CN216328347U - Intelligent inspection robot - Google Patents
Intelligent inspection robot Download PDFInfo
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- CN216328347U CN216328347U CN202122600405.7U CN202122600405U CN216328347U CN 216328347 U CN216328347 U CN 216328347U CN 202122600405 U CN202122600405 U CN 202122600405U CN 216328347 U CN216328347 U CN 216328347U
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- 238000001931 thermography Methods 0.000 claims abstract description 36
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 7
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Abstract
The utility model relates to the technical field of robots and discloses an intelligent inspection robot, which comprises a mobile base with a driving part, a shell arranged on the mobile base, a high-definition camera, a thermal imaging camera, a holder control end, an antenna, a laser radar positioning device and an electricity storage part, wherein the high-definition camera, the thermal imaging camera, the holder control end, the antenna, the laser radar positioning device and the electricity storage part are connected with the shell; the cloud platform control end is used for receiving a control signal sent by the background master control end so as to correspondingly control the high-definition video camera and the thermal imaging camera to acquire information and move the base, and the antenna is wirelessly connected with the high-definition video camera and the thermal imaging camera and transmits the acquired information of the high-definition video camera and the thermal imaging camera to the background master controller; the electricity storage portion package electricity is connected drive division, high definition video camera, thermal imaging camera, cloud platform control end, antenna, laser radar positioner of bottom mobile base. The method has the advantages of efficiently and accurately measuring, transmitting and recording various parameters in the transformer substation, and realizing automation.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to an intelligent inspection robot.
Background
In recent years, with the rapid development of unattended intelligent substations, the requirement of intelligent inspection robots of substations is more and more urgent. Aiming at the power grid inspection application requirements, the requirements for further improvement in the aspects of inspection capability, motion function, electromagnetic interference resistance, environmental adaptability and the like are provided, the fact that the transformer substation inspection robot is the mainstream of future application due to miniaturization and tool is pointed out, a transformer substation inspection robot technical standard system is provided to be established, and the construction of test capability is further strengthened so as to ensure the quality of the transformer substation inspection robot.
The traditional single inspection mode of the transformer substation is manual inspection, and the problems of high labor intensity, low inspection efficiency, incapability of in-place inspection, non-uniform inspection standards, difficulty in inspection in a rainy and snowy severe environment and the like exist. And the inspection method is simple to depend on the sense and experience of inspection personnel, so that objective, comprehensive and accurate judgment is difficult to achieve, and potential safety hazards are buried in the safe operation of equipment.
The prior art document CN2020227835710 discloses a substation inspection robot, and the technical content disclosed by the comparison document only can be used for shooting on site, parameter data on an instrument cannot be read and transmitted, the moving position of the robot cannot be accurately positioned, and a background control end cannot monitor the detection data and the running state of the robot in real time.
Disclosure of Invention
The utility model solves the technical problem of overcoming the defects of the prior art and provides the intelligent inspection robot which has clear field shooting, accurate instrument parameter reading and accurate running track and can monitor at the background in real time.
The purpose of the utility model is realized by the following technical scheme:
the intelligent inspection robot comprises a mobile base with a driving part, a shell arranged on the mobile base, a high-definition camera, a thermal imaging camera, a tripod head control end, an antenna, a laser radar positioning device and an electricity storage part, wherein the high-definition camera, the thermal imaging camera, the tripod head control end, the antenna, the laser radar positioning device and the electricity storage part are connected with the shell; the cloud platform control end is used for receiving a control signal sent by the background master control end so as to correspondingly control the high-definition video camera and the thermal imaging camera to acquire information and move the base, and the antenna is wirelessly connected with the high-definition video camera and the thermal imaging camera and transmits the acquired information of the high-definition video camera and the thermal imaging camera to the background master controller; the electricity storage part comprises a contact end and a discharge end, the power connection end is used for being connected with an external charging interface, and the discharge end is electrically connected with a driving part of the bottom moving base, a high-definition video camera, a thermal imaging camera, a holder control end, an antenna and a laser radar positioning device.
