CN114274152A - All-round robot of patrolling and examining - Google Patents
All-round robot of patrolling and examining Download PDFInfo
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- CN114274152A CN114274152A CN202111568932.2A CN202111568932A CN114274152A CN 114274152 A CN114274152 A CN 114274152A CN 202111568932 A CN202111568932 A CN 202111568932A CN 114274152 A CN114274152 A CN 114274152A
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Abstract
The invention belongs to the technical field of inspection robots, and particularly relates to an all-dimensional inspection robot, which comprises: moving the base; the machine body is arranged on the movable base; the holder assembly is arranged on the machine body; the image acquisition module is arranged on the holder assembly so as to adjust the spatial position of the image acquired by the image acquisition module; the image acquisition module comprises a panoramic annular camera, a long-focus camera and a thermal infrared camera; and the central controller is in signal connection with the mobile base, the holder assembly, the panoramic annular belt camera, the long-focus camera and the thermal infrared camera. According to the invention, all-round clear shooting in the horizontal direction can be realized by only carrying one panoramic annular camera and carrying a long-focus camera to realize zooming, the structure is simpler, and the precision of comprehensive routing inspection is higher; in addition, temperature abnormal information in the inspection environment can be judged by matching with temperature information acquired by the thermal infrared camera.
Description
Technical Field
The invention belongs to the technical field of inspection robots, and particularly relates to an all-dimensional inspection robot.
Background
With the gradual deepening of the construction of the smart power grid, the requirements of the inspection robot on functions, performances and the like are higher and higher under the application scenes of a transformer substation and the like. A traditional transformer substation inspection robot is generally used for carrying one or two cameras for inspection, and the problems that inspection cannot be conducted comprehensively, inspection is not in place and the like exist. The robot that has carried a plurality of cameras to carry out comprehensive inspection at present needs to dispose six cameras at least, places the camera of different angles in three horizontal direction promptly, and every horizontal direction respectively places two, and adopts step motor control drive camera rotation usually to reach the purpose of shooing the all-round image.
However, the stepping motor may lose pulses to cause a motor step-out phenomenon, when the rotary camera shoots, missed shooting or shooting of two cameras in the same horizontal direction to the same area is easy to occur, the overall polling precision is insufficient, and the used cameras and their accessories are various and the structure is complicated.
Disclosure of Invention
Based on the above-mentioned shortcomings and drawbacks of the prior art, it is an object of the present invention to at least solve one or more of the above-mentioned problems of the prior art, in other words, to provide an all-round inspection robot that satisfies one or more of the above-mentioned needs.
In order to achieve the purpose, the invention adopts the following technical scheme:
an all-round robot of patrolling and examining, includes:
moving the base;
the machine body is arranged on the movable base;
the holder assembly is arranged on the machine body;
the image acquisition module is arranged on the holder assembly so as to adjust the spatial position of the image acquired by the image acquisition module; the image acquisition module comprises a panoramic annular camera, a long-focus camera and a thermal infrared camera;
and the central controller is in signal connection with the mobile base, the holder assembly, the panoramic annular belt camera, the long-focus camera and the thermal infrared camera.
Preferably, the panoramic annular camera comprises a lens barrel, and a first panoramic annular head lens, a second panoramic annular head lens, a relay lens, an optical filter assembly and an image sensor which are coaxially distributed along the axial direction of the lens barrel in sequence, wherein the first panoramic annular head lens, the second panoramic annular head lens, the relay lens and the optical filter assembly are positioned in an inner cavity of the lens barrel, the image sensor is positioned outside the lens barrel, and the image sensor is in signal connection with the central controller.
Preferably, the surface of the first panoramic annular head lens, which is adjacent to the object plane, is provided with a convex first refraction surface, and the middle part of the first refraction surface is concave and plated with a reflection film to form a second reflection surface;
the surface of the second panoramic annular head lens, which is adjacent to the image surface, is provided with a convex first reflecting surface, and the middle part of the first reflecting surface is convex to form a second refraction surface;
the incident light sequentially passes through the first refraction surface, the first reflection surface, the second reflection surface and the second refraction surface, then passes through the relay lens and the optical filter assembly, and finally reaches the image sensor for imaging.
Preferably, the edge of the first reflecting surface is plated with an annular reflecting film.
Preferably, a transparent protective cover is arranged outside the end, corresponding to the first panoramic annular head lens, of the lens barrel.
As a preferred scheme, the holder assembly comprises a lifting holder and a rotating holder which are respectively in signal connection with the central controller, the lifting holder is arranged on the machine body, and the rotating holder is arranged on the lifting holder;
the top of rotatory cloud platform is located to the panorama clitellum camera, and the both sides of rotatory cloud platform are located respectively to long burnt camera and hot infrared camera.
