CN111890367B

CN111890367B - Electric power system maintenance robot based on internet of things control

Info

Publication number: CN111890367B
Application number: CN202010787466.6A
Authority: CN
Inventors: 焦键
Original assignee: Chongqing Water Resources and Electric Engineering College
Current assignee: Chongqing Water Resources and Electric Engineering College
Priority date: 2020-08-07
Filing date: 2020-08-07
Publication date: 2022-03-22
Anticipated expiration: 2040-08-07
Also published as: CN111890367A

Abstract

The invention discloses an electric power system maintenance robot based on Internet of things control, and relates to the technical field of electric power maintenance equipment. In the starting stage of the robot, impurities such as dust and the like attached to the surface can be removed, and in the working condition of extremely dark light at night, the lens of a high-definition camera, an infrared thermometer and a searchlight at any angle can be lifted, winged insects gathered nearby can be continuously repelled, and the read real-time information data is more accurate; the descending airflow forms a high-speed airflow layer at the output port of the guide plate in the running direction of the robot, and the purpose of pushing down the higher weeds in the running front of the robot is achieved, so that the object sensing device can accurately identify the accuracy of the obstacles, the requirement of the robot on the application environment is reduced, the robot can be monitored in place, and the condition of missing detection cannot occur.

Description

Electric power system maintenance robot based on internet of things control

Technical Field

The invention relates to the technical field of electric power overhaul equipment, in particular to an electric power system overhaul robot based on Internet of things control.

Background

The trackless electric power system overhaul robot has the advantages that the trackless electric power system overhaul robot does not need a navigation magnetic stripe, so that the trackless electric power system overhaul robot is small in limitation on selection of a tour route, can monitor oil leakage conditions of oil filling equipment, damage crack conditions of sleeve porcelain bottles, lead joint loosening conditions and terminal mechanism box sealing conditions in real time in a transformer substation or under complex working conditions mainly through wheel type driving and depending on an intelligent identification technology, and simultaneously has a series of functions of monitoring temperature, reading and storing meter data and the like.

However, in practical application, the existing maintenance robot still has certain disadvantages: firstly, the maintenance robot avoids damage caused by collision with obstacles in the inspection process by means of a long-distance ultrasonic obstacle stopping and short-distance object sensing device in the inspection process, however, in use, as the ground in a transformer substation is not a hardened road surface and a lawn exists, during the traveling process of the inspection robot on the lawn road surface, higher weeds possibly appear around the inspection robot, and the inspection robot is regarded as an obstacle by an identification system, so that the inspection robot cannot continue to travel and cause the condition of missed inspection frequently; secondly, in order to read real-time data in the table note in the transformer substation, a high-definition day and night dual-purpose camera and an infrared thermometer are selected for inspection and reading, and when light rays of working conditions at night are extremely dark, a searchlighting light source needs to be started to enhance the definition of a visual field, but because flying insects at night are more and the flying insects have phototaxis per se, the flying insects gather in front of a lens of monitoring equipment, so that an inspection robot cannot obtain accurate information at all.

Disclosure of Invention

The invention aims to provide an electric power system maintenance robot based on Internet of things control, so as to overcome the defects caused in the prior art.

The utility model provides an electric power system overhauls robot based on thing networked control, includes body, air jet system, discernment assist drive device, clearance mechanism and imaging mechanism, the body is the carrier of other mechanisms, and the hole of dodging has been seted up to the upper end of body, and object induction system is installed to the side of advancing direction on the body, paint spraying apparatus installs in the inside of body, and air jet system's the end of giving vent to anger is connected with and overflows the cover, it has the discharge orifice for cavity structure and upper and lower terminal surface equipartition to overflow the cover, discernment assist drive device installs in the inside of body for confirm the passability of barrier, clearance mechanism also installs in the inside of body, and be used for driving away imaging mechanism and detecting the interference source in receiving area to have the function of clearance camera lens simultaneously concurrently, imaging component installs in the top of body, and be used for adjusting the every single move angle of camera.

Preferably, the identification assisting mechanism comprises a driving motor, a sliding part and a plurality of guide plates arranged in parallel, a mounting frame is fixed on the inner side wall of the body, the driving motor is fixed on the mounting frame through a mounting plate, the output end of the driving motor is connected with a rotating shaft, a gear is coaxially and fixedly mounted on the rotating shaft, a guide block which is obliquely arranged and is provided with a groove is further fixed on the mounting frame, a rack is fixed at one end of the sliding part and is meshed with the gear, the side ends of the plurality of guide plates are respectively fixed on the inner side wall of the body, the upper ends of the guide plates are all fixed on the overflowing cover, the middle part of the guide plate is in sliding connection with the sliding part, the other end of the guide plate penetrates through the side end of the body, a first sliding groove is further formed in the guide plate, a sliding hole is formed in the other end of the sliding part, a sliding rod is slidably arranged in the sliding hole, and a flow blocking plate is fixed at the end part of the sliding rod, the flow baffle is arranged in the first sliding groove in a sliding mode.

