Ground cruise robot capable of being autonomously suspended to cross accumulated water

Abstract

The utility model relates to a ground cruise robot capable of automatically suspending and spanning accumulated water, which comprises a power glider arranged at the top of an underground pipe gallery and capable of running along a rail at the top of the underground pipe gallery; the robot body performs ground cruise detection according to a specified path in the underground pipe gallery and is in wireless communication with the power glider; the robot body stops moving when detecting that accumulated water exists on the ground, then the position of the robot body is sent to the power sliding device, and the power sliding device moves to the position above the robot body to be matched with the robot body so that the robot body can cross the accumulated water area. According to the scheme of the utility model, the robot body is used for cruise detection, when a ponding obstacle which cannot be crossed is encountered, the power glider is notified to move, the power glider moves to the upper part of the robot body, and the robot body crosses the ponding obstacle through the cooperation with the robot body; the robot body can continue to conduct cruise detection, and the cruise detection efficiency and the cruise detection result are guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to ground cruise equipment technical field especially relates to a ground cruise robot of autonomous suspension across accumulated water. BACKGROUND

[0002] The current ground cruise robot has the mode of laser navigation or satellite navigation, cruises along the set track on the ground, and observes the predetermined target in the area through visible light and thermal imaging. However, the current ground cruise robot cannot pass through the deep accumulated water area smoothly in the cruise detection process, which leads to the limitation of the use scene of the current bottom surface cruise robot, and the ground cruise robot cannot be used in the more complex environment such as underground pipe gallery. SUMMARY

[0003] The utility model discloses a ground cruise robot of autonomous suspension across accumulated water.

[0004] To achieve the above-mentioned purpose, the utility model provides a ground cruise robot of autonomous suspension across accumulated water, which comprises:

[0005] The power skid is arranged on the top of the underground pipe gallery and can run along the track on the top of the underground pipe gallery;

[0006] The robot body carries out ground cruise detection according to the specified path in the underground pipe gallery and communicates wirelessly with the power skid;

[0007] When the robot body detects that there is accumulated water on the ground, it stops moving, and then sends its position to the power skid. The power skid moves above the robot body and cooperates with the robot body to make the robot body cross the accumulated water area.

[0008] According to one aspect of the utility model, the power skid comprises a power skid body and a hanging beam.

[0009] The power skid body comprises a shell, a controller, a driver and a roller.

[0010] The controller and the driver are arranged in the shell, and the shell is arranged on the guide rail arranged on the top of the underground pipe gallery through the roller.

[0011] The controller controls the driver to drive the roller to move above the robot body along the guide rail according to the position signal sent by the robot body.

[0012] According to one aspect of the utility model, the robot body comprises a wheeled vehicle body, a support frame, a hook structure, a patrol inspection assembly and a central controller.

[0013] The wheeled vehicle body moves on the ground through walking wheels;

[0014] The support frame is supported on the wheeled vehicle body;

[0015] The hook structure is supported on the top of the support frame;

[0016] The inspection assembly is arranged on the wheeled vehicle body and the support frame, and is used for guiding the wheeled vehicle body to complete the inspection task;

[0017] The central controller is arranged in the wheeled vehicle body, and is in communication connection with the controller, the inspection assembly, the hook structure, the support frame and the wheeled vehicle body respectively;

[0018] The central controller controls the inspection assembly and the wheeled vehicle body to cooperate to perform the inspection;

[0019] The central controller controls the hook structure to be hung on the suspension beam according to the position signal of the power skid, then controls the support frame to be retracted so that the robot body is separated from the ground, and then sends a signal to the controller, and the controller controls the drive to drive the roller to move so as to drive the robot body to cross the water area on the ground according to the signal sent by the central controller.

[0020] According to an aspect of the utility model, the support frame comprises a fixing frame and a lifting frame;

[0021] The fixing frame is supported on the wheeled vehicle body, and the lifting frame is supported on the fixing frame;

[0022] The hook structure is supported on the lifting frame;

[0023] The central controller controls the lifting frame to lift.

