CN206171424U - But leap -type inspection robot and controlling means - Google Patents

Abstract

The utility model discloses a leaping detection robot and a control device. The robot includes: a base plate, a drive wheel, a drive motor, a storage chamber, an auxiliary device and a base; the robot is provided with an auxiliary device at the center of its base, and the auxiliary device has a telescopic function. When the robot encounters an obstacle , the auxiliary device stretches out and lifts the two driving wheels in front of the robot, and the two driving wheels in front of the robot cross obstacles, and then drive the robot to cross obstacles. The robot shown in the embodiment of the utility model can cross obstacles and is suitable for intricate detection environments.

Description

A leaping detection robot and its control device

technical field

The utility model relates to the technical field of robots, in particular to a leaping detection robot and a control device.

Background technique

With the continuous maturity of robot technology, the application range of robot detection is becoming more and more extensive. The robot can quickly detect the surrounding environment through the endoscopic camera monitoring system, and can reach places that the staff cannot reach, which greatly reduces the labor intensity. .

Nowadays, wheeled mobile robots are often used for rapid detection. The existing wheeled mobile robots are equipped with four wheels or four extra wheels at the bottom of the robot. When the wheeled mobile robot is running on a plane, it can find three simultaneous The wheels are in contact with the plane. When the wheeled mobile robot moves on the plane, the three wheels in contact with the plane are always tangent to the plane so that the robot is fixed on the plane to complete the rapid detection work.

The existing wheeled mobile robot uses the same three wheels to be tangent to the plane and fixed. In the rapid detection process, the robot needs to move on the plane to realize the detection of the surrounding environment. Traditional wheeled mobile robots can only move on a flat surface. If obstacles are encountered, traditional wheeled mobile robots will not be able to reach the destination; today's detection environment is intricate, and the phenomenon of detection plane protrusions often occurs. Traditional wheeled mobile robots It is difficult for mobile robots to reach their destinations over obstacles, thus limiting the application range of traditional wheeled mobile robots.

Utility model content

The purpose of the invention of the utility model is to provide a leaping detection robot and a control device to solve the problem that the existing wheeled mobile robot cannot cross obstacles in the detection process.

According to an embodiment of the present invention, a leaping detection robot is provided on the one hand, and the robot includes: a base plate, a driving wheel, a driving motor, a storage cavity and an auxiliary device;

Wherein, the bottom plate is provided with four driving wheels; the driving wheels are located at the four corners of the bottom plate; the rotating end of the driving motor is connected with the driving wheels;

The storage cavity is provided at the center of the bottom plate, the drive motor is provided at the top of the storage cavity, and the rotating end of the drive motor is connected to one end of the auxiliary device;

The auxiliary device includes: auxiliary wheels, a telescopic rotating shaft and a base;

The rotating end of the drive motor is connected to one end of the telescopic rotating shaft, and the other end of the telescopic rotating shaft is connected to the top of the base; both sides of the base in the horizontal direction are provided with The auxiliary wheel; the size of the auxiliary device is adapted to the size of the storage cavity.

Further, a speed sensor is provided at the rotating shaft of the driving wheel.

Further, one end of the bottom plate is provided with an ultrasonic sensor.

Further, the telescopic rotating shaft is a screw rod.

The second aspect of the utility model provides a control device for a leaping detection robot, the device includes;

An acquisition circuit, a first drive circuit, a speed output circuit, a speed judgment circuit, a measurement circuit, an alarm circuit, a height judgment circuit, a first control circuit and a second drive circuit;

The output end of the acquisition circuit is connected to the input end of the first driving circuit;

The output end of the first drive circuit is connected to the input end of the speed output circuit;

The output end of the speed output circuit is connected to the input end of the speed judgment circuit;

The output end of the speed judging circuit is connected to the input end of the measuring circuit;

The output end of the measurement circuit is connected to the input end of the height judgment circuit;

The first output end of the height judgment circuit is connected to the input end of the alarm circuit;

The second output terminal of the height judgment circuit is connected to the input terminal of the first control circuit;

The output terminal of the first control circuit is connected with the input terminal of the second driving circuit.

Further, the height judging circuit includes: a distance output circuit and a second control circuit, the output terminal of the distance output circuit is connected to the input terminal of the second control circuit.

Further, the second drive circuit includes:

A third control circuit, a displacement output circuit and a displacement judgment circuit;

The output end of the second drive circuit is connected to the input end of the displacement output circuit;

The output end of the displacement output circuit is connected with the input end of the displacement judgment circuit.

