CN106891319A - Inspecting robot - Google Patents
Inspecting robot Download PDFInfo
- Publication number
- CN106891319A CN106891319A CN201710153090.1A CN201710153090A CN106891319A CN 106891319 A CN106891319 A CN 106891319A CN 201710153090 A CN201710153090 A CN 201710153090A CN 106891319 A CN106891319 A CN 106891319A
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- China
- Prior art keywords
- camera
- car body
- elevating lever
- bar
- interior bar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to inspecting robot, including：Car body, motor, directional drive, driving wheel, image mechanism and control module；Accommodating cavity is provided with car body, image mechanism includes camera and lifting assembly, lifting assembly is movably set in the top of car body, and camera is connected with lifting assembly, and lifting assembly includes lifting motor and elevating lever, lifting motor is arranged in accommodating cavity, car body top offers lift span, and lift span is connected with accommodating cavity, and elevating lever is actively located in lift span, lifting motor and elevating lever drive connection, elevating lever are connected with camera.Elevating lever is moved under the driving of lifting motor in vertical direction, so that camera is realized shooting the pressing plate of different height, elevating lever is limited by lift span, avoid elevating lever skew in the horizontal direction, so that elevating lever motion is more steady, the definition of the shooting image of camera is improved, False Rate and misdetection rate that miscarrying is moved back is effectively reduced.
Description
Technical field
Technical field is maked an inspection tour the present invention relates to power network, more particularly, to inspecting robot.
Background technology
In order to safeguard power network, the stable operation of power network is ensured.According to the requirement of current transformer station's maintenance work, run people
Member will be monthly checked the pressing plate state in relay protection room.Pressing plate, is called protection pressing plate or protection in flakes, is protection device
Can the bridge and tie of contact external wiring, the function and action outlet for being related to protection normally play a role.Pressing plate is used for
The access or cut-out of functional circuit are provided for power transmission and transformation net, in general, pressing plate is arranged on protection screen, is provided with protection screen
Multiple pressing plates.Pressing plate includes input and exits two states, and pressing plate is thrown then functions circuit and accessed, and pressing plate moves back then functions
Circuitry cuts.When pressing plate input and exit state it is different from power network need state when, then move back situation in the presence of miscarrying.
Due to being related to multiple relay protection rooms in power network, and a relay protection room then has multiple protection screens, is provided with protection screen
Multiple pressing plates.Therefore, pressing plate enormous amount, it is necessary to patrol and examine the pressing plate of enormous amount, work during daily patrolling and examining
Work amount is huge, mistake easily occurs.
Efficiency is patrolled and examined in order to improve, the workload of patrol officer is reduced, can replace manually being patrolled by inspecting robot
Inspection, Chinese patent ZL 201310151938.9 discloses a kind of relay protection chamber inspecting robot, has a chassis, on chassis
Lower section is provided with front wheel and rear roller, and drive mechanism and steering mechanism are provided with chassis, vertical rod is provided with chassis, in vertical rod
On action storehouse is provided with by climbing device, be provided with control unit in action storehouse, camera is provided with action silo roof face, dynamic
Make storehouse and be provided with movement arm and movement arm drive mechanism, special-shaped spanner is provided with the front end of movement arm, set in special-shaped spanner side
There is fingertip.Due to can Remote relay protection chamber inspecting robot carry out the work such as making an inspection tour, checked in person without staff,
Greatly reduce the work of staff.And it is maked an inspection tour according to setting path, instrument, good reliability will not be omitted.Make an inspection tour
Speed is fast, high working efficiency, and the scope maked an inspection tour in same time is wider, can in time find failure and be processed, and is prevented effectively from
Electric power accident occurs.The video recording shot by camera can be achieved to be easy to analyze cause of accident.
Although this inspecting robot can replace manually being patrolled and examined, because camera cannot be lifted, it is impossible to right
The pressing plate of different height is shot, and camera lacks fixed structure well, causes the shooting image definition of camera
It is not high, it is unfavorable for the automatic detection to pressing plate image, cause automatic detecting precision not high, miscarrying is moved back and has what is judged by accident and fail to judge
Situation, error rate is high, is easily caused production accident.
The content of the invention
Based on this, it is necessary to cannot be lifted for traditional inspecting robot camera, it is impossible to which the pressing plate to different height enters
Row shoots, and camera lacks fixed structure well, causes the shooting image definition of camera not high, causes automatic detecting
Precision is not high, and to the miscarrying erroneous judgement moved back and situation about failing to judge, error rate is high, is easily caused the defect of production accident, there is provided a kind of
Inspecting robot.
A kind of inspecting robot, including：Car body, motor, directional drive, driving wheel, image mechanism and control mould
Block；
Accommodating cavity is provided with the car body, the motor and the control module are arranged at the accommodating cavity
Interior, the driving wheel is connected to position of the car body near bottom, and the motor is connected with the drive wheel, institute
Directional drive is stated to be connected with the driving wheel；
The image mechanism includes camera and lifting assembly, and the lifting assembly is movably set in the top of the car body
Portion, the camera is connected with the lifting assembly, and the lifting assembly includes lifting motor and elevating lever, the lifting motor
It is arranged in the accommodating cavity, the car body top offers lift span, the lift span is connected with the accommodating cavity, the liter
Drop bar is actively located in the lift span, and the lifting motor and the elevating lever drive connection, the elevating lever and institute
State camera connection；
The camera is electrically connected with the control module, the control module respectively with the motor and described
Directional drive is electrically connected.
Wherein in one embodiment, the image mechanism also includes runner assembly, and the runner assembly is arranged at described
Away from one end of the lifting motor, the camera is connected elevating lever with the runner assembly.
Wherein in one embodiment, the runner assembly includes rotating shaft, rotating disk and rotary electric machine, the rotary electric machine
It is arranged on the one end of the elevating lever away from the lifting motor, the rotary electric machine and the rotating shaft drive connection, described turn
Axle is connected with the rotating disk, and the camera is arranged on the rotating disk.
