CN219293985U - Multifunctional intelligent inspection robot - Google Patents
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- CN219293985U CN219293985U CN202221490760.1U CN202221490760U CN219293985U CN 219293985 U CN219293985 U CN 219293985U CN 202221490760 U CN202221490760 U CN 202221490760U CN 219293985 U CN219293985 U CN 219293985U
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Abstract
The utility model relates to a multifunctional intelligent inspection robot, belonging to the field of relay protection, measurement and control devices and switch cabinet equipment inspection. The robot comprises a robot body, wherein the robot body consists of a moving part at the bottom and an operating part at the top, the moving part and the operating part are fixed through a mounting base and controlled by a controller arranged in the mounting base, the moving part comprises a vehicle body and wheels, the wheels are arranged at the bottom of the vehicle body and driven through a first motor, a laser navigation module, an obstacle avoidance radar and an antenna are respectively arranged on the vehicle body, the laser navigation module and the obstacle avoidance radar are both connected with a controller circuit and controlled through the controller, the laser navigation module and the obstacle avoidance radar are used for assisting the robot body to normally run so as to prevent the robot body from collision, and the antenna is used for receiving an external remote equipment instruction by the controller so as to control the robot body to move and work.
Description
Technical Field
The utility model relates to a multifunctional intelligent inspection robot, and belongs to the field of relay protection, measurement and control devices and switch cabinet equipment inspection.
Background
The power plant equipment needs to carry out periodic work such as daily inspection, periodic inspection, special inspection and the like, and because the arrangement places of the power plant equipment are scattered, equipment with a relatively long distance from a main factory building exists, such as a water supply pump room, an auxiliary factory building, a photovoltaic control room and the like, the inspection frequency of the places is low, once equipment defects occur, the equipment can possibly run for a long time with diseases, the fault range is enlarged, and the safe and stable running of a unit is not facilitated.
The traditional method is to increase the number of team personnel and strengthen the inspection frequency for the area, so that defects or hidden dangers can be found as soon as possible, but the problems in two aspects exist: firstly, the maintenance personnel frequently drive the vehicle to a remote equipment area, and potential hazards causing traffic accidents are likely to exist; secondly, more patrol personnel are needed to be equipped, so that the human resource cost investment of enterprises is increased; third, the working efficiency is low, wasting valuable working time.
In order to improve the working efficiency, the work load of overhaul and maintenance personnel is reduced. The power grid and power generation enterprises already have the application of the inspection robots, can realize the functions of autonomous unmanned inspection, environment detection, infrared detection, partial discharge detection and the like, can basically meet the requirements of equipment inspection work, and has the defects that the positioning developed by the robots is inspection and operation, and has no certain field safety management and control function.
Disclosure of Invention
The utility model aims to solve the technical problem of providing a multifunctional intelligent inspection robot which has the functions of autonomous inspection, safety behavior inspection, man-machine interaction, environment monitoring, infrared monitoring and the like of equipment, can prevent the misoperation of an maintainer and the interval of wrong equipment, and avoids the occurrence of electric power safety production accidents.
In order to solve the technical problems, the technical scheme provided by the utility model is as follows: the utility model provides a robot is patrolled and examined to multi-functional intelligence, includes the robot body, the robot body comprises the mobile part at bottom and the operating portion at top, fixed through the installation base between mobile part and the operating portion to control by the controller that sets up at the installation base, the mobile part includes automobile body and wheel, and the wheel is installed in the automobile body bottom, drives through first motor, and is provided with laser navigation module on the automobile body respectively, keeps away barrier radar and antenna, and wherein laser navigation module and keep away barrier radar all and controller circuit connection and control through the controller, and laser navigation module and keep away barrier radar and be used for assisting the normal travel of robot body and prevent its collision, the antenna is used for the controller to receive outside remote equipment instruction, controls the robot body and removes and work.
