CN113179392A - Inspection robot - Google Patents
Inspection robot Download PDFInfo
- Publication number
- CN113179392A CN113179392A CN202110448397.0A CN202110448397A CN113179392A CN 113179392 A CN113179392 A CN 113179392A CN 202110448397 A CN202110448397 A CN 202110448397A CN 113179392 A CN113179392 A CN 113179392A
- Authority
- CN
- China
- Prior art keywords
- camera
- machine body
- shaped folding
- folding frame
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 36
- 230000006698 induction Effects 0.000 claims abstract description 10
- 230000001939 inductive effect Effects 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000712 assembly Effects 0.000 description 7
- 238000000429 assembly Methods 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 241000699670 Mus sp. Species 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Abstract
The application relates to the technical field of transformer substation inspection, in particular to an inspection robot, which comprises a machine body, a sliding assembly, a driving motor, an obstacle induction sensor, a first camera and a second camera; the driving motor is arranged in the machine body, and the top of the machine body is arranged on a track through the sliding assembly; the driving motor is connected with the sliding assembly and used for driving the sliding assembly to rotate so as to enable the machine body to move on the track; the first camera is mounted on the front side surface of the machine body, the second camera is mounted at the bottom of the machine body, and the second camera is connected with the machine body through a telescopic mechanism; the obstacle induction sensor is mounted on the machine body and used for inducing the condition of surrounding obstacles so that the telescopic mechanism can control the second camera to move up and down. The application solves the technical problem of low polling efficiency in the prior art.
Description
Technical Field
The application relates to the technical field of transformer substation inspection, in particular to an inspection robot.
Background
At present, the inspection mode of cable ducts in most transformer substations in China is manual inspection. The inspection content of the inspection personnel comprises the steps of inspecting whether a cable trench has serious water accumulation or not, whether a cable has a damage phenomenon or not, whether mice and other small animals exist in the cable trench or not and the like, the inspection content is fixed and single, and the work efficiency of the inspection personnel is lower. Along with the development of power grid technology, the transformer substation is in an unmanned state, the robot inspection mode can better reduce investment cost, maximize the utility of the robot, improve the automatic inspection level and bring revolutionary changes to inspection work of the power grid industry. However, the existing robot cannot flexibly move in a narrow and complex space, and the shooting range of the camera is greatly influenced, so that the inspection efficiency is low.
Disclosure of Invention
In view of this, the present application aims to provide a patrol robot, which effectively solves the technical problem of low patrol efficiency in the prior art.
In order to achieve the purpose, the application provides the following technical scheme:
a patrol robot comprises a robot body, a sliding assembly, a driving motor, an obstacle induction sensor, a first camera and a second camera;
the driving motor is arranged in the machine body, and the top of the machine body is arranged on a track through the sliding assembly;
the driving motor is connected with the sliding assembly and used for driving the sliding assembly to rotate so as to enable the machine body to move on the track;
the first camera is mounted on the front side surface of the machine body, the second camera is mounted at the bottom of the machine body, and the second camera is connected with the machine body through a telescopic mechanism;
the obstacle induction sensor is mounted on the machine body and used for inducing the condition of surrounding obstacles so that the telescopic mechanism can control the second camera to move up and down.
Preferably, in the inspection robot described above, the sliding assembly includes a connecting member and two pulleys;
the connecting piece and the machine body are respectively positioned above and below the track;
the first end of each pulley is rotatably connected with the machine body, and the second end of each pulley is rotatably connected with the connecting piece;
two the pulley all sets up between two tracks, and two the pulley rolls the butt with a track respectively.
Preferably, in the inspection robot, there are at least two sliding assemblies, and each sliding assembly is distributed on the body along the moving direction of the body.
Preferably, in the inspection robot, a driving shaft of the driving motor is provided with a first gear, and at least one of the pulleys is provided with a second gear in meshing transmission connection with the first gear.
