CN106002925B - Double crawler belt intelligent inspection robots - Google Patents

Abstract

The invention discloses an intelligent inspection robot with double crawlers. The chassis part of its package is arranged between the left crawler walking part and the right crawler walking part, and the said chassis part includes the upper cover of the chassis, the environmental information integration sensor, the binocular vision sensor, the laser radar, the lower box of the chassis, the first lithium Batteries, three-dimensional digital compass, control host and sound and light alarm, environmental information integration sensor, binocular vision sensor, laser radar, first lithium battery and three-dimensional digital compass, binocular vision sensor, laser radar and The three-dimensional digital compass is all connected to the first lithium battery, a control host is arranged on one side of the first lithium battery, the upper cover of the chassis cooperates with the lower box of the chassis, and the sound and light alarm is exposed to the outside of the lower box of the chassis. The invention is small in size, light in weight and low in cost, and performs patrol inspection tasks reciprocally. The two crawlers can be used independently and controlled independently, and can remotely monitor the surrounding environment information of the robot.

Description

Dual track intelligent inspection robot

technical field

The invention relates to the technical field of inspection robots, in particular to an intelligent inspection robot with double crawlers.

Background technique

The structure of the traditional inspection robot is relatively complicated, the quality is heavy, and the cost is high. It is inconvenient to perform inspection tasks reciprocally, and the control is also very inconvenient. Inspection robot.

Contents of the invention

In order to solve the above problems, the present invention provides a dual-track intelligent inspection robot, which is small in size, light in weight, low in cost, and performs inspection tasks reciprocally. The two crawlers can be used independently and controlled separately, and the surrounding environment information of the robot can be monitored remotely.

In order to achieve the above object, the technical solution adopted by the present invention is: a dual-track intelligent inspection robot, including a chassis part, a left crawler walking part and a right crawler walking part, and the chassis part is arranged between the left crawler walking part and the right crawler walking part, The chassis part includes a chassis upper cover, an environmental information integration sensor, a binocular vision sensor, a laser radar, a chassis lower body, a first lithium battery, a three-dimensional digital compass, a control host, and an audible and visual alarm. There are environmental information integrated sensors, binocular vision sensors, lidar, the first lithium battery and a three-dimensional digital compass, and the binocular vision sensor, lidar and three-dimensional digital compass are all connected to the first lithium battery, and one side of the first lithium battery is provided with The host computer is controlled, the upper cover of the chassis cooperates with the lower box body of the chassis, and the sound and light alarm is exposed outside the lower box body of the chassis.

Preferably, the left crawler running part and the right crawler running part are centrally symmetrical structures.

Preferably, the left crawler part includes a right side plate, a middle support plate and a left side plate, the right side plate, the middle support plate and the left side plate constitute the main frame, and the middle support plate is supported by the first upper support shaft , the second upper support shaft, the third upper support shaft, the fourth upper support shaft, the fifth upper support shaft, the fifth lower support shaft, the fourth lower support shaft, the third lower support shaft, the second lower support shaft, the first The lower support shaft is connected, and the first upper support shaft, the fifth upper support shaft, the fifth lower support shaft, and the first lower support shaft are connected to the left side plate, and the front shaft connects the main frame with the front right track wheel and the front left track wheel, the first straight gear; the main frame is connected with the rear right track wheel and the rear left track wheel through the rear axle, and the main frame is also equipped with a wireless communication module, a travel motor control board, a driver and a second lithium battery, and the second lithium battery A lithium battery charging hole is provided, and the track is supported by the first upper support wheel, the second upper support wheel, the third upper support wheel, the third lower support wheel, the second lower support wheel, and the first lower support wheel. The front right track Wheel, front left track wheel The front left track wheel is connected to the rear right track wheel and the rear left track wheel through the track, the front right anti-collision wheel system and the rear right anti-collision wheel system are respectively arranged The gear train and the rear right anti-collision gear train cooperate with the grooved track. The 24V DC motor is connected to the front axle through the second spur gear and the first spur gear. The front axle is connected to the track through the front right track wheel and the front left track wheel. The track is connected to the rear axle through the rear right track wheel and the rear left track wheel, and the chassis part is connected with the right track wheel, the rear left track wheel, the front right track wheel and the front left track wheel through the connecting plate.

