CN114756062A

CN114756062A - Cloud platform of robot is patrolled and examined to rail mounted intelligence

Info

Publication number: CN114756062A
Application number: CN202110689446.XA
Authority: CN
Inventors: 范悦; 薛剑; 宁景涛; 梁正
Original assignee: Shanghai Dongting Automation Technology Co ltd
Current assignee: Shanghai Dongting Automation Technology Co ltd
Priority date: 2021-01-10
Filing date: 2021-06-22
Publication date: 2022-07-15
Also published as: CN112711277A

Abstract

A cloud deck of a track type intelligent inspection robot comprises a cloud deck box and at least one camera box, wherein the cloud deck box comprises a cloud deck frame, the interior of the cloud deck frame is hollow, two ends of the cloud deck frame are open, the two open ends of the cloud deck frame are respectively sealed through different cloud deck end plates, and the top of the cloud deck frame is hermetically assembled with a rotating frame; the rotating frame is provided with a rotating cylinder, the rotating cylinder is arranged in a rotating cover, the rotating cover is arranged on a cloud rack, and the cloud rack is arranged at the bottom of the rail-mounted intelligent inspection robot; the rotating cylinder is sleeved on a first motor shaft, can rotate circumferentially relative to the first motor shaft and cannot move axially for assembly, the first motor shaft is fixedly assembled with the cradle head frame, the other end of the first motor shaft is installed in the first motor, the first motor is installed in the cradle head frame, a second motor is further installed in the cradle head frame, a second motor shaft of the second motor penetrates through the cradle head end plate and then is fixedly assembled with the camera box, a camera or a thermal imager is installed in the camera box and used for collecting images, and the thermal imager is used for obtaining thermal imaging images or data.

Description

Cloud platform of robot is patrolled and examined to rail mounted intelligence

Technical Field

The invention relates to a track type inspection robot and a tripod head, in particular to a tripod head of a track type intelligent inspection robot.

Background

The track type intelligent inspection robot is one of the main technologies of line-setting inspection at present, the principle of the track type intelligent inspection robot is similar to that of a subway and a cloud rail, the robot is guided by the track to walk, and detection equipment such as a camera and a sensor are carried on the robot, so that the inspection is carried out by the guide of the track. The track type intelligent inspection robot related to the present application is described in chinese patent application entitled "a traveling mechanism of an inspection robot" filed on the same date as the present application.

The current inspection robot mainly carries a two-axis or three-axis holder, and a camera is arranged on the holder, so that an image is acquired through the camera for inspection. The present holder and the camera are independent parts, the camera is generally hung on the holder for assembly, the present holder is very similar to the present holder for an unmanned aerial vehicle, and the design technology is mature and can be directly purchased. But its volume is bigger than normal, and the protection to the camera is than lower moreover, and the track formula intelligence of this embodiment patrols and examines robot and is used for patrolling and examining of scenes such as outdoor, factory indoor for a long time. Therefore, the requirements on water resistance and dust resistance are higher, the requirements on stability and durability are also higher, through actual measurement, the failure rate of the existing mode of installing the camera on the independent holder is higher, and the rotation of the holder depends on gear transmission, so that the size is larger.

To this inventor's cloud platform that has designed a track type intelligence and has patrolled and examined robot, its integrated level is high, simple structure, real durable of skin.

Disclosure of Invention

In view of the above defects in the prior art, the present invention provides a pan/tilt head of a track-type intelligent inspection robot.