As preferable: the operation portion comprises a camera, an operation panel and a human-computer interaction display screen, the operation panel and the human-computer interaction display screen are all connected with a controller circuit and controlled by the controller, wherein the camera is connected with a mounting base through an electric telescopic rod, the camera is arranged on one side end of the electric telescopic rod far away from the mounting base, the operation panel is arranged below one side of the camera, the operation panel is arranged on the end of a mechanical telescopic arm extending out of the side of the electric telescopic rod, the electric telescopic rod and the mechanical telescopic arm are controlled by the controller, the operation panel operates after the vertical height of the operation panel is adjusted by controlling the mechanical telescopic arm, so that action instructions of touching a button of a device are completed, the human-computer interaction display screen with an NFC module is further arranged below the camera on the opposite side of the operation panel, a human-computer interaction interface is arranged on the human-computer interaction display screen, and the operation instructions are remotely issued to a robot through the NFC module.
As preferable: the camera is provided with a high-definition camera and an infrared thermometer, wherein the high-definition camera has a face recognition function and is used for monitoring identity information and states of on-site maintenance personnel, the infrared thermometer is used for detecting objects or personnel nearby the robot, and the high-definition camera and the infrared thermometer capture that non-admission personnel appear on the maintenance site, send data to the controller and control a voice alarm arranged inside the robot body to send out voice alarms.
As preferable: be provided with supplementary high definition digtal camera and laser rangefinder module on the operation panel respectively, all control through the controller, wherein supplementary high definition digtal camera is used for acquireing the protection device picture, and the laser rangefinder module is used for the location when touching the device button to still be provided with a rectangle guide rail on being located the operation panel under supplementary high definition digtal camera, a scalable thimble is installed to the embedding in the rectangle guide rail, and the diameter of scalable thimble is the same with the width of rectangle guide rail, under the control of controller for accomplish the left and right displacement and the flexible action of scalable thimble in the rectangle guide rail.
As preferable: the laser ranging module is at least two laser ranging probes, one laser ranging probe is arranged on one side close to the auxiliary high-definition camera, and the other laser ranging probe is arranged at the bottom of the operation table and is positioned at the position right below the telescopic thimble.
As preferable: the control chip is arranged in the controller and consists of a wireless module, a receiving module, a control module and a power module, wherein the wireless module is connected with an antenna and used for a robot to have WIFI and 5G communication functions and remotely receive information instructions of external connection equipment, the receiving module is used for respectively receiving information sent by a high-definition camera, an infrared thermometer, a laser navigation module and an obstacle avoidance radar, the information sent by the laser ranging probe and a man-machine interaction display screen is assisted by the high-definition camera, the received information is sent to the control module, the operation of a first motor and a second motor is controlled through the control module, so that the robot is controlled to correspondingly move and work, and the power module is used for supplying power to the whole robot by an external power supply.
As preferable: the automobile body is provided with the storage tank for place and be used for depositing the maintenance instrument, open or close through the button that sets up on the controller man-machine interaction display screen one side of installation base still installs environment detection probe.
The robot of the utility model has the following functions:
1. the safety behavior examining function is achieved. When the actions of the operator crossing the maintenance isolation fence, opening the non-maintenance screen cabinet and the like are found, the on-site operator is reminded to observe the safety operation rules, and video evidence collection is recorded through the camera.
2. Has a remote assistance function. The inspection robot is provided with a WIFI and 5G communication module, and maintenance personnel can control the inspection robot by using mobile phone software, so that alarm information can be confirmed. The inspection robot can remotely make a call, view the screen and networking the functions, when the on-site maintenance personnel has insufficient skill level, the robot can establish networking, the remote personnel resources are utilized to assist in processing related technical problems, the expert consultation mode is used for completing defect processing, on-site maintenance, defect elimination and other work development are facilitated, and on-site maintenance, defect elimination and other work development are facilitated.
3. The relay protection device has an operation function of the relay protection device. The inspection robot can move to the appointed screen cabinet under the laser navigation positioning, and obtain the operation picture of the protection device through the auxiliary camera, after the position of the mechanical telescopic arm is adjusted, the telescopic thimble is released, the button of the device is touched, the thimble is provided with a pressure sensing function, and when the pressure reaches a certain value, the thimble rebounds, and one-time operation is completed.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
fig. 2 is a schematic structural view of an operation part in the present utility model;
fig. 3 is a schematic structural diagram of a control chip in the present utility model.
