CN113427462B

CN113427462B - Intelligent inspection robot

Info

Publication number: CN113427462B
Application number: CN202110408342.7A
Authority: CN
Inventors: 陈如申; 黎勇跃
Original assignee: Hangzhou Shenhao Technology Co Ltd
Current assignee: Hangzhou Shenhao Technology Co Ltd
Priority date: 2018-12-14
Filing date: 2018-12-14
Publication date: 2022-07-01
Anticipated expiration: 2038-12-14
Also published as: CN113427462A; CN109571406A; CN109571406B

Abstract

The invention discloses an intelligent inspection robot which comprises a chassis, a mobile control mechanism arranged on the chassis, an upright post fixedly connected with the chassis, at least one turntable horizontally arranged on the upright post, at least two cameras arranged on each turntable, an adjusting mechanism matched with each turntable, a controller and a storage battery, wherein the controller and the storage battery are arranged in the chassis, the storage battery provides working voltage for the mobile control mechanism and the adjusting mechanism through the controller, and the mobile control mechanism, the cameras and the adjusting mechanism are all in communication connection with the controller. The intelligent inspection robot for the transformer substation adopts multiple layers of turntables, and at least two cameras are uniformly distributed on each layer of turntable, so that all-dimensional monitoring inspection in the vertical direction is realized, and each layer of turntable can rotate through an adjusting mechanism, so that all-dimensional inspection in space is realized, and a basis for accurately judging the operation condition of the transformer substation is provided.

Description

Intelligent inspection robot

The application is as follows: 12 and 14 in 2018, and the application numbers are as follows: 2018115298187, title of the invention: a divide application for intelligent robot that patrols and examines of transformer substation.

Technical Field

The invention relates to the field of inspection robots, in particular to an intelligent inspection robot.

Background

The transformer substation is a place for converting voltage and current, receiving electric energy and distributing electric energy in an electric power system. The normal operation of the transformer substation is the guarantee of normal life of people. The traditional single inspection mode of transformer substation is manual inspection, has that intensity of labour is big, it is inefficient to patrol and examine, patrol and examine not in place, the difficult scheduling problem of patrolling and examining under the sleet adverse circumstances to simply rely on patrolling and examining personnel's sense organ and experience, do not accomplish objective, comprehensive, accurate judgement, bury down the potential safety hazard for the safe operation of equipment.

At present, a transformer substation adopts an inspection robot to inspect equipment safety, but the inspection robot usually carries one or two cameras to inspect. Therefore, the inspection robot cannot comprehensively detect the condition of the inspection environment, inspection is not in place, and comprehensive inspection efficiency is low. Therefore, there is a need for a smart inspection robot.

Disclosure of Invention

The invention aims to provide an intelligent inspection robot aiming at the defects of the prior art, so that comprehensive inspection is realized, and a basis for accurately judging the running condition of a transformer substation is provided.

In order to solve the technical problems, the following technical scheme is adopted:

the utility model provides an intelligence inspection robot, includes the chassis, install the mobile control mechanism on the chassis, with chassis fixed connection's stand, horizontal installation at least one carousel on the stand, install two at least cameras on every carousel, with every carousel complex adjustment mechanism to and install controller and battery in the chassis, the battery pass through the controller and provide operating voltage for mobile control mechanism and adjustment mechanism, mobile control mechanism, camera and adjustment mechanism all with controller communication connection.

Furthermore, the movement control mechanism comprises four wheel drive assemblies consisting of rollers, servo motors connected with the rollers and servo drivers in communication connection with the servo motors, the servo motors are fixedly installed on the chassis, motor shafts of the servo motors are matched with the chassis through bearings, the four wheel drive assemblies are symmetrically distributed on the chassis in a rectangular shape at four corners, each servo driver is in communication connection with the controller, and the storage battery is electrically connected with each servo motor through the controller.

Further, the movement control mechanism further comprises a navigation device arranged on the chassis shell, and the navigation device is in communication connection with the controller.

