CN114131590B - Intelligent device of four-foot robot - Google Patents
Intelligent device of four-foot robot Download PDFInfo
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- CN114131590B CN114131590B CN202111370662.4A CN202111370662A CN114131590B CN 114131590 B CN114131590 B CN 114131590B CN 202111370662 A CN202111370662 A CN 202111370662A CN 114131590 B CN114131590 B CN 114131590B
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- 238000004891 communication Methods 0.000 claims abstract description 17
- 210000000689 upper leg Anatomy 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 claims description 12
- 230000006399 behavior Effects 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 claims description 8
- 210000002414 leg Anatomy 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 239000000446 fuel Substances 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 36
- 238000007726 management method Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 20
- 230000008569 process Effects 0.000 description 11
- 238000003062 neural network model Methods 0.000 description 9
- 238000012549 training Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
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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 application discloses an intelligent device of a quadruped robot, which relates to the field of factory intelligent management 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 four-legged 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 working state data of the equipment to be detected when the intelligent device of the four-foot robot 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 application can realize the autonomous collection of the working state data of the equipment to be detected, has high inspection efficiency, can avoid the problems of false inspection, missed inspection and the like when adopting a manual inspection mode, and effectively ensures the stable and safe operation of the gas turbine power plant.
Description
Technical Field
The application relates to the field of factory intelligent management, in particular to an intelligent device of a four-legged robot.
Background
The equipment of a gas turbine power plant is an infrastructure of the power plant and is an important tie for connecting various parts of a production system, and once the equipment fails, the power generation system is interrupted, even a production line is stopped, and the economic loss caused to the system is huge. In order to ensure the normal operation of the gas turbine power plant, inspection of various devices of the gas turbine power plant is required frequently to ensure the stable operation of the gas turbine power plant.
Currently, a manual inspection mode is generally adopted in a fuel cell power plant, and workers need to inspect power plant infrastructure on time and check and analyze basic operation data. The method is time-consuming and labor-consuming, low in production efficiency and relatively low in inspection standardization degree. Meanwhile, the gas turbine power plant workshop has the problems of high temperature, noise and the like, and the patrol is difficult in practice: the equipment types of the machine room are many, the quantity is large, the patrol personnel are required to have a considerable professional knowledge background, recruitment and new people cultivation are not easy, the capacity of the data center is very fast, and the quantity of the personnel in the existing configuration is far from the actual development requirement. Therefore, the manual inspection mode is extremely easy to cause the problems of false inspection, omission inspection and the like, and inspection staff has high working intensity and low inspection efficiency.
Disclosure of Invention
Aiming at the defects existing in the prior art, the application aims to provide the intelligent device of the quadruped robot, which can realize the autonomous acquisition of the working state data of equipment to be detected, has high inspection efficiency, can avoid the problems of false inspection, missed inspection and the like when an artificial inspection mode is adopted, and effectively ensures the stable and safe operation of a gas turbine power plant.
In order to achieve the above purpose, the technical scheme adopted by the application is as follows:
the walking module is used for moving the four-foot robot intelligent device;
the navigation module is used for navigating the movement of the four-legged 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 route based on the position of the equipment to be detected, and 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 route based on the position of the equipment to be detected;
the acquisition module is used for acquiring working state data of the equipment to be detected when the intelligent device of the four-legged robot 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 carrying out coordinated control on the walking module, the navigation module and the acquisition module, so that when the four-legged robot intelligent device moves to the 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 the 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;
when the four-legged robot intelligent device is located outside a factory building of a gas turbine power plant, the navigation module carries out positioning based on navigation satellites so as to carry out navigation on movement of the four-legged robot intelligent device, and when the four-legged robot intelligent device is located in the factory building of the gas turbine power plant, the navigation module carries out positioning based on a wireless local area network technology so as to carry out navigation on movement of the four-legged robot intelligent device, wherein the wireless local area network technology is a wireless local area network formed by a plurality of wireless access points installed in the gas turbine power plant.
On the basis of the technical scheme, the working state data comprise image data, temperature image data and noise data.
On the basis of the technical proposal, the method comprises the following steps,
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 equipment to be detected;
the pickup is used for collecting noise data of equipment to be detected.
On the basis of the technical proposal, the method comprises the following steps,
the four-foot robot intelligent device comprises a remote operation working mode and an automatic working mode;
the remote operation working mode is to drive the four-foot robot intelligent device to move according to a preset route by adopting a remote control mode;
the automatic working mode is navigation based on a navigation module, and the four-foot robot intelligent device moves according to a preset route.
On the basis of the technical scheme, the walking module comprises four mechanical legs which are uniformly distributed on two sides of the four-foot robot intelligent device;
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 intelligent device of the quadruped robot, 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 positioned 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.
