CN220500620U - Quick inspection device of block terminal based on mobile robot - Google Patents
Quick inspection device of block terminal based on mobile robot Download PDFInfo
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- CN220500620U CN220500620U CN202322224997.6U CN202322224997U CN220500620U CN 220500620 U CN220500620 U CN 220500620U CN 202322224997 U CN202322224997 U CN 202322224997U CN 220500620 U CN220500620 U CN 220500620U
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- 238000007689 inspection Methods 0.000 title claims abstract description 44
- 238000001514 detection method Methods 0.000 abstract description 11
- 230000009286 beneficial effect Effects 0.000 abstract description 7
- 230000001681 protective effect Effects 0.000 description 11
- 230000000007 visual effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 125000004122 cyclic group Chemical group 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
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Abstract
The utility model discloses a power distribution room rapid inspection device based on a mobile robot, which comprises a vehicle body, wherein a controller and a lifting structure are arranged on the vehicle body, the lifting structure comprises a first screw slide seat, the controller and the first screw slide seat are detachably connected with the vehicle body, a second screw slide seat is arranged on the first screw slide seat, the second screw slide seat is mutually perpendicular to the first screw slide seat and is in sliding connection with the first screw slide seat along the X axis, a third screw slide seat is arranged on the second screw slide seat, the third screw slide seat is mutually parallel to the second screw slide seat, one side of the third screw slide seat is in sliding connection with the second screw slide seat along the Z axis, a tripod head camera is arranged on the other side of the third screw slide seat, the tripod head camera is in sliding connection with the third screw slide seat along the Z axis, and the vehicle body, the first screw slide seat, the second screw slide seat, the third screw slide seat and the tripod head camera are all electrically connected with the controller. The beneficial effects of the utility model are as follows: and the detection range is enlarged.
Description
Technical Field
The utility model relates to the technical field related to mobile robots, in particular to a fast inspection device for a distribution room based on a mobile robot.
Background
Under the large background of the national power grid pushing the digital new foundation, unmanned operation and maintenance become the development trend of the intelligent power grid. Therefore, the robot technology, the artificial intelligence technology and the electric power technology are fused, and unmanned inspection of the power station is realized through the intelligent robot, so that the development trend of the intelligent power grid is realized.
Unmanned inspection adopts intelligent inspection trolley to replace manual inspection, and on the basis of protecting the safety of power station staff, not only reduces the labor cost, but also can detect the power station instrument with high efficiency and accuracy. Detection equipment such as visible light camera and infrared camera have been carried on the intelligent inspection dolly generally, and according to the route of patrolling and examining that sets for, when the intelligent inspection dolly moved to the inspection point position, the visual light camera and infrared camera aimed at waiting to detect the instrument and shoot the task, based on intelligent image algorithm, handled the data of gathering, finally obtained whether the operating condition of instrument is normal.
Traditional intelligent inspection robot is to indoor inspection, generally will detect the instrument that needs to be used, like: the visible light camera and the infrared camera are fixedly arranged at a certain position on the robot, and the equipment is detected by moving the robot. The traditional robot inspection mode has obvious defects in the scene of higher cabinet facing, scattered instrument positions, more instruments and multiple rows of cabinet bodies.
(1) Under the inspection scene that the cabinet body facing the detection is large and the distribution positions of the instruments on different cabinets are different, the traditional robot inspection method has a limited detection range and cannot exceed the position where the robot itself fixes the visual angle of the detection instrument, so that the indoor instruments cannot be subjected to full-coverage detection.
(2) Under the scene of the multirow cabinet body in face, need the robot round trip movement to detect the cabinet body of two directions, greatly reduced inspection efficiency like this.
