CN206287152U - A kind of Intelligent Mobile Robot - Google Patents
A kind of Intelligent Mobile Robot Download PDFInfo
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- CN206287152U CN206287152U CN201621458821.0U CN201621458821U CN206287152U CN 206287152 U CN206287152 U CN 206287152U CN 201621458821 U CN201621458821 U CN 201621458821U CN 206287152 U CN206287152 U CN 206287152U
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- 238000001931 thermography Methods 0.000 claims abstract description 26
- 239000005336 safety glass Substances 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 238000010438 heat treatment Methods 0.000 claims description 41
- 230000002209 hydrophobic effect Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 5
- 229920002379 silicone rubber Polymers 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 claims 1
- 239000010959 steel Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 description 9
- 238000003384 imaging method Methods 0.000 description 8
- 230000007257 malfunction Effects 0.000 description 6
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- 230000007613 environmental effect Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000005496 tempering Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000002834 transmittance Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000011895 specific detection Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of Intelligent Mobile Robot, belong to electrical equipment technical field, Intelligent Mobile Robot of the present utility model, including body, the body is provided with power supply unit, controller, walking mechanism and the first motor for driving the walking mechanism motion, the video camera and infrared thermography being connected with the controller are also equipped with the body, said supply unit includes solar panel, the solar panel includes safety glass and generating main body, is bonded by EVA between the safety glass and generating main body.
Description
【Technical field】
The utility model belongs to electrical equipment technical field, more particularly to a kind of Intelligent Mobile Robot.
【Background technology】
Intelligent Mobile Robot of the prior art patrol and examine job family it is full automatic nobody patrol and examine, and crusing robot
By the way of portable, battery powered, crusing robot work a period of time after necessarily occur electric power deficiency need into
The demand of row electric power supplement, is that this establishes special accumulator plant and charging pile in the prior art, when crusing robot electricity is
Returned when will use up in accumulator plant and row charging is connected with charging pile.Consequently, it is possible to just need additionally for crusing robot is set up
Accumulator plant and setting charging pile, cause operation cost to greatly improve.
【Utility model content】
Technical problem to be solved in the utility model is to overcome the deficiencies in the prior art and provide a kind of transformer station and patrol
Inspection robot, real-time automatic charging is realized using solar panel, and environmental protection greatly reduces energy waste, reduces operation
Cost.
In order to solve the above technical problems, the utility model is adopted the following technical scheme that：
A kind of Intelligent Mobile Robot, including body, the body are provided with power supply unit, controller, walking mechanism
The first motor with for driving the walking mechanism to move, is also equipped with the shooting being connected with the controller on the body
Machine and infrared thermography, said supply unit include solar panel, the solar panel include safety glass and
Generating main body, is bonded between the safety glass and generating main body by EVA.
In above-mentioned Intelligent Mobile Robot, it is additionally provided with what is be connected with the controller on the solar panel
Light-emitting component and photo-sensitive cell, the light-emitting component are located at the lower surface of the safety glass, and the photo-sensitive cell is located at tempering
The top of the upper surface of glass, the photo-sensitive cell and light-emitting component are correspondingly arranged, and the controller is also associated with warning device.
In above-mentioned Intelligent Mobile Robot, also include for installing the video camera and described red on the body
The mounting seat of outer thermal imaging system, the mounting seat is provided with the second motor and wiper, and the wiper is rotatably installed in installation
On seat and it is attached on the camera lens surface of the video camera and the infrared thermography, second motor drives the windscreen wiper
Device rotates dirty on camera lens to remove.
In above-mentioned Intelligent Mobile Robot, the outer surface of the camera lens of the video camera is coated with hydrophobic film, described red
The camera lens outer surface of outer thermal imaging system is coated with hydrophobic film.
In above-mentioned Intelligent Mobile Robot, the infrared thermography also includes the first housing and the first camera lens,
First camera lens is arranged on the first housing, and the heating module being connected with the controller is additionally provided with the first shell body,
The heating module is arranged on first housing on the madial wall of first camera lens.
In above-mentioned Intelligent Mobile Robot, the first fan, the heating module are additionally provided with the first shell body
It is arranged at the air outlet of first fan.
In above-mentioned Intelligent Mobile Robot, the video camera also includes the second housing and the second camera lens, described the
Two camera lenses are installed on the second housing, and the heating module being connected with the controller is additionally provided with the second shell body, described to add
Thermal modules are arranged on second housing on the madial wall of second camera lens.
In above-mentioned Intelligent Mobile Robot, the second fan, the heating module are additionally provided with the second shell body
It is arranged at the air outlet of second fan.