Preferably, the cleaning mechanism comprises a rotating plate, a connecting plate and a supporting spring, one end of the rotating plate is hinged to one end of the overflowing cover, one end of the connecting plate is hinged to the other end of the overflowing cover, a second sliding groove extending from the other end to the middle part is formed in the end face of the rotating plate, first air holes are uniformly distributed in the rotating plate between the middle part and the end part far away from the connecting plate, second air holes extending to the second sliding groove are uniformly distributed in the middle part and the end part close to the connecting plate, the other end of the connecting plate is arranged in the second sliding groove in a sliding mode, a fixing column is rotatably arranged on the inner side wall of the body, one end of the supporting spring is installed on the fixing column, and the other end of the supporting spring is connected to the middle part of the rotating plate.

Preferably, the imaging mechanism comprises a high-definition camera, an infrared thermometer, a searchlight and a pedestal, the pedestal is fixed at the upper end of the body, a transmission shaft is rotatably arranged at the lower end of the pedestal, a first bevel gear is connected to the lower end of the transmission shaft, a second bevel gear is meshed with the first bevel gear, the second bevel gear is coaxially connected to the end of the rotating shaft, a rotating part is connected to the upper end of the transmission shaft, a first connecting rod is rotatably connected to the other end of the rotating part, a sliding sleeve is rotatably connected to the other end of the first connecting rod, a second connecting rod is slidably arranged on the sliding sleeve and arranged on the pedestal through a bearing, the end of the second connecting rod is respectively connected with the high-definition camera and the infrared thermometer through an installation table, and the searchlight is symmetrically arranged at the side ends of the high-definition camera and the infrared thermometer respectively.

Preferably, a plurality of the diversion layer between the guide plates corresponds to the overflowing hole, the end part of the guide plate extending out of the body is arranged in a downward inclination mode, and the guide plate is arranged below the object induction device.

Preferably, the end part of the rotating plate is matched with the end part of the avoiding hole, and when the end part of the connecting plate slides to the end part of the rotating plate, the air hole II is matched with the monitoring ports of the high-definition camera and the infrared thermometer.

The invention has the advantages that: (1) by arranging the air injection device, the recognition assistance mechanism and the cleaning mechanism in the body, when the robot is started, an airflow layer facing to a lens part in the imaging mechanism which temporarily does not generate an elevation angle is generated, so that impurities such as dust and the like attached to the surface can be cleaned, and in a working condition of extremely dark light at night, a diffused airflow area can be formed between the avoidance hole and the raised lens along with the operation of the robot, so that the lens of a high-definition camera, an infrared thermometer and a searchlight at any angle can be raised, winged insects gathered nearby can be continuously repelled, and the read real-time information data is more accurate;

(2) through keeping off moving upward of flowing the board, down the air current forms high-speed air current layer at the guide plate output port of robot traffic direction, realize pushing down the purpose to the higher weeds in robot operation the place ahead, and the real barrier that can't pass through then does not receive this influence that lasts high-speed air current layer for object induction system can the accuracy of accurate discernment barrier, has reduced the requirement of robot to the application environment, has guaranteed simultaneously that the robot patrols and examines and can monitor and target in place, the condition of lou examining can not appear.

Drawings

Fig. 1 is a schematic view of the state of the invention during maintenance.

FIG. 2 is an enlarged view of the point A of the present invention.

FIG. 3 is a schematic view of the present invention in the initial and final inspection states.

Fig. 4 is a schematic structural view of the recognition assisting mechanism in the present invention.

FIG. 5 is a schematic view of the cleaning mechanism and the body of the present invention.

Fig. 6 is a schematic view of the structure of the imaging mechanism of the present invention.

