CN114125248A

CN114125248A - Panoramic inspection robot

Info

Publication number: CN114125248A
Application number: CN202111507268.0A
Authority: CN
Inventors: 黄炜昭
Original assignee: Shenzhen Power Supply Bureau Co Ltd
Current assignee: Shenzhen Power Supply Bureau Co Ltd
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2022-03-01

Abstract

The invention discloses a panoramic patrol robot, which comprises: the panoramic camera comprises a chassis and a panoramic camera module arranged on the chassis; the panoramic camera module comprises a rotating bracket, a camera bracket connected with the rotating bracket through a bracket lifting seat, and a plurality of cameras are arranged on the camera bracket at equal intervals; inside driving motor, POE switch, industrial computer and the wireless router of being provided with of runing rest, driving motor and a plurality of the camera is equallyd divide and is do not connected with the industrial computer electricity through the POE switch, and driving motor is according to the instruction that is sent by the industrial computer of receipt, and the drive camera is rotatory to appointed angle, and a plurality of cameras are according to the instruction of receipt sending by the industrial computer, shoot at appointed angle to photo that will shoot through the wireless router sends to backstage system. According to the invention, through the cameras distributed in an annular manner, the image acquisition without omission and dead angles can be realized by adopting simple single-axis motion, and the inspection success rate of the robot is improved.

Description

Panoramic inspection robot

Technical Field

The invention relates to the technical field of power equipment, in particular to a panoramic inspection robot.

Background

The robot inspection is a technical means for inspecting the transformer substation, and a camera carried by the robot is used for shooting transformer substation equipment to obtain pictures, so that manual information collection is replaced. The existing inspection robot adopts the cloud platform type camera, needs to be aligned to be shot by observation equipment when in inspection, has higher requirement on the positioning precision of the robot, generally needs to be positioned to the precision of centimeter grade, can not obtain effective pictures when being positioned slightly with deviation, and causes the inspection success rate of the robot to be lower.

Disclosure of Invention

The invention aims to provide a panoramic inspection robot so as to improve the inspection success rate of the robot.

In order to solve the above technical problem, the present invention provides a panoramic inspection robot, including:

the panoramic camera comprises a chassis and a panoramic camera module arranged on the chassis;

the panoramic camera module comprises a rotating bracket and a camera bracket connected with the rotating bracket through a bracket lifting seat, wherein a plurality of cameras are arranged on the camera bracket at equal intervals;

inside driving motor, POE switch, industrial computer and the wireless router of being provided with of runing rest, driving motor and a plurality of the camera is equallyd divide and is do not passed through the POE switch with the industrial computer electricity is connected, driving motor according to the receipt by the instruction that the industrial computer sent, the drive the camera is rotatory to appointed angle, and is a plurality of the camera is according to the receipt by the instruction that the industrial computer sent the appointed angle is shot, and passes through the photo that wireless router will shoot sends to backstage system.

Further, runing rest includes cylindrical shell, runing rest roof and runing rest bottom plate, the runing rest roof with the runing rest bottom plate is respectively from top and bottom and runing rest's shell assembly to form an interior assembly space, be used for the installation driving motor, POE switch, industrial computer and wireless router, and be used for providing the lithium cell of power.

Furthermore, the center of the rotating bracket bottom plate is provided with a plurality of first through holes which are used for being butted with stator connecting holes of the driving motor; second through holes are symmetrically formed in the edge of the rotating support bottom plate and used for fixing the POE switch; the edge of the rotating bracket bottom plate is provided with a connecting shaft mounting hole for being assembled with a connecting shaft arranged on the rotating bracket top plate; the edge of the rotating bracket bottom plate is also provided with a matching step for being assembled with the shell of the rotating bracket.

Further, the camera support comprises a camera support front cover plate, a camera support rear cover plate and a camera mounting support positioned between the camera support front cover plate and the camera support rear cover plate.

Furthermore, the outer edge of the camera mounting bracket is in a regular icosagon shape, and the inner edge of the camera mounting bracket is in a circular shape; the camera installing support outer fringe is equipped with a plurality of assembly faces, each assembly face central authorities are equipped with the camera jack.

Further, the outer edge of the camera support is provided with 15 cameras, and the included angle between every two adjacent cameras is 18 degrees.

Further, the bottom of camera is the cuboid body, and the top is the drum, outstanding in the cuboid body, the bottom central authorities of camera still are equipped with the camera contact pin, the camera contact pin inserts the camera jack to fixed mounting the camera.