Wherein in one embodiment, the elevating lever includes interior bar and outer bar, and the outer bar is vertically arranged at the car
The top of body, the middle part of the outer bar has hollow-core construction, and the middle part of the outer bar connects with the lift span, and the interior bar sets
It is placed in the outer bar, the lifting motor is connected with the interior bar drive connection, the camera with the interior bar.
Wherein in one embodiment, the lifting assembly also includes screw mandrel, fixed seat and guide rail, and the guide rail sets vertically
It is placed in the accommodating cavity, the fixed seat is slideably positioned on the guide rail, one end of the interior bar connects with the fixed seat
Connect, the interior bar is connected away from one end of the fixed seat with the camera, and the screw mandrel is connected with the fixed seat, described
Lifting motor and the screw mandrel drive connection.
Wherein in one embodiment, the interior bar has circular cross-section.
Wherein in one embodiment, the outer bar has ring section.
Wherein in one embodiment, the diameter of the interior bar is equal with the internal diameter of the outer bar.
Wherein in one embodiment, the internal diameter of the diameter less than the outer bar of the interior bar.
Wherein in one embodiment, the image mechanism also includes crash roll, and the camera passes through the crash roll
It is connected with the interior bar.
Above-mentioned inspecting robot, accommodating cavity is opened up for lifting motor provides accommodation space by car body so that risen
Drop bar has bigger lifting space to adapt to the height of different pressing plates, and elevating lever is under the driving of lifting motor in side vertically
To motion so that camera can be aligned in the pressing plate of different height, and then realize shooting the pressing plate of different height, lead to
Cross lift span to limit elevating lever, it is to avoid elevating lever skew in the horizontal direction, and then cause elevating lever motion more
Steadily, the definition of the shooting image of camera is improved, False Rate and misdetection rate that miscarrying is moved back is effectively reduced, reduction causes production
The incidence of accident.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the inspecting robot of an embodiment；
Fig. 2 is the part section structural representation of the inspecting robot of an embodiment；
Fig. 3 is the modular structure schematic diagram of the inspecting robot of an embodiment.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is implementation with certain large-scale provincial power network
Example, with reference to accompanying drawing, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to
The present invention is explained, is not intended to limit the present invention.
For example, a kind of inspecting robot, including：Car body, motor, directional drive, driving wheel, image mechanism and control
Molding block；Accommodating cavity is provided with the car body, the motor and the control module are arranged in the accommodating cavity,
The driving wheel is connected to position of the car body near bottom, and the motor is connected with the drive wheel, described
Directional drive is connected with the driving wheel；The image mechanism includes camera and lifting assembly, the lifting assembly activity
Be arranged at the top of the car body, the camera is connected with the lifting assembly, the lifting assembly include lifting motor and
Elevating lever, the lifting motor is arranged in the accommodating cavity, and the car body top offers lift span, the lift span and institute
Accommodating cavity connection is stated, the elevating lever is actively located in the lift span, and the lifting motor drives with the elevating lever
Connection, the elevating lever is connected with the camera；The camera is electrically connected with the control module, the control module point
Do not electrically connected with the motor and the directional drive.
In above-described embodiment, accommodating cavity is opened up for lifting motor provides accommodation space by car body so that elevating lever
With bigger lifting space to adapt to the height of different pressing plates, elevating lever is transported under the driving of lifting motor in vertical direction
It is dynamic so that camera can be aligned in the pressing plate of different height, and then realize shooting the pressing plate of different height, by rising
Drop hole is limited elevating lever, it is to avoid elevating lever skew in the horizontal direction, and then causes that elevating lever motion is more steady,
The definition of the shooting image of camera is improved, False Rate and misdetection rate that miscarrying is moved back is effectively reduced, reduction causes production accident
Incidence.
In one embodiment, inspecting robot includes：Car body, motor, directional drive, driving wheel, video camera
Structure, tracing sensor, control module and power supply module.
As shown in figure 1, be provided with accommodating cavity (being blocked in figure) in the car body 100, the motor and described
Control module is arranged in the accommodating cavity, and the driving wheel 110 is connected to position of the car body 100 near bottom, described
Motor is connected with the drive connection of the driving wheel 110, the directional drive with the driving wheel 110, the video camera
Structure 120 includes camera 230 and lifting assembly 121, and the lifting assembly 121 is movably set in the top of the car body 100, institute
Camera 230 is stated to be connected with the lifting assembly 121；The tracing sensor 220 is arranged on the car body 100.
In order that camera can accurate alignment in protection screen, and then pressing plate is carried out clearly to take pictures exactly, one
In individual embodiment, as shown in figure 3, inspecting robot also includes positioning inductor 270, the positioning inductor 270 and the control
Molding block 250 is electrically connected, for example, the location information control that the control module 250 is used to be detected according to positioning inductor 270 is taken the photograph
Camera structure works, for example, location information includes elevation information and angle information, specifically, elevation information is the height of protection screen
Information, angle information is the orientation information of protection screen, for example, control module 250 is used for what is detected according to positioning inductor 270
Elevation information, control image mechanism work, for example, control module 250 is used for the angle letter detected according to positioning inductor 270
Breath, control image mechanism work, for example, control image mechanism starts or terminates shooting, and for example, controls the operating angle of image mechanism
Degree etc..
