CN209158411U - A kind of Intelligent Mobile Robot - Google Patents
A kind of Intelligent Mobile Robot Download PDFInfo
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- CN209158411U CN209158411U CN201821883069.3U CN201821883069U CN209158411U CN 209158411 U CN209158411 U CN 209158411U CN 201821883069 U CN201821883069 U CN 201821883069U CN 209158411 U CN209158411 U CN 209158411U
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- robot
- inspection car
- climbing
- intelligent mobile
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Abstract
It include inspection car, climbing level robot and docking structure the utility model discloses a kind of Intelligent Mobile Robot；Wherein climbing level robot is mounted on inspection car by docking structure；Inspection car is examined successively substation equipment with realizing by moving along ground, obtains monitoring data；When local inspection car can not compare the high substation equipment in its position and be monitored, ground inspection car is travelled at the corresponding roofbolt of the substation equipment and discharging climbing level robot, climbing level robot arrives at the height being suitble to roofbolt by climbing sports, to check substation equipment, monitoring data are obtained.Robot is simple in sturcture, ingenious in design, carries out inspection monitoring to the substation equipment of different height position by can be thus achieved with this crusing robot.
Description
Technical field
The utility model relates to robots, and in particular to a kind of Intelligent Mobile Robot.
Background technique
As China's economy develops rapidly, Living consumption is continuously improved, and the load of electric system is growing day by day.How
The electricity consumption reliability for ensureing resident, becomes electric system urgent problem.Ensure that substation equipment normal operation is to guarantee
Important link among electricity consumption reliability.In order to adapt to the electric system developed increasingly, the voltage class of substation and capacity with
Raising, the safe and stable operation of substation shoulders heavy responsibilities.
Substation, the country generallys use ground mobile robot inspection at present, but robot on ground along fixed path
Operation, there are monitoring dead zones.And because of distance, the influence at visual angle, the negative complicated environmental conditions factor such as mist and night, often not
Clear, accurate detection substation equipment the state of energy simultaneously identifies its defects and hidden dangers, transformer equipment especially high to position
Or part of appliance detection effect is undesirable, for example is located at attachment, line insulator, the lightning rod etc. of transformer top.It is navigating
In mode, domestic substation generallys use electromagnetic path and laser navigation method.Electromagnetic path navigation needs to spread in substation
If track, project amount is huge, and is easily damaged, and maintenance cost is expensive.The principle of laser navigation mode is to utilize laser scanner,
A three-dimensional map is generated as reference, the three-dimensional map of robot comparison real time scan navigates.But laser navigation
Dependent Algorithm in Precision is spent, and still immature, causes laser navigation precision now inadequate, if adding adverse circumstances, such as snowed,
May result in real time scan navigational environment and map match not on, robot can not navigate.
Summary of the invention
The purpose of the utility model is to overcome above-mentioned the deficiencies in the prior art, provide a kind of Intelligent Mobile Robot,
To realize that the substation equipment to different height position carries out inspection.
To achieve the above object, the technical solution of the utility model is:
A kind of Intelligent Mobile Robot includes inspection car, climbing level robot and docking structure；Wherein,
The climbing level robot is mounted on inspection car by docking structure；
The inspection car is examined successively substation equipment with realizing by moving along ground, obtains monitoring data；
When local inspection car can not compare the high substation equipment in its position and be monitored, ground inspection car is travelled to the power transformation
At the corresponding roofbolt of station equipment and climbing level robot is discharged, climbing level robot arrives at the height being suitble to roofbolt by climbing sports
Degree obtains monitoring data to check substation equipment.
It is respectively mounted visible light camera before and after the car body of the inspection car, to lead for identifying when advancing, retreating
Course line.
First holder is installed on the inspection car, thermal imaging system and visual light imaging are installed inside the first holder
Instrument.
The climbing level robot includes two guide rods, is mounted on the second holder on the top of two guide rods；Two
The upper clamping mechanism and lower clamp system being arranged between root guide rod；Peace is connected between upper clamping mechanism and lower clamp system
Upper clamping mechanism and lower clamping machine are realized equipped with telescopic putter to adjust the distance between upper clamping mechanism and lower clamp system
Climbing of the structure on roofbolt.
The upper clamping mechanism is identical with lower clamp system structure, includes cam, motor, spring, guide sleeve and folder
Pawl；There are two the guide sleeve, clamping jaw and spring are respectively provided with, guide sleeve is accordingly set in two guide rods, clamping jaw pair
It is mounted on answering in two guide sleeves；Clamping jaw corresponding with its is connected respectively for one end of two springs, the other end and cam phase
Connection, cam are driven by a motor rotation, are closed with driving clamping jaw to open or closing.
