A patrol and inspection integrated robot

Abstract

This utility model discloses an integrated patrol and inspection robot, comprising a robot chassis, a moving mechanism and a controller, wherein the moving mechanism drives the robot chassis to move and receives control signals sent by the controller; a lifting assembly, comprising a lifting rod and a lifting drive, wherein the lifting drive drives the lifting rod to move up and down; a turntable assembly, comprising a turntable and a turntable drive, wherein the turntable is rotatably mounted on the robot chassis and the turntable drive drives the turntable to rotate; and a detection assembly, disposed on the lifting rod, wherein the detection assembly sends detection signals to the controller. The integrated patrol and inspection robot of this utility model uses a turntable and a lifting assembly to control the height and angle of its detection assembly, simplifying the height and angle adjustment structure.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robot that integrates patrol and inspection. Background Technology

[0002] Currently, in industries such as power and petrochemicals, remote monitoring and inspection of substations and transmission lines are conducted to promptly identify and eliminate potential faults, reducing the safety risks of manual inspections. This primarily involves using various devices such as LiDAR, cameras, and ultrasonic sensors to perceive changes in the surrounding environment in real time. Simultaneously, it combines positioning technologies such as GPS and inertial navigation systems to accurately obtain its own position and attitude information. Based on the perceived and positioned information, and comprehensively considering factors such as obstacles, safety, and efficiency in the environment, a path planning algorithm is used to select an optimal patrol path, ensuring that the robot effectively patrols within the task area.

[0003] Existing robots typically use a chassis structure to mount the robot body, with cameras, navigators, and other detection components mounted on the robot's robotic arm. The robotic arm automatically adjusts the monitoring height and adapts to the needs of different monitored environments. However, the finished products need to pass explosion-proof testing, which is generally difficult to pass due to friction at the joints of the robotic arm. Furthermore, the robots are bulky, which affects their battery life. Utility Model Content

[0004] In order to overcome at least one of the defects of the prior art, the present invention provides a patrol and inspection integrated robot, whose detection components use a turntable and lifting components to control the height and angle, thus simplifying the height and angle adjustment structure.

[0005] The technical solution adopted by this utility model to solve its problem is: A patrol and inspection integrated robot, comprising, A robot chassis, the robot chassis being equipped with a moving mechanism and a controller, the moving mechanism being used to drive the robot chassis to move; the moving mechanism being used to receive control signals sent by the controller; A lifting assembly, comprising a lifting rod and a lifting drive component, wherein the lifting drive component is used to drive the lifting rod to lift or lower. A turntable assembly includes a turntable and a turntable drive component. The turntable is rotatably mounted on the robot chassis, and the turntable drive component is used to drive the turntable to rotate. A detection component is provided on the lifting rod, and the detection component is used to send detection signals to the controller.

[0006] Furthermore, the lifting rod includes a first lifting section and a second lifting section, the first lifting section and the second lifting section being slidably connected; the lifting drive component is used to drive the first lifting section and the second lifting section to slide relative to each other; the detection component is installed on the first lifting section.

[0007] Furthermore, the first lifting section is slidably connected to the second lifting section; the second lifting section is provided with a locking member, which is used to lock the first lifting section and the second lifting section.

[0008] Furthermore, a sealing element is provided between the first lifting section and the second lifting section.

[0009] Furthermore, the top end of the lifting rod is provided with a rotating base and a rotating base drive component. The rotating base is rotatably connected to the lifting rod and can rotate around the horizontal direction. The rotating base drive component is used to drive the rotating base to rotate. The detection component is installed on the rotating base. The turntable can rotate around the vertical direction.

[0010] Furthermore, the patrol and inspection integrated robot also includes a first camera and a second camera. The first camera is mounted on the first lifting section; the second camera is mounted on the second lifting section; the first camera and the second camera are used to send image signals to the controller.

[0011] Furthermore, the detection component includes a Doppler laser vibrometer.

