CN-122027771-A - Wheel type robot for inspection and control method

CN122027771ACN 122027771 ACN122027771 ACN 122027771ACN-122027771-A

Abstract

The invention discloses a wheel type robot for inspection and a control method, which relate to the technical field of inspection equipment and comprise a base, wherein driving mechanisms are arranged on two sides of the bottom of the base and used for driving the base to move forwards, the cleaning mechanism is arranged on one side of the bottom surface of the base and used for cleaning dust around the gap, the alarm mechanism is arranged on one side of the top surface of the base and used for stopping the base from moving continuously. According to the invention, through the arrangement of the driving mechanism and the alarm mechanism, the collision between the device and the obstacle can be avoided, physical damage caused by the collision of the robot, such as shell rupture, internal part damage and the like, can be effectively reduced, in addition, workers can be reminded of timely moving the obstacle, and through the arrangement of the camera and the liquid crystal display, the crack can be observed in a short distance without dead angle, the fine characteristics of the crack can be captured, and the observation precision is improved.

Inventors

QIN ZHANGYUAN
XU MINGXI
ZHANG WENXUAN
SHI HUIHUI
REN YUANJUN
ZHANG TONG
ZHAO XIN
LU JUN
LI JING
ZHANG XIAOCHENG

Assignees

上海勘测设计研究院有限公司
湖北清江水电开发有限责任公司

Dates

Publication Date: 20260512
Application Date: 20260202

Claims (10)

1. The utility model provides a wheel robot for inspection, its characterized in that includes base (1), base (1) bottom both sides are provided with actuating mechanism (2) that are used for driving base (1) to move forward, the upper surface of base (1) is provided with clearance mechanism (3) that are used for cleaing away the peripheral dust of gap, top surface one side of base (1) is provided with alarm mechanism (4) that are used for stopping base (1) to continue to remove, top surface one side of base (1) is provided with recording mechanism (5) that are used for carrying out the record to the road surface crack.
2. The inspection wheeled robot according to claim 1, wherein the driving mechanism (2) comprises rollers symmetrically arranged on one side of the bottom surface of the base (1), one side, far away from the rollers, of the bottom surface of the base (1) is provided with a driving wheel (201), a mounting box (203) is mounted on one side of the bottom surface of the base (1), a double-shaft motor (202) is mounted on the inner wall of the mounting box (203), connecting rods (204) are symmetrically arranged on two sides of the bottom surface of the base (1), the end portions of the connecting rods (204) are fixedly connected with the driving wheel (201), and one end, far away from the driving wheel (201), of the connecting rods (204) penetrates through the mounting box (203) and is fixedly connected with the output end of the double-shaft motor (202).
3. The inspection wheeled robot according to claim 1, wherein the cleaning mechanism (3) comprises an L-shaped connecting plate (301) fixedly connected to one side of the top surface of the base (1), an electric push rod (302) is mounted on the bottom surface of the connecting plate (301), a movable plate (303) is mounted at the output end of the electric push rod (302), a rectangular hole is formed in one side of the top surface of the base (1), the movable plate (303) movably penetrates through the inside of the rectangular hole, a first connecting pipe (304) is fixedly connected to one side of the top surface of the movable plate (303), an air pump (305) is mounted on one side of the top surface of the base (1), a second connecting pipe (306) is mounted at the air outlet of the air pump (305), the second connecting pipe (306) is communicated with the first connecting pipe (304), and an air outlet hopper is connected to the end of the first connecting pipe (304) and is used for directionally spraying high-pressure air flow to clean dust cracks. .
4. The inspection wheeled robot according to claim 1, wherein the alarm mechanism (4) comprises a first fixing plate (401) fixedly connected to one side of the outer wall of the base (1), a second fixing plate is fixedly connected to the top surface of the first fixing plate (401), an infrared sensor (402) is installed on one side of the outer wall of the second fixing plate, a buzzer alarm (403) is installed on one side of the top surface of the base (1), a control switch (404) is installed on one side, away from the buzzer alarm (403), of the top surface of the base (1), the buzzer alarm (403) is electrically connected with the control switch (404), the biaxial motor (202) is electrically connected with the control switch (404), and the infrared sensor (402) is electrically connected with the control switch (404).
5. The inspection wheeled robot according to claim 1, wherein the recording mechanism (5) comprises a camera (501) fixedly connected to the bottom surface of the first fixing plate (401), a liquid crystal display (502) is arranged above the top surface of the base (1), and the camera (501) is electrically connected with the liquid crystal display (502).
6. The inspection wheeled robot according to claim 5, wherein a supporting rod is fixedly connected to one side of the top surface of the base (1), a supporting plate (6) is fixedly connected to one side of the outer wall of the supporting rod, and the top end of the supporting plate (6) is rotatably connected with the outer wall of the liquid crystal display screen (502) through a damping rotating shaft.
7. A wheeled robot for inspection according to claim 3, characterized in that the first connecting tube (304) is made of hard PVC.
8. A wheel robot for inspection according to claim 3, characterized in that the air pump (305) is FAA6003, and the second connecting tube (306) is a rubber hose.
9. The inspection wheeled robot according to claim 4, wherein the infrared sensor (402) has a model GP2Y0a21 and the buzzer alarm (403) has a model ND16-22FS.
10. A control method using the inspection wheeled robot according to any one of claims 1 to 9, characterized by comprising the steps of: S1, starting a double-shaft motor (202), wherein the double-shaft motor (202) drives a connecting rod (204) to rotate, and then drives a base (1) to move; S2, in the moving process, a camera (501) probes the road surface, collected road surface image signals are transmitted to a liquid crystal display screen (502), and workers observe the road surface condition through the liquid crystal display screen (502); S3, when a camera (501) detects that a crack exists on a road surface and dust impurities exist on the surface of the crack, an electric push rod (302) is started, the electric push rod (302) drives a movable plate (303) and a first connecting pipe (304) to move downwards, an air outlet hopper is close to the position of the crack, an air pump (305) is started, and air generated by the air pump (305) is sprayed out of the air outlet hopper through a second connecting pipe (306) and the first connecting pipe (304) to remove the dust on the surface of the crack; s4, in the moving process of the base (1), the infrared sensor (402) continuously monitors whether an obstacle exists in front, and the infrared sensor (402) transmits infrared rays and receives reflected signals; S5, when the infrared sensor (402) detects that an obstacle exists in front of the sensor and the distance between the obstacle and the sensor reaches a preset threshold value, the infrared sensor (402) sends an electric signal to the control switch (404); s6, after the control switch (404) receives the electric signal, a control signal is sent to the buzzer alarm (403) and the double-shaft motor (202) at the same time, the buzzer alarm (403) is started and gives out alarm sound, and the double-shaft motor (202) stops rotating; And S7, when the obstacle is removed or the distance between the base (1) and the obstacle exceeds a preset threshold value, the infrared sensor (402) stops sending signals to the control switch (404), the control switch (404) stops sending control signals to the buzzer alarm (403), the buzzer alarm (403) stops alarming, and meanwhile, the control switch (404) sends signals to enable the double-shaft motor (202) to recover to a normal working state.