Wherein, 1-a body, 2-an air injection device, 3-an identification power-assisted mechanism, 4-a cleaning mechanism, 5-an imaging mechanism, 11-an avoidance hole, 6-an object sensing device, 7-an overflow cover, 71-an overflow hole, 301-a driving motor, 302-a sliding piece, 303-a guide plate, 304-a mounting rack, 305-a mounting plate, 306-a rotating shaft, 307-a gear, 308-a guide block, 309-a rack, 310-a chute I, 311-a sliding hole, 312-a sliding rod, 313-a baffle plate, 401-a rotating plate, 402-a connecting plate, 403-a resisting spring, 404-a chute II, 405-an air hole I, 406-an air hole II, 407-a fixing column, 501-a high-definition camera and 502-an infrared thermometer, 503-searchlight, 504-pedestal, 505-drive shaft, 506-bevel gear I, 507-bevel gear II, 508-rotating part, 509-connecting rod I, 510-sliding sleeve, 511-connecting rod II, 512-bearing and 513-mounting platform.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 6, an electric power system maintenance robot based on internet of things control comprises a body 1, an air injection device 2, a recognition assisting mechanism 3, a cleaning mechanism 4 and an imaging mechanism 5, wherein the body 1 is a carrier of other mechanisms, an avoiding hole 11 is formed in the upper end of the body 1, an object induction device 6 is installed at the side end of the body 1 in the forward direction, the paint spraying device 2 is installed inside the body 1, an air outlet end of the air injection device 2 is connected with a flow-passing cover 7, the flow-passing cover 7 is of a cavity structure, the upper end surface and the lower end surface of the flow-passing cover are uniformly provided with flow-passing holes 71, the recognition assisting mechanism 3 is installed inside the body 1 and is used for confirming the passability of obstacles, the cleaning mechanism 4 is also installed inside the body 1 and is used for driving away an interference source in a receiving area detected by the imaging mechanism 5 and has a function of cleaning a lens at the same time, the imaging assembly 5 is installed above the body 1 and is used for adjusting the pitch angle of the camera.

In this embodiment, the identification assisting mechanism 3 includes a driving motor 301, a sliding member 302 and a plurality of flow guiding plates 303 arranged in parallel, the inner side wall of the body 1 is fixed with an installation frame 304, the driving motor 301 is fixed on the installation frame 304 through an installation plate 305, an output end of the driving motor 301 is connected with a rotating shaft 306, a gear 307 is coaxially and fixedly installed on the rotating shaft 306, a guide block 308 which is obliquely arranged and is provided with a groove is further fixed on the installation frame 304, a rack 309 is fixed on one end portion of the sliding member 302, the rack 309 is engaged with the gear 307, side ends of the plurality of flow guiding plates 303 are respectively fixed on the inner side wall of the body 1, upper ends of the flow guiding plates 303 are all fixed on the flow passing cover 7, the middle portion of the flow guiding plates 303 is slidably connected with the sliding member 302, the other end of the flow guiding plates 303 penetrates through the side end of the body 1, and a chute 310 is further formed on the flow guiding plates 303, the other end of the sliding member 302 is provided with a sliding hole 311, a sliding rod 312 is slidably disposed in the sliding hole 311, a flow blocking plate 313 is fixed at the end of the sliding rod 312, and the flow blocking plate 313 is slidably disposed in the sliding groove one 310.

It should be noted that the driving motor 301 is a servo motor, the object sensing device 6 is an ultrasonic sensor, and the lens portion in the imaging assembly 5 is not formed at an elevation angle when the baffle plate 313 is at the lower limit position.

In this embodiment, the cleaning mechanism 4 includes a rotating plate 401, a connecting plate 402 and a resisting spring 403, one end of the rotating plate 401 is hinged to one end of the flow passing cover 7, one end of the connecting plate 402 is hinged to the other end of the flow passing cover 7, a second sliding groove 404 extending from the other end to the middle part is formed in the end surface of the rotating plate 401, first air holes 405 are uniformly distributed in the rotating plate 401 between the middle part and the end part far away from the connecting plate 402, second air holes 406 extending to the second sliding groove 404 are uniformly distributed in the middle part and the end part close to the connecting plate 402, the other end of the connecting plate 402 is slidably arranged in the second sliding groove 404, a fixing column 407 is rotatably arranged on the inner side wall of the body 1, one end of the resisting spring 403 is mounted on the fixing column 407, and the other end of the resisting spring 403 is connected to the middle part of the rotating plate 401.

In this embodiment, the imaging mechanism 5 comprises a high-definition camera 501, an infrared thermometer 502, a searchlight 503 and a pedestal 504, the pedestal 504 is fixed on the upper end of the body 1, the lower end of the pedestal 504 is rotatably provided with a transmission shaft 505, the lower end of the transmission shaft 505 is connected with a first bevel gear 506, a second bevel gear 507 is meshed with the first bevel gear 506, the second bevel gear 507 is coaxially connected to the end of the rotating shaft 306, the upper end of the transmission shaft 505 is connected with a rotating member 508, the other end of the rotating part 508 is rotatably connected with a first connecting rod 509, the other end of the first connecting rod 509 is rotatably connected with a sliding sleeve 510, a second connecting rod 511 is slidably arranged on the sliding sleeve 510, the second connecting rod 511 is arranged on the pedestal 504 through a bearing 512, the end part of the second connecting rod 511 is respectively connected with the high-definition camera 501 and the infrared thermometer 502 through a mounting table 513, two searchlights 503 are respectively and symmetrically arranged on the side ends of the high-definition camera 501 and the infrared thermometer 502.

