CN112140089A - A patrol and examine robot for indoor environment - Google Patents

Abstract

The invention discloses an inspection robot for indoor environment, which comprises a track and a robot main body, wherein the track is fixedly arranged at the indoor top, the robot main body comprises a connecting plate, one end of the connecting plate is provided with a horizontal mechanism, the horizontal mechanism is slidably clamped with the track, the other end of the connecting plate is provided with a vertical mechanism, the bottom of the connecting plate between the vertical mechanism and the horizontal mechanism is fixedly provided with a control box, the bottom of the vertical mechanism is fixedly provided with a cloud platform, and the bottom of the cloud platform is fixedly provided with an acquisition instrument. The robot main body horizontally moves along the track through the horizontal mechanism, and the vertical mechanism controls the lifting of the holder, so that the position of the acquisition instrument is controlled, operation personnel is assisted to operate and automatically inspect and auxiliary fault analysis and diagnosis are provided, the intelligent management level of the substation equipment is greatly improved, the number of times of field inspection by operators on duty is greatly reduced, the labor intensity is effectively reduced, the working efficiency is improved, and more reliable guarantee is provided for the safe operation of the substation equipment.

Description

A patrol and examine robot for indoor environment

Technical Field

The invention relates to the technical field of robots, in particular to an inspection robot for an indoor environment.

Background

Along with the popularization of the intelligent substation and the unattended substation mode, higher requirements are put forward for substation inspection, and a more advanced and intelligent inspection mode is urgently needed. The intelligent robot technology is adopted for transformer substation inspection, so that the flexibility and the intelligence of manual inspection are realized, the defects and the defects existing in manual inspection are overcome and overcome, the development direction of intelligent and unattended transformer substation inspection technology is provided, and the application prospect is wide.

The current inspection robot mainly has the following defects and shortcomings:

(1) aspect of moving mechanism

The moving mechanism is related to a control strategy of the motion control system, and is an important basis for high-speed, high-precision and stable operation of the inspection robot in the road condition environment of the transformer substation. The defects and shortcomings in this respect are mainly as follows:

1) the wheel type mechanism has the advantages of simple structure, convenient control, flexible maneuvering and high transmission efficiency, but has relatively poor terrain adaptability, and the obstacle crossing capability and the running stability thereof are related to the radius of the driving wheel.

2) The crawler-type mechanism has the advantages of strong obstacle crossing capability, strong ground adhesion capability, stable movement and the like, but has relatively complex structure, larger volume, difficult turning and relatively poor maneuvering performance.

3) The bionic structure greatly improves the motion flexibility and terrain environment adaptability of the robot, and can realize autonomous movement in non-structural terrains. However, limited by the current state of the art, the current bionic leg mechanism still faces many technical difficulties in order to realize fast and stable movement.

(2) Navigation control aspects

The navigation control technology is a core technology and is also a key technology for realizing real intellectualization and complete autonomous movement of the navigation control technology. The defects and shortcomings in this respect are mainly as follows:

1) the visual navigation is to realize real-time monitoring and identification of visual images through a mobile camera and finish autonomous navigation positioning on the basis of associating with the actual position of the robot. The method has the advantages of large amount of acquired information and low implementation cost, but the image processing calculation amount is large, the real-time performance is poor, and the method is easily influenced by factors such as environmental illumination, smoke and the like.

2) The laser reflection light navigation utilizes laser to scan the surrounding environment, calculates the receiving time of the reflection light to calculate the distance between an object and a robot to realize navigation positioning, and has the advantages of good parallelism, high distance resolution, easy interference of the surrounding environment, limited range of distance measurement and difficult realization of navigation positioning completely depending on the laser.

3) The inertial navigation uses inertial elements (such as an accelerometer, a gyroscope and the like) to measure the acceleration and the motion direction of a moving object, and obtains the speed and the position through integral operation.

4) The GPS navigation is the most common navigation control technique, and in the robot navigation, differential GPS navigation is generally adopted, but the positioning accuracy is greatly affected by satellite signals, and is relatively low.

5) The magnetic track navigation can realize the accurate navigation positioning of the mobile robot through the ground pre-buried magnetic stripe and the RFID tag, and has the advantages of mature and reliable technology, higher positioning accuracy, poorer flexibility, single moving path and larger later expansion and maintenance workload.

6) SLAM navigation has the characteristics of high navigation accuracy, strong environment adaptability and the like, but because the cost of the Lidar radar is higher, and an accurate electronic map needs to be made before use, the application range of the Lidar radar is limited to a certain extent.

