CN111061264A - Intelligent inspection robot - Google Patents
Intelligent inspection robot Download PDFInfo
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- CN111061264A CN111061264A CN201911212125.XA CN201911212125A CN111061264A CN 111061264 A CN111061264 A CN 111061264A CN 201911212125 A CN201911212125 A CN 201911212125A CN 111061264 A CN111061264 A CN 111061264A
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- 238000007689 inspection Methods 0.000 title claims abstract description 47
- 230000017525 heat dissipation Effects 0.000 claims abstract description 6
- 239000000428 dust Substances 0.000 claims description 127
- 230000009467 reduction Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000010521 absorption reaction Methods 0.000 claims description 9
- 238000003466 welding Methods 0.000 claims description 9
- 238000000605 extraction Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000004140 cleaning Methods 0.000 description 8
- 230000007613 environmental effect Effects 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 6
- 241001465754 Metazoa Species 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000010410 dusting Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 101100254610 Caenorhabditis elegans rps-3 gene Proteins 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
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- 230000003111 delayed effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
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- Optics & Photonics (AREA)
- Chemical & Material Sciences (AREA)
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- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to an intelligent inspection robot, which comprises a body, wherein a charging connector is arranged on the front side of the body, infrared distance measuring sensors are respectively arranged on four sides of the body, a main case is arranged on the upper side of the body, heat dissipation holes are respectively formed in the front side and the rear side of the main case, a first electric telescopic rod is arranged in the middle of the main case, a spherical rotary joint is arranged on the upper side of the first electric telescopic rod, an infrared thermal imager is connected to the right side of the spherical rotary joint, a camera is connected to the left side of the spherical rotary joint, a lighting lamp is arranged on the left side of the camera, a temperature and humidity sensor is arranged on the upper side of the right part of the main case, crawler belts are arranged on two sides of the lower side of a sound sensor body on the upper side of the temperature and humidity sensor; the invention has the advantages of long endurance time, high intelligence, comprehensive examination, multiple functions and comprehensive detection.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an intelligent inspection robot.
Background
With the implementation of unattended transformer substations, the scheduling and monitoring information standardization system is deepened and improved continuously, and the importance of a remote vision system called 'thousand miles' of the transformer substation is highlighted increasingly. However, a substation remote viewing system is generally a primary device for monitoring outdoor equipment (such as a transformer, a switch, a bus, a capacitor, an indoor 10 kv switch cabinet, etc.), a screen cabinet device in a substation control room, and although a video monitoring device is also installed on an indoor wall, only one screen cabinet device is needed to be viewed, the device in the screen cabinet is almost not clearly viewed, a worker normally visits the device by an unattended substation operation team, and the monitoring authority hands over a dispatching monitoring team. However, for the appearance condition of important equipment in a control room cabinet of a transformer substation, the wiring connection condition of the equipment, whether the flicker condition of a signal lamp on the equipment is normal or not, including the name of a manufacturer on the equipment, the model of the equipment and the like, cannot be monitored, because the existing transformer substations are unattended stations, and some transformer substations are far in route (between 5 and 200 kilometers), if the equipment fault cannot be accurately judged or the models of the equipment with replacement are incompatible, the problem that the equipment fault cannot be accurately judged, the rush-repair time can be delayed, the working efficiency is reduced, the equipment fault cannot be timely found and an alarm is given out, so that a serious accident occurs; therefore, it is necessary to provide an intelligent inspection robot with long endurance, high intelligence, comprehensive inspection, multiple functions and comprehensive detection.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the intelligent inspection robot which is long in cruising time, highly intelligent, comprehensive in inspection, multifunctional and comprehensive in detection.
The purpose of the invention is realized as follows: the intelligent inspection robot comprises a body, wherein two sides of the lower side of the body are provided with tracks, the rear side of the body is provided with a charging connector, four sides of the body are respectively provided with an infrared distance measuring sensor, the upper side of the body is provided with a mainframe box, the front side and the rear side of the mainframe box are respectively provided with a heat dissipation hole, the middle part of the mainframe box is provided with a first electric telescopic rod, the upper side of the first electric telescopic rod is provided with a spherical rotary joint, the right side of the spherical rotary joint is connected with an infrared thermal imager, the left side of the spherical rotary joint is connected with a camera, the left side of the camera is provided with an illuminating lamp, the upper side of the right part of the mainframe is provided with a temperature and humidity sensor, the upper side of the temperature and humidity sensor is provided with an environment noise reduction pickup, the lower side of the body is provided with a dust raising brush, and, the novel dust collection brush is characterized in that a sealing ring is arranged between the motor and the body, a dust collection hole is formed in the rear side of the dust collection brush, a dust collection box is arranged on the rear side of the dust collection hole, a battery pack is arranged on the front side inside the body, a baffle is arranged on the upper side of the battery pack, motors are arranged on the left side and the right side inside the body, the motors are connected with transmission shafts, the transmission shafts respectively control tracks on the left side and the right side, and a controller is arranged on the right side inside the mainframe box.
