CN210954736U - Outdoor automatic inspection robot - Google Patents
Outdoor automatic inspection robot Download PDFInfo
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- CN210954736U CN210954736U CN201922181229.0U CN201922181229U CN210954736U CN 210954736 U CN210954736 U CN 210954736U CN 201922181229 U CN201922181229 U CN 201922181229U CN 210954736 U CN210954736 U CN 210954736U
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Abstract
The utility model provides an outdoor automatic inspection robot, which comprises a positioning navigation component, a chassis component, a control component and an information acquisition component; the positioning navigation component adopts a sensor fusion technology to fuse and position the data of the laser radar, the inertial navigation unit, the odometer sensor and the binocular vision camera; multiple driving safety logics are designed on the chassis component, and the laser radar identifies obstacles within 1-10 m; the ultrasonic sensor identifies obstacles within 0.2-1 m; the method comprises the following steps that a geodesic sensor detects deep grooves and road edges of a road surface; the inertial navigation unit detects the inclination angle of the vehicle body; detecting whether the vehicle body collides by a safe touch edge; a driving camera acquires images of the front and the rear of a vehicle; the control component adopts a closed integrated electric cabinet, and automatic cooling and heating elements are integrated in the integrated electric cabinet; the information acquisition assembly comprises a visible light camera, an infrared camera, a sound pick-up and a holder, and the holder drives the visible light camera, the infrared camera and the sound pick-up to rotate in a pitching and yawing mode.
Description
Technical Field
The utility model belongs to the technical field of intelligent robot patrols and examines, more specifically says, relates to an outdoor automatic robot of patrolling and examining.
Background
The inspection operation and maintenance is an important measure for ensuring the safe operation of the transformer substation. The traditional inspection operation is mainly based on manual inspection, and a large amount of manpower is consumed in the inspection mode. Carry through the robot and patrol and examine the automatic completion of operation instrument and patrol and examine, not only reduce the human cost spending, reduce the fortune dimension cost, do benefit to the datamation of patrolling and examining the result moreover. It is a trend to replace manual inspection by an outdoor automatic inspection robot.
The existing outdoor automatic inspection robot mainly faces the following challenges: 1) the robot cannot work due to deviation from a route or loss position, even collides with facilities in a transformer substation to cause economic loss, and the power supply safety is endangered; 2) the adaptability to complex road surfaces is poor, the movement safety is insufficient, and the road surface is easy to be stuck, fall and overturn when meeting gullies and obstacles; 3) the protective performance is insufficient, and the long-term fault-free operation is difficult.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an outdoor automatic inspection robot to solve the outdoor automatic inspection robot that exists among the prior art and fix a position unreliable, the not enough, the weak technical problem of environmental protection of operation security.
In order to achieve the above object, the utility model adopts the following technical scheme: the outdoor automatic inspection robot comprises a positioning navigation component, a chassis component, a control component and an information acquisition component; the positioning navigation assembly is distributed on the chassis assembly and used for positioning, the information acquisition assembly is arranged above the chassis assembly and used for acquiring visible light images, infrared images and voiceprints, and the control assembly is arranged inside the chassis assembly and used for controlling the positioning navigation assembly, the chassis assembly and the information acquisition assembly.
Optionally, the positioning navigation assembly comprises a laser radar, an inertial navigation unit, a speedometer sensor and a binocular vision camera, and a sensor fusion technology is adopted to fuse and position data of the laser radar, the inertial navigation unit, the speedometer sensor and the binocular vision camera, so that all-weather stable and reliable full-field positioning is realized.
Optionally, the laser radar and the inertial navigation unit are both arranged on the chassis assembly, and the chassis assembly is further provided with an ultrasonic sensor, a geodetic sensor, a safety contact edge and a travelling crane camera; the laser radar is used for identifying obstacles within 1-10 m and then avoiding the obstacles in advance; the ultrasonic sensor is used for identifying obstacles within 0.2-1 m and then performing speed reduction and collision avoidance; the geodesic sensors are used for detecting deep grooves and road edges of the road surface to prevent falling and side turning; the inertial navigation unit is used for detecting the inclination angle of the vehicle body to prevent the vehicle from overturning; the safety touch edge is used for detecting whether the vehicle body collides or not and is used as a last barrier to play a role in buffering and emergency braking; the driving camera can acquire images of the front and the rear of the vehicle, and remote control driving is facilitated. The above measures realize all-round sensing of road conditions, ensure that the robot can deal with complex road conditions, and improve the driving safety.