Specifically, the positioning inductor 270 is used to detect the position of pressing plate, it should be understood that have in relay protection room many
Individual protection screen, each protection screen it is highly inconsistent, and the direction of protection screen is inconsistent, so, correspondingly, on different protection screens
The height of pressing plate is also differed, and towards differing, when before body movement to a certain protection screen, car body is needed just to protection
Screen, and camera will be aligned in protection screen, not only align in height, in addition it is also necessary to alignd in level orientation, and then cause to take the photograph
As head can just to protection screen, camera can shoot to the multiple pressing plates on protection screen completely and clearly, for example, fixed
Position inductor 270 is used to detect the framing signal of the location transmitters transmitting of protection screen, and location information is obtained according to framing signal,
For example, the positioning inductor 270 is infrared inductor, for example, each protection screen sets an infrared transmitter, for example, each guarantor
An infrared transmitter is set on the predeterminated position for protecting screen, for example, the infrared transmitter on each protection screen is used for along perpendicular to this
The direction transmitting infrared ray of protection screen, so, because the sense of the infrared transmitter transmitting on each protection screen is unique
And it is fixed, so, when on body movement a to protection screen, the infrared hair on protection screen being detected and received according to infrared inductor
Penetrate signal, and then get the elevation information and angle information of protection screen, control module 250 is obtained according to infrared inductor
Elevation information and angle information control image mechanism work, and then cause that camera is aligned in the pressing plate on protection screen, and can
Pressing plate is carried out accurately clearly to take pictures.
As shown in Fig. 2 the lifting assembly 121 includes lifting motor 310 and elevating lever 320, the lifting motor 310 sets
It is placed in the accommodating cavity 101, the top of the car body 100 offers lift span 102, the lift span 102 and the accommodating cavity
101 connections, the elevating lever 320 is actively located in the lift span 102, and the lifting motor 310 and the elevating lever
320 drive connections, the elevating lever 320 is connected with the camera 230, for example, the lifting motor 310 and the control mould
Block is electrically connected, for example, control module is used for the elevation information detected according to positioning inductor, control lifting motor 310 works,
For example, the lifting motor 310 is linear electric motors, the elevating lever 320 is connected with the linear electric motors, the elevating lever 320
Moved along a straight line for the in the vertical direction under the driving of the linear electric motors, so, when positioning inductor detects pressing plate
Height and current camera 230 height not to it is corresponding when control module it is straight according to the control of the elevation information of the pressing plate for detecting
Line motor works, and linear electric motors drive elevating lever 320 to move so that the height of camera 230 is adjusted so that camera
230 are aligned in the pressing plate on protection screen in the horizontal direction.
In order that the motion for obtaining the in the vertical direction of camera 230 is more steady, for example, as shown in Fig. 2 the elevating lever
320 include interior bar 321 and outer bar 322, and the outer bar 322 is vertically arranged at the top of the car body 100, the outer bar 322
Middle part has hollow-core construction, and the middle part of the outer bar 322 connects with the lift span 102, and the interior bar 321 is arranged at described outer
In bar 322, the lifting motor 310 is connected with the drive connection of the interior bar 321, the camera 230 with the interior bar 321,
For example, the outer bar 322 is sheathed on the outside of the interior bar 321, for example, the interior bar 321 has circular cross-section, for example, institute
It is cylinder to state interior bar 321, for example, the outer bar 322 has ring section, for example, the outer bar 322 is the hollow circle in middle part
Cylindricality, for example, outer bar 322 has the hollow-core construction through its two ends, the hollow-core construction is cylinder, for example, the interior bar 321
Diameter it is equal with the internal diameter of the outer bar 322, for example, so, due to stating in the diameter of interior bar 321 and the outer bar 322
Footpath is equal, and lifting motor 310 drives interior bar 321 in outer bar 322 during motion, and outer bar 322 can be carried out to interior bar 321 well
Limitation, it is to avoid interior bar 321 produces skew in the horizontal direction, and then causes that the motion of the in the vertical direction of interior bar 321 is more flat
Surely so that the motion of the in the vertical direction of camera 230 is more steady.
It is in one embodiment, described referring again to Fig. 2 in order to drive the motion of the in the vertical direction of camera 230
Lifting assembly 121 also includes screw mandrel 331, fixed seat 332 and guide rail 333, and the guide rail 333 is vertically arranged at the accommodating cavity
In 101, the fixed seat 332 is slideably positioned on the guide rail 333, and one end of the interior bar 321 connects with the fixed seat 332
Connect, the interior bar 321 is connected away from one end of the fixed seat 332 with the camera 230, and the screw mandrel 331 is solid with described
Reservation 332 is connected, the lifting motor 310 and the drive connection of the screw mandrel 331, for example, in the present embodiment, lifting motor 310
It is servomotor, so, the drive screw 331 of lifting motor 310 is rotated, screw mandrel 331 is rotated and drives fixed seat 332 along guide rail
333 in the vertical directions are moved, and fixed seat 332 drives the motion in outer bar 322 of interior bar 321, and then causes camera 230 perpendicular
Nogata is moved upwards.
In order to further such that interior bar 321 move it is more steady, and cause interior bar 321 motion resistance it is smaller, for example, institute
The internal diameter of the diameter less than the outer bar 322 of interior bar 321 is stated, abrasionproof group is provided between the interior bar 321 and the outer bar 322
Part, for example, the abrasionproof component is advance ball 340.
In one embodiment, Fig. 2 is referred to, advance ball is provided between the interior bar 321 and the outer bar 322
340, for example, advance ball 340 has spheroidal structure, in the present embodiment, advance ball 340 can provide cunning for interior bar 321
Dynamic support, what reduction interior bar 321 was subject to rubs, and effectively reduces resistance so that motion of the interior bar 321 in outer bar 322 is more flat
It is sliding, for example, some advance balls 340 are provided between the interior bar 321 and the outer bar 322, for example, multiple advance balls
340 are set uniformly around the interior bar 321, and multiple advance balls 340 can be limited interior bar 321 from multiple directions, be
Interior bar 321 provides sliding support, and then causes that motion of the interior bar 321 in outer bar 322 is more steady, and resistance is smaller.
Specifically, advance ball 340 can be abutted with interior bar 321, or be abutted with outer bar 322, the advance ball
340 abut with the interior bar 321 and the outer bar 322 respectively.
