CN112230595A - Inspection robot inspection and supervision system based on VR technology - Google Patents
Inspection robot inspection and supervision system based on VR technology Download PDFInfo
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- CN112230595A CN112230595A CN202010935968.9A CN202010935968A CN112230595A CN 112230595 A CN112230595 A CN 112230595A CN 202010935968 A CN202010935968 A CN 202010935968A CN 112230595 A CN112230595 A CN 112230595A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/13—Plc programming
- G05B2219/13125—Use of virtual, logical connections
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
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Abstract
The invention discloses a patrol robot patrol monitoring system based on VR technology, which comprises a patrol robot, a processing module and an execution module, is safe and convenient to use, utilizes a first corner sensor and a second corner sensor to detect the horizontal rotation angle and the vertical rotation angle of a patrol head, utilizes a distance sensor to detect the distance between the patrol head and a fault point, can effectively confirm the specific height of the fault point, the horizontal distance from the patrol robot and the nearest distance from the patrol route, enables a maintainer to select the best route to repair, can greatly save the time for repair, and simultaneously can determine the required tools according to the information of the specific height of the fault point, the horizontal distance from the patrol robot, the nearest distance from the patrol route and the like, so as to reduce the burden of the maintainer, the efficiency of fault detection and maintenance can be effectively improved.
Description
Technical Field
The invention relates to the technical field of VR (virtual reality), in particular to a patrol robot patrol and supervision system based on VR technology.
Background
VR's chinese means exactly is virtual reality, utilize the VR technique to establish virtual scene, the user wears VR glasses, will have the sensation of being personally on the scene, along with the continuous development of VR technique, the field of application is also more and more extensive, in electric power system, the VR technique is used for patrolling and supervising the power line of transformer substation for the staff can not just can inspect power line with going to the scene, but current patrol and supervise system based on VR technique has following problem when using:
1. when the existing inspection and supervision system based on VR technology is used, after a fault point is inspected, only the approximate position of the fault point can be marked, and then a worker is dispatched to carry out inspection, and the worker cannot know the specific position of the fault point when going to carry out inspection due to the fact that the worker does not know the specific position and the specific height of the fault point, so that the worker cannot select the nearest route to carry out maintenance, and the maintainer cannot know which maintenance tools need to be carried for the inspection of the fault point, and if all the maintenance tools are carried, the work burden of the maintainer can be greatly increased;
2. when the existing inspection and supervision system based on VR technology is used, inspection and supervision are carried out by using an inspection robot, and when the existing inspection robot carries out inspection, if snow weather and road snow are encountered, the traveling of the inspection robot is difficult, and the inspection progress is influenced;
therefore, there is an urgent need for a patrol robot patrol monitoring system based on VR technology to solve the above problems.
Disclosure of Invention
The invention aims to provide a patrol robot patrol monitoring system based on a VR technology, which aims to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a patrol robot patrol monitoring system based on VR technology comprises a patrol robot, a processing module and an execution module;
the inspection robot is used for inspection and supervision, the processing module is used for processing various data collected by the inspection robot in the inspection and supervision process, and the execution module is used for executing the operation after the processing module processes the data;
the output end of the inspection robot is electrically connected with the input end of the processing module, and the output end of the processing module is electrically connected with the input end of the execution module.
According to the technical scheme, the inspection robot comprises an acquisition module and a positioning module;
the acquisition module is used for acquiring various data of inspection and supervision, and the positioning module is used for positioning the position of the inspection robot, so that the fault occurrence point of the inspection robot after inspection can be conveniently determined, and a worker can rush to the site for maintenance in the fastest time;
the output ends of the acquisition module and the positioning module are electrically connected with the input ends of the processing module and the execution module.