Description

Wheel type robot for inspection and control method Technical Field The invention relates to the technical field of inspection equipment, in particular to a wheeled robot for inspection and a control method. Background With the progress of science and technology and the development of industrial automation, the inspection work is gradually changed from manual work to intelligent and automatic. Particularly in the key fields of electric power, traffic, mines and the like, the inspection task is heavy and the environment is complex, and in the inspection process, the inspection equipment is required to be manually or automatically controlled to acquire images of specific targets and set targets, for example, dam crest guardrail crack detection can be performed. But can meet a problem in the testing process, namely often mix with a large amount of dust impurity in crack department, influence the observation effect, patrol and examine equipment and bump with the barrier easily in the removal in-process simultaneously, cause equipment to damage, influence the normal clear of inspection work. Meanwhile, the linkage response speed of the alarm mechanism and the driving mechanism is slower, burst obstacles are difficult to effectively avoid, the observation precision of the recording mechanism is greatly influenced by dust, and the requirement of fine inspection cannot be met. Disclosure of Invention The invention aims to provide a wheel type robot for inspection and a control method thereof, which are used for solving the problems that inspection equipment in the prior art is influenced by dust impurities and is easy to collide with obstacles when observing cracks. In order to solve the problems, the technical scheme of the invention is as follows: The utility model provides a patrol and examine and use wheeled robot, includes the base, and base bottom both sides are provided with the actuating mechanism who is used for driving the base and moves forward, and the upper surface of base is provided with the clearance mechanism that is used for cleaing away the peripheral dust of gap, and top surface one side of base is provided with the alarm mechanism who is used for stopping the base to continue to remove, and top surface one side of base is provided with the record mechanism that is used for carrying out the record to the road surface crack. Further, the actuating mechanism is including the symmetry setting up in the gyro wheel of base bottom surface one side, and one side that the gyro wheel was kept away from to the bottom surface of base is provided with the drive wheel, and the mounting box is installed to bottom surface one side of base, installs biax motor at the inner wall of mounting box, and base bottom surface bilateral symmetry is provided with the connecting rod, the tip and the drive wheel fixed connection of connecting rod, the one end that the drive wheel was kept away from to the connecting rod run through the mounting box and with biax motor's output fixed connection. Further, clearance mechanism includes the L shape connecting plate of fixed connection in base top surface one side, and electric putter is installed to the bottom surface of connecting plate, installs the fly leaf in electric putter's output, and top surface one side of base constructs there is the rectangular hole, and the fly leaf activity runs through in the inside of rectangular hole, and top surface one side fixedly connected with first connecting pipe of fly leaf, the air pump is installed to top surface one side of base, and the second connecting pipe is installed to the gas outlet of air pump, and the second connecting pipe is linked together with first connecting pipe, and the tip intercommunication of first connecting pipe has the bucket of giving vent to anger, the bucket of giving vent to anger is used for directional blowout high-pressure air current in order to clear up crack dust, and its optimal distance with crack surface is 5-10cm. . Further, alarm mechanism includes fixed connection in the first fixed plate of base outer wall one side, and infrared sensor is installed to the top surface fixedly connected with second fixed plate of first fixed plate's outer wall one side, and buzzer siren is installed to the top surface one side of base, and control switch is installed to the one side that buzzer siren was kept away from to the top surface of base, buzzer siren and control switch electric connection, biax motor and control switch electric connection, infrared sensor and control switch electric connection. Further, the recording mechanism comprises a camera fixedly connected to the bottom surface of the first fixing plate, a liquid crystal display screen is arranged above the top surface of the base, and the camera is electrically connected with the liquid crystal display screen. Further, base top surface one side fixedly connected with bracing piece, the outer wall one side fixedly connected with backup pad of brac