In order that obtain advance ball 340 can be moved with the motion of the in the vertical direction of interior bar 321, to interior bar 321
Preferably supported, in one embodiment, as shown in Fig. 2 the interior bar 321 is provided with supporting part 323, it is described to slide rolling
Pearl 340 is arranged on the supporting part 323, in the present embodiment, advance ball 340 respectively with the interior bar 321 and described outer
Bar 322 is abutted.For example, the outer surface of the interior bar 321 is raised to set supporting part 323, for example, supporting part 323 has annular
Section, for example, supporting part 323 around interior bar 321 circumference set, for example, supporting part 323 away from interior bar 321 one end with it is outer
The interval setting of bar 322, namely supporting part 323 is not abutted with outer bar 322, and in the present embodiment, supporting part 323 is used to carry slip rolling
Pearl 340, when interior bar 321 is vertically movable in outer bar 322, supporting part 323 drives advance ball 340 vertically movable, due to holding
Load portion 323 does not abut with outer bar 322 so that do not have not mutual frictional force between the two, so, advance ball 340 along
The axle of outer bar 322 is rotated up, and can provide sliding support for interior bar 321, and advance ball 340 is not only that interior bar 321 provides footpath
To support, also for interior bar 321 provides the support that slides axially so that the vertical motion of interior bar 321 is more steady, and can effectively reduce
The resistance that interior bar 321 is subject to so that interior bar 321 move it is more smooth, it is more laborsaving.
In order to limit the move distance vertically of interior bar 321, and advance ball 340 is avoided to skid off, as shown in Fig. 2 institute
State the inner side of outer bar 322 and be provided with stop section 324, the activity of the advance ball 340 is connected to the stop section 324.For example, described
The inner surface of outer bar 322 is raised to set stop section 324, for example, the stop section 324 has ring section, the stop section
324 middle part has hollow-core construction, and the interior bar 321 is arranged in the hollow-core construction at the middle part of the stop section 324, and described interior
Bar 321 is not abutted with the interval setting of the stop section 324, i.e. interior bar 321 with stop section 324, for example, the advance ball 340
It is arranged between the supporting part 323 and the stop section 324, for example, the activity of the advance ball 340 is connected to the block
Portion 324, stop section 324 be used for block advance ball 340, i.e. advance ball 340 between stop section 324 and supporting part 323,
Coordinated by the stop section 324 and supporting part 323, advance ball 340 can be avoided to skid off, and in stop section 324 can limit
The move distance of bar 321.
In order to realize the shooting of different angles, in one embodiment, referring again to Fig. 2, the image mechanism 120 is also
Including runner assembly 350, the runner assembly 350 is arranged at the one end of the elevating lever 320 away from the lifting motor 310,
The camera 230 is connected with the runner assembly 350, for example, the runner assembly 350 include rotating shaft 351, rotating disk 352 with
And rotary electric machine 353, the rotary electric machine 353 is arranged on the one end of the elevating lever 320 away from the lifting motor 310, institute
Rotary electric machine 353 is stated with the drive connection of the rotating shaft 351, the rotating shaft 351 is connected with the rotating disk 352, the camera 230
It is arranged on the rotating disk 352, for example, the rotary electric machine 353 is arranged at the interior bar 321 away from the lifting motor 310
First end, in order that rotary electric machine 353 is more steady, for example, the interior bar 321 is away from the of the lifting motor 310
One end is provided with pallet 356, and the rotary electric machine 353 is arranged on the pallet 356.Pallet 356 being capable of effective support rotating
Motor 353 so that rotary electric machine 353 works more steady, and then cause that camera 230 rotates more steady.
In order to realize the driving of countershaft 352, for example, the connection of the rotary electric machine 353 one drives bar 354, bar 354 is driven
It is provided with sliding tooth, rotating shaft 351 connects a gear 355, rotating shaft 351 is coaxially disposed with gear 355, gear 355 and driving bar 354
Engagement, such rotary electric machine 353 drives the driving bar 354 to move, and drives band moving gear 355 to rotate, and then drive shaft
351 rotate, for example, the rotary electric machine 353 is electrically connected with the control module, for example, the control module is used for according to institute
Stating the angle information that positioning inductor detects controls the rotary electric machine 353 to work, so, when rotary electric machine 353 works,
Rotated by the driving rotating disk 352 of rotating shaft 351, and then cause that camera 230 is rotated so that camera 230 can be adjusted to properly
Angle, is aligned in protection screen.
In order to accurately obtain the signal of the infrared transmitter on protection screen, for example, the car body 100 is provided with fix bar,
The infrared inductor is arranged at the one end of the fix bar away from the car body 100, so, is located at due to infrared inductor
Height is high compared with car body 100, it is easy to receives the signal of the infrared transmitter transmitting on protection screen, can avoid being blocked, causes red
The result of outer inductor detection is inaccurate.
The image mechanism 120 also includes crash roll 360, and in one embodiment, the camera 230 is by described anti-
Shake pad 360 is connected with the elevating lever 320, for example, the camera 230 is connected by the crash roll 360 with the interior bar 321
Connect, for example, the camera 230 is connected by the crash roll 360 with the rotating disk 352, for example, crash roll 360 is arranged at
The bottom of camera 230, crash roll 360 is set by the bottom of camera 230, can effectively for camera 230 provides slow
Punching and shock-absorbing so that the pressing plate image that camera 230 shoots is relatively sharp.
For example, the crash roll 360 is rubber blanket, for example, the crash roll 360 is plastic pad.Rubber blanket and plastic pad
All there is preferably elasticity, can be that camera 230 provides buffering and shock-absorbing very number, further such that camera 230 shoots
Pressing plate image it is relatively sharp.
As shown in figure 3, the tracing sensor 220 and the camera 230 are electrically connected with the control module 250 respectively
Connect, the control module 250 is electrically connected with the motor 210 and the directional drive 240, i.e., described control module
250 electrically connect with the motor 210 and the directional drive 240 respectively；The power supply module 260 respectively with it is described
Motor 210, the directional drive 240, the camera 230, the tracing sensor 220 and the control module
250 electrical connections.