According to the technical scheme, the acquisition module comprises a first rotation angle sensor, a second rotation angle sensor, a distance sensor and an inspection head;
the inspection robot comprises a first rotation angle sensor, a second rotation angle sensor, a distance sensor and an inspection head, wherein the first rotation angle sensor is used for detecting a horizontal rotation angle when the inspection robot performs fault point inspection, the second rotation angle sensor is used for detecting a vertical rotation angle when the inspection robot performs fault point inspection, the distance sensor is used for detecting the distance between a fault point and the inspection robot, and the inspection head is used for intelligently detecting possible fault points;
the first rotation angle sensor, the second rotation angle sensor, the distance sensor and the inspection head are all electrically connected with the input end of the processing module;
the positioning module further comprises a Beidou positioning unit, and the Beidou positioning unit is used for positioning the real-time position of the inspection robot so as to display the real-time position on an inspection route map;
the output end of the Beidou positioning unit is electrically connected with the input end of the execution module.
According to the technical scheme, the processing module comprises a PLC controller, an image processing unit, a 3D modeling unit and a VR processing unit;
the PLC is used for receiving various data collected by the collection module, calculating the data by using an algorithm and confirming three-dimensional data and positions of fault points, the image processing unit is used for processing and analyzing image information collected by the collection module, the 3D modeling unit is used for performing 3D modeling on images processed by the image processing unit, and the VR processing unit is used for converting the models after the 3D modeling into VR images by using a VR technology;
PLC controller electric connection first corner sensor, second corner sensor and distance sensor, image processing unit electric connection patrols the head, image processing unit's output electric connection 3D modeling unit's input, 3D modeling unit's output electric connection VR processing unit's input.
According to the technical scheme, the execution module comprises a position marking unit, a display alarm unit, a VR display unit, VR glasses and an automatic switching unit;
the position marking unit is used for marking the position of a fault point at the position patrolled by the patrolling robot, the position marking information comprises specific position, height, position and elevation angle information away from the patrolling robot, the display alarm unit is used for flashing and displaying the alarm at the fault point when the patrolling robot detects the fault point, the VR display unit is used for displaying VR influence after being processed by the VR processing unit, the VR glasses are worn by a patroller and can perform experience of seeing the scene, the automatic switching unit is used for switching the driving state of the patrolling robot, the automatic switching unit comprises an automatic driving unit and a manual driving unit, when the VR glasses are used, the manual driving unit is used for performing manual driving, so that the patrolling robot can be controlled according to the actual condition of a user to perform patrolling and supervising at different positions, when the VR glasses are not used, the automatic driving unit is used for automatic driving, and driving and patrol inspection are carried out according to the originally planned route;
the position marking unit is electrically connected with the PLC, the output end of the position marking unit is electrically connected with the input end of the display alarm unit, and the VR display unit is electrically connected with the VR processing unit.
According to the technical scheme, the inspection robot further comprises a moving body, a fixed seat, a horizontal rotating seat, a supporting rod, a longitudinal rotating seat, an inspection head, a mounting component and a snow shoveling component;
the utility model discloses a snow shovel, including mobile body, horizontal rotating seat, bracing piece, horizontal rotating seat, driving motor, horizontal rotating seat, first corner sensor, horizontal rotating seat top fixed mounting has the bracing piece, bracing piece top fixed mounting has vertical rotating seat, vertical rotating seat both sides are rotated and are installed the inspection head, second corner sensor is installed to inspection head one side, distance sensor is still installed to inspection head below, mobile body one end is provided with the installing component, snow shovel part is installed through the installing component to mobile body one end.
According to the technical scheme, the mounting component comprises a first mounting seat, a second mounting seat and a fixing sleeve;
the first mounting seat is fixedly connected with the moving body, the second mounting seat is mounted on one side of the first mounting seat, and the first mounting seat is fixedly connected with the second mounting seat through a fixing sleeve.
According to the technical scheme, the first mounting seat comprises a fixing plate, a first fixing clamping groove, a limiting seat and a limiting clamping groove;
the fixed plate is fixedly connected with the moving body through a fixed screw, a first fixed clamping groove is formed in one side above the fixed plate, a limiting seat is fixedly mounted on the other side of the fixed plate, and a limiting clamping groove is formed in the bottom end of the limiting seat;
the second mounting seat comprises a mounting plate, a second fixing clamping groove, a limiting plate and a limiting lug;
the mounting panel top has been seted up the second fixed slot, the limiting plate is installed to mounting panel one side, spacing lug is installed to the limiting plate bottom, limiting plate and spacing lug and spacing slot mutually support.
