CN118219296A - Inspection robot and inspection robot equipment - Google Patents
Inspection robot and inspection robot equipment Download PDFInfo
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- CN118219296A CN118219296A CN202410638102.XA CN202410638102A CN118219296A CN 118219296 A CN118219296 A CN 118219296A CN 202410638102 A CN202410638102 A CN 202410638102A CN 118219296 A CN118219296 A CN 118219296A
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- 238000007689 inspection Methods 0.000 title claims abstract description 70
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 32
- 238000013500 data storage Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 80
- 238000012545 processing Methods 0.000 claims description 19
- 230000006698 induction Effects 0.000 claims description 14
- 235000020681 well water Nutrition 0.000 claims description 10
- 239000002349 well water Substances 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000000903 blocking effect Effects 0.000 claims description 5
- 239000004973 liquid crystal related substance Substances 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 23
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 238000001914 filtration Methods 0.000 description 5
- 230000032683 aging Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 4
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- 238000006243 chemical reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
- H02J50/402—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices the two or more transmitting or the two or more receiving devices being integrated in the same unit, e.g. power mats with several coils or antennas with several sub-antennas
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The application provides a patrol robot and patrol robot equipment, wherein the patrol robot comprises: the robot comprises a robot body, a camera arranged on the robot body, a travelling mechanism, a first wireless charging module, a first battery module, a GPS module, a first wireless communication module and a data storage module; the advancing mechanism comprises a servo motor, a main advancing device, a plurality of auxiliary advancing devices and a motor control module, wherein the auxiliary advancing devices are distributed on the left side and the right side of the main advancing device, the motor control module is connected with the servo motor and a camera, the motor control module controls the servo motor to rotate and drive the main advancing devices to advance or retreat along the length direction of a cable in a cable channel, and the auxiliary advancing devices are abutted to the cable and advance or retreat along the length direction of the cable. The technical scheme of the application effectively solves the problem that the inspection efficiency is lower because operation and maintenance personnel observe and detect the cable in the cable channel in the related technology.
Description
Technical Field
The invention relates to the field of robots, in particular to a patrol robot and patrol robot equipment.
Background
The power cable is widely applied to transmission and distribution networks as a carrier for electric energy transmission, most of cables laid in cable trenches and cable channels are in a moist and water accumulation environment for a long time, and cable insulation subjected to long-time moisture is rapidly aged under the factors of moisture, electric stress, mechanical stress and the like, so that conditions are provided for the formation of discharge channels. If the cable insulation is not maintained and replaced in time, the cable insulation is finally broken down by current, so that phase-to-phase or grounding short circuit faults occur on the cable line, and the safety of the power network is endangered. In addition, factors such as external force construction and cable skin breakage are also important causes of cable short-circuit faults.
The operation and maintenance personnel can timely and accurately detect the conditions of the 10kV cable and the cable channel, and the reliability and the stability of the urban power distribution network are directly related. However, compared with a high-voltage transmission cable tunnel with a voltage class of 110kV and above, the space of a 10kV cable trench is narrower, the internal condition of a cable channel is more complex, operation and maintenance personnel enter a cable well to observe and detect a cable in the cable channel, so that the inspection efficiency is lower, and in addition, complicated operations such as opening and closing a well cover greatly increase the time and labor cost and the inspection efficiency is also reduced.
Disclosure of Invention
The invention mainly aims to provide a patrol robot and patrol robot equipment, which are used for solving the problem that the patrol efficiency is lower due to the fact that operation and maintenance personnel observe and detect cables in a cable channel in the related technology.
In order to achieve the above object, according to one aspect of the present invention, there is provided a patrol robot, the patrol robot being provided in a cable channel, the patrol robot comprising: the robot comprises a robot body, and a camera, a travelling mechanism, a first wireless charging module, a first battery module, a GPS module, a first wireless communication module and a data storage module which are arranged on the robot body, wherein the first wireless charging module is connected with the first battery module; the advancing mechanism comprises a servo motor, a main advancing device, a plurality of auxiliary advancing devices and a motor control module, wherein the auxiliary advancing devices are distributed on the left side and the right side of the main advancing device, the motor control module is connected with the servo motor and a camera, the motor control module controls the servo motor to rotate and drive the main advancing devices to advance or retreat along the length direction of a cable in a cable channel, and the auxiliary advancing devices are abutted to the cable and advance or retreat along the length direction of the cable.
Further, a plurality of first guide holes and a plurality of first elastic pieces are arranged on the robot body, a plurality of auxiliary travelling devices penetrate out of the plurality of first guide holes in a one-to-one correspondence mode, each first elastic piece is arranged between the corresponding auxiliary travelling device and the robot body, and part of auxiliary travelling devices reciprocate in the first guide holes.
