CN209727144U - Environmental monitoring robot - Google Patents
Environmental monitoring robot Download PDFInfo
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- CN209727144U CN209727144U CN201822063614.0U CN201822063614U CN209727144U CN 209727144 U CN209727144 U CN 209727144U CN 201822063614 U CN201822063614 U CN 201822063614U CN 209727144 U CN209727144 U CN 209727144U
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- mould group
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- car body
- environmental monitoring
- environmental
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 71
- 230000007613 environmental effect Effects 0.000 title claims abstract description 57
- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000005286 illumination Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 10
- 239000007787 solid Substances 0.000 claims abstract description 6
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 230000008450 motivation Effects 0.000 claims 2
- 238000007689 inspection Methods 0.000 abstract description 25
- 238000000034 method Methods 0.000 abstract description 14
- 230000002411 adverse Effects 0.000 abstract description 3
- 231100001261 hazardous Toxicity 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 8
- 230000000007 visual effect Effects 0.000 description 8
- 238000005457 optimization Methods 0.000 description 5
- 238000003032 molecular docking Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010835 comparative analysis Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 238000013075 data extraction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model provides a kind of environmental monitoring robot and its automatic detecting method, robot is connect with client communication, including car body (3), drive the front-end driven mechanism (1) of the car body, rear end driving mechanism (2), anticollision mould group (5) on the car body is set, hot-probing instrument mould group (9), HD video monitoring and illumination module (6), environmental index monitors mould group (10), anterior optic navigates mould group (7), after-vision navigates mould group (8), and it is arranged in the intracorporal central processing module of the vehicle and solid state battery.The robot and method for inspecting can make regional patrol more convenient, quicker, more comprehensive, energy real-time monitoring, guarantee degree is improved to the security protection of adverse circumstances, suitable for factory, industrial area, specific region patrol, the inspection of instrument point, special equipment point-detecting, hazardous equipment inspection such as cable temperature, transformer temperature, the inspection for electrically opening temperature etc..
Description
Technical field
The invention belongs to a kind of environmental monitoring robots, more particularly, to a kind of intelligent environment monitoring robot and its automatically
Method for inspecting.
Background technique
It is well known that environmental monitoring work is the basis for safeguarding that ecological environment, ecology are harmonious, in traditional environmental monitoring
In, it is manually to make an inspection tour record to realize, although being technically easily achieved, with the presence of human problems and specific
Regional patrol, the inspection of instrument point, special equipment point-detecting, hazardous equipment inspection (cable temperature, electrically opens temperature at transformer temperature)
Etc. scenes, traditional environment monitoring be already difficult to realize modern demand.In the robot epoch, all are may be implemented in intelligent robot
Your unthinkable thing, has the wisdom to form unique judgements quite beyond the intelligence of ordinary people.
Summary of the invention
The present invention to solve the above-mentioned problems, provides a kind of environmental monitoring robot and its automatic detecting method, the machine
People and method for inspecting can make regional patrol more convenient, quicker, more comprehensive, energy real-time monitoring, the monitoring to adverse circumstances
Guarantee degree is improved, factory, industrial area, specific region inspection, the inspection of instrument point, special equipment point-detecting, hazardous equipment inspection are suitable for
Such as cable temperature, transformer temperature, the environment measuring for electrically opening temperature.
What technological means of the invention was realized in.