Preferably, the long-focus camera and the thermal infrared camera are respectively mounted on the rotating holder through an electric rotating support, and the electric rotating support is in signal connection with the central controller.
As a preferred scheme, the mobile base is provided with an ultrasonic sensor for collecting barrier information in an inspection environment; the ultrasonic sensor is in signal connection with the central controller.
Preferably, the central controller includes:
the information acquisition module is used for acquiring image information in the patrol environment collected by the panoramic annular camera, the long-focus camera and the thermal infrared camera and acquiring barrier information in the patrol environment;
the main control module is used for controlling the rotation of the rotating holder, the lifting of the lifting holder, the rotation of the electric rotating bracket and the movement of the movable base, and planning an inspection path according to image information and obstacle information in an inspection environment;
and the storage module is used for storing the data processing information and the preset data information of the information acquisition module and the main control module.
Preferably, the body is provided with a wireless communication module, and the wireless communication module is in signal connection with the central controller.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, all-round clear shooting in the horizontal direction can be realized by only carrying one panoramic annular camera and carrying a long-focus camera to realize zooming, the structure is simpler, and the precision of comprehensive routing inspection is higher; in addition, temperature abnormal information in the inspection environment can be judged by matching with temperature information acquired by the thermal infrared camera.
(2) According to the invention, the image in the inspection environment is shot through the panoramic annular belt camera, the working environment map of the robot is generated by matching with the barrier information acquired by the ultrasonic sensor, and the inspection path is planned, so that autonomous movement is realized, and the robot is more intelligent.
(3) According to the invention, several routing inspection abnormal situations can be preset in the central controller, when the panoramic annular camera shoots the periphery to be abnormal, abnormal point coordinates are sent to the central controller, the central controller automatically sends commands to adjust the corresponding cradle head and the electric rotating bracket to move, the telephoto camera carries out zooming shooting on clear images at the appointed position, and meanwhile, a prompt alarm can be sent to a remote end to prompt the abnormal situation, so that the accuracy of data is improved, and the efficiency and the pertinence of emergency repair are ensured.
Drawings
Fig. 1 is a front view structural schematic diagram of an omnidirectional inspection robot according to embodiment 1 of the present invention;
fig. 2 is a rear view structural schematic diagram of the all-directional inspection robot in embodiment 1 of the present invention;
fig. 3 is a schematic half-sectional view of a panoramic annular camera according to embodiment 1 of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention, the following description will explain the embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
Example 1:
as shown in fig. 1 and 2, the all-round inspection robot of this embodiment includes an image acquisition module 1, a pan-tilt assembly 2, an electric rotating support 12, a robot body 3, a wireless communication module 4, a mobile base 6, and a central controller 7 and a storage battery 11 which are installed on a chassis 8 of the mobile base 6, wherein the image acquisition module 1, the pan-tilt assembly 2, the electric rotating support 12, the wireless communication module 4, and the mobile base 6 are all in communication connection with the central controller 7, so as to realize signal control and signal transmission. The storage battery 11 supplies power to each electrical appliance through the central controller 7.
Specifically, the image acquisition module includes a panoramic annular camera 101, a tele camera 102, and a thermal infrared camera 103.
The panoramic annular camera 101 can shoot and acquire panoramic images in a large view field range of 360 degrees of a visible light wave band, and one panoramic annular camera can realize all-around monitoring and inspection.
Specifically, as shown in fig. 3, the panoramic annular camera 101 includes a lens barrel 1018, a first panoramic annular head lens PAL1, a second panoramic annular head lens PAL2, a panoramic annular relay lens group and filter 1016 and an image sensor 1017 which are coaxially disposed, the lens barrel 1018 has an inner cavity and two end openings communicating with the inner cavity, the two end openings are respectively a larger opening port and a smaller opening port, the first panoramic annular head lens PAL1, the second panoramic annular head lens PAL2, the panoramic annular relay lens group and filter 1016 and the image sensor 1017 are axially distributed along the lens barrel 1018 in sequence, the first panoramic annular head lens PAL1, the second panoramic annular head lens PAL2, the panoramic annular relay lens group and the filter 1016 are located in the inner cavity of the lens barrel, the image sensor 1017 is located outside the lens barrel, and the image sensor is in signal connection with the central controller 7. Wherein the first panoramic annular head lens PAL1 corresponds to a larger opening port distribution of the lens barrel 1018, and the image sensor 1017 corresponds to a smaller opening port distribution of the lens barrel 1018.