The docking structure includes screw rod, loading plate, manipulator and bracket；The screw rod is provided with two, for pacifying
On inspection car, loading plate is mounted on two screw rods, is moved back and forth on screw rod with realizing；Bracket is provided with two, hangs down
Directly it is mounted on loading plate；Manipulator is respectively correspondingly mounted in two brackets, and manipulator is for catching climbing level robot
Guide rod, when climbing level robot needs operation, manipulator then unclamps guide rod.
The inspection car uses the navigation locating method based on road guide line and the identification of witness marker vision-based detection, in advance
Setting navigation marking line and witness marker, crusing robot is by visible light camera automatic identification polling path and stops position
It sets.
It is also equipped with sonic sensor on the inspection car, to be used for avoidance.
The utility model compared with prior art, the beneficial effect is that:
For common inspection situation, inspection car along ground by moving, it can realize to substation equipment according to
Secondary inspection obtains the data of monitoring.When needing to monitor the higher transformer equipment in position, inspection car cannot achieve monitoring, inspection
Garage sails at specified roofbolt and discharges climbing level robot, and climbing level robot can finally arrive at specified roofbolt top by climbing sports
Portion is simultaneously monitored, and climbing level robot lower beam and is automatically retracted to inspection car after monitoring, in this way, by using this survey monitor
Device people, which can be thus achieved, carries out inspection monitoring to the substation equipment of different height position.
Detailed description of the invention
Fig. 1 is the overall structure diagram of Intelligent Mobile Robot provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram of inspection car；
Fig. 3 is the structural schematic diagram of climbing level robot；
Fig. 4 is the structural schematic diagram of docking structure；
In figure: 1, inspection car；2, climbing level robot；3, docking structure；11, the first holder；21, guide rod；22, the second cloud
Platform；23, telescopic putter；24, cam；25, motor；26, spring；27, guide sleeve；31, screw rod；32, loading plate；33, manipulator；
34, bracket.
Specific embodiment
The content of the utility model is described in further details with reference to the accompanying drawings and detailed description.
Embodiment:
As shown in fig.1, Intelligent Mobile Robot provided in this embodiment include inspection car 1, climbing level robot 2 and
Docking structure 3, wherein the climbing level robot 2 is mounted on inspection car 1 by docking structure 3.
For common inspection situation, inspection car 1 along ground by moving, it can realize to substation equipment according to
Secondary inspection obtains the data of monitoring.When needing to monitor the higher transformer equipment in position, inspection car 1 cannot achieve monitoring, inspection
Garage sails at specified roofbolt and discharges climbing level robot 2, and climbing level robot 2 can finally arrive at specified roofbolt by climbing sports
Top is simultaneously monitored, and climbing level robot lower beam and is automatically retracted to inspection car 1 after monitoring, in this way, by with originally patrolling
Inspection robot, which can be thus achieved, carries out inspection monitoring to the substation equipment of different height position.
Specifically, as shown in Fig. 2, being respectively mounted visible light camera before and after the car body of above-mentioned inspection car 1, to be used for
Navigation by recognition line when advancing, retreating.This inspection car has abandoned track, laser navigation method in navigation mode, using based on road
The navigation locating method of pass conducting wire and the identification of witness marker vision-based detection, presets navigation marking line and witness marker, patrols
Robot is examined by visible light camera automatic identification polling path and stop position, this method reduce costs, improve and lead
Boat precision.And in the avoidance mode of inspection car, by being equipped with ultrasonic sensor on inspection car, to realize that ultrasonic wave is kept away
Barrier, by the way of avoiding obstacles by supersonic wave, monitoring angle is big, and distance is highly suitable for ground inspection car.
First holder 11 is installed on inspection car, which is cradle head of two degrees of freedom, inside the first holder
Thermal imaging system and visual light imaging instrument are installed, thermal imaging system is mainly used for the temperature of monitoring substation equipment, it is seen that light imaging
Instrument is then used to grabgraf and meter reading, is monitored with realizing to substation equipment, since thermal imaging system and visual light imaging instrument are
According in holder, can protect imager not by direct sunlight and drench with rain, their shooting angle can also be adjusted.