A kind of environmental monitoring robot, robot are connect with client communication, including car body (3), drive the car body
The anticollision mould group (5) on the car body, hot-probing instrument mould group is arranged in front-end driven mechanism (1), rear end driving mechanism (2)
(9), HD video monitoring and illumination module (6), environmental index monitor mould group (10), and anterior optic is navigated mould group (7), and after-vision is led
Model plane group (8), and be arranged in the intracorporal central processing module of the vehicle and solid state battery；The anticollision mould group (5), heat are visited
Survey instrument mould group (9), HD video monitoring and illumination module (6), environmental index monitor mould group (10), anterior optic is navigated mould group (7),
After-vision navigation mould group (8) is electrically connected with the central processing module.Robot by the front-end driven mechanism (1), after
Driving mechanism (2) are held to walk in land；Robot scans captured information by the front and back vision guided navigation mould group, and default
Environmental information comparative analysis either press default work route, by GPS, leading line, road sign, anticollision mould group (5), automatically
Identify land road conditions, selection optimization route walking；Robot passes through hot-probing instrument mould group (9), HD video monitoring and illumination mould
Group (6), environmental index monitor mould group (10), monitoring and detection biological information, environment live state information.In this way, robot is in intelligence
Under the commander of control system, the guide through road guide and Unmanned Systems on the way supervises current site surrounding fact
Survey and detection, preparatory preset equipment and scene be monitored and detected, in region biology identify, to being passed through
In region biology carry out night identification, comprehensive video monitoring, to the biology of unauthorized identifies in region, will visit
The information measured is sent back on control centre or specific communication equipment.All systems use solid state battery low-voltage power as energy
Source, not only safety but also do not pollute the environment.Robot will carry out disinfection at (Special sterilizing station) when setting out or returning, and be equipped with dedicated
Charging corollary equipment.
A kind of environmental monitoring robot automatic detecting method is suitable for environmental monitoring robot as described above, feature
It is: executes following steps,
S1, environmental monitoring robot cruise for the first time to job site, obtain initial environmental data, complete navigation ground
The configuration of figure, and according to artificial setting or automatically derived inspection route, formulate the work plan of corresponding inspection route；
S2, environmental monitoring robot carry out automatic detecting according to inspection route, during automatic detecting, through vision guided navigation and
The guide of Unmanned Systems is grown directly from seeds into currently practical three dimensional spatial map when reality mirror image when vision guided navigation, is generated exclusive
Space coordinate, robot walk on the route after system optimization, the environmental data on automatic measurement track route；
Current site surrounding fact is on the way supervised according to work plan and current location by S3, environmental monitoring robot
Survey and detection, to bio-identification is carried out in region, comprehensive video monitoring obtains data, in conjunction with current location in real time
Information is sent back on control centre or specific communication equipment；After being sequentially completed the environmental monitoring operation of predeterminable area, robot will
By returning to control centre on the road planned in advance under the instruction of intelligence control system.And the case where according to power management system
It determines its charging or carries out next subjob；
During executing step S2 and S3, robot records photograph and information by high definition camera lens point inspection equipments
Afterwards, data are passed back control centre, is analyzed using special-purpose software.In this way, robot is under the commander of intelligence control system,
Guide through road guide and Unmanned Systems is monitored and detects to current site surrounding fact on the way, to pre- in advance
If equipment and scene be monitored and detect, in region biology identify that comprehensive video monitoring obtains in real time
Fetch evidence, when record air quality data during institute's inspection, the data such as wind direction, humidity, ultraviolet light, rainfall, to institute in fact
In region biology carry out night identification, to the biology of unauthorized identifies in region, the information detected is sent back to
In control centre or specific communication equipment.After being sequentially completed the inspection operation of each predeterminable area, robot will be in intelligent control
Press the road planned in advance under the instruction of system and return to control centre, and according to the case where power management system determine its charging or
Carry out next subjob.
Detailed description of the invention
Fig. 1 environmental monitoring robot architecture's schematic diagram
Wherein: 1, front-end driven mechanism (containing turning to)；2, rear end driving mechanism (containing turning to)；3, robot body；4, swash
Optical scanning mould group；5, anticollision belt radar mould group；6, HD video monitoring and illumination module；7, anterior optic navigation mould group；8,
After-vision navigation mould group；9, hot-probing instrument；10, environmental index monitors mould group
Specific embodiment
By specific embodiment, the present invention will be described in detail with reference to the accompanying drawing, and the description of this part is only demonstration
Property and explanatory, should not there is any restriction effect to protection scope of the present invention.In addition, those skilled in the art are according to herein
The description of part can carry out the corresponding combination to the feature in embodiment in this document and in different embodiments.
