CN114222698A

CN114222698A - High-pole lamp post robot

Info

Publication number: CN114222698A
Application number: CN202080052790.1A
Authority: CN
Inventors: 王志龙
Original assignee: Baijun Industrial Co ltd
Current assignee: Baijun Industrial Co ltd
Priority date: 2019-07-23
Filing date: 2020-07-17
Publication date: 2022-03-22
Also published as: GB202202439D0; GB2601266A; WO2021013098A1; GB2601266B; AU2020318124A1

Abstract

A high-pole lamppost robot comprises an annular body (10), a plurality of arm-type driving wheel mechanisms (20), a plurality of monitoring modules (30) and a control system (40). The arm-type driving wheel mechanisms are fixed on the annular body and extend downwards from the annular body, one end of each arm-type driving wheel mechanism is connected with the outer side of the annular body at equal intervals, and the other end of each arm-type driving wheel mechanism is provided with a driving wheel (210 and 220) which is abutted against the surface of the rod body of the high-pole lamppost. A plurality of monitoring modules are equidistantly connected with the annular body. By the structure, the high-pole lamppost robot can move up and down on the high-pole lamppost through the arm type driving wheel mechanism, and the monitoring module is used for detecting the high-pole lamppost, so that the cost and risk of manual maintenance are reduced, and each detail on the surface can be detected in a short distance.

Description

High-pole lamp post robot

Technical Field

The invention relates to a robot, in particular to a robot applied to detecting the surface of a high-pole lamppost.

Background

High pole lampposts are typically located in locations where large areas of illumination are required, such as court or highway, and provide illumination by illuminating from top to bottom with powerful light fixtures from a height of tens of meters. At present, most of the methods for detecting and maintaining the high-pole lampposts are observed from the ground by workers, however, the workers on the ground cannot closely inspect the surface of the rod body, so that whether cracks or corrosion occur on the surface cannot be confirmed.

Another method of maintenance is to use a crane to transport workers high to inspect the surface of the mast body, and the crane is costly and risky for workers working high above the ground.

Disclosure of Invention

An object of the present invention is to provide a high-pole lamppost robot, which can detect the surface of a high-pole lamppost at a short distance, avoid the risk of high-altitude operation of workers, reduce the cost of detecting and maintaining lampposts, and obtain a more accurate detection result.

According to an embodiment of the present invention, a robot for inspecting and observing a high-pole lamppost includes an annular body, a plurality of arm-type driving wheel mechanisms, a plurality of wireless monitoring modules, and a control system. The plurality of driving wheel mechanisms are fixed below the annular body and extend downwards from the annular body. One end of each driving wheel mechanism is connected to the outer side of the annular body at equal intervals, and the other end of each driving wheel mechanism is provided with a driving wheel used for abutting against the surface of the high-pole lamppost. A plurality of wireless monitoring module equidistance interval sets up on cyclic annular body. The control system is used for controlling the arm type driving wheel mechanism to drive the monitoring module to inspect the surface of the rod body of the high-rod lamp post.

In this embodiment, the arm-type driving wheel mechanism includes a first arm-type mechanism and a second arm-type mechanism. One end of the first arm type mechanism is connected with the outer side of the annular body, and the other end of the first arm type mechanism is provided with a single wheel. One end of the second arm type mechanism is connected with the outer side of the annular body, and the other end of the second arm type mechanism is provided with a double wheel.

Therefore, by means of the structure, the high-pole lamppost robot can move up and down through the arm type driving wheel mechanism, and the monitoring module is used for detecting the high-pole lamppost, so that the cost and the risk of manual maintenance are reduced, and each detail on the surface can be detected more accurately in a short distance.

Another object of the present invention is to provide a high-pole lamppost robot that can directly perform on-site task operations, automatically or remotely controlled by personnel to avoid the risk of working high above the ground for the workers.

According to an embodiment of the present invention, the high-pole lamppost robot includes a plurality of arm-type driving wheel mechanisms and at least one working arm. The arm-type driving wheel mechanism is fixed on the annular body and extends downwards from the annular body to the surface of the high-pole lamppost. One end of the working arm is connected with the annular track on the inner side of the annular body, and the other end of the working arm is provided with a working module for executing a specific task.