Further, the casing top is provided with rotatable mounting bracket, and high definition camera, thermal imaging camera install respectively on the mounting bracket, and 360 rotations can be done to high definition camera, thermal imaging camera relative casing, and the cloud platform control end is installed on the mounting bracket.
Further, the high-definition camera is connected with a windshield wiper, and the windshield wiper is attached to the high-definition camera lens.
Further, the shell is provided with a three-color status lamp and an emergency stop switch.
Furthermore, a sound pick-up is arranged on the shell and is in wireless connection with a background master control end.
Further, be provided with buffer stop on the positive place ahead terminal surface of casing, buffer stop includes the connecting rod of being connected with the box body and sets up the anticollision roof beam on the connecting rod.
Furthermore, a pressure-sensitive switch is arranged on the collision beam, and the pressure-sensitive switch is in signal connection with the background master control end and used for sending an instruction by the background master control end after the pressure-sensitive switch is extruded, and the moving direction of the robot is controlled and adjusted by the holder control end.
Furthermore, an ultrasonic sensor is arranged on the end face, close to the ground, of the shell and used for detecting whether steps, recesses or protrusions exist on the ground or not and is in signal connection with the background master control end, the background master control end correspondingly sends out instructions after receiving signals, and the moving direction of the robot is controlled and adjusted by the holder control end, so that the robot can automatically avoid abnormal road sections.
Furthermore, four movable tires are arranged on the movable base, and the tires are non-pneumatic tires.
Further, the power storage unit is a lithium battery.
Compared with the prior art, the utility model has the following beneficial effects:
1) accurately shooting a scene picture and timely transmitting the scene picture to a background main control end;
2) the working parameters on the instrument can be accurately read and timely transmitted to the background master control end;
3) the method comprises the following steps of effectively collecting the sound of a field environment and transmitting the sound to a background master control end;
4) the laser radar is used for positioning, so that the position of the robot is accurately positioned and identified, and the moving track of the robot is more accurate;
5) the protection structure is arranged, so that the robot is effectively protected against collision and cracking;
6) the abnormal road sections are effectively avoided, and the robot is prevented from falling down in the walking process;
7) the non-pneumatic tire is adopted, the inspection requirement in a high-temperature environment is met, and the service life of the non-pneumatic tire is longer compared with that of a common tire;
8) the lithium battery is adopted for power supply, the endurance is longer, and the charging can be carried out at any time.
Drawings
Fig. 1 is a schematic structural diagram of the intelligent inspection robot according to embodiment 1.
Detailed Description
The present invention will be further described with reference to the following detailed description, wherein the drawings are provided for illustrative purposes only and are not intended to be limiting; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Examples
As shown in fig. 1, the intelligent inspection robot suitable for a transformer substation to replace manual work to complete field inspection comprises a mobile base 1 with a driving part, a shell 2 installed on the mobile base 1, a high-definition camera 3 connected with the shell 2, a thermal imaging camera 4, a holder control end 5, an antenna 6, a laser radar positioning device 7 and a power storage part; the cloud deck control end 5 is used for receiving a control signal sent by the background master control end so as to correspondingly control the high-definition video camera 3 and the thermal imaging camera 4 to acquire information and move the base 1, the antenna 6 is wirelessly connected with the high-definition video camera 3 and the thermal imaging camera 4 and transmits the acquired information of the high-definition video camera 3 and the thermal imaging camera 4 to the background master controller; the electricity storage part comprises a contact end and a discharge end, the connection end is used for connecting an external charging interface, and the discharge end is electrically connected with a driving part of the bottom moving base 1, a high-definition camera 3, a thermal imaging camera 4, a holder control end 5, an antenna 6 and a laser radar positioning device 7.
The laser radar positioning device 7 is mounted on the robot housing 2 near the front wheel side. And when the positioning data is combined with navigation task data transmitted by the background master control end, the generated motion control quantity is connected with the left and right wheel motor drivers of the robot to control the robot to run along the path. When the robot enters the inspection environment for the first time, the laser radar positioning device 7 scans the surrounding environment, generates an environment map through a synchronous map construction and positioning (SLAM) algorithm, and accurately matches the terrain scanned by laser in real time with the environment terrain in the subsequent inspection process, so that the accurate position of the robot is determined, and the navigation reliability of the robot is ensured.