Furthermore, the bottom of the camera mounting bracket is provided with a connector for connecting with the bracket lifting seat, and the bracket lifting seat is mounted on the top plate of the rotating bracket for lifting the camera bracket so as to enable the camera to have higher shooting height; the bottom of the camera mounting bracket is also provided with a threading hole for passing through a network cable of the RJ45 interface.

Furthermore, the driving motor is step-shaped, and a plurality of stator connecting holes are formed in the top of the driving motor and are connected with a plurality of first through holes in the rotating bracket bottom plate through bolts; and the bottom of the driving motor is provided with a rotor output flange which is connected with the chassis through a screw.

Further, the camera shoots respectively at the specified angle according to a plurality of magnifications, after the camera finishes shooting at the specified angle, the driving motor drives the camera to rotate to the next specified angle at intervals of 18 degrees, and the camera continues shooting respectively at the next specified angle according to the plurality of magnifications.

The implementation of the invention has the following beneficial effects: the ultrahigh pixel panoramic picture is shot by a small number of cameras distributed annularly; the method can realize the image acquisition without omission and dead angles by adopting simple single-axis motion, and improves the success rate of the inspection of the robot.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a panoramic inspection robot according to an embodiment of the present invention.

Fig. 2 is a schematic perspective exploded view of a panoramic inspection robot according to an embodiment of the present invention.

Fig. 3 is a schematic perspective view of a bottom plate of a swivel stand according to an embodiment of the present invention.

Fig. 4 is a schematic perspective view of a camera mounting bracket according to an embodiment of the present invention.

Fig. 5 is a schematic perspective view of a driving motor according to an embodiment of the present invention.

Fig. 6 is an electrical architecture diagram of a panoramic inspection robot according to an embodiment of the present invention.

Description of reference numerals: 1. a chassis; 2. a panoramic camera module; 20. a camera; 200. a camera pin is inserted; 21. rotating the bracket; 22. rotating the top plate of the bracket; 23. rotating the bracket bottom plate; 231. a first through hole; 232. a second through hole; 233. a connecting shaft mounting hole; 234. matching with the step; 24. a support lifting seat; 25. a camera head bracket; 251. a front cover plate of the camera bracket; 252. a camera support rear cover plate; 26. a camera mounting bracket; 260. a camera jack; 261. an assembly surface; 262. a connector; 263. threading holes; 27. a connecting shaft; 28. a drive motor; 280. a rotor output flange; 281. a stator connection hole; 3. a lithium battery; 4. a POE switch; 5. an industrial personal computer; 6. a wireless router.

Detailed Description

The following description of the embodiments refers to the accompanying drawings, which are included to illustrate specific embodiments in which the invention may be practiced. The terms of direction and position of the present invention, such as "up", "down", "front", "back", "left", "right", "inside", "outside", "top", "bottom", "side", etc., refer to the direction and position of the attached drawings. Accordingly, the use of directional and positional terms is intended to illustrate and understand the present invention and is not intended to limit the scope of the present invention.

Referring to fig. 1-2, an embodiment of the present invention provides a panoramic inspection robot, including:

the device comprises a chassis 1 and a panoramic camera module 2 arranged on the chassis 1;

the panoramic camera module 2 comprises a rotating bracket 21, a camera bracket 25 connected with the rotating bracket 21 through a bracket lifting seat 24, and a plurality of cameras 20 are arranged on the camera bracket 25 at equal intervals;

inside being provided with driving motor 28, POE (Power Over Ethernet) switch 4, industrial computer 5 and wireless router 6 of rotating bracket 21, driving motor 28 and a plurality of camera 20 are equallyd divide and are connected with industrial computer 5 electricity through POE switch 4 respectively, driving motor 28 is according to the instruction of receiving sending by industrial computer 5, driving camera 20 is rotatory to appointed angle, a plurality of camera 20 are according to the instruction of receiving sending by industrial computer 5, shoot at this appointed angle, and send the photo of shooing to backstage system through wireless router 6.

Specifically, the chassis 1 adopts a common four-wheel four-drive robot chassis, the external dimension is 680mm by 450mm, and the load is 75 kg.