(3) Aspect of charging and power supply

Electric energy is the basis of the operation of an inspection robot system, and how to realize long-time and effective power supply becomes a problem which needs to be faced and solved in the robot industrialization. The defects and shortcomings in this respect are mainly as follows:

1) the solar energy autonomous charging utilizes solar photoelectric conversion to realize autonomous energy compensation of the robot, and the solar energy autonomous charging has low realization cost and mature technology, is widely applied to the energy industry, but is difficult to be applied to autonomous charging of the mobile robot due to lower solar photoelectric conversion efficiency and larger whole area of a daylighting panel at present.

2) The wireless induction charging mode realizes energy transmission, can effectively avoid the problems of interface abrasion and pollution of autonomous charging, is simple to realize, but has smaller power of current various non-contact autonomous charging, and is generally applied to small-sized household fields such as mobile phones and electric toothbrushes.

3) The robot body and the fixed interface are automatically positioned and connected by the contact type autonomous charging and navigation positioning technology, and under the condition of laser positioning, the positioning accuracy between the charging connectors is high, and the robot body and the fixed interface have high error tolerance.

(4) Aspects of communication technology

Communication is a link for establishing a connection between an upper computer and a lower computer, and the benefit of receiving and sending data can be maximized only by ensuring high speed, small interference, low investment and the like in the communication process. The defects and shortcomings in this respect are mainly as follows:

1) bluetooth communication low-power consumption, low radiation, cost are low, but its transmission rate is slow, and coverage is very little, and is influenced by external greatly.

2) The mobile communication has the advantages of high transmission speed, long transmission distance, strong anti-interference capability and low early investment, but in a long term, the consumed flow is very large, and the operator needs to pay very much cost.

3) The optical fiber communication transmission speed is fast, the transmission distance is long, the anti-interference capability is strong, but the cost of early investment laying is very high, and the optical fiber is easy to break.

4) The WIFI communication coverage is wide, the transmission rate is high, the data transmission rate of 11-600 Mbps can be provided within a hundred-meter range, and the running power consumption is high.

To this end we propose a patrol robot for indoor environments to solve the above problems.

Disclosure of Invention

The invention aims to provide an inspection robot for an indoor environment, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a patrol and examine robot for indoor environment, includes track and robot main part, track fixed mounting is at indoor top, the robot main part includes the connecting plate, the one end installation horizontal mechanism of connecting plate, horizontal mechanism slip joint track, the perpendicular mechanism of other end installation of connecting plate, connecting plate bottom fixed mounting control box between perpendicular mechanism and horizontal mechanism, the bottom fixed mounting cloud platform of perpendicular mechanism, the bottom fixed mounting collection appearance of cloud platform.

Preferably, the track is an annular track with an I-shaped cross section, a slot is formed in the top of the inner wall of the track, a slide cable is clamped in the slot, an STM32 control unit and a power carrier communication unit are installed in the control box, and the robot main body realizes data communication with an upper computer through power carrier communication.

An embodiment of preferred, horizontal mechanism includes the ring flange, the ring flange passes through the bolt and pegs graft on the connecting plate, bolt motor support is passed through at the top of ring flange, the inner chamber bottom of ring flange is equipped with servo motor, servo motor fixed connection motor support, motor support's output shaft stretches into in the motor support inner chamber and connects the one end of shaft coupling, motor support inner wall joint automobile body support's curb plate is fixed through the bolt and pegs graft, bolted connection locomotive's bottom is passed through at automobile body support's top, the locomotive slides and cup joints on the track, orbital bottom fixed mounting annular rack, the gear is connected at the top of shaft coupling, the gear rotates the annular rack who runs through automobile body support and locomotive and mesh track bottom.

An embodiment of preferred, the locomotive includes the automobile body, open at the middle part of automobile body has the circular logical groove that supplies the gear to run through, and the automobile body passes through bolted connection automobile body support, the installing port has all been opened to the both sides outer wall of automobile body, fixed mounting fixed bridge on the automobile body of installing port open end, through the high and low deflector of bolt fixed mounting on the fixed bridge, the installation leading wheel is all rotated to one side top and the bottom that the high and low deflector is close to circular logical groove, two leading wheel on the high and low deflector closely laminates orbital "worker" style of calligraphy bottom plate top surface and bottom surface respectively, spacing wheel of installation is all rotated to automobile body both sides edge, spacing wheel closely laminates orbital both sides respectively.

In an optimized implementation case, the positions of the vehicle body corner installation limiting wheels and the positions of the high-low guide plate bottom installation guide wheels are provided with elliptical holes, so that the installation and the attachment of the tracks are facilitated.