For example, tracing sensor is used to obtain tracing signal, for example, tracing sensor is used to get the letter that tracks in detection
After number, tracing signal is sent to control module, for example, the control module is used for according to seeking that the tracing sensor is obtained
Mark signal controls the motor and directional drive work, for example, the motor is used to drive the drive
Wheel rotation, for example, the directional drive is used to control the driving wheel to turn to, for example, directional drive drives to turn to
Bridge, directional drive realizes the course changing control to driving wheel using prior art, not burden description in detail in the present embodiment.It is described
Camera is used to image protection screen, obtains pressing plate image, for example, camera is used to pass through communication after obtaining pressing plate image
Module sends to image comparison device pressing plate image.
For example, the power supply module is used for as the motor, the directional drive, the camera, described seeks
Mark sensor and the control module provide electric energy, for example, the power supply module includes battery submodule, for example, the electricity
Pond module is used to be the motor, the directional drive, the camera, the tracing sensor and the control
Molding block provides electric energy, for example, the power supply module includes charging submodule, for example, the charging submodule and the battery
Submodule is electrically connected, for example, the charging submodule is used to be charged for the battery submodule.
For example, the charging submodule includes wireless charging submodule, the wireless charging submodule is used to obtain radio
Ripple, electric energy is converted to by radio wave, and electric energy is filled with battery submodule.So, inspecting robot can be by wireless
Charging modes are charged, and without manual intervention, for example, the predeterminated position in relay protection room sets wireless charging module, for example,
Control module is used for after completing to detect the protection screen of predetermined number, according to tracing signal control motor and
Directional drive works, to drive body movement to wireless charging module.Detection in the present embodiment to protection screen is by taking the photograph
As head is taken pictures to the pressing plate on protection screen, after the detection to protection screen so that inspecting robot can automatic charging, and
Without manual intervention so that the electricity of inspecting robot is sufficient, and reduces manual intervention, further reduces cost of labor.
For example, car body is in running status, driving wheel is used to be connected to ground, and driving wheel is used for the driving in motor
Lower rotation, and then band motor vehicles bodies move on the ground, the bottom of car body is car body near the position on ground, and the top of car body is car
Away from the position on ground, and the two ends of car body are respectively car body rear and front end in a forward direction to body, for example, driving wheel is set
In the bottom of car body, driving wheel is conducive to drive body movement, and the lifting assembly of image mechanism is arranged at the top of car body, has
It is adjusted beneficial to the height to camera, and then causes that camera is aligned in the pressing plate on protection screen.
In order to accurately obtain tracing signal, for example, the tracing sensor is arranged at the bottom of the car body, for example, institute
State tracing sensor and be arranged at one side of the car body towards ground, for example, the tracing sensor is arranged at the bottom surface of the car body,
The bottom surface of car body is one side of the car body towards ground, for example, being provided with the bar that tracks on relay protection room floor, the bar that tracks is black
Color, relay protection room floor is set to white, and specifically, the bar that tracks is used to provide movement locus so that car body is moved along the bar that tracks,
The bar that tracks is set along each protection screen so that car body can be by each protection screen.
In the present embodiment, the tracing sensor includes infrared sensor, for example, tracing sensor is infrared sensing
Device, for example, tracing sensor includes two infrared sensors, for example, two infrared sensors are arranged side by side, for example, two
Central axis of the individual infrared sensor on car body is symmetrical arranged, and the central axis of car body is the linear motion side parallel to car body
To central axis, for example, infrared sensor is used for emission infrared signal, and receive infrared signal and then the acquisition of reflection
Tracing signal, for example, two infrared sensors are used to launch infrared signal towards equidirectional, for example, two infrared sensors
The direction of the launch be parallel to each other
Specifically, infrared sensor had both been used to launch infrared signal, was also used for receiving infrared signal.Infrared signal launch to
During white ground, infrared signal is launched to infrared sensor, and the infrared signal of reflection is received by infrared sensor, and infrared letter
To tracking on bar, because the bar that tracks is for black, the infrared signal bar that tracked is absorbed without reflection, now infrared sensing for number transmitting
Device cannot receive the infrared signal of reflection, and so, the infrared signal judgement of the reflection that control module is received by detection is
It is no to deviate the bar that tracks, in this way, then moved on along current track, if not, according to the output control directional drive of detection
Work.Specifically, two infrared sensors are positioned at the both sides of the central axis of car body, central axis and the bar pair that tracks of car body
Together, so, when car body is moved along the bar that tracks, two direction transmittings for being respectively facing the central axis parallel to car body are infrared
Signal, when car body is moved along the bar that tracks, the infrared signal of ground launch can be received by infrared sensor, so, control
Molding block then controls car body to continue to move along current track, when car body deviates, one in two infrared sensors transmitting
The infrared signal bar that will be tracked absorbs, and so, control module is then according to the infrared biography of the infrared signal for being not received by reflection
The feedback of sensor, calculates deviation angle, and then controls directional drive work, changes the direction of driving wheel, controls car body
Turn to, and be aligned in the bar that tracks so that car body continues on the bar motion that tracks.When the bar that tracks is turned to, the infrared sensing of both sides
An infrared signal for receiving reflection in device, another does not receive the infrared signal of reflection then, then show not receive
There is the bar that tracks to the side of the infrared signal of reflection, control module then controls car body to turn towards the side without infrared signal
To, and then realize Automatic Track Finding and the position control of inspecting robot.
In order that must address it is more accurate, for example, the quantity of the infrared sensor be four, for example, four infrared biographies
Central axis of the sensor on car body is symmetrical arranged, for example, two infrared sensors in four infrared sensors
The side of the central axis of car body is arranged at, infrared sensor described in the another two in four infrared sensors is arranged at car
The opposite side of the central axis of body, so, two infrared sensors per side can cover bigger area of detection, improve
Detection to the bar that tracks, and then cause that addressing results are more accurate.