More specifically, the surface of the first panoramic annular head lens PAL1 close to the object plane has a convex first refraction surface 1012, and the center of the first refraction surface 1012 is provided with a concave surface and coated with a reflection film to form a second reflection surface 1014; in addition, the surface of the second panoramic annular head lens PAL2 close to the image surface is provided with a convex first reflecting surface 1013, and the center of the first reflecting surface 1013 is provided with a convex second refracting surface 1015; in addition, the surface edge of the first reflecting surface 1013 is coated with an annular reflecting film for increasing the field of view.
The imaging principle of the panoramic annular camera of the embodiment is as follows: incident light sequentially passes through the first refraction surface, the first reflection surface, the second reflection surface and the second refraction surface, then passes through the panoramic annular relay lens group and the optical filter, and finally reaches the image sensor for imaging. The panoramic annular camera transmits the acquired panoramic image data to the central controller for subsequent data processing.
In addition, a transparent protective cover 1011 is coaxially arranged on the lens barrel 1018 corresponding to the larger opening end of the lens barrel, the transparent protective cover 1011 is of a hollow cylinder structure, the lens is protected from being soaked by rainwater and adhered by dust, and the imaging view field and the imaging quality of the panoramic annular camera are not affected.
The tele-camera 102 of the present embodiment can achieve shooting of an image of a specified local high definition. Because the field angle increases, the focal length can shorten, and the focal length of panorama clitellum camera is shorter than general camera focal length, consequently, this embodiment adds a long focus camera and realizes zooming the more clear image of shooting. Specifically, the tele camera can be used for shooting, identifying and recording required data parameters of key monitoring equipment, so that the accuracy of the data is improved.
In addition, the tele-camera 102 of the embodiment may also be used to determine the abnormal operating state of the device in the inspection environment, specifically, several abnormal inspection content states are preset in the central controller, for example: abnormal equipment operation data parameters, abnormal equipment temperature, equipment fire and the like; when the panoramic annular camera shoots the images around the inspection robot and is judged to be in an abnormal state by the central controller, the central controller extracts coordinates of an abnormal place, sends a prompt alarm to the remote end, and sends a command to adjust the rotation and the lifting of the pan-tilt assembly at the same time.
The thermal infrared camera 103 of the embodiment acquires images around the inspection robot and transmits the images to the central controller, so that thermal imaging video acquisition and analysis of the periphery of the inspection robot can be realized, and temperature information can be acquired. The normal working temperature of the equipment is preset in the central controller, and when the temperature is higher than a preset temperature threshold value, the central controller can judge that the equipment is in an abnormal temperature state; the central controller may determine the equipment fire condition when the temperature is above a preset fire temperature threshold.
The image acquisition module 1 of this embodiment sends the data that acquire to central controller 7, and central controller 7 is connected with wireless communication module 4, and the central controller converts data into digital signal, sends the remote server through wireless communication module 4 and carries out remote control and information sharing. The wireless communication module 4 is a WiFi module, a bluetooth module, a 4G/5G module or a Zigbee module, which are commonly used.
The pan/tilt head assembly 2 of the present embodiment includes a rotating pan/tilt head 201, a lifting pan/tilt head 202, and an electric push rod 1202 installed between the rotating pan/tilt head 201 and the lifting pan/tilt head 202, wherein the rotating pan/tilt head 201, the lifting pan/tilt head 202, and the electric push rod 1202 are coaxially installed, and the electric push rod 1202 is used for extending the overall lifting height of the pan/tilt head assembly. The image acquisition module 1 is installed on rotatory cloud platform 201, specifically, and rotatory cloud platform 201 top installation panorama clitellum camera 101, and long burnt camera 102 and hot infrared camera 103 are installed respectively to left and right both sides, and for guaranteeing that the visual field of panorama clitellum camera 101 is not sheltered from, the camera of rotatory cloud platform top base a little higher than both sides. The long-focus camera 102 and the thermal infrared camera 103 are respectively mounted on two sides of the rotating holder 201 through the electric rotating bracket 12, so that the pitch angles of the long-focus camera 102 and the thermal infrared camera 103 can be conveniently adjusted. The image acquisition module is connected fixedly with the rotary holder through a first electric rotating support and is coaxially connected with the lifting holder through a second electric rotating support.
The rotating tripod head 201 of the embodiment is in signal connection with the central controller 7, and the central controller 7 sends an instruction to drive the rotating tripod head 201 to rotate so as to realize the rotation of the rotating tripod head in the horizontal direction; the lifting platform 202 is in signal connection with the central controller 7, and the central controller 7 sends an instruction to drive the lifting platform to lift so as to realize the lifting of the lifting platform in the vertical direction. The electric push rod 1202 of the embodiment is connected with the central controller 7 through signals, and the central controller 7 sends instructions to drive the electric push rod to move so as to realize the lifting of the rotating holder in the vertical direction, so that the lifting height of the lifting holder in the vertical direction of the rotating holder is prolonged.
