KR20220033763A - Unmanned vehicle for monitoring power facilities - Google Patents

Abstract

The present invention relates to an unmanned vehicle for monitoring power facilities. The unmanned vehicle for monitoring power facilities comprises: a vehicle body; a base frame part installed in the vehicle body and including a first support shaft and a second support shaft installed in parallel with the first support shaft; a wheel connecting part including a pair of first boom units installed vertically at both ends of the first support shaft and provided to be rotatable, and a pair of second boom units installed vertically at both ends of the second support shaft and provided to be rotatable; a driving wheel part including multiple omnidirectional wheels installed at both ends of the pair of first boom units and at both ends of the pair of second boom units and provided to be movable in all directions; and a control part provided in the vehicle body to control driving of the driving wheel part, and controlling the wheel connecting part so that a level and inclination of the vehicle body can be adjusted in consideration of driving directions and surrounding obstacles.

Description

Unmanned mobile device for monitoring power facilities

The present invention relates to an unmanned mobile device for monitoring power facilities, and more particularly, to an unmanned mobile device for monitoring power facilities that facilitates inspection of power facilities with a narrow internal space.

Since the internal space for inspecting power facilities such as substations and power outlets exposed outdoors is narrow, it is difficult for workers to move and it is difficult for workers wearing safety equipment to work with facility diagnosis equipment.

Conventionally, facilities are checked using drones for flying, but substations exposed outdoors have a high risk of accidents due to interference with incoming and outgoing lines, and underground power outlets are difficult to receive GPS signals and difficult to secure flight space There was a limit to checking with a flying drone.

Recently, ground-type unmanned vehicles have been attempted, but since it is difficult to move the unmanned objects due to various obstacles installed on the ground, there is a problem that a separate monitoring road must be installed in the power facility to move the unmanned objects. Therefore, there is no need to install a separate monitoring road, and there is a need for an unmanned ground vehicle that can travel freely even in the presence of obstacles.

The background technology of the present invention is disclosed in Korean Patent Laid-Open Publication No. 10-2010-0111263 (published on October 14, 2010, title of the invention: power facility inspection device using an unmanned aerial vehicle).

The present invention has been devised to solve the above-described problems, and includes a rotatable first boom and a second boom, and an omnidirectional wheel, and can freely climb high obstacles and stairs, etc., An object of the present invention is to provide an unmanned mobile device for monitoring power facilities that can be driven while maintaining an angle.

The present invention is provided with an omnidirectional wheel to freely travel in a narrow space only with the movement of the wheel, thereby smoothly inspecting power facilities such as substations and electric power outlets exposed outdoors with a narrow internal space Unmanned movement for power facility monitoring The purpose is to provide a device.

The present invention can be directly put into a place where the ground is weak, a place where it is difficult to identify the cause of the failure due to human input due to a serious equipment failure, and a place where it is difficult to identify the cause of the failure by human viewing angle, etc. An object of the present invention is to provide an unmanned mobile device for monitoring power facilities.

In order to achieve the above object, an unmanned moving device for monitoring power facilities according to the present invention includes a body part and a second support shaft installed in the body part and installed in parallel to a first support shaft and the first support shaft A base frame unit, a pair of first boom units installed vertically on both ends of the first support shaft and rotatably provided, and a pair of vertically installed on both ends of the second support shaft and rotatably provided A wheel connecting portion including a second boom portion of a traveling wheel unit including a direction wheel; and a control unit provided in the body part and controlling the driving of the driving wheel part and controlling the wheel connection part to adjust the height and inclination of the body part in consideration of the driving direction and obstacles sensed in the surroundings do.

It is installed on the body part, further comprising a sensing unit for detecting the height of the obstacle, wherein the control unit controls the first boom unit and the second boom unit based on the height of the obstacle detected by the sensing unit can be characterized.

The first boom unit includes a first rotating shaft rotatably installed at both ends of the first supporting shaft, and a first boom coupled to the first rotating shaft and rotatably provided about the first rotating shaft; and a first rotation motor coupled to the first rotation shaft to provide a driving force for rotating the first boom and controlled by the control unit.

The second boom unit includes a second rotating shaft rotatably installed at both ends of the second support shaft, and a second boom unit coupled to the second rotating shaft and rotatably provided about the second rotating shaft; and a second rotation motor coupled to the second rotation shaft to provide a driving force for rotating the second boom and to be controlled by the control unit.

The first boom and the second boom includes a telescopic portion, the telescopic portion is provided slidably to extend and contract in the longitudinal direction, and a plurality of telescopic booms provided in multiple stages so as to overlap each other; And, it may be characterized in that it comprises a telescopic driving unit connected to the telescopic boom to slide and move so that the telescopic boom is extended or contracted and controlled by the control unit.