Corresponding different demands, work module can change and realize functional expansion, including can carrying out functions such as surface test, polishing, mopping, the inside detection of ultrasonic wave, lamp body detection to the cylinder.

Therefore, through the arrangement of the working arm, the high-pole lamppost robot can directly approach to an operation project to carry out field operation, and the risk caused by high-altitude operation of personnel is avoided.

Drawings

Fig. 1 is a schematic view of a high-pole lamppost robot according to an embodiment of the present invention.

Fig. 2 is another perspective view of the high-pole lamppost robot of fig. 1.

FIG. 3 is a block diagram of a control system according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of another embodiment of the high-pole lamppost robot of the present invention.

Fig. 5 is a schematic view of another perspective of the high-pole lamppost robot of the present invention.

FIG. 6 is a block diagram of another embodiment of a control system according to the present invention.

Detailed Description

Referring to fig. 1 to 3, fig. 1 is a schematic view illustrating a high-pole lamppost robot according to an embodiment of the present invention; FIG. 2 is a schematic view of the high pole lamppost robot of FIG. 1 from another perspective; FIG. 3 is a block diagram of a control system according to an embodiment of the present invention. For ease of illustration, the monitoring module 30 and the control system 40 are omitted from FIG. 2 relative to FIG. 1.

As shown in fig. 1 and 2, in one embodiment, the high-pole lamppost robot includes a ring body 10, a plurality of arm-type driving wheel mechanisms 20, a plurality of monitoring modules 30, and a control system 40. The ring body 10 may be assembled from two semi-circular ring parts into a ring having a hollow space. The size of the hollow space can be designed correspondingly to accommodate a rod body with a diameter of 230 to 800 mm. The driving wheel mechanism 20 is fixed to the annular body 10 and extends downward from the annular body 10 to the surface of the lamppost. One end of the driving wheel mechanisms 20 is connected to the outside of the ring body 10 at equal intervals, and the other end is provided with

driving wheels

210 and 220 abutting against the surface of the rod body. A plurality of monitoring modules 30 are mounted directly on the annular body 10 at equally spaced intervals. The control system 40 is electrically connected to the arm-type driving wheel mechanism 20 and the monitoring module 30. The high-pole lamppost robot moves up and down on the high-pole lamppost through the driving wheel 210/220 of the arm type driving wheel mechanism 20, and carries the monitoring module 30 to inspect and monitor the surface of the rod body.

Each arm drive mechanism 20 includes a first arm mechanism 21 and a second arm mechanism 22. In this embodiment, the first arm mechanism 21 is formed by two arms, one end of which is fixed to the ring body 10, the other end of which is provided with a single wheel 210, and an oil hydraulic rod 211 is arranged between the two ends. The control system 40 controls the extension and contraction of the oil pressure rod 211, links the first arm mechanism 21 and drives the single wheel 210.

The second arm mechanism 22 is also formed by two pivoted arms, one end of which is fixed to the ring body 10, and the other end of which is provided with a dual wheel 220, and similarly, an oil pressure rod 221 is provided between the two ends. The control system 40 controls the extension and contraction of the oil pressure rod 221, links the second arm mechanism 22 and drives the double wheels 220.

As shown in fig. 3, the control system 40 includes a controller 41, a power supply module 42, a GPS module 43, an electronic compass 44 and a wireless transmission module 45. The power supply module 42 is used as a source of power supply, the GPS module 43 can be used for positioning, and the electronic compass 44 can assist the GPS module 43 in positioning, and can also assist the controller 41 in determining the moving direction, the tilt angle, the moving speed, and the like of the robot. As is known to those skilled in the art, the electronic compass 44 usually incorporates an acceleration sensor, a gyroscope, etc., and is usually integrated together, and the acceleration sensor is used to determine the speed, and the azimuth and the time of the speed are used to calculate the position, which will not be described herein.

When the high-pole lamppost is surrounded by the annular body 10, the control system 40 controls the extension and contraction of the

oil pressure rods

211 and 221, and the first arm mechanism 21 and the second arm mechanism 22 are linked, so that the single wheel 210 and the double wheels 220 are abutted against the surface of the rod body, and the robot can move up and down on the high-pole lamppost by the rolling of the wheels.

