CN212301876U - Ice structure detection robot - Google Patents
Ice structure detection robot Download PDFInfo
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- CN212301876U CN212301876U CN202020988971.2U CN202020988971U CN212301876U CN 212301876 U CN212301876 U CN 212301876U CN 202020988971 U CN202020988971 U CN 202020988971U CN 212301876 U CN212301876 U CN 212301876U
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Abstract
The utility model relates to a robot automated inspection technical field, in particular to ice structure detection robot. The method comprises the following steps: a mobile robot; the visible ice crack and obstacle detection system is used for acquiring the information of the visible ice crack and the obstacle and sending the information of the visible ice crack and the obstacle to the robot end controller; the radar detection system is used for acquiring invisible ice crack information and ice structure information and sending the invisible ice crack information and the ice structure information to the robot end controller; the robot end controller is used for receiving visible ice crack and obstacle information sent by the visible ice crack and obstacle detection system, receiving invisible ice crack information sent by the radar detection system, and performing path planning and obstacle avoidance; the snow sample collection system is used for collecting snow samples. The utility model discloses realize going fast on ice surface or snow surface, ground robot load capacity is strong, can realize on a large scale glacier structure survey and the ice safe route survey, improves detection efficiency by a wide margin.
Description
Technical Field
The utility model relates to a robot automated inspection technical field, in particular to ice structure detection robot.
Background
In the regions of south and north poles of the earth, Qinghai-Tibet plateau of China and the like, a large number of glacier regions which are not detected and researched still exist. At present, most of the unknown glaciers are detected in a semi-automatic state, and personnel are required to record data and process samples in a field high-altitude area, so that the field work difficulty is extremely high, and the unknown glaciers are usually distributed with visible or invisible ice cracks, so that the safety of the personnel and equipment is greatly threatened. The existing method is difficult to solve the problems of large-scale glacier detection, determination of safety routes on ice and automatic acquisition of glacier snow samples.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model aims to provide an ice structure detection robot to solve prior art and can't detect on a large scale glacier, confirm on the ice safe route, glacier snow appearance automatic acquisition's problem.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an ice structure detection robot comprises a mobile robot, a visible ice crack and obstacle detection system, a radar detection system, a snow sample collection system and a robot end controller, wherein the visible ice crack and obstacle detection system, the radar detection system, the snow sample collection system and the robot end controller are arranged on the mobile robot;
the visible ice crack and obstacle detection system is used for acquiring information of the visible ice crack and obstacle and sending the information of the visible ice crack and obstacle to the robot end controller;
the radar detection system is used for acquiring invisible ice crack information and ice structure information and sending the invisible ice crack information and the ice structure information to the robot end controller;
the robot end controller is used for receiving visible ice crack and obstacle information sent by the visible ice crack and obstacle detection system, receiving invisible ice crack information and ice structure information sent by the radar detection system, and performing path planning and obstacle avoidance;
the snow sample collection system is used for collecting snow samples or ice samples.
The snow sample collection system is arranged at the front end of the mobile robot;
the radar detection system is arranged at the rear end of the mobile robot;
the visible ice crack and obstacle detection system is arranged on the top of the mobile robot.
The visible ice crack and obstacle detection system comprises a three-degree-of-freedom holder, and a laser radar and a remote observation camera which are arranged on the three-degree-of-freedom holder, wherein the laser radar and the remote observation camera are used for observing and acquiring obstacle information and visible ice crack information of the surrounding environment of the mobile robot.
The radar detection system comprises an ice detection radar and an ice detection radar supporting arm, wherein one end of the ice detection radar supporting arm is connected with the mobile robot, and the ice detection radar is arranged at the other end of the ice detection radar supporting arm; the ice detection radar is used for detecting invisible ice crack information and ice structure information; the ice detection radar supporting arm can dynamically adjust the detection height and angle of the ice detection radar according to the terrain.
The snow sample collection system comprises a sample box, a front vision platform, a close-range operation camera, a sampling mechanical arm and a sampling tool, wherein the sample box, the front vision platform and the sampling mechanical arm are arranged at the front end of the mobile robot; the sampling tool is arranged at the execution tail end of the sampling mechanical arm; the close-range operation camera is arranged in the front vision platform and used for monitoring the sampling process of the sampling mechanical arm in real time.