The control unit controls the wheel connection unit to drive while maintaining a reference angle that is an angle within a predetermined range with the ground when the vehicle body part is driven on a slope, and the control unit controls the first rotation motor when the slope of the slope is within a set range. and driving at least one of the second rotation motor to control the body part to maintain a reference angle, and when the slope of the slope exceeds a set range, at least one of the first rotation motor and the second rotation motor and the telescopic It may be characterized in that the driving unit is driven to control the cumbersome body part to maintain a reference angle.

When the height of the obstacle is within a set range, the control unit controls the height of the vehicle body by driving the first rotary motor and the second rotary motor, and when the height of the obstacle exceeds the set range, the first rotary motor and It may be characterized in that it is provided to adjust the height of the vehicle body part by driving the second rotary motor and the telescopic driving part.

The traveling wheel portion includes a first forward wheel mounted to one end in the longitudinal direction of the first boom unit, a second forward wheel mounted to the other end in the longitudinal direction of the first boom unit, and the second boom It may be characterized in that it comprises a third omnidirectional wheel mounted to one end in the longitudinal direction of the main unit, and a fourth omnidirectional wheel mounted to the other end in the longitudinal direction of the second boom unit.

The driving wheel part includes a first wheel driving part coupled to a wheel shaft of the first omnidirectional wheel to rotate the first omnidirectional wheel and controlled by the control unit, and a wheel shaft coupled to the second omnidirectional wheel to rotate the second omnidirectional wheel a second wheel driving unit which rotates the omnidirectional wheel and controlled by the control unit; and a third wheel driving unit coupled to a wheel shaft of the third omnidirectional wheel to rotate the third omnidirectional wheel and controlled by the control unit; and a fourth wheel driving unit coupled to a wheel shaft of the fourth omnidirectional wheel to rotate the fourth omnidirectional wheel and controlled by the control unit, wherein the control unit includes the first wheel driving unit, the second wheel driving unit and the It may be characterized in that the third wheel driving unit and the fourth wheel driving unit are controlled to be driven independently.

As such, the unmanned moving device for monitoring power facilities according to an embodiment of the present invention includes a rotatable first boom unit and a second boom unit, and an omnidirectional wheel, so that it can freely climb obstacles and stairs with a height, etc., and In this case, the vehicle body may be driven while maintaining a predetermined angle.

In addition, according to an embodiment of the present invention, it is possible to freely travel in a narrow space only by movement of the omnidirectional wheel by providing the omnidirectional wheel. Accordingly, if the present invention is used, it is possible to smoothly check power facilities such as substations and power outlets exposed outdoors with a narrow internal space.

Therefore, when the present invention is used, it is directly put into a place where the ground is weak, an extreme environment where it is difficult to identify the cause of the failure due to the input of manpower due to a serious equipment failure, and a place where it is difficult to identify the cause of the failure with the human view angle, etc. can be visually confirmed.

1 is a top view schematically showing the configuration of an unmanned mobile device for monitoring power facilities according to an embodiment of the present invention.
2 is a front view illustrating a front of a driving wheel part according to an embodiment of the present invention.
3 and 4 schematically show an unmanned mobile device for monitoring power facilities according to an embodiment of the present invention, and is a view showing that the height of the vehicle body is adjusted according to the operation of the wheel connection part.
5 is a diagram illustrating an operation on a slope of an unmanned mobile device for monitoring power facilities according to an embodiment of the present invention.
6 and 7 are diagrams illustrating the operation of the unmanned mobile device for monitoring power facilities according to an embodiment of the present invention in steps.
8 is a diagram schematically illustrating an unmanned mobile device for monitoring power facilities according to another embodiment of the present invention.
9 is a diagram illustrating an operation on a ramp of an unmanned mobile device for monitoring power facilities according to another embodiment of the present invention.
10 is a diagram for explaining that the unmanned mobile device for monitoring power facilities according to another embodiment of the present invention detects the height of the obstacle.
11 is a view showing the operation of the stairs of the unmanned mobile device for monitoring power facilities according to another embodiment of the present invention.
12 is a view showing an example of a telescopic unit according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, the embodiments described below are embodiments suitable for understanding the technical characteristics of the present invention, an unmanned mobile device for monitoring power facilities. However, the present invention is not limited to the embodiments described below, or the technical features of the present invention are not limited by the described embodiments, and various modifications are possible within the technical scope of the present invention.

