CN114131590A - Intelligent device of four-footed robot - Google Patents
Intelligent device of four-footed robot Download PDFInfo
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- CN114131590A CN114131590A CN202111370662.4A CN202111370662A CN114131590A CN 114131590 A CN114131590 A CN 114131590A CN 202111370662 A CN202111370662 A CN 202111370662A CN 114131590 A CN114131590 A CN 114131590A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses an intelligent device of a quadruped robot, which relates to the field of intelligent management of factories and comprises a walking module, a navigation module, a planning module, an acquisition module, a communication module and a control module, wherein the walking module is used for moving the intelligent device of the quadruped robot; the navigation module is used for navigating the movement of the quadruped robot intelligent device according to a preset route; the planning module comprises a first path planning module and a second path planning module; the acquisition module is used for acquiring the working state data of the equipment to be detected when the quadruped robot intelligent device moves to the equipment to be detected; the communication module is used for uploading the working state data acquired by the acquisition module to the background server. The invention can realize the autonomous acquisition of the working state data of the equipment to be detected, has high inspection efficiency, can avoid the problems of wrong inspection, missed inspection and the like when a manual inspection mode is adopted, and effectively ensures the stable and safe operation of a gas turbine power plant.
Description
Technical Field
The invention relates to the field of intelligent management of factories, in particular to an intelligent device of a quadruped robot.
Background
The equipment of the gas turbine power plant is basic facilities of the power plant, is an important link for connecting all parts of a production system, and once a fault occurs, the power generation system can be interrupted, even the production line is stopped, and the economic loss of the system is huge. In order to ensure the normal operation of the gas turbine power plant, each device of the gas turbine power plant needs to be frequently patrolled to ensure the stable operation of the gas turbine power plant.
At present, a manual inspection mode is usually adopted in a gas turbine power plant, and workers need to inspect infrastructure of the power plant on time and check and analyze basic operation data. The mode is time-consuming and labor-consuming, the production efficiency is low, and the inspection standardization degree is relatively low. Simultaneously, there are high temperature, noise scheduling problem in the gas turbine power plant workshop, patrol and examine actual difficulty: the machine room equipment is large in types and quantity, inspection personnel are required to have a considerable professional knowledge background, recruitment and new person culture are not easy, the capacity expansion of a data center is fast, and the quantity of the personnel configured at present is far from the actual development requirement. Therefore, the problems of wrong detection, missed detection and the like are easily caused by adopting a manual patrol mode, the working strength of patrol personnel is high, and the patrol efficiency is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the intelligent device for the quadruped robot, which can realize the autonomous acquisition of the working state data of the equipment to be detected, has high inspection efficiency, can avoid the problems of wrong inspection, missed inspection and the like when a manual inspection mode is adopted, and effectively ensures the stable and safe operation of a gas turbine power plant.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a walking module for moving the quadruped robot intelligent device;
the navigation module is used for navigating the movement of the quadruped robot intelligent device according to a preset route;
the planning module comprises a first path planning module and a second path planning module, wherein the first path planning module is used for determining equipment for completing a production plan based on the production plan, taking the determined equipment as equipment to be detected, then determining a preset path based on the position of the equipment to be detected, the second path planning module is used for counting the running time of all equipment in the gas turbine power plant, taking the equipment with the running time exceeding the preset time as the equipment to be detected, and then determining the preset path based on the position of the equipment to be detected;
the acquisition module is used for acquiring the working state data of the equipment to be detected when the quadruped robot intelligent device moves to the equipment to be detected;
the communication module is used for uploading the working state data acquired by the acquisition module to the background server;
the control module is used for performing coordination control on the walking module, the navigation module and the acquisition module, so that when the quadruped robot intelligent device moves to the to-be-detected equipment in the gas turbine power plant based on the navigation module and the walking module, the acquisition module is controlled to acquire working state data of the to-be-detected equipment, and the communication module is controlled to upload the acquired working state data to the background server;
wherein, work as when the intelligent device of four-footed robot is located outside the factory building of gas turbine power plant, the navigation module is fixed a position based on the navigation satellite, and is right the removal of the intelligent device of four-footed robot navigates, works as when the intelligent device of four-footed robot is located the factory building of gas turbine power plant, the navigation module is fixed a position based on wireless local area network technique, and is right the removal of the intelligent device of four-footed robot navigates, wireless local area network technique is the wireless local area network that a plurality of wireless access points of installation constitute in the gas turbine power plant.