Detailed Description
The present utility model will be further described with reference to the drawings and examples below in order to more clearly understand the objects, technical solutions and advantages of the present utility model to those skilled in the art.
In the description of the present utility model, it should be understood that the terms "upper," "lower," "left," "right," "inner," "outer," "transverse," "vertical," and the like indicate or are based on the orientation or positional relationship shown in the drawings, and are merely for convenience in describing the present utility model, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, and thus should not be construed as limiting the utility model.
As shown in fig. 1, a multifunctional intelligent inspection robot comprises a robot body, the robot body comprises a moving part 1 at the bottom and an operating part 2 at the top, the moving part 1 and the operating part 2 are fixed through a mounting base 3 and controlled by a controller 4 arranged in the mounting base 3, the moving part 1 comprises a vehicle body 5 and wheels 6, the wheels 6 are arranged at the bottom of the vehicle body 5 and driven by a first motor 27, a laser navigation module 7, an obstacle avoidance radar 8 and an antenna 32 are respectively arranged on the vehicle body 5, the laser navigation module 7 and the obstacle avoidance radar 8 are all in circuit connection with the controller 4 and controlled by the controller 4, the laser navigation module 7 and the obstacle avoidance radar 8 are used for assisting the robot body to normally run so as to prevent the robot body from collision, and the antenna 32 is used for receiving an external remote equipment instruction by the controller 4 and controlling the robot body to move and work.
The operation part 2 comprises a camera 9, an operation desk 10 and a man-machine interaction display screen 11, which are all connected with a circuit of the controller 4 and controlled by the controller 4, wherein the camera 9 is connected with the installation base 3 through an electric telescopic rod 12, the camera 9 is arranged on the electric telescopic rod 12 far away from the end part on one side of the installation base 3, the operation desk 10 is arranged below one side of the camera 9, the operation desk 10 is arranged on the end part of a mechanical telescopic arm 31 extending out from the side of the electric telescopic rod 12, the electric telescopic rod 12 and the mechanical telescopic arm 31 are controlled by the controller 4, the operation desk 10 is operated after the vertical height of the operation desk 10 is adjusted through the mechanical telescopic arm 31, so as to finish the action instruction of touching a device button, the man-machine interaction display screen 11 with an NFC module 13 is arranged on the opposite side of the operation desk 10 below the camera 9, and a man-machine interaction interface is arranged on the man-machine interaction display screen 11, and the man-machine interaction display screen 13 is used for remotely giving an operation instruction to a robot.
The camera 9 is provided with a high-definition camera 14 and an infrared thermometer 15, wherein the high-definition camera 14 has a face recognition function and is used for monitoring identity information and states of on-site maintenance personnel, the infrared thermometer 15 is used for detecting objects or personnel nearby the robot, the high-definition camera 14 is matched with the infrared thermometer 15 to capture that non-admission personnel appear in a maintenance site, data are sent to the controller 4, and the voice alarm 16 arranged inside the robot body is controlled to send out voice alarms.
Be provided with supplementary high definition digtal camera 17 and laser rangefinder module 18 on the operation panel 10 respectively, all control through controller 4, wherein supplementary high definition digtal camera 17 is used for acquireing the protection device picture, laser rangefinder module 18 is used for the location when touching the device button, and still be provided with a rectangle guide rail 19 on the operation panel 10 under supplementary high definition digtal camera 17, the embedding of rectangle guide rail 19 is installed a scalable thimble 20, the diameter of scalable thimble 20 is the same with the width of rectangle guide rail 19, under the control of controller, be used for accomplishing the left and right displacement and the flexible action of scalable thimble 20 in rectangle guide rail 19.
The laser ranging module 18 is at least two laser ranging probes 22, one laser ranging probe 22 is disposed on one side close to the auxiliary high-definition camera 17, and the other laser ranging probe 22 is disposed at the bottom of the console 10 and located at a position right below the telescopic thimble 20.