Furthermore, the adjusting mechanism comprises a stepping motor arranged in the chassis and a vertical rod connected with a motor shaft of the stepping motor, wherein the vertical rod is provided with a poking tooth at a position which has the same height with each turntable, each turntable is provided with a sector hole, a rack is arranged on the outer circular arc wall of each sector hole, the poking tooth on the vertical rod is meshed with the rack on the corresponding turntable, the bottom of the vertical rod is connected with the top of the chassis in a matched manner through a bearing, and the stepping motor is in communication connection with the controller through a motor driver.

Furthermore, the number of cameras on each rotary table is the same, the cameras are uniformly distributed on the rotary tables, the fan-shaped holes on each rotary table are the same, and the fan-shaped angle of each fan-shaped hole is 360 degrees/the number of cameras on each rotary table.

Further, the quantity of carousel be three, the visual angle is shot upwards to the camera that is located the top carousel, and the visual angle level is shot to the camera that is located on the carousel in the middle of being located, the visual angle is shot downwards to the camera that is located on the carousel of below.

Furthermore, the upright post is provided with a through thread passing channel along the central axis, at least one thread passing hole is arranged above each turntable of the upright post, each thread passing hole is communicated with the thread passing channel, and the thread passing channel is also communicated with the inner cavity of the chassis.

Further, a protective cover is arranged on the rotary disc at the bottommost part and covers all the rotary discs, and the camera on each rotary disc extends out of the protective cover.

Furthermore, the chassis is also provided with a remote communication device which is in communication connection with the controller.

Furthermore, a charging plug connected with a charging interface of a storage battery is also arranged on the side wall of the chassis; the chassis on still install a warning light that is used for indicateing the electric quantity, warning light and controller communication connection.

Due to the adoption of the technical scheme, the method has the following beneficial effects:

the invention relates to an intelligent inspection robot, which adopts a plurality of layers of turntables, and each layer of turntables is uniformly provided with at least two cameras to realize omnibearing monitoring inspection in the vertical direction, a controller controls four groups of wheel driving assemblies to drive according to a navigation route through a navigation device, during the driving process, the cameras send collected data to the controller, the controller converts the data into digital signals and sends the digital signals to a remote end through a remote communication device, the inspection condition of a transformer substation can be monitored at the remote end, after a key inspection position is reached, a comprehensive inspection instruction can be sent to the controller through the remote end, the controller controls a stepping motor to rotate for a certain angle through a motor driver so as to drive the cameras on the turntables to realize horizontal 360-degree comprehensive shooting, the multi-layer cameras can realize omnibearing in space, and key inspection places can also be preset on the controller, when the device arrives at a key inspection place, the controller automatically controls the adjusting mechanism to act, and therefore all-dimensional inspection is achieved.

Drawings

The invention will be further described with reference to the accompanying drawings in which:

fig. 1 is a schematic diagram of the internal structure of an intelligent inspection robot according to the invention;

FIG. 2 is a schematic diagram of an external structure of an intelligent inspection robot according to the present invention;

FIG. 3 is a bottom view of an intelligent inspection robot in accordance with the present invention;

FIG. 4 is a schematic structural diagram of a turntable according to a first embodiment of the present invention;

fig. 5 is a schematic structural diagram of a turntable according to a second embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The first embodiment,

As shown in fig. 1 to fig. 3, an intelligent inspection robot according to an embodiment of the present invention includes a chassis 1, a movement control mechanism 2 installed on the chassis 1, an upright 3 fixedly connected to the chassis 1, at least one turntable 4 horizontally installed on the upright 3, at least two cameras 5 installed on each turntable 4, an adjustment mechanism 6 engaged with each turntable 4, and a controller 7 and a storage battery 8 installed in the chassis 1, where the storage battery 8 provides working voltage for the movement control mechanism 2 and the adjustment mechanism 6 through the controller 7, and the movement control mechanism 2, the cameras 5, and the adjustment mechanism 6 are all in communication connection with the controller 7.