On the basis of the technical scheme, the working state data comprises image data, temperature image data and noise data.
On the basis of the technical proposal, the device comprises a shell,
the acquisition module comprises a camera, an infrared thermal imager and a pickup;
the camera is used for collecting image data of equipment to be detected;
the infrared thermal imager is used for collecting temperature image data of the equipment to be detected;
the adapter is used for gathering the noise data of waiting to examine equipment.
On the basis of the technical proposal, the device comprises a shell,
the quadruped robot intelligent device comprises a remote operation working mode and an automatic working mode;
the remote operation working mode is that a remote control mode is adopted to drive the quadruped robot intelligent device to move according to a preset route;
the automatic working mode is navigation based on a navigation module, and the quadruped robot intelligent device moves according to a preset route.
On the basis of the technical scheme, the walking module comprises four mechanical legs, and the four mechanical legs are uniformly distributed on two sides of the intelligent device of the quadruped robot;
on the basis of the technical scheme, each mechanical leg comprises a thigh unit, a shank unit and a driving unit, the upper end of the thigh unit is rotatably connected with the quadruped robot intelligent device, the upper end of the shank unit is hinged with the lower end of the thigh unit through a rotating shaft, and the driving unit is located between the thigh unit and the shank unit to drive the upper end of the shank unit to rotate around the lower end of the thigh unit.
On the basis of the technical proposal, the device comprises a shell,
the battery life-prolonging device also comprises a life-prolonging module, wherein the life-prolonging module comprises a storage battery and an electric quantity controller;
the storage battery is used for supplying power to the quadruped robot intelligent device;
the electric quantity controller is used for monitoring the residual electric quantity of the storage battery in real time, and when the residual electric quantity of the storage battery is smaller than the preset electric quantity, the walking driving module works to move the quadruped robot intelligent device to the position of the charging pile to charge the storage battery.
On the basis of the technical scheme, the electric quantity controller is also used for identifying the charging pile, aligning the charging port of the quadruped robot intelligent device to the charging pile and completing butt joint when the charging pile passes through the identification, and charging the storage battery.
On the basis of the technical proposal, the device comprises a shell,
the device also comprises a state detection module;
the state detection module is used for detecting the working states of the walking module, the navigation module, the acquisition module, the communication module and the control module and giving an alarm when the working states are abnormal.
On the basis of the technical proposal, the device comprises a shell,
the system also comprises a behavior recognition module;
the behavior identification module is used for identifying the behavior of site workers of the fuel plant;
the behaviors include identifying whether to wear a safety helmet, whether to wear a tool, and whether to fasten a safety belt.
Compared with the prior art, the invention has the advantages that: realize the autonomic walking of four-footed robot intelligent device through navigation module and walking module, and when four-footed robot intelligent device moves to waiting to examine equipment department in the gas turbine power plant based on navigation module and walking module, the operating condition data of examining equipment is treated to the collection module, and upload to backend server through communication module with the operating condition data of gathering, realize the autonomic collection to waiting to examine equipment operating condition data, it is efficient to patrol, and can avoid adopting the false detection that appears when artifical patrol the mode, the missed measure scheduling problem, effectively guarantee the stable safe operation of gas turbine power plant.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent device of a quadruped robot in an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a quadruped robot intelligent device, which can realize the autonomous walking of the quadruped robot intelligent device through a navigation module and a walking module, and when the quadruped robot intelligent device moves to a to-be-detected device in a gas turbine power plant based on the navigation module and the walking module, an acquisition module acquires the working state data of the to-be-detected device, and the acquired working state data is uploaded to a background server through a communication module, so that the autonomous acquisition of the working state data of the to-be-detected device is realized, the inspection efficiency is high, the problems of wrong inspection, missing inspection and the like in the manual inspection mode can be avoided, and the stable and safe operation of the gas turbine power plant is effectively ensured.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, an intelligent device for a quadruped robot provided by the embodiment of the present invention includes a walking module, a navigation module, a planning module, an acquisition module, a communication module, and a control module.