Disclosure of Invention
The utility model provides a mobile robot-based power distribution room rapid inspection device which is beneficial to expanding the detection range, and aims to overcome the defect of limited detection range in the prior art when a robot is inspected.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
the utility model provides a quick inspection device of block room based on mobile robot, it includes the automobile body, be equipped with controller and elevation structure on the automobile body, elevation structure includes first lead screw slide, first all can dismantle with the automobile body and be connected with the automobile body controller and first lead screw slide, be equipped with second lead screw slide on the first lead screw slide, second lead screw slide and first mutually perpendicular of lead screw slide and follow X axial and first sliding connection of lead screw slide, be equipped with third lead screw slide on the second lead screw slide, third mutually parallel of lead screw slide and second lead screw slide, one side of third lead screw slide is along Z axial and second sliding connection of lead screw slide, the opposite side of third lead screw slide is equipped with the cloud platform camera, cloud platform camera is along Z axial and third sliding connection of lead screw slide, automobile body, first lead screw slide, third and the cloud platform camera of lead screw slide all are connected with the controller electricity.
The lifting structure comprises a first screw slide seat, the first screw slide seat is detachably connected with the vehicle body, a second screw slide seat is arranged on the first screw slide seat, the second screw slide seat is perpendicular to the first screw slide seat and is in sliding connection with the first screw slide seat along the X axis, a third screw slide seat is arranged on the second screw slide seat, the third screw slide seat is parallel to the second screw slide seat, one side of the third screw slide seat is in sliding connection with the second screw slide seat along the Z axis, a tripod head camera is arranged on the other side of the third screw slide seat, the tripod head camera is in sliding connection with the third screw slide seat along the Z axis, and the vehicle body, the first screw slide seat, the second screw slide seat, the third screw slide seat and the tripod head camera are all electrically connected with the controller. The first screw rod sliding seat, the second screw rod sliding seat and the third screw rod sliding seat are integrated with the motor and the screw rod, the motor is electrically connected with the controller, the controller controls the working state of the motor, and the screw rod is driven by the motor to realize linear motion, so that the screw rod sliding seat is not specifically unfolded; the cradle head camera is controlled to move to a proper shooting point, and when shooting is carried out on the inspection point position: when the instrument of the higher equipment to be inspected shoots a task, the controller controls the second screw slide seat to drive the third screw slide seat to move upwards, and controls the third screw slide seat to drive the tripod head camera to move upwards, so that the aim of improving the positive direction visual field of the Y axis is fulfilled; when facing the shooting task that the instrument is positioned at the lower part of the equipment to be inspected, the first screw slide seat is controlled to drive the equipment above the first screw slide seat to move backwards, then the second screw slide seat is controlled by the controller to drive the second screw slide seat to move downwards, and the third screw slide seat is controlled to drive the tripod head camera to move downwards, so that the purpose of improving the field of view in the Y-axis negative direction is achieved, and the purpose of being beneficial to expanding the detection range is achieved.
Preferably, the one end of automobile body is fixed with the protective housing, controller demountable installation is in the protective housing, elevation structure is located the other end of automobile body, the one end of lead screw slide is close to the protective housing, the other end of lead screw slide is kept away from the protective housing, the one end of lead screw slide is kept away from the protective housing is outwards extended towards the other end of automobile body and is unsettled state, and the controller of being convenient for controls lead screw slide two to drive lead screw slide three-way and reciprocates, and control lead screw slide three drives the pan-tilt camera and moves down, reaches the purpose that improves Y axle negative direction field of vision to do benefit to the purpose that enlarges the detection range.
Preferably, the screw rod sliding seat III is provided with a supporting block which is mutually perpendicular to the screw rod sliding seat III, the supporting block is in sliding connection with the screw rod sliding seat III along the Z axis, and the cradle head camera is positioned on the supporting block and is detachably connected with the supporting block.
Preferably, the cradle head camera comprises a cradle head, the bottom of the cradle head is detachably connected with the supporting block, the top of the cradle head is provided with an infrared thermal imager and a visible light camera, the infrared thermal imager and the visible light camera are respectively connected to the left side and the right side of the cradle head, the infrared thermal imager and the visible light camera can respectively rotate around a horizontal shaft and a vertical shaft through the cradle head, and the cradle head, the infrared thermal imager and the visible light camera are electrically connected with the controller.