An embodiment of preferred, perpendicular mechanism includes the support, support fixed mounting is at the top of connecting plate, the support mid-rotation installation reel, the both ends difference fixed mounting AC motor and the encoder of support, the both ends of the flexible pipe of connecting of coupling joint reel are passed through respectively in the pivot of AC motor and encoder, the one end of the flexible pipe of connecting plate bottom fixed connection of support department, the other end fixed mounting pulley holder of flexible pipe, bolt fixed connection cloud platform is passed through to the bottom of pulley holder, the movable pulley of rotation installation in the pulley holder, reel lateral wall fixed connection wire rope's one end, wire rope's the other end is followed the circumference outer wall that the telescopic pipe inner chamber passed movable pulley and fixed connection reel.

In a preferred embodiment, the alternating current motor is provided with a speed increasing box with damping and a large rated rotation speed ratio, the bottom of the connecting plate at the support is provided with an LP40 TOF laser ranging sensor, the inner cavity of the telescopic pipe is provided with a spiral line, the spiral line comprises a power line and a signal line, one end of the spiral line is fixedly penetrated through the holder, and the other end of the spiral line is penetrated through the outer wall of the top of the telescopic pipe.

According to a preferred embodiment, the circumferential outer wall of the reel is provided with a spiral clamping groove, the circumferential outer wall of the movable pulley is provided with a groove of a V-shaped structure, two ends of the top of the pulley seat are fixedly provided with guide blocks, the guide blocks are provided with penetrating wire holes, the bottoms of the wire holes are opposite to two sides of the V-shaped groove, and the inner diameter of each wire hole is equal to the diameter of the steel wire rope.

An embodiment of preferred, flexible pipe includes a plurality of slip single tubes, and a plurality of slip single tubes's diameter is from last down degressive gradually, and adjacent slip single tube cup joints each other, the top of slip single tube cup joints the spacing ring through helicitic texture, and the spacing ring cup joints in last section slip single tube, the outer wall of slip single tube is opened has the keyway, joint guide key in the keyway, the bottom of slip single tube is through helicitic texture installation guide ring, the guide ring inner chamber slides and cup joints next section slip single tube, the guide ring inner wall is opened there is the guide way, the guide way internal card connects the guide key on the next section slip single tube.

In a preferred embodiment, the diameter of the outer flange of the limiting ring is larger than the inner diameter of the guide ring on the adjacent sliding single tube, two positioning holes and three threaded holes are formed in the guide key and the key groove, and glue injection holes are formed in the outer walls of two ends of the sliding single tube.

Compared with the prior art, the invention has the beneficial effects that:

1) the device has the advantages of high moving speed, accurate positioning and good stability, and can automatically check the actual state of the device after operation under the sequential control instruction, so that the switching operation of the power transformation device really realizes remote operation;

2) the robot is controlled by a background system, the background system can be remotely controlled by a centralized control station through a network, automatic or manual operation is adopted according to needs, equipment in a field area is patrolled at regular time or irregular time, a frequency monitoring function is achieved, and field abnormity is monitored; storing the patrol pictures in a local background regularly;

3) the robot can continuously run for 24 hours by adopting a slide wire electricity taking mode, so that the problems of heavy weight, need of timing charging and periodic maintenance caused by using a battery are avoided;

4) the power line carrier communication technology is adopted for transmitting the video and the data, compared with wireless communication transmission, the reliability of communication bandwidth and data transmission is improved, the problem that the wireless transmission is easy to be interfered by electromagnetic waves is avoided, and wiring is simplified;

5) the robot walking track adopts an aluminum alloy light rail, is connected in multiple sections, and is convenient to disassemble and install;

6) the fixed rail type mechanism is adopted, the sliding rail is utilized to realize the rail running of the mobile robot, the accurate positioning control and multi-dimensional moving capability are realized, the space moving range is wide, and the strong environmental adaptability is realized;

7) the high-precision incremental rotary encoder is adopted for positioning, so that the positioning is simple and accurate, and the error is extremely high;

8) the LP40 TOF laser ranging sensor has the advantages of large measuring range, centimeter-level precision, high measuring speed, high environment adaptability and the like;

9) the vertical mechanism adopts a spiral winding method, so that the automatic homing can be realized even if the steel wire rope is disturbed in the installation process;

10) the installation design of spacing wheel in the horizontal mechanism is ingenious, plays the guard action again when spacing.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an exploded view of the main structure of the robot of the present invention;

FIG. 3 is an exploded view of a partial structure of the extension tube of the present invention;

FIG. 4 is a schematic view of a pulley seat structure according to the present invention;

FIG. 5 is a block diagram of the system of the present invention;

fig. 6 is a diagram of a background system of a robot upper computer according to the present invention.