Further, the first end of every first guiding hole is provided with first fender piece, and every vice ware of marcing all includes vice landing leg and sets up the auxiliary wheel in vice landing leg bottom, and auxiliary wheel butt is on the cable, and the top of vice landing leg is worn to establish in first guiding hole from the second end in first guiding hole, is provided with the second fender piece on the lateral wall of every vice landing leg, and first elastic component sets up between second fender piece and the robot body.
Further, the robot body is further provided with a mounting hole, a motor shaft of the servo motor extends into the mounting hole from a first end of the mounting hole and is mounted in the mounting hole, the main travelling device comprises a main supporting leg and a main wheel arranged at the bottom of the main supporting leg, the main wheel is abutted to the cable, the top of the main supporting leg extends into the mounting hole from a second end of the mounting hole, and the motor shaft drives the main wheel to rotate through a transmission mechanism.
Further, the transmission mechanism is arranged on the main supporting leg and comprises a first transmission shaft, a second transmission shaft, a bevel gear transmission mechanism, a first meshing gear and a second meshing gear, and the main wheel comprises a wheel body which is abutted on the cable and a connecting shaft which is arranged on the wheel body in a penetrating manner; the first meshing gear is connected at the first end of connecting axle, and the second meshing gear is connected at the second end of connecting axle, and first transmission shaft is connected with the motor shaft, and the first end nestification of second transmission shaft is in first transmission shaft, and the second end of second transmission shaft passes through bevel gear drive mechanism and is connected with first meshing gear and second meshing gear drive simultaneously, and wherein, when the motor shaft drove first transmission shaft and rotates, the second transmission shaft drove bevel gear drive mechanism transmission to drive first meshing gear and second meshing gear rotation simultaneously, in order to drive the connecting axle rotation on the wheel body.
Further, be provided with the second guiding hole that supplies the first end direction matched with of second transmission shaft in the first transmission shaft, be provided with first transmission plane in the second guiding hole, be provided with on the first end of second transmission shaft with first transmission plane transmission matched second transmission plane, have the third to keep off the piece on the lateral wall of second transmission shaft, be provided with the second elastic component between third fender piece and the first transmission shaft, have between the top of main landing leg and the servo motor and dodge the clearance.
Further, the traveling mechanism further comprises a plurality of auxiliary traveling devices, the auxiliary traveling devices are distributed on the front side and the rear side of the main traveling device, and the auxiliary traveling devices are abutted on the cable and travel or retreat along the length direction of the cable.
Further, each auxiliary travelling device comprises an auxiliary supporting leg capable of being arranged on the main travelling device in a swinging mode and an auxiliary wheel arranged at the bottom of the auxiliary supporting leg, each auxiliary wheel is abutted to the cable, an arc-shaped guide column is arranged on the auxiliary supporting leg, an arc-shaped guide hole matched with the arc-shaped guide column in a guiding mode is formed in the main travelling device, and a third elastic piece is arranged between the auxiliary supporting leg and the main travelling device.
According to another aspect of the present invention, there is provided inspection robot apparatus comprising: the inspection robot is the inspection robot; the base station is arranged on the exposed cable and comprises a patrol base station body and an attribute setting panel arranged above the patrol base station body, wherein the attribute setting panel comprises a liquid crystal screen and an operation button, and a cable well water level monitoring module and a plurality of electric energy output ports are arranged on the side surface of the patrol base station body; the inside of inspection base station body is provided with second battery module, second wireless communication module, data processing module and attribute setting module all are connected with second battery module, the base station is still including setting up the response on exposing the cable and getting the electricity module, the response is got the electricity module and is built-in to have induction coil, induction coil is connected with second battery module, the base station still includes a plurality of second wireless charging module, a plurality of second wireless charging module one-to-one sets up on a plurality of cables, electric energy output port is connected to second wireless charging module through the electric energy transmission line, every second wireless charging module embeds has transmitting coil, transmitting coil can be connected with the second wireless charging module of inspection robot.
Further, the data processing module comprises an image recognition chip, a calculation chip and a storage, the second battery module is connected with each electric energy output port through an inverter circuit, a memory clamping groove is formed in the middle of the inspection base station body, the storage is connected with the memory clamping groove, the cable well water level monitoring module, the calculation chip, the attribute setting module and the second wireless communication module are all connected with the storage, and the image recognition chip is connected with the calculation chip.