Preferably, the camera include two main high definition cameras and a wide-angle camera, two main high definition cameras can satisfy and shoot the accurate condition of equipment, the wide-angle camera can satisfy and shoot closely or long-range zooming, shoot clear image, can let the controller discern equipment data and equipment situation.
Preferably, the middle part of ball-type rotary joint be provided with the radium-shine map scanner of RPS, the radium-shine map scanner of RPS set up the middle part at the ball-type connector, the radium-shine map scanner of RPS can scan along with the rotation of ball-type rotary joint, set up the middle part at ball-type rotary joint can form more comprehensive space map along with rotatory regional to patrolling and examining, provide comprehensive space map for the action route of robot.
Preferably, the upper portion rear side of mainframe box be provided with the pillar, the upside of pillar be connected with signal reception conveyer, signal reception conveyer receives the task instruction of patrolling and examining that the surveillance center was assigned on the one hand, on the other hand to patrol and examine the data and the image transmission that regional obtained and monitor the center.
The connection mode between pillar and mainframe box be the welding, mainframe box and body between the connection mode be the welding.
The controller is connected with the battery pack, the infrared distance measuring sensor 10, the temperature and humidity sensor, the environmental noise reduction pickup, the control motors of the left and right tracks, the RPS laser map scanner, the camera, the infrared thermal imager, the first electric telescopic rod, the signal receiving and transmitting device and the large-capacity storage hard disk in a wired connection mode, various setting images collected by all the sensors in the routing inspection process are sent to the controller, the controller further processes the data and sends the data to the monitoring center, and meanwhile, the controller also controls the action of the robot.
The infrared distance measuring sensor is a GP2Y0A21YK0F type infrared distance measuring sensor, the temperature and humidity sensor is an HTU21 temperature and humidity sensor, the environment noise reduction pickup is an M1203P environment noise reduction pickup, the noise of the robot is effectively reduced, the running sound of each device in the transformer substation is clearly collected, and the dust fullness detector is a DT-618 wind speed measuring instrument to measure whether the dust and the garbage in the dust collecting box are too much through the wind speed of the dust filter screen.
The body inside still include dust extraction, dust extraction is by suction fan, dust collecting tube, dust filter screen, second electric telescopic handle, leading wheel, guide bar, extension rod, and the detector is full to the dirt is constituteed, the cylinder set up the upside in the dust absorption hole, the suction fan set up the upside at the collection box, the dust filter screen set up between dust collection box and suction fan, the dust collecting tube connect dust collection box and dust absorption hole, the left and right sides of dust collection box weld respectively the extension rod, the outside welding of extension rod have the leading wheel, the left and right sides of dust collection box be provided with the guide bar respectively, the upside of dust filter screen be provided with the detector of full dirt.
The guide rod is a cuboid, the dust collection box is welded at the top end of the second electric telescopic rod, and the dust collection box is a hollow cuboid box without a bottom plate.