1 is a top view schematically showing the configuration of an unmanned mobile device for monitoring power facilities according to an embodiment of the present invention, and FIG. 2 is a front view showing the front of a driving wheel unit according to an embodiment of the present invention, 3 and 4 schematically show an unmanned mobile device for monitoring power facilities according to an embodiment of the present invention, and is a view showing that the height of the vehicle body is adjusted according to the operation of the wheel connection part, and FIG. 5 is this view It is a view showing the operation on the ramp of the unmanned mobile device for monitoring power facilities according to an embodiment of the present invention, and FIGS. It is a drawing showing the operation.

8 is a diagram schematically showing an unmanned mobile device for monitoring power facilities according to another embodiment of the present invention, and FIG. 9 is an operation on a slope of an unmanned mobile device for monitoring power equipment according to another embodiment of the present invention 10 is a diagram for explaining that the unmanned mobile device for monitoring power facilities according to another embodiment of the present invention detects the height of an obstacle, and FIG. 11 is a power facility according to another embodiment of the present invention. It is a view showing the operation on the stairs of the unmanned mobile device for monitoring, Figure 12 is a view showing an example of the telescopic unit according to another embodiment of the present invention.

The unmanned mobile device 10 for monitoring power facilities according to an embodiment of the present invention is for monitoring power facilities, for example, an unmanned mobile device 10 for monitoring power facilities such as substations and underground power outlets exposed outdoors. ) is about The present invention provides an unmanned mobile device 10 that is capable of omnidirectional switching and is provided with easy overcoming of obstacles, and thus has improved mobility on the ground, so that it can be put into an environment where it is difficult for a person to work/access and monitor power facilities.

1 to 7 , the unmanned mobile device 10 for monitoring power facilities according to an embodiment of the present invention includes a body part 20 , a base frame part 30 , a wheel connection part 40 , It includes a traveling wheel unit 50 and a control unit 70 .

The vehicle body 20 has a space therein, so that various parts and contents that need to be moved can be embedded therein. For example, a battery may be mounted on the vehicle body 20, and in the present invention, since it is for ground driving, there are fewer restrictions on the battery loading capacity compared to a flying drone, so a large-capacity battery may be installed or a hydrogen fuel cell or accelerated engine In parallel, the power supply can be configured in a hybrid form and mounted inside.

In addition, devices for monitoring power equipment may be installed in the vehicle body 20 . In this case, it is possible to improve ground monitoring restrictions by connecting a streamlined drone equipped with monitoring equipment on the upper portion of the vehicle body 20 . Here, the monitoring equipment may be a high-definition camera, a thermal imaging camera, an electromagnetic field meter, an ultrasonic camera, or the like.

The base frame part 30 includes a first support shaft 31 and a second support shaft 33 installed in parallel to the first support shaft 31 and a first support shaft 31 installed on the body part 20 . ) and a connecting shaft 35 connecting the first support shaft 31 may be included.

Specifically, the base frame part 30 forms a skeleton in which the wheel connection part 40 and the driving wheel part 50 are installed, and the first support shaft 31 and the second support shaft 33 are attached to the body part 20 . They can be installed parallel to each other. In addition, both ends of the connecting shaft 35 may be vertically connected to the first support shaft 31 and the second support shaft 33 .

The wheel connection part 40 is vertically installed on both ends of the first support shaft 31 and is perpendicular to both ends of the pair of first boom parts 41 and the second support shaft 33 that are rotatably provided. and a pair of second boom units 45 that are installed and rotatably provided.

Hereinafter, for convenience of description, a direction in which the first support shaft 31 and the second support shaft 33 extend is referred to as a first direction, and a direction in which the connecting shaft 35 extends is defined as a direction perpendicular to the first direction. It's called 2 directions. The wheel connection unit 40 is a member for connecting the traveling wheel unit 50 and the base frame unit 30 , and may be implemented as a first boom unit 41 and a second boom unit 45 .

The first boom unit 41 may be provided as a pair at both ends of the first support shaft 31 . The second boom unit 45 may be provided as a pair at both ends of the second support shaft 33 , and may be provided to be spaced apart from the first boom unit 41 in the second direction. That is, in the present invention, two first boom units 41 and two second boom units 45 may be installed, and the first boom unit 41 and the second boom unit 45 may be provided with the same structure. can

The first boom unit 41 may be vertically coupled to the first support shaft 31 and rotatably coupled to an axis extending from the first support shaft 31 as a central axis.

Specifically, the first boom unit 41 may include a first rotating shaft 43 , a first boom unit 42 and a first rotating motor 44 .

The first rotation shaft 43 may be rotatably installed at both ends of the first support shaft 31 . The first rotation shaft 43 may be installed on the same axis as the first support shaft 31 , and may be installed to be rotatable relative to the first rotation shaft 43 .