In order to achieve the purpose, the invention provides a cloud deck of a rail-mounted intelligent inspection robot, which comprises a cloud deck box and at least one camera box, wherein the cloud deck box comprises a cloud deck frame, the cloud deck frame is hollow, two ends of the cloud deck frame are opened, two opening ends of the cloud deck frame are respectively sealed by different cloud deck end plates, and the top of the cloud deck frame is hermetically assembled with a rotating frame;

the rotating frame is provided with a rotating cylinder, the rotating cylinder is arranged in a rotating cover, the rotating cover is arranged on a cloud rack, and the cloud rack is arranged at the bottom of the rail-mounted intelligent inspection robot;

rotatory section of thick bamboo suit is on first motor shaft and with it circular rotation relatively, but axial displacement assembly, first motor shaft is fixed with the assembly of cloud platform frame, the first motor shaft other end is packed into in the first motor, first motor is installed in cloud platform frame, the inside second motor that still installs of cloud platform frame, the second motor shaft of second motor pass behind the cloud platform end plate with the box-packed assembly of making a video recording fixed, install camera or thermal imager in the box of making a video recording, the camera is used for gathering the image, the thermal imager is used for acquireing regional thermal imaging image of target or data.

Preferably, be provided with the cloud platform sleeve on the cloud platform end plate, the second motor shaft passes behind the cloud platform sleeve and makes a video recording the shell assembly with the second and fixes.

Preferably, cloud platform end plate and cloud platform frame pass through the sealed assembly of second sealing washer, pass through the sealed assembly of first sealing washer between cloud platform frame and the swivel mount.

Preferably, the part of the rotary cylinder, which is arranged in the rotary cover, and the rotary limiting wheel are assembled in a non-relative circumferential rotation manner, and a rotary limiting block is arranged on the rotary limiting wheel; the rotating cover is assembled with a second limiting screw, and the second limiting screw is installed in the rotating cover and used for blocking the passing of the rotating limiting block so as to limit the rotating angle of the rotating limiting wheel.

Preferably, the first motor shaft is hollow inside, the top of the first motor shaft is assembled with a rotor of the electric slip ring, a stator of the electric slip ring is assembled with the cradle head frame, the rotor of the electric slip ring is electrically connected with one end of the third lead, and the stator of the electric slip ring is electrically connected with a controller and a battery of the rail-mounted intelligent inspection robot, so that the rail-mounted intelligent inspection robot supplies power to the third lead through the electric slip ring and performs signal communication with the third lead; the first motor shaft is hollow inside, so that the third conducting wire is installed in the first motor shaft.

Preferably, the number of the camera shooting boxes is two, wherein one camera shooting box comprises a second camera shooting shell and a first camera shooting shell, the first camera shooting shell is arranged at one end of the second camera shooting shell, the first camera shooting shell and the second camera shooting shell are assembled in a sealing mode through a third sealing ring, a first lens is arranged on the first camera shooting shell, a camera is arranged in the second camera shooting shell, and an image acquisition end of the camera is opposite to the first lens; the camera shooting device is characterized in that a mounting table is arranged on the inner side of the second camera shooting shell and assembled with a first support mounting plate of a first camera shooting support through a first connecting bolt, the first camera shooting support is fixedly assembled with a shell of a camera, a first support supporting plate is arranged on the first camera shooting support and attached to the inner wall of the second camera shooting shell tightly, so that the first camera shooting support is supported, and the first support mounting plate has elasticity.

Preferably, another box of making a video recording includes the second shell of making a video recording, the first shell of making a video recording is installed on the second shell of making a video recording one end, and makes a video recording through the sealed assembly of third sealing washer between first shell of making a video recording, the second of this box of making a video recording is made a video recording and is installed thermal imager in the shell, the chucking of thermal imager is installed in the second support of making a video recording, it is provided with elasticity extension board, second support mounting panel respectively to make a video recording on the support to make a video recording, the elasticity extension board has elasticity and pastes tightly on the inner wall of the second shell of making a video recording that corresponds with it, second connecting bolt passes behind the second support mounting panel and the mount table assembly that corresponds with it to make a video recording the support installation in the second shell with the second, the elasticity extension board has elasticity.

Preferably, still install the spacer pin on the second shell of making a video recording, the spacer pin is packed into in the cloud platform sleeve and is located between two first stop screws, and two first stop screws just are used for hindering the passing through of spacer pin with cloud platform sleeve assembly respectively.

