CN217552403U - Electric power inspection robot based on machine vision - Google Patents
Electric power inspection robot based on machine vision Download PDFInfo
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- CN217552403U CN217552403U CN202123232020.6U CN202123232020U CN217552403U CN 217552403 U CN217552403 U CN 217552403U CN 202123232020 U CN202123232020 U CN 202123232020U CN 217552403 U CN217552403 U CN 217552403U
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Abstract
The utility model relates to an electric power detects technical field, discloses an electric power patrols and examines robot based on machine vision, including driving chassis, automobile body and image acquisition module, the automobile body is hexagonal prism shape casing, is equipped with distance sensor on the automobile body, and the automobile body is fixed to be set up on driving chassis, and the top surface of automobile body is equipped with image acquisition module, all is equipped with distance sensor on every side of automobile body, perhaps all is equipped with distance sensor on every side of automobile body. The device realizes multi-directional distance detection by improving the shape of the vehicle body and the position of the distance sensor arranged on the vehicle body, so that the distance detection function of the electric power inspection robot is more convenient and flexible, the manufacturing and maintenance cost of the electric power inspection robot can be reduced, and the device has good practicability.
Description
Technical Field
The utility model relates to an electric power detects technical field, in particular to electric power inspection robot based on machine vision.
Background
The electric power inspection robot is intelligent equipment used for replacing manual inspection in the electric power industry, can effectively improve the operation and maintenance efficiency of an electric field, reduces the risk and the working cost of manual inspection, realizes all-weather 24-hour safety detection and early warning of electric power equipment, releases electric power engineers from repeated and heavy physical labor, and better serves flexible electric power maintenance work in multiple scenes.
The existing electric power inspection robot is mostly in a rectangular vehicle body structure, a four-wheel chassis structure design is adopted, detection equipment is carried on a vehicle body, the vehicle body mechanism is difficult to realize multidirectional movement of the robot, and especially multidirectional distance detection and obstacle avoidance action execution in a limited space are difficult; in addition, in order to guarantee positioning accuracy, most of the existing power inspection robots adopt a laser radar and a magnetic navigation positioning method to realize distance detection and positioning functions, the laser radar is high in price and easy to damage, and the manufacturing and maintenance cost of the power inspection robot is increased.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is an object of the present invention to provide a robot is patrolled and examined to electric power based on machine vision, the device can realize multi-directional distance detection in the finite space through simple structure, has better suitability.
In order to achieve the above object, the present invention is realized by the following technical solutions:
the utility model provides a robot is patrolled and examined to electric power based on machine vision, includes driving chassis, automobile body and image acquisition module, the automobile body is hexagonal prism shape casing, is equipped with distance sensor on the automobile body, and the automobile body is fixed to be set up on driving chassis, and the top surface of automobile body is equipped with image acquisition module. The setting mode of the distance sensor on the vehicle body can be adjusted according to actual requirements, so that the distance information in a specific direction can be acquired in a specific space.
As a preferred embodiment of the present invention, a distance sensor is disposed on each side edge of the vehicle body.
As a preferred embodiment of the present invention, a distance sensor is disposed on each side of the vehicle body.
The device realizes multi-directional distance detection by improving the shape of the vehicle body and the position of the distance sensor arranged on the vehicle body, and the inspection robot can directly carry out omnidirectional distance detection on the surrounding environment, so that the trouble of carrying a single distance sensor on a rectangular vehicle body structure and realizing omnidirectional distance detection by adjusting the position and the orientation of the inspection robot is avoided; in addition, compared with a laser radar ranging method, the device has the obvious cost advantage.
Furthermore, the vertical distance between the distance sensor and the bottom surface of the vehicle body is equal to ensure that the six distance sensors are positioned in the same plane, so that the distance information acquired by the distance sensors is based on the same reference surface, and the inspection robot has higher precision on distance perception of the surrounding environment.
Further, the vehicle body is a regular hexagonal prism-shaped shell.
Further, the distance sensor is at least one of an ultrasonic distance sensor, an infrared distance sensor and a laser distance sensor. Preferably, the distance sensor is an ultrasonic distance sensor, and an ultrasonic probe of the ultrasonic distance sensor is arranged outwards along the radial direction of the external cylinder of the hexagonal prism-shaped shell. The ultrasonic distance sensor is low in price, high in anti-interference capability and durable, and the manufacturing and maintenance cost of the inspection robot can be further reduced.
