CN117008593A - Automatic obstacle avoidance inspection robot for power plant - Google Patents
Automatic obstacle avoidance inspection robot for power plant Download PDFInfo
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- CN117008593A CN117008593A CN202211629362.8A CN202211629362A CN117008593A CN 117008593 A CN117008593 A CN 117008593A CN 202211629362 A CN202211629362 A CN 202211629362A CN 117008593 A CN117008593 A CN 117008593A
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- 238000007689 inspection Methods 0.000 title claims abstract description 31
- 238000004140 cleaning Methods 0.000 claims description 21
- 230000004888 barrier function Effects 0.000 claims description 18
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- 239000007921 spray Substances 0.000 claims description 7
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- 238000010248 power generation Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 23
- 239000000428 dust Substances 0.000 description 5
- 238000007667 floating Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of inspection robots, and discloses an automatic obstacle avoidance inspection robot for a power plant. According to the invention, a driving process is realized by driving the passive rotation of the main obstacle crossing wheel and the auxiliary obstacle crossing wheel, when an obstacle is too high, the process that the two main obstacle crossing wheels are mutually close to each other and move obliquely downwards can be realized by descending the second laser obstacle avoidance sensor, and finally, the lifting of the chassis is realized, so that the ground clearance of the device is improved, the device is supported by the two main obstacle crossing wheels and the four auxiliary obstacle crossing wheels, the driving is realized, the crossing process of the obstacle is completed, the problem that the fixed chassis of the traditional device cannot only cross the obstacle and can only bypass is avoided, and the passing efficiency is higher.
Description
Technical Field
The invention belongs to the technical field of inspection robots, and particularly relates to an automatic obstacle avoidance inspection robot for a power plant.
Background
A power plant is also called a power plant, and is a plant that converts various primary energy sources stored in nature into electric energy. In the daily working process of a power plant, the inspection operation is usually required to be carried out on all equipment in the power plant, a power transmission line and the like, so that the safe operation of the power plant is ensured, twenty-four hours of uninterrupted inspection is required, the labor amount brought by the inspection is huge, the inspection robot is generally adopted to replace manpower to carry out inspection in order to effectively lighten the inspection burden in the prior art, and the inspection robot generally has a self-driving function and can carry out inspection on all equipment according to a set route, so that the consumption of manpower is effectively reduced.
At present, a patrol robot used in a power plant is generally in wheel type driving and crawler type driving, the two driving modes are different, the patrol road surface is not quite smooth in the daily patrol process of the power plant, a certain obstacle can often appear to block the normal running of the robot, the crawler type driving mode is adopted, the running speed is slower, the ground is easy to damage, the crawler belt part is extremely fragile, so that the patrol robot is abandoned in the high-strength patrol process, when the wheel type driving is adopted, the obstacle crossing capability mainly depends on the ground clearance of a chassis of the patrol robot, and when encountering an obstacle higher than the chassis clearance of the patrol robot, the patrol robot can only repeatedly try to bypass, and the traffic efficiency is lower.
Because the environment of patrolling and examining of power plant is complicated, in daily inspection process, can appear the obstacle that hinders robot normal travel often, the method that adopts at present generally uses laser to keep away the barrier sensor and scans the obstacle, and this kind of sensor is generally installed in the robot and is close the position of bottom, and it can scan most obstacles, but when appearing the obstacle that is less than the chassis, it can't scan, and whole robot exists certain support bottom risk this moment, so how to scan bigger obstacle and less obstacle and keep away the barrier and realize very necessary.
Disclosure of Invention
The invention aims to provide an automatic obstacle avoidance inspection robot for a power plant, which aims to solve the problems in the background technology.
In order to achieve the above object, the present invention provides the following technical solutions: the utility model provides an automatic barrier robot of patrolling and examining of keeping away of power plant, includes the chassis, the middle part fixed mounting on chassis top has the frame, equal movable mounting has the main drive wheel on the position that the chassis is close to both ends around, the middle part fixed mounting on chassis top has the inside increase frame that is located the frame, both ends all are equipped with barrier device about increasing the frame, the middle part of chassis bottom is seted up flutedly, the bottom fixed mounting on chassis has the clean cover that is located the recess below, the inside of clean cover is equipped with the second laser and keeps away barrier sensor, the middle part fixed mounting on increase the frame top has the gas storage pipe that is located the frame inside, the middle part at frame top is inlayed and is installed negative pressure fan, the top fixed mounting of second laser keeps away barrier sensor has the fly leaf, be connected between the top of fly leaf and the barrier device.
As a further technical scheme of the invention, an infrared temperature measuring probe is fixedly arranged in front of the top end of the chassis, a wide-angle camera group is fixedly arranged behind the top end of the chassis, and first laser obstacle avoidance sensors are fixedly arranged at the front end and the rear end of the chassis.