It can be seen from the above technical solutions that the embodiments of the present invention provide a leaping detection robot and a control device. The robot includes: a base plate, a driving wheel, a drive motor, a storage cavity, an auxiliary device and a base; wherein the base plate is set There are 4 driving wheels; the driving wheels are located at the four corners of the bottom plate; the rotating end of the driving motor is connected with the driving wheels; the storage cavity is provided at the center of the bottom plate, and the storage cavity The top of the chamber is provided with the driving motor, and the rotating end of the driving motor is connected to one end of the auxiliary device; the auxiliary device includes: auxiliary wheels, a telescopic rotating shaft and a base; the rotating end of the driving motor It is connected to one end of the telescopic rotating shaft, and the other end of the telescopic rotating shaft is connected to the top of the base; both sides of the base in the horizontal direction are provided with the auxiliary wheels; the auxiliary The size of the device is adapted to the size of the receiving cavity. An auxiliary device is installed at the center of its base. When the robot encounters an obstacle, the auxiliary device stretches out and lifts the two driving wheels in front of the robot. The two driving wheels in front of the robot cross the obstacle, And then drive the robot to cross the obstacle. The robot shown in the embodiment of the utility model can cross obstacles and is suitable for intricate detection environments.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only the present invention. For some embodiments of the present invention, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is a schematic diagram of the side structure of the telescopic device according to a preferred embodiment;

Fig. 2 is a schematic diagram showing the bottom of a leaping detection robot according to a preferred embodiment;

Fig. 3 is a structural diagram showing a control device for a leaping detection robot according to a preferred embodiment;

Fig. 4 is a structural block diagram showing a second driving device according to a preferred embodiment.

illustration:

1-Telescopic rotating shaft, 2-Auxiliary wheel, 3-Ultrasonic sensor, 4-Drive wheel, 5-Storage chamber, 6-Speed sensor, 7-Bottom plate, 8-Base, 9-Auxiliary device, 201-Acquiring circuit, 202-first driving circuit, 203-speed output circuit, 204-speed judgment circuit, 205-measurement circuit, 207-alarm circuit, 206-height judgment circuit, 208-first control circuit, 2081-distance output circuit, 2082- The second control circuit, 209-the second drive circuit, 210-the third control circuit, 211-displacement output circuit, 212-displacement judging circuit.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

The embodiment of the utility model provides a leaping detection robot, as shown in Figure 1 and Figure 2, the robot includes: a base plate 7, a driving wheel 4, a driving motor, a storage chamber 5 and an auxiliary device 9; wherein, the Bottom plate 7 is provided with 4 drive wheels 4; Said drive wheel 4 is positioned at four apex corners of said bottom plate 7; The rotating end of said drive motor is connected with said drive wheel 4; Described bottom plate 7 center place is provided with The storage cavity 5, the top of the storage cavity 5 is provided with the driving motor, the rotating end of the driving motor is connected with one end of the auxiliary device 9; the auxiliary device 9 includes: auxiliary wheels 2, telescopic Type rotating shaft 1 and base 8; The rotating end of described driving motor is connected with one end of described telescopic rotating shaft 1, and the other end of described telescopic rotating shaft 1 is connected with the top of described base 8; The described Both sides of the base 8 in the horizontal direction are provided with the auxiliary wheels 2 ; the size of the auxiliary device 9 matches the size of the storage cavity 5 .

Specifically, the robot is equipped with an auxiliary device 9 at the center of its base plate 7, and the auxiliary device 9 has a telescopic function. Only the driving wheels 4 are lifted, and the two driving wheels 4 in front of the robot cross over obstacles, and then drive the robot to cross obstacles. The robot shown in the embodiment of the utility model can cross obstacles and is suitable for intricate detection environments.

Further, a speed sensor 6 is arranged at the rotating shaft of the driving wheel 4 .

Further, an ultrasonic sensor 3 is provided at one end of the bottom plate 7 .

Specifically, a speed sensor 6 is respectively installed on the four driving wheels 4 of the robot, and an ultrasonic sensor 3 is arranged at one end of the bottom plate 7 of the robot; when the robot is in a stopped or normal walking state, the auxiliary device 9 It is hidden in the robot storage cavity 5 through the up and down telescopic function; when the robot is in the normal walking state of moving forward at a constant speed, the speed sensors 6 on the four driving wheels 4 will send the collected speed information back to the main controller in real time. When the forward speed of a drive wheel 4 in the data of each speed sensor 6 is lower than the preset speed, it means that the robot encounters an obstacle in the working pipeline. At this time, the ultrasonic ranging sensor measures the height difference between the robot base plate 7 and the obstacle. After the controller obtains the data about the obstacle, it judges whether the obstacle can be crossed. When the controller judges that the obstacle can be crossed, the auxiliary device 9 stretches out and lifts the two driving wheels 4 in front of the robot to a corresponding height. The two driving wheels 4 cross the obstacle, and the auxiliary device 9 is retracted into the storage chamber 5 after crossing the obstacle; when the main controller judges that the robot cannot cross the obstacle, the robot stops advancing and sends an alarm signal to the outside to prevent the robot from forcibly crossing the obstacle, causing Overturned.