Specifically, as shown in figure 3, above-mentioned climbing level robot 2 includes two guide rods 21, on the top of two guide rods 21
End is mounted on the second holder 22, wherein one second holder 22 is made of high definition visible light camera, another second holder 22 is main
It to be made of thermal camera；The upper clamping mechanism and lower clamp system being arranged between two guide rods 21；In upper clamping
It is connected and installed with telescopic putter 23 between mechanism and lower clamp system, passes through the telescopic moving of telescopic putter 23, it can adjustment
The distance between upper clamping mechanism and lower clamp system realize the climbing of upper clamping mechanism and lower clamp system on roofbolt.?
In the present embodiment, which is electric pushrod.
And the upper clamping mechanism is identical with lower clamp system structure, includes cam 24, motor 25, spring 26, guide sleeve
27 and clamping jaw；Wherein, there are two guide sleeve 27, clamping jaw and spring 26 are respectively provided with, guide sleeve 27 is accordingly set in two
In guide rod 21, clamping jaw is accordingly mounted in two guide sleeves 27；One end of two springs 26 clamping jaw corresponding with its respectively
It is connected, the other end is connected with cam 24, and cam 24 is driven by motor 25 to be rotated, and cam 24 is located at different rotation angles
When, under the elastic acting force of spring 26, the clamping jaw of response opens or holds tightly roofbolt.Climbing level robot 2 is executing pole-climbing movement
When, descend clamping structure to clamp first, upper clamping mechanism unclamps, and then telescopic putter 23 is stretched out, after fully extended, upper clamping machine
Structure clamps, and lower clamping structure unclamps, and then climbing level robot electric pushrod is shunk, and climbing level robot ontology is in 23 band of telescopic putter
Along climbing level robot guide rod upward sliding under dynamic, after shrinking completely, lower clamping structure is clamped, and upper clamping mechanism unclamps, complete
The Cheng Yici pole-climbing period of motion, climbing level robot is by completing lower beam with the method for upper boom similarly.In this way, by ingehious design
The structure of clamp system and lower clamp system and under the synergistic effect of telescopic putter, this climbing level robot may be implemented to climb
Bar is not limited by height, is detected with realizing to the substation equipment of different height position, climbing level robot is climbed to suitable
Height and position when, the second cloud platform 22 on 21 top of guide rod can monitor the substation equipment, after monitoring
Climbing level robot lower beam is simultaneously automatically retracted to inspection car.
As shown in figure 4, the docking structure 3 includes screw rod 31, loading plate 32, manipulator 33 and bracket 34.Wherein, the silk
Bar 31 is provided with two, and for being mounted on inspection car 1, loading plate 32 is mounted on two screw rods 31, to realize in screw rod 31
On move back and forth, in this way, passing through the transmission of screw rod 31, it can drive loading plate 32 to move on inspection car 1, so as to adjust
Position of the whole climbing level robot 2 on inspection car 1, in order to 2 pole-climbing of climbing level robot；And the bracket 34 is provided with two, hangs down
Directly it is mounted on loading plate 32；Manipulator 33 is respectively correspondingly mounted in two brackets 34, and manipulator 33 is for catching pole-climbing
The guide rod 21 of robot 2, when original state, since manipulator 33 is the guide rod 21 for catching climbing level robot, pole-climbing machine
People 2 is fixed in bracket 34, in favor of the transport of inspection car 1, and when climbing level robot 2 needs operation, manipulator 33
Guide rod 21 is then unclamped, climbing level robot 2 can then stand firm on loading plate 32, be ready for pole-climbing, and climbing level robot 2
After lower beam, climbing level robot 2 is parked on loading plate 32, under the transmission effect of screw rod 31, it can adjustment climbing level robot is led
To the distance of bar 1 and manipulator 33, so that manipulator 33 regains one's grip on guide rod 21, and before inspection car can then restart
Row continues remaining inspection work.
Preferably, this Intelligent Mobile Robot further includes that data processing terminal and operation are flat to one kind as the present embodiment
Platform, this is stated data processing terminal and connects respectively with the first holder and the second holder wireless telecommunications, for receiving and to the first cloud
The data that platform and the second holder are monitored carry out processing analysis, so as to learn the operation feelings of monitored substation equipment
Condition, and movement of the operating platform to control whole Intelligent Mobile Robot.For ease of operation, the data processing terminal
It is integrated on same tablet computer with operating platform.
For above-described embodiment simply to illustrate that the technical ideas and features of the present invention, its purpose is allows this field
Interior those of ordinary skill can understand the content of the utility model and implement accordingly, can not limit the utility model with this
Protection scope.The equivalent changes or modifications that all essence according to the content of the present invention is made, should all cover in this reality
With in novel protection scope.