The invention has the beneficial effects that: the invention adopts a crawler type advancing mode, has enough traction force, can provide enough power support for the inspection robot, the robot is provided with a large amount of monitoring equipment and an independent host and an information collector, the enough traction force provided by the crawler type advancing mode is enough to drive the interior of the whole machine, meanwhile, the invention also carries an RPS laser map scanning technology, the area passed by is scanned by 360 degrees through a top laser scanner to generate a map, an inspection route is automatically planned, the robot can return to the place before charging and then inspect after each charging, the inspected place can not be repeatedly inspected, a main camera is a variable-focus camera, and a searchlight is matched, so that the data of various instruments and meters can be clearly observed even in a dark environment, and the condition of each equipment of a transformer substation can be clearly identified, the invention is provided with an infrared thermal imager, can send instrument temperature information to a monitoring center in an image form, monitors the running temperature of various instruments in real time, monitors temperature change, can clearly find people or wild animals appearing in a transformer substation, and provides acousto-optic warning and driving to the instruments in time by using a loudspeaker. The dust collecting box absorbs dust in a large area and stores the dust in the dust collecting box, the dust collecting box is also provided with an automatic processing device and is provided with a fixed garbage disposal pit, when the wind speed of the suction fan is reduced by a dust fullness detector, the dust in the dust collecting box is full, the robot can automatically navigate to the garbage disposal pit and push the garbage stored in the dust collecting box out of the robot through a guide wheel and a second electric telescopic rod, a bottom plate is not arranged at the bottom of the dust collecting box, when the dust collecting box is pushed out by the second electric telescopic rod, the garbage can be sent into the garbage disposal pit, the cleanness of indoor dust is improved, and a good working environment is provided for the stable operation of an electronic instrument. Performing acousto-optic warning on non-workers and sending the warning to a monitoring center, feeding back various information in time, performing intelligent control by a computer, intelligently planning a monitoring route for scientific inspection according to the prior laser map scanning technology, comparing various instrument data in time, judging whether a fault exists according to data change, and sending a data comparison result to the monitoring center; the invention has the advantages of long endurance time, high intelligence, comprehensive examination, multiple functions and comprehensive detection.
Drawings
Fig. 1 is a schematic structural diagram of the intelligent inspection robot of the invention.
Fig. 2 is a rear view of the intelligent inspection robot of the present invention.
Fig. 3 is a bottom view of the intelligent inspection robot of the present invention.
Fig. 4 is a schematic diagram of the internal structure of the body of the intelligent inspection robot.
Fig. 5 is a schematic diagram of the internal structure of the main cabinet of the intelligent inspection robot.
Fig. 6 is a schematic view of the internal structure of the cleaning device of the intelligent inspection robot of the present invention.
Fig. 7 is a schematic structural view of a dust suction device of the intelligent inspection robot.
Fig. 8 is a schematic view of a heave brush structure of the intelligent inspection robot.
In the figure: 1. the device comprises an illuminating lamp 2, a camera 3, an RPS laser map scanner 4, a spherical rotary connector 5, an infrared thermal imager 6, a first electric telescopic rod 7, a temperature and humidity sensor 8, a heat dissipation hole 9, a main case 10, an infrared distance measuring sensor 11, a crawler 12, a body 13, a dusting brush 14, a dust suction hole 15, a dust collection box 16, an environmental noise reduction pickup 17, a signal receiving and transmitting device 18, a support rod 19, a charging port 20, a battery pack 21, a baffle 22, a motor 23, a transmission shaft 24, a controller 25, a storage hard disk 26, a rotary joint 27, a loudspeaker 28, a positioning device 29, an air outlet 30, a suction fan 31, a second motor 32, a third motor 33, a sealing ring 34, a dust filter screen 35, a guide wheel 36, a guide rod 37, a second electric telescopic rod 38, A roller 39, a dust collecting pipe 40, an extension rod 41 and a dust fullness detector.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
As shown in fig. 1-8, the intelligent inspection robot comprises a body 12, two crawler belts 11 are arranged on two sides of the lower side of the body 12, a charging port 19 is arranged on the rear side of the body 12, infrared distance measuring sensors 10 are respectively arranged on four sides of the body 12, a main cabinet 9 is arranged on the upper side of the body 12, heat dissipation holes 8 are respectively arranged on the front side and the rear side of the main cabinet 9, a first electric telescopic rod 6 is arranged in the middle of the main cabinet 9, a spherical rotary joint 4 is arranged on the upper side of the first electric telescopic rod 6, an infrared thermal imager 5 is connected on the right side of the spherical rotary joint 4, a camera 2 is connected on the left side of the spherical rotary joint 4, an illuminating lamp 1 is arranged on the left side of the camera 2, and a temperature and humidity sensor 7 is arranged on the upper side of the right portion of the main cabinet 9, an environment noise reduction pickup 16 is arranged on the upper side of the temperature and humidity sensor 7, a dust brush 13 is arranged on the lower side of the body 12, a dust suction hole 14 is arranged at the rear side of the dust rise brush 13, a dust collection box 15 is arranged at the rear side of the dust suction hole 14, the front side in the body 12 is provided with a battery pack 20, the upper side of the battery pack 20 is provided with a baffle 21, the left side and the right side of the inside of the body 12 are provided with motors 22, the center of the inside of the body 12 is provided with a first electric telescopic rod base 21, the motor 22 is connected with a transmission shaft 23, the transmission shaft 23 respectively controls the crawler belts 11 at the left and right sides, the controller 24 is arranged at the right side of the inside of the main case 9, the positioning device 28 is arranged at the rear side of the inside of the main case 9, the left side of the controller 24 is connected with a storage hard disk 25, and the left side of the inside of the main cabinet 9 is provided with a loudspeaker 27.