The ground staff can use a terminal device to send a command to the controller 41 through the wireless transmission module 45, and the controller 41 brings the robot to a designated position through the GPS module 43 and the electronic compass 44 according to the content of the command. The controller 41 may determine the position of the robot through the GPS module 43 and the electronic compass 44, and transmit the position information of the robot to the terminal device of the ground operator through the wireless transmission module 45 to perform positioning.

In the present embodiment, the number of the arm-type driving wheel mechanisms 20 is 3, and each arm-type driving wheel mechanism 20 has two arm-

type mechanisms

21 and 22; in other words, the high-pole lamppost robot has six arm mechanisms, which are respectively disposed at equal angular intervals of 30 degrees and extend downward from the ring-shaped body 10. The number of the monitoring modules 30 is 6, each monitoring module 30 corresponds to the two-arm mechanism, and every two monitoring modules are arranged above the annular body at equal intervals.

Each monitoring module 30 includes a lens for capturing the surface of the rod and sending the image to a ground operator for viewing in a wireless or wired manner. The images shot by the monitoring module 30 are displayed in a panoramic manner in a 360-degree seamless connection manner, and are directly transmitted to a terminal device (such as a mobile phone, a tablet or a notebook computer of a worker) in a streaming manner through a wireless transmission module 45; or simultaneously stores the picture in a hard disk, and then downloads the stored picture for processing by the remote device through the wireless transmission module 45.

In addition, one or more downward-looking monitoring modules (not shown) can be arranged below the annular body 10, wherein the downward-looking monitoring modules have the same functions as the monitoring modules 30, and the difference is that the arrangement positions and the shooting angles are different; thereby providing the observation visual field of the zero dead angle of 720 degrees on the upper, lower, left and right sides of the ground worker.

By the structure, the high-pole lamppost robot can move up and down through the arm type driving wheel mechanism, and the monitoring module is used for detecting the high-pole lamppost, so that the cost and risk of manual maintenance are reduced, and each detail on the surface can be detected in a short distance.

Referring to fig. 4 to 6, fig. 4 is a schematic view illustrating a high-pole lamppost robot according to another embodiment of the present invention; FIG. 5 is a schematic view of another perspective of the high-pole lamppost robot of the present invention; FIG. 6 is a block diagram of another embodiment of a control system according to the present invention. The present embodiment is substantially the same as the above embodiments, and the main difference is that the present embodiment further includes at least one working arm, and the working arm is used for performing a specific task, so as to avoid the risk of working at high altitude for the worker. The monitoring modules 30 in fig. 4 are disposed between the first arm mechanism 21 and the second arm mechanism 22, and similarly, each monitoring module 30 corresponds to each of the two arm mechanisms, and is disposed above the ring body 10 at an equal distance.

As shown in fig. 4 and 5, in the present embodiment, one or more working arms 50 are connected to the ring body 10, and the working arms 50 are fixed to the ring body 10 and extend upward. The inner side of the ring-shaped body 10 is provided with a ring-shaped track 11, one end of the working arm 50 is provided with a slide block 51 which is buckled on the ring-shaped track 11, so that the working arm 50 can slide along the ring-shaped track 11. The other end of the working arm 50 is provided with a working module 52 for executing tasks. The working arm 50 can horizontally perform the operation 360 degrees around the lamppost along the circular track 11 by the slide block 51.

In addition, the working module 52 can be replaced according to different requirements, and the working module 52 shown in fig. 4 is a roller module and can be used for painting; while the work module 52 of figure five is a polishing module. The operation module 52 may be an ultrasonic inspection module. Ultrasonic waves can be used to detect visually undetectable problems such as loosening or breakage of screws and nuts inside a column or on a high pole lamppost.

As shown in fig. 6, the control system 40 further includes a corresponding external expansion control module 46, and the external expansion control module 46 is used to electrically connect and control a corresponding working arm 50. In another embodiment, the external expansion control module 46 may be integrated into the controller 41.

In the above embodiment, the arm-type driving wheel mechanism 20 and the working arm 50 are respectively disposed inside and outside the ring body 10, but it is known to those skilled in the art that the ring-shaped track 11 can also be formed on the periphery of the ring body 10, and the arm-type driving wheel mechanism 20 can be fixedly connected to the inside of the ring body 10.

