CN109571402A - A kind of climbing mechanism, climbing intelligent inspection robot and its substation's hill-climbing method - Google Patents
A kind of climbing mechanism, climbing intelligent inspection robot and its substation's hill-climbing method Download PDFInfo
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- CN109571402A CN109571402A CN201811519585.2A CN201811519585A CN109571402A CN 109571402 A CN109571402 A CN 109571402A CN 201811519585 A CN201811519585 A CN 201811519585A CN 109571402 A CN109571402 A CN 109571402A
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- 238000007689 inspection Methods 0.000 title claims abstract description 192
- 230000009194 climbing Effects 0.000 title claims abstract description 179
- 230000007246 mechanism Effects 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 21
- 241000817702 Acetabula Species 0.000 claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims description 98
- 230000005484 gravity Effects 0.000 claims description 28
- 230000009184 walking Effects 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 21
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 67
- 238000010586 diagram Methods 0.000 description 19
- 230000006870 function Effects 0.000 description 12
- 238000012544 monitoring process Methods 0.000 description 11
- 238000013135 deep learning Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
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- 230000007613 environmental effect Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 3
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- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 206010048909 Boredom Diseases 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
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- 230000004069 differentiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Abstract
The invention discloses a kind of climbing mechanisms, climbing intelligent inspection robot and its substation's hill-climbing method, including base and climbing arm, climbing arm is provided with four, climbing arm is arranged on four corners of base, arm of climbing includes climbing outer arm and telescopic arm, the inner wall of climbing outer arm is equipped with directive slide track, directive slide track is connected with guide runner, guide runner is connected with screw rod mould group, screw rod mould group is connected with telescopic arm, screw rod mould group can drive telescopic arm to carry out stretching motion, the end of climbing arm is equipped with Acetabula device, Acetabula device includes sucker rotating electric machine, sucker rotating arm, sucker driving motor and electric sucking disc, sucker rotating electric machine is set to the end of telescopic arm, sucker rotating electric machine connecting sucker rotating arm, sucker rotating arm connecting sucker driving motor, sucker driving motor connects electric sucking disc.The climbing intelligent inspection robot completely reliably, can quickly and efficiently realize Complete autonomy in the case where unmanned intervene.
Description
Technical field
The present invention relates to substation's automatic detecting fields, and in particular to a kind of climbing mechanism, climbing intelligent inspection robot
And its substation's hill-climbing method.
Background technique
With the progress of world power grid, especially after the concept of smart grid is suggested, in world wide on how to
Safety, efficiency and the stability for promoting power grid become the hot spot for falling over each other research.The concentration that substation uses as grid equipment
Point and key point, it is ensured that intelligence, the safe operation of substation are related to the production of enterprise and the normal life of the people.At present
Substation's progress current check and maintenance mostly use greatly the mode of manual inspection, however this mode needs regular, timing inspection
Relevant device and record data, then empirically carry out differentiation processing.This just needs staff to carry out repetitive work,
It is easy that employee is made to generate boredom, is unfavorable for the expansion of work, while the inspection of equipment is mostly by simple point on sense organ
Analysis and it is qualitative, heating and Vibration Condition with tactilely-perceptible equipment have detected whether noise using the sense of hearing, with olfactometry whether
There is peculiar smell, it is more accurate with the data of observation perhaps to record in normal weather, but such as rains, blows, severe snow under extreme weather
Under equal weather conditions, there is danger levels, and the events such as high, big, erroneous detection missing inspection of degree of difficulty frequently occur.
According to China's power department 2011 about the investigation of power grid and operation report in explicitly point out, in substation
Equipment because the work mistake and various fortuitous events of people influence, caused by economic direct losses every year up to 2,600,000,000 yuan.By
This is visible to detect substation equipment in fashion described above, is difficult to meet the requirement of numerous people and enterprise to power supply quality.In order to subtract
The loss of few equipment and the normal operation for ensuring substation, are proposed using the idea that robot replaces people to carry out substation inspection
Out].Intelligent inspection robot is divided into autonomous mode and remote control mode by routine inspection mode, carries high definition CCD camera, infrared imaging
The equipment such as instrument and sound pick-up are moved and are detected in this section according to the settlement of equipment in substation and route, Neng Gouti
It is preceding to judge that route with the presence or absence of overpower or short-circuit conditions, judge that equipment is according to the reading of instrument and meter according to temperature
It is no there are insufficient pressure or it is excessive and whether there is oil leak situations such as.The data of equipment potential risk are provided in time, by dividing
Analysis is found the problem in advance, automatic alarm or some simple maintenances processing of progress.
The detection work of substation is substantially generally divided into the detection of the detection of equipment and workshop external equipment in workshop, but regardless of
It is that the detection of equipment and the detection of workshop external equipment are intended to be related to ground detection and high-altitude detection, for the ground of equipment in workshop
The ground detection of detection and workshop external equipment, it is often necessary to be detected by obstacle detouring intelligent inspection robot, help inspection
Robot carries out obstacle detouring or avoidance, guarantees the progress of its work.And high-altitude detection and workshop peripheral hardware for equipment in workshop
Standby high-altitude detection, the requirement for crusing robot are higher, it is often necessary to have climbing, ladder, pole-climbing, climb arm, climb line etc.
Multiple functions could complete the detection work of corresponding substation equipment.
In view of this, the present invention is detected for the high-altitude detection of equipment in workshop and the high-altitude of workshop external equipment, one is proposed
Kind climbing mechanism, climbing intelligent inspection robot and its substation's hill-climbing method guarantee to complete the detection work in substation's earth's surface
Make.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of climbing mechanism, climbing intelligent inspection machine
People and its substation's hill-climbing method.
In order to solve the above-mentioned technical problem, it adopts the following technical scheme that
A kind of climbing mechanism, including base and climbing arm, the climbing arm are provided with four, and the climbing arm is arranged in institute
It states on four corners of base, the climbing arm includes climbing outer arm and telescopic arm, and the inner wall of the climbing outer arm, which is equipped with, leads
To sliding rail, the directive slide track is connected with guide runner, and the guide runner is connected with screw rod mould group, the screw rod mould group connection
There is telescopic arm, screw rod mould group can drive telescopic arm to carry out stretching motion, and the end of the climbing arm is equipped with Acetabula device, the suction
Disk device includes sucker rotating electric machine, sucker rotating arm, sucker driving motor and electric sucking disc, the sucker rotating electric machine setting
In the end of the telescopic arm, the sucker rotating electric machine connects the sucker rotating arm, described in the sucker rotating arm connection
Sucker driving motor, the sucker driving motor connect the electric sucking disc.
Further, the screw rod mould group includes drive lead screw, transmission nut, nut seat and lead screw motor, the screw rod electricity
Machine is set to the end of the climbing outer arm, and the lead screw motor connects the drive lead screw, and the drive lead screw, which is equipped with, to be passed
Dynamic nut, the transmission nut are connected with nut seat, and the nut seat connects the telescopic arm.
Further, the climbing outer arm is connected with climbing arm rotation adjustment device, the climbing arm rotation adjustment device packet
It includes and adjusts motor, regulation output shaft, adjust driving wheel, adjust driven wheel, adjusting driven shaft and rotation adjustment seat, the adjusting electricity
Machine is set in the base, and the output end for adjusting motor is equipped with speed reducer, and the speed reducer is connected with regulation output shaft,
The regulation output shaft, which is equipped with, adjusts driving wheel, and the adjusting driving wheel is connected with adjusting driven wheel, the adjusting driven wheel
It is connected with adjusting driven shaft, the both ends for adjusting driven shaft rotate adjustment seat, and the rotation adjustment seat connects outside the climbing
Arm.
On the other hand, the present invention provides a kind of climbing intelligent inspection robot again comprising ontology, the ontology include upper
The climbing mechanism stated.
Further, the ontology further includes the pedrail mechanism that base two sides are arranged in.
Further, the ontology further includes gravity center adjusting mechanism, and the gravity center adjusting mechanism includes clump weight, adjusts and slide
Block adjusts sliding rail and center of gravity adjusting screw rod mould group, and the center of gravity adjusts screw rod mould group and is set in the base, the center of gravity tune
It saves screw rod mould group and connects the clump weight, the lower part of the clump weight is equipped with adjusting slider, and the adjusting slider connects the tune
Save sliding rail.
Further, the ontology further includes the master control system being arranged on base, kinetic control system, information acquisition system
And power-supply system, the kinetic control system, information acquisition system and power-supply system are connected with the master control system；
The master control system: for receiving remote control command, walking, climbing, avoidance are completed in control associated motor driving
The position of crusing robot, pose, sensor information are simultaneously sent back to remote control terminal in real time by function, to obtain substation's week
Environmental information is enclosed, guarantees that crusing robot completes the inspection work of substation；
The kinetic control system: the driving for controlling lead screw motor, adjusting motor, crawler belt motor guarantees slope-climbing machine
The normal work of structure and climbing mechanism；
The information acquisition system: by sensor, the relevant information around substation inspection point is acquired, and is transmitted
To master control system, to complete related inspection work；
The power-supply system: for guaranteeing the sustainable of crusing robot to the power supply for electrical equipment on crusing robot
Continuation of the journey work.
Further, the information acquisition system include trinocular vision sensor, radar obstacle avoidance sensor, attitude transducer,
Infrared distance sensor, Temperature Humidity Sensor, control mass sensor and sensor acquisition module, the trinocular vision sensing
Device, radar obstacle avoidance sensor, attitude transducer, infrared distance sensor, Temperature Humidity Sensor, control mass sensor are and institute
It states sensor acquisition module to be connected, the sensor acquisition module connects the master control system.
Further, the ontology further includes alarm system, and the alarm system includes alarm lamp and alarming horn；
The alarm lamp: alarm lamp is flashed when encountering special circumstances for crusing robot, is served as a warning；
The alarming horn: whistle when encountering special circumstances for crusing robot serves as a warning.