The invention adopts a body 12, a camera 2, an infrared thermal imager 5, a temperature and humidity sensor 7 and an environmental noise reduction pickup 16, mainly aims at comprehensively collecting equipment instrument information, the internal equipment of a transformer substation is numerous, a signal transmission device is arranged in an inspection area to provide signals for an inspection robot, the body 12 is a main device, a main power device and a cleaning device are arranged in the body 12, a battery pack 20 provides sufficient electric power support for the robot to newly work, the battery pack 20 is provided with a charging port 19, when the controller 24 detects that the electric power per se is less than 20 percent, the battery pack automatically returns to a charging plug to automatically charge the charging port 19, the camera 2 arranged on a spherical rotary connector 4 can clearly shoot equipment with different distances in a zooming way to obtain identifiable equipment data, the follow-up controller 24 is convenient for carrying out contrastive analysis on data, the infrared thermal imager 5 is positioned at the spherical rotary connector 4 and rotates and moves along with the rotation of the camera 2, the infrared thermal imager 5 converts infrared energy emitted by different objects due to heat into visible thermal images, whether the working temperature of equipment is in a safe interval or not is distinguished by observing the thermal images, wild animals in a substation arranged in the field can be conveniently found out, a cleaning device is arranged at the bottom of the robot, a polling area is swept by the bottom cleaning device while indoor polling is carried out, a travelling route is planned by the controller 24, the route is cleaned while polling is carried out in the substation, dust is often rapidly accumulated in the unattended substation, the equipment can be failed due to dust, the work of the substation is influenced, and the dust on the ground is lifted by the rotation of the heave brush 13, dust is carried to a dust collecting pipe 39 which is generated with strong suction by the aspirator 30 through a roller 38 in the dust suction hole 14 in the air, the dust and the garbage are conveyed to the dust collecting box 15, the dust is filtered by a dust filter screen 34 and is all remained in the dust collecting box 15, the dust collector is also provided with an automatic dumping function, when an internal dust fullness detector detects that the dust in the dust collecting box 15 is full, the dust collector automatically navigates to a designed garbage disposal pit, the garbage and the dust are dumped out, the working environment of equipment is ensured to be clean, a loudspeaker 27 is arranged to warn non-working personnel and wild animals, the danger is avoided, a storage hard disk 25 is arranged in the dust collector, routing inspection data is stored, routing inspection records are reserved, and comprehensive routing inspection data are stored; compared with the original inspection robot, the inspection robot can better detect the equipment in the transformer substation, is favorable for maintaining a good working environment and is safer; the invention has the advantages of long endurance time, high intelligence, comprehensive examination, multiple functions and comprehensive detection.
Example 2
As shown in fig. 1-8, the intelligent inspection robot comprises a body 12, two crawler belts 11 are arranged on two sides of the lower side of the body 12, a charging port 19 is arranged on the rear side of the body 12, infrared distance measuring sensors 10 are respectively arranged on four sides of the body 12, a main cabinet 9 is arranged on the upper side of the body 12, heat dissipation holes 8 are respectively arranged on the front side and the rear side of the main cabinet 9, a first electric telescopic rod 6 is arranged in the middle of the main cabinet 9, a spherical rotary joint 4 is arranged on the upper side of the first electric telescopic rod 6, an infrared thermal imager 5 is connected to the right side of the spherical rotary joint 4, a camera 2 is connected to the left side of the spherical rotary joint 4, an illuminating lamp 1 is arranged on the left side of the camera 2, and a temperature and humidity sensor 7 is arranged on the upper side of the right of the main cabinet 9, temperature and humidity sensor 7's upside be provided with the pick-up 16 of making an uproar of environment, the downside of body 12 be provided with dusting brush 13, dusting brush 13's rear side be provided with dust absorption hole 14, dust absorption hole 14's rear side be provided with dust collection box 15, the inside front side of body 12 be provided with group battery 20, group battery 20's upside be provided with baffle 21, the inside left and right sides of body 12 be provided with motor 22, the inside center of body 12 be provided with first electric telescopic handle base 21, motor 22 connect transmission shaft 23, transmission shaft 23 control the track 11 of the left and right sides respectively, the inside right side of mainframe box 9 be provided with controller 24, the inside left side of mainframe box 9 be provided with speaker 27.