In the figure: 1. a track; 2. a robot main body; 21. a connecting plate; 22. a horizontal mechanism; 221. a servo motor; 222. a flange plate; 223. a coupling; 224. a motor bracket; 225. a vehicle body support; 226. a gear; 227. a mobile vehicle; 2271. a vehicle body; 2272. a fixed bridge; 2273. a high-low guide plate; 2274. a limiting wheel; 2275. an installation port; 2276. a guide wheel; 23. a vertical mechanism; 231. an alternating current motor; 232. an encoder; 233. a reel; 234. a support; 235. a telescopic pipe; 2351. a limiting ring; 2352. sliding the single tube; 2353. a keyway; 2354. a guide key; 2355. a guide ring; 2356. a guide groove; 236. a pulley seat; 237. a movable pulley; 24. a control box; 3. a holder; 4. an acquisition instrument.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: the utility model provides a patrol and examine robot for indoor environment, including track 1 and robot main part 2, track 1 fixed mounting is at indoor top, robot main part 2 includes connecting plate 21, horizontal mechanism 22 is installed to the one end of connecting plate 21, horizontal mechanism 22 slip joint track 1, vertical mechanism 23 is installed to the other end of connecting plate 21, connecting plate 21 bottom fixed mounting control box 24 between vertical mechanism 23 and horizontal mechanism 22, the bottom fixed mounting cloud platform 3 of vertical mechanism 23, cloud platform 3's bottom fixed mounting gathers appearance 4. The robot main body 2 horizontally moves along the track 1 through the horizontal mechanism 22, and controls the lifting of the holder 3 through the vertical mechanism 23, so that the position of the acquisition instrument 4 is controlled, and the indoor environment can be conveniently patrolled and examined.

Furthermore, the acquisition instrument 4 adopts a visible light camera and a thermal infrared imager, the holder can rotate horizontally by 360 degrees and longitudinally by 90 degrees, the shooting range and flexibility are guaranteed to the maximum extent, the resolution of the visible light camera is 1902 multiplied by 1080, the bit depth is 24, high-definition pictures can be shot, the aperture, the focal length and the like can be adjusted on the upper computer, and the recognition success rate of image recognition is guaranteed.

The track 1 is an annular track with an I-shaped cross section, a wire groove is formed in the top of the inner wall of the track 1, a slide cable is clamped in the wire groove, an STM32 control unit and a power carrier communication unit are installed in the control box 24, and the robot main body 2 is in data communication with an upper computer through power carrier communication.

Furthermore, the slide wire cable is a double-row slide wire and is fixed in a wire groove in the inner wall of the track 1 through a wire buckle and a screw, 220V alternating current is connected into the slide wire, the robot can be ensured to continuously patrol for 24 hours by adopting a slide wire electricity taking mode, continuous power supply can be ensured in the moving process of the robot, meanwhile, the power line carrier communication is realized by installing a power modem in the control box 24, the 220V single-phase alternating current power supply through the slide wire is output to a net opening of the switch through the net wire, and then the power line is output to a computer or other switches through the other power modem through the single-phase alternating current power supply, so that the data communication is carried out with a background host computer of the robot, the power supply of the two power modems is the same-phase single-phase alternating current power supply, the transmission speed and quality can be improved, and the problems of packet loss and slow transmission are avoided.

Further, be equipped with control program in the control unit in the control box 24, robot main part control program includes self-checking program, alarm program, soft start program, preset bit calling program, communication program, a key regression program etc. and this procedure has the characteristics that the location is accurate, the removal is quick, the operation is safe, and backstage management mainly contains in robot backstage host computer: the method comprises the following steps of (1) calling visible light camera shooting and infrared thermal imaging pictures in real time, and manually adjusting focal length, exposure, white balance and the like according to needs; visual operation is carried out, and the moving state of the robot can be displayed in real time during moving; real-time photographing is carried out to carry out table recording, switch on-off identification, indicating lamp state identification, infrared temperature measurement and the like; the abnormal condition found in the inspection process can automatically generate an alarm, and the inspection is finished to automatically generate a report.