Preferably, the first motor and the second motor both adopt servo motors, and a plurality of weight reduction grooves are formed in the outer walls of the first camera shell and the second camera shell.

Preferably, a light supplement lamp is further installed on the cloud platform frame, and the light supplement lamp emits light after being electrified, so that an area where the camera collects images is illuminated.

The beneficial effects of the invention are:

according to the invention, the first motor is adopted to realize the rotation of the camera box in the horizontal direction, and the second motor is adopted to realize the rotation of the camera box in the vertical direction, so that the two-axis rotation of the camera box can be realized, and the image acquisition requirements of all angles can be met. In addition, the first motor and the second motor are both servo motors, the rotation precision is high, so that the electric signals are directly utilized to control the rotation angle of the first motor and the second motor, on one hand, the transmission and speed regulation structures such as traditional gears can be directly removed, on the other hand, the control precision can be increased, on the other hand, the cost can be reduced, the final control effect can be increased, and therefore a foundation is provided for subsequent intelligent routing inspection.

According to the invention, the camera and the thermal imager are independently arranged in different camera boxes, and the camera boxes are sealed, so that a better waterproof and dustproof effect can be realized, and the camera can be used for a long time in a severe environment. In addition, the camera and the thermal imager are respectively clamped and elastically assembled between the first camera shooting support and the second camera shooting support and the camera shooting boxes corresponding to the first camera shooting support and the second camera shooting support, so that the installation stability of the camera and the thermal imager can be guaranteed, the damping effect of the camera and the thermal imager can be guaranteed, and the structure is simple.

Drawings

Fig. 1 is a schematic view of the state of use of the present invention.

Fig. 2 is a schematic view of the state of use of the present invention.

Fig. 3 is a schematic structural diagram of the present invention.

Fig. 4 is a schematic structural diagram of the present invention.

Fig. 5 is a schematic structural diagram of the present invention.

Fig. 6 is a sectional view a-a in fig. 5.

Fig. 7 is a sectional view B-B in fig. 5.

Fig. 8 is a cross-sectional view C-C of fig. 5.

Fig. 9 is a cross-sectional view taken along line D-D in fig. 5.

Fig. 10 is a schematic structural view of the present invention.

Fig. 11 is a schematic structural view of the present invention.

Fig. 12 is a schematic structural view of the present invention.

Fig. 13 is a schematic structural view of the present invention.

Fig. 14 is a schematic structural view of the present invention.

Fig. 15 is a schematic structural view of the camera box and the camera.

Fig. 16 is a schematic configuration diagram of the image pickup cartridge.

Fig. 17 is a schematic configuration diagram of the image pickup cartridge.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1 to 17, the pan-tilt of the embodiment is installed at the bottom of the rail-type intelligent inspection robot 900, and is used for acquiring images of the rail-type intelligent inspection robot during walking to achieve the purpose of inspection. The cloud deck comprises a cloud deck box 200 and at least one camera box 100, wherein the cloud deck box 200 comprises a cloud deck frame 210, the cloud deck frame 210 is hollow, two ends of the cloud deck frame 210 are open, two open ends of the cloud deck frame 210 are respectively sealed by a cloud deck end plate 220, and a cloud deck sleeve 230 is arranged on the cloud deck end plate 220; the top of the cloud platform frame 210 is hermetically assembled with the rotating frame 250. Preferably, the pan/tilt head end plate 220 is hermetically assembled with the pan/tilt head frame 210 through a second sealing ring 712, and the pan/tilt head frame 210 is hermetically assembled with the rotating frame 250 through a first sealing ring 711.