A base joint of the sampling mechanical arm is positioned below the front vision platform; the sample box is located above the front vision platform.
The ice structure detection robot further comprises an inertial navigation unit; the inertial navigation unit is used for sending the real-time position and posture information of the mobile robot to the robot end controller, and the robot end controller controls the motion of the mobile robot according to the real-time position and posture information of the mobile robot.
The ice structure detection robot further comprises wireless communication equipment; the wireless communication equipment is used for reading ice structure data information acquired by the radar detection system in a wireless mode and communicating with the robot end controller and the monitoring computer.
The utility model has the following beneficial effects and advantages:
1. the utility model discloses ice structure detection robot front portion is equipped with sampling arm, sampling ice drill, preceding vision platform, sample case, can realize snow appearance collection.
2. The utility model discloses ice structure detection robot is equipped with and observes camera and laser radar on a large scale, can keep away visible barrier and the visible ice crack that appears on the route when surveying visible ice crack data, is showing the improve equipment security.
3. The ice-detecting radar supporting arm can dynamically change the ground clearance and the detection angle of the ice-detecting radar according to the terrain; the ice detection radar signal is transmitted to the monitoring computer in real time through the robot wireless transmission equipment, so that storage and reprocessing can be avoided, and the real-time detection of the ice safe transportation route is realized.
4. The utility model discloses use ice structure detection robot's detection method, operating personnel can observe the ice structure data that detection ice radar surveyed promptly at the remote, have avoided in ice structure detection process, and the personnel that the invisible ice crack leads to are dangerous.
5. The utility model discloses wheeled or tracked robot can carry on and visit the ice radar and realize traveling fast on ice surface or snow surface, and ground robot load capacity is strong, and the energy is sufficient, can realize that glacier structure surveys on a large scale, improves detection efficiency by a wide margin.
Drawings
Fig. 1 is one of the schematic structural diagrams of the ice structure detecting robot of the present invention;
fig. 2 is a second schematic structural view of the ice structure detecting robot of the present invention;
fig. 3 is a control flow diagram of the ice structure detecting robot of the present invention.
In the figure: 1 is for exploring ice radar, 2 is for exploring ice radar support arm, 3 is inertial navigation unit, 4 is wireless communication equipment, 5 is robot end controller, 6 is laser radar, 7 is three degree of freedom cloud platforms, 8 is remote observation camera, 9 is the sample case, 10 is the fore vision platform, 11 is closely operating camera, 12 is the sampling arm, 13 is the sampling instrument, 14 is robot chassis drive unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the utility model provides an ice structure detection robot, including mobile robot, set up visible ice crack and barrier detection system, radar detection system, snow appearance collection system and robot end controller 5 on mobile robot, wherein visible ice crack and barrier detection system are used for acquireing visible ice crack and barrier information, and send visible ice crack and barrier information to robot end controller 5; the radar detection system is used for acquiring invisible ice crack information and ice structure information and sending the invisible ice crack information and the ice structure information to the robot end controller 5; the robot end controller 5 is used for receiving visible ice crack and obstacle information sent by the visible ice crack and obstacle detection system, receiving invisible ice crack information sent by the radar detection system, and performing path planning and obstacle avoidance; the snow sample collection system is used for collecting snow samples or ice samples.
In the embodiment of the present invention, as shown in fig. 1, the ice structure detecting robot further includes an inertial navigation unit 3 and a wireless communication device 4; the inertial navigation unit 3 is used for sending the real-time position and attitude information of the mobile robot to the robot end controller 5, and the robot end controller 5 controls the motion of the mobile robot according to the real-time position and attitude information of the mobile robot. The wireless communication equipment 4 is used for reading ice structure data information acquired by the radar detection system in a wireless mode and communicating with the robot end controller 5 and a monitoring computer, and the monitoring computer is installed at a remote control end.