Claims (8)
1. a kind of Intelligent Mobile Robot, which is characterized in that including inspection car, climbing level robot and docking structure；Wherein,
The climbing level robot is mounted on inspection car by docking structure；
The inspection car is examined successively substation equipment with realizing by moving along ground, obtains monitoring data；
When local inspection car can not compare the high substation equipment in its position and be monitored, ground inspection car is travelled to the substation and is set
At standby corresponding roofbolt and climbing level robot is discharged, climbing level robot arrives at the height being suitble to roofbolt by climbing sports,
To check substation equipment, monitoring data are obtained.
2. Intelligent Mobile Robot as described in claim 1, which is characterized in that pacify before and after the car body of the inspection car
Visible light camera is filled, for the navigation by recognition line when advancing, retreating.
3. Intelligent Mobile Robot as claimed in claim 1 or 2, which is characterized in that be equipped on the inspection car
One holder is equipped with thermal imaging system and visual light imaging instrument inside the first holder.
4. Intelligent Mobile Robot as described in claim 1, which is characterized in that the climbing level robot includes two guiding
Bar is mounted on the second holder on the top of two guide rods；The upper clamping mechanism being arranged between two guide rods is under
Clamp system；It is connected and installed with telescopic putter between upper clamping mechanism and lower clamp system, to adjust upper clamping mechanism under
The distance between clamp system realizes the climbing of upper clamping mechanism and lower clamp system on roofbolt.
5. Intelligent Mobile Robot as claimed in claim 4, which is characterized in that the upper clamping mechanism and lower clamp system
Structure is identical, includes cam, motor, spring, guide sleeve and clamping jaw；The guide sleeve, clamping jaw and spring are provided with
Two, guide sleeve is accordingly set in two guide rods, and clamping jaw is accordingly mounted in two guide sleeves；The one of two springs
Clamping jaw corresponding with its is connected respectively at end, and the other end is connected with cam, and cam is driven by a motor rotation, to drive clamping jaw
It opens or closes and close.
6. Intelligent Mobile Robot as claimed in claim 5, which is characterized in that the docking structure includes screw rod, carrying
Plate, manipulator and bracket；The screw rod is provided with two, and for being mounted on inspection car, loading plate is mounted on two screw rods
On, moved back and forth on screw rod with realizing；Bracket is provided with two, is vertically mounted on loading plate；Manipulator is respectively correspondingly
It is mounted in two brackets, manipulator is used to catch the guide rod of climbing level robot, mechanical when climbing level robot needs operation
Hand then unclamps guide rod.
7. Intelligent Mobile Robot as claimed in claim 4, which is characterized in that be also equipped with sound wave on the inspection car
Sensor, to be used for avoidance.
8. Intelligent Mobile Robot as claimed in claim 7, which is characterized in that it further include data processing terminal, the number
It is connected respectively with the first holder and the second holder wireless telecommunications according to processing terminal, for receiving and to the first holder and the second cloud
The data that platform is monitored carry out processing analysis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821883069.3U CN209158411U (en) | 2018-11-15 | 2018-11-15 | A kind of Intelligent Mobile Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821883069.3U CN209158411U (en) | 2018-11-15 | 2018-11-15 | A kind of Intelligent Mobile Robot |
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| Publication Number | Publication Date |
|---|---|
| CN209158411U true CN209158411U (en) | 2019-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821883069.3U Active CN209158411U (en) | 2018-11-15 | 2018-11-15 | A kind of Intelligent Mobile Robot |
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| Country | Link |
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| CN (1) | CN209158411U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109382836A (en) * | 2018-11-15 | 2019-02-26 | 中国南方电网有限责任公司超高压输电公司贵阳局 | A kind of Intelligent Mobile Robot with composite aircraft structure |
| CN110531437A (en) * | 2019-08-22 | 2019-12-03 | 深圳供电局有限公司 | A kind of power grid inspection car driving assistance system based on artificial intelligence |
-
2018
- 2018-11-15 CN CN201821883069.3U patent/CN209158411U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109382836A (en) * | 2018-11-15 | 2019-02-26 | 中国南方电网有限责任公司超高压输电公司贵阳局 | A kind of Intelligent Mobile Robot with composite aircraft structure |
| CN110531437A (en) * | 2019-08-22 | 2019-12-03 | 深圳供电局有限公司 | A kind of power grid inspection car driving assistance system based on artificial intelligence |
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