram of the image acquisition device provided by an embodiment of the present application, Figure 5 is Figure 4 an exploded view of Figure 6 is a structure diagram of a transmission member 320 in the image acquisition device provided by an embodiment of the present application. The patrol robot 10 provided by the embodiment of the present application comprises a casing 100 configured to move along one side of a road.

[0071] In some examples, the casing 100 is a shell of parts of the patrol robot 10, to protect the parts in the patrol robot 10. For example, the controller, circuit board, power module, etc. of the patrol robot 10 are arranged in the casing 100, to assemble and protect the controller, circuit board, etc. by the casing 100.

[0072] In some examples, the casing 100 can be of any shape, for example, the casing 100 can be of a cuboid structure, a cube structure, a triangular structure, etc., and the shape of the casing 100 is not limited herein.

[0073] In some examples, the patrol robot 10 further comprises a walking mechanism 500 connected to the bottom of the casing 100, and the walking mechanism 500 can walk along the guardrail 20 or the guide rail 30 to drive the casing 100 to run on one side of the road. For example, the walking mechanism 500 can be a wheel system such as a walking wheel, the walking wheel is connected with the casing 100 and can rotate around its own axis, the walking wheel is supported on the guardrail 20 or the guide rail 30 and rolls along the guide rail 30, thereby driving the casing 100 to move.

[0074] The patrol robot 10 of the embodiment of the present application further comprises an image acquisition mechanism 200, the image acquisition mechanism 200 is movably extended or retracted from the casing 100, and is configured to acquire image information of an external environment.

[0075] For example, the image acquisition mechanism 200 can be a device such as a camera, a video camera, a scanner, etc. that can acquire images.

[0076] In some examples, the image information includes road surface conditions such as cracks, potholes, water accumulation and the like, and also includes conditions of passing vehicles such as traffic accidents, and timely feeds information to relevant departments for repair and maintenance.

[0077] For example, the image collection mechanism 200 such as a camera can feed the captured external environment information such as a picture to the host computer, and the host computer determines the road condition result. For example, the camera is used to collect external environment information such as the speed of the vehicle or the state of the vehicle, etc., to determine whether the vehicle has a safety hazard or whether a traffic accident has occurred.

[0078] In some examples, the inspection robot 10 further includes a driving mechanism 300, which is arranged in the casing 100 and connected with the image collection mechanism 200.

[0079] In some examples, the driving mechanism 300 can be configured to drive the image collection mechanism 200 to lift relative to the casing 100 to extend or retract the casing 100.

[0080] Compared with the image collection mechanism 200 fixed on the casing 100, the embodiment of the application can increase the shooting range of the image collection device in the height direction perpendicular to the ground by driving the image collection mechanism 200 to lift relative to the casing 100 through the driving mechanism 300.

[0081] For example, when a traffic accident occurs on the highway, the driving mechanism 300 can drive the image collection mechanism 200 to move in the height direction to a first position, at which a picture with a height range of A (referred to as A picture) can be captured. The driving mechanism 300 drives the image collection mechanism 200 to move in the height direction to a second position, at which a picture with a height range of B (referred to as B picture) can be captured.

[0082] It can be understood that when the A picture and the B picture do not overlap, the image collection mechanism 200 can capture the A picture and the B picture and upload them to the host computer. Compared with the image collection mechanism 200 fixed at the first position for shooting, the image collection mechanism 200 of the embodiment of the application can additionally capture the picture with a height range of B. When the A picture and the B picture have an overlapping area, the image collection mechanism 200 can capture the pictures other than the overlapping area in the A picture and the B picture. Compared with the image collection mechanism 200 fixed at the first position for shooting, the image collection mechanism 200 of the embodiment of the application can additionally capture the picture other than the overlapping area in the B picture.

[0083] Therefore, the image acquisition mechanism 200 can be driven by the driving mechanism 300 to move up and down relative to the casing 100, so that the image acquisition range of the image acquisition mechanism 200 in the height direction (i.e., the vertical direction) can be increased, and more image information can be captured, that is, the external environment information can be accurately obtained, and more accurate environment information can be provided to the host computer, and the detection result of the host computer can be improved.

[0084] In some examples, the driving mechanism 300 can also be configured to drive the image acquisition mechanism 200 to rotate relative to the casing 100 to capture image information at different angles.

[0085] Compared with the image acquisition mechanism 200 fixed on the casing 100, the image acquisition mechanism 200 can be driven by the driving mechanism 300 to rotate relative to the casing 100, so that the image acquisition range of the image acquisition device in the horizontal direction parallel to the ground can be increased.