According to the technical scheme, the snow shoveling component comprises a snow shoveling plate, a heating chamber, a heating pipe, a snow blocking plate, a moving wheel, a snow shoveling surface, a snow blocking surface and a connecting line;
the snow shoveling plate is internally provided with a heating cavity, the heating cavity is internally provided with a heating pipe, one end of the snow shoveling plate is a snow blocking plate, the front end of the bottom end of the snow shoveling plate is embedded with a movable wheel, the two sides of the upper surface of the snow shoveling plate are snow shoveling surfaces, one side of the snow blocking plate is arranged to be snow blocking surfaces, included angles between the snow shoveling surfaces and the snow blocking surfaces are ninety degrees, the included angles between the snow shoveling surfaces and a horizontal plane are 30-45 degrees, the included angles between the snow blocking surfaces and a vertical plane are 15-30 degrees, and the heating pipe is connected with a movable power supply of a movable body through a connecting wire.
According to the technical scheme, the first rotation angle sensor detects that the rotation angle is theta, the second rotation angle sensor detects that the rotation angle is alpha, and the inspection robot detected by the distance sensor records that the distance of a fault point is L; according to the formula:
H＝sinα*L；
wherein H represents the height of the fault point;
according to the formula:
X＝cosα*L；
wherein, X represents the horizontal distance between the inspection robot and the fault point;
according to the formula:
Z＝sinθ*X；
wherein Z represents the distance between a patrol route of the patrol robot and a fault point;
according to a formula;
wherein Y represents the distance between the patrol robot and the closest point in the patrol route to the fault point.
Compared with the prior art, the invention has the beneficial effects that:
1. utilize first corner sensor, second corner sensor to patrol first horizontal turned angle and vertical turned angle and detect, utilize distance sensor to patrol have with the fault point between the distance detect, can effectually confirm the specific height of fault point, the horizontal distance apart from the inspection robot, the nearest point apart from the inspection route distance, make maintainer can select the best route of going to the maintenance, the time of saving maintenance that can be great, simultaneously, can be according to the specific height of fault point, the horizontal distance apart from the inspection robot, information such as nearest point apart from the inspection route distance, confirm the instrument that needs to be equipped with, make can alleviate maintainer's burden, can effectual improvement failure detection and the efficiency of maintenance.
2. The automatic switching unit is arranged, so that the driving mode of the inspection robot can be selected, the selection can be performed according to the actual situation, the applicability of the system is greatly improved, and the selectivity is increased.
3. The snow shoveling component is arranged, so that the snow on the road surface can be well shoveled by the snow shoveling component when the snow is accumulated on the road surface, the patrol efficiency of the patrol robot can be effectively improved, meanwhile, the snow blocking plate can block the removed snow to avoid the accumulation of the snow on the inspection route of the inspection robot, meanwhile, by utilizing the included angle between the snow shoveling surface and the snow blocking surface, the included angle between the snow shoveling surface and the horizontal plane and the included angle between the snow blocking surface and the vertical plane, can effectively avoid the accumulation of the accumulated snow on the snow shoveling surface and the snow blocking surface, so that the accumulated snow can flow away from the connection part between the snow blocking surface and the snow shoveling surface, and the heating chamber and the heating pipe are used for heating the snow shoveling plate, so that accumulated snow is further prevented from being accumulated, the advancing load of the patrol robot is reduced, and the patrol route length of the patrol robot is prolonged.
4. Utilize the installing component, can conveniently carry out fixed mounting and dismantlement to the shovel snow part for can dismantle it when not using, alleviateed inspection robot's burden, and, utilize first mounting panel and second mounting panel to install, utilize fixed cover to fix, make installation and dismantlement convenient and fast more.
