CN218941178U

CN218941178U - Automatic inspection robot

Info

Publication number: CN218941178U
Application number: CN202223269135.7U
Authority: CN
Inventors: 刘卓夫; 顾宇豪
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2022-12-03
Filing date: 2022-12-03
Publication date: 2023-04-28
Anticipated expiration: 2032-12-03

Abstract

The utility model relates to the field of robots and discloses an automatic inspection robot. The robot bears the automatic inspection of the warehouse, has the function of carrying out security monitoring on the management and control area in all weather, can distinguish authorized personnel and unknown personnel, and can timely send alarm information to the management and control platform through a wireless bridge when the unknown personnel are found; the robot has the function of monitoring the concentration abnormality of flammable and explosive gas or dust in the environment, and can improve the safety of the warehouse environment; the opening and closing conditions of doors and windows of the warehouse can be detected, so that property loss is prevented; the robot adopts a crawler design, so that the situation of skidding on a wet and slippery ground is avoided; meanwhile, the robot is provided with an integrated board, part of main devices are arranged on the integrated board, and the devices are easier to replace when damaged.

Description

Automatic inspection robot

Technical Field

The utility model relates to the field of robots, in particular to an automatic inspection robot.

Background

In order to realize intelligent production management and control and improve the production safety of civil explosion industry, the utility model adopts a patrol robot to realize timing patrol, and carries out product patrol on a warehouse according to a set line, and utilizes detection technologies such as video, infrared detection and the like, thereby solving the problems of automatic inspection of the warehouse products, reducing manpower and reducing potential safety hazards caused by fatigue, slackening and the like. The manager can manage the warehouse safety check more effectively and conveniently; meanwhile, key information can be collected at the first time of finding the risk hidden danger, and effective measures can be taken at the first time.

The development of the utility model aims at improving the standardization and scientific management level of various patrol and inspection works, avoiding the phenomenon that patrol inspectors cannot carry out strict examination and monitoring, and effectively ensuring the high efficiency and the strictness of the patrol works. The product can meet the patrol requirements of various occasions, the cloud technology is utilized to record all patrol conditions, and relevant management personnel are timely informed of carrying out abnormal inspection and fault removal, so that the effect of twice the effort is achieved.

Disclosure of Invention

An automatic inspection robot which is characterized in that: the system comprises a millimeter wave radar and visual identification integrated system (1), wherein the millimeter wave radar and visual identification integrated system (1) comprises a millimeter wave radar (101) and a video camera (102), a microfluidic explosive detection system (2), the microfluidic explosive detection system (2) comprises a microfluidic explosive detection system chip (201) and a reagent (202), a laser radar (3), a robot main body (4), the robot main body (4) comprises a shell (401), an ARM-based control device (402), a 48V lithium battery (403), a driving device (404) and a wireless network bridge (405), a Fresnel lens induction system (5) comprises a Fresnel lens (501) and an infrared sensor (502), a crawler type robot advancing system (6) comprises a crawler belt (601), a guide wheel (602), a bearing wheel (603), a suspension (604), a driving wheel (605) and a tensioning wheel (606), and an integrated plate (7);

the automatic inspection robot is characterized in that the millimeter wave radar and visual identification integrated system (1) is mounted on the right rear side above the integrated board (7) and is tightly connected with the right rear side, the two video cameras (102) are placed front and back, the ground clearance height of each camera is about 1100mm, the millimeter wave radar and visual identification integrated system (1) is a cylinder with the bottom radius of 80mm and the height of 40mm, the millimeter wave radar (101) is placed between the two video cameras (102), the millimeter wave radar and visual identification integrated system (1) can perform security monitoring on a management control area in all weather, and an intrusion target is found, positioned and tracked through the millimeter wave radar (101). Meanwhile, the video camera (102) can be automatically guided to track and monitor the found suspicious target, and invasion information and monitoring pictures are transmitted to the management and control platform for alarming and monitoring;