Match with climbing intelligent inspection robot, the hill-climbing method of another intelligent inspection robot of the invention, packet
Include following steps:
(a) crusing robot is placed on progress inspection work in substation, finds out surrounding using information acquisition system
Environment determines inspection machine by finding out the GPS positioning module included with the range information of surrounding objects and master control system
The position of people itself.
(b) relative distance that infrared distance sensor measures crusing robot and barrier is first passed through, then passes through three
Mesh visual sensor acquires the image of barrier, obtains the size, volume and height of barrier, obtains the whole gradient of barrier
The local gradient size of size and barrier, and the information of acquisition is transferred to master control system by sensor acquisition module.
(c) information that master control system processing sensor acquisition module transmits judges that can crusing robot with
The mode of climbing clears the jumps, and step (d) is carried out if it can clear the jumps, and passes through thunder if it cannot clear the jumps
Judging whether up to obstacle avoidance sensor being capable of cut-through object, if it is possible to which cut-through object then carries out step (e), if can not
It is then sounded an alarm by alarm system around front obstacle, staff is prompted to come to handle.
(d) it first passes through immediately ahead of pedrail mechanism walking to barrier, barrier is then acquired according to trinocular vision sensor
The whole gradient, the extension elongation of adjustment front side climbing arm, at the same adjust with the Acetabula device that matches of front side climbing arm, guarantee
The electric sucking disc is adsorbed in the slope surface of barrier；Then according to identical mode, the extension elongation for arm of climbing on rear side of adjustment,
The Acetabula device that adjustment simultaneously matches with rear side climbing arm, guarantees that the electric sucking disc is adsorbed in the slope surface of barrier；When
When the gradient of barrier changes, extension elongation and direction by adjusting climbing arm are found and this section of barrier gradient phase
The length of matched climbing arm and direction, and by Acetabula device, complete the climbing work of this section of barrier.
(e) by radar obstacle avoidance sensor and trinocular vision sensor, size, volume and the width of disturbance in judgement object make
Crusing robot avoiding obstacles guarantee that crusing robot cut-through object carries out subsequent inspection work.
As a result of the above technical solution, the following beneficial effects are obtained:
The present invention is a kind of climbing mechanism, climbing intelligent inspection robot and its substation's hill-climbing method, climbing intelligence
Crusing robot match four climbing arms, before two, behind two, before two climbing arm co-ordinations, behind two climb
Slope arm co-ordination, the i.e. work of the climbing arm of front two and below the work independence of two obstacle detouring arms.When normal inspection, not
In the case where encountering barrier, plane walking is completed by pedrail mechanism, meets the general walking needs of crusing robot.When encountering
After ramp shaped barrier or scalariform barrier, after generally first passing through the image that trinocular vision collects barrier, barrier is obtained
Size, volume and height, and the information of acquisition is transferred to master control system by sensor acquisition module, is sentenced by master control system
It is disconnected go out should which kind of posture crosses ramp shaped barrier or scalariform barrier with intelligent inspection robot.Specifically, crawler belt is first passed through
Immediately ahead of mechanism walking to barrier, the whole gradient of barrier is then acquired according to trinocular vision sensor, adjustment front side is climbed
The extension elongation of slope arm, while the Acetabula device to match with front side climbing arm is adjusted, guarantee that the electric sucking disc is adsorbed in barrier
Hinder in the slope surface of object；Then according to identical mode, the extension elongation of rear side climbing arm is adjusted, while being adjusted and rear side climbing arm
The Acetabula device to match guarantees that the electric sucking disc is adsorbed in the slope surface of barrier；When the gradient of barrier changes
When, by adjusting climbing arm extension elongation and direction, find with this section of barrier gradient match climbing arm length and
Direction, and by Acetabula device, complete the climbing work of this section of barrier.In this way, according to different barrier situations, intelligence of climbing
Can inspection machine achievable autonomous climbing and ladder per capita, it is completely reliable, quickly so that robot is in the case where unmanned intervene
Efficiently realize Complete autonomy.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is a kind of structural schematic diagram of intelligent substation inspection system in the embodiment of the present invention 1；
Fig. 2 is the control structure schematic diagram of crusing robot in the embodiment of the present invention 1；
Fig. 3 is the structural schematic diagram of information acquisition system in the embodiment of the present invention 1；
Fig. 4 is a kind of structural schematic diagram of track trace navigation intelligent inspection robot in the embodiment of the present invention 2；
Fig. 5 is to be interconnected to form inspection between straight-line track trace and curved line track trace in the embodiment of the present invention 2
The structural schematic diagram of the walking route of robot；
Fig. 6 is the track trace layout stracture schematic diagram at T-junction crossing in the embodiment of the present invention 2；
Fig. 7 is the track trace layout stracture schematic diagram at decussation crossing in the embodiment of the present invention 2；
Fig. 8 is the track trace layout stracture schematic diagram of arc intersection in the embodiment of the present invention 2；
Fig. 9 is the structural schematic diagram of obstacle detouring intelligent inspection robot in the embodiment of the present invention 3；
Figure 10 is that obstacle detouring arm rotation adjustment device and gravity center adjusting mechanism are set to obstacle detouring and intelligently patrol in the embodiment of the present invention 3
Examine the structural schematic diagram in robot base；
Figure 11 is the schematic diagram of internal structure of obstacle detouring arm in the embodiment of the present invention 3；
Figure 12 is the structural schematic diagram of climbing intelligent inspection robot in the embodiment of the present invention 4；
Figure 13 is that climbing arm rotation adjustment device and gravity center adjusting mechanism are set to intelligent patrol of climbing in the embodiment of the present invention 4
Examine the structural schematic diagram in robot base；
Figure 14 is the schematic diagram of internal structure of climbing arm in the embodiment of the present invention 4；
Figure 15 is the structural schematic diagram of pole-climbing intelligent inspection robot in the embodiment of the present invention 5；
Figure 16 is that pole-climbing arm rotation adjustment device is set in pole-climbing intelligent inspection robot base in the embodiment of the present invention 4
Structural schematic diagram；
Figure 17 is the schematic diagram of internal structure of pole-climbing arm in the embodiment of the present invention 4；
Figure 18 is the structural schematic diagram of pole-climbing clamp arm driving assembly in the embodiment of the present invention 4
Figure 19 is the side structure schematic diagram of pole-climbing clamp arm driving assembly in the embodiment of the present invention 4.
In figure: 1- robot body；2- straight-line track trace；3- curved line track trace；4-RFID identifier；5- deflecting
RFID label tag；6- detects RFID label tag；7- master control system；Magnetic sensing equipment before 8-；Magnetic sensing equipment after 9-；10- trinocular vision
Sensor；11- radar obstacle avoidance sensor；12- attitude transducer；13- infrared distance sensor；14- Temperature Humidity Sensor；15-
Alarm lamp；16- alarming horn；17- pedrail mechanism；18- base；19- obstacle detouring arm；20- obstacle detouring outer arm；21- telescopic arm；22- is led
To sliding rail；23- guide runner；24- drive lead screw；25- transmission nut；26- lead screw motor；27- adjusts motor；28- adjusts defeated
Shaft；29- adjusts driving wheel；30- adjusts driven wheel；31- adjusts driven shaft；32- rotates adjustment seat；33- speed reducer；34-
Clump weight；35- adjusting slider；36- adjusts sliding rail；37- center of gravity adjusts screw rod mould group；38- climbing arm；39- climbing outer arm；41-
Sucker rotating electric machine；42- sucker rotating arm；43- sucker driving motor；44- electric sucking disc；45- nut seat；46- pole-climbing arm；
47- pole-climbing outer arm；48- pole climbing device；49- pole-climbing attachment base；50- the first pole-climbing clamp arm；51- the second pole-climbing clamp arm；52- arc
Shape guide rail；The left collet of 53-；The right collet of 54-；55- upper grip；56- pole-climbing clamp arm motor；57- pole-climbing clamp arm active rotating shaft；58-
Pole-climbing clamp arm driven spindle；59- pole-climbing clamp arm driving gear；60- pole-climbing clamp arm driven gear；61- upper rack；62- lower tooth
Item；63- pole.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by accompanying drawings and embodiments, to this
Invention is further elaborated.However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention,
The range being not intended to restrict the invention.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to keep away
Exempt from unnecessarily to obscure idea of the invention.
Embodiment 1
Referring to Fig. 1-3, a kind of intelligent substation inspection system, including monitoring background terminal, wireless telecom equipment and inspection
Robot,
Monitoring background terminal is data receiver, processing, display and the storage center of entire cruising inspection system, by wireless communication
Equipment and crusing robot realize that long-range control and data are transmitted, and realize to the automatic identification of substation equipment, inspection and alarm.
Monitoring background terminal mainly includes applying unit, function services unit, interface communication unit and database.,
Applying unit needs to provide various application operatings according to substation inspection business, and the concrete function of applying unit can root
It is voluntarily configured according to needs, main content to be applied includes: that inspection video is shown, substation's electronic map is shown, inspection machine
People's remote control operation, patrol task are checked, inspection log is checked, the analysis of inspection data, monitoring data tendency chart, user's report etc..
Function services unit provides some basic function services mainly around substation inspection business, provides for applying unit
Support, specifically include that patrol mode configuration selection, patrol task setting with scheduling, inspection data processing, inspection data retrieval,
Item of alarming setting, log services and substation's management map.
Interface communication unit: being primarily referred to as realizing the interaction of crusing robot and control centre by Wireless Communication Equipment,
Specifically include that crusing robot detection image, data, robot oneself state and control centre refer to the remote control of robot
It enables.
Database mainly includes model database, historical data base and real-time data base, the letter for including by database
Breath can not only assist crusing robot to complete deep learning, and be used for the storage of whole system data, facilitate monitoring backstage
Terminal is called at any time.
Wireless telecommunications system is used to monitor the wireless transmission of background terminal and crusing robot information.
Wireless telecommunications system includes the network switch and wireless network base station, and the network switch is provided with multiple, network
Interchanger has installation on monitoring background terminal and crusing robot.
Crusing robot by wireless communication equipment and monitoring background terminal real time communication, realize inspection data teletransmission and
Monitor the remote control of background terminal order.