Drawings
Fig. 1 is a schematic diagram of a module composition structure of an inspection robot inspection and supervision system based on a VR technology;
FIG. 2 is a schematic diagram of a data transmission connection relationship of an inspection robot inspection and supervision system based on VR technology according to the present invention;
FIG. 3 is a schematic diagram of a VR display connection relationship of an inspection robot inspection and supervision system based on VR technology according to the present invention;
fig. 4 is a schematic structural diagram of an inspection robot inspection and supervision system based on VR technology;
FIG. 5 is a schematic structural diagram of a patrol robot patrol monitoring system installation component and a snow shoveling component based on VR technology;
FIG. 6 is a schematic view of an installation structure of a mobile wheel of a patrol robot patrol monitoring system based on VR technology;
FIG. 7 is a schematic structural diagram of a patrol robot patrol monitoring system installation component based on VR technology;
FIG. 8 is a schematic structural diagram of the inside of a snow shoveling part of an inspection robot inspection and supervision system based on VR technology;
FIG. 9 is a schematic diagram showing the distance of a first rotation angle sensor of an inspection robot inspection and supervision system based on VR technology according to the present invention;
fig. 10 is a distance representation diagram of a second rotation angle sensor of the inspection robot inspection and supervision system based on VR technology.
1. A moving body; 2. a fixed seat; 3. a horizontal rotating base; 4. a support bar; 5. a longitudinal rotating base; 6. a patrol head; 7. a mounting member;
701. a first mounting seat; 7011. a fixing plate; 7012. a first fixed slot; 7013. a limiting seat; 7014. a limiting clamping groove;
702. a second mounting seat; 7021. mounting a plate; 7022. a second fixed clamping groove; 7023. a limiting plate; 7024. a limiting bump;
703. fixing a sleeve;
8. a snow shoveling component; 801. a snow shoveling plate; 802. a heating chamber; 803. heating a tube; 804. a snow guard; 805. a moving wheel; 806. shoveling the snow surface; 807. snow-blocking surface; 808. and connecting the wires.
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.
As shown in fig. 1-3, an inspection robot inspection and supervision system based on VR technology includes an inspection robot, a processing module and an execution module;
the inspection robot is used for inspection and supervision, the processing module is used for processing various data collected by the inspection robot in the inspection and supervision process, and the execution module is used for executing the operation after the processing module processes the data;
the output end of the inspection robot is electrically connected with the input end of the processing module, and the output end of the processing module is electrically connected with the input end of the execution module.
The inspection robot comprises an acquisition module and a positioning module;
the acquisition module is used for acquiring various data of inspection and supervision, and the positioning module is used for positioning the position of the inspection robot, so that the fault occurrence point of the inspection robot after inspection can be conveniently determined, and a worker can rush to the site to overhaul in the fastest time;
the output ends of the acquisition module and the positioning module are electrically connected with the input ends of the processing module and the execution module.
The acquisition module comprises a first rotation angle sensor, a second rotation angle sensor, a distance sensor and an inspection head 6;
the inspection robot comprises a first rotation angle sensor, a second rotation angle sensor, a distance sensor and an inspection head 6, wherein the first rotation angle sensor is used for detecting a horizontal rotation angle when the inspection robot performs fault point inspection, the second rotation angle sensor is used for detecting a vertical rotation angle when the inspection robot performs fault point inspection, the distance sensor is used for detecting the distance between a fault point and the inspection robot, and the inspection head 6 is used for intelligently detecting a fault point which possibly occurs;
the first rotation angle sensor, the second rotation angle sensor, the distance sensor and the inspection head 6 are electrically connected with the input end of the processing module; the positioning module also comprises a Beidou positioning unit which is used for positioning the real-time position of the inspection robot so as to display the real-time position on an inspection route map;
the output end of the Beidou positioning unit is electrically connected with the input end of the execution module.
The processing module comprises a PLC controller, an image processing unit, a 3D modeling unit and a VR processing unit;
the PLC is used for receiving various data collected by the collection module, calculating the data by using an algorithm, and confirming three-dimensional data and positions of fault points, the image processing unit is used for processing and analyzing image information collected by the collection module, the 3D modeling unit is used for performing 3D modeling on images processed by the image processing unit, and the VR processing unit is used for converting the models after the 3D modeling into VR images by using VR technology;
the PLC controller is electrically connected with the first corner sensor, the second corner sensor and the distance sensor, the image processing unit is electrically connected with the inspection head 6, the output end of the image processing unit is electrically connected with the input end of the 3D modeling unit, and the output end of the 3D modeling unit is electrically connected with the input end of the VR processing unit.
