CN214776254U - Unmanned electric power inspection vehicle - Google Patents
Unmanned electric power inspection vehicle Download PDFInfo
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- CN214776254U CN214776254U CN202120905057.1U CN202120905057U CN214776254U CN 214776254 U CN214776254 U CN 214776254U CN 202120905057 U CN202120905057 U CN 202120905057U CN 214776254 U CN214776254 U CN 214776254U
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- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
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Abstract
The utility model relates to an unmanned electric power inspection vehicle belongs to power equipment technical field. The technical scheme is as follows: the all-terrain wheeled mechanism (2) is arranged at the bottom of the vehicle body (1), the panoramic camera platform (3) is arranged at the top of the vehicle body, the panoramic camera platform (3) is of a cylindrical structure, and a plurality of panoramic cameras (4) are uniformly arranged on the side wall in the circumferential direction; the upper surface of the circular-view camera platform (3) is provided with a pan-tilt (5), the pan-tilt comprises a vertical part and a horizontal part, one end of the vertical part is hinged with the horizontal part, and the other end of the vertical part is rotatably connected with the upper surface of the circular-view camera platform (3); the horizontal part is provided with a long-distance zoom camera (6) and a long-distance laser radar (7). The utility model has the advantages that: the system has the characteristics of flexible obstacle avoidance and obstacle crossing, has a long detection range coverage distance and a wide coverage angle, can effectively replace manual work to realize automatic inspection of the power system, and has high safety and reliability.
Description
Technical Field
The utility model relates to an unmanned electric power inspection vehicle belongs to power equipment technical field.
Background
The safe, normal and stable operation of the power system is a precondition for guaranteeing the economic and healthy development, and the failure of the power system can cause serious personal and property loss. Therefore, various electric power facilities need to be patrolled and examined, and the state monitoring is carried out in time, so that the safe and stable operation of the electric power system is ensured. The current inspection mode is mainly manual inspection, and the state is qualitatively judged by methods of looking, touching, listening, smelling and the like. This method has the following problems: (1) the qualitative judgment is carried out in a manual sense mode, and the possibility of misjudgment and misjudgment is high. (2) The human cost is higher, generally needs a large amount of manpowers to carry out incessant patrolling and examining in order to reach the effect of state real time monitoring to electric power system. (3) The monitoring data can not be transmitted back to the monitored software system in real time.
In order to solve the problems of the traditional manual inspection, more and more inspection vehicles and inspection robots are developed to be used for power inspection. The inspection vehicle and the robot generally complete automatic inspection by configuring a motion module, an identification module and a control module, and all the modules work cooperatively. However, the current electric power inspection vehicle mainly adopts a camera to identify road conditions in the unmanned aspect, and has the problem of difficulty in avoiding and crossing obstacles during inspection of complex road conditions. Therefore, how to improve the unmanned ability of the inspection vehicle is a problem to be solved urgently.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an unmanned electric power inspection vehicle, through the effective cooperation of identification device such as long distance laser radar, long distance zoom camera and the wheeled mechanism of full topography, guarantee inspection vehicle intelligent recognition environment road conditions, flexibly keep away the barrier, through a plurality of all-round cameras, the peripheral electric power system state of accurate detection can be accomplished patrolling and examining of electric power system safely, high-efficiently, solves the problem that exists among the background art.
The technical scheme of the utility model is that:
an unmanned electric power inspection vehicle comprises a vehicle body, an all-terrain wheel type mechanism, a panoramic camera platform, a panoramic camera and a cloud deck, wherein the all-terrain wheel type mechanism is arranged at the bottom of the vehicle body; the upper surface of the circular-viewing camera platform is provided with a cloud deck, the cloud deck comprises a vertical part and a horizontal part, one end of the vertical part is hinged with the horizontal part, and the other end of the vertical part is rotatably connected with the upper surface of the circular-viewing camera platform; the horizontal part is provided with a long-distance zooming camera and a long-distance laser radar;
the all-terrain wheel type mechanism comprises a front wheel, a middle wheel, a rear wheel, a long connecting rod, a short connecting rod, a front auxiliary connecting rod and a middle auxiliary connecting rod, wherein the front wheel, the middle wheel and the rear wheel are respectively connected with one end of the long connecting rod, one end of the middle auxiliary connecting rod and one end of the front auxiliary connecting rod through respective steering mechanisms, the other ends of the middle auxiliary connecting rod and the front auxiliary connecting rod are connected with one end of the short connecting rod through hinges, and the other ends of the long connecting rod and the short connecting rod are connected with a central shaft of a vehicle body.
The long-distance zoom camera is arranged in front of the horizontal part of the holder, can identify objects and is used for detecting the state of the power facility; the long-distance laser radar is arranged above the horizontal part of the holder, so that objects can be accurately identified, and environmental information is provided for automatic driving.
The side surface of the all-round looking camera platform is provided with a plurality of camera mounting interfaces, and a plurality of all-round looking cameras are mounted on the all-round looking camera platform through the camera mounting interfaces.