Preferably, the support block is provided with an electric cylinder, the electric cylinder is electrically connected with the controller, the electric cylinder is detachably connected with the support block, the electric cylinder is positioned between the screw rod sliding seat III and the cradle head camera, and the telescopic end of the electric cylinder is provided with wiping components respectively corresponding to the thermal infrared imager and the visible light camera. Because the shooting lenses of the thermal infrared imager and the visible light camera are often exposed in the air, pollutants such as dust are easy to adhere to the shooting lenses, so that the definition of the shot images is influenced; when the shooting lenses of the thermal infrared imager and the visible light camera are required to be cleaned, the controller controls the cradle head to rotate a certain angle, so that the thermal infrared imager and the visible light camera are respectively corresponding to the wiping component, then the controller controls the electric cylinder to work, so that the wiping component moves upwards to be at the same height as and in contact with the thermal infrared imager and the visible light camera, and the wiping component wipes the shooting lenses of the thermal infrared imager and the visible light camera, thereby being beneficial to improving the definition of shot images, and being simple in operation, convenient and quick.
Preferably, the wiping component comprises a mounting frame, the telescopic end of the electric cylinder is fixedly connected with the mounting frame, two servo motors corresponding to the thermal infrared imager and the visible light camera are arranged on the mounting frame respectively, the servo motors are detachably connected with the mounting frame, and wiping blocks are fixed at the output ends of the servo motors. When the wiping component works, the servo motor drives the wiping block to rotate for wiping, and the operation is simple, convenient and quick.
Preferably, the mounting frame comprises a bottom plate and a vertical plate, the vertical plate is fixedly connected with the bottom plate and forms an L-shaped structure, the telescopic end of the electric cylinder is fixedly connected with the bottom of the bottom plate, the servo motor is detachably connected with the vertical plate, the shape of the wiping block is circular, the edge of the wiping block is fixedly provided with a convex rib, the top of the bottom plate is provided with an arc-shaped limit groove matched with the convex rib, the wiping block is rotationally connected with the limit groove in a matched mode through the convex rib under the driving of the servo motor, one side of the wiping block is located on the bottom plate and is detachably connected with the output end of the servo motor, and the other side corresponding to the wiping block is a wiping surface and is located outside the bottom plate and is in a suspended shape. The wiping block is driven by the servo motor to be in matched rotation connection with the limit groove through the convex rib, so that stable rotation of the wiping block is facilitated, and the stability of the structure is improved; the other side corresponding to the wiping block is a wiping surface which is positioned outside the bottom plate and is suspended, so that the corresponding wiping surface can be fully contacted with the shooting lenses of the thermal infrared imager and the visible light camera.
The beneficial effects of the utility model are as follows: the detection range is enlarged; the inspection efficiency is improved; the inspection vehicle adopts the screw rod module to lift, so that the lifting height can be automatically adjusted, and the wide view angle of the pan-tilt camera can meet the inspection requirements of different inspection points of a power distribution room, and the inspection vehicle can be efficiently adapted to and applied to various inspection occasions of power equipment; the acquired instrument pictures are guaranteed to have good consistency; the method is beneficial to improving the definition of the shot image, and is simple to operate, convenient and quick.
Drawings
FIGS. 1 and 2 are schematic views of the structure of the present utility model;
fig. 3 is an enlarged view of the structure at a in fig. 2;
fig. 4 is a schematic structural view of the mounting frame.
In the figure: 1. the device comprises a vehicle body, a lifting structure, a screw rod sliding seat I, a screw rod sliding seat II, a screw rod sliding seat III, a cradle head camera, a protective box 7, a supporting block 8, a cradle head 9, a thermal infrared imager 10, a visible light camera 11, an electric cylinder 13, a mounting frame 14, a servo motor 15, a wiping block 16, a bottom plate 17, a vertical plate 18, convex ribs 19, a limiting groove 20 and a wiping surface.
Detailed Description
The utility model is further described below with reference to the drawings and detailed description.