The execution module comprises a position marking unit, a display alarm unit, a VR display unit, VR glasses and an automatic switching unit;
the position marking unit is used for marking the position of a fault point at the position patrolled by the patrolling robot, the position marking information comprises specific position, height, position far away from the patrolling robot and elevation angle information, the display alarm unit is used for displaying the flicker display alarm on the fault point when the patrolling robot detects the fault point, the VR display unit is used for displaying the VR influence processed by the VR processing unit, the VR glasses are worn by a patroller and can carry out the experience of seeing the scene, the automatic switching unit is used for switching the driving state of the patrolling robot, the automatic switching unit comprises an automatic driving unit and a manual driving unit, when the VR glasses are used, the manual driving unit is used for carrying out the manual driving, so that the patrolling robot can be controlled to carry out the patrolling inspection on different positions according to the actual condition of a user, when the VR glasses are not used, the automatic driving unit is used for automatic driving, and driving and patrol inspection are carried out according to the originally planned route;
the position marking unit is electrically connected with the PLC, the output end of the position marking unit is electrically connected with the input end of the display alarm unit, and the VR display unit is electrically connected with the VR processing unit.
As shown in fig. 4-8, the patrol robot further comprises a moving body 1, a fixed seat 2, a horizontal rotating seat 3, a supporting rod 4, a longitudinal rotating seat 5, a patrol head 6, a mounting part 7 and a snow shoveling part 8;
fixing base 2 is installed to 1 top of moving body, 2 tops of fixing base are rotated and are installed horizontal rotating seat 3, horizontal rotating seat 3 utilizes driving motor to provide power and rotates, horizontal rotating seat 3 is inside still to be installed first corner sensor, 3 top fixed mounting of horizontal rotating seat have bracing piece 4, 4 top fixed mounting of bracing piece have vertical rotating seat 5, vertical rotating seat 5 both sides are rotated and are installed inspection head 6, second corner sensor is installed to inspection head 6 one side, distance sensor is still installed to inspection head 6 below, 1 one end of moving body is provided with installing component 7, 1 one end of moving body installs snow shoveling part 8 through installing component 7.
The mounting part 7 comprises a first mounting seat 701, a second mounting seat 702 and a fixing sleeve 703;
the first mounting seat 701 is fixedly connected with the moving body 1, the second mounting seat 702 is mounted on one side of the first mounting seat 701, and the first mounting seat 701 is fixedly connected with the second mounting seat 702 through a fixing sleeve 703.
The first mounting seat 701 includes a fixing plate 7011, a first fixing slot 7012, a limiting seat 7013, and a limiting slot 7014;
the fixed plate 7011 is fixedly connected with the moving body 1 through a fixing screw, a first fixed clamping groove 7012 is formed in one side above the fixed plate 7011, a limiting seat 7013 is fixedly mounted on the other side of the fixed plate 7011, and a limiting clamping groove 7014 is formed in the bottom end of the limiting seat 7013;
the second mounting seat 702 comprises a mounting plate 7021, a second fixing clamping groove 7022, a limiting plate 7023 and a limiting bump 7024;
the top end of the mounting plate 7021 is provided with a second fixed clamping groove 7022, one side of the mounting plate 7021 is provided with a limiting plate 7023, the bottom end of the limiting plate 7023 is provided with a limiting bump 7024, and the limiting plate 7023, the limiting bump 7024 and the limiting clamping groove 7014 are matched with each other.
The snow shoveling component 8 comprises a snow shoveling plate 801, a heating chamber 802, a heating pipe 803, a snow blocking plate 804, a moving wheel 805, a snow shoveling surface 806, a snow blocking surface 807 and a connecting line 808;
As shown in fig. 9-10, the first rotation angle sensor detects a rotation angle θ, the second rotation angle sensor detects a rotation angle α, and the inspection robot detected by the distance sensor records a distance L from the fault point;
according to the formula:
H＝sinα*L；
wherein H represents the height of the fault point;
according to the formula:
X＝cosα*L；
wherein, X represents the horizontal distance between the inspection robot and the fault point;
according to the formula:
Z＝sinθ*X；
wherein Z represents the distance between a patrol route of the patrol robot and a fault point;
according to a formula;
wherein Y represents the distance between the patrol robot and the closest point in the patrol route to the fault point.