By applying the technical scheme of the application, the inspection robot is arranged in the cable channel. The inspection robot includes: robot body and set up camera, advancing mechanism, first wireless module, first battery module, GPS module, first wireless communication module and the data storage module on the robot body, wherein, first wireless module and the first battery module of charging are connected, and camera, advancing mechanism, GPS module, first wireless communication module and data storage module all are connected with first battery module, and data storage module and camera, GPS module and first wireless communication module communication connection. The advancing mechanism comprises a servo motor, a main advancing device, a plurality of auxiliary advancing devices and a motor control module, wherein the auxiliary advancing devices are distributed on the left side and the right side of the main advancing device, the motor control module is connected with the servo motor and the main camera, the motor control module controls the servo motor to rotate and drive the main advancing devices to advance or retreat along the length direction of a cable in a cable channel, and the auxiliary advancing devices are abutted to the cable and advance or retreat along the length direction of the cable. When the motor control module controls the servo motor to rotate and drive the main travelling device to travel or retreat along the length direction of the cable in the cable channel, the main travelling device can be righted by the arrangement of the plurality of auxiliary travelling devices on the left side and the right side of the main travelling device when the main travelling device shakes left and right due to the fact that the cable is not in a standard round shape in the cable channel, so that the main travelling device is enabled to be abutted to the cable and continuously travel or retreat along the length direction of the cable. In the process that the inspection robot continues to travel or retreats along the length direction of the cable, if the main travelling device and/or the plurality of auxiliary travelling devices cannot continue to travel when meeting the obstacle, the motor control module can control the main travelling device to retreat in the original path. And the camera can observe and detect the cable aging condition and whether there is damage in the inside of cable passageway, forms image data transmission and stores to the data storage module. When the operation and maintenance personnel acquire the image data in the data storage module outside the cable well, the operation and maintenance personnel can be connected with mobile terminal equipment carried by the operation and maintenance personnel, the position of the inspection robot can be obtained through the GPS module, the operation and maintenance personnel can get outside the cable well corresponding to the inspection robot, and the image data in the data storage module can be acquired through the first wireless communication module. Therefore, operation and maintenance personnel can patrol and examine the aging condition and whether the cable in the cable channel is damaged without entering the cable well, and the patrol and maintenance personnel efficiency is improved. Therefore, the technical scheme of the application effectively solves the problem that the inspection efficiency is lower because operation and maintenance personnel observe and detect the cable in the cable channel in the related technology.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
Fig. 1 shows a front view of an embodiment of a patrol robot according to the invention;
FIG. 2 shows a front view of a servo motor and a main traveler of the inspection robot of FIG. 1;
FIG. 3 shows a schematic internal view of a top view of the inspection robot of FIG. 1;
FIG. 4 shows a schematic view of a main traveler of the inspection robot of FIG. 1;
fig. 5 shows a schematic front view of a base station of an embodiment of a patrol robot device according to the invention;
Fig. 6 shows a line connection diagram of the base station of fig. 5.
Wherein the above figures include the following reference numerals:
01. A cable channel; 02. a cable; 03. an exposed cable; 1. a robot body; 2. a camera; 4. a memory card interface; 5. a sensor interface; 6. a first wireless charging module; 7. a first battery module; 8. a GPS module; 9. a first wireless communication module; 10. a data storage module; 11. a first rectifying and filtering circuit; 12. inspecting the base station body; 13. an attribute setting panel; 131. a liquid crystal screen; 132. operating a button; 14. a memory card slot; 15. the cable well water level monitoring module; 16. an electrical energy output port; 18. an induction power taking module; 181. an induction coil; 182. a second rectifying and filtering circuit; 183. a DC-DC voltage conversion circuit; 19. a second battery module;
20. A second wireless charging module; 201. a transmitting coil; 21. a second wireless communication module; 22. a data processing module; 221. an image recognition chip; 222. a computing chip; 223. a reservoir; 23. an attribute setting module;
31. A servo motor; 32. a main traveler; 321. a main leg; 322. a main wheel; 323. a first drive shaft; 324. a second drive shaft; 325. bevel gear drive mechanism; 326. a first meshing gear; 327. a second meshing gear; 328. a third gear; 329. a second elastic member;
33. A secondary mover; 331. a first elastic member; 332. an auxiliary supporting leg; 333. a second stopper; 334. an auxiliary wheel; 34. a motor control module; 35. an auxiliary travelling device; 351. an auxiliary leg; 352. arc-shaped guide posts; 353. an auxiliary wheel; 354. and a third elastic member.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1 to 4, the present application provides a patrol robot, an embodiment of which is disposed in a cable channel 01. The inspection robot includes: the robot comprises a robot body 1, and a camera 2, a travelling mechanism, a first wireless charging module 6, a first battery module 7, a GPS module 8, a first wireless communication module 9 and a data storage module 10 which are arranged on the robot body 1, wherein the first wireless charging module 6 is connected with the first battery module 7, and the camera 2, the travelling mechanism, the GPS module 8, the first wireless communication module 9 and the data storage module 10 are all connected with the first battery module 7, and the data storage module 10 is in communication connection with the camera 2, the GPS module 8 and the first wireless communication module 9. The travel mechanism comprises a servo motor 31, a main travel device 32, a plurality of auxiliary travel devices 33 and a motor control module 34, wherein the plurality of auxiliary travel devices 33 are distributed on the left side and the right side of the main travel device 32, the motor control module 34 is connected with the servo motor 31 and the main camera 2, the motor control module 34 controls the servo motor 31 to rotate and drives the main travel device 32 to travel or retract along the length direction of a cable 02 in a cable channel 01, and the plurality of auxiliary travel devices 33 are abutted on the cable 02 and travel or retract along the length direction of the cable 02.