Meanwhile, a high-definition camera 3 and a thermal imaging camera 4 which can rotate 360 degrees are arranged on the top of the robot shell 2. And the pan-tilt control end receives a control instruction sent by the background master control end, so that the operation of the high-definition video camera 3 or the thermal imaging camera 4 is controlled. The high-definition camera 3 can collect images or video images on site in real time, transmit the images or the video images in real time through a wireless network system, set a network relay to ensure that the videos do not lose packets or distort, and monitor equipment and the environment to the maximum extent. The thermal imaging camera 4 can perform image acquisition, meter reading, infrared temperature measurement, audio acquisition and analysis and other work on electrical equipment in the transformer substation by matching with an independently researched and developed image acquisition and identification technology and an infrared imaging technology, and realizes real-time transmission, automatic storage, intelligent analysis and abnormal alarm of acquired data through an in-station wireless communication network. The high-definition camera 3 and the thermal imaging camera 4 read the field graphs or various instrument parameters in real time, manual inspection is replaced, manual errors are avoided, and automation is realized; meanwhile, the collected information is transmitted to the background master control end in time, and the timeliness of information transmission is guaranteed.
In one embodiment, a rotatable mounting frame 8 is arranged at the top of the shell 2, the high-definition camera 3 and the thermal imaging camera 4 are symmetrically and respectively mounted on the mounting frame 8, and the high-definition camera 3 and the thermal imaging camera 4 can rotate 360 degrees relative to the shell 2; the cloud platform control end is installed on the mounting bracket. The top of the shell 2 is provided with a rotatable mounting rack. High definition camera 3 and thermal imaging camera 4 symmetrical design have realized high definition camera 3 and thermal imaging camera 4's full angle rotation on the mounting bracket, satisfy the robot and read the demand to the parameter under the different angles, and the suitability is wider. Meanwhile, a windshield wiper 9 can be arranged on the lens of the high-definition camera 3 or the thermal imaging camera, the windshield wiper 9 is connected with the robot through a motor and a relay, and the windshield wiper 9 works by utilizing the charge and discharge functions of a return switch contact of the motor and a resistor capacitor of the relay. The windshield wiper 9 is combined with a raindrop sensor installed in a transformer substation, automatic opening and closing of the windshield wiper 9 of the inspection robot are achieved, quality of inspection shot pictures is judged according to the rainfall, whether inspection operation is continued or not is determined, and automatic inspection of the transformer substation is achieved. Utilize 9 clean up the spot or the raindrop on the lens of windshield wiper, not only can guarantee the definition of data collection, satisfy the robot simultaneously and patrol and examine the demand under bad days such as rainy day.
In one embodiment, a three-color status light 10 and an emergency stop switch 11 are further mounted on the housing. The three-color status lamp 10 is mounted on the surface of the robot housing 2 on the front wheel side. The three-color lamp equipment state module is connected with the patrol robot through the TM4C129 motion control board. The three-color status light 10 is divided into red, yellow, and green lights. When the green state lamp is on, the inspection robot is normal in function, and normal operation can be continued; when the red state lamp is on, the inspection robot is indicated to have potential safety hazards or to have serious faults, and can not continue to work any more, and workers need to perform emergency stop and inspection and maintenance; when the yellow state lamp is turned on, the inspection robot is indicated to have a fault, but the emergency degree of the fault is not serious when the red state lamp is turned on, and the inspection robot can still work for a period of time under the condition. The emergency stop switch 11 is arranged at the center of the 45-degree inclined plane at the front end of the robot shell 2. The emergency stop switch 11 is connected with the robot through a safety emergency stop board. When the emergency stop switch 11 is pressed in an emergency, the safety emergency stop board receives an emergency stop signal and sends the emergency stop signal to the driving and controlling integrated machine core, the vehicle body stops moving, and other systems can keep in the current state.