In the embodiment shown in fig. 1 and 2, a fast inspection device for a power distribution room based on a mobile robot comprises a car body 1, wherein a controller and a lifting structure 2 are arranged on the car body 1, the lifting structure 2 comprises a first screw slide seat 3, the controller and the first screw slide seat 3 are detachably connected with the car body 1, a second screw slide seat 4 is arranged on the first screw slide seat 3, the second screw slide seat 4 is perpendicular to the first screw slide seat 3 and is in sliding connection with the first screw slide seat 3 along the X axis, a third screw slide seat 5 is arranged on the second screw slide seat 4, the third screw slide seat 5 is parallel to the second screw slide seat 4, one side of the third screw slide seat 5 is in sliding connection with the second screw slide seat 4 along the Z axis, a tripod head camera 6 is arranged on the other side of the third screw slide seat 5, and the tripod head camera 6 is in sliding connection with the third screw slide seat 5 along the Z axis, and the car body 1, the first screw slide seat 4, the third screw slide seat 5 and the tripod head camera 6 are electrically connected with the controller.
One end of automobile body 1 is fixed with protective housing 7, and controller demountable installation is in protective housing 7, and elevation structure 2 is located the other end of automobile body 1, and the one end of lead screw slide one 3 is close to protective housing 7, and protective housing 7 is kept away from to the other end of lead screw slide one 3, and the one end that protective housing 7 was kept away from to lead screw slide one 3 outwards extends towards the other end of automobile body 1 and is unsettled state.
The screw rod sliding seat III 5 is provided with a supporting block 8 which is mutually perpendicular to the screw rod sliding seat III 5, the supporting block 8 is in sliding connection with the screw rod sliding seat III 5 along the Z axis, and the cradle head camera 6 is positioned on the supporting block 8 and is detachably connected with the supporting block 8.
The cradle head camera 6 comprises a cradle head 9, the bottom of the cradle head 9 is detachably connected with a supporting block 8, the top of the cradle head 9 is provided with an infrared thermal imager 10 and a visible light camera 11, the infrared thermal imager 10 and the visible light camera 11 are respectively connected to the left side and the right side of the cradle head 9, the infrared thermal imager 10 and the visible light camera 11 can respectively rotate around a horizontal shaft and a vertical shaft through the cradle head 9, and the cradle head 9, the infrared thermal imager 10 and the visible light camera 11 are electrically connected with a controller.
As shown in fig. 3, an electric cylinder 12 is arranged on the supporting block 8, the electric cylinder 12 is electrically connected with the controller, the electric cylinder 12 is detachably connected with the supporting block 8, the electric cylinder 12 is positioned between the screw rod sliding seat III 5 and the cradle head camera 6, and a wiping component respectively corresponding to the thermal infrared imager 10 and the visible light camera 11 is arranged on the telescopic end of the electric cylinder 12.
As shown in fig. 3 and 4, the wiping component comprises a mounting frame 13, the telescopic end of the electric cylinder 12 is fixedly connected with the mounting frame 13, two servo motors 14 corresponding to the thermal infrared imager 10 and the visible light camera 11 are arranged on the mounting frame 13, the servo motors 14 are detachably connected with the mounting frame 13, and wiping blocks 15 are fixed on the output ends of the servo motors 14.
As shown in fig. 3 and 4, the mounting frame 13 comprises a bottom plate 16 and a vertical plate 17, the vertical plate 17 is fixedly connected with the bottom plate 16 and forms an L-shaped structure, the telescopic end of the electric cylinder 12 is fixedly connected with the bottom of the bottom plate 16, the servo motor 14 is detachably connected with the vertical plate 17, the wiping block 15 is circular in shape, the edge of the wiping block 15 is fixedly provided with a convex rib 18, the top of the bottom plate 16 is provided with an arc-shaped limit groove 19 matched with the convex rib 18, the wiping block 15 is rotationally connected with the limit groove 19 in a matched manner through the convex rib 18 under the driving of the servo motor 14, one side of the wiping block 15 is positioned on the bottom plate 16 and detachably connected with the output end of the servo motor 14, and the other side corresponding to the wiping block 15 is a wiping surface 20 and positioned outside the bottom plate 16 and is in a suspended shape.