By applying the technical scheme of the embodiment, when the motor control module 34 controls the servo motor 31 to rotate and drives the main travelling device 32 to travel or retract along the length direction of the cable 02 in the cable channel 01, since the cable 02 is not in a standard round shape in the cable channel 01, when the main travelling device 32 shakes left and right, the main travelling device 32 can be righted by the arrangement of the plurality of auxiliary travelling devices 33 on the left side and the right side of the main travelling device 32, so that the balance of the inspection robot is maintained, the stable posture of the main travelling device 32 is ensured, and the main travelling device 32 is abutted on the cable 02 and continues to travel or retract along the length direction of the cable 02. In the process of continuing to travel or retract along the length direction of the cable 02, if the main traveling device 32 and/or the plurality of auxiliary traveling devices 33 cannot continue to travel when meeting the obstacle, the motor control module 34 controls the main traveling device 32 to retract in the original path. The camera 2 can observe and detect the aging condition and breakage of the cable 02 in the cable duct 01, and transmit the image data to the data storage module 10 for storage. When the operation and maintenance personnel acquire the image data in the data storage module 10 outside the cable well, the operation and maintenance personnel can be connected with mobile terminal equipment carried by the operation and maintenance personnel through the first wireless communication module 9, the position of the inspection robot can be known through the GPS module 8, the operation and maintenance personnel can arrive outside the cable well corresponding to the inspection robot, and the image data in the data storage module 10 can be acquired through the first wireless communication module 9. Therefore, operation and maintenance personnel can inspect the aging condition and whether the cable 02 in the cable channel 01 is damaged or not without entering the cable well, and inspection efficiency of the operation and maintenance personnel is improved. Therefore, the technical scheme of the application effectively solves the problem that the inspection efficiency is lower because operation and maintenance personnel observe and detect the cable in the cable channel in the related technology.
The first wireless charging module 6 charges the first battery module 7 after passing through the first rectifying and filtering circuit 11.
As shown in fig. 1 to 4, the image data of the camera 2 according to the present embodiment can also identify the size of the obstacle encountered by the main runner 32 and/or the plurality of sub runners 33 by image, and based on the image identification result, determine whether there is an obstacle blocking the travel path of the main runner 32 or the plurality of sub runners 33, and in addition, the motor control module 34 synchronously monitors the operating current of the servo motor 31, and when the current suddenly increases or exceeds the preset range, indicates that the servo motor 31 may encounter the obstacle or malfunction. When encountering small obstacles, bulges or depressions, the main travelling device 32 or the plurality of auxiliary travelling devices 33 can realize obstacle crossing, when encountering large obstacles and cannot pass through, the motor control module 34 combines the working current of the servo motor 31 and the image data to judge, and if the obstacle crossing is impossible, the motor control module 34 controls the servo motor 31 to reverse, and the inspection robot moves backwards in the original path.
In this embodiment, the robot body 1 is further provided with a storage card interface 4 and a sensor interface 5, where the storage card interface 4 and the sensor interface 5 are both connected with the data storage module 10, and the sensor interface 5 is in a usb interface form, so that an operation and maintenance person can insert different sensors according to the actual situation of the section of line, and expand the type of information collected by the inspection robot.
As shown in fig. 1 to 4, the data storage module 10 includes a clock device, a memory and a data processing chip, and is connected to the first wireless communication module 9, the GPS module 8, the camera 2 and the sensor interface 5, and in the inspection process, the data processing chip can form three-dimensional data with data recording time, data recording position and collected data as parameters, and the three-dimensional data is stored in the memory. Each time it returns to the base station (see below), the clock means will be paired with the base station by the first wireless communication module 9.
As shown in fig. 1 to 4, the robot body 1 is provided with a plurality of first guide holes and a plurality of first elastic members 331, a plurality of sub-runners 33 are penetrated out of the plurality of first guide holes in one-to-one correspondence, each of the first elastic members 331 is provided between the corresponding sub-runner 33 and the robot body 1, and a part of the sub-runners 33 reciprocate in the first guide holes. In this way, each first guiding hole guides the corresponding auxiliary travelling device 33, so that the auxiliary travelling device 33 can reciprocate along the axis of the first guiding hole, and when the main travelling device 32 and/or the plurality of auxiliary travelling devices 33 can surmount an obstacle, under the action of elastic force applied to the auxiliary travelling device 33 by the first elastic piece 331, the auxiliary travelling device 33 can float, and can automatically lift or lower to be attached to the surface of a cable, so that the stable posture of the main travelling device 32 is ensured, and good travelling stability is ensured. The first elastic member 331 is preferably a first spring.