When the device is used, the storage battery arranged in the device is fully charged, the electric quantity of the device is kept sufficient, a preset path is planned, normal running of the robot is ensured, the robot is placed on a patrol field for patrol, an infrared temperature measuring probe positioned at the top end of the chassis can detect the working temperature of equipment to be detected, remote return is carried out, and meanwhile, a wide-angle camera group can shoot pictures in the patrol space and carry out remote return to complete patrol.
As a further technical scheme of the invention, the top end of the gas storage pipe is fixedly provided with the temporary storage box, the output end of the negative pressure fan is fixedly communicated with the air collecting pipe, the bottom end of the air collecting pipe penetrates through the top end of the machine base and is communicated with the interior of the temporary storage box, the left side of the top end of the gas storage pipe is fixedly communicated with the gas transmission pipe, and the right side of the top end of the gas storage pipe is fixedly communicated with the gas guide pipe.
As a further technical scheme of the invention, the input end of the gas pipe and the output end of the gas pipe are both provided with one-way valves, and the directions of the valves are respectively inward conduction and outward stop, and outward conduction and inward stop.
As a further technical scheme of the invention, a piston plate is movably sleeved in the gas storage pipe, the bottom end of the piston plate is fixedly connected with an extension rod, the bottom end of the extension rod penetrates through the bottom end of the heightening frame and is fixedly connected with the top end of the movable plate, the top end of the piston plate is fixedly connected with a reset spring positioned in the gas storage pipe, and the top end of the reset spring is fixedly connected with the top end of the inner cavity of the gas storage pipe.
When the first laser keeps away the barrier sensor and detects higher barrier, the chassis can't pass through, the accessible opens negative pressure fan and can inhale outside air to the inside of keeping in the case, the inside air of keeping in the case can get into the inside of gas storage pipe through the gas-supply pipe this moment, the air can get into between gas storage pipe and the piston board this moment, along with the continuation of air gets into, the piston board receives decurrent pressure, reset spring is compressed this moment, piston board and extension rod move down along with it, finally drive the fly leaf of below and second laser keeps away the barrier sensor and move down.
As a further technical scheme of the invention, the obstacle surmounting device comprises a first fixing seat, wherein the first fixing seat is fixedly connected with the left end and the right end of the heightening frame, one end of the first fixing seat, which is far away from the heightening frame, is movably connected with a supporting rod through a rotating shaft, and the other end of the supporting rod is movably connected with a second fixing seat through the rotating shaft.
As a further technical scheme of the invention, one end of the second fixing seat far away from the supporting rod is fixedly connected with a mounting frame, the middle part of the front end of the mounting frame is connected with a main obstacle crossing wheel through a transmission shaft, the left side and the right side of the front end of the mounting frame are connected with auxiliary obstacle crossing wheels through transmission shafts, and a motor is arranged in the main obstacle crossing wheel.
As a further technical scheme of the invention, the middle parts of the inner side surfaces of the support rods are fixedly provided with third fixing seats, one ends of the third fixing seats, which are far away from the support rods, are movably connected with connecting rods through rotating shafts, the other ends of the connecting rods are movably connected with fourth fixing seats through rotating shafts, and the fourth fixing seats are positioned on the left side and the right side of the top end of the movable plate and are connected with the top end of the movable plate.
As a further technical scheme of the invention, the bottom ends of the outer side surfaces of the main obstacle surmounting wheel and the auxiliary obstacle surmounting wheel are positioned on the same horizontal plane, and the bottom ends of the outer side surfaces of the main obstacle surmounting wheel and the auxiliary obstacle surmounting wheel and the main driving wheel are always positioned on the same horizontal plane.
When the movable plate and the second laser obstacle avoidance sensor displace downwards, the fourth fixing seat displaces downwards, the connecting rods deflect inwards, the two connecting rods deflect from a state parallel to the movable plate to a state perpendicular to the movable plate, the supporting rods are subjected to inward pulling force, the supporting rods approach to the direction of the chassis, the supporting rods can be driven to deflect inwards, the second fixing seat displaces downwards obliquely relative to the chassis, the main obstacle crossing wheel and the auxiliary obstacle crossing wheel always contact the ground, when the supporting rods deflect, the left main obstacle crossing wheel and the right main obstacle crossing wheel are relatively close, the chassis rises, the main obstacle crossing wheel and the auxiliary obstacle crossing wheel always keep contacting the ground, the main driving wheel is suspended, the ground clearance between the chassis and the ground is increased, and obstacle crossing operation can be realized by driving the main obstacle crossing wheel to rotate.