Further, the movement control mechanism 2 includes four sets of wheel drive assemblies composed of rollers 21, servo motors 22 connected with the rollers 21, and servo drivers 23 in communication connection with the servo motors 22, the servo motors 22 are fixedly mounted on the chassis 1, motor shafts of the servo motors 22 are matched with the chassis 1 through bearings, the four sets of wheel drive assemblies are symmetrically distributed on the chassis 1 in a rectangular shape with four corners, each servo driver 23 is in communication connection with the controller 7, and the storage battery 8 is electrically connected with each servo motor 22 through the controller 7; the movement control mechanism 2 further comprises a navigation device 25 arranged on the shell of the chassis 1, and the navigation device 25 is connected with the controller 7 in a communication way.

Further, the adjusting mechanism 6 includes a stepping motor 61 installed in the chassis 1, and an upright rod 62 coupled to a motor shaft of the stepping motor 61, the upright rod 62 is provided with a poking tooth 621 at a position having the same height as each rotating disc 4, each rotating disc 4 is provided with a sector hole 41, an outer circular arc wall of each sector hole 41 is provided with a rack 411, the poking tooth 621 on the upright rod 62 is engaged with the rack 411 on the corresponding rotating disc 4, the bottom of the upright rod 62 is connected with the top of the chassis 1 through a bearing in a matching manner, and the stepping motor 61 is connected with the controller 7 through a motor driver 63 in a communication manner.

Further, the number of the cameras 5 on each turntable 4 is the same, and is two, the cameras 5 are uniformly distributed on the turntable 4, the distribution positions of the fan-shaped holes 41 on each turntable 4 are the same, and the fan-shaped angle of the fan-shaped hole 41 is 360 °/2 of the number of the cameras 5 on the turntable 4, as shown in fig. 4; a protective cover 42 is arranged on the bottommost rotating disc 4, and the protective cover 42 covers all the rotating discs 4, and the camera 5 on each rotating disc 4 extends out of the protective cover 42.

In the embodiment of the invention, the number of the turntables 4 is three, the shooting visual angle of the camera 5 positioned on the upper turntable 4 is upward, the shooting visual angle of the camera 5 positioned on the middle turntable 4 is horizontal, and the shooting visual angle of the camera 5 positioned on the lower turntable 4 is downward, so that the comprehensive monitoring in the vertical direction is realized.

Furthermore, the upright post 3 is provided with a through thread passing channel 31 along the central axis, at least one thread passing hole 32 is arranged above each turntable 4 of the upright post 3, each thread passing hole 32 is communicated with the thread passing channel 31, and the thread passing channel 31 is also communicated with the inner cavity of the chassis 1. The connecting line of the camera 5 on each rotary table 4 is connected with the controller 7 in the chassis 1 through the line passing channel 31 after passing through the corresponding line passing hole 32.

Furthermore, the chassis 1 is provided with a remote communication device 9, and the remote communication device 9 is in communication connection with the controller 7. The controller 7 communicates with a remote end through a remote communication device 9, the inspection condition can be immediately checked through the remote end, and a control command can be sent to the controller 7 through the remote end; the side wall of the chassis 1 is also provided with a charging plug 10 connected with a charging interface of a storage battery 8, and the charging plug 10; the chassis 1 is also provided with a prompting lamp 11 for prompting electric quantity, and the prompting lamp 11 is in communication connection with the controller 7.

Example II,

In the intelligent inspection robot according to the embodiment of the present invention, the number of the cameras 5 on each of the rotating discs 4 is three, the three cameras are uniformly distributed on the rotating discs 4, and the fan-shaped angle of the fan-shaped hole 41 on each of the rotating discs 4 is 360 °/3 times the number of the cameras 5 on the rotating disc 4, as shown in fig. 5, the other embodiments are the same as the first embodiment.