Crusing robot includes master control system, kinetic control system, information acquisition system and power-supply system, motion control system
System, information acquisition system, power-supply system and wireless telecommunication system are connected with master control system.
Master control system controls kinetic control system, completes walking, obstacle detouring, avoidance, climbs for receiving remote control command
Line work, pole-climbing, is climbed at ladder in slope, and after the position of crusing robot, pose, sensor information are sent back to monitoring in real time
Platform terminal guarantees that crusing robot completes the inspection work of substation to obtain the ambient condition information of crusing robot.
Kinetic control system is used to control the normal work of driving equipment, guarantees being normally carried out for inspection work.
Information acquisition system is transmitted to master control by sensor, the current environmental information of acquisition crusing robot
System completes the information collection work for needing the substation equipment of inspection.
Power-supply system: for the power supply for electrical equipment to crusing robot, guarantee the sustainable continuation of the journey work of crusing robot
Make.
Crusing robot is divided into obstacle detouring intelligent inspection robot, climbing intelligent inspection robot, pole-climbing intelligent inspection machine
People and track trace navigation intelligent inspection robot.
Obstacle detouring intelligent inspection robot helps crusing robot to complete obstacle detouring and avoidance by barrier getting over mechanism set by ontology
Work carries out Daily Round Check convenient for needing to carry out the region of obstacle detouring to substation.
Intelligent inspection robot of climbing passes through the help of climbing mechanism set by ontology crusing robot completion climbing and ladder
Work, the region convenient for carrying out climbing and ladder to substation carry out Daily Round Check.
Pole-climbing intelligent inspection robot helps crusing robot to complete pole-climbing and climbs line by pole-climbing mechanism set by ontology
Work, the region convenient for carrying out climbing and ladder to substation carry out Daily Round Check.
Track trace navigates intelligent inspection robot by RFID identification device set by ontology set by ontology, and cooperation is needing
The track trace being laid on the substation level land of inspection and RFID label tag are wanted, the plane walking patrol worker of crusing robot is completed
Make.
Specifically, information acquisition system include trinocular vision sensor, it is radar obstacle avoidance sensor, attitude transducer, infrared
Distance measuring sensor, Temperature Humidity Sensor and sensor acquisition module, trinocular vision sensor, radar obstacle avoidance sensor, posture pass
Sensor, infrared distance sensor, Temperature Humidity Sensor are connected with sensor acquisition module, sensor acquisition module connection master
Control system.
Trinocular vision sensor is set to the top of master control system, and radar obstacle avoidance sensor is set to the side of base, appearance
State sensor, infrared distance sensor and Temperature Humidity Sensor are set on base.
The lower section of trinocular vision sensor is equipped with holder, for controlling the posture of trinocular vision sensor.Trinocular vision passes
Sensor is one high-definition camera of increase on the basis of original binocular vision sensor, absorbs the figure in front of crusing robot
Piece obtains three-dimensional information by image procossing, then constructs CAD model by surface fitting, obtains the information in front of crusing robot.
Due to increasing a video camera, the blind area of measurement is reduced, while avoided in binocular vision as far as possible due to characteristic point mould
The error hiding phenomenon pasted and generated.
Specifically, it after trinocular vision sensor is by identifying target lead object, and is measured and is patrolled by infrared distance sensor
The relative position for examining robot and its, calculates the volume and size of object, sends its information to master control system, master control system
Its data is transferred to kinetic control system by system, is gone to by kinetic control system control crusing robot and is carried out phase in front of object
Close inspection operation.
Radar obstacle avoidance sensor, which is used to work as, detects that the barrier in front cannot be more out-of-date, needs to sense by radar avoidance
Device helps avoiding obstacles.
Attitude transducer is used to measure the 3 d pose of current crusing robot.
Infrared distance sensor by obtain with substation's ambient enviroment object it is specific come determine crusing robot from
Body position.
Temperature Humidity Sensor is used to measure the temperature and humidity information of substation's ambient enviroment.
Sensor acquisition module is for acquiring trinocular vision sensor, radar obstacle avoidance sensor, attitude transducer, infrared survey
Information away from sensor, Temperature Humidity Sensor.
Specifically, alarm system is additionally provided on crusing robot, alarm system includes alarm lamp and alarming horn.Alarm lamp
The front side of master control system is set to alarming horn.
Alarm lamp: alarm lamp is flashed when encountering special circumstances for crusing robot, is served as a warning.
Alarming horn: whistle when encountering special circumstances for crusing robot serves as a warning.
System matches therewith, the present invention provides a kind of intelligent substation patrol method again, comprising the following steps:
(a) database for first passing through monitoring background terminal transfers the geographic map information of the substation；Then as needed
The substation equipment of detection divides detection zone, which includes ground detection region and high-altitude detection zone；Last root
According to needing detection zone to match corresponding crusing robot, in ground detection Region Matching obstacle detouring intelligent inspection robot and track part
Line navigation intelligent inspection robot, in high-altitude, detection zone matching has climbing intelligent inspection robot and pole-climbing Intelligent inspection machine
Device people.
Here ground detection region is generally referred to as in substation's workshop outside first layer ground region and substation's workshop
Ground region, which is generally to facilitate to lay straight-line track trace and curved line track trace based on level land, from
And facilitate design inspection programme path, by track part line navigate intelligent inspection robot come carry out inspection Comparision facilitate it is fast
It is prompt.In addition on the one hand track trace inconvenience is laid in some rugged region in the detection zone of ground here, because
This needs individually to be detected by obstacle detouring intelligent inspection robot, the refinement substation inspection division of labor, to improve detection effect
Rate.
Here high-altitude detection zone be generally referred to as in workshop the floor area more than second layer, the wall in workshop and
The position that high-altitude power transmission line outside layer top region, workshop detects and some is special, for example the special position is relative to inspection
It is higher position for robot itself, for example the special position needs to climb after line, pole-climbing etc., ability by climbing
Detect substation equipment.The detection of these positions is needed through climbing intelligent inspection robot and pole-climbing intelligent inspection robot
It could complete relevant detection work.
(b) crusing robot for needing to participate in inspection is subjected to deep learning, the content of deep learning includes the survey monitor
Region, the straight-line track trace of walking and the planning route of curved line track trace and walking length, need that device people needs to detect
The detection content for the substation equipment to be detected after the crusing robot deep learning wait need to participate in inspection, is put into
In the Daily Round Check of substation.
(c) more are arranged on ground detection region referring to Fig. 5 according to the landform and landforms in detection ground detection region
Straight-line track trace and curved line track trace, they are joined end to end, and form inspection route, and more straight-line tracks being arranged
Trace is labeled as A1 straight-line track trace, A2 straight-line track trace, A3 straight-line track trace ..., more curved line magnetic of setting
Trajectory line is labeled as B1 curved line track trace, B2 curved line track trace, B3 curved line track trace ...；In ground detection
Deflecting RFID label tag is arranged in the intersection in region, and is C1 deflecting RFID label tag, C2 deflecting by deflecting RFID label tag
RFID label tag, C3 deflecting RFID label tag ... do corresponding early-stage preparations for the inspection work of substation.
(d) the setting detection RFID label tag on the substation equipment for need inspection, and will test RFID label tag is D1
It detects RFID label tag, D2 detection RFID label tag, D3 and detects RFID label tag ..., crusing robot intelligent recognition substation is facilitated to patrol
Examine equipment.
(e) crusing robot to ground detection zone carry out inspection work: according in step (a) to ground detection zone
It divides, staff carries out corresponding position cloth to obstacle detouring intelligent inspection robot and track part line navigation intelligent inspection robot
If the start position for being placed into corresponding straight-line track trace starts to work.Such as obstacle detouring Intelligent inspection machine
Device people, the ground region predominantly detected are the detection zone that ground is uneven, needs obstacle detouring and avoidance, rely on obstacle detouring Intelligent inspection machine
Device people carries out detection work, proper.Such as ground level land region, track trace facilitates design to patrol convenient for laying
Programme path is examined, it is convenient and efficient to carry out inspection Comparision by track part line navigation intelligent inspection robot.
(f) crusing robot to high-altitude detection zone carry out inspection work: according in step (a) to high-altitude detection zone
It divides, staff carries out corresponding position laying to climbing intelligent inspection robot and pole-climbing intelligent inspection robot, by it
The start position for being placed into corresponding straight-line track trace starts to work.Such as the area for needing to climb with ladder,
It is suitable that detection Comparision is carried out using climbing intelligent inspection robot.For needing pole-climbing and climb line, for example, to workshop outside
Power transmission line when being detected, generally require to carry out detection work by climbing level robot.
Specifically, in step (e), track part line navigation intelligent inspection robot specific works it is as follows: pass through master control system
System control kinetic control system, makes crusing robot walk along straight-line track trace and curved line track trace, according to number
PID position type control algolithm, learns the real time position and road conditions of current crusing robot, and confirm crusing robot at this
The departure for carving position, is embodied asC in formula
It (j) is the position of target value and the crusing robot at current time and the difference of posture, c (j-1) is the value of last moment；When encountering
When intersection, the traffic information of current intersection is acquired by trinocular vision sensor, and traffic information is sent to master control
System, and identified by the directed navigation of track trace, after being combined by vision collecting and track trace, made by master control system
Corresponding judgement, selects suitable route, and passes through RFID identification device on crusing robot and corresponding deflecting RFID label tag
After fitting through, master control system controls kinetic control system, makes crusing robot by intersection, carries out next inspection
Work；After trinocular vision sensor, which collects front, needs the substation equipment of inspection, pass through the RFID on crusing robot
The corresponding detection RFID label tag of identifier identification, is worked by the inspection that crusing robot completes the substation equipment, judges the change
Whether power station equipment is normal, if the substation equipment is normal, crusing robot carries out next inspection work；If power station
Unit exception, crusing robot overhaul the substation equipment, and next inspection work is carried out after the completion of Awaiting Overhaul.