Further, the robot background system mainly comprises a real-time monitoring module, a task planning module, a remote control module, a configuration center module and a historical query and data analysis module, and the specific division is as shown in fig. 6:

(1) the real-time monitoring module is responsible for checking image information, vehicle body state information, vehicle body advancing information battery state information, polling field meteorological information, polling task information and the like in the running process of the robot;

(2) the task planning module is divided into 3 modes of routine task planning, special inspection task planning and remote inspection, the task modes can be switched at any time, a plurality of inspection tasks can be generated in advance by the routine task planning according to the inspection requirements of the transformer substation, and the inspection tasks are regularly inspected every day; the special patrol task planning can generate a temporary patrol task in real time and execute the special patrol task;

(3) the remote control module can remotely control the robot to make specified actions to specified places in real time, and the module can control the azimuth and the pitching of the holder through the handle and control the speed and the direction of the vehicle body;

(4) the configuration center module comprises 3 sub-interfaces of equipment configuration, map configuration and basic configuration. The equipment configuration interface comprises infrared configuration, visible light configuration, vehicle body configuration and holder configuration;

(5) the historical query and data analysis module can realize visible light images, infrared images, sound, meter reading and equipment position state.

The horizontal mechanism 22 comprises a flange plate 222, the flange plate 222 is bolted on the connecting plate 21 through bolts, the top of the flange plate 222 is bolted with a motor support 224 through bolts, a servo motor 221 is arranged at the bottom of an inner cavity of the flange plate 222, the servo motor 221 is fixedly connected with the motor support 224, an output shaft of the motor support 224 extends into the inner cavity of the motor support 224 and is connected with one end of a coupler 223, the inner wall of the motor support 224 is clamped with a side plate of a vehicle body support 225 and is bolted and fixed through bolts, the top of the vehicle body support 225 is connected with the bottom of a movable vehicle 227 through bolts, the movable vehicle 227 is sleeved on the track 1 in a sliding mode, an annular rack is fixedly installed at the bottom of the track 1, a gear 226 is connected with the top of the coupler 223, and the gear. The servo motor 221 drives the gear 226 to rotate through the coupler 223, the gear 226 engages with the rack at the bottom of the track 1, and the gear 226 rolls along the rack, so as to drive the moving vehicle 227 to move along the track 1, thereby realizing the horizontal movement of the robot main body 2.

Furthermore, the coupling 223 uses an elastic coupling, which has strong capability of compensating misalignment of two axes, high transmission efficiency, and can safely operate under the conditions of impact and vibration, and is suitable for the condition of frequent vibration under the design.

The movable vehicle 227 comprises a vehicle body 2271, the middle part of the vehicle body 2271 is provided with a circular through groove for the gear 226 to penetrate through, the vehicle body 2271 is connected with a vehicle body bracket 225 through bolts, the outer walls of the two sides of the vehicle body 2271 are respectively provided with a mounting opening 2275, a fixed bridge 2272 is fixedly mounted on the vehicle body 2271 at the opening end of the mounting opening 2275, a high-low guide plate 2273 is fixedly mounted on the fixed bridge 2272 through bolts, guide wheels 2276 are rotatably mounted at the top and the bottom of one side of the high-low guide plate 2273 close to the circular through groove, the guide wheels 2276 on the two high-low guide plates 2273 are respectively and closely attached to the top surface and the bottom surface of the H-shaped bottom plate of the track 1, limiting wheels 2274 are rotatably mounted at the corners of the two sides of the vehicle body 2271, the limiting wheels 2274 are respectively and closely attached to the two sides of the track 1, oval guide wheels 2276 are respectively mounted at the corners of the vehicle body 2271 and the bottom of the guiding wheel 2276, so as, thereby carry out vertical spacing direction to automobile body 2271, spacing wheel 2274 laminating track 1 lateral wall carries out spacing direction to automobile body 2271's level for locomotive 227 carries out horizontal migration along track 1.

The vertical mechanism 23 comprises a bracket 234, the bracket 234 is fixedly arranged at the top of the connecting plate 21, a reel 233 is rotatably arranged at the middle part of the bracket 234, an alternating current motor 231 and an encoder 232 are respectively fixedly arranged at two ends of the bracket 234, rotating shafts of the alternating current motor 231 and the encoder 232 are respectively connected with two ends of the reel 233 through couplings, the bottom of the connecting plate 21 at the position of the bracket 234 is fixedly connected with one end of a telescopic pipe 235, a pulley seat 236 is fixedly arranged at the other end of the telescopic pipe 235, the bottom of the pulley seat 236 is fixedly connected with the pan head 3 through bolts, a movable pulley 237 is rotatably arranged in the pulley seat 236, the side wall of the reel 233 is fixedly connected with one end of a steel wire rope, the other end of the steel wire rope passes through a movable pulley 237 along the inner cavity of the telescopic pipe 235 and is fixedly connected, when the steel wire rope contracts, the movable pulley 237 moves upwards, the telescopic pipe 235 shortens by itself, when the steel wire rope is released, the movable pulley 237 rolls along the steel wire rope, and the tripod head 3 and other gravity enable the telescopic pipe 235 to extend by itself, so that the up-and-down movement of the acquisition instrument 4 is realized, and the acquisition of the target and the crossing of the obstacle are facilitated.