Optionally, the control assembly is set to be a closed integrated electric cabinet, each electric appliance component is packaged in the integrated electric cabinet, the electric appliance components are connected with devices such as an external sensor through an aviation plug, and meanwhile, automatic cooling and heating elements are integrated in the integrated electric cabinet.
Optionally, the information acquisition subassembly includes visible light camera, infrared camera and adapter, visible light camera, infrared camera, adapter all install in on the cloud platform, the cloud platform drives visible light camera infrared camera reaches the adapter is done every single move and driftage is rotated. The visible camera collects the image information of various meters, the infrared camera collects the temperature information of various circuits and equipment, and the sound pick-up can collect the voiceprint information of the equipment. These loads are mounted on a pan/tilt head with two degrees of freedom in pitch and yaw in order to aim at the object under test.
The utility model provides a pair of outdoor automatic inspection robot's beneficial effect lies in:
1) the technical problems of unreliable positioning, insufficient operation safety and weak environmental protection of the outdoor automatic inspection robot are solved through the arrangement of the positioning navigation assembly, the chassis assembly, the control assembly and the information acquisition assembly;
2) the full-field positioning technology of multi-sensor fusion is adopted to obtain full-field positioning with high precision and high stability, the complementation of advantages and disadvantages of multiple sensors is realized, the defects of a single sensor in the aspects of precision, sampling frequency, global stability and the like are solved, and the problem of abnormal automatic positioning caused by interference received by the single sensor is avoided;
3) multiple driving safety guarantees are designed, all-round sensing of road conditions and vehicle body inclination and contact collision sensing are achieved through sensors, the robot can be guaranteed to cope with complex road conditions, and driving safety is improved;
4) the closed integrated electric cabinet is designed, automatic cooling and heating elements are integrated on the integrated electric cabinet, the problems of dust prevention, moisture prevention and high and low temperature resistance of electric appliance parts are solved, the adaptability of the outdoor automatic inspection robot to the outdoor environment is obviously improved, and long-term fault-free operation is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic front view of an outdoor automatic inspection robot according to an embodiment of the present invention;
fig. 2 is an angle perspective schematic view of an outdoor automatic inspection robot provided by an embodiment of the present invention;
fig. 3 is a schematic perspective view of another angle of the outdoor automatic inspection robot according to the embodiment of the present invention;
fig. 4 is the embodiment of the utility model provides a circuit principle schematic diagram of outdoor automatic inspection robot.
Wherein, in the figures, the respective reference numerals:
1-a chassis assembly; 2-an inertial navigation unit; 3-a control component; 4-a pan-tilt; 5-sending light; 6-a sound pick-up; 7 a-a visible light camera; 7 b-an infrared camera; 8-laser radar; 9-binocular vision camera; 10-ultrasonic radar; 11-geodetic sensors; 12-a driving camera; 13-a charging contact; 14-safe touch edge; 15-a chassis support; 16-a wheel; 17-automatic cooling and heating elements.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Referring to fig. 1 to fig. 3, an outdoor automatic inspection robot according to the present invention will now be described. The outdoor automatic inspection robot comprises a positioning navigation assembly, a chassis assembly 1, a control assembly 3 and an information acquisition assembly. The chassis component 1 is a base of the outdoor automatic inspection robot and provides moving and bearing functions. The positioning navigation components are distributed at a plurality of positions of the chassis component and provide accurate positioning information for the outdoor automatic inspection robot; the information acquisition assembly is arranged above the chassis assembly 1 and is used for acquiring visible light images, infrared images and voiceprints; the control assembly 3 is installed in the chassis assembly 1 and used for controlling the positioning navigation assembly, the chassis assembly 1 and the information acquisition assembly so as to control the outdoor automatic inspection robot to move, acquire information and communicate.