Further, the telescopic rotating shaft 1 is a screw rod.

Specifically, the rotating end of the motor is connected to one end of the telescopic rotating shaft 1, the telescopic rotating shaft 1 is a screw, and the motor and the screw mechanism can be telescopically moved by the auxiliary device 9 while helping the robot 360 degree rotation.

The second aspect of the utility model provides a control device for a leaping detection robot;

Fig. 3 is a structural diagram showing a control device for a leaping detection robot according to a preferred embodiment;

The device includes;

Obtaining circuit 201, first drive circuit 202, speed output circuit 203, speed judgment circuit 204, measurement circuit 205, alarm circuit 207, height judgment circuit 206, first control circuit 208 and second drive circuit 209,

The output end of the acquisition circuit 201 is connected to the input end of the first driving circuit 202;

The output end of the first drive circuit 202 is connected to the input end of the speed output circuit 203;

The output end of the speed output circuit 203 is connected with the input end of the speed judgment circuit 204;

The output terminal of the speed judging circuit 204 is connected with the input terminal of the measuring circuit 205;

The output terminal of the measurement circuit 205 is connected with the input terminal of the height judgment circuit 206;

The first output end of the height judgment circuit 206 is connected with the input end of the alarm circuit 207;

The second output terminal of the height judgment circuit 206 is connected with the input terminal of the first control circuit 208;

The output terminal of the first control circuit 208 is connected with the input terminal of the second driving circuit 209 .

Acquisition circuit 201, the acquisition circuit 201 is used to acquire the forward instruction;

A first drive circuit 202, the first drive circuit 202 is used to drive the robot forward;

A speed output circuit 203, the speed output circuit 203 is used to output the forward speed;

A speed judging circuit 204, the speed judging circuit 204 is used to judge whether the forward speed is greater than a preset speed;

Measuring circuit 205, the measuring circuit 205 is used to measure the height difference between the base plate 7 and the obstacle, and upload the height difference;

Alarm circuit 207, the alarm circuit 207 is used to issue an alarm;

A height judging circuit 206, the height judging circuit 206 is used to judge whether the height difference is greater than a preset height value;

The first control circuit 208, the first control circuit 208 is used to control the extension of the auxiliary circuit 9;

The second driving circuit 209 is used to drive the front wheel of the robot to lift up and cross obstacles.

Specifically, start the robot, the acquisition circuit 201 acquires the forward command, the first drive circuit 202 drives the robot forward, and the robot is in a normal state of moving forward at a constant speed. At this time, the speed output circuit 203 outputs the forward speed, and uploads the forward speed to the speed Judging circuit 204, the speed judging circuit 204 judges whether the advancing speed is greater than a preset speed, when the robot advances on a straight pipeline, the advancing speed is greater than the preset speed, then the robot continues to move forward; When the robot encounters an obstacle, the forward speed is less than the preset speed. At this time, the measurement circuit 205 measures the height difference between the robot base plate 7 and the obstacle, and uploads the height difference to the height judgment circuit 206. The height judgment The circuit 206 judges whether the height difference is greater than a preset height value, if the height difference is greater than the preset height value, the robot stops moving forward, and the alarm circuit 207 sends an alarm signal to prevent the robot from forcibly crossing obstacles and causing rollover; If the height difference is less than the preset height value, the first control circuit 208 controls the auxiliary circuit 9 to extend; at this time, the auxiliary circuit 9 stretches out, and the second drive circuit 209 drives the two driving wheels in front of the robot 4 lift the corresponding height, and now two drive wheels 4 in the front are over obstacles.

Fig. 4 is a structural block diagram showing a second driving device according to a preferred embodiment;

The height judging circuit 206 includes: a distance output circuit 2081 and a second control circuit 2082 , the output terminal of the distance output circuit 2081 is connected to the input terminal of the second control circuit 2082 .

A distance output circuit 2081, the distance output circuit 2081 is configured to output the extended distance of the auxiliary circuit 9 according to the height difference;

The second control circuit 2082 is configured to control the extension of the auxiliary circuit 9 according to the extension distance of the auxiliary circuit 9 .

Further, the second drive circuit 209 includes:

A third control circuit 210, the third control circuit 210 is used to control the shortening of the auxiliary circuit 9;

A displacement output circuit 211, the displacement output circuit 211 is used to output the displacement value of the robot;

A displacement judging circuit 212, the displacement judging circuit 212 is used to judge whether the displacement value is a preset displacement.