Preferably, the camera 2 is a zoom camera, and the zoom camera can capture a cleaning recognizable image for the equipment of the substation under the lighting of the lighting lamp 1, so that the controller 24 can recognize the equipment data.
Preferably, the middle part of ball-type rotary joint 4 be provided with the radium-shine map scanner of RPS 3, the radium-shine map scanner of RPS set up 3 and put at the middle part of ball-type connector 4, radium-shine map scanner of RPS 3 can scan along with the rotation of ball-type rotary joint 4, set up and can form more comprehensive space map along with rotatory the region of patrolling and examining in the middle part of ball-type rotary joint 4, provide comprehensive space map for the action route of robot.
Preferably, a pillar 18 is arranged on the rear side of the upper portion of the main cabinet 9, a signal receiving and transmitting device 17 is connected to the upper side of the pillar 18, and the signal receiving and transmitting device 17 receives a polling task instruction issued by the monitoring center on one hand and transmits data and images obtained by polling an area to the monitoring center on the other hand.
The flexible limit of first electric telescopic handle 6 can reach two meters at most, first electric telescopic handle 6 can rise to higher with the camera, can shoot the actual conditions in higher region, comprehensive inspection detects the dead angle region.
The strut 18 and the main case 9 are connected by welding, and the main case 9 and the main body 12 are connected by welding.
The controller 24 connect group battery 20, infrared distance measuring sensor 10, temperature and humidity sensor 7, the pickup 16 of making an uproar falls in the environment, control motor 22 of left and right tracks 11, RPS radium-shine map scanner 3, camera 2, infrared thermal imager 5, first electric telescopic handle 6, signal reception conveyer 17, storage hard disk 25, the connected mode is the line connection, all sensors are patrolling and examining various institute's images of gathering of in-process and all will sending to the controller to by the controller with data further processing transmission to the surveillance center, the action of robot is still controlled to the controller simultaneously.
The infrared distance measuring sensor 10 is a GP2Y0A21YK0F type infrared distance measuring sensor, the temperature and humidity sensor 7 is an HTU21 temperature and humidity sensor, the environmental noise reduction pickup 16 is an M1203P environmental noise reduction pickup, noise of the robot is effectively reduced, running sound of each device in the transformer substation is clearly collected, and the dust fullness detector 41 is a DT-618 wind speed measuring instrument to measure whether dust and garbage in the dust collecting box 15 are excessive or not through wind speed of the dust filter screen 34.
The inside dust extraction that still includes of body, dust extraction is by suction fan 30, dust collection pipe 39, dust filter screen 34, second electric telescopic handle 37, leading wheel 35, guide bar 36, extension rod 40, and dust fullness detector 41 constitutes, cylinder 38 set up the inside upside at dust absorption hole 14, suction fan 30 set up the upside at set box 15, dust filter screen 34 set up between dust collection box 15 and suction fan 30, the dust collection pipe connect dust collection box 15 and dust absorption hole 14, the left and right sides of dust collection box 15 weld respectively extension rod 40, the outside welding of extension rod 40 have leading wheel 35, the left and right sides of dust collection box 15 be provided with guide bar 36 respectively, the upside of dust filter screen 34 be provided with dust fullness detector 41.
The guide rod 36 is a cuboid, the dust collection box 15 is welded at the top end of the second electric telescopic rod 37, and the dust collection box 15 is a hollow cuboid box without a bottom plate.