As shown in fig. 1 to 4, in order to facilitate the reciprocal movement of part of the auxiliary runners 33 in the first guide holes, a first end of each first guide hole is provided with a first stopper, each auxiliary runner 33 includes an auxiliary leg 332 and an auxiliary wheel 334 provided at the bottom of the auxiliary leg 332, the auxiliary wheel 334 is abutted on the cable 02, the top of the auxiliary leg 332 is pierced in the first guide hole from the second end of the first guide hole, a second stopper 333 is provided on the side wall of each auxiliary leg 332, and the first elastic member 331 is provided between the second stopper 333 and the robot body 1.
As shown in fig. 1 to 4, in order to facilitate the installation of the servo motor 31 on the robot body 1, the robot body 1 is further provided with an installation hole, a motor shaft of the servo motor 31 extends into the installation hole from a first end of the installation hole and is installed in the installation hole, the main travelling device 32 comprises a main supporting leg 321 and a main wheel 322 arranged at the bottom of the main supporting leg 321, the main wheel 322 is abutted to the cable 02, the top of the main supporting leg 321 extends into the installation hole from a second end of the installation hole, and the motor shaft drives the main wheel 322 to rotate through a transmission mechanism.
As shown in fig. 1 to 4, a transmission mechanism is provided on the main leg 321, the transmission mechanism including a first transmission shaft 323, a second transmission shaft 324, a bevel gear transmission mechanism 325, a first meshing gear 326, and a second meshing gear 327. The main wheel 322 includes a wheel body abutting on the cable 02 and a connecting shaft penetrating the wheel body. The first meshing gear 326 is connected at the first end of the connecting shaft, the second meshing gear 327 is connected at the second end of the connecting shaft, the first transmission shaft 323 is connected with the motor shaft, the first end of the second transmission shaft 324 is nested in the first transmission shaft 323, the second end of the second transmission shaft 324 is simultaneously in driving connection with the first meshing gear 326 and the second meshing gear 327 through the bevel gear transmission mechanism 325, wherein when the motor shaft drives the first transmission shaft 323 to rotate, the second transmission shaft 324 drives the bevel gear transmission mechanism 325 to drive the first meshing gear 326 and the second meshing gear 327 to rotate simultaneously, so as to drive the connecting shaft on the wheel body to rotate, and the wheel body can move along the length direction of the cable 02 or retract. The transmission mechanism adopts a gear transmission mode, so that the transmission process is stable and the reliability is higher.
As shown in fig. 1 to 4, a second guiding hole for guiding and matching a first end of the second transmission shaft 324 is provided in the first transmission shaft 323, a first transmission plane is provided in the second guiding hole, a second transmission plane matched with the first transmission plane is provided on the first end of the second transmission shaft 324, a third blocking member 328 is provided on a side wall of the second transmission shaft 324, a second elastic member 329 is provided between the third blocking member 328 and the first transmission shaft 323, and an avoidance gap is provided between the top of the main leg 321 and the servo motor 31. The first transmission shaft 323 drives the second transmission shaft 324 to rotate, and when the wheel body bumps into an obstacle, the first end of the second transmission shaft 324 moves in the second guide hole, and at the moment, due to the avoidance gap, the top of the main supporting leg 321 can move in the mounting hole, so that interference with the servo motor 31 is avoided. The second elastic member 329 is preferably a second spring.
As shown in fig. 1 to 4, the traveling mechanism further includes a plurality of auxiliary traveling devices 35, the plurality of auxiliary traveling devices 35 being distributed on both front and rear sides of the main traveling device 32, the plurality of auxiliary traveling devices 35 being abutted on the cable 02 and traveling or retreating in the length direction of the cable 02. Since the cable 02 is not a standard circle in the cable passage 01, the arrangement of the plurality of auxiliary runners 35 on the front and rear sides of the main runner 32 can straighten the main runner 32 when the main runner 32 is rocked back and forth, so as to ensure that the posture of the main runner 32 is stable, so that the main runner 32 abuts on the cable 02 and continues to run or retreat along the length direction of the cable 02.
As shown in fig. 1 to 4, each auxiliary walker 35 includes an auxiliary leg 351 swingably provided on the main walker 32 and an auxiliary wheel 353 provided at the bottom of the auxiliary leg 351. Each auxiliary wheel 353 is abutted on the cable 02, in order to avoid deflection in the process of swinging the auxiliary support leg 351 on the main travelling device 32, the auxiliary support leg 351 is provided with an arc-shaped guide column 352, the main travelling device 32 is provided with an arc-shaped guide hole in guide fit with the arc-shaped guide column 352, and a third elastic piece 354 is arranged between the auxiliary support leg 351 and the main travelling device 32. Thus, each arc-shaped guide hole guides the corresponding arc-shaped guide column 352 so that the auxiliary supporting leg 351 can reciprocate along the axis of the arc-shaped guide hole, and when the main travelling device 32 and/or the plurality of auxiliary travelling devices 35 can surmount an obstacle, the auxiliary travelling devices 35 can float under the action of elastic force applied to the auxiliary supporting leg 351 by the third elastic piece 354, so that the balance of the inspection robot is maintained, and the automatic lifting or lowering is realized so as to be attached to the surface of a cable, so that the stable posture of the main travelling device 32 is ensured.