Preferably, in the inspection robot, the telescopic mechanism includes a telescopic cylinder, an X-shaped folding frame and a fixed seat;
the fixed seat is arranged in the machine body, and a first slide rail groove is formed in the fixed seat;
the left upper end of the X-shaped folding frame is hinged with the fixed seat, the right upper end of the X-shaped folding frame is slidably mounted in the first slide rail groove, and the left lower end and/or the right lower end of the X-shaped folding frame is connected with the second camera;
the telescopic cylinder is connected with the X-shaped folding frame and used for driving the right upper end of the X-shaped folding frame to slide in the first slide rail groove, so that the X-shaped folding frame is unfolded or contracted to drive the second camera to move up and down.
Preferably, in the inspection robot, the telescopic mechanism further comprises a connecting seat, and a second slide rail groove is formed in the top of the connecting seat;
the left lower end of the X-shaped folding frame is hinged with the top of the connecting seat, and the right lower end of the X-shaped folding frame is slidably installed in the second slide rail groove;
the second camera is installed on the bottom of the connecting seat.
Preferably, in the inspection robot, there are two X-shaped folding frames, and the two X-shaped folding frames are arranged between the fixed seat and the connecting seat in parallel;
two the X type folding leg passes through the connecting rod to be connected, telescopic cylinder's telescopic link with the connecting rod is connected.
Preferably, in the inspection robot, an opening corresponding to the connecting seat is formed in the bottom of the body.
Preferably, in the patrol robot as described above, the obstacle sensing sensor includes a first sensor and a second sensor;
the first sensor and the second sensor are respectively arranged on two sides of the machine body along the movement direction.
Preferably, in the inspection robot, the first camera and the second camera are both 360-degree panoramic cameras.
Compared with the prior art, the beneficial effects of this application are:
the application provides a tour robot, it makes whole fuselage can be along orbital motion to rotate through driving motor drive slip subassembly, along with the motion of fuselage on the track, the scene condition that is located the place ahead can be shot to the first camera that is located the fuselage leading flank, and the condition that obstacle inductive pick-up can respond to around so that telescopic machanism control second camera reciprocates, not only realize that the second camera moves the scene condition of shooing between two obstacles downwards, but also can make the second camera avoid the obstacle in time, guarantee to patrol and examine the normal clear of task. Through the motion of drive motor control fuselage along the horizontal direction and through telescopic machanism and obstacle induction sensor control second camera along the motion of vertical direction, not only replaced the manual work and patrolled and examined, but also can enlarge the shooting scope of camera effectively, can realize that first camera and second camera shoot the site conditions of each position of cable pit, and then improve the efficiency of patrolling and examining of cable pit, solved effectively and had the technical problem of patrolling and examining inefficiency among the prior art.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a patrol robot according to an embodiment of the present disclosure;
fig. 2 is a schematic perspective structure diagram of a patrol robot according to an embodiment of the present application;
fig. 3 is a schematic installation diagram of a sliding assembly and a telescopic mechanism of a patrol robot according to an embodiment of the present disclosure;
fig. 4 is a schematic perspective structure diagram of a sliding assembly of a patrol robot according to an embodiment of the present application.
In the figure:
1 is a body, 11 is a top plate, 2 is a sliding component, 21 is a connecting piece, 22 is a pulley, 23 is a second gear, 24 is a mounting seat, 25 is a guard plate, 31 is a driving shaft, 32 is a first gear, 41 is a first sensor, 42 is a second sensor, 51 is a first camera, 52 is a second camera, 6 is a telescopic mechanism, 61 is a telescopic cylinder, 62 is an X-shaped folding frame, 63 is a fixed seat, 631 is a first slide rail groove, 64 is a connecting seat, 641 is a second slide rail groove, 65 is a connecting rod, and 7 is a track.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
At present, the inspection mode of cable ducts in most transformer substations in China is manual inspection. The inspection content of the inspection personnel comprises the steps of inspecting whether a cable trench has serious water accumulation or not, whether a cable has a damage phenomenon or not, whether mice and other small animals exist in the cable trench or not and the like, the inspection content is fixed and single, and the work efficiency of the inspection personnel is lower. Along with the development of power grid technology, the transformer substation is in an unmanned state, the robot inspection mode can better reduce investment cost, maximize the utility of the robot, improve the automatic inspection level and bring revolutionary changes to inspection work of the power grid industry. However, the existing robot cannot flexibly move in a narrow and complex space, and the shooting range of the camera is greatly influenced, so that the inspection efficiency is low. The embodiment provides a tour robot, has solved effectively and has patrolled the technical problem of inefficiency among the prior art.