The controller 4 is internally provided with a control chip 23, as shown in fig. 3, the control chip 23 is composed of a wireless module 24, a receiving module 25, a control module 26 and a power module 33, which are connected by a circuit, wherein the wireless module 24 is connected with an antenna 32 for the robot to have WIFI and 5G communication functions, and remotely receive information instructions of external connection devices, the receiving module 25 is used for respectively receiving information sent by the high-definition camera 14, the infrared thermometer 15, the laser navigation module 7, the obstacle avoidance radar 8, the auxiliary high-definition camera 17, the laser ranging probe 22 and the man-machine interaction display screen 11, and sending the received information to the control module 26, and the control module 26 controls the operation of the first motor 27 and the second motor 21, so as to control the robot to perform corresponding movement and work, and the power module 33 is used for externally connecting a power supply to supply power to the whole robot.
The car body 5 is provided with a storage box 29 for placing tools for maintenance, and is opened or closed by a button arranged on the man-machine interaction display screen 11 of the controller 4, and one side of the installation base 3 is also provided with an environment detection probe 30.
The robot of the utility model has the following functions:
1. the safety behavior examining function is achieved. When the actions of the operator crossing the maintenance isolation fence, opening the non-maintenance screen cabinet and the like are found, the on-site operator is reminded to observe the safety operation rules, video evidence collection is recorded, and the environment detection probe arranged through the on-site operator has the function of environment detection.
2. Has a remote assistance function. The inspection robot is provided with a WIFI and 5G communication module, and maintenance personnel can control the inspection robot by using mobile phone software, so that alarm information can be confirmed. The inspection robot can remotely make a call, view the screen and networking the functions, when the on-site maintenance personnel has insufficient skill level, the robot can establish networking, the remote personnel resources are utilized to assist in processing related technical problems, the expert consultation mode is used for completing defect processing, on-site maintenance, defect elimination and other work development are facilitated, and on-site maintenance, defect elimination and other work development are facilitated.
3. The relay protection device has an operation function of the relay protection device. The inspection robot can move to the appointed screen cabinet under the laser navigation positioning, and obtain the operation picture of the protection device through the auxiliary camera, after the position of the mechanical telescopic arm is adjusted, the telescopic thimble is released, the button of the device is touched, the thimble is provided with a pressure sensing function, and when the pressure reaches a certain value, the thimble rebounds, and one-time operation is completed.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In the embodiment, the multifunctional intelligent inspection robot is further described, the functions are described in more detail, and the functions are expanded, the high-definition camera has a face recognition function and is used for monitoring the identity information and the state of on-site maintenance personnel, when the robot captures that non-access personnel are allowed to appear in an inspection site, the robot automatically sends out voice alarm to prompt the robot to leave the site, and sends out remote alarm information to background monitoring. If the on-site operator is found to cross the maintenance isolation fence, the on-site operator is reminded to observe the safety operation rules when abnormal behaviors such as opening the non-maintenance screen cabinet are detected, and video evidence collection is recorded. When the cabinet door is opened temporarily during regular work and special inspection work, the cabinet door can be confirmed with the robot, and the robot is not tracked and monitored after being authorized.
The NFC module can be used for issuing 'two tickets' monitoring information to a robot, after the robot acquires the information, the robot automatically checks the identity information of personnel entering a production field, after checking, the robot automatically leads to the front of an overhaul screen cabinet, and the overhaul personnel are subjected to exchange of working contents, existing safety risks and precautionary measures, and the vision screen monitoring is started. When the operation and maintenance personnel are heard to execute the operation or the safety measures, the inspection robot automatically checks the content, and when the inspection robot is inconsistent with the two-ticket information, alarm information is sent to prompt the operation and maintenance personnel to check the operation content again. After the working procedures are finished, the inspection robot is directly located in an inspection area, and the inspection site is monitored by a screen. When other people outside the two tickets stay in the maintenance area, alarm information is sent out and the people leave the maintenance area. The function can be manually turned off when an emergency is eliminated.