The invention relates to a working principle of an intelligent inspection robot, which comprises the following steps: the controller 7 controls the four groups of wheel driving assemblies to run according to a navigation route through the navigation device 25, in the running process, the camera 5 sends acquired data to the controller 7, the controller 7 converts the data into digital signals, the digital signals are sent to a remote end through the remote communication device 9, the inspection condition of the transformer substation can be monitored at the remote end, when a key inspection position is reached, a comprehensive inspection instruction is sent to the controller 7 through the remote end, the controller 7 controls the stepping motor 61 to rotate for a certain angle through the motor driver 63, and then the camera 5 on the rotary disc 4 is driven to realize horizontal 360-degree comprehensive shooting, because the multilayer rotary discs 4 are adopted, at least two cameras 5 are uniformly distributed on each layer of rotary disc 4, the omnibearing monitoring inspection in the vertical direction is realized, key inspection places can also be preset on the controller 7, and when the key inspection places are reached, the controller 7 automatically controls the adjusting mechanism 6 to act, and omnibearing inspection is achieved.

The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications based on the present invention to solve the same technical problems and achieve the same technical effects are all covered by the protection scope of the present invention.

Claims

1. The utility model provides a robot is patrolled and examined to intelligence which characterized in that: the device comprises a chassis (1), a mobile control mechanism (2) arranged on the chassis (1), an upright post (3) fixedly connected with the chassis (1), at least one rotary table (4) horizontally arranged on the upright post (3), at least two cameras (5) arranged on each rotary table (4), an adjusting mechanism (6) matched with each rotary table (4), and a controller (7) and a storage battery (8) arranged in the chassis (1), wherein the storage battery (8) provides working voltage for the mobile control mechanism (2) and the adjusting mechanism (6) through the controller (7), and the mobile control mechanism (2), the cameras (5) and the adjusting mechanism (6) are all in communication connection with the controller (7);

the adjusting mechanism (6) comprises a stepping motor (61) arranged in the chassis (1) and an upright rod (62) connected with a motor shaft of the stepping motor (61), wherein the upright rod (62) is provided with a poking tooth (621) at a position with the same height as each rotary disc (4), each rotary disc (4) is provided with a fan-shaped hole (41), the outer circular arc wall of each fan-shaped hole (41) is provided with a rack (411), the poking tooth (621) on the upright rod (62) is meshed with the rack (411) on the corresponding rotary disc (4), the bottom of the upright rod (62) is connected with the top of the chassis (1) in a matching way through a bearing, and the stepping motor (61) is in communication connection with the controller (7) through a motor driver (63);

the quantity of carousel (4) be three, camera (5) that are located on top carousel (4) shoot the visual angle up, camera (5) that are located on middle carousel (4) shoot the visual angle level, camera (5) that are located on below carousel (4) shoot the visual angle down.

2. The intelligent inspection robot according to claim 1, wherein: the mobile control mechanism (2) comprises four wheel drive assemblies consisting of rollers (21), servo motors (22) connected with the rollers (21) and servo drivers (23) in communication connection with the servo motors (22), the servo motors (22) are fixedly mounted on the chassis (1), motor shafts of the servo motors (22) are matched with the chassis (1) through bearings, the four wheel drive assemblies are symmetrically distributed on the chassis (1) in a rectangular four-corner mode, each servo driver (23) is in communication connection with a controller (7), and the storage battery (8) is electrically connected with each servo motor (22) through the controller (7).

3. The intelligent inspection robot according to claim 1, wherein: the mobile control mechanism (2) further comprises a navigation device (25) arranged on the shell of the chassis (1), and the navigation device (25) is in communication connection with the controller (7).

4. The intelligent inspection robot according to claim 1, wherein: the quantity of cameras (5) on each rotary table (4) is the same, the cameras (5) are uniformly distributed on the rotary tables (4), the fan-shaped holes (41) on each rotary table (4) are the same, and the fan-shaped angle of each fan-shaped hole (41) is 360 degrees/the quantity of the cameras (5) on each rotary table (4).

5. The intelligent inspection robot according to claim 1, wherein: the upright post (3) is provided with a through thread passing channel (31) along the central axis, at least one thread passing hole (32) is arranged above each turntable (4) of the upright post (3), each thread passing hole (32) is communicated with the thread passing channel (31), and the thread passing channel (31) is also communicated with the inner cavity of the chassis (1).