For example, four infrared sensors are arranged side by side the position in the bottom surface of the car body near front end, it should say
Bright, the front end of car body is car body along the one end in the front of the direction of motion, and the rear end of car body is car body along the direction of motion
Rear one end, for example, four infrared sensors alignment are set, i.e., four infrared sensors are in same straight line
On, in the present embodiment, four central axis of the infrared sensor on the car body are symmetrical arranged, i.e., two infrared sensings
Device is arranged at the side of central axis, and two other infrared sensor is arranged at the opposite side of central axis, so, described in four
Two in infrared sensor are used to carry out the ground of central axis side transmitting infrared signal, and receive the reflection letter on ground
Number, two in four infrared sensors are used to carry out transmitting infrared signal to the ground of central axis opposite side, and connect
The reflected signal on ground is received, so, after infrared sensor therein does not receive reflection infrared signal, then according to the same side
Whether another infrared sensor receives reflection infrared signal and then judges whether car body produces skew, or front to track
Bar is turned to, and two infrared sensors of homonymy can effectively improve the detection precision to the bar that tracks, and then causes to make an inspection tour machine
Tracking for people is more accurate.
And for example, four infrared sensors are arranged at the bottom surface of car body near four diagonal positions, for example, four institutes
The line between infrared sensor is stated to be square setting, for example, four infrared sensors include two front sensors and
Sensor after two, two central axis of the front sensor on car body are symmetrical arranged, and two front sensors set
It is placed in the position of the bottom surface near front end of car body；Two central axis of the rear sensor on car body are set, and two institutes
Position of the bottom surface near rear end that rear sensor is arranged at car body is stated, for example, sensor is two-by-two after two front sensors and two
It is mutually aligned, so, when car body is moved along the bar that tracks, control module is by two front sensor head in four sensors
First whether the detection direction of motion deviates, and whether the bar that tracks turns to, then by sensor after two then to two front sensors
Testing result verified, and movement locus to car body is corrected, and then causes that tracking for inspecting robot be more defined
Really.
More precisely to obtain tracing signal, for example, the tracing sensor is arranged at the end of one end of the car body
On face, for example, the tracing sensor is arranged on the end face of the front end of the car body, in the present embodiment, tracing sensor is
Infrared sensor, for example, the quantity of infrared sensor is two, for example, two infrared sensors are arranged side by side in before car body
On end face, and two central axis of the infrared sensor on car body are symmetrical arranged, for example, the launch party of the tracing sensor
To the inclined downward of the direction of advance towards the car body, so, tracing sensor can detect seeking in front of car body
The position of mark bar, control module can shift to an earlier date the motion of anticipation car body, and then more precisely control body movement.
More precisely to obtain tracing signal, for example, the quantity of infrared sensor is four, for example, the infrared biography
Sensor is arranged on the end face at the two ends of the car body, for example, the infrared sensor is arranged at the end of the front end of the car body
On face, for example, two infrared sensors in four infrared sensors are arranged on the end face of the front end of car body, four infrared biographies
Two infrared sensors in sensor are arranged on the end face of the rear end of car body, and front end two infrared sensors on car body
Central axis be symmetrical arranged, two central axis of the infrared sensor on car body of rear end are symmetrical arranged, for example, rear end
The direction of the launch of two infrared sensors is to be directed downward inclination towards opposite with the direction of advance of the car body, so, control
The tracing signal that molding block can be detected according to the two of front end infrared sensors shift to an earlier date the direction of motion of anticipation car body, and rear end
Two infrared sensors the direction of motion can be then corrected, and then cause car body the direction of motion it is more accurate.
In order to obtain tracing signal, for example, the tracing sensor includes ultrasonic sensor.For example, being set in relay protection room
Some supersonic generators are equipped with, supersonic generator is used to launch ultrasonic signal, and the tracing sensor is obtained for detection
The ultrasonic signal of supersonic generator transmitting is taken, control module is used for the ultrasonic signal detected according to ultrasonic sensor
Control body movement.
It is noted that the bar that tracks can provide movement locus for car body, inspecting robot can be transported along the bar that tracks
Move to each protection screen, in order that obtain before inspecting robot can rest on protection screen shot, for example, inspecting robot is also
Including locating module, for example, the locating module is electrically connected with control module, for example, the locating module is radio frequency reader, example
Such as, the locating module be radio frequency read head, for example, the radio frequency read head be RFID (Radio Frequency Identification,
Radio frequency identification) read head, for example, the radio frequency read head is used to detect radiofrequency signal, for example, the control module is used for according to institute
The radiofrequency signal control car body stop motion that radio frequency read head is detected is stated, for example, relay protection room is provided with some RF tags, it is each
RF tag one protection screen of correspondence, so, during body movement, radio frequency read head detects the radiofrequency signal at RF tag bottom
Afterwards, control module then controls car body stop motion according to the radiofrequency signal, and then control camera enters to the pressing plate on protection screen
Row shoots.
It should be understood that being read to radiofrequency signal for radio frequency read head is in small distance, therefore so that each guarantor in relay protection room
Shield screen can be positioned according to radiofrequency signal, the effective reading due to the distance between each RF tag relative to radio frequency read head
Take in larger distance, radio frequency read head can't simultaneously read multiple RF tags, therefore, when radio frequency read head reads a radio frequency
During label, then a protection screen is positioned, in order to accurately obtain RF tag, it is to avoid radio frequency read head reads multiple radio frequency marks simultaneously
Sign, for example, the working frequency of the radio frequency read head is 125KHz, and for example, the working frequency of the radio frequency read head is 13.56MHz,
When the working frequency of radio frequency read head is 125KHz or 13.56MHz, effective reading distance of radio frequency read head is 50mm~100mm,
And generally the distance between protection screen is 300mm~500mm, so, the distance between protection screen is approximately equal between RF tag
Distance, effective reading distance of radio frequency read head is greater than due to the distance between RF tag, penetrated therefore, it is possible to be prevented effectively from
Frequency read head reads multiple RF tags simultaneously, and then enables that inspecting robot is accurately positioned each protection screen, to each
The pressing plate of protection screen is shot.