Specifically, in step (e), the specific works of obstacle detouring intelligent inspection robot are as follows:
When encountering front obstacle, according to the deep learning of step (b), judge that can crusing robot surmount obstacles
Object first passes through immediately ahead of pedrail mechanism walking to barrier, if can clear the jumps then according to trinocular vision sensor
Size, volume and the height for acquiring barrier, when the height of barrier is less than the height of control system setting, control system is logical
Two obstacle detouring arms on front side of crusing robot are crossed, drive the obstacle detouring outer arm on front side of crusing robot and telescopic arm work, and pass through
Cooperate pedrail mechanism, clear the jumps, completes obstacle detouring work；When the height of barrier is greater than the height of control system setting,
Control system is worked at the same time by two obstacle detouring arms on front side of crusing robot and two obstacle detouring arms on rear side of crusing robot, and
By cooperating pedrail mechanism, clears the jumps, complete obstacle detouring work；
Being judged whether if it cannot clear the jumps by radar obstacle avoidance sensor being capable of cut-through object, if it is possible to
Cut-through object, then by radar obstacle avoidance sensor and trinocular vision sensor, size, volume and the width of disturbance in judgement object,
Make crusing robot avoiding obstacles, guarantees that crusing robot cut-through object carries out subsequent inspection work；
It is sounded an alarm if it can not bypass front obstacle by alarm system, staff is prompted to come to handle；
After breaking the barriers, crusing robot is connect down according to original preset track trace and curved line track trace
The inspection work come.
Specifically, in step (f), the specific works for intelligent inspection robot of climbing are as follows:
Intelligent inspection robot of climbing first is walked along straight-line track trace, when encountering ramp shaped barrier, according to step
(b) deep learning, the information that master control system processing sensor acquisition module transmits, judges the inspection with climbing mechanism
Can robot cross ramp shaped barrier in a manner of climbing or ladder, if ramp shaped barrier can be crossed, first pass through shoe
Immediately ahead of the walking to ramp shaped barrier of band mechanism, the whole gradient of ramp shaped barrier is then acquired according to trinocular vision sensor,
The extension elongation of adjustment front side climbing arm, while the Acetabula device to match with front side climbing arm is adjusted, guarantee that electric sucking disc is inhaled
It invests in the slope surface of barrier；Then according to identical mode, the extension elongation of adjustment rear side climbing arm, while adjustment and rear side
The Acetabula device that climbing arm matches, guarantees that electric sucking disc is adsorbed in the slope surface of ramp shaped barrier；When the slope of ramp shaped barrier
Degree is when changing, extension elongation and direction by adjusting climbing arm, finds and matches with this section of ramp shaped barrier gradient
The length of climbing arm and direction, and by Acetabula device, complete the climbing work of this section of barrier；
Pass through radar obstacle avoidance sensor if it cannot cross ramp shaped barrier to judge whether that ramp shaped barrier can be bypassed,
If ramp shaped barrier can be bypassed, by radar obstacle avoidance sensor and trinocular vision sensor, the size of disturbance in judgement object,
Volume and width make crusing robot smoothly bypass ramp shaped barrier, and it is subsequent to guarantee that crusing robot cut-through object carries out
Inspection work；
It is sounded an alarm if it can not bypass front obstacle by alarm system, staff is prompted to come to handle；
After ramp shaped barrier, crusing robot is carried out according to original preset track trace and curved line track trace
Next inspection work.
Specifically, in step (f), the specific works of pole-climbing intelligent inspection robot are as follows:
Pole-climbing intelligent inspection robot is first walked along straight-line track trace, is needed the pole for climbing period of the day from 11 p.m. to 1 a.m when encountering, is first passed through
Infrared distance sensor measures the relative distance of crusing robot and the pole for needing to climb, and is then sensed by trinocular vision
Device acquires the image of pole, obtains the angle of the diameter of pole, the vertical height and pole and horizontal plane of pole, and will adopt
The information of collection is transferred to master control system by sensor acquisition module；
The information that master control system processing sensor acquisition module transmits, judges that can crusing robot be climbed and passes through bar
Son first passes through pedrail mechanism walking to the bottom of pole, is obtained according to trinocular vision sensor if can climb through pole
The diameter of pole, the vertical of pole are highly stretched with the angle of pole and horizontal plane, adjustment front side with the climbing arm of rear side
Then length out, the state that the pose adjustment of crusing robot and pole are matched pass through the pole-climbing of control front side climbing arm
Device clamps pole by three collets, and the pole-climbing arm of front side is made to climb up pole, then in a like fashion, control rear side climbing
The pole climbing device of arm clamps pole by three collets, and the pole-climbing arm of rear side is made to climb up pole, finally repeats above-mentioned pole-climbing behaviour
Make, completes entire pole-climbing process；
It is sounded an alarm if it cannot climb through pole by alarm system, staff is prompted to come to handle；
After pole, crusing robot carries out following according to original preset track trace and curved line track trace
Inspection work.
Embodiment 2
It works for specifically floor, the present embodiment is provided with corresponding track trace navigation intelligent inspection robot
And its air navigation aid.
Referring to Fig. 4 to Fig. 8, a kind of track part line navigation intelligent inspection robot, including robot body 1, more straight line magnetic
Trajectory line 2, more curved line track traces 3, RFID label tag and RFID identification device 4, straight-line track trace 2 connect curved line track
Trace 3 is interconnected to form the walking route of crusing robot between straight-line track trace 2 and curved line track trace 3.Pass through
More straight-line track traces 2 and Duo Gen curved line track trace 3 are set, inspection route is laid with, are the inspection in ground level land region
Work is prepared.
Robot body 1 is equipped with RFID identification device 4, and the side of straight-line track trace 2 and curved line track trace 3 is set
There is RFID label tag, RFID label tag and RFID identification device 4 match.Pass through setting RFID label tag and RFID identification device 4, RFID label tag
It is divided into deflecting RFID label tag 5 and detection RFID label tag 6, deflecting RFID label 5 is arranged on curved line track trace 3, conveniently patrols
Examine robot deflecting identification.It detects RFID label tag 6 to be arranged on detection device, the detection mark of RFID label tag 6 has tested substation
The information of equipment facilitates RFID identifier 4 to read substation equipment information, improves the intelligent level of crusing robot.
Robot body 1 further include the master control system 7 being arranged on base, kinetic control system, information acquisition system and
Power-supply system, kinetic control system, information acquisition system, power-supply system are connected with master control system 7.
Master control system 7: for receiving remote control command, kinetic control system is controlled, makes crusing robot along straight line
Track trace 2 and curved line track trace 3 are walked, and in real time send back to the position of crusing robot, pose, sensor information
To monitoring background terminal, to obtain substation's ambient condition information, guarantee that crusing robot completes the inspection work of substation.
Kinetic control system: for controlling the normal work of driving equipment, guarantee being normally carried out for inspection work.
Information acquisition system: by sensor, the relevant information around substation inspection point is acquired, and is transmitted to master
Control system 7 completes the information collection work around substation.
Power-supply system: for the power supply for electrical equipment to crusing robot, guarantee the sustainable continuation of the journey work of crusing robot
Make.
Specifically, referring to Fig. 4, the lower part of robot body 1 is equipped with magnetic sensing equipment, and magnetic sensing equipment includes preceding magnetic sensing
Equipment 8 and rear magnetic sensing equipment 9, front side of the preceding magnetic sensing equipment 8 for crusing robot are navigated, and rear magnetic sensing equipment 9 is used for
The rear side of crusing robot positions.The magnetic sensing equipment is Magnetic Sensor, by the two groups of Magnetic Sensors in setting front and back, cooperates straight line
Track trace 2 and curved line track trace 3 carry out location navigation to crusing robot, do not deviate by it during the motion
Default route reduces inspection failure, improves inspection quality.
Specifically, information acquisition system includes trinocular vision sensor 10, radar obstacle avoidance sensor 11, attitude transducer
12, infrared distance sensor 13, Temperature Humidity Sensor 14 and sensor acquisition module, trinocular vision sensor 10, radar avoidance
Sensor 11, attitude transducer 12, infrared distance sensor 13, Temperature Humidity Sensor 14 are connected with sensor acquisition module
It connects, sensor acquisition module connects master control system 7.
Robot body 1 further includes alarm system, and alarm system includes alarm lamp 15 and alarming horn 16；
Alarm lamp 15: alarm lamp 15 is flashed when encountering special circumstances for crusing robot, is served as a warning；
Alarming horn 16: whistle when encountering special circumstances for crusing robot serves as a warning.
The two sides of robot body 1 are equipped with pedrail mechanism 17.The pedrail mechanism 17 is the pedrail mechanism 17 of the prior art, this
In be not unfolded to describe its specific structure.
Match with trajectory line navigation intelligent inspection robot, the present embodiment provides a kind of track part line navigation intelligent patrol detections
Robot navigation method, comprising the following steps:
(a) database for first passing through monitoring background terminal transfers the geographic map information of the substation, according to detection ground
More straight-line track traces 2 and curved line magnetic is arranged referring to Fig. 5 in the landform and landforms of detection zone on ground detection region
Trajectory line 3, here ground detection region are primarily directed to level land ground, and the gradient rises and falls little region.By more of setting
Straight-line track trace 2 be labeled as A1 straight-line track trace, A2 straight-line track trace, A3 straight-line track trace ..., setting it is more
Root curved line track trace 3 is labeled as B1 curved line track trace, B2 curved line track trace, B3 curved line magnetic tracks
Line ...；Deflecting RFID label tag 5 is set in the intersection in ground detection region, and deflecting RFID label tag 5 is become labeled as C1
To RFID label tag, C2 deflecting RFID label tag, C3 deflecting RFID label tag ..., intersection is generally divided into T-junction crossing,
Decussation crossing and arc intersection, specifically can be referring to Fig. 6, Fig. 7 and Fig. 8.
(b) crusing robot for needing to participate in inspection is subjected to deep learning, the content of deep learning includes the survey monitor
Region, the straight-line track trace of walking and the planning route of curved line track trace and walking length, need that device people needs to detect
The detection content for the substation equipment to be detected after the crusing robot deep learning wait need to participate in inspection, is put into
In the Daily Round Check of substation.