On the basis of the technical proposal, the method comprises the following steps,
the system also 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 four-foot 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 module is driven to work so as to move the intelligent device of the four-legged robot to the charging pile for charging the storage battery.
On the basis of the technical scheme, the electric quantity controller is further used for identifying the charging pile, and when the identification is passed, the charging port of the intelligent device of the four-foot robot is aligned with the charging pile and is in butt joint, so that the storage battery is charged.
On the basis of the technical proposal, the method comprises the following steps,
the system 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 and prompting when the working states are abnormal.
On the basis of the technical proposal, the method comprises the following steps,
the system also comprises a behavior recognition module;
the behavior recognition module is used for recognizing the behaviors of on-site staff of the fuel cell electric power plant;
the actions include identifying whether to wear a helmet, whether to wear a tooling, and whether to tie a safety belt.
Compared with the prior art, the application has the advantages that: the intelligent device of the four-legged robot can independently walk through the navigation module and the walking module, and when the intelligent device of the four-legged robot moves to the equipment to be detected in the gas turbine power plant based on the navigation module and the walking module, the acquisition module acquires the working state data of the equipment to be detected, and the acquired working state data is uploaded to the background server through the communication module, so that the automatic acquisition of the working state data of the equipment to be detected is realized, the inspection efficiency is high, the problems of false inspection, missed 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.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an intelligent device for a quadruped robot in an embodiment of the present application.
Detailed Description
The embodiment of the application provides a four-legged robot intelligent device, which realizes autonomous walking of the four-legged robot intelligent device through a navigation module and a walking module, and when the four-legged 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 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 autonomous acquisition of the working state data of the to-be-detected device is realized, the inspection efficiency is high, the problems of false inspection, missed inspection and the like in an artificial inspection mode can be avoided, and the stable and safe operation of the gas turbine power plant is effectively ensured.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, the four-legged robot intelligent device provided by the embodiment of the application comprises 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 four-foot robot intelligent device, namely, the four-foot robot intelligent device moves under the action of the walking module. Specifically, the walking module comprises four mechanical legs, the four mechanical legs are uniformly distributed on two sides of the four-foot robot intelligent device, namely, the left side and the right side of the four-foot robot intelligent device, and two mechanical legs are arranged in the front and the rear of each side.
Each mechanical leg comprises a thigh unit, a shank unit and a driving unit, wherein the upper end of the thigh unit is rotationally connected with the intelligent device of the four-legged robot, 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 positioned 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 four-foot robot intelligent device can walk, climb a slope, go up and down steps, creeping, go up and down stairs and the like rapidly, adopts a 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 four-foot robot intelligent device.
The navigation module is used for navigating the movement of the intelligent device of the quadruped robot 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, inertial navigation and the like, so that high-precision positioning navigation of the four-legged robot intelligent device is realized.
It should be noted that, when the four-legged robot intelligent device is located outside the factory building of the gas turbine power plant, the navigation module carries out positioning based on the navigation satellite so as to navigate the movement of the four-legged robot intelligent device, when the four-legged robot intelligent device is located in the factory building of the gas turbine power plant, the navigation module carries out positioning based on the wireless local area network technology so as to navigate the movement of the four-legged robot intelligent device, and the wireless local area network technology is a wireless local area network formed by a plurality of wireless access points installed in the gas turbine power plant. The wireless local area network technology in the embodiment of the application is a WiFi positioning technology, the position of the accessed mobile equipment is positioned by adopting a mode of combining an empirical test and a signal propagation model on the basis and on the premise of the position information of a network node (wireless access point), 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 four-legged robot is intelligently positioned in the wireless local area network, the four-legged robot can be navigated and positioned.
Furthermore, positioning assistance can be realized based on equipment in the gas turbine power plant, and the position of the equipment is determined because the equipment in the gas turbine power plant is in a fixed state, the four-legged robot intelligent device performs image acquisition on surrounding environment in the moving process, identifies the acquired image, identifies equipment contained in the image, obtains the position coordinate of the equipment, and further performs assistance determination on the position coordinate of the four-legged 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 route 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, equipment A, equipment B and equipment C are needed to be used in the production plan, the equipment A, the equipment B and the equipment C are used as equipment to be detected, then the positions of the equipment A, the equipment B and the equipment C are connected, the formed route is a preset route, a four-legged robot intelligent device is driven to move according to the preset route, working state data of the equipment A, the equipment B and the equipment C are acquired, the running states of the equipment A, the equipment B and the equipment C are detected, and when the equipment is in a problem, the equipment is overhauled in time, so that the normal operation of the production plan is effectively ensured.