Referring to fig. 1 to 4, an embodiment of the present application provides a patrol robot, including a body 1, a sliding assembly 2, a driving motor, an obstacle sensing sensor, a first camera 51 and a second camera 52; the driving motor is arranged in the machine body 1, and the top of the machine body 1 is arranged on the track 7 through the sliding component 2; the driving motor is connected with the sliding assembly 2 and is used for driving the sliding assembly 2 to rotate so as to enable the machine body 1 to move on the track 7; the first camera 51 is arranged on the front side surface of the machine body 1, the second camera 52 is arranged at the bottom of the machine body 1, and the second camera 52 is connected with the machine body 1 through the telescopic mechanism 6; the obstacle sensing sensor is mounted on the body 1 for sensing a surrounding obstacle so that the telescopic mechanism 6 controls the second camera 52 to move up and down.
More specifically, the machine body 1 can be in a tetragonal shape, the interior of the machine body 1 is hollow, and the driving motor and the telescopic mechanism 6 are both arranged in the interior of the machine body 1; when the obstacle induction sensor identifies that an obstacle exists in front of the body, the driving motor moves for a certain distance to stop running (so that the second camera 52 moves to be close to the position of the obstacle), the telescopic mechanism 6 controls the second camera 52 to ascend, and when the second camera 52 ascends to the bottom of the body 1, the driving motor continues to drive the sliding assembly 2 to rotate so that the body 1 moves along the track 7; when the obstacle sensing sensor identifies that no obstacle exists in the front, the driving motor stops running after moving for a certain distance (so that the second camera 52 moves to a position without the obstacle), the telescopic mechanism 6 controls the second camera 52 to descend, and when the second camera 52 descends to the lowest point, the driving motor continues to drive the sliding assembly 2 to rotate so that the machine body 1 moves along the track 7.
This embodiment makes whole fuselage 1 can move along track 7 through the rotation of driving motor drive slip subassembly 2, along with the motion of fuselage 1 on track 7, the site conditions that is located the place ahead can be shot to the first camera 51 that is located the fuselage 1 leading flank, and obstacle induction sensor can respond to the condition of barrier around so that telescopic machanism 6 control second camera 52 reciprocates, not only realize that second camera 52 moves down and shoot the site conditions between two barriers, but also can make second camera 52 avoid the barrier in time, guarantee to patrol and examine the normal clear of task. Through the motion of drive motor control fuselage 1 along the horizontal direction and through telescopic machanism 6 and the motion of obstacle induction sensor control second camera 52 along vertical direction, not only replaced the manual work and patrolled and examined, but also can enlarge the shooting scope of camera effectively, can realize that first camera 51 and second camera 52 shoot the site conditions of each position of cable pit, and then improve the efficiency of patrolling and examining of cable pit, the technical problem that the efficiency is low has been patrolled and examined to the existence among the prior art has been solved effectively.
Further, in the present embodiment, the sliding assembly 2 includes a connecting member 21 and two pulleys 22; the connecting piece 21 and the machine body 1 are respectively positioned above and below the track 7; the first end of each pulley 22 is rotatably connected with the machine body 1, and the second end of each pulley 22 is rotatably connected with the connecting piece 21; the two pulleys 22 are each disposed between the two rails 7, and each of the two pulleys 22 is in rolling contact with one of the rails 7. Through two pulleys 22 respectively with the track 7 rolling contact of both sides, realize fuselage 1 slidable mounting on track 7 to setting up through connecting piece 21 can restrict two pulleys 22's position, making difficult appearance is not hard up between two pulleys 22, thereby avoid pulley 22 to break away from in track 7, guarantee that fuselage 1 can pass through pulley 22 and move on along track 7, thereby guarantee the normal operating of robot.