[0012] Furthermore, the turntable is equipped with an environmental detection component, which is used to send environmental detection signals to the controller; the environmental detection component includes a lidar, an ultrasonic sensor, and an infrared sensor.

[0013] Furthermore, the robot chassis is also equipped with a temperature and humidity sensor, which is used to detect the ambient temperature and humidity and send temperature and humidity signals to the controller.

[0014] Furthermore, the robot chassis is also equipped with a gas detector, which includes multiple gas sensors; the gas sensors are used to detect gases in the environment in order to send gas signals to the controller.

[0015] In summary, this utility model has the following technical effects: 1. A rotating platform is equipped with a lifting rod, and the height and angle of the detection components used for patrol and inspection can be adjusted to achieve patrol and inspection at different heights and angles.

[0016] 2. The height of the detection component is directly raised and lowered by the lifting drive component driving the lifting rod, and the rotation of the lifting rod is driven by the turntable drive component driving the turntable to rotate. That is, the lifting rod and the turntable are used to replace the robotic arm in the existing technology, thereby simplifying the robot structure.

[0017] 3. Compared to robotic arms, the lifting rod eliminates joint friction, thus reducing the risk of explosion due to friction and improving explosion-proof performance. Furthermore, it is less expensive and smaller in size than using robotic arms for lifting and rotation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the lifting component of this utility model.

[0019] The meanings of the reference numerals in the attached drawings are as follows: 10, robot chassis; 11, moving wheel; 111, rotating seat; 12, warning horn; 20, Doppler laser detector; 21, first camera; 31, first lifting section; 32, second lifting section; 40, second camera; 50, turntable. Detailed Implementation To better understand and implement this invention, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings.

[0020] In the description of this utility model, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0022] See Figure 1 and Figure 2This utility model discloses an integrated patrol and inspection robot, including a robot chassis 10, a lifting assembly, a turntable assembly, and a detection assembly. The robot chassis 10 is equipped with a moving mechanism and a controller. The moving mechanism drives the robot chassis 10 to move according to control signals sent by the controller. The lifting assembly includes a lifting rod and a lifting drive component, while the turntable assembly includes a turntable 50 and a turntable drive component. The turntable 50 is rotatably mounted on the robot chassis 10, and the turntable drive component drives the turntable 50 to rotate. Furthermore, the detection assembly is mounted on the lifting rod, and the lifting rod and lifting drive component are mounted on the turntable 50. Thus, driven by the turntable drive component, the turntable 50 rotates, causing the detection assembly on the lifting rod to rotate in multiple directions. The lifting drive component drives the lifting rod to rise and fall, causing the detection assembly on the lifting rod to rise and fall, thereby controlling the detection height and detection angle of the detection assembly.

[0023] The specific detection components are used to send detection signals to the controller. The detection components may include cameras, detectors, etc., to detect unsafe hazards in the robot's walking environment, monitor and identify the environment, and transmit the monitored signals to the controller. After receiving the detection signals, the controller sends control signals, and the moving mechanism can move according to the control signals of the controller.

[0024] For example, when the detection component includes a camera, the camera is mounted on a lifting rod. A lifting drive mechanism raises the lifting rod, allowing the camera to rise and capture images from a higher position. Conversely, the lifting drive mechanism lowers the lifting rod, allowing the camera to descend and capture images from a lower position. This allows the camera to collect image signals (i.e., detection signals) from different heights and transmit them to the controller. Furthermore, a turntable drive mechanism rotates a turntable 50, which in turn rotates the lifting rod. This allows the camera mounted on the lifting rod to rotate as well, enabling multi-directional rotation and adjustment of both the camera's shooting height and angle.