In above-mentioned Intelligent Mobile Robot, the heating module is adding thermal resistance or silicon rubber heating film.
The beneficial effects of the utility model：
Intelligent Mobile Robot in the utility model, including body, body are provided with power supply unit, controller, OK
Mechanism and the first motor for driving walking mechanism to move are walked, the video camera that is connected with controller and red is also equipped with body
Outer thermal imaging system, power supply unit includes solar panel, and solar panel includes safety glass and generating main body, tempering glass
Bonded by EVA between glass and generating main body.Compared with prior art, solar panel of the present utility model converts luminous energy
For electrical power storage and to the electronic component continued power on crusing robot, thus solve crusing robot and supplied using battery
Electricity is used up when electric needs to return to the technical problem that charging pile charges, and environmental protection greatly reduces energy waste, reduction and runs into
This.
The light-emitting component and photo-sensitive cell being connected with controller are additionally provided with solar panel, light-emitting component is located at tempering
The lower surface of glass, photo-sensitive cell is located at the top of the upper surface of safety glass, and photo-sensitive cell and light-emitting component are correspondingly arranged, control
Device processed is also associated with warning device.It is so designed that, when the cleannes of safety glass are less than to a certain degree, photosensitive elements sense is arrived
Light-emitting component light intensity less than controller default light intensity when, controller control warning device alarm points out to use
Family carries out cleaning dedusting to safety glass, to ensure the light transmittance of safety glass, generating main body is generated electricity.
Also include the mounting seat for installing video camera and infrared thermography on body, mounting seat is provided with the second motor
And wiper, wiper is rotatably installed in mounting seat and is attached at video camera and the camera lens surface of the infrared thermography
On, it is dirty on camera lens to remove that the second motor drives wiper to rotate.It is so designed that, in sleety weather, wiper can
In time scrape off on camera lens adhere to dust, raindrop or and moisture film, so as to improve video camera and infrared thermography imaging imitate
Fruit and picture quality.
The outer surface of the camera lens of video camera is coated with hydrophobic film, and the camera lens outer surface of infrared thermography is coated with hydrophobic film.Such as
This design, in sleety weather, hydrophobic film can make low superincumbent water droplet form the globule and slip down rapidly, it is to avoid water
Drop to be sticked to and influence image quality on camera lens surface.
Infrared thermography also includes the first housing and the first camera lens, and the first camera lens is arranged on the first housing, first shell
The heating module being connected with controller is additionally provided with vivo, and heating module is arranged on madial wall of first housing near the first camera lens
On.It is so designed that, when ambient temperature is relatively low, damp and hot air runs into cold camera lens and can be risen in inner surface in the first camera lens
Mist, so that imaging effect is influenceed, now controller control heating module heating, so that the fog of inner surface disperses, so as to ensure
Imaging effect.
The first fan is additionally provided with first shell body, heating module is arranged at the air outlet of the first fan.It is so designed that, plus
Hot blast after heat can flow to the inner surface of camera lens in the presence of fan, such that it is able to play the effect of Quick demisting.
Heating module is adding thermal resistance or silicon rubber heating film.It is so designed that, manufacturing cost can be substantially reduced.
These features of the present utility model and advantage will be detailed in following specific embodiment, accompanying drawing exposure.
【Brief description of the drawings】
The utility model is described further below in conjunction with the accompanying drawings：
Fig. 1 is the structural representation of Intelligent Mobile Robot in the utility model embodiment one；
Fig. 2 is the structural representation of solar panel in the utility model embodiment one；
Fig. 3 is the control structure schematic diagram of Intelligent Mobile Robot in the utility model embodiment one；
Fig. 4 is the structural representation of infrared thermography in the utility model embodiment two；
Fig. 5 is the structural representation of video camera in the utility model embodiment two.
【Specific embodiment】
The technical scheme of the utility model embodiment is explained with reference to the accompanying drawing of the utility model embodiment and
Illustrate, but following embodiments are only preferred embodiment of the present utility model, and it is not all.Based on the embodiment in implementation method,
Those skilled in the art obtain other embodiment on the premise of creative work is not made, and belong to of the present utility model
Protection domain.
In the following description, occur term " top ", " bottom ", " interior ", " outward ", " on ", the instruction such as D score
Orientation or position relationship are description the utility model merely for convenience and letter based on orientation shown in the drawings or position relationship
Change description, rather than indicate imply signified device or element must have specific orientation, with specific azimuth configuration and
Operation, therefore it is not intended that to limitation of the present utility model.Additionally, term " first ", " second " etc. are only used for describing purpose,
And it is not intended that indicating or implying relative importance or the implicit quantity for indicating indicated technical characteristic.