[0086] For example, when a traffic accident occurs on a highway, the driving mechanism 300 can drive the image acquisition mechanism 200 to move to a first angle in the horizontal direction (e.g., the x direction), and a picture (referred to as a C picture) with a horizontal angle range of C can be captured at the first angle. The driving mechanism 300 drives the image acquisition mechanism 200 to rotate to a second angle in the horizontal direction, and a picture (referred to as a D picture) with a horizontal angle range of D can be captured at the second angle.

[0087] It can be understood that when the C picture and the D picture do not overlap, the image acquisition mechanism 200 can capture the C picture and the D picture and upload them to the host computer. Compared with the image acquisition mechanism 200 fixed at the first angle for capturing, the image acquisition mechanism 200 of the present application can additionally capture the picture with a horizontal angle range of D. When the C picture and the D picture have an overlapping area, the image acquisition mechanism 200 can capture the pictures other than the overlapping area in the C picture and the D picture. Compared with the image acquisition mechanism 200 fixed at the first angle for capturing, the image acquisition mechanism 200 of the present application can additionally capture the picture other than the overlapping area in the D picture.

[0088] Therefore, the image acquisition mechanism 200 can be driven by the driving mechanism 300 to move up and down relative to the casing 100, so that the image acquisition range of the image acquisition mechanism 200 in the height direction (i.e., the vertical direction) can be increased, and more image information can be captured, that is, the external environment information can be accurately obtained, and more accurate environment information can be provided to the host computer, and the detection result of the host computer can be improved.

[0089] In addition, the embodiment of the present application drives the image acquisition mechanism 200 to ascend or descend relative to the casing 100 through the driving mechanism 300, so that when external environment information needs to be acquired, the image acquisition mechanism 200 can be extended outside the casing 100 and used for shooting. When external environment information does not need to be acquired, the image acquisition mechanism 200 can be retracted into the casing 100, so as to protect the image acquisition mechanism 200 and reduce pollution of the image acquisition mechanism 200 by external rainwater or dust.

[0090] In some examples, the driving mechanism 300 can include a lifting driving member 310 such as a linear motor, a driving cylinder or an electric push rod, which is connected with the image acquisition mechanism 200 to drive the image acquisition mechanism 200 to ascend or descend relative to the casing 100.

[0091] Of course, in some examples, a lifting transmission member 320 can be arranged between the lifting driving member 310 and the image acquisition mechanism 200, for example, so that the torque and speed output by the lifting driving member 310 to the image acquisition mechanism 200 can be controlled. For example, the lifting transmission member 320 can be a telescopic rod or a scissor fork structure, and the structure of the lifting transmission member 320 is not limited here as long as it can drive the image acquisition mechanism 200 to ascend or descend.

[0092] In some examples, the driving mechanism 300 can further include a rotating driving member 310 such as a rotating motor, which is connected with the image acquisition mechanism 200 to drive the image acquisition mechanism 200 to rotate relative to the casing 100.

[0093] Of course, in some examples, a rotating transmission member 320 can be arranged between the rotating driving member 310 and the image acquisition mechanism 200, for example, so that the torque and speed output by the rotating driving member 310 to the image acquisition mechanism 200 can be controlled. For example, the rotating transmission member 320 can be a speed reducer, and the structure of the rotating transmission member 320 is not limited here as long as it can drive the image acquisition mechanism 200 to rotate.

[0094] It can be understood that the rotating driving member 310 can be arranged on the lifting driving member 310 to ascend or descend synchronously with the image acquisition mechanism 200 during the ascending or descending of the lifting driving member 310, and stop driving the lifting driving member 310 when reaching a preset shooting height, and drive the image acquisition mechanism 200 to rotate to a preset shooting angle through the rotating driving member 310 to shoot the external environment.

[0095] Referring to Figure 5 In some examples, the driving mechanism 300 can include a driving member 310 and a transmission member 320.

[0096] The transmission member 320 is connected with the driving member 310 to be lifted and rotated relative to the casing 100 under the driving of the driving member 310, and the image acquisition mechanism 200 is connected with the transmission member 320 to be lifted and rotated under the driving of the transmission member 320.

[0097] In this example, the driving member 310 can be a rotary driving member 310, such as a rotary motor, and the transmission member 320 is connected with the output shaft of the rotary motor to be lifted along the height direction (indicated by the z direction in FIG. 3) and rotated along the horizontal direction (indicated by the x direction in FIG. 3) under the driving of the rotary motor. Figure 5 Figure 5 For example, the transmission member 320 can be rotated around its own axis to lift and rotate the image acquisition mechanism 200.