[0025] For example, the detection assembly also includes a detector mounted on a lifting rod. A lifting drive unit raises the lifting rod, allowing the detector to perform detection at a higher position. Conversely, the lifting drive unit lowers the detector, allowing it to perform detection at a lower position. This allows the detector to collect image signals (i.e., detection signals) from different heights and transmit them to the controller. Furthermore, a turntable drive unit rotates a turntable 50, which in turn rotates the lifting rod. This allows the detector mounted on the lifting rod to also rotate, enabling multi-directional rotation. In other words, the detection height and angle of the detector can be adjusted.

[0026] Of course, the detector can be a Doppler laser detector 20, which is a laser detector or an infrared detector. With the camera setup, it can both plan the robot's path and detect vibrations and leaks in the environment, integrating patrol and inspection into one.

[0027] This design incorporates a lifting rod mounted on a turntable 50. The lifting rod adjusts the height and angle of the detection components used for patrol and inspection, enabling patrol and inspection at different heights and angles. Furthermore, the height of the detection components is controlled by a lifting drive that raises and lowers the lifting rod directly, while the rotation of the lifting rod is achieved by a turntable drive that rotates the turntable 50. In other words, the lifting rod and turntable 50 work together to replace the robotic arm in existing technologies, thereby simplifying the robot structure.

[0028] Compared to robotic arms, lifting rods do not have the joint friction associated with robotic arms, thus reducing the risk of explosions due to friction and improving explosion-proof performance. Furthermore, compared to using robotic arms for lifting and rotation, they are lower in cost and smaller in size.

[0029] It should be noted that the robot chassis 10 in this embodiment integrates components such as a controller, an energy module, and a communication module. The controller includes a high-performance processor, circuit boards, etc., and is responsible for the overall control and data processing of the robot; the energy module includes a rechargeable battery, a battery management system, etc., to provide continuous and stable power support for the robot; the communication module adopts advanced wireless communication technology to realize data transmission and command reception between the robot and the remote control center.

[0030] Furthermore, the robot chassis 10, as the basic support part of the robot, is made of high-strength, corrosion-resistant alloy material to ensure sufficient strength and durability in the complex environment of chemical enterprises.

[0031] In this embodiment, the aforementioned moving mechanism includes moving wheels 11 and a drive motor. The drive motor receives control signals from the controller to drive the moving wheels 11 to move. The moving wheels 11 can be selected from existing shock-absorbing wheels. The moving wheels 11 are connected to the robot chassis 10 via a connecting shaft. The drive motor is connected to the end of the connecting shaft, and the drive motor can be selected from existing explosion-proof drive motors, which are explosion-proof to ensure safe use in flammable and explosive environments. In addition, the drive motor can reduce its speed and increase its torque through a reducer to ensure that the robot can move stably under various ground conditions.

[0032] Of course, the aforementioned moving wheels 11 can specifically use explosion-proof and wear-resistant rubber tires from existing technologies to ensure that the robot can move safely and stably even in flammable and explosive environments.

[0033] Furthermore, in this embodiment, the lifting rod includes a first lifting section 31 and a second lifting section 32, and the first lifting section 31 and the second lifting section 32 are slidably connected, and the detection component is installed on the first lifting section 31.

[0034] When the detection component needs to perform detection at a high position, the lifting drive component drives the first lifting section 31 to slide upward relative to the second lifting section 32. This allows the detection component mounted on the first lifting section 31 to rise to the high position and perform detection. When the detection component needs to perform detection at a low position, the lifting drive component drives the first lifting section 31 to slide downward relative to the second lifting section 32. This allows the detection component mounted on the first lifting section 31 to descend to the low position and perform detection.

[0035] It should be noted that the lifting drive component can be a lifting cylinder, hydraulic cylinder, or other structure found in existing technologies. In this embodiment, an electric slide table or a motor-driven lead screw can be used to achieve lifting. In this way, the controller can directly send signals to the electric slide table or motor, facilitating electrical control. If a lifting cylinder or hydraulic cylinder is used to achieve lifting, the controller can control the air pressure or hydraulic pressure of the lifting cylinder or hydraulic cylinder to control the lifting.