Embodiment one,
Referring to figs. 1 to shown in Fig. 3, the Intelligent Mobile Robot that the present embodiment is proposed, including body 1, body 1 is provided with
Power supply unit, controller, walking mechanism 2 and the first motor for driving walking mechanism to move, controller control the first motor
Walking mechanism 2 is driven to walk or stop.The video camera 3 and infrared thermography 4 being connected with controller are installed on body 1, this
Also include the mounting seat 6 for installing video camera 3 and infrared thermography 4 on body 1, power supply unit includes being controller, first
The solar panel 5 that the electronic components such as motor are powered, solar panel 5 is arranged on the top surface of mounting seat 6, solar cell
Plate 5 includes safety glass 51 and generating main body 52, is bonded by EVA between safety glass 51 and generating main body 52.
Compared with prior art, solar panel of the present utility model 5 converts light energy into electrical power storage and to patrolling and examining
Electronic component continued power in robot, electricity is used up needs and is returned when thus solving crusing robot using storage battery power supply
The technical problem that charging pile charges is returned, environmental protection greatly reduces energy waste, cuts operating costs.
The light-emitting component 53 and photo-sensitive cell 54 being connected with controller, light-emitting component 53 are additionally provided with solar panel 5
The lower surface of safety glass 51 is located at, photo-sensitive cell 54 is located at the top of the upper surface of safety glass 51, photo-sensitive cell 54 and hair
Optical element 53 is correspondingly arranged, and controller is also associated with warning device 7, and warning device 7 is warning lamp or alarm bell, when safety glass 51
The cleannes of upper surface are less than when to a certain degree, and the light intensity of the light-emitting component 53 that photo-sensitive cell 54 is sensed is less than controller
Default light intensity, now, controller control warning device 7 is alarmed, to point out user to be carried out clearly to safety glass 51 in time
Remove dirt, it is ensured that the light transmittance of safety glass 51, generating main body 52 is generated electricity.
The second motor 61 and wiper 62 are provided with mounting seat 6, the second motor 61 is the servo with rotary encoder
Motor, mounting seat 6 is provided with through hole, and the output shaft of the second motor 61 is connected with wiper 62 after passing through through hole by keyway arrangements
To realize synchronous axial system, the medial surface of wiper 62 is sticked on the camera lens surface of video camera 3 and infrared thermography 4.Sleet
During weather, controller control the second motor 61 drive the reciprocating rotation of wiper 62 with remove on camera lens adhere to dust, raindrop or
And moisture film, so as to improve the imaging effect and picture quality of video camera 3 and infrared thermography 4.
Embodiment two,
As shown in Fig. 4 to 5, the camera lens outer surface of the video camera 3 in the present embodiment is coated with hydrophobic film 7, infrared thermography 4
Camera lens outer surface be coated with hydrophobic film 7, in sleety weather, hydrophobic film can make low superincumbent water droplet form the globule and fast
Speed is slipped down, it is to avoid water droplet is sticked to influences image quality on camera lens surface, is so designed, and structure is simpler.
Additionally, the infrared thermography 3 in the present embodiment also includes the first housing 31 and the first camera lens 30, the first camera lens 30
On the first housing 31, the heating module 8 being connected with controller is additionally provided with the first housing 31, heating module 8 is heating
Resistance or silicon rubber heating film, heating module 8 are arranged on the first housing 31 on the madial wall of the first camera lens 30.In extraneous ring
When border temperature is relatively low, damp and hot air runs into cold camera lens and can be hazed in inner surface in the first camera lens 30, so as to influence imaging to imitate
Really, now testing staff controls heating module 8 to heat by controller, so that the fog of inner surface disperses, so as to ensure imaging
Effect.
Further, the first fan 32 is additionally provided with the first housing 31, heating module 8 is arranged on the air-out of the first fan 32
At mouthful.It is so designed that, the hot blast after heating can flow to the inner surface of camera lens in the presence of the first fan 32, such that it is able to rise
To the effect of Quick demisting.