The all-round camera is high definition digtal camera, and quantity is four, and 90 equipartitions in all-round camera platform sides at the interval can all-round 360 visual angles, gather the peripheral road conditions information of inspection car in real time, provide the support for the autopilot of inspection car.
The included angle of long connecting rod and short connecting rod is controlled by control system, can realize "the wriggling" of patrolling and examining the car through adjusting the included angle, avoids falling into the unable travel of soft topography. The front auxiliary connecting rod and the middle auxiliary connecting rod are connected with the short connecting rod through hinges, and the front auxiliary connecting rod and the middle auxiliary connecting rod are actively adjusted through the movable matching of the hinges and the included angle between the long connecting rod and the short connecting rod, so that the wheel lifting can be realized, and the requirement that the inspection vehicle climbs over steep slopes, steps and other complex terrains can be met. The steering mechanism of the front wheel, the middle wheel and the rear wheel and the central shaft (fixed point) work cooperatively, so that 360-degree steering in a horizontal plane (ground) can be realized.
The panoramic camera platform is rotated at variable angular velocity on top of the vehicle body by known rotation mechanisms.
The utility model has the advantages that: the system has the characteristics of flexible obstacle avoidance and obstacle crossing, has a long detection range coverage distance and a wide coverage angle, can effectively replace manual work to realize automatic inspection of the power system, and has high safety and reliability.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the all-terrain wheeled mechanism of the present invention;
FIG. 3 is a schematic view of the creeping structure of the present invention;
FIG. 4 is a schematic view of the front wheel lifting structure of the present invention;
FIG. 5 is a schematic view of the center lifting wheel of the present invention;
FIG. 6 is a schematic view of the structure of the rear wheel of the present invention;
in the figure: the all-terrain vehicle comprises a vehicle body 1, an all-terrain wheel type mechanism 2, a panoramic camera platform 3, a panoramic camera 4, a tripod head 5, a long-distance zoom camera 6, a long-distance laser radar 7, a front wheel 8, a middle wheel 9, a rear wheel 10, a long connecting rod 11, a short connecting rod 12, a front auxiliary connecting rod 13, a middle auxiliary connecting rod 14, a hinge 15, a steering mechanism 16 and a central shaft 17.
Detailed Description
The present invention will be further described with reference to the accompanying drawings by way of examples.
An unmanned electric power inspection vehicle comprises a vehicle body 1, an all-terrain wheeled mechanism 2, a panoramic camera platform 3, a panoramic camera 4 and a cloud deck 5, wherein the all-terrain wheeled mechanism 2 is arranged at the bottom of the vehicle body 1, the panoramic camera platform 3 is arranged at the top of the vehicle body, the panoramic camera platform 3 is of a cylindrical structure, and a plurality of the panoramic cameras 4 are uniformly arranged on the side wall in the circumferential direction; the upper surface of the circular-view camera platform 3 is provided with a tripod head 5, the tripod head comprises a vertical part and a horizontal part, one end of the vertical part is hinged with the horizontal part, and the other end of the vertical part is rotatably connected with the upper surface of the circular-view camera platform 3; a long-distance zoom camera 6 and a long-distance laser radar 7 are arranged on the horizontal part;
the all-terrain wheel type mechanism 2 comprises a front wheel 8, a middle wheel 9, a rear wheel 10, a long connecting rod 11, a short connecting rod 12, a front auxiliary connecting rod 13 and a middle auxiliary connecting rod 14, wherein the front wheel 8, the middle wheel 9 and the rear wheel 10 are respectively connected with one end of the long connecting rod 11, the middle auxiliary connecting rod 14 and one end of the front auxiliary connecting rod 13 through respective steering mechanisms 16, the other ends of the middle auxiliary connecting rod 14 and the front auxiliary connecting rod 13 are connected with one end of the short connecting rod 12 through hinges 15, and the other ends of the long connecting rod 11 and the short connecting rod 12 are connected with a central shaft 17 of a vehicle body.
The side face of the all-round looking camera platform is provided with a plurality of camera mounting interfaces, and a plurality of all-round looking cameras 4 are mounted on the all-round looking camera platform through the camera mounting interfaces.
In this embodiment, the automobile body does the utility model discloses a main structure provides the support for other parts. The wheel type mechanism of the all terrain is arranged below the vehicle body, so that the inspection vehicle can avoid and cross obstacles under various complex terrains and road conditions, and stable running is guaranteed. The panoramic camera platform 3 rotates at a variable angular speed on the top of the vehicle body; the number of the all-round cameras is four, the all-round cameras are evenly distributed on the side face of the all-round camera platform at intervals of 90 degrees, and 360-degree visual angles can be all-round seen for identifying surrounding road conditions. The vertical part of the holder rotates 360 degrees on the upper surface of the panoramic camera platform 3, and the horizontal part is hinged with the vertical part and can perform 90-degree pitching motion in the vertical range. The long-distance zoom camera 6 is arranged in front of the horizontal part of the holder, can identify objects and is used for detecting the state of an electric power facility; long distance laser radar 7 sets up in the top of cloud platform horizontal part, can carry out accurate discernment to the object, provides environmental information for autopilot.