The invention adopts a body 12, a camera 2, an infrared thermal imager 5, a temperature and humidity sensor 7 and an environmental noise reduction pickup 16, mainly aims at comprehensively collecting equipment instrument information, the internal equipment of a transformer substation is numerous, a signal transmission device is arranged in an inspection area to provide signals for an inspection robot, the body 12 is a main device, a main power device and a cleaning device are arranged in the body 12, a battery pack 20 provides sufficient electric power support for the robot to newly work, the battery pack 20 is provided with a charging port 19, when the controller 24 detects that the electric power per se is less than 20 percent, the battery pack automatically returns to a charging plug to automatically charge the charging port 19, the camera 2 arranged on a spherical rotary connector 4 can clearly shoot equipment with different distances in a zooming way to obtain identifiable equipment data, the follow-up controller 24 is convenient for carrying out contrastive analysis on data, the infrared thermal imager 5 is positioned at the spherical rotary connector 4 and rotates and moves along with the rotation of the camera 2, the infrared thermal imager 5 converts infrared energy emitted by different objects due to heat into visible thermal images, whether the working temperature of equipment is in a safe interval or not is distinguished by observing the thermal images, wild animals in a substation arranged in the field can be conveniently found out, a cleaning device is arranged at the bottom of the robot, a polling area is swept by the bottom cleaning device while indoor polling is carried out, a travelling route is planned by the controller 24, the route is cleaned while polling is carried out in the substation, dust is often rapidly accumulated in the unattended substation, the equipment can be failed due to dust, the work of the substation is influenced, and the dust on the ground is lifted by the rotation of the heave brush 13, dust is carried to a dust collecting pipe 39 which is generated with strong suction by the aspirator 30 through a roller 38 in the dust suction hole 14 in the air, the dust and the garbage are conveyed to the dust collecting box 15, the dust is filtered by a dust filter screen 34 and is all remained in the dust collecting box 15, the dust collector is also provided with an automatic dumping function, when an internal dust fullness detector detects that the dust in the dust collecting box 15 is full, the dust collector automatically navigates to a designed garbage disposal pit, the garbage and the dust are dumped out, the working environment of equipment is ensured to be clean, a loudspeaker 27 is arranged to warn non-working personnel and wild animals, the danger is avoided, a storage hard disk 25 is arranged in the dust collector, routing inspection data is stored, routing inspection records are reserved, and comprehensive routing inspection data are stored; compared with the original inspection robot, the inspection robot can better detect the equipment in the transformer substation, is favorable for maintaining a good working environment and is safer; the invention has the advantages of long endurance time, high intelligence, comprehensive examination, multiple functions and comprehensive detection.
Claims (10)
1. Robot is patrolled and examined to intelligence, it includes the body, its characterized in that: the device comprises a body, caterpillar tracks, a charging connector, infrared distance measuring sensors, a main machine, heat dissipation holes, a first electric telescopic rod, a spherical rotary joint, an infrared thermal imager, a camera, a lighting lamp, a temperature and humidity sensor, an environment noise reduction pickup, a sinking brush, a third motor, a first motor, a second motor, a third motor, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a fifth motor, a sixth motor, the utility model discloses a portable computer mainframe, including main case, motor and body, the rear side of playing the heavy brush be provided with the dust absorption hole between motor and the body, the rear side in dust absorption hole be provided with the dust-collecting box, the inside rear side of body be provided with the group battery, the upside of group battery be provided with the baffle, the inside left and right sides of body be provided with first motor, first motor connect the transmission shaft, the transmission shaft control the track of the left and right sides respectively, the inside right side of main case be provided with the controller, the inside rear side of main case be provided with positioner, the left side of controller be connected with the hard disk, the inside left side of main case be provided with the speaker.
2. The intelligent inspection robot according to claim 1, wherein: the camera comprises two high-definition main cameras and a wide-angle camera.
3. The intelligent inspection robot according to claim 1, wherein: the middle part of the spherical rotary joint is also provided with an RPS laser map scanner which is arranged in the middle part of the spherical joint and can scan along with the rotation of the spherical rotary joint.
4. The intelligent inspection robot according to claim 1, wherein: the upper rear side of the mainframe box is provided with a support, and the upper side of the support is connected with a signal receiving and transmitting device.
5. The intelligent inspection robot according to claim 1, wherein: the maximum telescopic limit of the first electric telescopic rod is two meters.
6. The intelligent inspection robot according to claim 1, wherein: the connection mode between pillar and mainframe box be the welding, mainframe box and body between the connection mode be the welding.
7. The intelligent inspection robot according to claim 1, wherein: the controller is connected with a battery pack, an infrared distance measuring sensor, a temperature and humidity sensor, an environment noise reduction pickup, a control motor of a left crawler and a right crawler, an RPS laser map scanner, a camera, an infrared thermal imager, a first electric telescopic rod, a signal receiving and transmitting device, a large-capacity hard disk and the like, and the connection mode is wire connection.