The rotating support 21 has a cylindrical outer shell with an outer diameter of 350mm and an inner diameter of 338mm, the material of the outer shell may be PVC. The top plate 22 and the bottom plate 23 of the rotary bracket are assembled with the shell of the rotary bracket from the top and the bottom respectively, and an internal assembly space is formed for installing the driving motor 28, the POE switch 4, the industrial personal computer 5 and the wireless router 6, and the lithium battery 3 for providing power. Referring to fig. 3, the bottom plate 23 of the rotating bracket is a disc with a thickness of 10mm and an outer diameter of 350mm, is made of 6061 aluminum alloy, and belongs to a structural member; the center of the motor is provided with 4 first through holes 231 with the thickness of 10mm, and the first through holes are used for being butted with the stator connecting holes 281 of the driving motor 28; two pairs of 6mm second through holes 232 are symmetrically arranged on the edge of the POE switch and used for fixing the POE switch 4. Further, a coupling shaft mounting hole 233 is provided along an edge of the swivel stand base plate 23 for fitting with the coupling shaft 27 provided on the swivel stand top plate 22. The edge of the swivel stand base plate 23 has a mating step 234 with an outer diameter of 338mm for assembly with a swivel stand housing.

A stand elevation seat 24 is installed on the swivel stand top plate 22 for elevating the camera stand 25 to allow the camera 20 to have a higher photographing height. The bottom of the rotating bracket top plate 22 is provided with 4 connecting shafts 27 facing the rotating bracket bottom plate 23, and the connecting shafts 27 are inserted into connecting shaft mounting holes 233 on the rotating bracket bottom plate 23 to fixedly connect the rotating bracket top plate 22 and the rotating bracket bottom plate 23.

In the present embodiment, as an example, the resolution of the camera 20 is 800 ten thousand pixels, the angle of view is 80 °, and the magnification is 1X to 4X. In the embodiment, 15 cameras 20 are mounted on the camera support 25, and the included angle between two adjacent cameras 20 is 18 °. The bottom of camera 20 is the cuboid body, and the top is the drum, and outstanding in cuboid body, bottom central authorities still are equipped with camera contact pin 200.

The camera support 25 is disc-shaped and includes a camera support front cover 251, a camera support rear cover 252, and a camera mounting bracket 26 located between the camera support front cover 251 and the camera support rear cover 252. As an example, referring to fig. 4, the camera mounting bracket 26 is made of 6061 aluminum alloy by casting and milling, and the outer edge of the camera mounting bracket is in a regular icosahedron shape and has a side length of 45 mm; the inner edge is circular with a diameter of 260mm, and an accurate shooting angle can be provided for the camera 20. The outer edge of the camera mounting bracket 26 is provided with a plurality of mounting surfaces 261, and the center of each mounting surface 261 is provided with a camera jack 260 for inserting the camera pin 200 so as to fixedly mount the camera 20. The regular icosagon of camera installing support 26 has both satisfied annular installation camera 20, makes assembly surface 261 be the plane again, is convenient for closely laminate with camera 20's cuboid body, realizes firm installation. The bottom of the camera mounting bracket 26 is provided with a connector 262 with an outer diameter of 50mm, and is used for being connected with the bracket lifting seat 25. The bottom of the camera mounting bracket 26 is also provided with a threading hole 263 with an inner diameter of 40mm, and used for passing through a network cable of an RJ45 interface.

Referring to fig. 5 again, the driving motor 28 is stepped, and four stator connection holes 281, specifically M10 × 15 screw holes, are formed at the top thereof and are connected to the 4 first through holes 231 on the bottom plate 23 of the rotating bracket through M10 bolts. At the bottom of the drive motor 28 is a rotor output flange 280, which is connected with the chassis 1 by a screw M10. The rotating speed range of the driving motor is 0-20rpm, the maximum output torque is 20 nm, the angle positioning precision is 0.01 degrees, the input voltage is 48V, and a POE power supply mode is adopted.

The working principle and the working process of the embodiment of the invention are further explained as follows:

the 15 cameras 20 are numbered #1- #15 respectively, are connected with #1- #15 ports of the 18-port POE switch 4 through a network cable of an RJ45 interface, receive an instruction of the industrial personal computer 5 through the network cable, take a picture, and transmit the picture to the background system through the wireless router 6. The driving motor 28 is connected with a #16 port of the 18-port POE switch 4 through a network cable of an RJ45 interface, and receives an instruction of the industrial personal computer 5 through the network cable to rotate the panoramic camera module 2 to a specified angle; the wireless router 6 is connected with a #17 port of the 18-port POE switch 4 through a network cable of an RJ45 interface and is used for communicating with a background system and the chassis 1; the industrial personal computer 5 is connected with a #18 port of the 18-port POE switch 4 through a network cable of an RJ45 interface and is used for executing a preset photographing instruction; 48V lithium cell 3 is connected with 18 mouthful POE switch 4's power source, provides the power for the panoramic tour robot of this embodiment.