the automatic inspection robot is characterized in that a microfluidic explosive detection system (2) is arranged on the left rear side above an integrated plate (7) and is tightly connected with the integrated plate, the microfluidic explosive detection system (2) is positioned on the left side of a millimeter wave radar and visual identification integrated system (1) and is parallel to the millimeter wave radar and visual identification integrated system, the microfluidic explosive detection system (2) is a cuboid with the length of 100mm, the width of 50mm and the height of 40mm, the microfluidic explosive detection system (2) comprises a microfluidic explosive detection system chip (201) and a reagent (202), the microfluidic explosive detection system (2) can realize further on-site environment monitoring, namely environment inflammable and explosive gas or dust concentration abnormality monitoring, and the technology has the obvious advantage of high selectivity and can accurately identify target gas in a complex gas environment;

the automatic inspection robot is characterized in that a laser radar (3) is arranged on the left front side above an integrated board (7) and is tightly connected with the integrated board, and is positioned in front of a microfluidic explosive detection system (2) and is parallel to the integrated board, the laser radar (3) is a cuboid with the length of 100mm, the width of 50mm and the height of 40mm, and is mainly used for identifying obstacle of the robot;

the automatic inspection robot is characterized in that the shell (401) of the robot main body (4) is made of glass fiber reinforced plastic, and has the obvious advantages of low cost, good mechanical property, excellent corrosion resistance, strong stability and the like, and meanwhile, the explosion-proof effect is excellent due to reasonable design of materials. The robot body (4) is internally provided with a control device (402) based on ARM and is respectively connected with a millimeter wave radar and visual identification integrated system (1), a microfluidic explosive detection system (2), a laser radar (3), a Fresnel lens induction system (5) and a crawler-type robot advancing system (6), a 48V lithium battery (403) is arranged in the robot body (4) to supply power to the robot, a driving device (404) arranged in the robot body (4) is connected with the crawler-type robot advancing system (6) to supply power to the robot, the robot body (4) carries out wireless communication through a wireless bridge (405) to send acquired information to a management and control platform, and the robot body (4) is a cuboid with the length of 800mm, the width of 500mm and the height of 300 mm;

the automatic inspection robot is characterized in that a Fresnel lens induction system (5) is arranged in front of a robot main body (4) and is tightly connected with the robot main body, the Fresnel lens induction system (5) is a hemispherical body with the bottom radius of 40mm and the height of 20mm, and infrared signals of a moving human body are captured by using a Fresnel lens (501) and an infrared sensor (502);

the automatic inspection robot is characterized in that a crawler robot advancing system (6) is arranged below a robot main body (4) and is tightly connected with the robot main body, the crawler robot advancing system (6) comprises a crawler (601), guide wheels (602), bearing wheels (603), a suspension (604), driving wheels (605) and tensioning wheels (606), suspension mechanisms in crawler units on two sides of a robot travelling mechanism are fixedly connected with a box body, meanwhile, in order to strengthen the connection strength of the crawler system and a middle box body and ensure the stability of the movement of the whole robot, the box body is locally reinforced, the suspension and the whole crawler system are ensured not to be separated from the box body, and then the crawler unit of the robot is formed by the crawler and the tensioning wheels together.

The automatic inspection robot is characterized in that the integrated board (7) is arranged above the robot main body (4) and is tightly connected with the robot main body. And millimeter wave radar and vision discernment integration system (1), micro-fluidic explosive detection system (2) and laser radar (3) are installed in integrated board (7) top, and integrated board (7) size is long 700mm, wide 400mm, high cuboid of 20 mm.

The automatic inspection robot mainly uses a scene as a warehouse, the millimeter wave radar and visual identification integrated system (1) can perform security monitoring on a warehouse management and control area in all weather, track and monitor a found suspicious target, and transmit intrusion information and monitoring pictures to a management and control platform for alarming; the microfluidic explosive detection system (2) can realize monitoring of the concentration abnormality of flammable and explosive gas or dust in the environment of the control area, and when the concentration of the flammable and explosive gas or dust in the environment is abnormal, an alarm can be sent to the control platform; the laser radar (3) is mainly used for identifying the travelling obstacle and plays a key role in avoiding the obstacle of the robot in the warehouse environment; because the robot is provided with the crawler-type robot traveling system (6), the robot can stably travel on the wet and slippery ground of the warehouse, and the occurrence of skidding is avoided.