Since the photographing lenses of the thermal infrared imager 10 and the visible light camera 11 are often exposed to the air, contaminants such as dust easily adhere to the photographing lenses, thereby affecting the sharpness of photographed images; when the photographing lenses of the thermal infrared imager 10 and the visible light camera 11 need to be cleaned, the controller controls the cradle head 9 to rotate by a certain angle, so that the thermal infrared imager 10 and the visible light camera 11 respectively correspond to the corresponding wiping blocks 15, then the controller controls the operation, so that the wiping blocks 15 move upwards to be at the same height as the thermal infrared imager 10 and the visible light camera 11 and contact with the same, and when the photographing lenses of the thermal infrared imager 10 and the visible light camera 11 are wiped by the wiping blocks 15, the wiping blocks 15 are driven by the servo motor 14 to rotate to wipe the wiping surfaces 20, thereby being beneficial to improving the definition of photographed images, and the device is simple to operate, convenient and quick.
The specific implementation steps of the inspection device are as follows:
step one, the inspection vehicle runs to the corresponding position of each equipment to be inspected in a manual remote control mode;
step two, controlling the lifting structure 2, the lifted thermal infrared imager 10, the visible light camera 11 and the cradle head 9, sequentially recording positioning information of the inspection vehicle, lifting height of the lifting structure 2, rotation angle of the cradle head 9 and focusing parameters of the visible light camera 11, and generating a three-dimensional map of a driving route to serve as a daily inspection control system; the indoor navigation system of the inspection vehicle is characterized in that a two-dimensional code is identified through a visual sensor, a high-precision two-dimensional code map of a power station machine room to be inspected is constructed through multi-camera multi-plane two-dimensional code positioning, and indoor positioning precision reaches +/-10 mm;
step three, the inspection vehicle performs inspection according to the set inspection route;
step four, the cradle head camera 6 is controlled to move to a proper shooting point position, and the inspection point position is shot: when the instrument of higher equipment to be patrolled and examined shoots the task, the controller controls the second screw slide seat 4 to drive the third screw slide seat 5 to move upwards, and controls the third screw slide seat 5 to drive the tripod head camera 6 to move upwards, so that the aim of improving the positive direction visual field of the Y axis is fulfilled; when facing the shooting task that the instrument is positioned at the lower part of the equipment to be inspected, firstly the first screw slide seat 3 is controlled to drive the equipment above the first screw slide seat to move backwards, then the second screw slide seat 4 is controlled by the controller to drive the third screw slide seat 5 to move downwards, and the third screw slide seat 5 is controlled to drive the tripod head camera 6 to move downwards, so that the purpose of improving the field of view in the negative direction of the Y axis is achieved.
In the fourth step, when the inspection vehicle is located between two devices to be inspected, one of the devices to be inspected is photographed, then the pan-tilt camera 6180 ° is rotated, and the height is adjusted by the lifting structure 2 to continue photographing the other device to be inspected.
Before the shooting task is executed, the pan-tilt camera 6 is subjected to cyclic alignment, and when the pan-tilt camera 6 moves to a proper shooting point, the angle of the pan-tilt 9 is adjusted to be optimal by carrying out cyclic alignment through a reference object which is selected in advance.
Claims (7)
1. The utility model provides a quick inspection device of block room based on mobile robot, characterized by, including automobile body (1), be equipped with controller and elevation structure (2) on automobile body (1), elevation structure (2) include lead screw slide one (3), controller and lead screw slide one (3) all can dismantle with automobile body (1) and be connected, be equipped with lead screw slide two (4) on lead screw slide one (3), lead screw slide two (4) and lead screw slide one (3) mutually perpendicular and along X axial and lead screw slide one (3) sliding connection, be equipped with lead screw slide three (5) on lead screw slide two (4), lead screw slide three (5) are parallel to lead screw slide two (4) each other, one side of lead screw slide three (5) is followed Z axial and is followed lead screw slide two (4) sliding connection, the opposite side of lead screw slide three (5) is equipped with cloud platform camera (6), cloud platform camera (6) are followed Z axial and are followed lead screw slide three (5) sliding connection, automobile body (1), one (3), two (4), three (4) of lead screw slide and lead screw slide three (6) all are connected with lead screw camera (6).