The image acquisition module of this embodiment and the cooperation of cloud platform assembly compare in the structural design of current robot of patrolling and examining, and hardware structure is simpler, and the precision of patrolling and examining comprehensively is higher.
The mobile base 6 of the present embodiment adopts a visual positioning and navigation system, and includes a chassis 8 and a driving component 602 for driving the chassis to move, an ultrasonic sensor 601 is installed on the chassis 8 or the robot body 3, and the ultrasonic sensor 601 and the driving component 602 are in signal connection with the central controller 7. The driving assembly 602 comprises four driving wheels and two driving motors, wherein each two driving wheels are connected through a bearing and are connected with one driving motor, the two bearings and a bottom plate of the robot body form a robot chassis, namely the chassis and the robot body can be integrated into a whole, and the two driving motors are fixedly arranged on the chassis and are in communication connection with the central controller; the central controller sends an instruction to the driving motor according to the inspection path to control the inspection robot to move.
When the panoramic annular camera sends the shot image data to the central controller 7, the ultrasonic sensor 601 acquires the obstacle information around the inspection environment of the robot and sends the acquired obstacle information to the central controller 7, so that the position information of the inspection robot and a working environment map of the robot are obtained, and an inspection path is planned. The embodiment is characterized in that a panoramic annular camera shoots images, an ultrasonic sensor is matched to obtain barrier information, a working environment map of the robot is generated, and the comprehensive inspection robot for planning an inspection path is more intelligent.
In addition, an indicator lamp 5 and a storage battery charging port 10 are installed on the robot body 3, the indicator lamp 5 is a charging indicator lamp, and the indicator lamp 5 is in communication connection with the central controller 7; when the storage battery 11 of the inspection robot is charged through the storage battery charging port 10, the indicator lamp 5 is turned on; when the inspection robot is fully charged, the indicating lamp 5 is turned on.
The robot body 3 of the embodiment is also provided with an operation panel 9 for polling a power switch of the robot, displaying the electric quantity of the storage battery, displaying an abnormal state and the like. The operation panel 9 is connected to the central controller 7 in communication therewith.
The central controller 7 of this embodiment includes an information acquisition module, a main control module, and a storage module.
The information acquisition module is used for acquiring image information, temperature information and obstacle information;
the main control module is used for calculating according to the image information, the temperature information and the barrier information, generating a working environment map of the robot according to a calculation result and planning a patrol route; and the device is also used for controlling the rotation of the rotating holder, the lifting of the lifting holder, the rotation of the electric rotating bracket, the movement of the moving base and the like.
The storage module is used for storing the data information acquired and calculated by the calculation module and preset data information; i.e. for storing historical data information. The preset data information includes, but is not limited to, a set temperature threshold, a plurality of preset routing inspection content abnormal states, and the like.
The all-round inspection robot of this embodiment's working process is as follows:
when the inspection robot starts to work, the central controller acquires a panoramic image and a thermal imaging image generated by the image sensor, detects the environment around the inspection robot through image identification and processing, calculates according to barrier information transmitted by the ultrasonic sensor, generates a working environment map of the robot, plans an inspection path, and transmits path information to the mobile base to control the robot to move; in the moving process, the holder assembly controls the long-focus camera to rotate, can identify preset key detection equipment data parameters, and can shoot local clearer images when abnormal conditions are met by accident so as to assist the use of the panoramic annular belt camera.
Example 2:
the omnibearing inspection robot of the embodiment is different from the embodiment 1 in that:
the design of an electric push rod can be omitted, the structure is simplified, and the requirements of different applications are met;
other structures can refer to embodiment 1.
Example 3:
the omnibearing inspection robot of the embodiment is different from the embodiment 1 in that:
the design of an electric rotating bracket can be omitted, the structure is simplified, and the requirements of different applications are met;
other structures can refer to embodiment 1.
Example 4:
the omnibearing inspection robot of the embodiment is different from the embodiment 1 in that:
the panoramic annular camera can be replaced by other types of panoramic cameras, such as a fisheye camera, a split type catadioptric panoramic lens and the like, so that the requirements of different applications are met;
other structures can refer to embodiment 1.
Example 5:
the omnibearing inspection robot of the embodiment is different from the embodiment 1 in that:
the thermal infrared camera can be replaced by a panoramic annular camera with an infrared band, so that omnibearing thermal imaging video acquisition and analysis are realized, and temperature information is acquired. The requirements of different applications are met;
other structures can refer to embodiment 1.