Furthermore, drive chassis includes the support body, rotates a plurality of wheels and the drive wheel pivoted motor that sets up on the support body, support body and automobile body fixed connection. The frame body and the wheels can be arranged according to actual requirements, preferably, the wheels are Mecanum wheels, the frame body is a rectangular frame, the four Mecanum wheels are rotatably arranged at four right angles of the rectangular frame, each Mecanum wheel is driven by a corresponding driving motor, the driving motors are fixedly arranged on the rectangular frame, the Mecanum wheels are wheels supporting omnidirectional movement, the Mecanum wheels are based on the principle that a central wheel is provided with a plurality of wheel shafts positioned on the periphery of the wheels, the angled peripheral wheel shafts convert a part of wheel steering force into the normal force of one wheel, and the forces finally generate a resultant force vector in any required direction depending on the direction and the speed of the respective wheels, so that the vehicle body can freely move in the direction of the final resultant force vector without changing the direction of the wheels. The Mecanum wheels can provide higher maneuverability for the device, so that the device can realize multidirectional flexible movement under different road surface conditions or in a limited space. The drive mode of the mecanum wheel and the mecanum wheel is set by adopting a conventional mode in the field, for example, the mecanum wheel is rotationally arranged on the frame body through a bearing, and a drive motor corresponding to the mecanum wheel is controlled by using a driver, so that the mecanum wheel can normally work.
Further, the image acquisition module includes binocular camera and infrared camera, the image acquisition module sets up in the top surface of automobile body through cloud platform ground of rotating. The binocular camera is used for acquiring visible light images of the electric power screen cabinet to acquire instrument data on the electric power screen cabinet and can also acquire surrounding environment images so as to provide visual navigation and positioning for the inspection robot; the infrared camera is used for acquiring infrared images of the power screen cabinet so as to acquire the temperature of the power device in the power screen cabinet. Binocular camera and infrared camera can set up according to the actual demand in the mode that sets up on the cloud platform, for example, binocular camera and infrared camera rotate respectively through corresponding cloud platform mutually independent and set up in order to realize the rotation of mutually independent in automobile body top surface to obtain higher degree of freedom and flexibility, also can set up binocular camera and infrared camera on same cloud platform in order to reduce the volume of patrolling and examining the robot and make image acquisition module obtain better synchronism. Binocular camera, infrared camera and cloud platform are prior art, for example, the cloud platform is including can be at the horizontal pivoted first revolving stage of automobile body top surface and set up on first revolving stage top surface, can rotate the second revolving stage in order to carry image acquisition module completion pitching action on the vertical plane.
Furthermore, the utility model discloses still include wireless data transmission module, wireless data transmission module is at least one of Zigbee wireless data transmission module, lora wireless data transmission module, NB-IoT wireless data transmission module; the wireless data transmission module is arranged inside the vehicle body, and an antenna of the wireless data transmission module penetrates through the vehicle body to extend to the outside of the top surface. The inspection robot can communicate with the cloud server through the wireless data transmission module so as to upload real-time data information acquired by the inspection robot to the corresponding cloud server for analysis, storage and display, and the real-time management operation of workers is facilitated; meanwhile, the inspection robot can also receive the instruction sent by the cloud server through the wireless data transmission module and complete related actions.
The utility model discloses still including other subassemblies that can make this electric power inspection robot normal operating, for example for the power module that the robot provided the electric energy of patrolling and examining and be loaded with control program so that the data message that each subassembly of the robot was patrolled and examined in receipt and analysis sent to send relevant control command so that the control module that the robot normally worked etc. all adopt the conventional setting in this field. In addition, the specific cruising route, cruising method and communication and control method of the control module to each component or module of the patrol robot in the transformer substation are all realized by adopting the prior art, for example, the communication and control of the control module to the distance sensor, the binocular camera, the infrared camera, the cradle head, the mecanum wheel and the wireless data transmission module, the analysis and processing method of the control module to the data acquired by the distance sensor, the binocular camera and the infrared camera, and the like are all realized by adopting the prior art, and the details are not repeated herein.
Additionally, the utility model discloses in add the conventional means in this field all adopted to the device or the subassembly that does not restrict, for example, hexagonal prism shape casing, regular hexagonal prism shape casing, ultrasonic distance sensor, infrared distance sensor, laser distance sensor, support body, rectangular frame, mecanum wheel, driving motor, two mesh cameras, infrared camera, zigbee wireless data transmission module, lora wireless data transmission module, NB-IoT wireless data transmission module, antenna etc. all adopt conventional setting.
Compared with the prior art, the beneficial effects of the utility model are that:
the device realizes multi-directional distance detection by improving the shape of the vehicle body and the position of the distance sensor arranged on the vehicle body, so that the distance detection function of the power inspection robot is more convenient and flexible, and the manufacturing and maintenance cost of the power inspection robot can be reduced; in addition, this device realizes the omnidirectional movement of electric power inspection robot through mecanum wheel, has effectively improved the flexibility of electric power inspection robot, makes it still have better suitability under different road surface conditions or in the finite space.
Drawings
FIG. 1 is a schematic structural diagram of an electric power inspection robot in an embodiment;
FIG. 2 is a top view of the power inspection robot of FIG. 1;
fig. 3 is a schematic perspective view of the power inspection robot in the embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work all belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description, and do not indicate or limit that the indicated device or element must be constructed and operated in a specific orientation.