[0036] Of course, the specific structure of the lifting drive component can be selected and set according to actual needs.

[0037] Furthermore, the first lifting section 31 is slidably inserted into the second lifting section 32. In this embodiment, the first lifting section 31 can be a telescopic rod structure, while the second lifting section 32 is a lifting cylinder structure. During assembly, the telescopic rod is slidably inserted into the lifting cylinder, and the lifting drive component drives the telescopic rod to slide out or retract relative to the lifting cylinder, thereby achieving the lifting of the detection component. Of course, the first lifting section 31 and the second lifting section 32 can also be relatively sliding rod structures, or the piston rod of a cylinder or hydraulic cylinder can be directly formed as the lifting rod.

[0038] When the first lifting section 31 and the second lifting section 32 adopt a sliding connection structure, the first lifting section 31 will slide under the action of external force after it is lifted into position. Therefore, a locking element can be provided on the second lifting section 32. The locking element can be a spring pin structure, and multiple pin hole structures are provided on the first lifting section 31. When the first lifting section 31 is lifted to different positions and the pin holes correspond to the spring pin structures, locking can be completed, so that the first lifting section 31 can be relatively fixed in the corresponding position to the second lifting section 32, making the detection state of the first lifting section 31 in the corresponding position more stable.

[0039] Of course, the locking element can also be an electromagnet structure in the prior art. An electromagnet structure is set on the second lifting section 32, and different magnet structures are set at intervals in the height direction of the first lifting section 31. When the different magnets of the first lifting section 31 are raised to the position corresponding to the electromagnet, the electromagnet can be locked by electromagnetic attraction. Similarly, the first lifting section 31 can be kept at a stable height position for detection.

[0040] In addition, the locking component can also be a snap-fit ​​locking mechanism as used in the prior art, depending on whether it can lock and position, which will not be elaborated on here.

[0041] Furthermore, a sealing element is provided between the first lifting section 31 and the second lifting section 32. Since the first lifting section 31 and the second lifting section 32 are connected by a sliding connection, dust, water, or other corrosive substances can easily enter the assembly gap between them. Therefore, in this embodiment, a sealing ring can be wrapped around the outside of the first lifting section 31, or sealant can be wrapped around the inner wall of the second lifting section 32. In this way, the sliding between the two can be driven by the lifting drive component. At the same time, the sealing ring or sealant used as a sealing element can also seal the sliding position, improving the internal sealing of the lifting structure, making it waterproof, dustproof, corrosion-resistant, and extending its service life.

[0042] Furthermore, the top of the lifting rod is provided with a rotating base 111 and a rotating base drive component. The rotating base 111 is rotatably connected to the lifting rod and can rotate around the horizontal direction. The rotating base drive component is used to drive the rotating base 111 to rotate. The detection component is installed on the rotating base. The turntable 50 can rotate around the vertical direction.

[0043] Based on the structure of the lifting rod including a first lifting section 31 and a second lifting section 32, the aforementioned rotating base 111 can be rotatably connected to the top of the first lifting section 31 via a rotating shaft. The detection component is mounted on the rotating base 111. Thus, during detection, the height of the detection component can be adjusted by the lifting action of the first lifting section 31, and the detection component can rotate horizontally under the drive of the rotating base drive, meaning the detection component can swing up and down or back and forth. Simultaneously, the turntable 50 can rotate vertically under the drive of the turntable drive, meaning the detection component can swing left and right, and back and forth. This makes the rotation angle of the detection component more flexible and the detection angle more comprehensive.

[0044] Of course, the aforementioned rotary drive and turntable drive components can be implemented using existing motor structures or a combination of motor structures and reducers, resulting in more stable rotation speeds.