Specifically, when the robot crosses an obstacle, the third control circuit 210 controls the auxiliary circuit 9 to shorten, and the displacement output circuit 211 outputs the displacement value of the robot. At this time, the displacement judging circuit 212 judges the displacement value Whether it is a preset displacement, if the displacement value is a preset displacement, it proves that the robot has completed the detection work, and the main controller controls to stop moving forward.

It can be seen from the above technical solutions that the embodiment of the utility model provides a leaping detection robot and a control device, the robot includes: a bottom plate 7, a driving wheel 4, a driving motor, a storage chamber 5, an auxiliary circuit 9 and a base 8; , the base plate 7 is provided with four drive wheels 4; the drive wheels 4 are located at four corners of the base plate 7; the rotating end of the drive motor is connected with the drive wheels 4; the center of the base plate 7 The storage cavity 5 is provided at the top of the storage cavity 5, the driving motor is provided on the top of the storage cavity 5, and the rotating end of the driving motor is connected with one end of the auxiliary circuit 9; the auxiliary circuit 9 includes: auxiliary wheels 2. Telescopic rotating shaft 1 and base 8; the rotating end of the drive motor is connected to one end of the telescopic rotating shaft 1, and the other end of the telescopic rotating shaft 1 is connected to the top of the base 8 The auxiliary wheels 2 are provided on both sides of the base 8 in the horizontal direction; the size of the auxiliary circuit 9 matches the size of the storage cavity 5 . An auxiliary circuit 9 is installed at the center of the base 8 of the robot. When the robot encounters an obstacle, the auxiliary circuit 9 stretches out and lifts the two driving wheels 4 in front of the robot. Drive wheel 4 crosses obstacle, and then drives robot to cross obstacle. The robot shown in the embodiment of the utility model can cross obstacles and is suitable for intricate detection environments.

Other embodiments of the invention will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the utility model, which follows the general principles of the utility model and includes common knowledge or common knowledge in the technical field not disclosed by the utility model. conventional technical means. The specification and examples are to be considered exemplary only, with a true scope and spirit of the invention indicated by the following claims.

It should be understood that the present invention is not limited to the precise structure which has been described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims (7)

1. one kind may span across formula detection robot, it is characterised in that the robot includes：Base plate, driving wheel, motor, Containing cavities and auxiliary device；

Wherein, the base plate is provided with 4 driving wheels；The driving wheel is located at four drift angles of the base plate；It is described to drive electricity The turning end of machine is connected with the driving wheel；

The base plate center is provided with the containing cavities, and the motor, the drive are provided with the top of the containing cavities The turning end of galvanic electricity machine is connected with one end of the auxiliary device；

The auxiliary device includes：Auxiliary wheel, telescopic rotary shaft and base；

The turning end of the motor is connected with one end of the telescopic rotary shaft, the telescopic rotary shaft it is another End is connected with the top of the base；The both sides of the horizontal direction of the base are provided with the auxiliary wheel；The auxiliary The size of device is adapted with the size of the containing cavities.

2. one kind according to claim 1 may span across formula detection robot, it is characterised in that the rotary shaft of the driving wheel Place is provided with velocity sensor.

3. one kind according to claim 1 may span across formula detection robot, it is characterised in that one end of the base plate is arranged There is ultrasonic sensor.

4. one kind according to claim 1 may span across formula detection robot, it is characterised in that the telescopic rotary shaft is Screw mandrel.

5. it is a kind of to may span across the control device that formula detects robot, it is characterised in that described device includes；

Circuit is obtained, the first drive circuit, speed output circuit, velocity estimated circuit determine circuit, and warning circuit is highly sentenced Deenergizing, first control circuit and the second drive circuit,

The outfan for obtaining circuit is connected with the input of first drive circuit；

The outfan of first drive circuit is connected with the input of the speed output circuit；

The outfan of the speed output circuit is connected with the input of the velocity estimated circuit；

The outfan of the velocity estimated circuit is connected with the input for determining circuit；

The outfan for determining circuit is connected with the input of the height decision circuitry；

First outfan of the height decision circuitry is connected with the input of the warning circuit；

Second outfan of the height decision circuitry is connected with the input of the first control circuit；

The outfan of the first control circuit is connected with the input of second drive circuit.

6. device according to claim 5, it is characterised in that the height decision circuitry includes：

Apart from output circuit and second control circuit, the outfan apart from output circuit is defeated with the second control circuit Enter end to be connected.

7. device according to claim 5, it is characterised in that second drive circuit includes：

3rd control circuit, displacement output circuit and displacement decision circuitry；

The outfan of second drive circuit is connected with the input of the displacement output circuit；

The outfan of the displacement output circuit is connected with the input of the displacement decision circuitry.