The man-machine interaction display screen is used for a cloud cooperation function, and maintenance personnel can control the inspection robot and confirm alarm information. The inspection robot can remotely make a call, view a screen and networking, when the on-site maintainer has insufficient skill level, the robot can establish networking, the remote personnel resources are utilized to assist in processing related technical problems, the expert consultation mode is used for completing defect processing, and on-site maintenance, defect elimination and other work development are facilitated.
The auxiliary high-definition camera is used for acquiring a picture of the protection device and positioning, the picture is analyzed and calculated through software, the whole dynamic picture of the protection device and all operable virtual buttons are displayed, remote personnel can directly click the virtual buttons through a background, the inspection robot executes an operation instruction, the mechanical telescopic arm position is adjusted through a mechanism ranging function, the ejector pins extend out of the ejector pins, the device buttons are touched, the ejector pins are provided with a pressure sensing function, and when the pressure reaches a certain value, the ejector pins rebound, and one-time operation is completed. The storage box is used for storing quantitative maintenance tools, such as a universal meter, a screwdriver, an insulating tape, a cabinet door key and the like, and maintenance personnel can also operate to open the cabinet door of the storage cabinet through a man-machine interaction display screen, so that maintenance work is facilitated.
The whole function of the robot is summarized and mainly represented by the following points: when maintenance operators walk over maintenance isolation fences, go wrong equipment intervals, open non-maintenance screen cabinets and the like, the robot cannot realize effective monitoring and reminding; secondly, when the operation and maintenance personnel perform the operation and maintenance personnel 'two tickets' inaccurately, the alarm and prompt functions cannot be realized through the tracking and monitoring of the robot, and the result is likely to cause the occurrence of power safety accidents such as relay protection misoperation, switch tripping, unit disconnection and the like; thirdly, the man-machine interaction function is not strong, the 'cloud cooperation' can not be realized by effectively utilizing a platform of the robot, for example, when the skill level of on-site maintenance personnel is insufficient, networking can be established through the robot, related technical problems can be assisted to treat by utilizing 'remote personnel' resources, and the defect treatment can be finished in an 'expert consultation' mode.
In summary, in order to realize functions of autonomous inspection, two-ticket execution monitoring, security behavior inspection, man-machine interaction, environmental monitoring, infrared monitoring and the like, the inspection robot can play a role of a 'security small guard', and a multifunctional intelligent inspection robot needs to be provided.
The present utility model is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present utility model are intended to be included in the scope of the present utility model.
Claims (7)
1. The utility model provides a robot is patrolled and examined to multi-functional intelligence, includes the robot body, its characterized in that: the robot body comprises a moving part (1) at the bottom and an operating part (2) at the top, the moving part (1) and the operating part (2) are fixed through a mounting base (3) and controlled by a controller (4) arranged in the mounting base (3), the moving part (1) comprises a vehicle body (5) and wheels (6), the wheels (6) are arranged at the bottom of the vehicle body (5) and driven by a first motor (27), a laser navigation module (7) is arranged on the vehicle body (5) respectively, an obstacle avoidance radar (8) and an antenna (32), the laser navigation module (7) and the obstacle avoidance radar (8) are connected with a controller (4) in a circuit manner and are controlled by the controller (4), the laser navigation module (7) and the obstacle avoidance radar (8) are used for assisting the robot body to normally run so as to prevent the robot body from collision, and the antenna (32) is used for receiving an external remote equipment instruction by the controller (4) so as to control the robot body to move and work.