(c) the setting detection RFID label tag 6 on the substation equipment for need inspection, and will test RFID label tag 6 and be labeled as
D1 detects RFID label tag, D2 detection RFID label tag, D3 and detects RFID label tag ....
(d) crusing robot to ground detection zone carry out inspection work: staff by track part line navigate intelligent patrol detection
The start position of robot to straight-line track trace starts to work；Detailed process is as follows: being controlled and is moved by master control system 7
Control system makes crusing robot walk along straight-line track trace and curved line track trace, according to digital PID position type control
Algorithm processed, learns the real time position and road conditions of current crusing robot, and confirm crusing robot in the inclined of the moment position
Residual quantity is embodied asC (j) is target value in formula
And the position of the crusing robot at current time and the difference of posture, c (j-1) are the value of last moment；When encountering intersection,
Traffic information is sent to master control system 7, and led to by the traffic information that current intersection is acquired by trinocular vision sensor 10
The directed navigation identification for crossing track trace, after being combined by vision collecting and track trace, is made by master control system 7 and being sentenced accordingly
It is disconnected, select suitable route, and fit through by RFID identification device 4 on crusing robot and corresponding deflecting RFID label tag
Afterwards, master control system 7 controls kinetic control system, makes crusing robot by intersection, carries out next inspection work；When
After trinocular vision sensor 10 collects the substation equipment that front needs inspection, pass through the RFID identification device on crusing robot
The corresponding detection RFID label tag of 4 identifications, is worked by the inspection that crusing robot completes the substation equipment, judges that the substation sets
Whether standby normal, if the substation equipment is normal, crusing robot carries out next inspection work；If power station equipment is different
Often, crusing robot overhauls the substation equipment, and next inspection work is carried out after the completion of Awaiting Overhaul.
Embodiment 3
It works for specifically ground obstacle detouring, the present embodiment is provided with corresponding barrier getting over mechanism, obstacle detouring intelligent inspection machine
People and its substation's obstacle-detouring method.
Referring to Fig. 9, Figure 10 and Figure 11, a kind of barrier getting over mechanism, including base 18 and obstacle detouring arm 19, obstacle detouring arm 19 are provided with four
Root, obstacle detouring arm 19 are arranged on four corners of base 18, and obstacle detouring arm 19 includes obstacle detouring outer arm 20 and telescopic arm 21, obstacle detouring outer arm
20 inner wall is equipped with directive slide track 22, and directive slide track 22 is connected with guide runner 23, and guide runner 23 is connected with screw rod mould
Group, screw rod mould group are connected with telescopic arm 21, and screw rod mould group can drive telescopic arm 21 to carry out stretching motion.
Specifically, screw rod mould group includes drive lead screw 24, transmission nut 25, nut seat 45 and lead screw motor 26, screw rod electricity
Machine 26 is set to the end of obstacle detouring outer arm 20, and lead screw motor 26 connects drive lead screw 24, and drive lead screw 24 is equipped with transmission nut
25, transmission nut 25 is connected with nut seat 45, and nut seat 45 connects telescopic arm 21.By the way that screw rod mould group is arranged, by lead screw motor
26 drive drive lead screw 24 to move, and drive lead screw 24 drives transmission nut 25 to move, to drive telescopic arm 21 to move, thus real
The Telescopic of existing obstacle detouring arm 19, facilitates the entire length for adjusting obstacle detouring arm 19, adapts it to different size of barrier.
Specifically, obstacle detouring outer arm 20 is connected with obstacle detouring arm rotation adjustment device, and obstacle detouring arm rotation adjustment device includes adjusting
Motor 27, regulation output shaft 28 adjust driving wheel 29, adjust driven wheel 30, adjusting driven shaft 31 and rotation adjustment seat 32, adjust
Section motor 27 is set in base 18, and the output end for adjusting motor 27 is equipped with speed reducer 33, and speed reducer 33 is connected with adjusting output
Axis 28, regulation output shaft 28, which is equipped with, adjusts driving wheel 29, adjusts driving wheel 29 and is connected with adjusting driven wheel 30, adjusts driven wheel
30 are connected with adjusting driven shaft 31, and the both ends for adjusting driven shaft 31 rotate adjustment seat 32, and rotation adjustment seat 32 connects obstacle detouring outer arm
20.Regulation output shaft 28 is driven to make rotating motion by adjusting motor 27 by setting obstacle detouring arm rotation adjustment device, to drive
Adjust driving wheel 29 move, adjust driving wheel 29 and adjust driven wheel 30 engagement under, drive rotation adjustment seat 32 into
Row rotation, to realize the rotation function of obstacle detouring arm 19, facilitates so that entire obstacle detouring arm 19 be driven to be rotated and adjusts obstacle detouring arm
19 angle adapts it to different size of barrier.
Another aspect provides a kind of obstacle detouring intelligent inspection robot comprising ontology, which is characterized in that ontology included gets over
Hinder mechanism.
Specifically, ontology further includes the pedrail mechanism 17 that 18 two sides of base are arranged in.The pedrail mechanism 17 is the prior art
Pedrail mechanism 17 exist, here be not unfolded to describe.
Specifically, ontology further includes gravity center adjusting mechanism, and gravity center adjusting mechanism includes clump weight 34, adjusting slider 35, adjusts
It saves sliding rail 36 and center of gravity adjusts screw rod mould group 37, center of gravity adjusts screw rod mould group 37 and is set in base 18, and center of gravity adjusts screw rod mould
37 connection clump weight 34 of group, the lower part of clump weight 34 are equipped with adjusting slider 35, and the connection of adjusting slider 35 adjusts sliding rail 36.
Specifically, ontology further includes the master control system 7 being arranged on base 18, kinetic control system, information acquisition system
And power-supply system, kinetic control system, information acquisition system and power-supply system are connected with master control system 7；
Master control system 7: for receiving remote control command, walking, obstacle detouring, avoidance function are completed in control associated motor driving
Can and the position of crusing robot, pose, sensor information be sent back to remote control terminal in real time, to obtain around substation
Environmental information guarantees that crusing robot completes the inspection work of substation.
Kinetic control system is used for the driving for controlling lead screw motor 26, adjusting motor 27, crawler belt motor, guarantees barrier getting over mechanism
With the normal work of barrier getting over mechanism；
Information acquisition system acquires the relevant information around substation inspection point by sensor, and is transmitted to master
Control system 7 completes the information collection work around substation；
Power-supply system is used to guarantee the sustainable continuation of the journey work of crusing robot to the power supply for electrical equipment of crusing robot
Make.
Specifically, information acquisition system includes trinocular vision sensor 10, radar obstacle avoidance sensor 11, attitude transducer
12, infrared distance sensor 13, Temperature Humidity Sensor 14 and sensor acquisition module, trinocular vision sensor 10, radar avoidance
Sensor 11, attitude transducer 12, infrared distance sensor 13, Temperature Humidity Sensor 14 are connected with sensor acquisition module
It connects, sensor acquisition module connects master control system 7.
Specifically, ontology further includes alarm system, and alarm system includes alarm lamp 15 and alarming horn 16；
Alarm lamp 15: alarm lamp 15 is flashed when encountering special circumstances for crusing robot, is served as a warning；
Alarming horn 16: whistle when encountering special circumstances for crusing robot serves as a warning.
Another aspect provides a kind of substation's obstacle-detouring method of intelligent inspection robot, it is characterised in that including following step
It is rapid:
(a) crusing robot is placed on progress inspection work in substation, finds out surrounding using information acquisition system
Environment determines inspection machine by finding out the GPS positioning module included with the range information of surrounding objects and master control system 7
The position of people itself；
(b) relative distance that infrared distance sensor 13 measures crusing robot and barrier is first passed through, is then passed through
Trinocular vision sensor 10 acquires the image of barrier, obtains the size, volume and height of barrier, and the information of acquisition is led to
It crosses sensor acquisition module and is transferred to master control system 7；
(c) master control system 7 handles the information that sensor acquisition module transmits, and judges that can crusing robot cross barrier
Hinder object, step (d) is carried out if it can clear the jumps, is sentenced if it cannot clear the jumps by radar obstacle avoidance sensor 11
It is disconnected whether being capable of cut-through object, if it is possible to cut-through object then carries out step (e), if front obstacle can not be bypassed
It is then sounded an alarm by alarm system, staff is prompted to come to handle；
(d) it first passes through immediately ahead of the walking to barrier of pedrail mechanism 17, is then acquired and hindered according to trinocular vision sensor 10
The size, volume and height for hindering object, when the height of barrier is less than the height of control system setting, control system passes through inspection
Two obstacle detouring arms 19 on front side of robot drive obstacle detouring outer arm 20 and telescopic arm 21 on front side of crusing robot to work, and pass through
Cooperate pedrail mechanism 17, clear the jumps, completes obstacle detouring work；When the height of barrier is greater than the height of control system setting
When, control system passes through two obstacle detouring arms 19 on rear side of two obstacle detouring arms 19 and crusing robot on front side of crusing robot simultaneously
Work, and by cooperation pedrail mechanism 17, it clears the jumps, completes obstacle detouring work；
(e) pass through radar obstacle avoidance sensor 11 and trinocular vision sensor 10, size, volume and the width of disturbance in judgement object
Degree makes crusing robot avoiding obstacles, guarantees that crusing robot cut-through object carries out subsequent inspection work.