The first embodiment is as follows:
the rotation angle theta of the first rotation angle sensor is 30 degrees, the rotation angle alpha of the second rotation angle sensor is 45 degrees, and the measuring distance L of the distance sensor is 50 m;
according to the formula:
H＝sinα*L＝35.36m；
wherein, H ═ 35.35m represents the height of the failure point;
according to the formula:
X＝cosα*L＝35.36m；
wherein, X is 35.36m, which represents the horizontal distance from the inspection robot to the fault point;
according to the formula:
Z＝sinθ*X＝17.68m；
wherein, Z is 17.68m, which represents the distance from the patrol route of the patrol robot to the fault point;
according to a formula;
wherein, Y ═ 30.62m represents the distance between the inspection robot and the closest point to the fault point in the inspection route.
Example two:
the rotation angle theta of the first rotation angle sensor is 20 degrees, the rotation angle alpha of the second rotation angle sensor is 35 degrees, and the measuring distance L of the distance sensor is 30 m;
according to the formula:
H＝sinα*L＝17.21m；
wherein H ═ 11.21m represents the height of the failure point;
according to the formula:
X＝cosα*L＝24.57m；
wherein, X is 24.57m to represent the horizontal distance from the fault point of the inspection robot;
according to the formula:
Z＝sinθ*X＝8.4m；
wherein, Z is 8.4m and represents the shortest distance between the patrol route of the patrol robot and the fault point;
according to a formula;
wherein, Y ═ 23.08m represents the distance between the inspection robot and the closest point to the fault point in the inspection route.
The working principle of the invention is as follows: when the patrol robot is used for patrol and inspection, the patrol head 6 is used for inspecting a power line and shooting pictures, the driving motor is used for providing power to rotate the horizontal rotating seat 3 and the longitudinal rotating seat 5, so that the comprehensive patrol and inspection can be carried out, when snowing weather occurs, the patrol robot cannot advance, at the moment, the limiting plate 7023 and the limiting convex block 7024 of the second mounting seat 702 are inserted into the limiting clamping groove 7014 of the first mounting seat 701, the fixing sleeve 703 is sleeved outside the first fixing clamping groove 7012 and the second fixing clamping groove 7022, so that the snow shoveling component 8 is fixedly mounted, when snow shoveling is carried out, snow shoveling surfaces 806 on the upper surface of the snow shoveling plate 801 are used for shoveling snow to two sides, meanwhile, the snow blocking plate 804 is used for blocking, so that the snow is prevented from returning to the travelling route of the patrol robot, and at the same time, utilize heating chamber 802 and heating pipe 803, can heat shovel snowboard 801, can effectually prevent that snow from piling up on shovel snow face 806 surface of shovel snowboard 801, simultaneously, because keep off snow face 807 and vertical plane and present certain angle for snow can not pile up on shovel snow face 806, can follow the gap between shovel snow face 806 and the fender snow face 807 and flow away, has alleviateed the burden of inspection robot when shoveling snow.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (2)
1. The utility model provides a patrol robot inspection supervisory systems based on VR technique which characterized in that: the inspection and supervision system comprises an inspection robot, a processing module and an execution module;
the inspection robot is used for inspection and supervision, the processing module is used for processing various data collected by the inspection robot in the inspection and supervision process, and the execution module is used for executing the operation after the processing module processes the data;
the output end of the inspection robot is electrically connected with the input end of the processing module, and the output end of the processing module is electrically connected with the input end of the execution module;
the inspection robot comprises an acquisition module and a positioning module;
the acquisition module is used for acquiring various data of inspection and supervision, and the positioning module is used for positioning the position of the inspection robot;