The positioning navigation component comprises a laser radar 8, an inertial navigation unit 2, a milemeter sensor and a binocular vision camera 9, and adopts a sensor fusion technology to fuse and position data of the laser radar 8, the inertial navigation unit 2, the milemeter sensor and the binocular vision camera 9. The detection distance of the laser radar 8 is 100 meters ahead, the horizontal detection range is-129 to +129 degrees, the vertical detection range is-15 to +15 degrees, the laser radar 8 obtains point cloud information of the surrounding environment, and then positioning in a 3D space is achieved through an SLAM algorithm. The inertial navigation unit 2 is arranged below the laser radar 8, can obtain the acceleration, the angular velocity and the attitude angle information of the vehicle body, and can obtain the track of the outdoor automatic inspection robot under an inertial coordinate system through an integral algorithm. The odometer sensor is integrated in the driving motor of every four wheels in the chassis assembly, the rotating angle of each wheel can be recorded, and the walking speed and the angular speed of the chassis assembly can be calculated through a kinematic model of the chassis assembly. The two binocular vision cameras 9 are respectively arranged on two sides of the laser radar 8, the forward detection distance is 10 meters, the horizontal detection range is-29 to +29 degrees, the vertical detection range is-25 to +25 degrees, the information of the front object and the road edge can be identified, and then the coordinates of the outdoor automatic inspection robot in the map are inversely calculated according to the semantic map.
The chassis assembly 1 is composed of a chassis bracket 15, wheels 16, and various sensors. The number of the wheels is 4, the wheels are respectively arranged on the left front side, the right front side, the left rear side and the right rear side of the chassis bracket 15, and the axes of the four wheels 16 are parallel. The tail of the chassis is provided with a charging contact 13 for automatic charging of the outdoor automatic inspection robot. The chassis frame 15 is integrated with various sensors for sensing road conditions. Specifically, an ultrasonic sensor 10, a geodesic sensor 11, a travelling crane camera 12 and a safety contact edge 14 are integrated on a chassis support 15, wherein the ultrasonic sensor 10 is used for decelerating and avoiding collision after recognizing obstacles within 0.2-1 m; the geodetic sensor 11 is used for detecting deep ditches and road edges of the road surface to prevent falling and side turning; the safety touch edge 14 is used as a last barrier for buffering and emergency braking; the driving camera 12 is used for acquiring images of the front and the rear of the vehicle, so that remote control driving is facilitated. The above measures realize all-round perception of road conditions, and guarantee that the robot can deal with complex road conditions.
The control system is set to be a closed integrated electric cabinet, all electrical components are packaged in the closed integrated electric cabinet, the electrical components are connected with devices such as an external sensor through an aviation plug, and meanwhile, an automatic refrigerating and heating element 17 is integrated in the integrated electric cabinet.
The information acquisition component comprises a visible light camera 7a, an infrared camera 7b, a sound pickup 6 and a cloud platform 4, wherein the visible light camera 7a is arranged on one side of the cloud platform 4 and is used for acquiring image information of various meters; a spotlight 5 is arranged above the visible light camera 7a and is used for auxiliary lighting during shooting in a dark environment; the infrared camera 7b is arranged on the other side of the holder 4, the axis of the infrared camera is parallel to the visible light camera 7a, and the infrared camera is used for acquiring temperature information of various lines and equipment; the sound pickup 6 is arranged on the holder 4, rotates along with the holder 4 and is used for collecting voiceprint information of equipment; the holder 4 has two rotational degrees of freedom of pitching and yawing and is used for aiming and observing a measured object, the range of the pitching angle of the holder 4 is-90 to 90 degrees, and the range of the yawing angle is-180 to 180 degrees.
Claims (5)
1. An outdoor automatic inspection robot is characterized by comprising a positioning navigation component, a chassis component, a control component and an information acquisition component; the positioning navigation assembly is distributed on the chassis assembly and used for positioning, the information acquisition assembly is arranged above the chassis assembly and used for acquiring visible light images, infrared images and voiceprints, and the control assembly is arranged inside the chassis assembly and used for controlling the positioning navigation assembly, the chassis assembly and the information acquisition assembly.
2. The outdoor automatic inspection robot according to claim 1, wherein the positioning navigation assembly includes a laser radar, an inertial navigation unit, an odometer sensor and a binocular vision camera, and a sensor fusion technique is used to fuse and position data of the laser radar, the inertial navigation unit, the odometer sensor and the binocular vision camera.