The panoramic tour robot working mode of this embodiment is: the chassis 1 advances to the assigned position according to the route of predetermineeing, and the chassis 1 sends information that targets in place through wireless signal, and the panorama camera module 2 begins to carry out the panorama photo after receiving the information and gathers. The acquisition sequence was as follows: the industrial personal computer 5 sends out an instruction, the panoramic inspection robot is horizontally rotated to the initial position by the driving motor 28, the operation is stopped for 2 seconds, the cameras #1 to #15 take pictures respectively under the magnification of 1X, 2X and 4X, and 45 pictures are taken in total, so that the shooting at the 1 st position is completed; the industrial personal computer 5 sends out an instruction, the driving motor 28 horizontally rotates the device to an angle of 18 degrees, the process is repeated, and the 2 nd position shooting is completed; according to the flow, the driving motor horizontally rotates the device for shooting 10 positions of 0 degrees, 18 degrees, 36 degrees, 54 degrees, 72 degrees, 90 degrees, 108 degrees, 126 degrees, 144 degrees and 162 degrees, 150 pictures of 1X pictures, 2X pictures and 4X pictures are obtained in total, and the pictures are stored in a memory card of the camera 20. The photos cover all the panoramic information of the point, so that the whole body can be observed, and the details can be observed. The chassis 1 moves to the next designated position according to the preset route, and the shooting process is repeated, so that 1X, 2X and 4X panoramic images of all observation points in the area can be obtained.

As can be seen from the above description, compared with the prior art, the implementation of the present invention has the following advantages: the ultrahigh pixel panoramic picture is shot by a small number of cameras distributed annularly; the method can realize the image acquisition without omission and dead angles by adopting simple single-axis motion, and improves the success rate of the inspection of the robot.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.

Claims

1. A panoramic inspection robot, comprising:

2. The panoramic tour robot of claim 1, wherein the swivel stand includes a cylindrical housing, a top swivel stand plate and a bottom swivel stand plate, the top swivel stand plate and the bottom swivel stand plate are assembled with the housing of the swivel stand from top and bottom, respectively, and form an internal assembly space for installing the driving motor, the POE switch, the industrial personal computer and the wireless router, and the lithium battery for providing power.

3. The panoramic patrol robot of claim 2, wherein the rotating frame base plate has a plurality of first through holes at the center thereof for interfacing with stator connection holes of the driving motor; second through holes are symmetrically formed in the edge of the rotating support bottom plate and used for fixing the POE switch; the edge of the rotating bracket bottom plate is provided with a connecting shaft mounting hole for being assembled with a connecting shaft arranged on the rotating bracket top plate; the edge of the rotating bracket bottom plate is also provided with a matching step for being assembled with the shell of the rotating bracket.

4. The panoramic inspection robot of claim 1, wherein the camera mount includes a camera mount front cover, a camera mount back cover, and a camera mounting bracket positioned between the camera mount front cover and the camera mount back cover.

5. The panoramic tour robot of claim 4, wherein the outer edge of the camera mounting bracket is regular icosahedron and the inner edge is circular; the camera installing support outer fringe is equipped with a plurality of assembly faces, each assembly face central authorities are equipped with the camera jack.

6. The panoramic tour robot of claim 5, wherein a total of 15 cameras are installed on the outer edge of the camera support, and the included angle between two adjacent cameras is 18 °.

7. The panoramic tour robot of claim 6, wherein the bottom of the camera is a cuboid body, the top of the camera is a cylinder, the camera protrudes from the cuboid body, a camera pin is further arranged in the center of the bottom of the camera, and the camera pin is inserted into the camera jack to fixedly mount the camera.

8. The panoramic tour robot of claim 5, wherein the bottom of the camera mounting bracket is provided with a connector for connecting with the bracket lifting seat, and the bracket lifting seat is mounted on the top plate of the rotating bracket for lifting the camera bracket so that the camera has a higher shooting height; the bottom of the camera mounting bracket is also provided with a threading hole for passing through a network cable of the RJ45 interface.

9. The panoramic tour robot of claim 3, wherein the drive motor is stepped in shape, and has a plurality of stator connection holes at its top, which are connected with the first through holes on the rotating bracket bottom plate by bolts; and the bottom of the driving motor is provided with a rotor output flange which is connected with the chassis through a screw.

10. The panoramic tour robot of claim 6, wherein the camera shoots at the specified angle according to a plurality of magnifications, respectively, and the driving motor drives the camera to rotate to a next specified angle at intervals of 18 ° after the camera completes the shooting at the specified angle, and the camera continues to shoot at the next specified angle according to a plurality of magnifications, respectively.