Examples
As shown in fig. 1-3, a robot is patrolled and examined to electric power based on machine vision, including drive chassis, automobile body 1 and image acquisition module, automobile body 1 is regular hexagonal prism shape casing, all is equipped with ultrasonic distance sensor 2 on every side edge of automobile body 1, and the perpendicular distance of every ultrasonic distance sensor 2 and automobile body 1 bottom surface equals, and ultrasonic distance sensor 2's ultrasonic transducer sets up along the radial of the external cylinder of regular hexagonal prism shape casing outwards, and automobile body 1 is fixed to be set up on drive chassis, and the top surface of automobile body 1 is equipped with image acquisition module.
The driving chassis comprises a rectangular frame 3 and four Mecanum wheels 4 which are rotatably arranged on the rectangular frame 3, the rectangular frame 3 is fixedly connected with the vehicle body 1, the four Mecanum wheels 4 are rotatably arranged at four right angles of the rectangular frame 3, each Mecanum wheel 4 is driven by a corresponding driving motor 5, and the driving motors 5 are fixedly arranged on the rectangular frame 3.
The image acquisition module includes two mesh cameras 6 and infrared camera 7, the image acquisition module sets up in the top surface of automobile body 1 through the cloud platform with rotating, and is concrete, the cloud platform includes the first revolving stage 8 of vertical setting, and first revolving stage 8 rotates and sets up in the top surface of automobile body 1, and the top of first revolving stage 8 is equipped with left revolving stage 9 and right revolving stage 10 symmetrically, and the pivot level of left revolving stage 9 and right revolving stage 10 sets up, and the fixed infrared camera 7 that is provided with on the left revolving stage 9, and the fixed two mesh cameras 6 that are provided with on the right revolving stage 10.
The embodiment further comprises an NB-IoT wireless data transmission module, wherein the NB-IoT wireless data transmission module is arranged inside the vehicle body 1, and an antenna 11 of the NB-IoT wireless data transmission module penetrates through the vehicle body 1 to extend to the outside of the top surface.
The embodiment also comprises other components which can enable the power inspection robot to work normally, such as a power supply module, a control module and the like, which are arranged conventionally in the field.
The foregoing description of the embodiments of the invention has been presented for purposes of illustration and not limitation, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the illustrated embodiments.
Claims (8)
1. The electric power inspection robot based on machine vision is characterized by comprising a driving chassis, a vehicle body and an image acquisition module, wherein the vehicle body is a hexagonal prism-shaped shell, a distance sensor is arranged on the vehicle body, the vehicle body is fixedly arranged on the driving chassis, and the top surface of the vehicle body is provided with the image acquisition module; and each side edge of the vehicle body is provided with a distance sensor, and/or each side surface of the vehicle body is provided with a distance sensor.
2. The machine vision-based power inspection robot according to claim 1, wherein the distance sensors are equidistant from a bottom surface of the vehicle body in a perpendicular direction.
3. The machine vision-based power inspection robot according to claim 1, wherein the body is a regular hexagonal prism shaped shell.
4. The machine vision-based power inspection robot according to claim 1, wherein the distance sensor is at least one of an ultrasonic distance sensor, an infrared distance sensor and a laser distance sensor.
5. The machine vision-based power inspection robot according to claim 1, wherein the drive chassis comprises a frame body, a plurality of wheels rotatably arranged on the frame body, and a motor driving the wheels to rotate, and the frame body is fixedly connected with the vehicle body.
6. The machine vision-based power inspection robot according to claim 5, wherein the wheels are Mecanum wheels, the frame body is a rectangular frame, four Mecanum wheels are rotatably arranged at four right corners of the rectangular frame, each Mecanum wheel is driven by a corresponding driving motor, and the driving motors are fixedly arranged on the rectangular frame.
7. The machine vision-based power inspection robot according to claim 1, wherein the image acquisition module comprises a binocular camera and an infrared camera, and the image acquisition module is rotatably arranged on the top surface of the vehicle body through a holder.
8. The machine vision-based power inspection robot according to claim 1, further comprising a wireless data transmission module, wherein the wireless data transmission module is at least one of a Zigbee wireless data transmission module, a Lora wireless data transmission module and an NB-IoT wireless data transmission module; the wireless data transmission module is arranged inside the vehicle body, and an antenna of the wireless data transmission module penetrates through the vehicle body to extend to the outside of the top surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123232020.6U CN217552403U (en) | 2021-12-21 | 2021-12-21 | Electric power inspection robot based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123232020.6U CN217552403U (en) | 2021-12-21 | 2021-12-21 | Electric power inspection robot based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217552403U true CN217552403U (en) | 2022-10-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123232020.6U Active CN217552403U (en) | 2021-12-21 | 2021-12-21 | Electric power inspection robot based on machine vision |
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| Country | Link |
|---|---|
| CN (1) | CN217552403U (en) |
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2021
- 2021-12-21 CN CN202123232020.6U patent/CN217552403U/en active Active
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