[0098] The transmission member 320 can transform the torque direction output by the driving member 310, such as transforming into linear torque and rotary torque, so that the image acquisition mechanism 200 can be lifted and rotated by one driving member 310, which simplifies the number of driving members 310, reduces the weight of the inspection robot 10, and reduces the occupied size of the driving mechanism 300 in the casing 100, thereby reserving suitable space for the arrangement of other components.

[0099] In some examples, the transmission member 320 can include a lead screw 321 and a moving member 322. The lead screw 321 is connected with the driving member 310 to be rotated under the driving of the driving member 310, and the moving member 322 is threadedly sleeved on the lead screw 321 and lifted and rotated along the lead screw 321 during the rotation of the lead screw 321. The image acquisition mechanism 200 is arranged on the moving member 322 to be moved under the driving of the moving member 322.

[0100] For example, one end of the lead screw 321 is connected with the output shaft of the driving member 310 to drive the lead screw 321 to rotate around its own axis. The lead screw 321 is threadedly matched with the moving member 322 during the rotation, so that the moving member 322 is lifted and rotated on the lead screw 321 under the thread transmission action, thereby lifting and rotating the image acquisition mechanism 200.

[0101] ​The screw 321 can guide the movement of the moving part 322, so that the moving part 322 can be lifted along the screw 321 without deviation to the left or right. In addition, the screw 321 and the moving part 322 are internally and externally threaded, which can ensure the stability of the moving part 322 in the height direction and reduce the displacement of the moving part 322 in the height direction. In addition, the screw 321 and the moving part 322 are internally and externally threaded, and during the rotation of the screw 321, the movement distance of the moving part 322 in the height direction is more controllable and refined, reducing the situation that the moving part 322 cannot be accurately adjusted to the preset height due to the excessive adjustment of the movement distance in the height direction once, so that the image acquisition mechanism 200 can be accurately controlled to be lifted to the preset height, and the image at the preset height can be shot.

[0102] In some examples, the moving part 322 can include a telescopic sleeve 3221, which is movably sleeved on the screw 321 and is threaded with the screw 321. The image acquisition mechanism 200 is connected to the telescopic sleeve 3221. During the rotation of the screw 321, the telescopic sleeve 3221 can rotate and lift on the screw 321, thereby driving the image acquisition mechanism 200 to rotate and lift.

[0103] Exemplarily, an internal thread is formed on the inner wall of the telescopic sleeve 3221, which is matched with the external thread of the screw 321 to drive the telescopic sleeve 3221 to rotate and lift during the rotation of the screw 321.

[0104] In some examples, the moving part 322 can include a telescopic sleeve 3221 and a nut 3222, wherein the telescopic sleeve 3221 is movably sleeved on the screw 321, and the nut 3222 is threaded on the screw 321 and connected to the telescopic sleeve 3221. The nut 3222 is configured to drive the telescopic sleeve 3221 to rotate and lift along the screw 321 during the rotation of the screw 321.

[0105] By arranging the nut 3222 at one end of the telescopic sleeve 3221 and matching the nut 3222 with the screw 321 by threading, the telescopic sleeve 3221 can be lifted and rotated, so that the internal thread does not need to be formed on the inner wall of the telescopic sleeve 3221, and the telescopic sleeve 3221 can be arranged as a sleeve structure with a smooth inner wall, thereby simplifying the structure of the telescopic sleeve 3221 and the assembly process with the screw 321,

[0106] In addition, the telescopic sleeve 3221 can be longer than the nut 3222 to increase the sleeving area between the telescopic sleeve 3221 and the screw 321, thereby improving the stability of the telescopic sleeve 3221 on the screw 321 and the structural strength of the telescopic sleeve 3221, and improving the fixed support effect on the image acquisition mechanism 200.

[0107] In some examples, the driving mechanism 300 can further include a cylinder 330 sleeved on at least part of the lead screw 321 and the moving piece 322, and the cylinder 330 is provided with a limiting structure configured to cooperate with the nut 3222 to limit the rising height of the nut 3222.

[0108] For example, the cylinder 330 has openings at both ends in the height direction, the bottom end of the lead screw 321 can extend out of the bottom opening of the cylinder 330, and the top end of the lead screw 321 and the telescopic sleeve 3221 extend out of the top opening of the cylinder 330.