Drawings

Fig. 1 is a structural diagram of an automatic inspection robot.

Fig. 2 is a structural diagram of a robot body (4) of the automatic inspection robot.

Fig. 3 is a block diagram of a microfluidic explosives detection system (2) of an automatic inspection robot.

The system comprises a millimeter wave radar and visual identification integrated system (1), wherein the millimeter wave radar and visual identification integrated system (1) comprises a millimeter wave radar (101) and a video camera (102), a microfluidic explosive detection system (2), a laser radar (3), a robot main body (4), a Fresnel lens induction system (5) comprises a Fresnel lens (501) and an infrared sensor (502), a crawler type robot traveling system (6) comprises a crawler (601), a guide wheel (602), a bearing wheel (603), a suspension (604), a driving wheel (605) and a tensioning wheel (606), and an integrated plate (7);

fig. 2 includes a housing (401) of the robot body (4), an ARM-based control device (402), a 48V lithium battery (403), a driving device (404), and a wireless network bridge (405).

Fig. 3 shows a microfluidic explosives detection system chip (201) and a reagent (202) comprising the microfluidic explosives detection system (2).

Detailed Description

An automatic inspection robot which is characterized in that: the system comprises seven parts, namely a millimeter wave radar and visual identification integrated system (1), a microfluidic explosive detection system (2), a laser radar (3), a robot main body (4), a Fresnel lens induction system (5), a crawler-type robot travelling system (6) and an integrated plate (7);

the automatic inspection robot is characterized in that the millimeter wave radar and visual identification integrated system (1) comprises a millimeter wave radar (101) and a video camera (102), all-weather security monitoring can be carried out on a management and control area through the millimeter wave radar (101), and an intrusion target is found, positioned and tracked through the millimeter wave radar (101). Meanwhile, the video camera (102) can be automatically guided to track and monitor the found suspicious target, and invasion information and monitoring pictures are transmitted to the management and control platform for alarming and monitoring;

the automatic inspection robot is characterized in that the microfluidic explosive detection system (2) comprises a microfluidic explosive detection system chip (201) and a reagent (202), the microfluidic explosive detection system (2) can realize further on-site environment monitoring, namely environment inflammable and explosive gas or dust concentration abnormality monitoring, an alarm can be sent when the concentration of the environment inflammable and explosive gas or dust detected by the microfluidic explosive detection system chip (201) and the reagent (202) exceeds a threshold value, and information is sent to a management and control platform, and the technology has the obvious advantage of high selectivity and can accurately identify target gas in a complex gas environment;

the automatic inspection robot is characterized in that a laser radar (3) is mainly used for identifying obstacle in robot entrance, a two-dimensional laser radar solution is adopted, a pulse ranging method is utilized for carrying out laser ranging scanning on a two-dimensional plane within a radius range of 6m, plane point cloud map information is generated, and the ranging resolution can reach 0.2% of a current distance value under a scanning frequency of 5.5 Hz;

the automatic inspection robot is characterized in that the robot main body (4) comprises a shell (401), an ARM-based control device (402), a 48V lithium battery (403), a driving device (404) and a wireless network bridge (405), wherein the shell (401) is made of glass fiber reinforced plastic, has the obvious advantages of low cost, good mechanical property, excellent corrosion resistance, strong stability and the like, the power of the robot is provided by the 48V lithium battery (403), the driving device (404) is connected with a crawler-type robot advancing system (6) to provide power, wireless communication is carried out through the wireless network bridge (405), and collected information is sent to a management and control platform;

the automatic inspection robot is characterized in that the Fresnel lens induction system (5) comprises a Fresnel lens (501) and an infrared sensor (502), and obstacle recognition can be performed through the Fresnel lens (501) and the infrared sensor (502), so that the robot bypasses obstacles.