More specifically, the cross section of each pulley 22 is shaped like an i, an annular groove matched with the rail 7 is formed in the middle of each pulley 22, each pulley 22 is in rolling contact with the rail 7 through the groove wall of the annular groove, rotating rods are arranged at the two ends of each pulley 22 along the central line, and the two ends of each pulley 22 are respectively in rotating connection with the connecting piece 21 and the top plate 11 of the machine body 1 through the rotating rods.
Further, in the present embodiment, there are at least two sliding assemblies 2, and each sliding assembly 2 is distributed on the body 1 along the moving direction of the body 1. The body 1 can be better supported by the at least two sliding assemblies 2, which is not only beneficial to ensuring the stability of the movement of the body 1 on the guide rail, but also can effectively reduce the bearing of each pulley 22 on the body 1, thereby being beneficial to reducing the friction damage of each pulley 22.
More specifically, the embodiment preferably employs 2 to 4 sliding assemblies 2, and it is not desirable to employ too many pulleys 22, and the too many pulleys 22 are not only costly, but also unfavorable to the flexible movement of the body 1 on the rail 7.
Further, in the present embodiment, the driving shaft 31 of the driving motor is provided with a first gear 32, and at least one pulley 22 is provided with a second gear 23 in meshed driving connection with the first gear 32. The driving shaft 31 of the driving motor drives the first gear 32 to rotate, the first gear 32 rotates to drive the second gear 23 to rotate, the second gear 23 rotates to drive the corresponding pulley 22 to rotate, and under the driving of the rotation of the single pulley 22, other pulleys 22 can also roll on the track 7, so that the linear motion of the machine body 1 on the track 7 is realized.
More specifically, referring to fig. 1, in the present embodiment, 3 sliding assemblies 2 are specifically adopted, wherein the pulleys 22 of two sliding assemblies 2 are connected to the same connecting member 21, and the two pulleys 22 on the same side of the two sliding assemblies 2 are both provided with the second gear 23, the first gear 32 is disposed between the two second gears 23, and the two second gears 23 are both in meshing transmission connection with the first gear 32, so that the arrangement can not only provide driving rotation power for the two pulleys 22, and facilitate the movement of the machine body 1 on the track 7, but also can limit the position of the first gear 32 through the second gear 23, and can greatly reduce the possibility of gear disengagement between the two gears, thereby ensuring the normal operation of the device; the bottom of the pulley 22 of another sliding assembly 2 can be configured with a mounting seat 24, the mounting seat 24 is detachably connected with the top plate 11 of the machine body 1, both sides of the mounting seat 24 and both sides of the connecting piece 21 are provided with guard plates 25, and the pulley 22 can be more conveniently mounted on the machine body 1 through the mounting seat 24.
Further, in the present embodiment, the telescopic mechanism 6 includes a telescopic cylinder 61, an X-shaped folding leg 62 and a fixed seat 63; the fixed seat 63 is installed in the machine body 1, and the fixed seat 63 is provided with a first slide rail groove 631; the left upper end of the X-shaped folding frame 62 is hinged with the fixed seat 63, the right upper end of the X-shaped folding frame 62 is slidably mounted in the first slide rail groove 631, and the left lower end and/or the right lower end of the X-shaped folding frame 62 is connected with the second camera 52; the telescopic cylinder 61 is connected to the X-shaped folding frame 62, and is configured to drive the right upper end of the X-shaped folding frame 62 to slide in the first slide rail groove 631, so that the X-shaped folding frame 62 expands or contracts to drive the second camera 52 to move up and down.
When the second camera 52 needs to move downwards, the telescopic cylinder 61 controls the telescopic rod to contract and pull the right upper end of the X-shaped folding frame 62 to move in the first slide rail groove 631, so that the distance between the left upper end and the right upper end of the X-shaped folding frame 62 is reduced, the length of the X-shaped folding frame 62 in the vertical direction is increased, and the second camera 52 is driven to move downwards; when the second camera 52 needs to move upwards, the telescopic cylinder 61 controls the telescopic rod to extend to push the right upper end of the X-shaped folding frame 62 to move in the first slide rail groove 631, so that the distance between the left upper end and the right upper end of the X-shaped folding frame 62 is increased, the length of the X-shaped folding frame 62 in the vertical direction is shortened, and the second camera 52 is driven to move upwards.