[0109] It can be understood that if the nut 3222 rises too high, the overlapping area between the telescopic sleeve 3221 and the lead screw 321 will decrease, thereby reducing the stability of the telescopic sleeve 3221 in the horizontal direction. Therefore, the limiting structure is arranged on the cylinder 330 to limit the nut 3222, so as to ensure that the nut 3222 moves within a proper height range.

[0110] For example, a limiting protrusion is formed on the inner wall of the top opening of the cylinder 330. When the nut 3222 rises to cooperate with the limiting protrusion, for example, abuts against the bottom of the limiting protrusion, it is determined that the nut 3222 has risen to the highest position, and the driving piece 310 can stop driving the nut 3222 to continue rising.

[0111] In some examples, one or more limiting protrusions can be arranged on the inner wall of the cylinder 330 at the same height, and the plurality of limiting protrusions can be arranged at intervals in the circumferential direction of the inner wall of the cylinder 330.

[0112] When there is only one limiting protrusion, the limiting protrusion can be arranged at any position in the circumferential direction of the inner wall of the cylinder 330 as long as it can resist the nut 3222. In other examples, the limiting protrusion can be an annular protrusion around the inner wall of the cylinder 330, so as to increase the cooperation area with the nut 3222 and simplify the manufacturing process of the cylinder 330.

[0113] In some examples, the limiting structure can also be an elastic clamping groove arranged on the inner wall of the cylinder 330. When the nut 3222 is clamped into the elastic clamping groove, the nut 3222 is limited to continue rising. When the nut 3222 needs to descend, the elastic clamping piece in the elastic clamping groove can push the nut 3222 out of the elastic clamping groove to smoothly descend.

[0114] The embodiments of the present application do not limit the arrangement manner and position of the limiting structure, as long as the maximum rising height of the nut 3222 can be limited.

[0115] In some examples, one end of the lead screw 321 can be directly connected with the driving piece 310.

[0116] Referring toFigure 5 As shown, in some examples, the transmission member 320 can further include a gear set 323, at least one gear of the gear set 323 being fixedly sleeved on the output shaft of the driving member 310 to rotate under the driving of the driving member 310, and at least another gear of the gear set 323 being fixedly sleeved on the lead screw 321 to drive the lead screw 321 to rotate.

[0117] The arrangement of the gear set 323 can control the torque output by the output shaft of the driving member 310, for example, to make the driving speed of the lead screw 321 more controllable by the driving motor.

[0118] Exemplarily, the gear set 323 can include a first gear 3231, a second gear 3232 and a third gear 3233, wherein the first gear 3231 is fixedly sleeved on the output shaft of the driving member 310, the third gear 3233 is fixedly sleeved on one end of the lead screw 321, and the second gear 3232 is located between the first gear 3231 and the third gear 3233 and engaged with the first gear 3231 and the third gear 3233, respectively. In this way, the driving member 310 can drive the first gear 3231 to rotate, and then the second gear 3232 is driven to rotate by the first gear 3231, so as to drive the third gear 3233 to rotate, thereby driving the lead screw 321 to rotate.

[0119] Exemplarily, in the gear set 323, the gear fixedly sleeved on the driving member 310, for example, the first gear 3231, is a helical gear. The helical gear has a certain angle with the axis of the second gear 3232, so that the first gear 3231 can gradually enter and exit the engagement with the second gear 3232 during the engagement of the first gear 3231 and the second gear 3232, thereby making the transmission process more stable and reducing the impact and noise caused by the transmission process of the gear set 323. In addition, the helical gear can withstand higher rotational speed and heavier load, thereby improving the driving stability of the entire driving structure.

[0120] In some examples, the driving mechanism 300 can further include a housing 340, which can be detachably installed in the machine case 100, and at least part of the transmission member 320 and at least part of the driving member 310 are installed in the housing 340. The housing 340 can protect the driving member 310 and the transmission member 320 and the like, avoiding the collision or interference of other components in the machine case 100 with the driving member 310 or the transmission member 320 and the like, and affecting the effective work of the driving member 310 and the transmission member 320.

[0121] In addition, the driving member 310 and the transmission member 320 are arranged in the shell 340, which can stabilize the driving member 310 and the transmission member 320, and avoid the driving member 310 and the transmission member 320 from being offset and affecting the driving effect of the driving mechanism 300 when the inspection robot 10 jumps up and down due to the obstacles on the guardrail 20 or the guide rail 30 during the walking process.