When the transformer substation patrols and examines the state of the electric power facility, the surrounding camera collects the information of the surrounding road conditions of the patrol car in real time, the long-distance laser radar 7 collects the road conditions within the range of 100m, and the collected information is processed to drive the all-terrain wheel type mechanism 2 to operate, so that the patrol car can run, cross the obstacle and avoid the obstacle. In the running process of the inspection vehicle, the long-distance zooming camera can acquire information of 360-degree electric power facilities within 100m around the inspection vehicle through the rotation of the vertical part and the pitching motion of the horizontal part of the holder, and the state monitoring of a transformer substation is completed.
The included angle of the long connecting rod 11 and the short connecting rod 12 of the all-terrain wheel type mechanism is controlled by a control system, the creeping of the inspection vehicle can be realized by adjusting the included angle phi, and the condition that the inspection vehicle cannot run in soft terrain is avoided. The front auxiliary connecting rod 13 and the middle auxiliary connecting rod 14 are connected with the short connecting rod 12 through hinges, and the included angle between the long connecting rod and the short connecting rod is actively adjusted through the movable matching of the hinges 15, so that the wheel lifting can be realized, and the requirement that the patrol car climbs over steep slopes, steps and other complex terrains can be met. The steering mechanism 16 of the front, middle and rear wheels cooperates with the central shaft (fixed point) to achieve 360-degree steering in the horizontal plane (ground).
Claims (4)
1. The utility model provides a car is patrolled and examined to unmanned electric power which characterized in that: the all-terrain panoramic camera comprises a vehicle body (1), an all-terrain wheeled mechanism (2), a panoramic camera platform (3), a panoramic camera (4) and a tripod head (5), wherein the all-terrain wheeled mechanism (2) is arranged at the bottom of the vehicle body (1), the panoramic camera platform (3) is arranged at the top of the vehicle body, the panoramic camera platform (3) is of a cylindrical structure, and a plurality of the panoramic cameras (4) are uniformly arranged on the side wall in the circumferential direction; the upper surface of the circular-view camera platform (3) is provided with a pan-tilt (5), the pan-tilt comprises a vertical part and a horizontal part, one end of the vertical part is hinged with the horizontal part, and the other end of the vertical part is rotatably connected with the upper surface of the circular-view camera platform (3); a long-distance zoom camera (6) and a long-distance laser radar (7) are arranged on the horizontal part;
the all-terrain wheel type mechanism (2) comprises a front wheel (8), a middle wheel (9), a rear wheel (10), a long connecting rod (11), a short connecting rod (12), a front auxiliary connecting rod (13) and a middle auxiliary connecting rod (14), wherein the front wheel (8), the middle wheel (9) and the rear wheel (10) are respectively connected with one ends of the long connecting rod (11), the middle auxiliary connecting rod (14) and the front auxiliary connecting rod (13) through respective steering mechanisms (16), the other ends of the middle auxiliary connecting rod (14) and the front auxiliary connecting rod (13) are connected with one end of the short connecting rod (12) through a hinge (15), and the other ends of the long connecting rod (11) and the short connecting rod (12) are connected with a central shaft (17) of a vehicle body.
2. The unmanned electric patrol vehicle according to claim 1, wherein: the long-distance zooming camera (6) is arranged in front of the horizontal part of the holder, and the long-distance laser radar (7) is arranged above the horizontal part of the holder.
3. The unmanned electric patrol vehicle according to claim 1 or 2, wherein: the side face of the all-round looking camera platform is provided with a plurality of camera mounting interfaces, and a plurality of all-round looking cameras (4) are mounted on the all-round looking camera platform through the camera mounting interfaces.
4. The unmanned electric patrol vehicle according to claim 1 or 2, wherein: the all-round looking camera is high definition digtal camera, and quantity is four, interval 90 equipartition in all-round looking camera platform side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120905057.1U CN214776254U (en) | 2021-04-29 | 2021-04-29 | Unmanned electric power inspection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120905057.1U CN214776254U (en) | 2021-04-29 | 2021-04-29 | Unmanned electric power inspection vehicle |
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| CN214776254U true CN214776254U (en) | 2021-11-19 |
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| CN202120905057.1U Active CN214776254U (en) | 2021-04-29 | 2021-04-29 | Unmanned electric power inspection vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114248700A (en) * | 2021-11-24 | 2022-03-29 | 长沙宏达威爱信息科技有限公司 | Industry VR patrols and examines robot |
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2021
- 2021-04-29 CN CN202120905057.1U patent/CN214776254U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114248700A (en) * | 2021-11-24 | 2022-03-29 | 长沙宏达威爱信息科技有限公司 | Industry VR patrols and examines robot |
| CN114248700B (en) * | 2021-11-24 | 2023-06-30 | 长沙宏达威爱信息科技有限公司 | Industrial VR inspection robot |
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