A kind of environmental monitoring robot, is shown in Fig. 1, and robot is connect with client communication, including car body (3), described in driving
Front-end driven mechanism (1), the rear end driving mechanism (2) of car body, are arranged in the anticollision mould group (5) on the car body, hot-probing
Instrument mould group (9), HD video monitoring and illumination module (6), environmental index monitor mould group (10), and anterior optic is navigated mould group (7), after
Vision guided navigation mould group (8), and be arranged in the intracorporal central processing module of the vehicle and solid state battery；The anticollision mould group
(5), hot-probing instrument mould group (9), HD video monitoring and illumination module (6), environmental index monitoring mould group (10), anterior optic are led
Model plane group (7), after-vision navigation mould group (8) are electrically connected with the central processing module.Robot passes through the front-end driven
Mechanism (1), rear end driving mechanism (2) are walked in land；Robot captures letter by the front and back vision guided navigation mould group, scanning
Breath either presses default work route with preset environmental information comparative analysis, by GPS, leading line, road sign, anticollision mould
Group (5), automatic identification land road conditions；Robot passes through hot-probing instrument mould group (9), HD video monitoring and illumination module (6), ring
Border Monitoring Indexes mould group (10), monitoring and detection biological information, environment live state information.In this way, in the process of walking with vision pair
According to current scene, exclusive space coordinate is generated, robot walks on the route after system optimization.In this way, robot is in intelligence
Under the commander that can control system, the guide through road guide and Unmanned Systems on the way carries out current site surrounding fact
Monitoring and detection, are monitored and detect to preparatory preset equipment and scene, to biology identifies in region, will visit
The information measured is sent back on control centre or specific communication equipment.All systems use solid state battery low-voltage power as energy
Source, not only safety but also do not pollute the environment.Robot will carry out disinfection at (Special sterilizing station) when setting out or returning, and be equipped with dedicated
Charging corollary equipment.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot is described
Front-end driven mechanism 3, rear end driving mechanism 5 be adaptive drive system before and after 4 wheel driven.Front end rear end driving mechanism, which has, to be turned
To function, by a motor driven four-wheel drive system driving walking, front and back driving mechanism can be turned to, original place 360 degree rotation, such as
This does not have to u-turn, using this front and back drive automatically system in relatively narrow space, it will be able to direct back traveling.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot is described
Front-end driven mechanism 3, rear end driving mechanism 5 constitute two group of two drive front and back adaptive drive system.Front and back end driving mechanism tool
There is turning function, respectively drives front and back driving mechanism by two motors and constitute two group of two drive system driving walking, i.e., by an electricity
Machine drives front driving mechanism, by another motor driven rear drive mechanism, coordinates driving respectively, adapts to different occasions, have
Occasion only need forerunner's turn to, some occasions only need rear-guard turn to, some occasions need front and back all drivings to turn to, two groups
The linkage of two drive systems is adaptive, and front and back driving turns to, in this way, do not have to rotation in relatively narrow space, it is adaptive using this front and back
Answer control loop, it will be able to directly driving to target.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot, machine
People is connect using locally, remotely control mode with client communication, and the client is connect by network with robot server.
In this way, the local communication mode and external cloud service using independent research carry out data backup and process data extraction.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot is described
Anticollision mould group (5) is the anticollision belt radar mould group being arranged on the car body periphery.There are many kinds of anticollision modes, such as
Mechanical anticollision, photo-electric anticollision, ultrasonic anti-collision, microwave anticollision etc., using radar mode anticollision, and as band style
It is arranged in the car body periphery, unpiloted safety guarantee can be greatly improved.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot, machine
People is equipped with built-in visual scene navigation redundant system, which is electrically connected with the central processing module.When GPS Beidou positions
There is mistake or when by external disturbance, robot will start built-in visual scene navigation feature, and backtracking is into control
The heart.During normal walking, visual scene navigation by terrestrial reference reference mode has recorded the route walked get off for robot, when
When something goes wrong, robot just starts visual scene navigation redundant system for external navigation, allows robot backtracking.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot, machine
People is equipped with laser scanning mould group (4), which is electrically connected with the central processing module.During execution task, work as system
When reality mirror image navigation system breaks down when detecting the vision of vision guided navigation mould group, it will start automatically and be arranged before the car body
The 4G signal of the laser navigation of the laser scanning mould group (4) at both ends+built-in afterwards, allows robot security's to return to control centre.Such as
This, robot is equipped with spare laser scanning mould group (4), route guidance redundant system is equivalent to, when vision guided navigation mould group occurs
When failure, by the 4G signal of automatic starting laser navigation+built-in, safety guarantee is improved.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot, machine
People carries out data with live third party's corollary equipment and docks.In this way, being installed additional and the robot on live third party's corollary equipment