2. The multifunctional intelligent inspection robot according to claim 1, wherein: the operation portion (2) comprises a camera (9), an operation table (10) and a human-computer interaction display screen (11), the operation table (10) and the human-computer interaction display screen (11) are connected with a controller (4) in a circuit mode, the controller (4) is used for controlling the operation table, the camera (9) is connected with an installation base (3) through an electric telescopic rod (12), the camera (9) is arranged at the end portion of one side of the installation base (3) far away from the electric telescopic rod (12), the operation table (10) is arranged below one side of the camera (9), the operation table (10) is arranged at the end portion of a mechanical telescopic arm (31) extending out of the side of the electric telescopic rod (12), the electric telescopic rod (12) and the mechanical telescopic arm (31) are controlled by the controller (4), the operation table (10) is operated after the vertical height of the operation table (10) is adjusted through controlling the mechanical telescopic arm (31) so as to finish an action instruction of a touch device button, the human-computer interaction display screen (11) with an NFC module (13) is arranged below the installation base (9), and the human-computer interaction display screen (11) is arranged on one side of the camera (10), and the human-computer interaction display screen (13) is arranged on the opposite side of the camera (11), and the human-computer interaction display screen is controlled by the human-computer interaction display screen.
3. The multifunctional intelligent inspection robot according to claim 2, wherein: be provided with high definition digtal camera (14) and infrared thermoscope (15) on camera (9), wherein high definition digtal camera (14) possess face identification function for monitoring on-the-spot maintenance personnel identity information and state, infrared thermoscope (15) are used for detecting near object or the personnel of robot, and high definition digtal camera (14) join in marriage and infrared thermoscope (15) catch and do not allow entering personnel to appear when the maintenance scene, send data to controller (4), control voice alarm (16) that set up inside the robot body send out the voice alarm.
4. The multifunctional intelligent inspection robot according to claim 2, wherein: be provided with auxiliary high definition digtal camera (17) and laser rangefinder module (18) on operation panel (10) respectively, all control through controller (4), wherein auxiliary high definition digtal camera (17) are used for acquireing the protection device picture, location when laser rangefinder module (18) are used for touching the device button, and still be provided with a rectangle guide rail (19) on operation panel (10) under auxiliary high definition digtal camera (17), scalable thimble (20) are installed to embedding in rectangle guide rail (19), the diameter of scalable thimble (20) is the same with the width of rectangle guide rail (19), under the control of controller, be used for accomplishing the left and right displacement and the flexible action of scalable thimble (20) in rectangle guide rail (19).
5. The multi-functional intelligent inspection robot of claim 4, wherein: the laser ranging module (18) is at least two laser ranging probes (22), one laser ranging probe (22) is arranged on one side close to the auxiliary high-definition camera (17), and the other laser ranging probe (22) is arranged at the bottom of the operating platform (10) and is located at a position right below the telescopic thimble (20).
6. The multifunctional intelligent patrol robot according to any one of claims 1-4, wherein: the controller (4) is internally provided with a control chip (23), the control chip (23) is composed of a wireless module (24), a receiving module (25), a control module (26) and a power module (33), wherein the wireless module (24) is connected with an antenna (32) for the robot to have WIFI and 5G communication functions, and remotely receive information instructions of external connection equipment, the receiving module (25) is used for respectively receiving a high-definition camera (14), an infrared thermometer (15), a laser navigation module (7), an obstacle avoidance radar (8), an auxiliary high-definition camera (17), a laser ranging probe (22) and information sent by a human-computer interaction display screen (11), and the received information is sent to the control module (26), the operation of a first motor (27) and a second motor (21) is controlled through the control module (26), so that the robot is controlled to correspondingly move and work, and the power module (33) is used for externally connecting a power supply.
7. The multifunctional intelligent inspection robot according to claim 1, wherein: the vehicle body (5) is provided with a storage box (29) for placing and storing maintenance tools, and is opened or closed through a button arranged on a human-computer interaction display screen (11) of a controller (4), and one side of the installation base (3) is also provided with an environment detection probe (30).
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| CN202221490760.1U CN219293985U (en) | 2022-06-15 | 2022-06-15 | Multifunctional intelligent inspection robot |
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| CN202221490760.1U CN219293985U (en) | 2022-06-15 | 2022-06-15 | Multifunctional intelligent inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284305A (en) * | 2022-06-15 | 2022-11-04 | 淮浙煤电有限责任公司凤台发电分公司 | Multifunctional intelligent inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284305A (en) * | 2022-06-15 | 2022-11-04 | 淮浙煤电有限责任公司凤台发电分公司 | Multifunctional intelligent inspection robot |
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