In the embodiment of the utility model, the snow sample collecting system is arranged at the front end of the mobile robot; the radar detection system is arranged at the rear end of the mobile robot; the visible ice crack and obstacle detection system is arranged on the top of the mobile robot.
The embodiment of the utility model provides an in, as shown in FIG. 1, visible ice crack and barrier detection system include three degree of freedom cloud platforms 7 and set up lidar 6 and the remote observation camera 8 on three degree of freedom cloud platforms 7, wherein lidar 6 and remote observation camera 8 are used for surveying and acquireing the barrier information and the visible ice crack information of mobile robot surrounding environment to give robot end controller 5 with barrier information and visible ice crack information transmission.
In the embodiment of the utility model, as shown in fig. 1, the radar detection system comprises an ice detection radar 1 and an ice detection radar support arm 2, wherein one end of the ice detection radar support arm 2 is connected with the mobile robot, and the ice detection radar 1 is arranged at the other end of the ice detection radar support arm 2; the ice detection radar 1 is used for detecting invisible ice crack information and ice structure information; the ice detection radar support arm 2 can dynamically adjust the detection height and angle of the ice detection radar 1 according to the terrain.
In the embodiment of the present invention, as shown in fig. 1, the snow sample collecting system includes a sample box 9, a front vision platform 10, a close-range operation camera 11, a sampling mechanical arm 12 and a sampling tool 13, wherein the sample box 9, the front vision platform 10 and the sampling mechanical arm 12 are disposed at the front end of the mobile robot; the sampling tool 13 is arranged at the execution tail end of the sampling mechanical arm 12; the close-range operation camera 11 is arranged in the front vision platform 10 and is used for monitoring the sampling process of the sampling mechanical arm 12 in real time.
Specifically, the base joint of the sampling mechanical arm 12 is located below the front vision platform 10; the sample box 9 is located above the front vision platform 10.
The embodiment of the utility model provides an in, sampling arm 12 is six degree of freedom arms, and the arm is built-in to have the force to detect and the force feedback system, and terminal installation sampling ice auger, the visual collection object of sampling ice auger are changed into other sampling tools. The ice detection radar support arm 2 is two degree of freedom arms, and the ice detection radar 1 is installed at the tail end. The energy sources of the sampling mechanical arm 12 and the ice detection radar supporting arm 2 are provided by the mobile robot. The bottom of the mobile robot is provided with a robot chassis driving unit 14, and the robot chassis driving unit 14 is controlled by the robot end controller 5.
The utility model discloses a work flow is:
as shown in FIG. 3, the utility model provides a pair of ice structure detection robot can realize transmitting ice structure data and environmental information to supervisory control computer in real time. The utility model discloses in, the supervisory control computer is responsible for functions such as aerial photograph image concatenation, new task route are established and are issued, spy ice radar data receipt and processing, human-computer interaction. The robot end controller 5 is responsible for sensor data processing and sending, control instruction receiving and sending, bottom layer control command processing and the like. The robot end controller 5 and the monitoring computer are in data communication through the wireless transmission equipment 4. The ice detection radar 1 is used for collecting structural data under ice, and the antenna model of the ice detection radar 1 can be replaced according to ice thickness. The ice detection radar 1 is connected to the ice detection radar support arm 2 through the fixed support, the ice detection radar support arm 2 has two rotational degrees of freedom, and the ground clearance of the ice detection radar antenna can be adjusted, so that the radar detection angle can be changed when the ice detection radar passes through a rugged terrain, and the radar is prevented from being damaged. The laser radar 6 and the remote observation camera 8 are fixedly arranged on a three-degree-of-freedom cradle head 7 at the front end of the robot, the field environment is detected and sensed, the space environment information is transmitted to the robot end controller 5, the robot end controller 5 carries out path planning and obstacle avoidance, and the three-degree-of-freedom cradle head 7 can lift, pitch and rotate to adjust the visual field range as required; the front visual platform 10 is arranged at the front part of the robot, the close-range operation camera 11 is arranged in the front visual platform 10, the sampling mechanical arm 12 is arranged under the front visual platform in an inverted mode, and the close-range operation camera 11 can monitor the sampling process in real time; the sampling mechanical arm 12 has six degrees of freedom, a sampling tool 13 is fixedly mounted at the tail end, and a sample collected in the sampling tool 13 can be recovered into the fixed sampling box 9 through the sampling mechanical arm 12. The inertial navigation unit 3 simultaneously sends the real-time position and attitude information of the robot to the robot end controller 5 in the motion process of the robot, the robot end controller 5 controls the motion of the robot according to the feedback information, and the monitoring computer completes the real-time monitoring of the position and attitude information of the robot. The robot drive unit 14 may be driven in both wheel and track type depending on the actual snow thickness.