[0122] For example, the shell 340 has a mounting cavity, and the top of the shell 340 is provided with a first through hole 341. A part of the driving member 310 and the transmission member 320 (for example, the gear set 323, the lead screw 321, and a part of the cylinder body 330) is arranged in the mounting cavity, and another part of the transmission member 320 (for example, another part of the cylinder body 330 and the telescopic sleeve 3221) extends out of the first through hole 341 and is arranged outside the shell 340 to be connected with the image acquisition mechanism 200.

[0123] In some examples, the driving mechanism 300 can further include a bottom shell 350, which is detachably arranged in the machine shell 100. One end of the transmission member 320 and one end of the driving member 310 extend out of the shell 340 and are arranged on the bottom shell 350.

[0124] For example, the bottom of the shell 340 can be provided with a second through hole, one end of the driving member 310 can extend out of the second through hole and be arranged on the bottom shell 350, and the connecting part of the bottom end of the lead screw 321 of the transmission member 320 can extend out of the second through hole and be arranged on the bottom shell 350.

[0125] For example, the bottom of the shell 340 can be provided with a second through hole, one end of the driving member 310 can extend out of the second through hole and be arranged on the bottom shell 350, and the connecting part of the bottom end of the lead screw 321 of the transmission member 320 can extend out of the second through hole and be arranged on the bottom shell 350.

[0126] For example, the first mounting part 351 and the second mounting part 352 can be mounting grooves, one end of the driving member 310 can be embedded in the corresponding mounting groove of the first mounting part 351, and one end of the transmission member 320 (for example, the third mounting part 324) can be embedded in the corresponding mounting groove of the second mounting part 352, so as to stabilize the driving member 310 and the transmission member 320.

[0127] For example, the driving member 310 and the transmission member 320 can be assembled in the shell 340 first, and then the end parts of the driving member 310 and the transmission member 320 extending out of the bottom of the shell 340 are turned on the bottom shell 350, and finally the whole structure formed by the shell 340, the bottom shell 350, and the driving member 310 and the transmission member 320 is assembled in the machine shell 100.

[0128] For example, the shell 340 and the bottom shell 350 can be detachably arranged on the inner wall of the machine shell 100, so as to stabilize the driving mechanism 300.

[0129] The setting of the housing 340 and the bottom shell 350 makes the driving mechanism 300 a modular structure, and the driving mechanism 300 and the shell 100 can be disassembled as a whole, thereby improving the disassembly efficiency between the driving mechanism 300 and the shell 100. For example, the modular structure of the driving mechanism 300 can be assembled outside first, and then assembled into the shell 100 as a whole.

[0130] Of course, in some examples, the driving member 310 and / or the transmission member 320 can also be directly assembled on the shell 100.

[0131] In some examples, one end of the driving mechanism 300 is provided with a first connecting portion 360, which can include a first connecting lug 361 and a second connecting lug 362, and the first connecting lug 361 and the second connecting lug 362 are oppositely and spacedly arranged. The image acquisition mechanism 200 is provided with a second connecting portion 210, which is inserted into the gap between the first connecting lug 361 and the second connecting lug 362. In this way, the image acquisition mechanism 200 and the driving mechanism 300 can be detachably connected, and the disassembly efficiency between the image acquisition mechanism 200 and the driving mechanism 300 is improved. In addition, the second connecting portion 210 of the image acquisition mechanism 200 can rotate up and down in the height direction between the first connecting lug 361 and the second connecting lug 362, so that the angle of the acquisition surface of the image acquisition mechanism 200 can be adjusted to adapt to different guardrails 20 heights or the height of the inspection robot 10, so as to ensure that the image acquisition mechanism 200 can acquire the environmental information on the road.

[0132] In other examples, the first connecting portion 360 and the second connecting portion 210 can be connected by thread cooperation, adhesion or welding, and the application does not limit the connection mode between the first connecting portion 360 and the second connecting portion 210.

[0133] In some examples, the inspection robot 10 can further include a cap 400, which covers the top of the image acquisition mechanism 200, and the outer edge of the cap 400 protrudes from the outer edge of the image acquisition mechanism 200, so as to shield the image acquisition mechanism 200 and avoid the image acquisition mechanism 200 from being polluted by external rainwater or dust.

[0134] The embodiment of the present application further provides an image acquisition device, comprising: an image acquisition mechanism 200, which is movably extended or retracted from a casing 100 of a patrol robot 10 and is configured to acquire image information of an external environment; and a driving mechanism 300, which is configured to be arranged in the casing 100 and connected with the image acquisition mechanism 200; the driving mechanism 300 is configured to drive the image acquisition mechanism 200 to ascend or descend relative to the casing 100, so as to extend or retract the casing 100; and the driving mechanism 300 is further configured to drive the image acquisition mechanism 200 to rotate relative to the casing 100, so as to acquire image information at different angles.