The obstacle detouring intelligent inspection robot match four obstacle detouring arms 19, before two, behind two, before two obstacle detouring arms
19 co-ordinations, behind two 19 co-ordinations of obstacle detouring arm, i.e. the work of the obstacle detouring arm 19 of front two and below two obstacle detouring arms
19 work is independent.Inspection on normal ground completes planar row by pedrail mechanism 17 in the case where not encountering barrier
It walks, meets the general walking needs of crusing robot.After encountering barrier, generally first passes through trinocular vision and collect barrier
Image after, obtain the size, volume and height of barrier, and the information of acquisition is transferred to master by sensor acquisition module
Control system 7, judging this by master control system 7, which kind of posture clears the jumps with intelligent inspection robot.Specifically include three kinds of sides
Formula clears the jumps and a kind of mode avoiding obstacles, and the three kinds of modes that clear the jumps are as follows: the first: the height of barrier is small
In the wheel height of pedrail mechanism 17, four obstacle detouring arms 19 are needed not rely on, directly adjust machine by pedrail mechanism 17 and center of gravity
The effect of structure can clear the jumps.Second: when the height of barrier is less than the maximal tensility of obstacle detouring arm 19, not against shoe
Band mechanism 17, but the effect of front two obstacle detouring arms 19 and gravity center adjusting mechanism is relied on, it can clear the jumps.Work as barrier
Height when being less than 1.5 times of maximal tensilities of obstacle detouring arm 19, not against pedrail mechanism 17, but rely on the four obstacle detouring arms in front and back
19 and gravity center adjusting mechanism effect, can clear the jumps.When 1.5 times of maximums that the height of barrier is greater than obstacle detouring arm 19 are stretched
When long amount, if the judgement of master control system 7 can be breaking the barriers in a manner of avoidance, crusing robot avoids obstacle
Object guarantees that crusing robot cut-through object carries out subsequent inspection work.By reporting if it can not bypass front obstacle
Alert system sounds an alarm, and staff is prompted to come to handle.In this way, according to different barrier situations, obstacle detouring Intelligent inspection machine
Device achievable active obstacle per capita, so that robot is in the case where unmanned intervene, it is completely reliable, quickly and efficiently realize it is complete
It is autonomous.
Embodiment 4
For the climbing of specifically high-altitude, ladder work, the present embodiment is provided with corresponding climbing mechanism, climbing intelligent patrol detection
Robot and its substation's hill-climbing method.
A kind of climbing mechanism, including base 18 and climbing arm 38, climbing arm 38 are provided with four, and the climbing setting of arm 38 exists
On four corners of base 18, climbing arm 38 includes climbing outer arm 39 and telescopic arm 21, and the inner wall of climbing outer arm 39, which is equipped with, leads
To sliding rail 22, directive slide track 22 is connected with guide runner 23, and guide runner 23 is connected with screw rod mould group, and screw rod mould group, which is connected with, stretches
Contracting arm 21, screw rod mould group can drive telescopic arm 21 to carry out stretching motion, and the end of climbing arm 38 is equipped with Acetabula device, sucker dress
It sets including sucker rotating electric machine 41, sucker rotating arm 42, sucker driving motor 43 and electric sucking disc 44, sucker rotating electric machine 41 is set
It is placed in the end of telescopic arm 21,41 connecting sucker rotating arm 42 of sucker rotating electric machine, 42 connecting sucker of sucker rotating arm driving electricity
Machine 43, sucker driving motor 43 connect electric sucking disc 44.By the way that Acetabula device is arranged, sucker rotation is driven by sucker rotating electric machine 41
Pivoted arm 42 is rotated, and suitable angle is rotated it to, and then sucker driving motor 43 drives electric sucking disc 44, makes electronic suction
Disk 44 is adsorbed in ramp shaped object perhaps on ladder so that the arm 38 that makes to climb is adsorbed on ramp shaped object or ladder, realizes that it is climbed
Slope work.
Specifically, screw rod mould group includes drive lead screw 24, transmission nut 25, nut seat 45 and lead screw motor 26, screw rod electricity
Machine 26 is set to the end of climbing outer arm 39, and lead screw motor 26 connects drive lead screw 24, and drive lead screw 24 is equipped with transmission nut
25, transmission nut 25 is connected with nut seat 45, and nut seat 45 connects telescopic arm 21.By the way that screw rod mould group is arranged, by lead screw motor
26 drive drive lead screw 24 to move, and drive lead screw 24 drives transmission nut 25 to move, to drive climbing arm 38 to move, thus real
The now Telescopic of climbing arm 38, facilitates the entire length for adjusting climbing arm 38, adapts it to different size of climbing work.
Specifically, climbing outer arm 39 is connected with climbing arm rotation adjustment device, and climbing arm rotation adjustment device includes adjusting
Motor 27, regulation output shaft 28 adjust driving wheel 29, adjust driven wheel 30, adjusting driven shaft 31 and rotation adjustment seat 32, adjust
Section motor 27 is set in base 18, and the output end for adjusting motor 27 is equipped with speed reducer 33, and speed reducer 33 is connected with adjusting output
Axis 28, regulation output shaft 28, which is equipped with, adjusts driving wheel 29, adjusts driving wheel 29 and is connected with adjusting driven wheel 30, adjusts driven wheel
30 are connected with adjusting driven shaft 31, and the both ends for adjusting driven shaft 31 rotate adjustment seat 32, and rotation adjustment seat 32 connects outer arm of climbing
39.Regulation output shaft 28 is driven to make rotating motion by adjusting motor 27 by setting climbing arm rotation adjustment device, to drive
Adjust driving wheel 29 move, adjust driving wheel 29 and adjust driven wheel 30 engagement under, drive rotation adjustment seat 32 into
Row rotation, to realize the rotation function of climbing arm 38, facilitates adjusting climbing arm so that entire climbing arm 38 be driven to be rotated
38 angle adapts it to different size of climbing work.
On the other hand, the present invention provides a kind of climbing intelligent inspection robot again comprising ontology, ontology include above-mentioned
Climbing mechanism.
Specifically, ontology further includes the pedrail mechanism 17 that 18 two sides of base are arranged in.The pedrail mechanism 17 is the prior art
Pedrail mechanism 17, be not unfolded here describe pedrail mechanism 17 specific structure.
Specifically, ontology further includes gravity center adjusting mechanism, and gravity center adjusting mechanism includes clump weight 34, adjusting slider 35, adjusts
It saves sliding rail 36 and center of gravity adjusts screw rod mould group 37, center of gravity adjusts screw rod mould group 37 and is set in base 18, and center of gravity adjusts screw rod mould
37 connection clump weight 34 of group, the lower part of clump weight 34 are equipped with adjusting slider 35, and the connection of adjusting slider 35 adjusts sliding rail 36.By setting
It sets gravity center adjusting mechanism and facilitates the whole position of centre of gravity for adjusting crusing robot, crusing robot is facilitated preferably to complete climbing work
Make.
Specifically, ontology further includes the master control system 7 being arranged on base 18, kinetic control system, information acquisition system
And power-supply system, kinetic control system, information acquisition system and power-supply system are connected with master control system 7.
Master control system 7: for receiving remote control command, walking, climbing, avoidance function are completed in control associated motor driving
Can and the position of crusing robot, pose, sensor information be sent back to remote control terminal in real time, to obtain around substation
Environmental information guarantees that crusing robot completes the inspection work of substation.
Kinetic control system: the driving for controlling lead screw motor 26, adjusting motor 27, crawler belt motor guarantees slope-climbing machine
The normal work of structure and climbing mechanism.
Information acquisition system: by sensor, the relevant information around substation inspection point is acquired, and is transmitted to master
Control system 7, to complete related inspection work.
Power-supply system: for guaranteeing the sustainable continuation of the journey of crusing robot to the power supply for electrical equipment on crusing robot
Work.
Specifically, information acquisition system includes trinocular vision sensor 10, radar obstacle avoidance sensor 11, attitude transducer
12, infrared distance sensor 13, Temperature Humidity Sensor 14, control mass sensor and sensor acquisition module, trinocular vision pass
Sensor 10, radar obstacle avoidance sensor 11, attitude transducer 12, infrared distance sensor 13, Temperature Humidity Sensor 14, control quality
Sensor is connected with sensor acquisition module, and sensor acquisition module connects master control system 7.
Specifically, ontology further includes alarm system, and alarm system includes alarm lamp 15 and alarming horn 16；
Alarm lamp 15: alarm lamp 15 is flashed when encountering special circumstances for crusing robot, is served as a warning；
Alarming horn 16: whistle when encountering special circumstances for crusing robot serves as a warning.
Match with climbing intelligent inspection robot, the climbing side, substation of another intelligent inspection robot of the invention
Method, comprising the following steps:
(a) crusing robot is placed on progress inspection work in substation, finds out surrounding using information acquisition system
Environment determines inspection machine by finding out the GPS positioning module included with the range information of surrounding objects and master control system 7
The position of people itself.
(b) relative distance that infrared distance sensor 13 measures crusing robot and barrier is first passed through, is then passed through
Trinocular vision sensor 10 acquires the image of barrier, obtains the size, volume and height of barrier, obtains the entirety of barrier
The local gradient size of gradient size and barrier, and the information of acquisition is transferred to master control system by sensor acquisition module
7。
(c) master control system 7 handles the information that sensor acquisition module transmits, and judges that can crusing robot with climbing
Mode clear the jumps, step (d) is carried out if it can clear the jumps, is kept away if it cannot clear the jumps by radar
Barrier sensor 11 judges whether being capable of cut-through object, if it is possible to which cut-through object then carries out step (e), if can not be around
It crosses front obstacle then to be sounded an alarm by alarm system, staff is prompted to come to handle.
(d) it first passes through immediately ahead of the walking to barrier of pedrail mechanism 17, is then acquired and hindered according to trinocular vision sensor 10
Hinder the whole gradient of object, the extension elongation of adjustment front side climbing arm 38, while adjusting the sucker to match with front side climbing arm 38
Device guarantees that electric sucking disc 44 is adsorbed in the slope surface of barrier；Then according to identical mode, arm 38 of climbing on rear side of adjustment
Extension elongation, while the Acetabula device to match with rear side climbing arm 38 is adjusted, guarantee that electric sucking disc 44 is adsorbed in barrier
In slope surface；When the gradient of barrier changes, extension elongation and direction by adjusting climbing arm 38 find and hinder with this section
The length for the climbing arm 38 for hindering the object gradient to match and direction, and by Acetabula device, complete the climbing work of this section of barrier.
(e) pass through radar obstacle avoidance sensor 11 and trinocular vision sensor 10, size, volume and the width of disturbance in judgement object
Degree makes crusing robot avoiding obstacles, guarantees that crusing robot cut-through object carries out subsequent inspection work.