The AC motor 231 is provided with a speed increasing box with damping and a large rated speed ratio to rapidly drive the reel 233 to rotate and brake, the bottom of the connecting plate 21 at the bracket 234 is provided with an LP40 TOF laser ranging sensor and an LP40 TOF laser ranging sensor, on one hand, the AC motor can be used as a limit switch to limit left and right and up and down when returning to an initial position; on the other hand, can play safety protection's effect, the robot can automatic detection surrounding environment, when discerning to have the barrier and can not pass through safely or the vertical lift in-process meets the barrier on patrolling and examining the route, can automatic parking and report to the police, can automatic police dispatch after the barrier removes, continue to remove towards the specified direction, flexible pipe 235 inner chamber is equipped with the helix, and the helix includes power cord and signal line, the fixed cloud platform 3 that runs through of helix one end, the other end runs through the top outer wall of flexible pipe 235, self flexible performance through the helix, cloud platform 3 and collection appearance 4 homoenergetic keep power and data connection when making flexible pipe 235 flexible.

The outer wall of the circumference of the reel 233 is provided with a spiral clamping groove, which is convenient for the wire winding of the wire rope to limit, and avoids the wire rope from winding and knotting on the reel 233, the outer wall of the circumference of the movable pulley 237 is provided with a groove with a V-shaped structure, both ends of the top of the pulley seat 236 are fixedly provided with guide blocks, and the guide blocks are provided with wire holes which are penetrated through, the bottoms of the wire holes are just opposite to the two sides of the V-shaped groove, and the inner diameter of each wire hole is equal to the diameter of the wire rope, so that the wire rope is guided through the wire holes, which is convenient for clamping the V-shaped groove, the wire rope and the movable pulley 237 are well.

The extension tube 235 comprises a plurality of sliding single tubes 2352, the diameters of the plurality of sliding single tubes 2352 gradually decrease from top to bottom, the adjacent sliding single tubes 2352 are mutually sleeved, the top of the sliding single tube 2352 is sleeved with a limit ring 2351 through a threaded structure, the limit ring 2351 is sleeved in the previous sliding single tube 2352, the outer wall of the sliding single tube 2352 is provided with a key slot 2353, the key slot 2353 is internally clamped with a guide key 2354, the bottom of the sliding single tube 2352 is provided with a guide ring 2355 through a threaded structure, the inner cavity of the guide ring 2355 is slidably sleeved with the next sliding single tube 2352, the inner wall of the guide ring 2355 is provided with a guide groove 2356, the guide key 2354 on the next sliding single tube 2352 is clamped in the guide groove 2356, the guide key 2354 and the key slot 2353 are provided with two positioning holes and three threaded holes, the two ends of the sliding single tube 2352 are provided with glue injection holes, the guide key 2354 on the adjacent sliding single tube 2352 is clamped with the guide groove, the sliding single tubes 2352 do not rotate when sliding with each other, and the outer flange diameter of the retainer ring 2351 is larger than the inner diameter of the guide ring 2355 on the adjacent sliding single tube 2352, so that the retainer ring 2351 is blocked by the guide ring 2355 when the adjacent sliding single tube 2352 slides to the maximum distance, thereby preventing the sliding single tubes 2352 from disengaging from each other.

Further, horizontal movement, vertical movement and parking are basic functions of the robot, when the robot performs horizontal movement, whether the pan-tilt ascends to a specified position is detected, if not, the pan-tilt is firstly folded up and then moves horizontally; if the robot system moves horizontally, the robot system directly moves horizontally, so that the robot system is controlled to move, reverse and stop by a single-phase alternating current motor for improving the stability of the operation of the robot system and avoiding obstacles, the vertical movement is controlled by a relay to be switched on and off, and the horizontal movement is controlled by a speed loop PID.