Further, in this embodiment, the telescopic mechanism 6 further includes a connecting seat 64, and a second slide rail groove 641 is disposed on a top of the connecting seat 64; the left lower end of the X-shaped folding frame 62 is hinged to the top of the connecting seat 64, and the right lower end of the X-shaped folding frame 62 is slidably mounted in the second sliding rail groove 641; the second camera 52 is mounted on the bottom of the connecting base 64. The setting through connecting seat 64 not only can provide the position that a second camera 52 and X type folding leg 62 are connected, but also can form the restriction effect to X type folding leg 62 jointly through first slide rail groove 631 and second slide rail groove 641, play guide and restriction effect to X type folding leg 62's shrink and expansion for X type folding leg 62 is all relatively more stable when contracting with when expanding, thereby is favorable to guaranteeing connecting seat 64 and second camera 52 up-and-down motion's stability.
More specifically, the straight line formed by the upper left end and the upper right end of the X-shaped folding leg 62 is parallel to the rail 7, and the straight line formed by the lower left end and the lower right end of the X-shaped folding leg 62 is also parallel to the rail 7, so that the connecting seat 64 is kept in a horizontal state, and the second camera 52 can better photograph the surrounding field conditions.
Further, in the present embodiment, there are two X-shaped folding legs 62, and the two X-shaped folding legs 62 are disposed between the fixing seat 63 and the connecting seat 64 in parallel; the two X-shaped folding frames 62 are connected through a connecting rod 65, and the telescopic rod of the telescopic cylinder 61 is connected with the connecting rod 65. The two X-shaped folding legs 62 can be correspondingly and respectively connected to the four corners of the fixing base 63 and the four corners of the connecting base 64, so that the connecting base 64 can be better supported, and a stable installation environment is provided for the second camera 52.
Further, in the present embodiment, the bottom of the body 1 is provided with an opening corresponding to the connection seat 64. When the second camera 52 needs to move downwards, the telescopic cylinder 61 can be started to pull the X-shaped folding frame 62 to unfold, so that the connecting seat 64 can be separated from the machine body 1 to drive the second camera 52 to move downwards until the second camera 52 moves to a corresponding position; when the second camera 52 needs to move upward, the telescopic cylinder 61 can be started to push the X-shaped folding frame 62 to contract, so that the connecting seat 64 drives the second camera 52 to move upward until the connecting seat 64 moves into the opening to enable the bottom of the connecting seat 64 to be flush with the bottom of the body 1.
Further, in the present embodiment, the obstacle sensing sensor includes a first sensor 41 and a second sensor 42; the first sensor 41 and the second sensor 42 are respectively disposed at both sides of the bottom of the body 1 in the moving direction. That is, the first sensor 41 is disposed at the front end of the body 1 along the rail 7, when the robot moves forward and the first sensor 41 senses an obstacle, the first sensor 41 sends a signal to the controller of the telescopic cylinder 61 to drive the second camera 52 to retract upward; when the robot moves backwards and the second sensor 42 senses an obstacle, the second sensor 42 sends a signal to the controller of the telescopic cylinder 61 to drive the second camera 52 to retract upwards.
More specifically, a third sensor may be further mounted on the second camera 52, and the third sensor may recognize an obstacle situation below so as to recognize a descending distance for controlling the second camera 52.
Further, in the present embodiment, the first camera 51 and the second camera 52 are both 360-degree panoramic cameras. Through adopting 360 degrees panoramic camera as first camera 51 and second camera 52, can guarantee the scope of making a video recording of two cameras effectively to the realization does not have dead angle ground and shoots the inside site conditions of cable pit, and then improves the efficiency of patrolling and examining of cable pit.