In addition, being also equipped with the Temperature Humidity Sensor of temperature and humidity in the first housing of real-time monitoring 31 in the first housing 31
33, controller periodically obtains the temperature T0 and humidity R0 that Temperature Humidity Sensor 33 is sensed, is calculated according to temperature T0 and humidity R0
Dew-point temperature T1；The surface temperature T2 of the first lens element is calculated according to temperature T0, the utility model is using a kind of relatively simple
Method come according to T0 calculate T2:Carry out the temperature difference Δ T that Thermal test is determined between T0 and T2 in advance.As the knot of Thermal test
Really, it is reliable that Δ T is used for calculating T2, i.e. T2=T0- Δs T, wherein Δ T are default fixed temperature approach, controller
Dew-point temperature T1 and camera lens surface temperature are judged；As T2 ＞ T1, controller closes the fan of heating module 8 and first
32, as T2 ＜ T1, controller opens the fan 32 of heating module 8 and first and carries out defogging.Subsequent time, the temperature that controller is obtained
The temperature and humidity of the sensing of humidity sensor 33 is respectively T0 ' and R0 ', and the dew-point temperature for recalculating is T1 ', is recalculated
The surface temperature of the first lens element is T2 '.If now T2 '>T1 ', controller closes the wind of heating module 8 and first opened
Fan 32.Consequently, it is possible to automatic defogging can be realized, without artificial control defogging.
In addition, crusing robot of the present utility model is also connected with long distance control system, infrared thermal imaging by wireless network
Instrument will obtain image transmitting to long distance control system, and long distance control system includes image processing module, and image processing module is to figure
Picture is split, color notation conversion space, and image is split using super-pixel segmentation algorithm, by infrared Image Segmentation Cheng Ruo
Dry small region, a pixel is regarded as by each region.The value of the average RGB in each region is calculated, and every in region
Individual pixel is substituted with the average RGB value in the region, and the color space of image is then converted to HSV (H from RGB：Tone, S：
Saturation degree, V：Brightness), saturation infromation finds suspected malfunctions region in extracting hsv color space.
Subsequently, as being influenceed by environmental factor, the fault zone found out by the above method there may be multiple,
Therefore need further to calculate each suspected malfunctions region, method is as follows：
1st, the area a in each suspected malfunctions region is calculated；
2nd, each suspected malfunctions region and the pixel ratio S of its Least Chimb shape are calculated；
3rd, each suspected malfunctions region barycenter is calculated to picture centre apart from D；
4th, the value of each suspected malfunctions region a*S/D is calculated, the region of the maximum for obtaining is defined as physical fault region
Due to maximum only one of which, therefore the usual only one of which point in fault zone, that is, the point of most serious of generating heat.But reality
Situation is that the region around heat generating spot is also likely to be the region influenceed by trouble point.Therefore by calculating the average gray in each region
Value h, the average gray h with fault zonefIf, h>0.8hfThen it is considered as by fault impact region.
Image processing module of the present utility model can be automatically extracted to the infrared picture that collects, recognize, analyze, can
Spent with before lightening one's labor, reduce the dependence to technical staff；It is more beneficial for realizing image digitazation, is easy to horizontal and vertical statistics
Analysis, has the advantages that quick, accurate, general and economical.
Additionally, video camera of the present utility model 4 also includes the second housing 41 and the second camera lens 40, the second camera lens 40 is arranged on
On second housing 41, the heating module 8 being connected with controller is additionally provided with the second housing 41, heating module 8 is arranged on second shell
Body 41 is on the madial wall of the second camera lens 40.When ambient temperature is relatively low, damp and hot air runs into the second camera lens 40
Cold camera lens can be hazed in inner surface, so as to influence imaging effect, now controller control heating module 8 is heated, so that interior table
The fog in face disperses, so as to ensure imaging effect.
Further, the second fan 42 is additionally provided with the second housing 41, heating module 8 is arranged on the air-out of the second fan 42
At mouthful.It is so designed that, the hot blast after heating can flow to the inner surface of camera lens in the presence of the second fan 42, such that it is able to rise
To the effect of Quick demisting.The humiture of temperature and humidity in the second housing of real-time monitoring 41 is also equipped with the second housing 41
Sensor 43, controller periodically obtains the temperature T0 and humidity R0 that Temperature Humidity Sensor 43 is sensed, according to temperature T0 and humidity
R0 calculates dew-point temperature T1；The surface temperature T2 of the second lens element, wherein T2=T0- Δs T, wherein Δ are calculated according to temperature T0
T is default fixed temperature approach；As T2 ＜ T1, controller opens the fan 42 of heating module 8 and second, as T2 ＞ T1, control
Device processed closes the fan 42 of heating module 8 and second, the detection method in its specific detection method reference infrared thermography 3,
This is no longer described in detail.
The above, specific embodiment only of the present utility model, but protection domain of the present utility model do not limit to
In this, it is familiar with the those skilled in the art and should be understood that the utility model including but not limited to accompanying drawing and above specific embodiment party
Content described in formula.Any modification without departing from function and structure principle of the present utility model is intended to be included in claims
Scope in.