The rotating frame 250 is provided with a rotating cylinder 251, the rotating cylinder 251 is arranged in the rotating cover 241 and is assembled with a rotating limiting wheel 820 in a non-relative-circumferential-rotation manner, and a rotating limiting block 821 is arranged on the rotating limiting wheel 820; the rotation cover 241 is assembled with a second limit screw 430, and the second limit screw 430 is installed in the rotation cover 241 and is used for blocking the passage of the rotation limit block 821 to limit the rotation angle of the rotation limit wheel 820. The rotating cover 241 is arranged on the holder frame 240, and the holder frame 240 is arranged at the bottom of the rail-mounted intelligent inspection robot 900, so that the assembly of the whole holder and the rail-mounted intelligent inspection robot 900 is realized.

The rotating cylinder 251 is sleeved on the first motor shaft 321, can rotate relatively to the first motor shaft 321 in a circumferential mode and cannot move axially to be assembled, the first motor shaft 321 is hollow, the top of the first motor shaft 321 is assembled with the rotor of the electric slip ring 440, the stator of the electric slip ring 440 is assembled with the holder frame 240, the rotor of the electric slip ring 440 is electrically connected with one end of the third lead 363, and the stator of the electric slip ring is electrically connected with the controller, the battery and the like of the rail-type intelligent inspection robot 900, so that the rail-type intelligent inspection robot 900 supplies power to the third lead 363 through the electric slip ring and performs signal communication with the third lead 363. The first motor 320 is fixedly assembled with the holder frame 240, the other end of the first motor 320 is installed in the first motor 320, the first motor 320 can be driven to rotate circumferentially after being started, and the first motor shaft 321 is hollow, so that the third wire 363 is installed in the first motor 320.

The first motor 320 is installed in the cloud platform frame 210, the second motor 330 is further installed inside the cloud platform frame 210, a second motor shaft 331 of the second motor 330 penetrates through the cloud platform sleeve 230 and then is assembled and fixed with the second camera shell 120 of the camera shooting box 100, and the second motor 330 can drive the second motor shaft 331 to rotate circumferentially after being started, so that the camera shooting box 100 is driven to rotate synchronously. When the camera box is used, the two shafts of the camera box 100 can be respectively adjusted in a rotating manner through the first motor 320 and the second motor 330, so that the camera can acquire pictures at various angles. The cloud platform frame 240 and the rotating frame 250 can be assembled in a relative circumferential rotation mode, when the cloud platform frame is used, the first motor 320 drives the first motor shaft 321 to rotate in a circumferential rotation mode, the first motor shaft 321 is fixed relative to the cloud platform frame 240, the first motor 320 can be driven to rotate in a reverse direction, the first motor 320 drives the whole cloud platform frame 210 to rotate, the cloud platform frame 210 drives the rotating frame 250 to rotate synchronously, and therefore the rotation of the camera shooting box on the horizontal plane is achieved. When the rotating frame 250 rotates, the rotating limiting wheel 820 is driven to rotate, and the rotating limiting wheel 820 limits the rotating angle of the cloud platform frame 210 through the cooperation of the rotating limiting block 821 and the second limiting screw 430.

The image pickup box 100 further comprises a first image pickup shell 110, wherein the first image pickup shell 110 is installed at one end of the second image pickup shell 120, the first image pickup shell 110 and the second image pickup shell 120 are hermetically assembled through a third sealing ring 713, the first image pickup shell 110 is provided with a first lens 811, the second image pickup shell 120 is internally provided with a camera 340, and an image acquisition end of the camera 340 is right opposite to the first lens 811, so that a wide angle, a filter and the like of the camera 340 can be adjusted through the first lens 811. Preferably, an installation table 121 is arranged inside the second camera shell 120, the installation table 121 is assembled with the first support installation plate 142 of the first camera support 140 through a first connection bolt 450, the first camera support 140 is assembled and fixed with the housing of the camera 340, a first support plate 141 is arranged on the first camera support 140, and the first support plate 141 is attached to the inner wall of the second camera shell 120 so as to support the first camera support 140. The camera 340 is assembled with the second camera shell 120 through the first camera bracket 140 by the design, and during use, the first camera bracket 140 and the camera 340 can be assembled firstly, and then the first camera bracket 140 is assembled with the mounting table 121 through the first connecting bolt 450, so that the camera 340 can be greatly conveniently disassembled and assembled, and meanwhile, the camera 340 can be effectively fixed. The first bracket mounting plate 142 has elasticity, so that not only can the clamping between the first camera bracket 140 and the second camera housing be realized, but also the shock absorption of the camera 340 can be realized.