Example 6:
the omnibearing inspection robot of the embodiment is different from the embodiment 1 in that:
the storage battery adopts a lithium battery, the design of a storage battery charging port is omitted, and wireless charging is adopted, so that the requirements of different applications are met;
other structures can refer to embodiment 1.
The foregoing has outlined rather broadly the preferred embodiments and principles of the present invention and it will be appreciated that those skilled in the art may devise variations of the present invention that are within the spirit and scope of the appended claims.
Claims (10)
1. The utility model provides an all-round robot of patrolling and examining which characterized in that includes:
moving the base;
the machine body is arranged on the movable base;
the holder assembly is arranged on the machine body;
the image acquisition module is arranged on the holder assembly so as to adjust the spatial position of the image acquired by the image acquisition module; the image acquisition module comprises a panoramic annular camera, a long-focus camera and a thermal infrared camera;
and the central controller is in signal connection with the mobile base, the holder assembly, the panoramic annular belt camera, the long-focus camera and the thermal infrared camera.
2. The all-round inspection robot according to claim 1, wherein the panoramic annular camera includes a lens barrel, and a first panoramic annular head lens, a second panoramic annular head lens, a relay lens, an optical filter assembly and an image sensor coaxially distributed in sequence along an axial direction of the lens barrel, wherein the first panoramic annular head lens, the second panoramic annular head lens, the relay lens and the optical filter assembly are located in an inner cavity of the lens barrel, the image sensor is located outside the lens barrel, and the image sensor is in signal connection with the central controller.
3. The all-round inspection robot according to claim 2, wherein the surface of the first panoramic annular head lens adjacent to the object plane has a convex first refraction surface, and the middle of the first refraction surface is concave and coated with a reflection film to form a second reflection surface;
the surface of the second panoramic annular head lens, which is adjacent to the image surface, is provided with a convex first reflecting surface, and the middle part of the first reflecting surface is convex to form a second refraction surface;
the incident light sequentially passes through the first refraction surface, the first reflection surface, the second reflection surface and the second refraction surface, then passes through the relay lens and the optical filter assembly, and finally reaches the image sensor for imaging.
4. The all-round inspection robot according to claim 3, wherein the edge of the first reflective surface is coated with an annular reflective film.
5. The all-round inspection robot according to claim 2, wherein a transparent protective cover is provided outside the lens barrel corresponding to the port of the first panoramic annular head lens.
6. The all-directional inspection robot according to claim 2, wherein the cloud platform assembly comprises a lifting cloud platform and a rotating cloud platform which are respectively in signal connection with the central controller, the lifting cloud platform is arranged on the robot body, and the rotating cloud platform is arranged on the lifting cloud platform;
the top of rotatory cloud platform is located to the panorama clitellum camera, and the both sides of rotatory cloud platform are located respectively to long burnt camera and hot infrared camera.
7. The all-round inspection robot according to claim 6, wherein the tele camera and the thermal infrared camera are respectively mounted on the rotary pan/tilt head through an electric rotary bracket, and the electric rotary bracket is in signal connection with the central controller.
8. The all-directional inspection robot according to claim 7, wherein the mobile base is provided with an ultrasonic sensor for collecting obstacle information in an inspection environment; the ultrasonic sensor is in signal connection with the central controller.
9. The all-directional inspection robot according to claim 8, wherein the central controller includes:
the information acquisition module is used for acquiring image information in the patrol environment collected by the panoramic annular camera, the long-focus camera and the thermal infrared camera and acquiring barrier information in the patrol environment;
the main control module is used for controlling the rotation of the rotating holder, the lifting of the lifting holder, the rotation of the electric rotating bracket and the movement of the movable base, and planning an inspection path according to image information and obstacle information in an inspection environment;
and the storage module is used for storing the data processing information and the preset data information of the information acquisition module and the main control module.
10. The all-round inspection robot according to any one of claims 1-9, wherein the body is provided with a wireless communication module, and the wireless communication module is in signal connection with the central controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111568932.2A CN114274152A (en) | 2021-12-21 | 2021-12-21 | All-round robot of patrolling and examining |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111568932.2A CN114274152A (en) | 2021-12-21 | 2021-12-21 | All-round robot of patrolling and examining |
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| CN114770545A (en) * | 2022-05-10 | 2022-07-22 | 湖北工业大学 | Bifocal autonomous inspection robot for distribution room |
| CN116447457A (en) * | 2023-04-25 | 2023-07-18 | 广东爱吉尔机器人科技有限公司 | Henhouse inspection robot |
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