The automatic inspection robot is characterized in that the integrated board (7) is connected with the millimeter wave radar and visual identification integrated system (1), the micro-fluidic explosive detection system (2) and the laser radar (3) can be replaced more simply when the millimeter wave radar and visual identification integrated system (1), and the micro-fluidic explosive detection system (2) and the laser radar (3) are damaged, so that the operation difficulty is reduced.

Claims

1. An automatic inspection robot which is characterized in that: including millimeter wave radar and visual identification integration system (1), millimeter wave radar and visual identification integration system (1) include millimeter wave radar (101) and video camera (102), microfluidic explosive detecting system (2) are including microfluidic explosive detecting system chip (201) and reagent (202), laser radar (3), robot main part (4) are including shell (401), ARM-based controlling means (402), 48V lithium cell (403), drive arrangement (404), wireless network bridge (405), fresnel lens induction system (5) are including fresnel lens (501) and infrared sensor (502), crawler-type robot traveling system (6) are including track (601), guide wheel (602), bearing wheel (603), suspension (604), drive wheel (605) and take-up pulley (606), integrated board (7).

2. The automatic inspection robot according to claim 1, wherein the millimeter wave radar and visual identification integrated system (1) is mounted on the right rear side above the integrated board (7) and is tightly connected with the two video cameras (102), the millimeter wave radar (101) is placed in the middle of the two video cameras (102), the ground clearance of the millimeter wave radar (101) and the cameras (102) is about 1100mm, and the millimeter wave radar and visual identification integrated system (1) is a cylinder with the bottom radius of 80mm and the height of 40 mm.

3. The automatic inspection robot according to claim 1, wherein the microfluidic explosive detection system (2) is mounted on the left rear side above the integrated board (7) and is tightly connected with the integrated board, the microfluidic explosive detection system (2) is simultaneously positioned on the left side of the millimeter wave radar and visual recognition integrated system (1) and is parallel to the millimeter wave radar and visual recognition integrated system, the height of the microfluidic explosive detection system (2) from the ground is about 800mm, and the dimension of the microfluidic explosive detection system (2) is a cuboid with the length of 100mm, the width of 50mm and the height of 40 mm.

4. An automatic inspection robot according to claim 1, characterized in that the laser radar (3) is mounted on the upper left front side of the integrated board (7) and is tightly connected with the integrated board and is positioned in front of the microfluidic explosive detection system (2) and is parallel with the microfluidic explosive detection system, the ground clearance of the laser radar (3) is about 600mm, and the dimensions of the laser radar (3) are rectangular solids with a length of 100mm, a width of 50mm and a height of 40 mm.

5. The automatic inspection robot according to claim 1, wherein the robot body (4) is internally provided with a control device (402) based on ARM, and is respectively connected with a millimeter wave radar and visual identification integrated system (1), a microfluidic explosive detection system (2), a laser radar (3), a Fresnel lens induction system (5) and a crawler-type robot traveling system (6), the height of the robot body (4) from the ground is about 300mm, and the dimensions of the robot body (4) are rectangular solids with a length of 800mm, a width of 500mm and a height of 300 mm.

6. An automatic inspection robot according to claim 1, characterized in that the fresnel lens induction system (5) is mounted in front of the robot body (4) and is tightly connected with the robot body, the fresnel lens induction system (5) is about 400mm from the ground, and the fresnel lens induction system (5) is a hemispherical body with a bottom radius of 40mm and a height of 20 mm.

7. An automatic inspection robot according to claim 1, characterized in that the crawler robot travel system (6) is mounted under the robot body (4) and the two are tightly connected.

8. An automatic inspection robot according to claim 1, characterized in that the integrated board (7) is mounted above the robot body (4) and is tightly connected with the robot body, and the integrated board (7) is a cuboid of 700mm long, 400mm wide and 20mm high.