[0045] Furthermore, the patrol and inspection integrated robot also includes a first camera 21 and a second camera 40. The first camera 21 is mounted on the first lifting section 31; the second camera 40 is mounted on the second lifting section 32; the first camera 21 and the second camera 40 are used to send image signals to the controller.

[0046] Specifically, the first camera 21 can be a visible light camera in the prior art. The visible light camera includes a lens, an image sensor and a processing unit. During detection, the lens is responsible for capturing image information of the inspection area, the image sensor converts the captured image into an electrical signal, and the processing unit preprocesses and analyzes the image to extract key information (such as personnel activities, equipment status, etc.) and transmits it to the controller, and transmits it to the remote control center through the communication module.

[0047] Alternatively, the second camera 40 can be an existing infrared thermal imaging camera. This camera can detect the infrared radiation of an object and convert it into a thermal image, displaying the object's temperature distribution. The infrared thermal imaging camera includes an infrared sensor and an image processing unit. During detection, the infrared sensor captures the infrared radiation information of the object, while the image processing unit processes and analyzes the captured information to generate a thermal image, which is then transmitted to the controller and a remote control center via a communication module. This allows the thermal image to visually display the temperature distribution of the equipment, helping to promptly detect abnormalities such as overheating.

[0048] Of course, based on the above structure, the first camera 21 and the second camera 40 can form part of the detection component. Since the first camera 21 and the second camera 40 are both mounted on the lifting rod, and the lifting rod is installed on the turntable 50, the turntable 50 can drive the first camera 21 and the second camera 40 to rotate during rotation, so as to realize detection in different directions in the environment.

[0049] Furthermore, the detection components also include a Doppler laser vibrometer. Specifically, the Doppler laser vibrometer is existing technology, comprising a laser emitter, a receiver, and a signal processing unit. During detection, such as when detecting a pump, the laser emitter emits a laser beam that illuminates the pump being tested, and the receiver receives the reflected laser signal. By measuring the frequency change of the laser signal, the vibration velocity and displacement of the object can be calculated, thereby achieving real-time detection of the equipment's operating status.

[0050] Since the Doppler laser vibration meter uses a laser beam for detection, it can achieve non-contact vibration detection, enhancing the robot's detection capabilities in complex environments.

[0051] Based on the structure with a first camera 21 and a second camera 40, the detection component further includes a Doppler laser detector 20, which makes the detection function more comprehensive and the detection range wider.

[0052] Furthermore, the turntable 50 is equipped with an environmental detection component, which sends environmental detection signals to the controller. The environmental detection component includes a lidar sensor, an ultrasonic sensor, and an infrared sensor. Mounted on the robot chassis 10, the environmental detection component is used to detect environmental information around the robot in real time, such as obstacles and people. For example, when an obstacle is detected, the obstacle signal is transmitted to the controller, which can then send a control signal to the mobile mechanism to steer it away from the obstacle. Alternatively, when a person is detected on the path, the person information is sent to the controller, which can then send a control signal to the mobile mechanism to steer it away from the person.

[0053] Specifically, the environmental detection components include existing technologies such as lidar, ultrasonic sensors, and infrared sensors. LiDAR is used to generate a 3D map, while the ultrasonic and infrared sensors are used to detect nearby obstacles and people. It should be noted that the detection structures and principles of lidar, ultrasonic sensors, and infrared sensors are existing technologies and are not part of the technical content protected by this application; therefore, they will not be described in detail here.

[0054] Of course, a warning horn 12 can also be installed on the robot chassis 10. When the environmental detection component detects an abnormality, it can transmit an abnormal signal to the controller, which will then control the warning horn 12 to emit an alarm sound to alert surrounding personnel to safety. Specifically, the warning horn 12 includes a speaker and a control circuit. The control circuit is responsible for receiving instructions from the controller and controlling the speaker to emit sound according to the instructions. The speaker is responsible for converting the electrical signal into a sound signal to output the alarm sound.