In this embodiment, a plurality of guiding layer between the guide plate 303 corresponds with discharge orifice 71, and the tip that the guide plate 303 extends the body 1 outside sets up for the downward sloping for the robot is when inoperative off-line state, and inside conditions such as external rainwater can not enter into the robot equipment by guide plate 303, object induction system 6's below is all arranged in to guide plate 303, makes the weeds of blowing down or the tilt state can not lead to the fact the influence to object induction system 6.

In addition, the end part of the rotating plate 401 is matched with the end part of the avoiding hole 11, when the end part of the connecting plate 402 slides to the end part of the rotating plate 401, the air hole II 406 is matched with the monitoring ports of the high-definition camera 501 and the infrared thermometer 502, so that the lens part receives the maximum wind power, and the cleaning effect is maximized.

The working process and principle are as follows: in the use process of the invention, firstly, the robot is in an initial state, the mirror surface in the imaging mechanism 5 is vertical to the ground, at this time, the baffle plate 313 is completely placed in the first sliding groove 310, the high-speed airflow emitted by the starting air injection device 2 is blocked in the lower air passage and is forced to be discharged from the upper part, the airflow can push the rotating plate 401 to rotate around the hinged part of the lower end while flowing out through the first air hole 405, the rotating plate rotates to a vertical state and is limited under the action of the connecting plate 402, at this time, the baffle spring 403 is in a compression state, the high-speed airflow simultaneously flows through the second air hole 406, and the generated airflow layer is opposite to the mirror surface in the imaging mechanism 5 which does not generate an elevation angle temporarily; after the cleaning is finished, the robot starts to operate and simultaneously starts the driving motor 301, the lens part in the imaging mechanism 5 is driven to rotate upwards through the bevel gear II 507, the transmission shaft 505, the rotating part 508, the sliding sleeve 510 and the connecting rod II 511, the flow blocking plate 313 moves upwards in the sliding groove I310 at the moment, the airflow is smooth in the descending airway, the thrust of the ascending airflow is not enough to maintain the vertical state of the rotating plate 401 through the synchronous addition of the resisting spring 403, the rotating plate 401 rotates reversely under the thrust action of the resisting spring 403, the ascending airflow only flows through the air hole I405 at the moment, a diffused airflow area is formed between the avoiding hole 11 and the ascending lens, the high-definition camera 501, the infrared thermometer 502 and the lens of the searchlight are lifted up at any angle, the flying insects gathered nearby can be continuously repelled, and the flow blocking plate 313 is in the upwards moving process at the same time, and the generated descending airflow forms a continuous high-speed layer at the output port of the flow guiding plate 303 in the moving direction of the robot The weeds are pushed down or bent, and error identification of the object sensing device 6 is avoided.

Based on the above, in the invention, the air injection device 2, the recognition assisting mechanism 3 and the cleaning mechanism 4 are arranged in the body 1, so that in the starting stage of the robot, an air flow layer facing the lens part in the imaging mechanism 5 which temporarily does not generate an elevation angle is generated to remove impurities such as dust and the like attached to the surface, and in the working condition of extremely dark light at night, along with the operation of the robot, a diffused air flow area is formed between the avoiding hole 11 and the raised lens, so that the lenses of the high-definition camera 501, the infrared thermometer 502 and the searchlight 503 at any angle can be raised, the winged insects gathered nearby can be continuously repelled, and the read real-time information data is more accurate;

through keeping off moving up of flow plate 313, the down air current forms high-speed air current layer at the guide plate 303 output port of robot traffic direction, realize pushing down the purpose to the higher weeds in robot operation the place ahead, and the real barrier that can't pass through then does not receive the influence on this last high-speed air current layer for object induction system 6 can the accuracy of accurate discernment barrier, has reduced the requirement of robot to application environment, has guaranteed simultaneously that the robot patrols and examines and can monitor and target in place, the condition of lou examining can not appear.

It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.