[0024] According to an aspect of the utility model, the hook structure comprises a supporting rod, a hook and a drive motor;

[0025] The supporting rod is supported on the lifting frame;

[0026] The hook is rotatably installed on the top of the supporting rod;

[0027] The drive motor drives the hook to overturn according to the control signal of the central controller.

[0028] According to an aspect of the utility model, the robot body further comprises a ranging radar;

[0029] The ranging radar is supported on the side wall of the fixing frame and is arranged to face the top of the underground pipe gallery;

[0030] The ranging radar is communicatively connected to the central controller. When the powered glider moves above the robot body and causes a change in the ranging radar's ranging data, the ranging radar sends a signal to the central controller. The central controller controls the lifting frame to rise and fall according to the signal, and then controls the drive motor to drive the hook to flip and attach to the lifting beam.

[0031] According to one aspect of the present invention, the inspection component includes: a visible light and thermal imaging camera and a navigation lidar;

[0032] The visible light and thermal imaging camera is mounted on the lifting frame and located near the hook structure, and is used to take pictures and measure temperature during inspection.

[0033] The navigation lidar is mounted on the wheeled vehicle body and is communicatively connected to the central controller. It sends target location information to the central controller, which then controls the wheeled vehicle body to move according to the target location information.

[0034] According to the present invention, the robot body performs cruise detection. When it encounters an insurmountable water obstacle, it notifies the powered glider to move. The powered glider moves above the robot body and, through cooperation with the robot body, helps the robot body cross the water obstacle, enabling the robot body to continue cruise detection and ensuring cruise detection efficiency and results.

[0035] According to the solution of this utility model, this utility model solves the problem that traditional patrol robots cannot perform unsupervised automatic adaptive patrol detection in underground utility tunnels, ensuring intelligent automatic patrol detection in underground utility tunnels, effectively improving the efficiency of patrol detection, ensuring the accuracy of patrol detection results, and improving the applicability of scenarios. Attached Figure Description

[0036] Figure 1 This schematic diagram illustrates the structural layout of a ground-based cruise robot capable of autonomously traversing accumulated water, according to one embodiment of the present invention.

[0037] Figure 2 This schematic diagram illustrates the structural layout of a robot body according to one embodiment of the present invention.

[0038] Figure 3 This diagram schematically illustrates a robot body detaching from the ground according to one embodiment of the present invention. Detailed Implementation

[0039] The present invention will now be discussed with reference to exemplary embodiments. It should be understood that the described embodiments are merely intended to enable those skilled in the art to better understand and thus implement the present invention, and are not intended to imply any limitation on the scope of the present invention.

[0040] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment".

[0041] Figure 1 This schematic diagram illustrates the structural layout of a ground-based cruising robot capable of autonomously traversing accumulated water, according to one embodiment of the present invention. Figure 1 As shown, in this embodiment, the ground-based cruise robot capable of autonomously traversing accumulated water includes:

[0042] The powered glider 1 is installed on the top of the underground utility tunnel and can run along the track on the top of the underground utility tunnel.

[0043] The robot body 2 performs ground patrol and detection according to a designated path in the underground utility tunnel, while simultaneously communicating wirelessly with the powered glider 1.

[0044] When the robot body 2 detects water accumulation on the ground, it stops moving and then sends its position to the powered glider 1. The powered glider moves above the robot body 2 and works with the robot body 2 to allow the robot body 2 to cross the water accumulation area.

[0045] Furthermore, such as Figure 1 As shown, in this embodiment, the powered glider 1 includes: a powered glider body 3 and a lifting beam 4;

[0046] The powered glider body 3 includes a housing 15, a controller (not shown in the figure), a drive (not shown in the figure), and rollers (not shown in the figure);

[0047] The controller and driver are housed inside the housing 15, which is mounted on a guide rail set on the top of the underground utility tunnel via rollers.

[0048] The controller controls the driver to move the rollers along the guide rail to above the robot body 2 based on the position signal emitted by the robot body 2.