3. The outdoor automatic inspection robot according to claim 2, wherein the laser radar and the inertial navigation unit are both disposed on the chassis assembly, and the chassis assembly is further provided with an ultrasonic sensor, a geodetic sensor, a safety contact edge and a travelling camera; wherein, laser radar is used for discerning the barrier in 1 ~ 10m, ultrasonic sensor is used for discerning the barrier in 0.2 ~ 1m, geodetic sensor is used for detecting road surface deep groove and road edge, inertial navigation unit is used for detecting automobile body inclination, the safe limit that touches is used for detecting the automobile body and whether collides, the driving camera can acquire the vehicle front and back image.
4. The outdoor automatic inspection robot according to claim 1, wherein the control assembly is configured as a closed integrated electric cabinet, each electric appliance component is packaged in the integrated electric cabinet, and automatic cooling and heating elements are integrated in the integrated electric cabinet.
5. The outdoor automatic inspection robot according to claim 1, wherein the information acquisition assembly includes a visible light camera, an infrared camera, a sound pick-up and a pan-tilt, the visible light camera, the infrared camera and the sound pick-up are all mounted on the pan-tilt, and the pan-tilt drives the visible light camera, the infrared camera and the sound pick-up to pitch and yaw.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922181229.0U CN210954736U (en) | 2019-12-06 | 2019-12-06 | Outdoor automatic inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922181229.0U CN210954736U (en) | 2019-12-06 | 2019-12-06 | Outdoor automatic inspection robot |
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| CN210954736U true CN210954736U (en) | 2020-07-07 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859850A (en) * | 2021-01-08 | 2021-05-28 | 京东数科海益信息科技有限公司 | Motion control method and motion control device |
| CN113175925A (en) * | 2021-04-14 | 2021-07-27 | 武汉理工大学 | Positioning and navigation system and method |
| CN113375019A (en) * | 2021-06-01 | 2021-09-10 | 苏州天准科技股份有限公司 | Intelligent unmanned inspection vehicle |
| CN113697001A (en) * | 2021-08-31 | 2021-11-26 | 武汉铁路职业技术学院 | Sharing carrier |
| WO2022105360A1 (en) * | 2020-11-23 | 2022-05-27 | 山东建筑大学 | Storage and retrieval management guiding system for steel pipe warehouse, and ground rail type inspection robot |
| CN115205997A (en) * | 2022-07-14 | 2022-10-18 | 西安建筑科技大学 | Heating ventilation air conditioner room unmanned inspection system and method based on artificial intelligence |
| CN115209237A (en) * | 2022-06-08 | 2022-10-18 | 禾多科技（北京）有限公司 | Data acquisition box and control method for same |
| CN115790282A (en) * | 2022-10-11 | 2023-03-14 | 西安岳恒机电工程有限责任公司 | Direction control system and control method for unmanned target vehicle |
-
2019
- 2019-12-06 CN CN201922181229.0U patent/CN210954736U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022105360A1 (en) * | 2020-11-23 | 2022-05-27 | 山东建筑大学 | Storage and retrieval management guiding system for steel pipe warehouse, and ground rail type inspection robot |
| CN112859850A (en) * | 2021-01-08 | 2021-05-28 | 京东数科海益信息科技有限公司 | Motion control method and motion control device |
| CN113175925A (en) * | 2021-04-14 | 2021-07-27 | 武汉理工大学 | Positioning and navigation system and method |
| CN113375019A (en) * | 2021-06-01 | 2021-09-10 | 苏州天准科技股份有限公司 | Intelligent unmanned inspection vehicle |
| CN113697001A (en) * | 2021-08-31 | 2021-11-26 | 武汉铁路职业技术学院 | Sharing carrier |
| CN115209237A (en) * | 2022-06-08 | 2022-10-18 | 禾多科技（北京）有限公司 | Data acquisition box and control method for same |
| CN115205997A (en) * | 2022-07-14 | 2022-10-18 | 西安建筑科技大学 | Heating ventilation air conditioner room unmanned inspection system and method based on artificial intelligence |
| CN115790282A (en) * | 2022-10-11 | 2023-03-14 | 西安岳恒机电工程有限责任公司 | Direction control system and control method for unmanned target vehicle |
| CN115790282B (en) * | 2022-10-11 | 2023-08-22 | 西安岳恒机电工程有限责任公司 | Unmanned target vehicle direction control system and control method |
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