Matched control module, energy Interworking Data, such as carry out data communication and control, abnormal conditions early warning.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot, machine
People uses single cpu mode and/or base scheme control.In case of a fault, using single cpu mode, using the vision system in robot
System, manually controls；Base mode then carries out field data docking and data exchange using central centralized control.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot is described
Grow directly from seeds into currently practical three dimensional spatial map when reality mirror image navigation system energy when the vision guided navigation mould group vision of front and back.In this way, In
Current scene is compareed with vision in walking process, generates exclusive space coordinate, route uplink of the robot after system optimization
It walks.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot is described
HD video monitoring and illumination module are configured with high definition camera lens point inspection equipments.In this way, data are passed after recording photograph and information
Control centre is gone back to, is analyzed using special-purpose software.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot, machine
People is provided with built-in visual scene navigation redundant system and laser scanning mould group (4), these systems and/or mould group with it is described
Central processing module electrical connection.In this way, robot mistake is occurring or when by external disturbance when GPS Beidou positions, when vision
When real mirror image navigation system breaks down, robot will start spare visual scene navigation redundant system, or automatic starting swashs
The 4G signal of the laser navigation of optical scanning mould group (4)+built-in, allows the control centre that returns to of robot security, and improves safety guarantee
Property.In this way, robot is under the commander of intelligence control system, the guide through road guide and Unmanned Systems, on the way to working as
Preceding site surrounding fact is monitored and detects, and preparatory preset equipment and scene are monitored and are detected, to through region
Interior biology is identified, to the air quality data during inspection, the data such as wind direction, humidity, ultraviolet light, rainfall are remembered
Record, information is sent back in control centre or specific communication equipment.
A kind of environmental monitoring robot automatic detecting method, be suitable for environmental monitoring robot as described above, execute with
Lower step,
S1, environmental monitoring robot cruise for the first time to job site, obtain initial environmental data, complete navigation ground
The configuration of figure, and according to artificial setting or automatically derived inspection route, formulate the work plan of corresponding inspection route；
S2, environmental monitoring robot carry out automatic detecting according to inspection route, during automatic detecting, through vision guided navigation and
The guide of Unmanned Systems is grown directly from seeds into currently practical three dimensional spatial map when reality mirror image when vision guided navigation, is generated exclusive
Space coordinate, robot walk on the route after system optimization, the environmental data on automatic measurement track route；
Current site surrounding fact is on the way supervised according to work plan and current location by S3, environmental monitoring robot
Survey and detection, to bio-identification is carried out in region, comprehensive video monitoring obtains data, in conjunction with current location in real time
Information is sent back on control centre or specific communication equipment；After being sequentially completed the environmental monitoring operation of predeterminable area, robot will
By returning to control centre on the road planned in advance under the instruction of intelligence control system.And the case where according to power management system
It determines its charging or carries out next subjob；
During executing step S2 and S3, robot records photograph and information by high definition camera lens point inspection equipments
Afterwards, data are passed back control centre, is analyzed using special-purpose software.In this way, robot is under the commander of intelligence control system,
Guide through road guide and Unmanned Systems is monitored and detects to current site surrounding fact on the way, to pre- in advance
If equipment and scene be monitored and detect, to bio-identification is carried out in region, comprehensive video monitoring obtains in real time
Fetch evidence, when record air quality data during institute's inspection in fact, the data such as wind direction, humidity, ultraviolet light, rainfall, in real time
It passes control centre back, is sent back in control centre or specific communication equipment in conjunction with current location information.It is sequentially completed each preset areas
After the inspection operation in domain, robot will return to control centre by the road planned in advance under the instruction of intelligence control system, and
Its charging is determined according to the case where power management system or carries out next subjob.In this way, the robot and method for inspecting can
Keep regional patrol more convenient, quicker, more comprehensive, energy real-time monitoring improves guarantee degree to the security protection of adverse circumstances, is suitable for
The environmental monitoring and detection of factory, industrial area, specific region.Simultaneously during executing step S2 and S3, if robot
It needs to carry out data with seashore wire mounting third party monitoring corollary equipment to dock, then installation and institute on third party's corollary equipment
Stating the matched control module of robot can Interworking Data, progress data communication and control, abnormal conditions early warning etc., realization and sea
The fixed third party monitoring corollary equipment data seamless docking of water front.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot is automatic
Method for inspecting, during executing step S2 and S3, when the positioning appearance of GPS Beidou is wrong or by external disturbance, machine
People will start built-in visual scene navigation feature, and backtracking to control centre, robot is during normal walking, vision
Scene navigational by terrestrial reference reference mode has recorded the route walked get off, when external navigation when something goes wrong, robot energy
Start visual scene to navigate redundant system, allows robot backtracking.