2. The rapid inspection device for the power distribution room based on the mobile robot according to claim 1, wherein a protecting box (7) is fixed at one end of the car body (1), the controller is detachably arranged in the protecting box (7), the lifting structure (2) is located at the other end of the car body (1), one end of the screw sliding seat (3) is close to the protecting box (7), the other end of the screw sliding seat (3) is far away from the protecting box (7), and one end of the screw sliding seat (3) far away from the protecting box (7) is outwards extended towards the other end of the car body (1) to be in a suspended state.
3. The rapid inspection device for the power distribution room based on the mobile robot according to claim 1, wherein the screw rod sliding seat III (5) is provided with a supporting block (8) perpendicular to the screw rod sliding seat III (5), the supporting block (8) is in sliding connection with the screw rod sliding seat III (5) along the Z-axis, and the cradle head camera (6) is positioned on the supporting block (8) and is detachably connected with the supporting block (8).
4. The rapid inspection device for the power distribution room based on the mobile robot is characterized in that the cradle head camera (6) comprises a cradle head (9), the bottom of the cradle head (9) is detachably connected with a supporting block (8), an infrared thermal imager (10) and a visible light camera (11) are arranged at the top of the cradle head (9), the infrared thermal imager (10) and the visible light camera (11) are respectively connected to the left side and the right side of the cradle head (9), the infrared thermal imager (10) and the visible light camera (11) can respectively rotate around a horizontal shaft and a vertical shaft through the cradle head (9), and the cradle head (9), the infrared thermal imager (10) and the visible light camera (11) are electrically connected with a controller.
5. The rapid inspection device for the power distribution room based on the mobile robot, as claimed in claim 4, is characterized in that an electric cylinder (12) is arranged on the supporting block (8), the electric cylinder (12) is electrically connected with the controller, the electric cylinder (12) is detachably connected with the supporting block (8), the electric cylinder (12) is positioned between the screw rod sliding seat III (5) and the cradle head camera (6), and wiping components corresponding to the thermal infrared imager (10) and the visible light camera (11) are arranged on the telescopic end of the electric cylinder (12).
6. The rapid inspection device for the power distribution room based on the mobile robot according to claim 5, wherein the wiping component comprises a mounting frame (13), the telescopic end of the electric cylinder (12) is fixedly connected with the mounting frame (13), two servo motors (14) corresponding to the thermal infrared imager (10) and the visible light camera (11) are arranged on the mounting frame (13), the servo motors (14) are detachably connected with the mounting frame (13), and wiping blocks (15) are fixed on the output end of the servo motors (14).
7. The rapid inspection device for a power distribution room based on a mobile robot according to claim 6, wherein the mounting frame (13) comprises a bottom plate (16) and a vertical plate (17), the vertical plate (17) is fixedly connected with the bottom plate (16) and forms an L-shaped structure, the telescopic end of the electric cylinder (12) is fixedly connected with the bottom of the bottom plate (16), the servo motor (14) is detachably connected with the vertical plate (17), the wiping block (15) is circular in shape, the edge of the wiping block (15) is fixedly provided with a convex rib (18), the top of the bottom plate (16) is provided with an arc-shaped limiting groove (19) matched with the convex rib (18), the wiping block (15) is rotationally connected with the limiting groove (19) in a matched mode under the driving of the servo motor (14), one side of the wiping block (15) is located on the bottom plate (16) and is detachably connected with the output end of the servo motor (14), and the other side corresponding to the wiping block (15) is a wiping surface (20) and is located outside the bottom plate (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322224997.6U CN220500620U (en) | 2023-08-18 | 2023-08-18 | Quick inspection device of block terminal based on mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322224997.6U CN220500620U (en) | 2023-08-18 | 2023-08-18 | Quick inspection device of block terminal based on mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220500620U true CN220500620U (en) | 2024-02-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322224997.6U Active CN220500620U (en) | 2023-08-18 | 2023-08-18 | Quick inspection device of block terminal based on mobile robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN220500620U (en) |
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2023
- 2023-08-18 CN CN202322224997.6U patent/CN220500620U/en active Active
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