The walking module is used for moving the quadruped robot intelligent device, namely, the quadruped robot intelligent device moves under the action of the walking module. Specifically, the walking module includes four mechanical legs, and four mechanical legs evenly distributed in the both sides of four-footed robot intelligent device, four-footed robot intelligent device's the left and right sides promptly, and the front and back of each side all sets up two mechanical legs.
Each mechanical leg comprises a thigh unit, a shank unit and a driving unit, the upper end of the thigh unit is rotatably connected with the quadruped robot intelligent device, the upper end of the shank unit is hinged with the lower end of the thigh unit through a rotating shaft, and the driving unit is located between the thigh unit and the shank unit so as to drive the upper end of the shank unit to rotate around the lower end of the thigh unit. Under the action of the walking module, the quadruped robot intelligent device can quickly walk, climb, go up and down steps, crawl, go up and down stairs and other actions, adopts sensitive and stable bionic gait, is more suitable for the working environment of a gas turbine power plant, does not need to reform a workshop, does not need to lay a track, and greatly expands the inspection area of the quadruped robot intelligent device.
The navigation module is used for navigating the movement of the quadruped robot intelligent device according to a preset route; the navigation module can construct an environment map of the gas turbine power plant through sensors such as laser, vision and inertial navigation, so that high-precision positioning navigation of the quadruped robot intelligent device is realized.
It should be noted that, work as when the intelligent device of four-footed robot is located outside the factory building of gas turbine power plant, the navigation module is fixed a position based on the navigation satellite, and is right the removal of the intelligent device of four-footed robot navigates, works as when the intelligent device of four-footed robot is located in the factory building of gas turbine power plant, the navigation module is fixed a position based on wireless local area network technique, and is right the removal of the intelligent device of four-footed robot navigates, wireless local area network technique is the wireless local area network that constitutes through a plurality of wireless access points of installation in the gas turbine power plant. The wireless local area network technology in the embodiment of the invention is a WiFi positioning technology, based on the position information of network nodes (wireless access points) and on the premise, the position of the accessed mobile equipment is positioned by adopting a mode of combining an empirical test and a signal propagation model, namely, a plurality of wireless access points are uniformly arranged in a gas turbine power plant to form a wireless local area network, and when the quadruped robot intelligent device is positioned in the wireless local area network, the wireless local area network can be navigated and positioned.
Furthermore, the positioning assistance can be realized based on equipment in the gas turbine power plant, the position of the equipment is determined because the equipment in the gas turbine power plant is in a fixed state, the quadruped robot intelligent device acquires images of the surrounding environment in the moving process, identifies the acquired images, identifies the equipment contained in the images, obtains the position coordinates of the equipment, and further performs the assistance determination on the position coordinates of the quadruped robot intelligent device.
The planning module comprises a first path planning module and a second path planning module, wherein the first path planning module is used for determining equipment for completing a production plan based on the production plan, taking the determined equipment as equipment to be detected, and then determining a preset path based on the position of the equipment to be detected. For example, a current production plan is obtained through a work order system of a gas turbine power plant, a device A, a device B and a device C are required to be used in the production plan, the device A, the device B and the device C are used as devices to be detected, then the positions of the device A, the device B and the device C are connected, the formed route is a preset route, the four-legged robot intelligent device is subsequently driven to move according to the preset route, working state data collection is carried out on the device A, the device B and the device C, the running states of the device A, the device B and the device C are detected, and the device A, the device B and the device C are overhauled in time when problems occur, so that the normal operation of the production plan is effectively guaranteed.
The second path planning module is used for counting the running time of all equipment in the gas turbine power plant, taking the equipment with the running time exceeding the preset time as equipment to be detected, and then determining a preset path based on the position of the equipment to be detected. With the increase of the running time of the equipment, the probability of the equipment having faults is correspondingly increased, so that when the running time of certain equipment exceeds the preset time, the equipment is used as equipment to be detected, then a preset route is determined based on the position of the equipment, and therefore working state data collection is carried out on the equipment to judge the running state of the equipment, problems are found as early as possible, and corresponding measures are taken.