Preferably, the wireless communication module is connected with a remote control device.

The chassis part of the present invention is equipped with some electronic devices or sensors for data acquisition and remote monitoring; the left and right crawler walking parts are independent walking mechanisms, equipped with lithium batteries, control boards, drivers, DC motors, wireless modules and other components, The tablet computer can be used to realize remote control through the wireless module; the chassis part is installed between the two crawler walking parts;

Inside the chassis part, according to the requirements of use, an integrated sensor integrated with environmental information such as CO, CO2, CH4, temperature, humidity, etc. is installed for environmental monitoring. When a certain data of the environmental information detected by the robot's environmental information integrated sensor exceeds the standard, the sound and light alarm will also send an alarm message.

Inside the chassis part, a LiDAR, a binocular vision sensor, and a three-dimensional digital compass share a lithium battery, which is installed on the upper shelf, and one at the front and one at the front. Lidar and binocular vision sensors are used to monitor the surrounding obstacle information in real time; the three-dimensional digital compass is used to detect the posture of the robot.

The robot case is also equipped with a 24V lithium battery, which is an independent power supply on the shelf. It can output DC voltages of 12V and 5V at the same time to supply power to various electronic devices in the case.

The invention has the following beneficial effects: small size, light weight, low cost, reciprocating inspection tasks, two crawlers can be used independently, controlled independently, and the surrounding environment information of the robot can be monitored remotely.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a schematic diagram of the three-dimensional structure of the chassis part of the present invention;

Fig. 3 is a side view of the chassis part of the present invention;

Fig. 4 is the A-A direction sectional view of Fig. 3 of the present invention;

Fig. 5 is a three-dimensional structural schematic diagram of the left crawler walking part of the present invention;

Fig. 6 is a schematic plan view of the left crawler walking part of the present invention;

Fig. 7 is the B-B direction sectional view of Fig. 6 of the present invention;

Fig. 8 is a schematic diagram of the internal structure of the left crawler walking part of the present invention.

Detailed ways

In order to make the objects and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

As shown in Figures 1-8, the embodiment of the present invention provides a dual-track intelligent inspection robot, including a chassis part 1, a left crawler walking part 2 and a right crawler walking part 3, and the chassis part 1 is arranged on the left crawler walking part 2 and the right crawler walking part 2. Between the crawler walking parts 3, the chassis part 1 includes a chassis upper cover 1-1, an environmental information integration sensor 1-2, a binocular vision sensor 1-3, a laser radar 1-4, and a chassis lower body 1-5 , the first lithium battery 1-6, the three-dimensional digital compass 1-7, the control host 1-8 and the sound and light alarm 1-9, the environmental information integrated sensor 1-2, binocular Vision sensor 1-3, laser radar 1-4, first lithium battery 1-6 and three-dimensional digital compass 1-7, binocular vision sensor 1-3, laser radar 1-4 and three-dimensional digital compass 1-7 are all related to the first One lithium battery 1-6 is connected, one side of the first lithium battery 1-6 is provided with a control host 1-8, the upper cover of the chassis 1-1 cooperates with the lower box body 1-5 of the chassis, and the sound and light alarm 1-9 is exposed from the chassis The lower casing 1-5 is externally set.

The left crawler running part 2 and the right crawler running part 3 are center-symmetric structures.