The second camera shell 120 is further provided with a limit pin 420, the limit pin 420 is installed in the holder sleeve 230 and located between the two first limit screws 410, and the two first limit screws 410 are respectively assembled with the holder sleeve 230 and used for blocking the passing of the limit pin 420. The design can limit the rotation angle of the second camera shell 120, thereby avoiding the winding and breaking of the circuit caused by the overlarge rotation angle of the second camera shell 120.

First motor 320, second motor 330 all adopt servo motor, and servo motor can realize accurate turned angle output to need not transmission designs such as gears just can the accurate turned angle who controls second camera shell 120, thereby simplify the structure greatly, not only can reduce cost, the subsequent maintenance of also being convenient for.

In this embodiment, there are two image capturing boxes 100, each image capturing box 100 corresponds to one second motor 330, a thermal imager 350 is installed in the second image capturing housing 120 of the other image capturing box 100, a second lens 812 is installed on the first image capturing housing 110 of this image capturing box 100, the second lens 812 is used for focusing the thermal imager 350, the thermal imager 350 is tightly installed in the second image capturing bracket 130, an elastic support plate 131 and a second bracket installation plate 132 are respectively installed on the second image capturing bracket 130, the elastic support plate 131 has elasticity and is tightly attached to the inner wall of the second image capturing housing 120 corresponding to the elastic support plate, and the second connecting bolt 460 penetrates through the second bracket installation plate 132 and is assembled with the installation table 121 corresponding to the second image capturing bracket 130, so as to install the second image capturing bracket 130 in the second image capturing housing 120. The elastic support plate 131 has elasticity, which not only can provide support for the thermal imaging camera, but also can provide elastic buffering (shock absorption) for the thermal imaging camera.

The thermal imager 350 is used for acquiring a thermal imaging image of a target environment, and the thermal imager 350 is electrically connected with a power supply and a controller in the holder frame 210 through a second lead 362; the camera 340 is used for directly acquiring images, and the camera is electrically connected with a power supply and a controller in the holder frame 210 through a first lead 361; in this embodiment, the power source may be a DC-DC module, which is used to introduce the current of the battery in the rail-based intelligent inspection robot 900, convert the current into a preset voltage, and input the preset voltage to the thermal imager 350, the camera 340, the first motor, and the second motor for use. The controller of this embodiment is used for receiving and dispatching analysis control instruction, and parameter operation, program operation are carried out, can select PLC, MCU, CPU etc. for use.

Preferably, the second motor shaft 331 is hollow, and the first and second wires respectively pass through the corresponding second motor shaft 331 and then enter the cloud platform frame, so as to seal the first and second wires.

Preferably, a plurality of weight-reducing grooves 101 are formed in the outer walls of the first camera shell 110 and the second camera shell 120, and the weight-reducing grooves 101 are used for reducing the weight of the whole camera box and also conveniently play a role in heat dissipation.

Preferably, a fill-in light 310 is further installed on the cloud platform frame 210, and the fill-in light 310 can emit light after being powered on, so as to illuminate an area where the camera 340 collects an image, thereby increasing the accuracy of the collected image, and the principle of the fill-in light is the same as that of a fill-in light (flash light) of a current mobile phone.

The details of the present invention are well known to those skilled in the art.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the above teachings. Therefore, the technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection determined by the claims.