The left end and the right end of the conventional robot are further provided with the main obstacle crossing wheel and the auxiliary obstacle crossing wheel, so that the robot can drive the main obstacle crossing wheel and the auxiliary obstacle crossing wheel to passively rotate to realize a driving process through normal rotation of the main driving wheel when the robot normally runs, and when an obstacle is too high, the two main obstacle crossing wheels can be mutually close to each other and move obliquely downwards through descending of the second laser obstacle avoidance sensor, the lifting of a chassis is finally realized, the ground clearance of the device is improved, the two main obstacle crossing wheels and the four auxiliary obstacle crossing wheels are utilized to support the device, driving is realized, the crossing process of the obstacle is completed, the problem that the height of the chassis fixed by the conventional device can not cross the obstacle only can be realized, and the passing efficiency is higher.
When the device normally runs, the first laser obstacle avoidance sensor can be used for scanning higher obstacles, the second laser obstacle avoidance sensor can be used for scanning obstacles lower than the height of the chassis, the obstacles can be ensured to smoothly pass through the bottom end of the chassis to avoid supporting the bottom, and meanwhile, when obstacle crossing operation is carried out, at the moment, the movable plate and the second laser obstacle avoidance sensor descend along with the chassis due to the fact that the overall height of the chassis is increased, the height of the second laser obstacle avoidance sensor descends along with the chassis, and the obstacles lower than the height of the chassis can be continuously scanned, so that the situation that the supporting of the bottom cannot happen when the obstacle is crossed is ensured.
Through setting up first laser and keep away barrier sensor and second laser and keep away barrier sensor, use the collaborative work of two to scan the barrier of co-altitude, ensure that the robot can not take place the collision and hold in the palm the end phenomenon with the barrier, the decline of barrier sensor is kept away to the second laser when having utilized the obstacle deformation that has more simultaneously, realize that chassis height is high can also scan less barrier when increasing, ensure that the robot can pass through the barrier smoothly, whole obstacle avoidance process safety threshold is higher, can effectively prevent the damage of robot, increase of service life.
As a further technical scheme of the invention, one end of the air duct, which is far away from the air storage pipe, penetrates through the bottom end of the chassis and is fixedly communicated with a spray head positioned on the side surface of a second laser obstacle avoidance sensor, and the diameter of the second laser obstacle avoidance sensor is the same as the inner diameter of the cleaning sleeve.
When the robot completes inspection work, the valve of the gas pipe is closed, the valve of the gas pipe is opened, air in the gas pipe can be discharged through the gas pipe at the moment, the air amount in the gas pipe is reduced, the pressure born by the top end of the piston plate is reduced, the reset spring resets and drives the piston plate to move upwards along with the piston plate, the extension rod moves upwards along with the piston plate, the movable plate and the second laser obstacle avoidance sensor are finally driven to move upwards, when the second laser obstacle avoidance sensor is completely displaced to the inside of the cleaning sleeve, the surface of the second laser obstacle avoidance sensor can be cleaned due to friction with the inner side surface of the cleaning sleeve, at the moment, the main obstacle crossing wheel and the auxiliary obstacle crossing wheel deflect obliquely upwards and do not contact with the ground, the running speed is improved, the air guided out by the gas pipe can be sprayed out through the spray head, and floating dust on the surface of the second laser obstacle avoidance sensor is cleaned during ascending, and the autonomous storage and autonomous cleaning process is completed.
The beneficial effects of the invention are as follows:
1. according to the invention, the main obstacle crossing wheels and the auxiliary obstacle crossing wheels are arranged at the left end and the right end of the conventional robot, so that the robot can drive the main obstacle crossing wheels and the auxiliary obstacle crossing wheels to passively rotate to realize a driving process through normal rotation of the main driving wheels during normal driving, and when an obstacle is too high, the process that the two main obstacle crossing wheels are mutually close to each other and move obliquely downwards can be realized through descending of the second laser obstacle avoidance sensor, and finally the lifting of the chassis is realized, thereby the ground clearance of the device is improved, the two main obstacle crossing wheels and the four auxiliary obstacle crossing wheels are utilized to support the device, the driving is realized, the crossing process of the obstacle is completed, the problem that the fixed chassis of the conventional device cannot cross the obstacle and only can bypass is avoided, and the passing efficiency is higher.
2. According to the invention, the first laser obstacle avoidance sensor and the second laser obstacle avoidance sensor are arranged, the cooperation of the first laser obstacle avoidance sensor and the second laser obstacle avoidance sensor is used for scanning obstacles with different heights, so that the robot is prevented from colliding with the obstacles and supporting the bottom, the second laser obstacle avoidance sensor descends when the obstacle is deformed, the height of the chassis is increased, the smaller obstacles can be scanned, the robot can smoothly pass through the obstacles, the safety threshold of the whole obstacle avoidance process is higher, the damage of the robot can be effectively prevented, and the service life is prolonged.