The second path planning module is used for counting the running time of all devices in the gas turbine power plant, taking the devices with the running time exceeding the preset time as to-be-detected devices, and then determining a preset route based on the positions of the to-be-detected devices. With the increase of the running time of the equipment, the probability of occurrence of faults is correspondingly increased, so that when the running time of a 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 accordingly working state data acquisition is carried out on the equipment to judge the running state of the equipment, so that problems can be found as soon as possible, and corresponding measures can be taken.
In the embodiment of the application, the four-foot robot intelligent device comprises a remote operation working mode and an automatic working mode; the remote operation working mode is to drive the four-foot robot intelligent device to move according to a preset route by adopting a remote control mode; the automatic working mode is navigation based on a navigation module, and the four-foot robot intelligent device moves according to a preset route.
The acquisition module is used for acquiring working state data of the equipment to be detected when the intelligent device of the four-foot robot moves to the equipment to be detected; the operating state 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 pickup is used for collecting noise data of equipment to be detected.
The communication module is used for uploading the working state data acquired by the acquisition module to the background server so as to facilitate the background staff to realize the analysis of the running state of the equipment to be detected based on the working state data, or realize the automatic analysis of the running state of the equipment to be detected based on the working state data through corresponding software.
The method for analyzing the running state of the equipment to be detected based on the working state data comprises the following specific implementation processes:
a: and acquiring image data, temperature image data and noise data during normal operation of equipment of the fuel cell power plant, and training the neural network model as a training set, so that the neural network model has the capability of judging whether the equipment is normally operated or not based on the working state data.
It should be noted that, the image data in the training set refers to the appearance image data when the device is in normal operation, and as the service time of the device is increased, even if the device is in normal operation, the appearance image will change, so when the image data when the device is in normal operation is obtained, the appearance image when the device is in normal operation in different service ages is obtained, and as the training set, the recognition accuracy of the subsequent neural network model is conveniently improved.
When the equipment is in normal operation, the temperature is different under different operation conditions or different operation powers, and the temperature of the equipment is also influenced by the ambient temperature, so that a plurality of temperature data under different operation conditions or different operation powers are obtained as a training set when the equipment is in normal operation, and the recognition accuracy of a subsequent neural network model is conveniently improved.
Similarly, when the equipment is in normal operation, the noise is different under different operation conditions or different operation powers, so that a plurality of noise data under different operation conditions or different operation powers are obtained as a training set when the equipment is in normal operation, and the recognition accuracy of a follow-up neural network model is conveniently improved.
B: the working state data uploaded by the communication module is identified by using the trained neural network model, so that whether the corresponding equipment operates normally or not is automatically judged based on the image data, the temperature image data and the noise data in the working state data, automatic replacement detection of the operating 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, the automatic alarm is carried out so as to facilitate the timely maintenance of maintenance personnel.
In a possible implementation manner, the automatic detection process of whether the neural network model identification equipment operates normally can be further put into the intelligent device of the four-legged robot, after the acquisition module acquires working state data, the control module drives the trained neural network model to identify the working state data, so that whether the equipment operates normally is judged at the first time, when the equipment is judged to be in an abnormal state, workers nearby the equipment are notified in a sound or light alarm mode, and the abnormal equipment is treated 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 four-legged robot intelligent device moves to the 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 four-legged robot 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 four-foot 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 module is driven to work so as to move the four-foot robot intelligent device to the charging pile for charging the storage battery. The electric quantity controller is also used for identifying the charging pile, and when the identification is passed, the charging port of the intelligent device of the four-foot robot is aligned with the charging pile and the butt joint is completed, so that the charging of the storage battery is performed. The full-process manual access-free charging process of the four-foot robot intelligent device is realized, and the autonomous charging of the four-foot robot intelligent device is realized.
Furthermore, the intelligent device of the quadruped robot further comprises a state detection module, wherein the state detection module is used for detecting working states of the walking module, the navigation module, the acquisition module, the communication module and the control module and giving an alarm prompt when the working states are abnormal. The state detection module is used for detecting the running state of the intelligent device of the quadruped robot, and alarming prompt is carried out when the working state is abnormal, namely, when the state detection module is used for detecting the intelligent device of the quadruped robot, an error mark is thrown once the abnormality occurs, and corresponding alarming prompt is given out according to the preset error mark, so that specific measures are taken, and safe and reliable work of a robot dog in the whole inspection process is ensured.
Furthermore, the intelligent device of the quadruped robot further comprises a behavior recognition module, wherein the behavior recognition module is used for recognizing behaviors of on-site staff of the fuel cell electric power plant; the actions include identifying whether to wear the helmet, whether to wear the tooling, and whether to tie the safety belt.
The following describes a process for inspecting a gas turbine power plant by a four-legged robot intelligentized device.