In one embodiment, a sound pickup 12 is further arranged on the top of the shell, and the sound pickup 12 is wirelessly connected with the background master control end. The sensor in the sound pick-up is directly connected with a CRY202 data terminal (integrated control module) of the robot with an Ethernet port by using a self-contained RS-485 interface to acquire sound data. The pickup is used for collecting the sound of the site environment and then transmitting the sound to the background master control end, the computer of the background master control end monitors the network data in real time by the data collection control software, processes and stores the received sound data, and displays the sound data, sets parameters, checks the data, sets the alarm, stores the data, exports and prints the operation on a software interface as an auxiliary criterion for evaluating the running state of the equipment.
In an embodiment, an anti-collision device 13 is disposed on a front end surface of the shell 2, and the anti-collision device 13 includes a connecting rod 130 connected to the box 2 and an anti-collision beam 131 disposed on the connecting rod 130. Anticollision roof beam 131 generally adopts and presents the ribbon that appears as soft, can buckle, and during the anticollision, anticollision roof beam 131 can be fine plays the cushioning effect, reaches the effect of anticollision, and the protection robot does not receive the damage. Meanwhile, a pressure-sensitive switch can be arranged on the anti-collision beam 131, and the pressure-sensitive switch is in signal connection with the background master control end and used for sending an instruction to the background master control end after the pressure-sensitive switch is extruded, and the moving direction of the robot is controlled and adjusted by the holder control end. The pressure-sensitive switch is normally open logic, when triggered, the safe anti-collision contact edges are pressed to deform due to flexibility, a closed I/O signal is generated due to sensing action and transmitted to the SRC core controller of the robot, the feedback is sent to the SRC core controller, the robot collides with an object at the moment, and the robot makes corresponding action to play a certain protection role on the robot.
In an embodiment, the end face of the shell 2 close to the ground is provided with the ultrasonic sensor 14 and the anti-falling sensor 15, the ultrasonic sensor 14 and the anti-falling sensor 15 are used for detecting whether steps, recesses or protrusions are arranged on the ground or not and are connected with the background master control end through signals, the background master control end correspondingly sends out instructions after receiving the signals, and the tripod head control end controls and adjusts the moving direction of the robot, so that the robot can automatically avoid abnormal road sections. The ultrasonic sensor 14 is arranged on a shell of the inspection robot positioned at the upper part of the front row of driving wheels, passes through an object on a detection path, and then is connected with a system motion module of the robot through an I/O port. The obstacle detection device has an obstacle detection function, can stop and alarm in time when meeting an obstacle in the walking process, can restore walking after the obstacle is removed within the designated time, and can adopt a reasonable avoidance strategy when the obstacle is not removed within the designated time. The anti-falling sensor 15 is arranged at the front end of the inspection robot and is positioned at the lower part of the anti-collision touch edge. The fall-prevention sensor 15 is connected to the robot through a front-end vision sensor. In the process of moving, when the robot encounters a downward step on the road surface or a concave ground surface and the like, the distance between the robot and the ground is measured by using ultrasonic waves, when the distance exceeds a limit value, a sensor sends a signal to a controller, and the controller issues a steering command, so that the advancing direction of the robot is changed, and the purpose of preventing falling is achieved.
In one embodiment, four tires 16 are disposed on the mobile base, and the tires 16 are non-pneumatic tires. The tire is changed into the inflation-free tire, so that the hidden danger that the tire is punctured and air leakage is avoided, and the tire for high-temperature operation is prevented from being exploded due to expansion caused by heat and contraction caused by cold. The non-pneumatic tire (vacuum tire) is used, so that the operation requirement under a high-temperature condition can be met, the service life of the tire is longer, and the probability that the robot cannot operate due to tire failure in the operation process is reduced.
In one embodiment, the power storage portion is a lithium battery. The lithium battery is used as a power supply of the robot, the power supply current is stable, the power supply duration is long, when the robot moves to a charging area, the electric energy of the lithium battery can be charged at any time to supplement the electric energy of the lithium battery, and the charging is efficient, stable and safe.