3. According to the invention, the air used in obstacle crossing deformation is released, so that the automatic resetting and storage of the device can be rapidly completed, the second laser obstacle avoidance sensor can be automatically cleaned by friction during storage, meanwhile, the released air can be reused, the floating dust on the surface of the second laser obstacle avoidance sensor can be cleaned by utilizing the high-speed fluidity of the released air, the whole storage and cleaning process is automatically completed, the maintenance times of inspection personnel for a robot can be effectively reduced, and the practicability of the device is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a side view of the overall structure of the present invention;
FIG. 3 is a schematic view of the bottom end structure of the present invention;
FIG. 4 is a schematic view of the groove and cleaning sleeve configuration of the present invention;
FIG. 5 is a cross-sectional view of the internal structure of the housing of the present invention;
FIG. 6 is a cross-sectional view of the internal structure of the base of the present invention;
FIG. 7 is a sectional view showing the internal structure of the gas storage tube of the present invention;
fig. 8 is a schematic view of the structure of the obstacle surmounting device of the present invention.
In the figure: 1. a chassis; 2. a base; 3. an infrared temperature measurement probe; 4. a wide angle camera group; 5. a main driving wheel; 6. a first laser obstacle avoidance sensor; 7. a negative pressure fan; 8. an air collecting pipe; 9. a groove; 10. a cleaning sleeve; 11. a movable plate; 12. the second laser obstacle avoidance sensor; 13. a gas storage tube; 14. a temporary storage box; 15. a gas pipe; 16. an air duct; 17. a spray head; 18. a piston plate; 19. an extension rod; 20. a return spring; 21. a heightening frame; 22. obstacle surmounting device; 221. a first fixing seat; 222. a support rod; 223. the second fixing seat; 224. a mounting frame; 225. a main obstacle crossing wheel; 226. an auxiliary obstacle surmounting wheel; 227. a third fixing seat; 228. a connecting rod; 229. and a fourth fixing seat.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 8, in the embodiment of the invention, an automatic obstacle avoidance and inspection robot for a power plant comprises a chassis 1, wherein a base 2 is fixedly installed in the middle of the top end of the chassis 1, a main driving wheel 5 is movably installed at the position, close to the front end and the rear end, of the chassis 1, an elevated frame 21 positioned in the base 2 is fixedly installed in the middle of the top end of the chassis 1, obstacle surmounting devices 22 are respectively arranged at the left end and the right end of the elevated frame 21, a groove 9 is formed in the middle of the bottom end of the chassis 1, a cleaning sleeve 10 positioned below the groove 9 is fixedly installed at the bottom end of the chassis 1, a second laser obstacle avoidance sensor 12 is arranged in the cleaning sleeve 10, a gas storage pipe 13 positioned in the base 2 is fixedly installed in the middle of the top end of the elevated frame 21, a negative pressure fan 7 is installed in an embedded in the middle of the top end of the base 2, a movable plate 11 is fixedly installed at the top end of the second laser obstacle avoidance sensor 12, the top end of the movable plate 11 is connected with the obstacle surmounting device 22, an infrared temperature measuring probe 3 is fixedly installed in front of the top end of the chassis 1, a wide angle camera group 4 is fixedly installed at the rear end of the chassis 1, and first obstacle avoidance sensors 6 are fixedly installed at the front end and rear end of the chassis 1.
When the device is used, the storage battery arranged in the device is fully charged, the electric quantity of the device is kept sufficient, a preset path is planned, normal running of the robot is ensured, the robot is placed on a patrol field for patrol, the infrared temperature measuring probe 3 positioned at the top end of the chassis 1 can detect the working temperature of equipment to be detected and carry out remote feedback, and meanwhile, the wide-angle camera group 4 can shoot pictures in a patrol space and carry out remote feedback to complete patrol.
As shown in fig. 3, 5 and 7, the top end of the air storage tube 13 is fixedly provided with a temporary storage box 14, the output end of the negative pressure fan 7 is fixedly communicated with an air collecting tube 8, the bottom end of the air collecting tube 8 penetrates through the top end of the machine base 2 and is communicated with the interior of the temporary storage box 14, the left side of the top end of the air storage tube 13 is fixedly communicated with an air pipe 15, the right side of the top end of the air storage tube 13 is fixedly communicated with an air guide tube 16, the input end of the air pipe 15 and the output end of the air guide tube 16 are respectively provided with a one-way valve, the directions of the valves are respectively inward conduction and outward shutoff, and outward conduction and inward shutoff, a piston plate 18 is movably sleeved in the interior of the air storage tube 13, the bottom end of the piston plate 18 is fixedly connected with an extension rod 19, the bottom end of the extension rod 19 penetrates through the bottom end of the heightening frame 21 and is fixedly connected with the top end of the movable plate 11, the top end of the piston plate 18 is fixedly connected with a reset spring 20 positioned in the air storage tube 13, and the top end of the reset spring 20 is fixedly connected with the top end of the inner cavity of the air storage tube 13.