Based on the walking module and the navigation module, the intelligent device of the four-legged robot starts from the charging place and performs equipment inspection along the appointed inspection path. In the inspection process, equipment to be inspected is positioned at first, then equipment label reading is carried out (equipment labels are posted on the equipment to be inspected), the name, the preset point position and the focusing information of the equipment to be inspected are obtained from a database based on the read equipment labels, then the working state data of the equipment to be inspected are collected through a collecting module, and meanwhile the collected working state data and the collected state parameters are transmitted to a background server through a communication module through the state parameters of the state detecting module. Besides, in the automatic inspection process, the four-foot robot intelligent device can also determine the position and the posture of the body through the relevant sensors carried by the four-foot robot intelligent device, so that the four-foot robot intelligent device is ensured to move to a preset stop point.
In the whole inspection process, the background server can monitor equipment to be inspected according to the working state data uploaded by the intelligent device of the quadruped robot; meanwhile, the remote intelligent patrol management platform in the background server can use the electronic map to show the working process of patrol of the four-foot robot intelligent device, and a fuel cell electric power plant attendant can conduct remote control operation on the four-foot robot intelligent device and can conduct comprehensive monitoring on state parameters of the four-foot robot intelligent device. In the whole inspection process, the machine dog communicates with a background server through a wireless network.
According to the intelligent device for the four-legged robot, autonomous walking of the intelligent device for the four-legged robot is achieved through the navigation module and the walking module, when the intelligent device for the four-legged robot moves to the to-be-detected equipment in the gas turbine power plant based on the navigation module and the walking module, the collecting module collects working state data of the to-be-detected equipment, and the collected working state data are uploaded to the background server through the communication module, so that autonomous collection of the working state data of the to-be-detected equipment is achieved, inspection efficiency is high, the problems of false inspection, missed inspection and the like in a manual inspection mode can be avoided, and stable and safe operation of the gas turbine power plant is effectively guaranteed.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the 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 application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 (9)
1. Four-legged robot intelligent device, its characterized in that includes:
the walking module is used for moving the four-foot robot intelligent device;
the navigation module is used for navigating the movement of the four-legged 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 route based on the position of the equipment to be detected, and 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 route based on the position of the equipment to be detected;
the acquisition module is used for acquiring working state data of the equipment to be detected when the intelligent device of the four-legged robot 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 carrying out coordinated control on the walking module, the navigation module and the acquisition module, so that when the four-legged robot intelligent device moves to the 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 the 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;
when the four-legged robot intelligent device is located outside a factory building of a gas turbine power plant, the navigation module is used for positioning based on navigation satellites to navigate movement of the four-legged robot intelligent device, and when the four-legged robot intelligent device is located inside the factory building of the gas turbine power plant, the navigation module is used for positioning based on a wireless local area network technology to navigate movement of the four-legged robot intelligent device, wherein the wireless local area network technology is a wireless local area network formed by a plurality of wireless access points installed in the gas turbine power plant;
the system also comprises a behavior recognition module;
the behavior recognition module is used for recognizing the behaviors of on-site staff of the fuel cell electric power plant;
the actions include identifying whether to wear a helmet, whether to wear a tooling, and whether to tie a safety belt.
2. The quadruped robot intelligent device of claim 1, wherein: the operating state data includes image data, temperature image data, and noise data.
3. A quadruped robot intelligent device 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 the equipment to be detected;
the infrared thermal imager is used for collecting temperature image data of equipment to be detected;
the pickup is used for collecting noise data of equipment to be detected.
4. The quadruped robot intelligent device of claim 1, wherein:
the four-foot robot intelligent device comprises a remote operation working mode and an automatic working mode;
the remote operation working mode is to drive the four-foot robot intelligent device to move according to a preset route by adopting a remote control mode;
the automatic working mode is navigation based on a navigation module, and the four-foot robot intelligent device moves according to a preset route.
5. The quadruped robot intelligent device of claim 1, wherein: the walking module comprises four mechanical legs which are uniformly distributed on two sides of the four-foot robot intelligent device.
6. The quadruped robot intelligent device of claim 1, wherein: each mechanical leg comprises a thigh unit, a shank unit and a driving unit, wherein the upper end of the thigh unit is rotationally connected with the intelligent device of the quadruped robot, 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 positioned 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.
7. The quadruped robot intelligent device of claim 1, wherein:
the system also 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 four-foot 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 module is driven to work so as to move the intelligent device of the four-legged robot to the charging pile for charging the storage battery.
8. The quadruped robot intelligent device of claim 7, wherein: the electric quantity controller is also used for identifying the charging pile, and when the identification is passed, the charging port of the intelligent device of the four-foot robot is aligned with the charging pile and the butt joint is completed, so that the storage battery is charged.
9. The quadruped robot intelligent device of claim 1, wherein:
the system 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 and prompting when the working states are abnormal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111370662.4A CN114131590B (en) | 2021-11-18 | 2021-11-18 | Intelligent device of four-foot robot |
Applications Claiming Priority (1)
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