In order that the radio frequency read head for obtaining inspecting robot can accurately read RF tag, and then protection screen is positioned, for example,
The RF tag is arranged on the protection screen, for example, the radio frequency read head is arranged at the side of the car body, for example, institute
The side that radio frequency read head is arranged at the car body is stated, so, radio frequency read head towards RF tag, and then can cause radio frequency read head
Can read the RF tag on protection screen, and then position to protection screen is accurately positioned.
In order to further such that radio frequency read head can accurately read RF tag, for example, RF tag is arranged at the bar that tracks
On, for example, radio frequency read head is arranged at the bottom surface of the car body, for example, radio frequency read head is set towards ground, so, when car body edge
Track bar move when, radio frequency read head necessarily by RF tag, and can detect RF tag, and cause RF tag exist
In effective read range of radio frequency read head so that reading of the radio frequency read head to RF tag is more accurate, and due to radio frequency read head
Towards ground, the RF tag on the corresponding ground of car body can be only read, and cannot read the RF tag of other positions, because
This so that the radiofrequency signal that radio frequency read head reads is more accurate.
For example, the control module is used for the radiofrequency signal detected according to the radio frequency read head, the knowledge of protection screen is obtained
Other information, for example, the identification information of protection screen is the identification marking of protection screen, for distinguishing different protection screens, for example, should
Identification information includes ID (identification) information, i.e., each identification information have recorded the ID of the protection screen, control module
For according to the protection screen information for prestoring, and the identification information for reading, detecting whether current protection screen has been taken, example
Such as, control module is used for after identification information is got, and control camera shoots, and the pressing plate image and identification information that will be shot
Association, and record the identification information to have shot, for example, inspecting robot includes memory module, memory module has prestored protection
Screen information, specifically, the protection screen information for prestoring is protection screen list, its ID that have recorded multiple protection screens in relay protection room, this
Sample, when inspecting robot is by a protection screen, reads the corresponding video tab of protection screen, obtains the ID of the protection screen, controls
Molding block control camera shoots to protection screen, records the corresponding shooting states of protection screen ID to have shot, and so, leads to
Contrasted after the ID and the ID in protection screen list of the multiple protection screens for having shot, you can the protection screen that acquisition not yet shoots
ID, on the one hand, the repetition that can be prevented effectively from protection screen shoots, another, the shooting effect of inspecting robot can be effectively improved
Rate, and due to the pressing plate image of shooting being associated with the identification information of protection screen so that the pressing plate image for getting is all
With unique identification marking, and then enable that user or the different protection screen of image comparison device Division identification are corresponding
Pressing plate image.
Specifically, the control module of car body obtains the press plate position in relay protection room according to tracing sensor, and then by driving
Dynamic motor and directional drive control driving wheel motion so that car body is pressed desired guiding trajectory and maked an inspection tour in relay protection room, and by taking the photograph
As head is taken pictures to the pressing plate on protection screen, so as to obtain the state of pressing plate, and then human cost is effectively reduced with timely
Between cost, effectively improve tour efficiency, and excessive risk caused by reducing due to being related to pressing plate quantity larger.
In order that obtaining, body movement is more steady, for example, the quantity of the driving wheel is four, four driving wheels can be very
Support car body well so that car body keeps balance, and then causes that body movement is more steady, for example, four driving wheel bags
Two front-wheels and two trailing wheels are included, the motor is connected with two rear wheel drives, the directional drive and two
The front-wheel connection.In the present embodiment, two front-wheels are used to turn to, and two trailing wheels are used to drive car body to advance, in such manner, it is possible to have
Effect improves drive efficiency, and causes that the steering of car body is more accurate.
In order to adapt to different photoenvironments so that pressing plate image is relatively sharp, in one embodiment inspecting robot,
Also include flash lamp, the flash lamp is electrically connected with the control module, illuminated by controlling flash fire, is that camera is carried
For illumination so that the pressing plate image that camera shoots is relatively sharp, for example, inspecting robot also includes luminance sensor, it is described
Luminance sensor is electrically connected with the control module, for example, control module is low for detecting ambient brightness in luminance sensor
When predetermined luminance, flash lamp operation is controlled, in such manner, it is possible to enable that flash lamp enters under the relatively low environment of brightness to pressing plate
Row is taken pictures, further such that pressing plate image is relatively sharp.
For example, camera can be used for shooting dynamic picture for shooting static images, for example, the dynamic picture is
Video.I.e. camera can shoot video, and patrol officer can clearly learn each by watching the video that camera shoots
The state of protection screen top board.
For example, a kind of relay protection room inspection tour system, including inspecting robot and image comparison device, for example, inspecting robot
Also include first communication module, for example, image comparison device includes second communication module, the first communication module and described the
Two communication module wireless connections, for example, the control module is used to shoot camera the pressing plate image for obtaining by described the
One communication module is sent to image comparison device, and image comparison device is used to receive first communication module by second communication module
The pressing plate image of transmission, for example, described image contrast device is additionally operable to parse the pressing plate image, whether to detect pressing plate image
It is abnormal.Specifically, pressing plate is thrown and is moved back with different actions, and so, pressing plate image can reflect that the throwing move back of each pressing plate is made, image
Contrast device is detected that whether the throwing of each pressing plate moves back to be moved back with default throwing and kept strokes, and then sentenced by the parsing to pressing plate image
It is disconnected to be moved back with the presence or absence of miscarrying, and without operations staff's manual detection, so as to effectively reduce human cost and time cost, have
Effect is improved makes an inspection tour efficiency, and excessive risk caused by reducing due to being related to pressing plate quantity larger.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of inspecting robot, it is characterised in that including：Car body, motor, directional drive, driving wheel, image mechanism
And control module；
Accommodating cavity is provided with the car body, the motor and the control module are arranged in the accommodating cavity, institute
State driving wheel and be connected to position of the car body near bottom, the motor is connected with the drive wheel, described turn
It is connected with the driving wheel to driver；
The image mechanism includes camera and lifting assembly, and the lifting assembly is movably set in the top of the car body, institute
Stating lifting assembly includes lifting motor and elevating lever, and the lifting motor is arranged in the accommodating cavity, and the car body top is opened
Lift span is provided with, the lift span is connected with the accommodating cavity, and the elevating lever is actively located in the lift span, and described
Lifting motor is connected with the elevating lever drive connection, the elevating lever with the camera；
The camera is electrically connected with the control module, the control module respectively with the motor and the steering
Driver is electrically connected.