Therefore, through the arrangement of the working arm, the high-pole lamp post robot can directly approach to an operation project to carry out field operation, the risk caused by high-altitude operation of personnel is avoided, and the working module can be replaced to realize functional expansion, and the functions of surface testing, polishing, painting, ultrasonic internal detection, lamp body detection and the like can be carried out on the column body.

Although the present invention has been described with reference to particular embodiments, it will be understood by those skilled in the art that various changes in form, construction, features and quantities may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

The utility model provides a high pole lamp pole robot, is applied to overhauing and observes a high pole lamp pole, and it includes:

an annular body;

a plurality of arm-type driving wheel mechanisms fixed on the annular body and extending downwards from the annular body, wherein one end of each arm-type driving wheel mechanism is connected with the outer side of the annular body at equal intervals, the other end of each arm-type driving wheel mechanism is provided with a driving wheel, the driving wheels are abutted against the surface of the rod body of the high-pole lamppost, and each arm-type driving wheel mechanism comprises

One end of the first arm type mechanism is connected with the outer side of the annular body, and the other end of the first arm type mechanism is provided with a single wheel;

one end of the second arm type mechanism is connected with the outer side of the annular body, and the other end of the second arm type mechanism is provided with a double wheel;

the monitoring modules are connected to the annular body at equal intervals; and

and the control system is used for controlling the arm type driving wheel mechanism to move up and down on the high-pole lamppost so as to drive the monitoring module to inspect the surface of the high-pole lamppost.
The high-pole lamppost robot as claimed in claim 1, wherein a ring-shaped track is disposed inside the ring-shaped body, the ring-shaped track having at least one working arm extending upward from the ring-shaped body, the working arm being configured to slide on the ring-shaped track to perform a specific task 360 degrees around the high-pole lamppost.
The high pole lamppost robot of claim 2, wherein the working arm is provided with a sanding module.
The high pole lamppost robot of claim 2, wherein the working arm is provided with a painting module.
The high pole lamppost robot of claim 2, wherein the working arm is provided with an ultrasonic inspection module.
The high-pole lamppost robot as claimed in claim 1, wherein the first arm mechanism is pivotally connected to two arms, one end of the first arm mechanism is fixed to the ring body, the other end of the first arm mechanism is provided with the single wheel, an oil pressure rod is arranged between the two ends, and the control system controls the oil pressure rod to extend and contract to link the first arm mechanism and drive the single wheel.
The high-pole lamppost robot as claimed in claim 1, wherein the second arm mechanism is pivotally connected to the ring body by two arms, one end of the second arm mechanism is fixed to the ring body, the other end of the second arm mechanism is provided with the dual wheels, and an oil pressure rod is arranged between the two ends, and the control system controls the oil pressure rod to extend and contract to link the second arm mechanism and drive the dual wheels.
The high-pole lamppost robot of claim 1, wherein the control system comprises a controller, a power supply module, a GPS module, an electronic compass, and a wireless transmission module.
The high-pole lamppost robot as claimed in claim 8, wherein a ground worker can use a terminal device to send a command to the controller through the wireless transmission module, and the controller can use the GPS module and the electronic compass to locate the high-pole lamppost robot to a designated position according to the command.
The lamppost robot of claim 8, wherein the controller 41 determines the position of the robot through the GPS module 43 and the electronic compass 44, and transmits the position information of the robot to the terminal device of the ground worker through the wireless transmission module 45 for positioning.
The lamppost robot of claim 1 further comprising a downward-looking monitoring module disposed below the annular body.
The utility model provides a high pole lamp pole robot, is applied to overhauing and observes a high pole lamp pole, and it includes:

an annular body, the inner side of which is provided with an annular track;

the arm-type driving wheel mechanisms are fixed on the annular body and extend downwards from the annular body, one end of each arm-type driving wheel mechanism is connected with the outer side of the annular body at equal intervals, and the other end of each arm-type driving wheel mechanism is provided with a driving wheel which is abutted against the surface of the rod body of the high-pole lamppost;

at least one working arm, it sets up in through a slider buckle in the loop type track, working arm is from cyclic annular body upwards extends for carry out a task:

the monitoring modules are connected to the annular body at equal intervals; and

and the control system is used for controlling the arm type driving wheel mechanism to drive the monitoring module to move up and down on the high-pole lamppost so as to inspect the surface of the rod body of the high-pole lamppost.