When the first laser obstacle avoidance sensor 6 detects a higher obstacle, the chassis 1 can not pass through, the negative pressure fan 7 can be started to suck external air into the temporary storage box 14, at the moment, the air in the temporary storage box 14 can enter the air storage pipe 13 through the air pipe 15, at the moment, the air can enter between the air storage pipe 13 and the piston plate 18, the piston plate 18 receives downward pressure along with continuous entering of the air, at the moment, the reset spring 20 is compressed, the piston plate 18 and the extension rod 19 move downwards along with the piston plate, and finally the movable plate 11 below and the second laser obstacle avoidance sensor 12 are driven to move downwards.
As shown in fig. 3, fig. 6 and fig. 8, the obstacle crossing device 22 comprises a first fixing seat 221, the left and right ends of the first fixing seat 221 and the heightening frame 21 are fixedly connected, one end of the first fixing seat 221, which is far away from the heightening frame 21, is movably connected with a supporting rod 222 through a rotating shaft, the other end of the supporting rod 222 is movably connected with a second fixing seat 223 through a rotating shaft, one end of the second fixing seat 223, which is far away from the supporting rod 222, is fixedly connected with a mounting bracket 224, the middle part of the front end of the mounting bracket 224 is connected with a main obstacle crossing wheel 225 through a transmission shaft, the left and right sides of the front end of the mounting bracket 224 are connected with auxiliary obstacle crossing wheels 226 through transmission shafts, a motor is arranged in the main obstacle crossing wheel 225, the middle part of the inner side of the supporting rod 222 is fixedly provided with a third fixing seat 227, one end of the third fixing seat 227, which is far away from the supporting rod 222, is movably connected with a connecting rod 228 through a rotating shaft, the other end of the connecting rod 228 is movably connected with a fourth fixing seat 229 through a rotating shaft, the fourth fixing seat 229 is positioned on the left and right side of the top end of the movable plate 11 and is connected with the top end of the movable plate 11, the bottom ends of the main obstacle crossing wheel 225 and the outer side of the auxiliary obstacle crossing wheel 226 are on the same horizontal plane, and the outer sides of the main obstacle crossing wheel 225 and the auxiliary obstacle crossing wheel 226 and the main obstacle crossing wheel and the outer side are always on the same horizontal plane.
First embodiment:
when the movable plate 11 and the second laser obstacle avoidance sensor 12 displace downward, the fourth fixing seat 229 displaces downward, the connecting rod 228 deflects inward, the two connecting rods 228 deflect from a state parallel to the movable plate 11 to a state perpendicular to the movable plate 11, the supporting rod 222 is pulled inward, the supporting rod 222 approaches to the direction of the chassis 1, the supporting rod 222 can be driven to deflect inward, the second fixing seat 223 displaces downward relative to the chassis 1, the main obstacle avoidance wheel 225 and the auxiliary obstacle avoidance wheel 226 always contact with the ground, when the supporting rod 222 deflects, the left main obstacle avoidance wheel 225 and the right main obstacle avoidance wheel 225 are relatively close, the chassis 1 rises upward, the main obstacle avoidance wheel 225 and the auxiliary obstacle avoidance wheel 226 always keep contact with the ground, the main driving wheel 5 is suspended, the ground clearance between the chassis 1 and the ground increases, and the obstacle avoidance wheel 225 is driven to rotate, so that the operation of crossing the obstacle is realized.
The main obstacle crossing wheels 225 and the auxiliary obstacle crossing wheels 226 are further arranged at the left end and the right end of the conventional robot, so that the robot can drive the main obstacle crossing wheels 225 and the auxiliary obstacle crossing wheels 226 through normal rotation of the main driving wheels 5 to realize a driving process during normal driving, and when an obstacle is too high, the two main obstacle crossing wheels 225 can approach each other and move obliquely downwards through descending of the second laser obstacle avoidance sensor 12, the lifting of the chassis 1 is finally realized, the ground clearance of the device is improved, the device is supported by the two main obstacle crossing wheels 225 and the four auxiliary obstacle crossing wheels 226, driving is realized, the crossing process of the obstacle is completed, the problem that the chassis height fixed by the conventional device can not cross the obstacle and only can bypass is avoided, and the passing efficiency is higher.