The preset bit calling program is a main function of the inspection robot, and is mainly realized by that a worker adjusts the horizontal and vertical motion of the robot and the rotation of the holder to an identified optimal point in advance, and then the encoder numerical value and the holder rotation angle information of the point are stored in a background database. Then, the robot is moved to any position, then the command is called, and the robot automatically runs to a preset position and finally stops. The process of moving the device from any position to the prefabrication position is as follows: calling database data → horizontally moving to a specified position → vertically moving to a specified position and rotating the pan-tilt to the specified position, and doing other things after a series of movements are finished, such as: photographing, recording, identifying, etc.

The motion process between the preset positions adopts speed-position double closed loop PID control, and the increment of the position PID is transmitted to a speed loop, and then is converted and transmitted to an input pulse of an HBS57 driver through the increment of the speed loop, so that the speed is controlled by the position.

The regression initial position is another main function of the robot, and is mainly used for eliminating accumulated errors. First, a vertical initial bit regression is performed. The specific process comprises the following steps: downward touching down a limit, recording the numerical value of the encoder, upward touching an upper limit, calculating the total length, resetting the encoder to stop, and then performing horizontal initial position regression, wherein the specific process comprises the following steps: moving left → touching left limit, recording encoder value → moving right → touching right limit, calculating full length → moving to midpoint, clearing encoder and stopping, completing the regression of initial bit.

To sum up, this track type patrols and examines robot can assist operation personnel operation, automatic inspection and provide supplementary failure analysis and diagnosis, has improved substation equipment intelligent management level by a wide margin, has promoted the safe operation level of transformer primary equipment to the staff can long-rangely accomplish the routine task of patrolling and examining, has significantly reduced the number of times that the personnel on duty were patrolled and examined on the spot, has reduced its intensity of labour effectively, has improved its work efficiency, provides more reliable guarantee for the safe operation of substation equipment.

The working principle is as follows: when the invention is used, the robot main body 2 horizontally moves along the track 1 through the horizontal mechanism 22, the vertical mechanism 23 controls the lifting of the cloud deck 3, thereby controlling the position of the acquisition instrument 4, having fast moving speed, accurate positioning and good stability, arranging double rows of sliding contact lines on the track 1, thereby ensuring that the robot main body 2 always keeps wired power supply and data connection when moving, ensuring that the robot can continuously run for 24h, assisting operators to operate and automatically patrol, providing auxiliary fault analysis and diagnosis, greatly improving the intelligent management level of transformer substation equipment, improving the safe running level of primary transformer equipment, and the staff can remotely complete routine inspection tasks, thereby greatly reducing the number of on-site inspection of operators on duty, effectively reducing the labor intensity, improving the working efficiency and providing more reliable guarantee for the safe operation of the substation equipment.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The utility model provides a patrol and examine robot for indoor environment, includes track (1) and robot main part (2), track (1) fixed mounting is at indoor top, its characterized in that: robot main part (2) are including connecting plate (21), horizontal mechanism (22) are installed to the one end of connecting plate (21), horizontal mechanism (22) slip joint track (1), perpendicular mechanism (23) are installed to the other end of connecting plate (21), connecting plate (21) bottom fixed mounting control box (24) between perpendicular mechanism (23) and horizontal mechanism (22), bottom fixed mounting cloud platform (3) of perpendicular mechanism (23), appearance (4) are gathered to the bottom fixed mounting of cloud platform (3).

2. An inspection robot for indoor environments, according to claim 1, characterized in that: track (1) becomes the annular orbit of "worker" style of calligraphy for the cross section, open the inner wall top of track (1) has the wire casing, and the inslot joint slide-wire cable, install STM32 the control unit and power carrier communication unit in control box (24), data communication is realized through power carrier communication and host computer in robot main part (2).

3. An inspection robot for indoor environments, according to claim 1, characterized in that: the horizontal mechanism (22) comprises a flange plate (222), the flange plate (222) is bolted on the connecting plate (21) through bolts, the top of the flange plate (222) is bolted on a motor support (224) through bolts, a servo motor (221) is arranged at the bottom of an inner cavity of the flange plate (222), the servo motor (221) is fixedly connected with the motor support (224), an output shaft of the motor support (224) extends into the inner cavity of the motor support (224) and is connected with one end of a coupler (223), the inner wall of the motor support (224) is clamped with a side plate of a vehicle body support (225) and is bolted and fixed through bolts, the top of the vehicle body support (225) is connected with the bottom of a moving vehicle (227) through bolts, the moving vehicle (227) is slidably sleeved on the track (1), an annular rack is fixedly installed at the bottom of the track (1), and a gear (226) is connected with the top of the coupler, the gear (226) rotates to penetrate through the vehicle body bracket (225) and the moving vehicle (227) and is meshed with an annular rack at the bottom of the track (1).