[0049] Furthermore, Figure 2 This schematic diagram illustrates the structural layout of a robot body according to one embodiment of the present invention. Figure 2As shown, in this embodiment, the robot body 2 includes: a wheeled vehicle body 5, a support frame 6, a hook structure 7, an inspection component, and a central controller (not shown in the figure);

[0050] The wheeled vehicle body 5 moves on the ground via its wheels;

[0051] The support frame 6 is supported on the wheeled vehicle body 5;

[0052] The hook structure 7 is supported on top of the support frame 6;

[0053] The inspection components are deployed on the wheeled vehicle body 5 and the support frame 6 to guide the wheeled vehicle body 5 to complete the inspection task;

[0054] The central controller is located in the wheeled vehicle body 5 and is communicatively connected to the controller, inspection components, hook structure 7, support frame 6 and wheeled vehicle body 5 respectively;

[0055] The central controller controls the inspection components and the wheeled vehicle body 5 to carry out inspections.

[0056] The central controller, based on the position signal of the powered glider 1, controls the hook structure 7 to attach to the lifting beam 4, then controls the support frame 6 to retract, causing the robot body 2 to leave the ground 16. It then sends a signal to the controller, which, based on the signal from the central controller, controls the driver to move the rollers to propel the robot body 2 across the waterlogged area. Figure 3 As shown.

[0057] Furthermore, such as Figure 2 As shown, in this embodiment, the support frame 6 includes a fixed frame 8 and a lifting frame 9;

[0058] The fixed frame 8 is supported on the wheeled vehicle body 5, and the lifting frame 9 is supported on the fixed frame 8;

[0059] The hook structure 7 is supported on the lifting frame 9;

[0060] The central controller controls the lifting of the lifting frame 9.

[0061] Furthermore, such as Figure 2 As shown, in this embodiment, the hook structure 7 includes a support rod 10, a hook 11, and a drive motor (not shown in the figure);

[0062] Support rod 10 is supported on lifting frame 9;

[0063] Hook 11 is rotatably mounted on top of support rod 10;

[0064] The drive motor drives the hook 11 to flip according to the control signal of the central controller, so that it is hooked onto the lifting beam 4.

[0065] Furthermore, such as Figure 2As shown, in this embodiment, the robot body 2 also includes a ranging radar 12;

[0066] The ranging radar 12 is supported on the side wall of the mounting frame 8 and is set facing the top of the underground utility tunnel;

[0067] The ranging radar 12 is connected to the central controller. When the power glider 1 moves above the robot body 2 and causes the ranging radar 12 to change its ranging data, the ranging radar sends a signal to the central controller. The central controller controls the lifting frame 9 to rise and fall according to the signal, and then controls the drive motor to drive the hook 11 to flip and hang on the lifting beam 4.

[0068] Furthermore, such as Figure 2 As shown, in this embodiment, the inspection component includes: a visible light and thermal imaging camera 13 and a navigation lidar 14;

[0069] Visible light and thermal imaging camera 13 is mounted on the lifting frame 9 and is located near the hook structure 7, used for taking pictures and temperature measurement inspections;

[0070] The navigation lidar 14 is mounted on the wheeled vehicle body 5 and is connected to the central controller. It sends target location information to the central controller and controls the wheeled vehicle body 5 to move according to the target location information through the central controller.

[0071] According to the above-mentioned solution of this utility model, this utility model performs cruise detection through the robot body. When it encounters an insurmountable water obstacle, it notifies the powered glider to move. The powered glider moves above the robot body and, through cooperation with the robot body, helps the robot body cross the water obstacle, enabling the robot body to continue cruise detection and ensuring cruise detection efficiency and results.

[0072] According to the above-mentioned solution of this utility model, this utility model solves the problem that traditional patrol robots cannot perform unsupervised automatic adaptive patrol detection in underground utility tunnels, ensuring intelligent automatic patrol detection in underground utility tunnels, effectively improving the efficiency of patrol detection, ensuring the accuracy of patrol detection results, and improving the applicability of scenarios.

[0073] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although the utility model has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of this utility model.