In the embodiment of the invention, the intelligent device of the quadruped robot comprises a remote operation working mode and an automatic working mode; the remote operation mode is that a remote control mode is adopted to drive the quadruped robot intelligent device to move according to a preset route; the automatic working mode is based on navigation of a navigation module, and the intelligent device of the quadruped robot moves according to a preset route.
The acquisition module is used for acquiring the working state data of the equipment to be detected when the quadruped robot intelligent device moves to the equipment to be detected; the operating condition data includes image data, temperature image data, and noise data. Specifically, the acquisition module comprises a camera, an infrared thermal imager and a pickup; the camera is used for collecting image data of the equipment to be detected; the infrared thermal imager is used for collecting temperature image data of the equipment to be detected; the adapter is used for waiting to examine the noise data of examining equipment and gathering.
The communication module is used for uploading the working state data acquired by the acquisition module to the background server so that background workers can analyze the running state of the equipment to be detected based on the working state data, or can automatically analyze the running state of the equipment to be detected based on the working state data through corresponding software.
The method specifically comprises the following steps of analyzing the running state of the equipment to be detected based on the working state data:
a: the method comprises the steps of obtaining image data, temperature image data and noise data of the equipment of the gas turbine power plant during normal operation, and training a neural network model as a training set, so that the neural network model has the capability of judging whether the equipment operates normally or not based on working state data.
It should be noted that the image data in the training set refers to appearance image data of the device during normal operation, and as the service time of the device increases, even if the device operates normally, the appearance image changes, so that when the image data of the device during normal operation is obtained, appearance images of the device during normal operation at different service lives are obtained to serve as the training set, and the recognition accuracy of a subsequent neural network model is conveniently improved.
When the equipment normally operates, under different operating conditions or different operating powers, the temperature is different, and the temperature during the operation of the equipment is also influenced by the ambient temperature, so that when the equipment normally operates and different operating conditions or different operating powers are obtained, a plurality of temperature data under different ambient temperatures are used as a training set, and the identification precision of a subsequent neural network model is conveniently improved.
Similarly, when the device is in normal operation, under different operation conditions or different operation powers, the noise is different, so that a plurality of noise data of the device in normal operation and under different operation conditions or different operation powers are obtained and used as a training set, and the identification precision of a subsequent neural network model is conveniently improved.
B: the trained neural network model is used for identifying the working state data uploaded by the communication module, so that whether the corresponding equipment normally operates or not is automatically judged based on the image data, the temperature image data and the noise data in the working state data, the automatic change detection of the running state of the equipment is realized, the detection efficiency is high, and the detection result is accurate; and when the neural network model detects that the equipment has abnormal operation, automatic alarm is carried out so as to facilitate timely overhaul by maintenance personnel.
In a possible implementation mode, the automatic detection process of whether the neural network model recognition equipment normally operates can be placed in the quadruped robot intelligent device, after the collection module collects working state data, the control module drives the trained neural network model to recognize the working state data, so that whether the equipment is in a normal operation state or not is judged at the first time, when the equipment is in an abnormal state to be judged, a sound or light alarm mode is adopted, nearby workers are notified to the equipment, and the abnormal equipment is disposed at the first time.
The control module is used for carrying out coordination control on the walking module, the navigation module and the acquisition module, so that when the quadruped robot intelligent device moves to the position of equipment to be detected in the gas turbine power plant based on the navigation module and the walking module, the acquisition module is controlled to acquire working state data of the equipment to be detected, and the communication module is controlled to upload the acquired working state data to the background server.