For specifically high-altitude pole-climbing, line work is climbed, the present embodiment is provided with corresponding pole-climbing mechanism, pole-climbing intelligent patrol detection
Robot and its substation's pole-climbing method.
A kind of pole-climbing mechanism, including base 18 and pole-climbing arm 46, pole-climbing arm 46 are provided with four, and the setting of pole-climbing arm 46 exists
On four corners of base 18, pole-climbing arm 46 includes pole-climbing outer arm 47 and telescopic arm 21, and the inner wall of pole-climbing outer arm 47, which is equipped with, leads
To sliding rail 22, directive slide track 22 is connected with guide runner 23, and guide runner 23 is connected with screw rod mould group, and screw rod mould group, which is connected with, stretches
Contracting arm 21, screw rod mould group can drive telescopic arm 21 to carry out stretching motion, and telescopic arm 21 is connected with pole climbing device 48, pole climbing device
48 include pole-climbing attachment base 49, pole-climbing clamp arm, arc-shaped guide rail 52 and pole-climbing clamp arm driving assembly, and the top of pole-climbing attachment base 49 connects
Telescopic arm 21 is connect, the middle part of pole-climbing attachment base 49 is fixed on arc-shaped guide rail 52, and the lower part of pole-climbing attachment base 49 is equipped with upper grip
55, pole-climbing clamp arm includes the first pole-climbing clamp arm 50 and the second pole-climbing clamp arm 51, the first pole-climbing clamp arm 50 and the second pole-climbing clamp arm 51
Structure it is identical, the end of the first pole-climbing clamp arm 50 is equipped with left collet 53, and the end of the second pole-climbing clamp arm 51 is equipped with right collet 54,
First pole-climbing clamp arm 50 is set to the left side of arc-shaped guide rail 52, and the second pole-climbing clamp arm 51 is set to the right side of arc-shaped guide rail 52, the
Pole-climbing clamp arm driving assembly is equipped in one pole-climbing clamp arm 50 and the second pole-climbing clamp arm 51.The pole-climbing mechanism first passes through pole-climbing outer arm
47 and telescopic arm 21, by the top to pole 63 of upper grip 55, then by the first pole-climbing clamp arm 50 and the second pole-climbing clamp arm 51,
The left and right two of pole 63 is clamped respectively, to realize that bikini clamps, it is ensured that the firmness of clamping makes it possible to smoothly complete
Line work is climbed in pole-climbing.
Specifically, pole-climbing clamp arm driving assembly includes pole-climbing clamp arm motor 56, pole-climbing clamp arm active rotating shaft 57, pole-climbing clamp arm
Driven spindle 58, pole-climbing clamp arm driving gear 59, pole-climbing clamp arm driven gear 60, upper rack 61 and lower rack gear 62, upper rack 61
It is set to the top of arc-shaped guide rail 52, lower rack gear 62 is set to the lower part of arc-shaped guide rail 52, and pole-climbing clamp arm motor 56 is fixedly mounted
In on the inner wall of pole-climbing clamp arm, pole-climbing clamp arm motor 56 is connected with pole-climbing clamp arm active rotating shaft 57, pole-climbing clamp arm active rotating shaft 57
It is equipped with pole-climbing clamp arm driving gear 59, pole-climbing clamp arm driving gear 59 connects upper rack 61, and pole-climbing clamp arm driven spindle 58 is set
It is placed in the lower section of arc-shaped guide rail 52, pole-climbing clamp arm driven spindle 58 is connected with pole-climbing clamp arm driven gear 60, and pole-climbing clamp arm is driven
Gear 60 connects lower rack gear 62.Pole-climbing clamp arm driving assembly drives pole-climbing clamp arm active rotating shaft 57 to do by pole-climbing clamp arm motor 56
Rotary motion, to drive pole-climbing clamp arm driving gear 59 to move, in the engagement of pole-climbing clamp arm driving gear 59 and upper rack 61
Under effect, and pass through the slaved operation of pole-climbing clamp arm driven gear 60 and lower rack gear 62, makes entire pole-climbing clamp arm in arc-shaped guide rail
It is moved on 52, due to there are two the settings of pole-climbing clamp arm, i.e., pole-climbing clamp arm is divided into the first pole-climbing clamp arm 50 and the second pole-climbing clamp arm 51,
So that left collet 53 and right collet 54 is clamped the both ends of pole 63 respectively, and pass through the effect of upper grip 55, wants to realize to pole
63 clamping.
Specifically, screw rod mould group includes drive lead screw 24, transmission nut 25, nut seat 45 and lead screw motor 26, screw rod electricity
Machine 26 is set to the end of pole-climbing outer arm 47, and lead screw motor 26 connects drive lead screw 24, and drive lead screw 24 is equipped with transmission nut
25, transmission nut 25 is connected with nut seat 45, and nut seat 45 connects telescopic arm 21.By the way that screw rod mould group is arranged, by lead screw motor
26 drive drive lead screw 24 to move, and drive lead screw 24 drives transmission nut 25 to move, to drive telescopic arm 21 to move, thus real
The Telescopic of existing telescopic arm 21, facilitates the entire length for adjusting pole-climbing arm 46, adapts it to different size of pole-climbing work.
Specifically, pole-climbing outer arm 47 is connected with 46 rotation adjustment device of pole-climbing arm, and 46 rotation adjustment device of pole-climbing arm includes
Motor 27, regulation output shaft 28 are adjusted, driving wheel 29 is adjusted, adjusts driven wheel 30, adjusting driven shaft 31 and rotation adjustment seat 32,
It adjusts motor 27 to be set in base 18, the output end of bidirectional modulation motor 27 is equipped with speed reducer 33, and speed reducer 33 is connected with tune
Output shaft 28 is saved, regulation output shaft 28, which is equipped with, adjusts driving wheel 29, adjusts driving wheel 29 and is connected with adjusting driven wheel 30, adjusts
Driven wheel 30, which is connected with, adjusts driven shaft 31, and the both ends for adjusting driven shaft 31 rotate adjustment seat 32, and the rotation connection of adjustment seat 32 is climbed
Bar outer arm 47.By the way that 46 rotation adjustment device of pole-climbing arm is arranged, regulation output shaft 28 is driven to do rotation fortune by adjusting motor 27
It is dynamic, it is moved to drive and adjust driving wheel 29, in the case where adjusting driving wheel 29 and adjusting the engagement of driven wheel 30, drives rotation
Turn adjustment seat 32 to be rotated, so that entire pole-climbing arm 46 is driven to be rotated, thus realize the rotation function of pole-climbing arm 46, side
Just the angle for adjusting pole-climbing arm 46, adapts it to different size of climbing work.
Another aspect, the present invention provide a kind of pole-climbing intelligent inspection robot comprising ontology, the climbing pole machine that ontology includes
Structure.
Specifically, ontology further includes the pedrail mechanism 17 that 18 two sides of base are arranged in.The pedrail mechanism 17 is the prior art
Pedrail mechanism 17, be not unfolded here describe pedrail mechanism 17 specific structure.
Specifically, ontology further includes the master control system 7 being arranged on base 18, kinetic control system, information acquisition system
And power-supply system, kinetic control system, information acquisition system and power-supply system are connected with master control system 7；
Master control system 7: for receiving remote control command, walking, pole-climbing, avoidance function are completed in control associated motor driving
Can and the position of crusing robot, pose, sensor information be sent back to remote control terminal in real time, to obtain around substation
Environmental information guarantees that crusing robot completes the inspection work of substation；
Kinetic control system: the driving for controlling lead screw motor 26, adjusting motor 27, crawler belt motor guarantees climbing pole machine
The normal work of structure and pole-climbing mechanism；
Information acquisition system: by sensor, the relevant information around substation inspection point is acquired, and is transmitted to master
Control system 7, to complete related inspection work；
Power-supply system: for guaranteeing the sustainable continuation of the journey of crusing robot to the power supply for electrical equipment on crusing robot
Work.
Specifically, information acquisition system includes trinocular vision sensor 10, radar obstacle avoidance sensor 11, attitude transducer
12, infrared distance sensor 13, Temperature Humidity Sensor 14, control mass sensor and sensor acquisition module, trinocular vision pass
Sensor 10, radar obstacle avoidance sensor 11, attitude transducer 12, infrared distance sensor 13, Temperature Humidity Sensor 14, control quality
Sensor is connected with sensor acquisition module, and sensor acquisition module connects master control system 7.
Specifically, ontology further includes alarm system, and alarm system includes alarm lamp 15 and alarming horn 16；
Alarm lamp 15: alarm lamp 15 is flashed when encountering special circumstances for crusing robot, is served as a warning；
Alarming horn 16: whistle when encountering special circumstances for crusing robot serves as a warning.
A kind of substation's pole-climbing method of intelligent inspection robot, comprising the following steps:
(a) crusing robot is placed on progress inspection work in substation, finds out surrounding using information acquisition system
Environment determines inspection machine by finding out the GPS positioning module included with the range information of surrounding objects and master control system 7
The position of people itself.
(b) it when crusing robot needs to carry out pole-climbing inspection work, first passes through infrared distance sensor 13 and measures tour of inspection
Then the relative distance of inspection robot and the pole 63 for needing to climb acquires the figure of pole 63 by trinocular vision sensor 10
Picture, obtains the angle of the diameter of pole 63, the vertical height and pole 63 and horizontal plane of pole 63, and by the letter of acquisition
Breath is transferred to master control system 7 by sensor acquisition module.
(c) master control system 7 handles the information that sensor acquisition module transmits, and it is logical to judge that can crusing robot be climbed
Pole 63 is crossed, step (d) is carried out if it can climb through pole 63, by alarm system if it cannot climb through pole 63
It sounds an alarm, staff is prompted to come to handle.