The utility model provides a pair of detection method of ice structure detection robot, the method divide into safe route and surveys and two kinds of mode of work of ice structure detection on a large scale, specifically includes following several steps:
firstly, applying aerial images of a preset route, splicing the aerial images by an operator, finding an ice crack area which cannot be passed by a mobile robot on the preset route, avoiding a large ice crack on the preset route, planning a new running route, and sending the new route to a robot end controller 5 through a wireless transmission device 4; meanwhile, the inertial navigation unit 3 sends the position and attitude information of the mobile robot to the robot end controller 5; after receiving the position and posture information of the mobile robot, the robot end controller 5 controls the mobile robot to move according to a control instruction of the monitoring computer, so as to realize the tracking of a new route;
secondly, detecting the visible ice crack based on the long-distance observation camera 8 and the laser radar 6, and driving the mobile robot according to a new route after receiving the new route; in the driving process, a visible obstacle and a visible ice crack are detected through a laser radar 6 and a remote observation camera 8, and environmental information such as the visible obstacle and the visible ice crack is sent to a robot end controller 5, the robot end controller 5 can identify the obstacle or the ice crack which is not displayed in aerial images on a route after processing, and the robot end controller 5 records visible ice crack data and controls a robot driving unit 14 to carry out autonomous obstacle avoidance; an operator can control the three-degree-of-freedom cradle head 7 to move through the robot end controller 5, the three-degree-of-freedom cradle head 7 transmits images to the monitoring computer through the wireless transmission equipment 4, and the operator monitors the motion state of the robot in real time;
thirdly, detecting an invisible ice structure based on the ice detection radar 1, wherein in the running process of the robot, the running speed of the mobile robot needs to be matched with the signal frequency of the ice detection radar 1;
when in the safe route detection mode, the radar data and the position of the ice-detecting radar 1 are sent to the monitoring computer in real time through the wireless transmission equipment 4, and the monitoring computer processes signals at the same time and then carries out real-time ice structure graphical display for remote operators to record data; an operator needs to monitor and process radar data in real time, and a transport fleet can drive on a safe route along with the mobile robot;
when in a large-range glacier structure detection mode, the data of the ice detection radar 1 can be stored in the memory card firstly, and then the data is processed and analyzed uniformly in the later period;
step four, based on the snow sample collection of the sampling mechanical arm 12 and the sampling tool 13, the ice structure detection can simultaneously execute a sampling task in the running process of the ice detection radar 1; the sampling mechanical arm 12 and the sampling tool 13 are used for collecting snow samples of ice or snow, and the samples are transferred into a sample box 9 fixed at the front part of the mobile robot.
The ice structure detection robot can be a plurality of robot devices which work in parallel and simultaneously, and the working efficiency can be obviously improved. The ice structure detection robot can adopt two moving modes of a wheel type or a crawler type according to the situation of snow accumulated in glaciers.