Claims

1. The utility model provides a cloud platform of robot is patrolled and examined to rail mounted intelligence which characterized by: the cloud platform frame comprises a cloud platform frame, wherein the cloud platform frame is hollow, two ends of the cloud platform frame are opened, two open ends of the cloud platform frame are respectively sealed by different cloud platform end plates, and the top of the cloud platform frame is hermetically assembled with a rotating frame;

2. A head according to claim 1, wherein: and a holder sleeve is arranged on the holder end plate, and a second motor shaft penetrates through the holder sleeve and then is assembled and fixed with the second camera shell.

3. A head according to claim 1, wherein: the cloud platform end plate passes through the sealed assembly of second sealing washer with the cloud platform frame, pass through the sealed assembly of first sealing washer between cloud platform frame and the swivel mount.

4. A head according to claim 1, wherein: the part of the rotary cylinder, which is arranged in the rotary cover, and the rotary limiting wheel are assembled in a non-relative-circumferential-rotation mode, and a rotary limiting block is arranged on the rotary limiting wheel; the rotating cover is assembled with a second limiting screw, and the second limiting screw is installed in the rotating cover and used for blocking the passing of the rotating limiting block so as to limit the rotating angle of the rotating limiting wheel.

5. A head according to claim 1, wherein: the first motor shaft is hollow inside, the top of the first motor shaft is assembled with a rotor of the electric slip ring, a stator of the electric slip ring is assembled with the holder, the rotor of the electric slip ring is electrically connected with one end of a third lead, and the stator of the electric slip ring is electrically connected with a controller and a battery of the rail-mounted intelligent inspection robot, so that the rail-mounted intelligent inspection robot supplies power to the third lead through the electric slip ring and performs signal communication with the third lead; the first motor shaft is hollow inside so that the third wire is fitted into the first motor shaft.

6. A head according to claim 2, wherein: the camera shooting box comprises two camera shooting boxes, wherein one camera shooting box comprises a second camera shooting shell and a first camera shooting shell, the first camera shooting shell is arranged at one end of the second camera shooting shell, the first camera shooting shell and the second camera shooting shell are assembled in a sealing mode through a third sealing ring, a first lens is arranged on the first camera shooting shell, a camera is arranged in the second camera shooting shell, and an image acquisition end of the camera is opposite to the first lens; the camera shooting device is characterized in that a mounting table is arranged on the inner side of the second camera shooting shell and assembled with a first support mounting plate of a first camera shooting support through a first connecting bolt, the first camera shooting support is fixedly assembled with a shell of a camera, a first support supporting plate is arranged on the first camera shooting support and tightly attached to the inner wall of the second camera shooting shell, so that the first camera shooting support is supported, and the first support mounting plate has elasticity.

7. A head according to claim 6, wherein: another box of making a video recording includes that the second makes a video recording shell, first shell of making a video recording is installed and is made a video recording on the shell one end of second, and first shell of making a video recording, second make a video recording between the shell through the sealed assembly of third sealing washer, installs thermal imager in the second shell of making a video recording of this box of making a video recording, the thermal imager chucking is installed in the second support of making a video recording, be provided with elasticity extension board, second support mounting panel on the second support of making a video recording respectively, the elasticity extension board has elasticity and pastes tightly on the inner wall of the second shell of making a video recording that corresponds with it, second connecting bolt passes behind the second support mounting panel and the mount table assembly that corresponds with it to make a video recording the support installation in the shell of second, the elasticity extension board has elasticity.

8. A head according to claim 6 or 7, characterized in that: still install the spacer pin on the second shell of making a video recording, the spacer pin is packed into in the cloud platform sleeve and is located between two first stop screws, and two first stop screws just are used for hindering the passing through of spacer pin with the assembly of cloud platform sleeve respectively.

9. A head according to claim 8, wherein: the first motor and the second motor are both servo motors, and a plurality of weight reduction grooves are formed in the outer walls of the first camera shell and the second camera shell.

10. A head according to claim 1, wherein: and a light supplementing lamp is further installed on the cloud platform frame, and the light supplementing lamp emits light after being electrified, so that the area where the camera collects images is illuminated.