Furthermore, the intelligent device of the quadruped robot in the embodiment of the invention further comprises a cruising module, wherein the cruising module comprises a storage battery and an electric quantity controller. The storage battery is used for supplying power to the quadruped robot intelligent device; the electric quantity controller is used for monitoring the residual electric quantity of the storage battery in real time, and when the residual electric quantity of the storage battery is smaller than the preset electric quantity, the walking driving module works to move the quadruped robot intelligent device to the position of the charging pile to charge the storage battery. The electric quantity controller is also used for identifying the charging pile, and the charging port of the quadruped robot intelligent device is aligned to the charging pile and is butted when the charging pile passes through the identification, so that the charging of the storage battery is carried out. The whole process of the charging process of the intelligent device of the quadruped robot is free from manual access, and the autonomous charging of the intelligent device of the quadruped robot is realized.
Furthermore, the intelligent device for the quadruped robot in the embodiment of the invention further comprises a state detection module, wherein the state detection module is used for detecting the working states of the walking module, the navigation module, the acquisition module, the communication module and the control module and giving an alarm when the working states are abnormal. The running state of the quadruped robot intelligent device is detected through the state detection module, alarm prompt is carried out when the working state is abnormal, namely when the state detection module detects the quadruped robot intelligent device, an error mark is thrown out once the quadruped robot intelligent device is abnormal, and corresponding alarm prompt is given according to the preset error mark, so that specific measures are taken, and the machine dog is ensured to work safely and reliably in the whole routing inspection process.
Furthermore, the intelligent device of the quadruped robot in the embodiment of the invention also comprises a behavior identification module, wherein the behavior identification module is used for identifying the behavior of the site worker of the fuel plant; the behaviors include identifying whether to wear a safety helmet, whether to wear a tool, and whether to fasten a safety belt.
The following describes a process of the four-legged robot intelligent device for inspecting the combustion engine power plant.
Based on the walking module and the navigation module, the quadruped robot intelligent device starts from a charging position and carries out equipment inspection along a specified inspection path. The inspection device comprises a data base, an inspection device, a communication module and a background server, wherein the inspection device is positioned at first in the inspection process, then a device label is read (the device label is pasted on the inspection device), the name, the preset point position and the focusing information of the inspection device are obtained from the data base based on the read device label, then the working state data of the inspection device are collected through the collection module, and meanwhile, the collected working state data and the collected state parameters are transmitted to the background server through the communication module through the state parameters of the state detection module. Besides, in the automatic inspection process, the quadruped robot intelligent device can also determine the position and the posture of the body through a related sensor carried by the quadruped robot intelligent device, and the quadruped robot intelligent device is ensured to move to a preset stop point.
In the whole inspection process, the background server can monitor the equipment to be inspected according to the working state data uploaded by the intelligent device of the quadruped robot; meanwhile, the remote intelligent inspection management platform in the background server can use an electronic map to show the inspection working process of the quadruped robot intelligent device, and the gas turbine power plant watch-on personnel can carry out remote control operation on the quadruped robot intelligent device and can comprehensively monitor the state parameters of the quadruped robot intelligent device. In the whole routing inspection process, the robot dog communicates with the background server through a wireless network.
According to the quadruped robot intelligent device, autonomous walking of the quadruped robot intelligent device is achieved through the navigation module and the walking module, when the quadruped robot intelligent device moves to the to-be-detected equipment in the gas turbine power plant based on the navigation module and the walking module, the acquisition module acquires working state data of the to-be-detected equipment, the acquired working state data are uploaded to the background server through the communication module, autonomous acquisition of the working state data of the to-be-detected equipment is achieved, inspection efficiency is high, the problems of wrong inspection, missing inspection and the like in the manual inspection mode can be avoided, and stable and safe operation of the gas turbine power plant is effectively guaranteed.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (10)
1. An intelligent device for a quadruped robot, comprising:
a walking module for moving the quadruped robot intelligent device;
the navigation module is used for navigating the movement of the quadruped robot intelligent device according to a preset route;
the planning module comprises a first path planning module and a second path planning module, wherein the first path planning module is used for determining equipment for completing a production plan based on the production plan, taking the determined equipment as equipment to be detected, then determining a preset path based on the position of the equipment to be detected, the second path planning module is used for counting the running time of all equipment in the gas turbine power plant, taking the equipment with the running time exceeding the preset time as the equipment to be detected, and then determining the preset path based on the position of the equipment to be detected;
the acquisition module is used for acquiring the working state data of the equipment to be detected when the quadruped robot intelligent device moves to the equipment to be detected;
the communication module is used for uploading the working state data acquired by the acquisition module to the background server;
the control module is used for performing coordination control on the walking module, the navigation module and the acquisition module, so that when the quadruped robot intelligent device moves to the to-be-detected equipment in the gas turbine power plant based on the navigation module and the walking module, the acquisition module is controlled to acquire working state data of the to-be-detected equipment, and the communication module is controlled to upload the acquired working state data to the background server;
wherein, work as when the intelligent device of four-footed robot is located outside the factory building of gas turbine power plant, the navigation module is fixed a position based on the navigation satellite, and is right the removal of the intelligent device of four-footed robot navigates, works as when the intelligent device of four-footed robot is located the factory building of gas turbine power plant, the navigation module is fixed a position based on wireless local area network technique, and is right the removal of the intelligent device of four-footed robot navigates, wireless local area network technique is the wireless local area network that a plurality of wireless access points of installation constitute in the gas turbine power plant.