Claims

1. A ground-based cruising robot capable of autonomously traversing accumulated water, characterized in that: include: The powered glider (1) is installed on the top of the underground utility tunnel and can run along the track on the top of the underground utility tunnel; The robot body (2) performs ground patrol detection in the underground pipe gallery according to the designated path, and communicates wirelessly with the powered glider (1); When the robot body (2) detects water accumulation on the ground, it stops moving and then sends its position to the powered glider (1). The powered glider moves above the robot body (2) and works with the robot body (2) to allow the robot body (2) to cross the water accumulation area.

2. The ground-based patrol robot capable of autonomously traversing accumulated water as described in claim 1, characterized in that, The powered glider (1) includes: a powered glider body (3) and a lifting beam (4); The power glider body (3) includes a housing, a controller, a driver, and rollers; The controller and the driver are housed within the housing, which is mounted on a guide rail at the top of the underground utility tunnel via the rollers. The controller controls the driver to drive the roller to move along the guide rail to above the robot body (2) based on the position signal emitted by the robot body (2).

3. The ground-based patrol robot capable of autonomously traversing accumulated water as described in claim 2, characterized in that, The robot body (2) includes: a wheeled vehicle body (5), a support frame (6), a hook structure (7), an inspection component, and a central controller; The wheeled vehicle body (5) moves on the ground via its wheels; The support frame (6) is supported on the wheeled vehicle body (5); The hook structure (7) is supported on the top of the support frame (6); The inspection components are installed on the wheeled vehicle body (5) and the support frame (6) to complete the inspection task for the wheeled vehicle body navigation; The central controller is located in the wheeled vehicle body (5) and is communicatively connected to the controller, the inspection component, the hook structure (7), the support frame (6) and the wheeled vehicle body (5); The central controller controls the inspection components and the wheeled vehicle body (5) to cooperate in inspection; The central controller controls the hook structure (7) to hang on the lifting beam (4) according to the position signal of the power glider (1), then controls the support frame (6) to retract so that the robot body (2) leaves the ground, and then sends a signal to the controller. The controller controls the driver to drive the roller to move according to the signal sent by the central controller so that the robot body (2) can cross the water area on the ground.

4. The ground-based patrol robot capable of autonomously traversing accumulated water as described in claim 3, characterized in that, The support frame (6) includes a fixed frame (8) and a lifting frame (9); The fixed frame (8) is supported on the wheeled vehicle body (5), and the lifting frame (9) is supported on the fixed frame (8); The hook structure (7) is supported on the lifting frame (9); The central controller controls the lifting frame (9) to rise and fall.

5. The ground-based patrol robot capable of autonomously traversing accumulated water as described in claim 4, characterized in that, The hook structure (7) includes a support rod (10), a hook (11), and a drive motor; The support rod (10) is supported on the lifting frame (9); The hook (11) is rotatably mounted on the top of the support rod (10); The drive motor drives the hook (11) to flip according to the control signal of the central controller.

6. The ground-based cruising robot capable of autonomously traversing accumulated water as described in claim 5, characterized in that, The robot body (2) also includes: a ranging radar (12); The ranging radar (12) is supported on the side wall of the fixed frame (8) and is set facing the top of the underground utility tunnel; The ranging radar (12) is connected to the central controller. When the power glider (1) moves above the robot body (2) and causes the ranging radar (12) to change its ranging data, the ranging radar sends a signal to the central controller. The central controller controls the lifting frame (9) to rise and fall according to the signal, and then controls the drive motor to drive the hook (11) to flip and hang on the lifting beam (4).

7. The ground-based cruising robot capable of autonomously traversing accumulated water according to any one of claims 4-6, characterized in that, The inspection components include: a visible light and thermal imaging camera (13) and a navigation lidar (14); The visible light and thermal imaging camera (13) is mounted on the lifting frame (9) and located near the hook structure (7) for taking pictures and measuring temperature during inspection. The navigation lidar (14) is mounted on the wheeled vehicle body (5) and is connected to the central controller. It sends target location information to the central controller and controls the wheeled vehicle body (5) to move according to the target location information through the central controller.

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