4. An inspection robot for indoor environments, according to claim 3, characterized in that: the moving vehicle (227) comprises a vehicle body (2271), the middle part of the vehicle body (2271) is provided with a circular through groove for the gear (226) to penetrate through, the vehicle body (2271) is connected with the vehicle body bracket (225) through bolts, the outer walls of the two sides of the vehicle body (2271) are respectively provided with a mounting opening (2275), a fixed bridge (2272) is fixedly arranged on the vehicle body (2271) at the opening end of the mounting opening (2275), the fixed bridge (2272) is fixedly provided with a high-low guide plate (2273) through bolts, the top and the bottom of one surface of each high-low guide plate (2273) close to the circular through groove are respectively provided with a guide wheel (2276) in a rotating way, the guide wheels (2276) on the two high-low guide plates (2273) are respectively and tightly attached to the top surface and the bottom surface of the H-shaped bottom plate of the track (1), the automobile body (2271) both sides corner all rotates installation spacing wheel (2274), spacing wheel (2274) closely laminate the both sides of track (1) respectively.

5. An inspection robot for indoor environments, according to claim 4, characterized in that: spacing wheel (2274) department of automobile body (2271) corner installation and height deflector (2273) bottom installation leading wheel (2276) department all opened oval-shaped hole, the installation of being convenient for laminating track (1).

6. An inspection robot for indoor environments, according to claim 1, characterized in that: perpendicular mechanism (23) includes support (234), support (234) fixed mounting is at the top of connecting plate (21), support (234) middle part rotates installation reel (233), the both ends of support (234) are fixed mounting alternating current motor (231) and encoder (232) respectively, the both ends of shaft coupling connection reel (233) are passed through respectively to alternating current motor (231) and encoder (232)'s pivot, the one end of connecting plate (21) bottom fixed connection flexible pipe (235) of support (234) department, the other end fixed mounting pulley seat (236) of flexible pipe (235), bolt fixed connection cloud platform (3) is passed through to the bottom of pulley seat (236), rotation installation movable pulley (237) in pulley seat (236), reel (233) lateral wall fixed connection wire rope's one end, wire rope's the other end is followed flexible pipe (235) inner chamber and is passed movable pulley (237) and fixed connection reel (233)'s circumference outer A wall.

7. An inspection robot for indoor environments, according to claim 6, characterized in that: the speed increasing box of subsidiary damping of alternating current motor (231) and big rotational speed ratio, connecting plate (21) bottom installation LP40 TOF laser range finding sensor of support (234) department, flexible pipe (235) inner chamber is equipped with the helix, and the helix includes power cord and signal line, fixed cloud platform (3) that runs through of helix one end, the other end runs through the top outer wall of flexible pipe (235).

8. An inspection robot for indoor environments, according to claim 6, characterized in that: the circumference outer wall of reel (233) is opened there is spiral clamping groove, the circumference outer wall of movable pulley (237) is opened the recess that has V type structure, the equal fixed mounting in top both ends of pulley holder (236) has the guide block, and opens the line hole that runs through on the guide block, and the line hole bottom is just to V type recess both sides, and line hole internal diameter equals wire rope's diameter.

9. An inspection robot for indoor environments, according to claim 6, characterized in that: flexible pipe (235) include a plurality of slip single tubes (2352), and the diameter of a plurality of slip single tubes (2352) is followed down and is decreased progressively, and adjacent slip single tube (2352) cup joints each other, the top of slip single tube (2352) is passed through helicitic texture and is cup jointed spacing ring (2351), and spacing ring (2351) cup joints in last section slip single tube (2352), the outer wall of slip single tube (2352) is opened there is keyway (2353), joint guide key (2354) in keyway (2353), helicitic texture installation guide ring (2355) is passed through to the bottom of slip single tube (2352), guide ring (2355) inner chamber slides and cup joints next section slip single tube (2352), guide ring (2355) inner wall is opened has guide way (2356), guide key (2354) on the next section slip single tube (2352) of joint in guide way (2356).

10. An inspection robot for indoor environments, according to claim 9, characterized in that: the outer flange diameter of the limiting ring (2351) is larger than the inner diameter of a guide ring (2355) on an adjacent sliding single tube (2352), two positioning holes and three threaded holes are formed in the guide key (2354) and the key groove (2353), and glue injection holes are formed in the outer walls of the two ends of the sliding single tube (2352).

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