8. The intelligent inspection robot according to claim 1, wherein: the infrared distance measuring sensor is a GP2Y0A21YK0F type infrared distance measuring sensor, the temperature and humidity sensor is an HTU21 temperature and humidity sensor, the environment noise reduction pickup is an M1203P environment noise reduction pickup, and the dust fullness detector is a DT-618 wind speed measuring instrument.
9. The intelligent inspection robot according to claim 1, wherein: the body inside still include dust extraction, dust extraction comprises suction fan, dust collecting tube, dust filter screen, second electric telescopic handle, leading wheel, guide bar, extension rod, wind speed velometer, the cylinder setting is at the upside in dust absorption hole, the suction fan setting at the upside of set box, the dust filter screen setting between dust collecting box and suction fan, the dust collecting tube connect dust collecting box and dust collection hole, the left and right sides of dust collecting box weld the extension rod respectively, the outside welding of extension rod have the leading wheel, the left and right sides of dust collecting box be provided with the guide bar respectively, the upside of dust filter screen be provided with full dust detector.
10. The intelligent inspection robot according to claim 9, wherein: the guide rod is a cuboid, the dust collection box is welded at the top end of the second electric telescopic rod, and the dust collection box is a hollow cuboid box without a bottom plate.
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| CN201911212125.XA CN111061264A (en) | 2019-12-02 | 2019-12-02 | Intelligent inspection robot |
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| CN201911212125.XA CN111061264A (en) | 2019-12-02 | 2019-12-02 | Intelligent inspection robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111532349A (en) * | 2020-05-07 | 2020-08-14 | 杭州华能工程安全科技股份有限公司 | Multi-foot crawler float valve type crawler and crawling method thereof |
| CN111596013A (en) * | 2020-07-08 | 2020-08-28 | 宁夏诺克银丰智能科技有限公司 | Gaseous detector that detects of online all-in-one arbitrary combination of high in clouds thing allies oneself with |
| CN112471964A (en) * | 2020-11-25 | 2021-03-12 | 袁力 | Detection method for recognizing fullness of dust collecting box of dust collector |
| CN112478006A (en) * | 2020-11-24 | 2021-03-12 | 胡永星 | Crawler-type investigation and inspection robot |
| CN112947512A (en) * | 2021-01-27 | 2021-06-11 | 昭通亮风台信息科技有限公司 | AR-based unmanned aerial vehicle power grid line patrol method and system |
| CN113022743A (en) * | 2021-04-15 | 2021-06-25 | 上海海洋大学 | Intelligent energy-saving emission-reducing robot |
| CN113532201A (en) * | 2021-06-30 | 2021-10-22 | 四川泛美智飞科技有限公司 | Infrared monitoring flight path device |
| CN114446021A (en) * | 2022-01-14 | 2022-05-06 | 濮晨雪 | Building engineering monitoring system based on wireless communication |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111532349A (en) * | 2020-05-07 | 2020-08-14 | 杭州华能工程安全科技股份有限公司 | Multi-foot crawler float valve type crawler and crawling method thereof |
| CN111596013A (en) * | 2020-07-08 | 2020-08-28 | 宁夏诺克银丰智能科技有限公司 | Gaseous detector that detects of online all-in-one arbitrary combination of high in clouds thing allies oneself with |
| CN112478006A (en) * | 2020-11-24 | 2021-03-12 | 胡永星 | Crawler-type investigation and inspection robot |
| CN112471964A (en) * | 2020-11-25 | 2021-03-12 | 袁力 | Detection method for recognizing fullness of dust collecting box of dust collector |
| CN112947512A (en) * | 2021-01-27 | 2021-06-11 | 昭通亮风台信息科技有限公司 | AR-based unmanned aerial vehicle power grid line patrol method and system |
| CN113022743A (en) * | 2021-04-15 | 2021-06-25 | 上海海洋大学 | Intelligent energy-saving emission-reducing robot |
| CN113532201A (en) * | 2021-06-30 | 2021-10-22 | 四川泛美智飞科技有限公司 | Infrared monitoring flight path device |
| CN114446021A (en) * | 2022-01-14 | 2022-05-06 | 濮晨雪 | Building engineering monitoring system based on wireless communication |
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