More specifically, the first camera 51 and the second camera 52 are also provided with spot lights by which a sufficient light source can be provided in a dark environment for both cameras to take a photograph. The whole robot is also externally provided with a monitoring system, the monitoring system comprises a PC monitoring system and a mobile phone monitoring system, the monitoring system is in wireless connection or wired connection with a control host of the robot, a battery pack, a control module of a driving motor, a control module of a telescopic mechanism 6, a rotation control module of a first camera 51 and a second camera 52 and a wireless signal receiving module are arranged in the control host, so that a worker can observe and know the operation condition of the robot through the monitoring system.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A patrol robot is characterized by comprising a robot body, a sliding assembly, a driving motor, an obstacle induction sensor, a first camera and a second camera;
the driving motor is arranged in the machine body, and the top of the machine body is arranged on a track through the sliding assembly;
the driving motor is connected with the sliding assembly and used for driving the sliding assembly to rotate so as to enable the machine body to move on the track;
the first camera is mounted on the front side surface of the machine body, the second camera is mounted at the bottom of the machine body, and the second camera is connected with the machine body through a telescopic mechanism;
the obstacle induction sensor is mounted on the machine body and used for inducing the condition of surrounding obstacles so that the telescopic mechanism can control the second camera to move up and down.
2. The patrol robot of claim 1, wherein the slide assembly comprises a link and two pulleys;
the connecting piece and the machine body are respectively positioned above and below the track;
the first end of each pulley is rotatably connected with the machine body, and the second end of each pulley is rotatably connected with the connecting piece;
two the pulley all sets up between two tracks, and two the pulley rolls the butt with a track respectively.
3. The patrol robot of claim 2, wherein the number of the sliding members is at least two, and each of the sliding members is distributed on the body along a moving direction of the body.
4. The patrol robot of claim 3, wherein a drive shaft of the drive motor is provided with a first gear, and at least one of the pulleys is provided with a second gear in meshing transmission connection with the first gear.
5. The patrol robot according to claim 1, wherein the telescopic mechanism comprises a telescopic cylinder, an X-shaped folding leg and a fixed seat;
the fixed seat is arranged in the machine body, and a first slide rail groove is formed in the fixed seat;
the left upper end of the X-shaped folding frame is hinged with the fixed seat, the right upper end of the X-shaped folding frame is slidably mounted in the first slide rail groove, and the left lower end and/or the right lower end of the X-shaped folding frame is connected with the second camera;
the telescopic cylinder is connected with the X-shaped folding frame and used for driving the right upper end of the X-shaped folding frame to slide in the first slide rail groove, so that the X-shaped folding frame is unfolded or contracted to drive the second camera to move up and down.
6. The inspection robot according to claim 5, wherein the telescoping mechanism further comprises a connecting seat, and a second slide rail groove is formed in the top of the connecting seat;
the left lower end of the X-shaped folding frame is hinged with the top of the connecting seat, and the right lower end of the X-shaped folding frame is slidably installed in the second slide rail groove;
the second camera is installed on the bottom of the connecting seat.
7. The inspection robot according to claim 6, wherein there are two X-shaped folding legs, and the two X-shaped folding legs are disposed in parallel between the fixing base and the connecting base;
two the X type folding leg passes through the connecting rod to be connected, telescopic cylinder's telescopic link with the connecting rod is connected.
8. The patrol robot of claim 6, wherein an opening corresponding to the connecting seat is provided at the bottom of the body.
9. The patrol robot of claim 1, wherein the obstacle-sensing sensor comprises a first sensor and a second sensor;
the first sensor and the second sensor are respectively arranged on two sides of the machine body along the movement direction.