In the present embodiment, the cameras 2 are three, and the three cameras 2 are respectively mounted on the inspection robot body 1 and the auxiliary travelling devices 33 on the left and right sides, and the photographing range substantially covers the surface of the cable 02.
The present application also provides a patrol robot apparatus, as shown in fig. 1 to 6, an embodiment of the patrol robot apparatus includes: inspection robot and basic station. The inspection robot is the inspection robot. The inspection robot can solve the problem that the inspection efficiency is low because the operation and maintenance personnel in the related technology observe and detect the cable in the cable channel, so that the inspection robot equipment comprising the inspection robot can solve the same technical problem. The base station is installed on the exposed cable 03, and the base station includes a patrol base station body 12 and an attribute setting panel 13 provided above the patrol base station body 12. The attribute setting panel 13 includes a liquid crystal screen 131 and operation buttons 132. The side surface of the inspection base station body 12 is provided with a cable well water level monitoring module 15 and a plurality of electric energy output ports 16. The second battery module 19, the second wireless communication module 21, the data processing module 22, and the attribute setting module 23 are provided inside the patrol base station body 12. The second wireless communication module 21, the data processing module 22, and the attribute setting module 23 are all connected to the second battery module 19.
As shown in fig. 1 to 6, the base station further includes an induction power taking module 18 disposed on the exposed cable 03, and an induction coil 181 is disposed in the induction power taking module 18, and the induction coil 181 is connected to a second battery module 19. The inductive power harvesting module 18 is annular in shape. After being mounted on the exposed cable 03, the electric energy obtained by the induction coil 181 is connected to the second battery module 19 after passing through the second rectifying and filtering circuit 182 and the DC-DC power conversion circuit, so that normal operation and stable output in a larger transmission current variation range can be realized, and the second battery module 19 can be charged. The base station further comprises a plurality of second wireless charging modules 20, the plurality of second wireless charging modules 20 are arranged on the plurality of cables 02 in a one-to-one correspondence manner, the electric energy output port 16 is connected to the second wireless charging modules 20 through an electric energy transmission line, each second wireless charging module 20 is internally provided with a transmitting coil 201, and the transmitting coils 201 can be connected with the second wireless charging modules 20 of the inspection robot. In this embodiment, the second wireless charging module 20 is shown as a square area, and after the inspection robot approaches the second wireless charging module 20, the induction coil 181 induces ac electromotive force, and the first battery module 7 is charged after passing through the rectifying circuit. After the inspection robot arrives within the coverage area of the Wi-Fi hotspot where the base station is located, the inspection robot can automatically connect with the hotspot and upload the image data in the data storage module 10 to the data processing module 22, and in addition, the inspection robot can synchronize the set inspection attribute to the attribute setting module 23 in this way.
The cable well water level monitoring module 15 is composed of an infrared ranging sensor and a buzzer, wherein the sensor is arranged on the side surface of the inspection base station body 12, can measure the distance between the sensor and the cable well water surface, and the buzzer alarms after reaching the set water surface height threshold.
The attribute setting module 23 is composed of an attribute setting panel 13 and corresponding chips, and by means of buttons on the base station attribute setting panel 13, the installation and operation personnel can set the following attributes, but not limited to: the inspection robot inspection period, the inspection robot inspection length, the number of inspection robots, the data types collected by each inspection robot, the water level warning height of the cable pit and the like.
The second battery module 19 directly supplies power to the second battery module 19, the second wireless communication module 21, the data processing module 22 and the attribute setting module 23, and connects the second battery module 19 to the power output port 16 through the DC-AC inverter circuit to provide AC power for the wireless charging module. Specifically, under the activation of the ac power supply, the transmitting coil 201 generates an alternating magnetic field near the second wireless charging module 20 to supplement power to the inspection robot.
The operation and maintenance personnel can set parameters such as shooting interval, definition and the like of the camera 2 of the inspection robot through the attribute setting panel 13. The induction coil 181 inside the induction power taking module 18 supplies power to the second battery module 19 after passing through the second rectifying and filtering circuit 182 and the DC-DC voltage converting circuit 183.