Second embodiment:
when the device normally runs, the first laser obstacle avoidance sensor 6 can be used for scanning higher obstacles, the second laser obstacle avoidance sensor 12 can be used for scanning obstacles lower than the height of the chassis, the obstacles can be ensured to smoothly pass through the bottom end of the chassis 1 to avoid supporting the bottom, and meanwhile, when obstacle crossing operation is carried out, the overall height of the chassis 1 is increased, namely the ground clearance is increased, the movable plate 11 and the second laser obstacle avoidance sensor 12 descend along with the ground clearance, the height of the second laser obstacle avoidance sensor 12 descends relative to the chassis 1 along with the ground clearance, and the obstacles lower than the height of the chassis 1 can be scanned continuously, so that the supporting of the bottom can be avoided when the obstacle crossing is ensured.
Through setting up first laser obstacle avoidance sensor 6 and second laser obstacle avoidance sensor 12, use the collaborative work of two to scan the obstacle of co-altitude not, ensure that the robot can not take place the collision and hold in the palm the end phenomenon with the obstacle, the decline of second laser obstacle avoidance sensor 12 when having utilized obstacle crossing deformation simultaneously, still can scan less obstacle when realizing chassis 1 chassis height and increasing, ensure that the robot can pass through the obstacle smoothly, whole obstacle avoidance process safety threshold is higher, can effectively prevent the damage of robot, increase of service life.
As shown in fig. 3, 4 and 7, one end of the air duct 16, which is far away from the air storage tube 13, penetrates through the bottom end of the chassis 1 and is fixedly communicated with a spray head 17 positioned on the side surface of the second laser obstacle avoidance sensor 12, and the diameter of the second laser obstacle avoidance sensor 12 is the same as the inner diameter of the cleaning sleeve 10.
Third embodiment:
when the robot completes inspection work, the valve of the air pipe 15 is closed, the valve of the air guide pipe 16 is opened, at the moment, air in the air storage pipe 13 can be discharged through the air guide pipe 16, at the moment, the air amount in the air storage pipe 13 is reduced, the pressure born by the top end of the piston plate 18 is reduced, the reset spring 20 is reset and drives the piston plate 18 to move upwards along with the reset spring, at the moment, the extension rod 19 moves upwards along with the reset spring, finally, the movable plate 11 and the second laser obstacle avoidance sensor 12 are driven to move upwards, when the second laser obstacle avoidance sensor 12 is completely displaced to the inside of the cleaning sleeve 10, the surface of the second laser obstacle avoidance sensor 12 can be cleaned due to friction with the inner side surface of the cleaning sleeve 10, at the moment, the main obstacle crossing wheel 225 and the auxiliary obstacle crossing wheel 226 deflect obliquely upwards, contact is avoided between the main obstacle crossing wheel and the ground, the running speed is improved, and the air led out by the air guide pipe 16 can be sprayed out through the spray head 17 and act on the second laser obstacle avoidance sensor 12 in the middle of ascending to clean floating dust on the surface of the cleaning sleeve, and the autonomous storage and cleaning processes are completed.
Through releasing the air that is used for obstacle crossing deformation time, can accomplish the automatic re-setting of device fast and accomodate to can carry out automatic friction cleaning to second laser obstacle avoidance sensor 12 in accomodating the en route, the air of release can be utilized again simultaneously, utilizes its high-speed mobility to clean the floating dust on second laser obstacle avoidance sensor 12 surface, and whole accomodate and clean process automation is accomplished, can effectively reduce the maintenance number of times that patrol personnel were directed against the robot, improves the practicality of device.