[0135] The specific structure and effects of the image acquisition mechanism 200 and the driving mechanism 300 can refer to the above examples, and will not be repeated here.

[0136] The above detailed description explains the purpose, technical solutions and beneficial effects of the embodiment of the present application. It should be understood that the above is only a specific implementation of the embodiment of the present application, and is not used to limit the protection scope of the embodiment of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the embodiment of the present application should be included in the protection scope of the embodiment of the present application.

Claims

1. A patrol robot, characterized by, The application relates to a roadside image acquisition device, which comprises a casing configured to move along a roadside; an image acquisition mechanism movably extended or retracted from the casing and configured to acquire image information of an external environment; a driving mechanism arranged in the casing and connected with the image acquisition mechanism; the driving mechanism is configured to drive the image acquisition mechanism to ascend or descend relative to the casing to extend or retract the casing; and the driving mechanism is further configured to drive the image acquisition mechanism to rotate relative to the casing to acquire image information at different angles. The driving mechanism comprises a driving member; a transmission member connected with the driving member to ascend and rotate relative to the casing under the driving of the driving member; and the image acquisition mechanism is connected with the transmission member to ascend and rotate under the driving of the transmission member. The transmission member comprises a screw rod connected with the driving member to rotate under the driving of the driving member; and a moving member threadedly sleeved on the screw rod to rotate and ascend along the screw rod during the rotation of the screw rod; and the image acquisition mechanism is arranged on the moving member to move under the driving of the moving member. The moving member comprises a telescopic sleeve movably sleeved on the screw rod, and the image acquisition mechanism is connected with the telescopic sleeve; and a nut threadedly sleeved on the screw rod and connected with the telescopic sleeve; the nut is configured to drive the telescopic sleeve to rotate and ascend along the screw rod during the rotation of the screw rod. The driving mechanism further comprises a cylinder sleeve arranged on at least part of the screw rod and the moving member; and a limiting structure arranged on the cylinder sleeve and configured to cooperate with the nut to limit the ascending height of the nut.

2. The patrol robot according to claim 1, characterized in that, The transmission member further comprises a gear set, at least one gear of the gear set is fixedly sleeved on an output shaft of the driving member to rotate under the driving of the driving member, and at least another gear of the gear set is fixedly sleeved on the screw rod to drive the screw rod to rotate. The gear fixedly sleeved on the driving member is a helical gear. The driving mechanism further comprises a housing detachably mounted in the casing, at least part of the transmission member and at least part of the driving member are mounted in the housing; and a bottom shell detachably mounted in the casing, one end of the transmission member and one end of the driving member are extended from the housing and mounted on the bottom shell. One end of the driving mechanism is provided with a first connecting part; the first connecting part comprises a first connecting lug and a second connecting lug, the first connecting lug and the second connecting lug are oppositely and spacedly arranged; the image acquisition mechanism is provided with a second connecting part, the second connecting part is inserted into a gap between the first connecting lug and the second connecting lug.

3. The patrol robot according to claim 2, characterized in that, The application further relates to a cap, the cap covers the top of the image acquisition mechanism, and the outer edge of the cap protrudes from the outer edge of the image acquisition mechanism to shield the image acquisition mechanism. The application further relates to a roadside image acquisition device, which comprises an image acquisition mechanism movably extended or retracted from a casing of a patrol robot and configured to acquire image information of an external environment. ​ ​ 4. The patrol robot according to claim 3, wherein, ​ ​ ​ ​ 5. The patrol robot according to claim 4, wherein, ​ ​ 6. The patrol robot according to claim 3, wherein, ​ ​ 7. The patrol robot according to claim 6, characterized in that, ​ 8. The patrol robot according to claim 3, wherein, ​ ​ ​ 9. The inspection robot according to any one of claims 1-8, wherein, ​ ​ 10. The inspection robot according to any one of claims 1-8, wherein, ​ ​ 11. An image acquisition device, characterized in that ​ ​ A driving mechanism configured to be disposed in the casing and connected with the image collecting mechanism; The driving mechanism is configured to drive the image collecting mechanism to ascend or descend relative to the casing, so as to extend or retract the casing; the driving mechanism is also configured to drive the image collecting mechanism to rotate relative to the casing, so as to collect image information at different angles.

Images