The utility model discloses use ice structure detection robot's detection method, operating personnel can observe the ice structure data that detection ice radar surveyed promptly at the remote, have avoided in ice structure detection process, and the personnel that the invisible ice crack leads to are dangerous. The utility model discloses wheeled or tracked robot can carry on and visit the ice radar and realize traveling fast on ice surface or snow surface, and ground robot load capacity is strong, and the energy is sufficient, can realize that glacier structure surveys on a large scale, improves detection efficiency by a wide margin.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (8)
1. An ice structure detection robot comprises a mobile robot, and is characterized by further comprising a visible ice crack and obstacle detection system, a radar detection system, a snow sample collection system and a robot end controller (5), wherein the visible ice crack and obstacle detection system, the radar detection system, the snow sample collection system and the robot end controller are arranged on the mobile robot;
the visible ice crack and obstacle detection system is used for acquiring information of the visible ice crack and obstacle and sending the information of the visible ice crack and obstacle to the robot end controller (5);
the radar detection system is used for acquiring invisible ice crack information and ice structure information and sending the invisible ice crack information and the ice structure information to the robot end controller (5);
the robot end controller (5) is used for receiving visible ice crack and obstacle information sent by the visible ice crack and obstacle detection system, receiving invisible ice crack information and ice structure information sent by the radar detection system, and performing path planning and obstacle avoidance;
the snow sample collection system is used for collecting snow samples or ice samples.
2. The ice structure detecting robot according to claim 1, wherein the snow-like collecting system is provided at a front end of the mobile robot;
the radar detection system is arranged at the rear end of the mobile robot;
the visible ice crack and obstacle detection system is arranged at the top of the mobile robot.
3. The ice structure detection robot according to claim 1, wherein the visible ice crack and obstacle detection system comprises a three-degree-of-freedom pan-tilt (7), and a laser radar (6) and a long-distance observation camera (8) which are arranged on the three-degree-of-freedom pan-tilt (7), wherein the laser radar (6) and the long-distance observation camera (8) are used for observing and acquiring obstacle information and visible ice crack information of the surrounding environment of the mobile robot.
4. The ice structure detecting robot according to claim 1, wherein the radar detection system comprises an ice detection radar (1) and an ice detection radar support arm (2), wherein one end of the ice detection radar support arm (2) is connected to the mobile robot, and the ice detection radar (1) is disposed on the other end of the ice detection radar support arm (2); the ice detection radar (1) is used for detecting invisible ice crack information and ice structure information; the ice detection radar supporting arm (2) can dynamically adjust the detection height and angle of the ice detection radar (1) according to the terrain.
5. The ice structure detecting robot according to claim 1, wherein the snow-like collecting system includes a sample box (9), a front vision platform (10), a close-range operation camera (11), a sampling robot arm (12), and a sampling tool (13), wherein the sample box (9), the front vision platform (10), and the sampling robot arm (12) are disposed at a front end of the mobile robot; the sampling tool (13) is arranged at the execution tail end of the sampling mechanical arm (12); the close-range operation camera (11) is arranged in the front vision platform (10) and is used for monitoring the sampling process of the sampling mechanical arm (12) in real time.
6. The ice structure detection robot according to claim 5, characterized in that a base joint of the sampling robot arm (12) is located below the front vision platform (10); the sample box (9) is located above the front vision platform (10).
7. The ice structure detecting robot according to claim 1, further comprising an inertial navigation unit (3); the inertial navigation unit (3) is used for sending the real-time position and posture information of the mobile robot to the robot end controller (5), and the robot end controller (5) controls the motion of the mobile robot according to the real-time position and posture information of the mobile robot.
8. The ice structure detecting robot according to claim 1, further comprising a wireless communication device (4); the wireless communication equipment (4) is used for reading ice structure data information acquired by the radar detection system in a wireless mode and communicating with the robot end controller (5) and the monitoring computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020988971.2U CN212301876U (en) | 2020-06-03 | 2020-06-03 | Ice structure detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020988971.2U CN212301876U (en) | 2020-06-03 | 2020-06-03 | Ice structure detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN212301876U true CN212301876U (en) | 2021-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020988971.2U Expired - Fee Related CN212301876U (en) | 2020-06-03 | 2020-06-03 | Ice structure detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111624597A (en) * | 2020-06-03 | 2020-09-04 | 中国科学院沈阳自动化研究所 | Ice structure detection robot and detection method |
-
2020
- 2020-06-03 CN CN202020988971.2U patent/CN212301876U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111624597A (en) * | 2020-06-03 | 2020-09-04 | 中国科学院沈阳自动化研究所 | Ice structure detection robot and detection method |
| CN111624597B (en) * | 2020-06-03 | 2024-06-14 | 中国科学院沈阳自动化研究所 | Ice structure detection robot and detection method |
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