As shown in fig. 1 to 6, the data processing module 22 includes an image recognition chip 221, a calculation chip 222 and a storage 223, the second battery module 19 is connected with each electric energy output port 16 through an inverter circuit, the middle part of the inspection base station body 12 is provided with a memory card slot 14, the storage 223 is connected with the memory card slot 14, the cable well water level monitoring module 15, the calculation chip 222, the attribute setting module 23 and the second wireless communication module 21 are all connected with the storage 223, and the image recognition chip 221 is connected with the calculation chip 222.
The data processing module 22 is internally provided with algorithms such as image recognition, temperature and humidity early warning and the like, and can store or further analyze the image data. In addition, the operator can insert the SD card into the memory card slot 14 to introduce a new data processing algorithm for the base station or update and optimize the data processing algorithm.
The attribute setting module 23 is directly connected with the attribute setting panel 13, the set related attributes are stored in the storage 223, the cable well water level monitoring module 15 periodically reads the operation parameters from the storage 223, and in addition, when the inspection robot is connected to the Wi-Fi hotspot where the base station is located, the second wireless communication module 21 accesses the storage 223 to update the related inspection parameters and uploads the inspection original data to the storage 223. The computing chip 222 further obtains the original data from the storage 223, further operates a data processing algorithm to perform analysis processing, and if the original data is the image data, the image data is processed by the image recognition chip 221 and then transmitted back to the computing chip 222 to perform analysis processing, and the analysis result is stored in the storage 223. After the operation and maintenance personnel are connected to the Wi-Fi hot spot by using the mobile terminal, the second wireless communication module 21 can directly acquire the inspection data and the analysis result in the storage 223, so that the operation and maintenance efficiency of the distribution network cable channel 01 is greatly improved.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined, its characterized in that, the robot is patrolled and examined and is set up in cable channel (01), the robot that patrols and examines includes: the robot comprises a robot body (1) and a camera (2), a travelling mechanism, a first wireless charging module (6), a first battery module (7), a GPS module (8), a first wireless communication module (9) and a data storage module (10) which are arranged on the robot body (1), wherein the first wireless charging module (6) is connected with the first battery module (7), the camera (2), the travelling mechanism, the GPS module (8), the first wireless communication module (9) and the data storage module (10) are all connected with the first battery module (7), and the data storage module (10) is in communication connection with the camera (2), the GPS module (8) and the first wireless communication module (9);
The travel mechanism comprises a servo motor (31), a main travel device (32), a plurality of auxiliary travel devices (33) and a motor control module (34), wherein the auxiliary travel devices (33) are distributed on the left side and the right side of the main travel device (32), the motor control module (34) is connected with the servo motor (31) and the camera (2), the motor control module (34) controls the servo motor (31) to rotate and drive the main travel device (32) to travel or retract along the length direction of a cable (02) in a cable channel (01), and the auxiliary travel devices (33) are abutted to the cable (02) and travel or retract along the length direction of the cable (02).
2. The inspection robot according to claim 1, wherein the robot body (1) is provided with a plurality of first guide holes and a plurality of first elastic members (331), a plurality of the auxiliary travelling devices (33) penetrate out of the plurality of first guide holes in a one-to-one correspondence manner, and each first elastic member (331) is arranged between the corresponding auxiliary travelling device (33) and the robot body (1), and a part of the auxiliary travelling devices (33) reciprocate in the first guide holes.
3. The inspection robot according to claim 2, wherein a first end of each first guide hole is provided with a first stopper, each auxiliary travelling device (33) comprises an auxiliary supporting leg (332) and an auxiliary wheel (334) arranged at the bottom of the auxiliary supporting leg (332), the auxiliary wheel (334) is abutted to the cable (02), the top of the auxiliary supporting leg (332) is penetrated into the first guide hole from a second end of the first guide hole, a second stopper (333) is arranged on the side wall of each auxiliary supporting leg (332), and the first elastic piece (331) is arranged between the second stopper (333) and the robot body (1).
4. A patrol robot according to any one of claims 1 to 3, wherein the robot body (1) is further provided with a mounting hole, a motor shaft of the servo motor (31) extends into the mounting hole from a first end of the mounting hole, the main travelling device (32) comprises a main supporting leg (321) and a main wheel (322) arranged at the bottom of the main supporting leg (321), the main wheel (322) is abutted to the cable (02), the top of the main supporting leg (321) extends into the mounting hole from a second end of the mounting hole, and the motor shaft drives the main wheel (322) to rotate through a transmission mechanism.