The left crawler part includes a right side plate 2-2, a middle support plate 2-8 and a left side plate 2-17, and the right side plate 2-2, the middle support plate 2-8 and the left side plate 2-17 constitute The main frame, the middle support plate 2-8 is composed of the first upper support shaft 2-19, the second upper support shaft 2-21, the third upper support shaft 2-23, the fourth upper support shaft 2-25, the The fifth upper support shaft 2-26, the fifth lower support shaft 2-29, the fourth lower support shaft 2-30, the third lower support shaft 2-32, the second lower support shaft 2-34, the first lower support shaft 2 -36 connection, and the first upper support shaft 2-19, the fifth upper support shaft 2-26, the fifth lower support shaft 2-29, the first lower support shaft 2-36 are connected with the left side plate 2-17, the front The shaft 2-3 connects the main frame with the front right track wheel 2-4, the front left track wheel 2-18, and the first spur gear 2-5; the main frame passes through the rear axle 2-13 and the rear right track wheel 2-12, the rear The left track wheel 2-15 is connected, and the main frame is also provided with a wireless communication module 2-9, a travel motor control panel 2-10, a driver 2-11 and a second lithium battery 2-28, and the second lithium battery 2-28 A lithium battery charging hole 2-38 is provided, and the track 2-37 passes through the first upper support wheel 2-20, the second upper support wheel 2-22, the third upper support wheel 2-24, and the third lower support wheel 2-31 , the second lower support wheel 2-33, the first lower support wheel 2-35 support settings, the front right track wheel 2-4, the front left track wheel 2-18, the front left track wheel connects the rear right track wheel through the track 2-37 2-12 and the rear left track wheel 2-15, the front right anti-collision wheel system 2-1 and the rear right anti-collision wheel system 2-14 are respectively arranged on the front and rear sides of the outer middle part of the crawler belt 2-37, and the front right anti-collision wheel system 2-1 and the rear right anti-collision wheel train 2-14 cooperate with the groove track, and the 24V DC motor 2-7 is connected with the front axle 2-3 through the second spur gear 2-6 and the first spur gear 2-5. Axle 2-3 is connected with track 2-37 through front right track wheel 2-4 and front left track wheel 2-18, and track 2-37 is connected with rear right track wheel 2-12 and rear left track wheel 2-15 through rear Axle 2-13 is rotationally connected, and cabinet part 1 is connected with rear right track wheel 2-12, rear left track wheel 2-15, front right track wheel 2-4 and front left track wheel 2-18 by connecting plate 2-16.

The wireless communication module 2-9 is connected with the remote control device.

The structural size of this specific embodiment is: 403*365*200mm, the whole structure is made of steel as the frame, and its overall mass is 24Kg. The dual-track robot can be controlled remotely through a tablet computer, and the real-time monitoring of the robot can be realized by using the wireless communication module. The two crawler parts and the chassis part are independent units. For example, a single crawler can be remotely controlled through a wireless communication module, and the chassis part can also be independently installed on other mobile platforms or fixed monitoring occasions.

The remote branch line remote control of this specific embodiment can be realized in three ways:

(1) Connect directly with the robot through a tablet computer to realize remote control;

(2) Realize remote control through a tablet computer, wireless relay, and then connect with the robot;

(3) Through the tablet computer, Internet, modem, wireless router, and then connect with the robot to realize remote control.

The crawler walking part of this specific embodiment is an independent driving mechanism, which itself can be remotely controlled by a tablet computer or a mobile phone. The crawler walking part and the rack part are independent parts of each other. The forward and reverse control of the motors of the left and right crawler walking parts can realize the forward, reverse and steering control of the crawler robot. The front and rear track wheels of the track walking part are divided into left and right halves to support the track, that is, the front right track wheel 2-4, the front left track wheel 2-18, the rear right track wheel 2-12, and the rear left track wheel 2-15; The motor control board 2-10 is the control core of the robot, the driver 2-11 is the driver of the DC motor, and the second lithium battery 2-28 supplies power for the crawler belt walking part and other electronic devices, and its charging is through the lithium battery charging hole 2-38 Complete the charging; remotely control the walking movement of the crawler walking part through the wireless communication module 2-9; the front right track wheel 2-4 and the front left track wheel 2-18 drive the track 2-37 to rotate, and the track 2-37 drives the rear right track Wheel 2-12 and rear left crawler wheel 2-15 rotate; the anti-collision wheel system can prevent the robot from colliding with the groove when the robot is running in the groove, and ensure that the robot runs along the groove track; the walking motion is through 24V DC motor 2-7 drives the second spur gear 2-6, the first spur gear 2-5 transmits power to the front axle 2-3, and the front axle 2-3 drives the front right crawler wheel 2-4 and the front left crawler Wheel 2-18 rotates, drives crawler belt 2-37 to rotate again, and crawler belt 2-37 drives rear right crawler wheel 2-12, rear left crawler wheel 2-15 to rotate around rear axle 2-13 again.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications should also be It is regarded as the protection scope of the present invention.