Claims

1. The utility model provides a power system overhauls robot based on thing networked control, its characterized in that, includes body (1), air jet system (2), discernment assist drive device (3), clearance mechanism (4) and imaging mechanism (5), body (1) is the carrier of other mechanisms, and the upper end of body (1) has seted up dodges hole (11), and body (1) is gone up and is installed object induction system (6) at the side of advancing direction, air jet system (2) are installed in the inside of body (1), and the end of giving vent to anger of air jet system (2) is connected with overflows cover (7), it is cavity structure and the up-down terminal surface equipartition has through-flow hole (71) to overflow cover (7), discernment assist drive device (3) are installed in the inside of body (1) for confirm the passability of barrier, clearance mechanism (4) are also installed in the inside of body (1), and is used for driving away the interference source that imaging mechanism (5) detected the receiving area, and has the function of clearing up the camera lens simultaneously concurrently, imaging mechanism (5) are installed in the top of body (1), and are used for adjusting the every single move angle of camera, discernment assist drive device (3) include driving motor (301), slider (302) and a plurality of parallel arrangement's guide plate (303), be fixed with mounting bracket (304) on the inside wall of body (1), driving motor (301) are fixed in on mounting bracket (304) through mounting panel (305), the output of driving motor (301) is connected with pivot (306), coaxial fixed mounting has gear (307) on pivot (306), still be fixed with guide block (308) that the slope set up and take the recess on mounting bracket (304), one end of slider (302) is fixed with rack (309), rack (309) and gear (307) mesh, the side ends of a plurality of guide plates (303) are respectively fixed on the inner side wall of the body (1), the upper ends of the guide plates (303) are fixed on the overflowing cover (7), the middle parts of the guide plates (303) are connected with the sliding parts (302) in a sliding manner, the other ends of the guide plates (303) penetrate through the side end of the body (1), the guide plates (303) are further provided with first sliding grooves (310), the other ends of the sliding parts (302) are provided with sliding holes (311), sliding rods (312) are arranged in the sliding holes (311) in a sliding manner, the end parts of the sliding rods (312) are fixedly provided with flow baffle plates (313), the flow baffle plates (313) are arranged in the first sliding grooves (310) in a sliding manner, the cleaning mechanism (4) comprises a rotating plate (401), a connecting plate (402) and a resisting spring (403), one end of the rotating plate (401) is hinged to one end of the overflowing cover (7), one end of the connecting plate (402) is hinged to the other end of the overflowing cover (7), the end face of the rotating plate (401) is provided with a second sliding groove (404) extending from the other end to the middle part, first air holes (405) are uniformly distributed in the rotating plate (401) between the middle part and the end part far away from the connecting plate (402), second air holes (406) extending to the second sliding groove (404) are uniformly distributed in the middle part and the end part close to the connecting plate (402), the other end of the connecting plate (402) is arranged in the second sliding groove (404) in a sliding mode, a fixing column (407) is rotatably arranged on the inner side wall of the body (1), one end of the abutting spring (403) is installed on the fixing column (407), and the other end of the abutting spring (403) is connected to the middle part of the rotating plate (401).

2. The power system overhauling robot based on the control of the Internet of things of claim 1, wherein: the imaging mechanism (5) comprises a high-definition camera (501), an infrared thermometer (502), a searchlight (503) and a pedestal (504), the pedestal (504) is fixed at the upper end of the body (1), a transmission shaft (505) is rotatably arranged at the lower end of the pedestal (504), a first bevel gear (506) is connected to the lower end of the transmission shaft (505), a second bevel gear (507) is meshed on the first bevel gear (506), the second bevel gear (507) is coaxially connected to the end part of the rotating shaft (306), a rotating part (508) is connected to the upper end of the transmission shaft (505), a first connecting rod (509) is rotatably connected to the other end of the rotating part (508), a sliding sleeve (510) is rotatably connected to the other end of the first connecting rod (509), a second connecting rod (511) is slidably arranged on the sliding sleeve (510), and the second connecting rod (511) is arranged on the pedestal (504) through a bearing (512), the end parts of the second connecting rods (511) are respectively connected with the high-definition camera (501) and the infrared thermometer (502) through a mounting table (513), and two searchlights (503) are symmetrically arranged at the side ends of the high-definition camera (501) and the infrared thermometer (502) respectively.

3. The power system overhauling robot based on the control of the Internet of things of claim 1, wherein: the flow guide layers among the flow guide plates (303) correspond to the overflowing holes (71), the end parts of the flow guide plates (303) extending out of the body (1) are arranged in a downward inclined mode, and the flow guide plates (303) are arranged below the object induction device (6).

4. The power system overhauling robot based on the control of the Internet of things of claim 1, wherein: the end part of the rotating plate (401) is matched with the end part of the avoidance hole (11), and when the end part of the connecting plate (402) slides to the end part of the rotating plate (401), the second air hole (406) is matched with the high-definition camera (501) and a monitoring port of the infrared thermometer (502).