It should be understood that the above examples are only for clearly illustrating the technical solutions of the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The intelligent inspection robot is characterized by comprising a mobile base with a driving part, a shell arranged on the mobile base, a high-definition camera, a thermal imaging camera, a holder control end, an antenna, a laser radar positioning device and an electricity storage part, wherein the high-definition camera, the thermal imaging camera, the holder control end, the antenna, the laser radar positioning device and the electricity storage part are connected with the shell; the cloud deck control end is used for receiving a control signal sent by the background master control end so as to correspondingly control the high-definition video camera and the thermal imaging camera to acquire information and move the base, and the antenna is wirelessly connected with the high-definition video camera and the thermal imaging camera and transmits the acquired information of the high-definition video camera and the thermal imaging camera to the background master controller; the power storage part comprises a power connection end and a discharge end, the power connection end is used for being connected with an external charging interface, and the discharge end is electrically connected with a driving part, a high-definition video camera, a thermal imaging camera, a holder control end, an antenna and a laser radar positioning device of the mobile base.
2. The intelligent inspection robot according to claim 1, wherein a rotatable mounting rack is arranged at the top of the housing, the high-definition camera and the thermal imaging camera are symmetrically and respectively mounted on the mounting rack, and the high-definition camera and the thermal imaging camera can rotate 360 degrees relative to the housing; the cloud platform control end is installed on the mounting bracket.
3. The intelligent inspection robot according to claim 1, wherein a wiper is connected to the high definition camera and attached to the high definition camera lens.
4. The intelligent inspection robot according to claim 1, wherein a tri-color status light and an emergency stop switch are also mounted on the housing.
5. The intelligent inspection robot according to claim 1, wherein a sound pick-up is further arranged on the housing, and the sound pick-up is wirelessly connected with the background master control end.
6. The intelligent inspection robot according to claim 1, wherein an anti-collision device is arranged on the end surface right in front of the shell, and the anti-collision device comprises a connecting rod connected with the box body and an anti-collision beam arranged on the connecting rod.
7. The intelligent inspection robot according to claim 6, wherein the collision avoidance beam is provided with a pressure sensitive switch, the pressure sensitive switch is in signal connection with the background master control end and is used for sending an instruction from the background master control end after the pressure sensitive switch is extruded, and the moving direction of the robot is controlled and adjusted by the pan-tilt control end.
8. The intelligent inspection robot according to claim 1, wherein the end face of the shell, which is close to the ground, is provided with an ultrasonic sensor and a drop-proof sensor, the ultrasonic sensor and the drop-proof sensor are used for detecting whether steps, recesses or protrusions are arranged on the ground or not and are in signal connection with a background master control end, the background master control end correspondingly sends out an instruction after receiving a signal, and the moving direction of the robot is controlled and adjusted by a holder control end, so that the robot can automatically avoid abnormal road sections.
9. The intelligent inspection robot according to claim 1, wherein four mobile tires are provided on the mobile base, the tires being non-pneumatic tires.
10. The intelligent inspection robot according to claim 1, wherein the power storage portion is a lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122600405.7U CN216328347U (en) | 2021-10-27 | 2021-10-27 | Intelligent inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122600405.7U CN216328347U (en) | 2021-10-27 | 2021-10-27 | Intelligent inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216328347U true CN216328347U (en) | 2022-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122600405.7U Expired - Fee Related CN216328347U (en) | 2021-10-27 | 2021-10-27 | Intelligent inspection robot |
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| CN (1) | CN216328347U (en) |
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2021
- 2021-10-27 CN CN202122600405.7U patent/CN216328347U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221009 Address after: No. 80, Group 26, Jianxin Village, Gonghui Town, Babu District, Hezhou City, Guangxi Zhuang Autonomous Region, 542800 Patentee after: Zhu Mingzeng Address before: No. 193-3, Jianshe East Road, Hezhou City, Guangxi Zhuang Autonomous Region, 542800 Patentee before: GUANXI POWER GRID CORP. HEZHOU POWER SUPPLY BUREAU |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220419 |