Working principle and using flow:
when the first laser obstacle avoidance sensor 6 detects a higher obstacle and the chassis 1 cannot pass through, external air can be sucked into the temporary storage box 14 by starting the negative pressure fan 7, at the moment, air in the temporary storage box 14 can enter the air storage pipe 13 through the air pipe 15, at the moment, air can enter between the air storage pipe 13 and the piston plate 18, along with continuous entering of the air, the piston plate 18 receives downward pressure, at the moment, the reset spring 20 is compressed, the piston plate 18 and the extension rod 19 move downwards along with the piston plate, and finally the lower movable plate 11 and the second laser obstacle avoidance sensor 12 are driven to move downwards;
when the movable plate 11 and the second laser obstacle avoidance sensor 12 displace downwards, the fourth fixing seat 229 displaces downwards, the connecting rod 228 deflects inwards, the two connecting rods 228 deflect from a state parallel to the movable plate 11 to a state perpendicular to the movable plate 11, the supporting rod 222 is subjected to inward tension, the supporting rod 222 approaches to the direction of the chassis 1, the supporting rod 222 can be driven to deflect inwards, the second fixing seat 223 displaces downwards obliquely relative to the chassis 1, the main obstacle avoidance wheel 225 and the auxiliary obstacle avoidance wheel 226 always contact with the ground, when the supporting rod 222 deflects, the left main obstacle avoidance wheel 225 and the right main obstacle avoidance wheel 225 are relatively close, the chassis 1 rises upwards, the main obstacle avoidance wheel 225 and the auxiliary obstacle avoidance wheel 226 always keep contact with the ground, the main driving wheel 5 is suspended, the ground clearance between the chassis 1 and the ground increases, and the operation of crossing obstacles can be realized by driving the main obstacle avoidance wheel 225 to rotate;
when the robot completes inspection work, the valve of the gas pipe 15 can be closed, the valve of the gas pipe 16 is opened, at the moment, air in the gas pipe 13 can be discharged through the gas pipe 16, at the moment, the air amount in the gas pipe 13 is reduced, the pressure born by the top end of the piston plate 18 is reduced, the reset spring 20 is reset and drives the piston plate 18 to move upwards, at the moment, the extension rod 19 moves upwards along with the reset spring, finally, the movable plate 11 and the second laser obstacle avoidance sensor 12 are driven to move upwards, when the second laser obstacle avoidance sensor 12 is completely displaced to the inside of the cleaning sleeve 10, the surface of the second laser obstacle avoidance sensor 12 can be cleaned due to friction with the inner side surface of the cleaning sleeve 10, at the moment, the main obstacle crossing wheel 225 and the auxiliary obstacle crossing wheel 226 deflect obliquely upwards, the air is not contacted with the ground, the running speed is increased, and the air led out of the gas pipe 16 can be sprayed out through the spray head 17 and acts on the second laser obstacle avoidance sensor 12 in the process of ascending to clean floating dust on the surface of the second laser obstacle avoidance sensor, and the autonomous storage and cleaning processes are completed;
when the device normally runs, the first laser obstacle avoidance sensor 6 can be used for scanning higher obstacles, the second laser obstacle avoidance sensor 12 can be used for scanning obstacles lower than the height of the chassis, the obstacles can be ensured to smoothly pass through the bottom end of the chassis 1 to avoid supporting the bottom, and meanwhile, when obstacle crossing operation is carried out, the overall height of the chassis 1 is increased, namely the ground clearance is increased, the movable plate 11 and the second laser obstacle avoidance sensor 12 descend along with the ground clearance, the height of the second laser obstacle avoidance sensor 12 descends relative to the chassis 1 along with the ground clearance, and the obstacles lower than the height of the chassis 1 can be scanned continuously, so that the supporting of the bottom can be avoided when the obstacle crossing is ensured.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an automatic obstacle avoidance inspection robot of power plant, includes chassis (1), its characterized in that: the novel solar energy power generation device is characterized in that a base (2) is fixedly arranged in the middle of the top end of the base (1), a main driving wheel (5) is movably arranged at the position, close to the front end and the rear end, of the base (1), an heightening frame (21) is fixedly arranged in the middle of the top end of the base (1), obstacle surmounting devices (22) are arranged at the left end and the right end of the heightening frame (21), a groove (9) is formed in the middle of the bottom end of the base (1), a cleaning sleeve (10) arranged below the groove (9) is fixedly arranged at the bottom end of the base (1), a second laser obstacle avoidance sensor (12) is arranged in the cleaning sleeve (10), a gas storage tube (13) arranged in the middle of the top end of the heightening frame (21) is fixedly arranged in the middle of the top end of the base (2), a negative pressure fan (7) is embedded in the middle of the top end of the base (2), a movable plate (11) is fixedly arranged at the top end of the second laser obstacle avoidance sensor (12), and the movable plate (11) is connected with the obstacle surmounting device (22).
2. The automatic obstacle avoidance inspection robot for a power plant of claim 1, wherein: the front part of chassis (1) top fixed mounting has infrared temperature probe (3), the rear fixed mounting of chassis (1) top has wide angle camera group (4), both ends all fixed mounting have first laser to keep away barrier sensor (6) around chassis (1).
3. The automatic obstacle avoidance inspection robot for a power plant of claim 1, wherein: the top fixed mounting of gas storage pipe (13) has case (14) of keeping in, the output fixed intercommunication of negative pressure fan (7) has air-collecting line (8), and the bottom of air-collecting line (8) runs through the top of frame (2) and is linked together with the inside of case (14) of keeping in, the left side fixed intercommunication on gas storage pipe (13) top has gas-supply pipe (15), the right side fixed intercommunication on gas storage pipe (13) top has air duct (16).