10. A patrol robot according to any one of claims 1-9, wherein said first camera and said second camera are both 360 degree panoramic cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110448397.0A CN113179392A (en) | 2021-04-25 | 2021-04-25 | Inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110448397.0A CN113179392A (en) | 2021-04-25 | 2021-04-25 | Inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113179392A true CN113179392A (en) | 2021-07-27 |
Family
ID=76925497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110448397.0A Pending CN113179392A (en) | 2021-04-25 | 2021-04-25 | Inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113179392A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101625573A (en) * | 2008-07-09 | 2010-01-13 | 中国科学院自动化研究所 | Digital signal processor based inspection robot monocular vision navigation system |
| CN101800403A (en) * | 2010-04-06 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Inspection robot for ultra-high voltage power transmission lines |
| CN102915577A (en) * | 2012-10-10 | 2013-02-06 | 国家电网公司 | Portable inspection unit |
| CN104765366A (en) * | 2014-11-27 | 2015-07-08 | 祝爱莲 | Service robot achieving intelligent obstacle surmounting |
| CN106081141A (en) * | 2016-06-08 | 2016-11-09 | 朱新科 | Many rotor wing unmanned aerial vehicles |
| CN107315423A (en) * | 2017-08-23 | 2017-11-03 | 吉林省彬生蓝航天际无人机科技有限公司 | A kind of new patrol unmanned machine inspection device and method for inspecting |
| CN209028481U (en) * | 2018-12-11 | 2019-06-25 | 华能渑池热电有限责任公司 | A kind of rail mounted crusing robot |
| CN210266628U (en) * | 2019-07-15 | 2020-04-07 | 北京铁道工程机电技术研究所股份有限公司 | Portable camera inspection device |
-
2021
- 2021-04-25 CN CN202110448397.0A patent/CN113179392A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101625573A (en) * | 2008-07-09 | 2010-01-13 | 中国科学院自动化研究所 | Digital signal processor based inspection robot monocular vision navigation system |
| CN101800403A (en) * | 2010-04-06 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Inspection robot for ultra-high voltage power transmission lines |
| CN102915577A (en) * | 2012-10-10 | 2013-02-06 | 国家电网公司 | Portable inspection unit |
| CN104765366A (en) * | 2014-11-27 | 2015-07-08 | 祝爱莲 | Service robot achieving intelligent obstacle surmounting |
| CN106081141A (en) * | 2016-06-08 | 2016-11-09 | 朱新科 | Many rotor wing unmanned aerial vehicles |
| CN107315423A (en) * | 2017-08-23 | 2017-11-03 | 吉林省彬生蓝航天际无人机科技有限公司 | A kind of new patrol unmanned machine inspection device and method for inspecting |
| CN209028481U (en) * | 2018-12-11 | 2019-06-25 | 华能渑池热电有限责任公司 | A kind of rail mounted crusing robot |
| CN210266628U (en) * | 2019-07-15 | 2020-04-07 | 北京铁道工程机电技术研究所股份有限公司 | Portable camera inspection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202168138U (en) | Intelligent mobile track type image pickup apparatus | |
| CN108629317A (en) | A kind of clean type face recognition device with camera safeguard function | |
| CN108869184B (en) | Communication base station with dustproof and wind power generation function | |
| CN210439750U (en) | Unmanned aerial vehicle hangar system for transformer substation autonomous patrol | |
| CN109719697A (en) | Track intelligent measurement robot in a kind of multiple degrees of freedom room | |
| CN210189768U (en) | Robot carrying detection part for bidirectional movement | |
| CN113179392A (en) | Inspection robot | |
| CN108189080B (en) | Multi-degree-of-freedom adjusting structure for security robot | |
| CN210210378U (en) | Robot comprising horizontal moving part | |
| CN113203027A (en) | Intelligent power supply station fault inspection device | |
| CN109469797B (en) | Illumination balancing device for positioning target of binocular stereo vision system | |
| CN209665390U (en) | A kind of crusing robot system crusing robot | |
| CN115816483A (en) | Intelligent track robot system and control method thereof | |
| CN111082335B (en) | Lightning-proof power distribution cabinet | |
| CN110994424B (en) | Substation equipment inspection detection device | |
| CN106628088A (en) | Solar power ship | |
| CN112080908A (en) | Double-freedom-degree clothes airing device | |
| CN210189769U (en) | Pulley subassembly and moving part comprising same | |
| CN210189770U (en) | Vertical moving part and robot comprising same | |
| CN218819466U (en) | Lifting type camera | |
| CN214372303U (en) | Device for three-dimensional imaging of bulk materials | |
| CN111120826B (en) | Camera position and posture adjusting device | |
| CN215485558U (en) | Upper opening type opening and closing door | |
| CN220144293U (en) | Dustproof backdrop for foundation pit construction | |
| CN219543181U (en) | Multi-dimensional control flexible inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210727 |