5. The inspection robot of claim 4, wherein,
The transmission mechanism is arranged on the main supporting leg (321), the transmission mechanism comprises a first transmission shaft (323), a second transmission shaft (324), a bevel gear transmission mechanism (325), a first meshing gear (326) and a second meshing gear (327), and the main wheel (322) comprises a wheel body which is abutted on the cable (02) and a connecting shaft which is penetrated on the wheel body;
The first meshing gear (326) is connected with the first end of the connecting shaft, the second meshing gear (327) is connected with the second end of the connecting shaft, the first transmission shaft (323) is connected with the motor shaft, the first end of the second transmission shaft (324) is nested in the first transmission shaft (323), the second end of the second transmission shaft (324) is simultaneously connected with the first meshing gear (326) and the second meshing gear (327) in a driving way through the bevel gear transmission mechanism (325), wherein,
When the motor shaft drives the first transmission shaft (323) to rotate, the second transmission shaft (324) drives the bevel gear transmission mechanism (325) to transmit, so as to drive the first meshing gear (326) and the second meshing gear (327) to rotate at the same time, so as to drive the connecting shaft on the wheel body to rotate.
6. The inspection robot according to claim 5, wherein a second guiding hole for guiding and matching a first end of the second transmission shaft (324) is arranged in the first transmission shaft (323), a first transmission plane is arranged in the second guiding hole, a second transmission plane matched with the first transmission plane in a transmission manner is arranged on the first end of the second transmission shaft (324), a third blocking piece (328) is arranged on the side wall of the second transmission shaft (324), a second elastic piece (329) is arranged between the third blocking piece (328) and the first transmission shaft (323), and an avoidance gap is formed between the top of the main leg (321) and the servo motor (31).
7. A patrol robot according to any one of claims 1 to 3, wherein the travelling mechanism further comprises a plurality of auxiliary travelling devices (35), a plurality of the auxiliary travelling devices (35) being distributed on both front and rear sides of the main travelling device (32), a plurality of the auxiliary travelling devices (35) being abutted against the cable (02) and travelling or retreating in the length direction of the cable (02).
8. The inspection robot according to claim 7, wherein each auxiliary travelling device (35) comprises an auxiliary supporting leg (351) capable of being arranged on the main travelling device (32) in a swinging mode and an auxiliary wheel (353) arranged at the bottom of the auxiliary supporting leg (351), each auxiliary wheel (353) is abutted to the cable (02), an arc-shaped guide column (352) is arranged on the auxiliary supporting leg (351), an arc-shaped guide hole matched with the arc-shaped guide column (352) in a guiding mode is arranged on the main travelling device (32), and a third elastic piece (354) is arranged between the auxiliary supporting leg (351) and the main travelling device (32).
9. Inspection robot equipment, characterized by comprising:
A patrol robot, which is the patrol robot according to any one of claims 1 to 8;
the base station is arranged on the exposed cable (03) and comprises a patrol base station body (12) and an attribute setting panel (13) arranged above the patrol base station body (12), wherein the attribute setting panel (13) comprises a liquid crystal screen (131) and an operation button (132), and a cable well water level monitoring module (15) and a plurality of electric energy output ports (16) are arranged on the side surface of the patrol base station body (12);
The inside of inspection base station body (12) is provided with second battery module (19), second wireless communication module (21), data processing module (22) and attribute setting module (23), second wireless communication module (21) data processing module (22) and attribute setting module (23) all with second battery module (19) are connected, the base station is still including setting up response on exposed cable (03) gets electric module (18), response gets electric module (18) built-in induction coil (181), induction coil (181) with second battery module (19) are connected, the base station still includes a plurality of second wireless charging module (20), a plurality of second wireless charging module (20) one-to-one set up on a plurality of cable (02), electric energy output port (16) are connected to second wireless charging module (20) through the electric energy transmission line, every second wireless charging module (20) is built-in has transmitting coil (201), transmitting coil (201) can with second wireless charging module (20) are connected.
10. The inspection robot apparatus according to claim 9, wherein the data processing module (22) includes an image recognition chip (221), a calculation chip (222), and a storage (223), the second battery module (19) is connected with each of the electric power output ports (16) through an inverter circuit, a memory card slot (14) is provided in a middle portion of the inspection base station body (12), the storage (223) is connected with the memory card slot (14), and the cable well water level monitoring module (15), the calculation chip (222), the attribute setting module (23), and the second wireless communication module (21) are all connected with the storage (223), and the image recognition chip (221) is connected with the calculation chip (222).
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| CN101800403A (en) * | 2010-04-06 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Inspection robot for ultra-high voltage power transmission lines |
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| CN109079740A (en) * | 2018-09-04 | 2018-12-25 | 南京理工大学 | A kind of Intelligent Mobile Robot |
| CN110757476A (en) * | 2019-10-22 | 2020-02-07 | 北京深醒科技有限公司 | Workshop safety protection patrol robot system and patrol method thereof |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101800403A (en) * | 2010-04-06 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Inspection robot for ultra-high voltage power transmission lines |
| CN104875179A (en) * | 2015-05-29 | 2015-09-02 | 南京理工大学 | Power system segmented automatic inspection robot |
| CN109079740A (en) * | 2018-09-04 | 2018-12-25 | 南京理工大学 | A kind of Intelligent Mobile Robot |
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