2. inspecting robot according to claim 1, it is characterised in that the image mechanism also includes runner assembly, institute
State runner assembly and be arranged at the one end of the elevating lever away from the lifting motor, the camera connects with the runner assembly
Connect.
3. inspecting robot according to claim 2, it is characterised in that the runner assembly include rotating shaft, rotating disk and
Rotary electric machine, the rotary electric machine is arranged on the one end of the elevating lever away from the lifting motor, the rotary electric machine and institute
Rotating shaft drive connection is stated, the rotating shaft is connected with the rotating disk, and the camera is arranged on the rotating disk.
4. inspecting robot according to claim 1, it is characterised in that the elevating lever includes interior bar and outer bar, described
Outer bar is vertically arranged at the top of the car body, and the middle part of the outer bar has a hollow-core construction, the middle part of the outer bar with it is described
Lift span is connected, and the interior bar is arranged in the outer bar, the lifting motor and the interior bar drive connection, the camera
It is connected with the interior bar.
5. inspecting robot according to claim 4, it is characterised in that the lifting assembly also includes screw mandrel, fixed seat
And guide rail, the guide rail is vertically arranged in the accommodating cavity, and the fixed seat is slideably positioned on the guide rail, the interior bar
One end be connected with the fixed seat, the interior bar is connected away from one end of the fixed seat with the camera, the screw mandrel
It is connected with the fixed seat, the lifting motor and the screw mandrel drive connection.
6. inspecting robot according to claim 5, it is characterised in that the interior bar has circular cross-section.
7. inspecting robot according to claim 6, it is characterised in that the outer bar has ring section.
8. inspecting robot according to claim 7, it is characterised in that the internal diameter of the diameter of the interior bar and the outer bar
It is equal.
9. inspecting robot according to claim 8, it is characterised in that the diameter of the interior bar is interior less than the outer bar
Footpath.
10. inspecting robot according to claim 1, it is characterised in that the image mechanism also includes crash roll, described
Camera is connected by the crash roll with the elevating lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153090.1A CN106891319A (en) | 2017-03-15 | 2017-03-15 | Inspecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153090.1A CN106891319A (en) | 2017-03-15 | 2017-03-15 | Inspecting robot |
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| Publication Number | Publication Date |
|---|---|
| CN106891319A true CN106891319A (en) | 2017-06-27 |
Family
ID=59192236
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710153090.1A Pending CN106891319A (en) | 2017-03-15 | 2017-03-15 | Inspecting robot |
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| CN107797558A (en) * | 2017-11-09 | 2018-03-13 | 南京国电南思科技发展股份有限公司 | Inspecting robot |
| CN107967609A (en) * | 2017-12-29 | 2018-04-27 | 深圳正品创想科技有限公司 | A kind of settlement channel and unmanned shop |
| CN108185921A (en) * | 2017-12-30 | 2018-06-22 | 王莉 | The liftable photographic device of sweeper |
| CN108285042A (en) * | 2017-12-19 | 2018-07-17 | 昆明理工大学 | A kind of express delivery transfer robot based on machine vision |
| CN108994812A (en) * | 2018-08-14 | 2018-12-14 | 河南越盛信息技术有限公司 | Pharmaceutical manufacturing line intelligent robot and Intelligent Production System |
| CN109751083A (en) * | 2018-11-19 | 2019-05-14 | 昆明蓝遨经济信息咨询有限公司 | A kind of device based on bim and RFID technique confirmation constructing tunnel personnel positioning |
| CN110328649A (en) * | 2019-05-23 | 2019-10-15 | 平安开诚智能安全装备有限责任公司 | A kind of multifunction wireless communication crusing robot |
| CN111390866A (en) * | 2020-05-08 | 2020-07-10 | 天津中德应用技术大学 | Novel vision robot |
| WO2021077826A1 (en) * | 2019-10-22 | 2021-04-29 | 北京海益同展信息科技有限公司 | Image acquisition apparatus |
| CN112730902A (en) * | 2020-12-09 | 2021-04-30 | 广东电网有限责任公司湛江供电局 | Relay protection automatic auxiliary robot |
| CN113370173A (en) * | 2021-06-11 | 2021-09-10 | 徐州楚创智能设备有限公司 | Cruising obstacle avoidance structure based on intelligent robot |
| CN114666578A (en) * | 2022-05-26 | 2022-06-24 | 江苏省计量科学研究院(江苏省能源计量数据中心) | Electronic endoscope system calibration device and calibration method |
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| CN112730902A (en) * | 2020-12-09 | 2021-04-30 | 广东电网有限责任公司湛江供电局 | Relay protection automatic auxiliary robot |
| CN113370173A (en) * | 2021-06-11 | 2021-09-10 | 徐州楚创智能设备有限公司 | Cruising obstacle avoidance structure based on intelligent robot |
| CN114666578A (en) * | 2022-05-26 | 2022-06-24 | 江苏省计量科学研究院(江苏省能源计量数据中心) | Electronic endoscope system calibration device and calibration method |
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