2. The intelligent device of a quadruped robot as claimed in claim 1, wherein: the operating condition data includes image data, temperature image data, and noise data.
3. The intelligent device of a quadruped robot as claimed in claim 2, wherein:
the acquisition module comprises a camera, an infrared thermal imager and a pickup;
the camera is used for collecting image data of equipment to be detected;
the infrared thermal imager is used for collecting temperature image data of the equipment to be detected;
the adapter is used for gathering the noise data of waiting to examine equipment.
4. The intelligent device of a quadruped robot as claimed in claim 1, wherein:
the quadruped robot intelligent device comprises a remote operation working mode and an automatic working mode;
the remote operation working mode is that a remote control mode is adopted to drive the quadruped robot intelligent device to move according to a preset route;
the automatic working mode is navigation based on a navigation module, and the quadruped robot intelligent device moves according to a preset route.
5. The intelligent device of a quadruped robot as claimed in claim 1, wherein: the walking module comprises four mechanical legs, and the four mechanical legs are uniformly distributed on two sides of the quadruped robot intelligent device.
6. The intelligent device of a quadruped robot as claimed in claim 1, wherein: each mechanical leg comprises a thigh unit, a shank unit and a driving unit, the upper end of the thigh unit is rotatably connected with the quadruped robot intelligent device, the upper end of the shank unit is hinged with the lower end of the thigh unit through a rotating shaft, and the driving unit is located between the thigh unit and the shank unit to drive the upper end of the shank unit to rotate around the lower end of the thigh unit.
7. The intelligent device of a quadruped robot as claimed in claim 1, wherein:
the battery life-prolonging device also comprises a life-prolonging module, wherein the life-prolonging module comprises a storage battery and an electric quantity controller;
the storage battery is used for supplying power to the quadruped robot intelligent device;
the electric quantity controller is used for monitoring the residual electric quantity of the storage battery in real time, and when the residual electric quantity of the storage battery is smaller than the preset electric quantity, the walking driving module works to move the quadruped robot intelligent device to the position of the charging pile to charge the storage battery.
8. The intelligent device of a quadruped robot as claimed in claim 7, wherein: the electric quantity controller is also used for identifying the charging pile, and aligning the charging port of the quadruped robot intelligent device to the charging pile and completing butt joint when the charging pile passes through the identification, so that the storage battery is charged.
9. The intelligent device of a quadruped robot as claimed in claim 1, wherein:
the device also comprises a state detection module;
the state detection module is used for detecting the working states of the walking module, the navigation module, the acquisition module, the communication module and the control module and giving an alarm when the working states are abnormal.
10. The intelligent device of a quadruped robot as claimed in claim 1, wherein:
the system also comprises a behavior recognition module;
the behavior identification module is used for identifying the behavior of site workers of the fuel plant;
the behaviors include identifying whether to wear a safety helmet, whether to wear a tool, and whether to fasten a safety belt.
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| CN114661057A (en) * | 2022-05-23 | 2022-06-24 | 武汉跨克信息技术有限公司 | Intelligent bionic biped inspection robot |
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| CN114131590B (en) | 2023-09-08 |
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