the output ends of the acquisition module and the positioning module are electrically connected with the input ends of the processing module and the execution module;
the acquisition module comprises a first rotation angle sensor, a second rotation angle sensor, a distance sensor and an inspection head (6);
the first rotation angle sensor is used for detecting a horizontal rotation angle when the inspection robot performs fault point inspection, the second rotation angle sensor is used for detecting a vertical rotation angle when the inspection robot performs fault point inspection, the distance sensor is used for detecting the distance between a fault point and the inspection robot, and the inspection head (6) is used for intelligently detecting the fault point which possibly occurs;
the first rotation angle sensor, the second rotation angle sensor, the distance sensor and the inspection head (6) are electrically connected with the input end of the processing module;
the positioning module further comprises a Beidou positioning unit, and the Beidou positioning unit is used for positioning the real-time position of the inspection robot;
the output end of the Beidou positioning unit is electrically connected with the input end of the execution module;
the first rotation angle sensor detects a rotation angle theta,
the second rotation angle sensor detects a rotation angle of alpha,
the distance of the fault point recorded by the inspection robot detected by the distance sensor is L;
according to the formula:
H＝sinα*L；
wherein H represents the height of the fault point;
according to the formula:
X＝cosα*L；
wherein, X represents the horizontal distance between the inspection robot and the fault point;
according to the formula:
Z＝sinθ*X；
wherein Z represents the distance between a patrol route of the patrol robot and a fault point;
according to a formula;
wherein Y represents the distance between the inspection robot and the closest point in the inspection route to the fault point;
the inspection robot also comprises a moving body (1), a fixed seat (2), a horizontal rotating seat (3), a supporting rod (4), a longitudinal rotating seat (5), an inspection head (6), an installation part (7) and a snow shoveling part (8);
a fixed seat (2) is installed above the moving body (1), a horizontal rotating seat (3) is rotatably installed above the fixed seat (2), a supporting rod (4) is fixedly installed above the horizontal rotating seat (3), a longitudinal rotating seat (5) is fixedly installed above the supporting rod (4), inspection heads (6) are rotatably installed on two sides of the longitudinal rotating seat (5), an installation part (7) is arranged at one end of the moving body (1), and a snow shoveling part (8) is installed at one end of the moving body (1) through the installation part (7);
the mounting part (7) comprises a first mounting seat (701), a second mounting seat (702) and a fixing sleeve (703);
the first mounting seat (701) is fixedly connected with the moving body (1), a second mounting seat (702) is mounted on one side of the first mounting seat (701), and the first mounting seat (701) is fixedly connected with the second mounting seat (702) through a fixing sleeve (703);
the snow shoveling component (8) comprises a snow shoveling plate (801), a heating chamber (802), a heating pipe (803), a snow blocking plate (804), a moving wheel (805), a snow shoveling surface (806), a snow blocking surface (807) and a connecting line (808);
heating chamber (802) have been seted up to shovel snowboard (801) inside, heating chamber (802) internally mounted has heating pipe (803), shovel snowboard (801) one end is snow board (804), shovel snowboard (801) bottom front end embedding is installed and is removed wheel (805), shovel snowboard (801) upper surface both sides are snow shoveling surface (806), snow board (804) one side sets up to snow surface (807), the contained angle between snow shoveling surface (806) and snow surface (807) is ninety degrees, snow surface (806) and the contained angle of horizontal plane are 30-45 degrees, snow surface (807) and vertical plane's contained angle are 15-30 degrees, heating pipe (803) are connected with the portable power source of removal body (1) through connecting wire (808).