Claims (2)

1. The dual-track intelligent inspection robot is characterized in that it includes a chassis part (1), a left crawler walking part (2) and a right crawler walking part (3), and the chassis part (1) is arranged on the left crawler walking part (2) Between the right crawler walking part (3), the chassis part (1) includes a chassis upper cover (1-1), an environmental information integration sensor (1-2), a binocular vision sensor (1-3), a laser Radar (1-4), chassis lower box (1-5), first lithium battery (1-6), three-dimensional digital compass (1-7), control host (1-8) and sound and light alarm (1 -9), the lower casing (1-5) of the chassis is provided with an environmental information integration sensor (1-2), a binocular vision sensor (1-3), a laser radar (1-4), a first lithium battery (1 -6) and three-dimensional digital compass (1-7), binocular vision sensor (1-3), laser radar (1-4) and three-dimensional digital compass (1-7) are all connected with the first lithium battery (1-6) connected, the first lithium battery (1-6) side is provided with a control host (1-8), the chassis upper cover (1-1) cooperates with the chassis lower box (1-5), and the sound and light alarm (1- 9) Exposing the external setting of the lower box body (1-5) of the chassis, the left crawler walking part includes a right side plate (2-2), a middle support plate (2-8) and a left side plate (2-17), The right side plate (2-2), the middle support plate (2-8) and the left side plate (2-17) constitute the main body frame, and the described middle support plate (2-8) is supported by the first upper support shaft (2- 19), the second upper support shaft (2-21), the third upper support shaft (2-23), the fourth upper support shaft (2-25), the fifth upper support shaft (2-26), the fifth lower Support shaft (2-29), the fourth lower support shaft (2-30), the third lower support shaft (2-32), the second lower support shaft (2-34), the first lower support shaft (2-36 ) connection, and the first upper support shaft (2-19), the fifth upper support shaft (2-26), the fifth lower support shaft (2-29), the first lower support shaft (2-36) and the left side The plate (2-17) is connected, and the front axle (2-3) connects the main body frame with the front right track wheel (2-4), the front left track wheel (2-18), and the first spur gear (2-5); the main body The frame is connected with the rear right track wheel (2-12) and the rear left track wheel (2-15) through the rear axle (2-13), and the main frame is also provided with a wireless communication module (2-9) and a travel motor control board (2-10), driver (2-11) and the second lithium battery (2-28), the second lithium battery (2-28) is provided with lithium battery charging hole (2-38), crawler belt (2-37 ) through the first upper support wheel (2-20), the second upper support wheel (2-22), the third upper support wheel (2-24), the third lower support wheel (2-31), the second lower support Wheel (2-33), the first lower support wheel (2-35) support setting, the front right track wheel (2-4), the front left track wheel (2-18) and the front left track wheel pass through the track (2-37) After connecting the right track wheel (2 -12) and the rear left track wheel (2-15), the front right anti-collision wheel system (2-1) and the rear right anti-collision wheel system (2-14) are respectively arranged on the front and rear sides of the outer middle part of the track (2-37) , and the front right anti-collision wheel system (2-1) and the rear right anti-collision wheel system (2-14) cooperate with the groove track, and the 24V DC motor (2-7) passes through the second spur gear (2-6), The first straight gear (2-5) links to each other with the front axle (2-3), and the front axle (2-3) links to each other with the track ( 2-37), the track (2-37) is rotationally connected with the rear axle (2-13) through the rear right track wheel (2-12) and the rear left track wheel (2-15), and the chassis part (1) is connected by Plate (2-16) is connected with right track wheel (2-12), rear left track wheel (2-15), front right track wheel (2-4) and front left track wheel (2-18). 2. The dual-track intelligent inspection robot according to claim 1, characterized in that, the wireless communication module (2-9) is connected with a remote control device.