Meanwhile during executing step S2 and S3, the robot uses single cpu mode and/or base mode control
System, in case of a fault, is manually controlled using single cpu mode using the vision system in robot；During base mode then uses
Centralized control is entreated to carry out field data docking and data exchange.
During executing step S2 and S3, the reality mirror image navigation system when vision of the system detection to vision guided navigation mould group
When system breaks down, the laser navigation of the laser scanning mould group (4) of the car body rear and front end+built-in is arranged in automatic starting
4G signal, allow robot security's to return to control centre.In this way, robot is equipped with spare laser scanning mould group (A-1), phase
When in route guidance redundant system, when vision guided navigation mould group breaks down, will automatic starting laser navigation+built-in 4G letter
Number, improve safety guarantee.
On the basis of the above embodiment, in another embodiment of the present invention, the environmental monitoring robot is automatic
Method for inspecting can be carried out job site, scene and equipment by standard atlas or data pre- during executing step S1
It sets, obtains initial environmental data with this, complete navigation map or environment and target is configured, and according to artificial setting or automatic
Inspection route out formulates the work plan of corresponding inspection route.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of environmental monitoring robot, robot are connect with client communication, it is characterised in that: including car body (3), drive institute
Front-end driven mechanism (1), the rear end driving mechanism (2) for stating car body, are arranged in the anticollision mould group (5) on the car body, and heat is visited
It surveys instrument mould group (9), HD video monitoring and illumination module (6), environmental index monitor mould group (10), and anterior optic navigates mould group (7),
After-vision navigates mould group (8), and is arranged in the intracorporal central processing module of the vehicle and solid state battery；The anticollision mould group
(5), hot-probing instrument mould group (9), HD video monitoring and illumination module (6), environmental index monitoring mould group (10), anterior optic navigation
Mould group (7), after-vision navigation mould group (8) are electrically connected with the central processing module.
2. environmental monitoring robot according to claim 1, it is characterised in that: the front-end driven mechanism (1), rear end are driven
Motivation structure (2) constitutes adaptive drive system before and after 4 wheel driven.
3. environmental monitoring robot according to claim 1, it is characterised in that: the front-end driven mechanism (1), rear end are driven
Motivation structure (2) constitutes adaptive drive system before and after two group of two drive.
4. environmental monitoring robot according to claim 1, it is characterised in that: robot connect use with client communication
Locally, remotely control mode, the client are connect by network with robot server.
5. environmental monitoring robot according to claim 1, it is characterised in that: the anticollision mould group (5) is that setting exists
Anticollision belt radar mould group on car body periphery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822063614.0U CN209727144U (en) | 2018-12-10 | 2018-12-10 | Environmental monitoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822063614.0U CN209727144U (en) | 2018-12-10 | 2018-12-10 | Environmental monitoring robot |
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| Publication Number | Publication Date |
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| CN209727144U true CN209727144U (en) | 2019-12-03 |
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| CN201822063614.0U Expired - Fee Related CN209727144U (en) | 2018-12-10 | 2018-12-10 | Environmental monitoring robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109612525A (en) * | 2018-12-10 | 2019-04-12 | 江门市蓬江区联诚达科技发展有限公司 | Environmental monitoring robot and its automatic inspection method |
-
2018
- 2018-12-10 CN CN201822063614.0U patent/CN209727144U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109612525A (en) * | 2018-12-10 | 2019-04-12 | 江门市蓬江区联诚达科技发展有限公司 | Environmental monitoring robot and its automatic inspection method |
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Granted publication date: 20191203 Termination date: 20201210 |