2. The patrol robot patrol inspection system based on VR technology as claimed in claim 1, wherein: the first mounting seat (701) comprises a fixing plate (7011), a first fixing clamping groove (7012), a limiting seat (7013) and a limiting clamping groove (7014);
the fixed plate (7011) is fixedly connected with the moving body (1) through a fixing screw, a first fixed clamping groove (7012) is formed in one side above the fixed plate (7011), a limiting seat (7013) is fixedly installed on the other side of the fixed plate (7011), and a limiting clamping groove (7014) is formed in the bottom end of the limiting seat (7013);
the second mounting seat (702) comprises a mounting plate (7021), a second fixing clamping groove (7022), a limiting plate (7023) and a limiting lug (7024);
second fixed slot (7022) have been seted up on mounting panel (7021) top, limiting plate (7023) are installed to mounting panel (7021) one side, spacing lug (7024) are installed to limiting plate (7023) bottom, limiting plate (7023) and spacing lug (7024) and spacing slot (7014) mutually support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010935968.9A CN112230595A (en) | 2019-12-04 | 2019-12-04 | Inspection robot inspection and supervision system based on VR technology |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010935968.9A CN112230595A (en) | 2019-12-04 | 2019-12-04 | Inspection robot inspection and supervision system based on VR technology |
| CN201911226765.6A CN110941233B (en) | 2019-12-04 | 2019-12-04 | Inspection robot inspection and supervision system based on VR technology |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911226765.6A Division CN110941233B (en) | 2019-12-04 | 2019-12-04 | Inspection robot inspection and supervision system based on VR technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112230595A true CN112230595A (en) | 2021-01-15 |
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Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010935953.2A Withdrawn CN112214017A (en) | 2019-12-04 | 2019-12-04 | Patrol robot patrol and supervision system based on VR technology |
| CN202010935968.9A Withdrawn CN112230595A (en) | 2019-12-04 | 2019-12-04 | Inspection robot inspection and supervision system based on VR technology |
| CN201911226765.6A Active CN110941233B (en) | 2019-12-04 | 2019-12-04 | Inspection robot inspection and supervision system based on VR technology |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010935953.2A Withdrawn CN112214017A (en) | 2019-12-04 | 2019-12-04 | Patrol robot patrol and supervision system based on VR technology |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911226765.6A Active CN110941233B (en) | 2019-12-04 | 2019-12-04 | Inspection robot inspection and supervision system based on VR technology |
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| Country | Link |
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| CN (3) | CN112214017A (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112417995B (en) * | 2020-11-03 | 2022-09-16 | 广西电网有限责任公司电力科学研究院 | Substation maintenance operation in-place supervision-oriented identification method and system |
| CN112788142B (en) * | 2021-01-18 | 2023-03-28 | 四川中英智慧质量工程技术研究院有限公司 | Intelligent edge Internet of things gateway supporting multi-sensor access |
| CN113977598B (en) * | 2021-10-25 | 2023-09-29 | 国网山东省电力公司商河县供电公司 | Video inspection device for airtight screen cabinet |
| CN114048871A (en) * | 2021-11-05 | 2022-02-15 | 晋江海纳机械有限公司 | 5G network-based health equipment VR (virtual reality) inspection operation and maintenance system and method |
| CN114200858A (en) * | 2021-11-23 | 2022-03-18 | 国网新疆电力有限公司克州供电公司 | Multifunctional artificial intelligent substation inspection device |
| CN116623515B (en) * | 2023-07-24 | 2023-09-15 | 四川高速公路建设开发集团有限公司 | High-speed pavement flatness detection system and method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101010267B1 (en) * | 2008-08-25 | 2011-01-24 | 주식회사 이제이텍 | Method for controlling robot |
| CN102082466A (en) * | 2010-10-15 | 2011-06-01 | 重庆市电力公司超高压局 | Intelligent inspection robot system for transformer substation equipment |
| CN102736624B (en) * | 2011-04-12 | 2014-07-02 | 中国科学院沈阳自动化研究所 | Transformer station rail-mounted intelligent patrol robot |
| US10220423B2 (en) * | 2016-09-28 | 2019-03-05 | Redzone Robotics, Inc. | Mobile jetter and pipe inspection robot |
| CN107046252A (en) * | 2017-04-14 | 2017-08-15 | 国网吉林省电力有限公司经济技术研究院 | A kind of conduit line intelligent inspection robot |
| CN109202852A (en) * | 2018-10-12 | 2019-01-15 | 国机智能(苏州)有限公司 | A kind of intelligent inspection robot |
| CN109765461A (en) * | 2019-02-21 | 2019-05-17 | 国网山东省电力公司临沂供电公司 | Transmission line of electricity monitoring system and method based on temperature monitoring |
-
2019
- 2019-12-04 CN CN202010935953.2A patent/CN112214017A/en not_active Withdrawn
- 2019-12-04 CN CN202010935968.9A patent/CN112230595A/en not_active Withdrawn
- 2019-12-04 CN CN201911226765.6A patent/CN110941233B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112214017A (en) | 2021-01-12 |
| CN110941233B (en) | 2020-10-30 |
| CN110941233A (en) | 2020-03-31 |
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Application publication date: 20210115 |