Claims (9)
1. a kind of Intelligent Mobile Robot, including body, the body be provided with power supply unit, controller, walking mechanism and
The first motor for driving the walking mechanism motion, is also equipped with the video camera being connected with the controller on the body
And infrared thermography, it is characterised in that said supply unit includes solar panel, and the solar panel includes steel
Change glass and generating main body, bonded by EVA between the safety glass and generating main body.
2. Intelligent Mobile Robot according to claim 1, it is characterised in that be additionally provided with the solar panel
The light-emitting component and photo-sensitive cell being connected with the controller, the light-emitting component are located at the lower surface of the safety glass, institute
The top that photo-sensitive cell is located at the upper surface of safety glass is stated, the photo-sensitive cell and light-emitting component are correspondingly arranged, the control
Device is also associated with warning device.
3. Intelligent Mobile Robot according to claim 1, it is characterised in that also include for installing on the body
The mounting seat of the video camera and the infrared thermography, the mounting seat is provided with the second motor and wiper, the rain
Curette be rotatably installed in mounting seat and be attached at the video camera and the camera lens surface of the infrared thermography on, described
It is dirty on camera lens to remove that two motors drive the wiper to rotate.
4. Intelligent Mobile Robot according to claim 1, it is characterised in that the outer surface of the camera lens of the video camera
Hydrophobic film is coated with, the camera lens outer surface of the infrared thermography is coated with hydrophobic film.
5. Intelligent Mobile Robot according to claim 1, it is characterised in that the infrared thermography also includes the
One housing and the first camera lens, first camera lens are arranged on the first housing, are additionally provided with the first shell body and the control
The heating module of device connection, the heating module is arranged on first housing on the madial wall of first camera lens.
6. Intelligent Mobile Robot according to claim 5, it is characterised in that be additionally provided with first in the first shell body
Fan, the heating module is arranged at the air outlet of first fan.
7. Intelligent Mobile Robot according to claim 1, it is characterised in that the video camera also includes the second housing
With the second camera lens, second camera lens installs on the second housing, is additionally provided with the second shell body and is connected with the controller
Heating module, the heating module be arranged on second housing near second camera lens madial wall on.
8. Intelligent Mobile Robot according to claim 7, it is characterised in that be additionally provided with second in the second shell body
Fan, the heating module is arranged at the air outlet of second fan.
9. the Intelligent Mobile Robot according to claim 5 or 7, it is characterised in that the heating module is heating electricity
Resistance or silicon rubber heating film.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621458821.0U CN206287152U (en) | 2016-12-28 | 2016-12-28 | A kind of Intelligent Mobile Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621458821.0U CN206287152U (en) | 2016-12-28 | 2016-12-28 | A kind of Intelligent Mobile Robot |
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| Publication Number | Publication Date |
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| CN206287152U true CN206287152U (en) | 2017-06-30 |
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ID=59155351
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| CN201621458821.0U Active CN206287152U (en) | 2016-12-28 | 2016-12-28 | A kind of Intelligent Mobile Robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514672A (en) * | 2016-12-28 | 2017-03-22 | 国网浙江省电力公司湖州供电公司 | Transformer substation inspection robot |
| CN108594820A (en) * | 2018-05-04 | 2018-09-28 | 中国矿业大学 | A kind of crawler type Intelligent Mobile Robot active obstacle system and its control method |
| CN109103798A (en) * | 2018-08-26 | 2018-12-28 | 国网新疆电力有限公司和田供电公司 | A kind of substation's cruising inspection system |
| CN109164664A (en) * | 2018-07-27 | 2019-01-08 | 南京灵雀智能制造有限公司 | A kind of video camera with major-minor camera |
| CN113910265A (en) * | 2021-12-13 | 2022-01-11 | 山东中瑞电气有限公司 | Intelligent inspection method and system for inspection robot |
-
2016
- 2016-12-28 CN CN201621458821.0U patent/CN206287152U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514672A (en) * | 2016-12-28 | 2017-03-22 | 国网浙江省电力公司湖州供电公司 | Transformer substation inspection robot |
| CN108594820A (en) * | 2018-05-04 | 2018-09-28 | 中国矿业大学 | A kind of crawler type Intelligent Mobile Robot active obstacle system and its control method |
| CN109164664A (en) * | 2018-07-27 | 2019-01-08 | 南京灵雀智能制造有限公司 | A kind of video camera with major-minor camera |
| CN109103798A (en) * | 2018-08-26 | 2018-12-28 | 国网新疆电力有限公司和田供电公司 | A kind of substation's cruising inspection system |
| CN113910265A (en) * | 2021-12-13 | 2022-01-11 | 山东中瑞电气有限公司 | Intelligent inspection method and system for inspection robot |
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