4. A power plant automatic obstacle avoidance inspection robot as set forth in claim 3 wherein: the input end of the gas pipe (15) and the output end of the gas pipe (16) are respectively provided with one-way valves, and the directions of the valves are respectively inward conduction and outward cutoff, and outward conduction and inward cutoff.
5. The automatic obstacle avoidance inspection robot for a power plant of claim 1, wherein: the inside activity of gas storage pipe (13) has cup jointed piston board (18), the bottom fixedly connected with extension rod (19) of piston board (18), the bottom of extension rod (19) runs through the bottom of increasing frame (21) and with the top fixed connection of fly leaf (11), the top fixedly connected with of piston board (18) is located reset spring (20) inside gas storage pipe (13), the top of reset spring (20) and the top fixed connection of gas storage pipe (13) inner chamber.
6. The automatic obstacle avoidance inspection robot for a power plant of claim 1, wherein: the obstacle surmounting device (22) comprises a first fixing seat (221), the first fixing seat (221) is fixedly connected with the left end and the right end of the heightening frame (21), one end, far away from the heightening frame (21), of the first fixing seat (221) is movably connected with a supporting rod (222) through a rotating shaft, and the other end of the supporting rod (222) is movably connected with a second fixing seat (223) through the rotating shaft.
7. The automatic obstacle avoidance inspection robot for a power plant of claim 6, wherein: one end fixedly connected with mounting bracket (224) of bracing piece (222) is kept away from to second fixing base (223), the middle part of mounting bracket (224) front end is connected with main obstacle crossing wheel (225) through the transmission shaft, the left and right sides of mounting bracket (224) front end is connected with vice obstacle crossing wheel (226) through the transmission shaft, the inside built-in motor of main obstacle crossing wheel (225).
8. The automatic obstacle avoidance inspection robot for a power plant of claim 6, wherein: the middle part of bracing piece (222) medial surface is all fixed mounting has third fixing base (227), the one end that bracing piece (222) was kept away from to third fixing base (227) has connecting rod (228) through pivot swing joint, the other end of connecting rod (228) has fourth fixing base (229) through pivot swing joint, fourth fixing base (229) are located the left and right sides on fly leaf (11) top and are connected with the top of fly leaf (11).
9. The automatic obstacle avoidance inspection robot for a power plant of claim 7 wherein: the bottom ends of the outer sides of the main obstacle surmounting wheel (225) and the auxiliary obstacle surmounting wheel (226) are positioned on the same horizontal plane, and the bottom ends of the outer sides of the main obstacle surmounting wheel (225) and the auxiliary obstacle surmounting wheel (226) and the main driving wheel (5) are always positioned on the same horizontal plane.
10. A power plant automatic obstacle avoidance inspection robot as set forth in claim 3 wherein: one end of the air duct (16) far away from the air storage tube (13) penetrates through the bottom end of the chassis (1) and is fixedly communicated with a spray head (17) positioned on the side face of the second laser obstacle avoidance sensor (12), and the diameter of the second laser obstacle avoidance sensor (12) is the same as the inner diameter of the cleaning sleeve (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211629362.8A CN117008593A (en) | 2022-12-19 | 2022-12-19 | Automatic obstacle avoidance inspection robot for power plant |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211629362.8A CN117008593A (en) | 2022-12-19 | 2022-12-19 | Automatic obstacle avoidance inspection robot for power plant |
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| CN117008593A true CN117008593A (en) | 2023-11-07 |
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| CN202211629362.8A Pending CN117008593A (en) | 2022-12-19 | 2022-12-19 | Automatic obstacle avoidance inspection robot for power plant |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117406758A (en) * | 2023-12-14 | 2024-01-16 | 双擎科技(杭州)有限公司 | Robot obstacle avoidance device and robot intelligent anti-collision system |
| CN119097506A (en) * | 2024-10-23 | 2024-12-10 | 南京市恒阳智能制造科技有限公司 | Wheelchair-assisted obstacle-crossing device |
-
2022
- 2022-12-19 CN CN202211629362.8A patent/CN117008593A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117406758A (en) * | 2023-12-14 | 2024-01-16 | 双擎科技(杭州)有限公司 | Robot obstacle avoidance device and robot intelligent anti-collision system |
| CN117406758B (en) * | 2023-12-14 | 2024-03-12 | 双擎科技(杭州)有限公司 | Robot obstacle avoidance device and robot intelligent anti-collision system |
| CN119097506A (en) * | 2024-10-23 | 2024-12-10 | 南京市恒阳智能制造科技有限公司 | Wheelchair-assisted obstacle-crossing device |
| CN119097506B (en) * | 2024-10-23 | 2025-07-15 | 丹阳顺科精密机械有限公司 | Wheelchair-assisted obstacle-crossing device |
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