[0055] Furthermore, the robot chassis 10 is also equipped with temperature and humidity sensors. These sensors detect the ambient temperature and humidity and send temperature and humidity signals to the controller. The aforementioned temperature and humidity sensors may include temperature sensors and humidity sensors. The temperature sensor can detect the ambient temperature, while the humidity sensor can detect the ambient humidity. Both the detected temperature and humidity signals are transmitted to the controller to provide environmental parameters for the robot's operation.

[0056] Furthermore, the robot chassis 10 is also equipped with a gas detector, which includes multiple gas sensors; the gas sensors are used to detect gases in the environment in order to send gas signals to the controller.

[0057] Specifically, multiple gas sensors can include, for example, combustible gas sensors and toxic gas sensors, as used in existing technologies, capable of simultaneously detecting the concentrations of multiple harmful gases. This allows for real-time monitoring of the gas environment in chemical plants, transmitting detected gas signals, such as gas concentration and gas type, to the controller, and then via a communication module on the robot chassis 10 to a remote control system for timely response.

[0058] The technical means disclosed in this utility model are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications are also considered within the scope of protection of this utility model.

Claims

1. A robot integrating patrol and inspection, characterized in that, include, A robot chassis, the robot chassis being equipped with a moving mechanism and a controller, the moving mechanism being used to drive the robot chassis to move; the moving mechanism being used to receive control signals sent by the controller; A lifting assembly, comprising a lifting rod and a lifting drive component, wherein the lifting drive component is used to drive the lifting rod to lift or lower. A turntable assembly includes a turntable and a turntable drive component. The turntable is rotatably mounted on the robot chassis, and the turntable drive component is used to drive the turntable to rotate. A detection component is provided on the lifting rod, and the detection component is used to send detection signals to the controller.

2. The patrol and inspection integrated robot according to claim 1, characterized in that, The lifting rod includes a first lifting section and a second lifting section, the first lifting section and the second lifting section being slidably connected; the lifting drive component is used to drive the first lifting section and the second lifting section to slide relative to each other; the detection component is installed on the first lifting section.

3. The patrol and inspection integrated robot according to claim 2, characterized in that, The first lifting section is slidably connected to the second lifting section; the second lifting section is provided with a locking member, which is used to lock the first lifting section and the second lifting section.

4. The patrol and inspection integrated robot according to claim 2, characterized in that, A sealing element is provided between the first lifting section and the second lifting section.

5. The patrol and inspection integrated robot according to claim 2, characterized in that, The top end of the lifting rod is provided with a rotating base and a rotating base drive component. The rotating base is rotatably connected to the lifting rod and can rotate around the horizontal direction. The rotating base drive component is used to drive the rotating base to rotate. The detection component is installed on the rotating base. The turntable can rotate around the vertical direction.

6. The patrol and inspection integrated robot according to any one of claims 2-5, characterized in that, The patrol and inspection integrated robot also includes a first camera and a second camera. The first camera is mounted on the first lifting section; the second camera is mounted on the second lifting section; the first camera and the second camera are used to send image signals to the controller.

7. The patrol and inspection integrated robot according to any one of claims 1-5, characterized in that, The detection components include a Doppler laser vibrometer.

8. The patrol and inspection integrated robot according to any one of claims 1-5, characterized in that, The turntable is equipped with an environmental detection component, which is used to send environmental detection signals to the controller; the environmental detection component includes a lidar, an ultrasonic sensor, and an infrared sensor.

9. The patrol and inspection integrated robot according to any one of claims 1-5, characterized in that, The robot chassis is also equipped with a temperature and humidity sensor, which is used to detect the ambient temperature and humidity and send temperature and humidity signals to the controller.

10. The patrol and inspection integrated robot according to any one of claims 1-5, characterized in that, The robot chassis is also equipped with a gas detector, which includes multiple gas sensors; the gas sensors are used to detect gases in the environment and send gas signals to the controller.

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