(d) bottom that pole 63 is arrived in the walking of pedrail mechanism 17 is first passed through, pole 63 is obtained according to trinocular vision sensor 10
Diameter, the vertical height and pole 63 and horizontal plane of pole 63 angle, the arm 38 of climbing of adjustment front side and rear side
Then extension elongation, the state that the pose adjustment of crusing robot and pole 63 are matched pass through control front side climbing arm 38
Pole climbing device 48, clamp pole 63 by three collets, make front side pole-climbing arm 46 climb up pole 63, then with identical side
Formula, the pole climbing device 48 of control rear side climbing arm 38, clamps pole 63 by three collets, the pole-climbing arm 46 of rear side is made to climb up bar
Son 63 finally repeats above-mentioned pole-climbing operation, completes entire pole-climbing process.
Embodiment 6
Specifically in substation inspection work, in order to which inspection requirements of one's work can when carrying out inspection work to ground region
To combine track trace navigation intelligent inspection robot and obstacle detouring intelligent inspection robot, it is made not only to be adapted to plane
The region detection on ground is also adapted to ground injustice, the more ground region detection of barrier.
Embodiment 7
Specifically in substation inspection work, in order to which inspection requirements of one's work can when carrying out inspection work to high empty region
To combine obstacle detouring intelligent inspection robot and climbing intelligent inspection robot, allow to adapt to more complicated high dead zone
Domain detection.
Embodiment 8
Specifically in substation inspection work, in order to which inspection requirements of one's work can when carrying out inspection work to high empty region
To combine obstacle detouring intelligent inspection robot and pole-climbing intelligent inspection robot, allow to adapt to more complicated high dead zone
Domain detection.
Embodiment 9
Specifically in substation inspection work, in order to which inspection requirements of one's work can when carrying out inspection work to high empty region
Will climb intelligent inspection robot and pole-climbing intelligent inspection robot combines, allow to adapt to more complicated high dead zone
Domain detection.
The above is only specific embodiments of the present invention, but technical characteristic of the invention is not limited thereto.It is any with this hair
Based on bright, to solve essentially identical technical problem, essentially identical technical effect is realized, made ground simple change, etc.
With replacement or modification etc., all it is covered by among protection scope of the present invention.
Claims (10)
1. a kind of climbing mechanism, it is characterised in that: including base (18) and climbing arm (38), the climbing arm (38) is provided with four
Root, climbing arm (38) are arranged on four corners of the base (18), and the climbing arm (38) includes climbing outer arm
(39) and telescopic arm (21), the inner wall of climbing outer arm (39) are equipped with directive slide track (22), and the directive slide track (22) is even
It being connected to guide runner (23), the guide runner (23) is connected with screw rod mould group, and the screw rod mould group is connected with telescopic arm (21),
Screw rod mould group can drive telescopic arm (21) to carry out stretching motion, and the end of climbing arm (38) is equipped with Acetabula device, the suction
Disk device includes sucker rotating electric machine (41), sucker rotating arm (42), sucker driving motor (43) and electric sucking disc (44), described
Sucker rotating electric machine (41) is set to the end of the telescopic arm (21), and the sucker rotating electric machine (41) connects the sucker rotation
Pivoted arm (42), the sucker rotating arm (42) connect the sucker driving motor (43), sucker driving motor (43) connection
The electric sucking disc (44).
2. a kind of climbing mechanism according to claim 1, it is characterised in that: the screw rod mould group includes drive lead screw
(24), transmission nut (25), nut seat (45) and lead screw motor (26), the lead screw motor (26) are set to the climbing outer arm
(39) end, the lead screw motor (26) connect the drive lead screw (24), and the drive lead screw (24) is equipped with transmission spiral shell
Female (25), the transmission nut (25) are connected with nut seat (45), and the nut seat (45) connects the telescopic arm (21).
3. a kind of climbing mechanism according to claim 1, it is characterised in that: the climbing outer arm (39) is connected with climbing arm
Rotation adjustment device, the climbing arm rotation adjustment device include adjusting motor (27), regulation output shaft (28), adjusting driving wheel
(29), driven wheel (30) are adjusted, adjust driven shaft (31) and rotation adjustment seat (32), the adjusting motor (27) is set to described
In base (18), the output end for adjusting motor (27) is equipped with speed reducer (33), and it is defeated that the speed reducer (33) is connected with adjusting
Shaft (28), the regulation output shaft (28), which is equipped with, adjusts driving wheel (29), and the adjusting driving wheel (29) is connected with adjusting
Driven wheel (30), the adjusting driven wheel (30), which is connected with, adjusts driven shaft (31), the both ends rotation for adjusting driven shaft (31)
Turn adjustment seat (32), the rotation adjustment seat (32) connects the climbing outer arm (39).
4. a kind of climbing intelligent inspection robot comprising ontology, which is characterized in that the ontology includes such as claim 1-3
In any climbing mechanism.
5. a kind of climbing intelligent inspection robot according to claim 4, it is characterised in that: the ontology further includes setting
Pedrail mechanism (17) in base (18) two sides.
6. a kind of climbing intelligent inspection robot according to claim 4, it is characterised in that: the ontology further includes center of gravity
Regulating mechanism, the gravity center adjusting mechanism include clump weight (34), adjusting slider (35), adjust sliding rail (36) and center of gravity adjusting silk
Bar mould group (37), the center of gravity adjust screw rod mould group (37) and are set in the base (18), and the center of gravity adjusts screw rod mould group
(37) clump weight (34) is connected, the lower part of the clump weight (34) is equipped with adjusting slider (35), the adjusting slider (35)
Connect the adjusting sliding rail (36).
7. a kind of climbing intelligent inspection robot according to claim 4, it is characterised in that: the ontology further includes setting
Master control system, kinetic control system, information acquisition system and power-supply system on base (18), the kinetic control system,
Information acquisition system and power-supply system are connected with the master control system；
The master control system: for receiving remote control command, walking, climbing, barrier avoiding function are completed in control associated motor driving
And the position of crusing robot, pose, sensor information are sent back to remote control terminal in real time, to obtain ring around substation
Border information guarantees that crusing robot completes the inspection work of substation；
The kinetic control system: the driving for controlling lead screw motor (26), adjusting motor (27), crawler belt motor guarantees to climb
The normal work of slope mechanism and climbing mechanism；
The information acquisition system: by sensor, the relevant information around substation inspection point is acquired, and is transmitted to master
Control system, to complete related inspection work；
The power-supply system: for guaranteeing the sustainable continuation of the journey of crusing robot to the power supply for electrical equipment on crusing robot
Work.
8. a kind of climbing intelligent inspection robot according to claim 7, it is characterised in that: the information acquisition system packet
Include trinocular vision sensor, radar obstacle avoidance sensor, attitude transducer, infrared distance sensor, Temperature Humidity Sensor, control matter
Quantity sensor and sensor acquisition module, the trinocular vision sensor, radar obstacle avoidance sensor, attitude transducer, infrared survey
It is connected with the sensor acquisition module away from sensor, Temperature Humidity Sensor, control mass sensor, the sensor is adopted
Collect module and connects the master control system.
9. a kind of climbing intelligent inspection robot according to claim 8, it is characterised in that: the ontology further includes alarm
System, the alarm system include alarm lamp and alarming horn；
The alarm lamp: alarm lamp is flashed when encountering special circumstances for crusing robot, is served as a warning；
The alarming horn: whistle when encountering special circumstances for crusing robot serves as a warning.
10. a kind of substation's hill-climbing method of intelligent inspection robot, it is characterised in that the following steps are included:
(a) crusing robot is placed on progress inspection work in substation, the environment of surrounding is found out using information acquisition system,
Crusing robot itself is determined by finding out the GPS positioning module included with the range information of surrounding objects and master control system
Position；
(b) relative distance that infrared distance sensor measures crusing robot and barrier is first passed through, then visually by three
The image for feeling sensor acquisition barrier, obtains the size, volume and height of barrier, obtains the whole gradient size of barrier
With the local gradient size of barrier, and the information of acquisition is transferred to master control system by sensor acquisition module；
(c) information that the master control system processing sensor acquisition module transmits judges that can crusing robot with climbing
Mode clear the jumps, step (d) is carried out if it can clear the jumps, is kept away if it cannot clear the jumps by radar
Barrier sensor judges whether being capable of cut-through object, if it is possible to which cut-through object then carries out step (e), if can not bypass
Front obstacle is then sounded an alarm by alarm system, and staff is prompted to come to handle；
(d) it first passes through immediately ahead of pedrail mechanism walking to barrier, the whole of barrier is then acquired according to trinocular vision sensor
The body gradient, the extension elongation of adjustment front side climbing arm (38), while the Acetabula device to match with front side climbing arm (38) is adjusted,
Guarantee that the electric sucking disc (44) is adsorbed in the slope surface of barrier；Then according to identical mode, adjustment rear side climbing arm
(38) extension elongation, while the Acetabula device to match with rear side climbing arm (38) is adjusted, guarantee the electric sucking disc (44)
It is adsorbed in the slope surface of barrier；When the gradient of barrier changes, by adjusting climbing arm (38) extension elongation and
Length and the direction of the climbing arm (38) to match with this section of barrier gradient are found in direction, and by Acetabula device, completing should
The climbing work of section barrier；
(e) by radar obstacle avoidance sensor and trinocular vision sensor, size, volume and the width of disturbance in judgement object make inspection
Robot avoiding obstacles guarantee that crusing robot cut-through object carries out subsequent inspection work.
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| CN201811519585.2A CN109571402B (en) | 2018-12-12 | 2018-12-12 | Climbing mechanism, intelligent climbing inspection robot and transformer substation climbing method thereof |
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|---|---|---|---|
| CN201811519585.2A CN109571402B (en) | 2018-12-12 | 2018-12-12 | Climbing mechanism, intelligent climbing inspection robot and transformer substation climbing method thereof |
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| CN109571402B CN109571402B (en) | 2021-12-03 |
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| CN110340889A (en) * | 2019-06-25 | 2019-10-18 | 深圳供电局有限公司 | The detection device of transformer |
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Denomination of invention: A climbing mechanism, climbing intelligent inspection robot and substation climbing method Effective date of registration: 20231011 Granted publication date: 20211203 Pledgee: Guotou Taikang Trust Co.,Ltd. Pledgor: Hangzhou Shenhao Technology Co.,Ltd. Registration number: Y2023980060509 |
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