The first boom 42 may be coupled to the first rotating shaft 43 and rotatably provided about the first rotating shaft 43 . The first boom 42 is a member on which the traveling wheel part 50 is installed, and may be installed in a rod shape having a predetermined length, and a center region may be coupled to the first rotation shaft 43 .

The first rotating motor 44 is coupled to the first rotating shaft 43 to provide a driving force for rotating the first boom 42 and may be controlled by the control unit 70 . As the first rotation shaft 43 is rotated by the rotation of the first rotation motor 44 , the first boom stand 42 may rotate.

The second boom unit 45 is vertically coupled to the second support shaft 33 , and may be rotatably coupled to an axis extending from the second support shaft 33 as a central axis.

Specifically, the second boom unit 45 may include a second rotating shaft 47 , a second boom unit 46 , and a second rotating motor 48 .

The second rotation shaft 47 may be rotatably installed at both ends of the second support shaft 33 . The second rotation shaft 47 is installed on the same axis as the second support shaft 33 , and may be installed to be relatively rotatable with respect to the second rotation shaft 47 .

The second boom 46 may be coupled to the second rotation shaft 47 and rotatably provided about the second rotation shaft 47 . The second boom 46 is a member on which the traveling wheel part 50 is installed, and may be installed in a rod shape having a predetermined length, and the middle region may be coupled to the second rotation shaft 47 .

The second rotation motor 48 is coupled to the second rotation shaft 47 to provide a driving force for rotating the second boom stand 46 , and may be controlled by the control unit 70 . As the second rotation shaft 47 is rotated by the rotation of the second rotation motor 48 , the second boom stand 46 may rotate.

The traveling wheel part 50 is a plurality of omnidirectional wheels mounted on both ends of the pair of first boom parts 41 and both ends of the pair of second boom parts 45 and provided to be movable in all directions. includes

Specifically, as in the illustrated embodiment, four omnidirectional wheels are installed in the first boom part 41 and four are installed in the second boom part 45 so that a total of eight wheels can be installed. In addition, the eight omnidirectional wheels may be independently driven by a separate driving motor.

The control unit 70 is provided in the body part 20, controls the driving of the driving wheel part 50, and adjusts the height and inclination of the body part 20 in consideration of the driving direction and obstacles sensed around the wheel connection part ( 40) is controlled.

An embodiment of the present invention may further include a sensing unit 80 . The sensing unit 80 is installed on the vehicle body 20 and may detect the height of the obstacle.

The control unit 70 may control the first boom unit 41 and the second boom unit 45 based on the height of the obstacle detected by the sensing unit 80 .

The sensing unit 80 may be, for example, a camera or an ultrasonic sensor, and may detect a distance or an angle from an obstacle. The controller 70 may determine the inclination of the ground g by sensing the inclination of the vehicle body 20 . Here, the obstacle is a concept including the stairs (S) or the ramp (g), and is a concept including all objects and environments that interfere with the driving of the unmanned mobile device 10 .

The control unit 70 drives the first rotating motor 44 and the second rotating motor 48 and the driving provided in each of the plurality of omnidirectional wheels based on the signal sensed by the sensing unit 80 for the obstacle and the matter itself. You can control the driving of the motor.

Specifically, the traveling wheel unit 50 includes a first forward wheel 51 mounted on one end of the first boom unit 41 in the longitudinal direction, and the other end of the first boom unit 41 in the longitudinal direction. A second omnidirectional wheel 53 may be included.

In addition, the traveling wheel unit 50 includes a third forward wheel 55 mounted on one end of the second boom unit 45 in the longitudinal direction, and a third front wheel mounted on the other end of the second boom unit 45 in the longitudinal direction. 4 omnidirectional wheels 57 may be included. With this structure, the driving wheel unit 50 may include eight omnidirectional wheels.

1 and 2 , two first omnidirectional wheels 51 , two second omnidirectional wheels 53 , two third omnidirectional wheels 55 , and two fourth omnidirectional wheels The directional wheel 57 may be provided as a wheel capable of omnidirectional (omni-directional) driving, and may be provided as, for example, a Mecanum wheel. Since the working radius is small, it is possible to efficiently work in a narrow space due to good mobility, and when used in the unmanned mobile device 10 as in the present invention, free movement can be induced.

Mecanum wheel is a special wheel that can move in all directions, where forward movement means that forward, backward, lateral, and rotational driving is possible only with the wheel's own rotation (refer to the directions V1 and V2 in FIG. 1). The Mecanum wheel has many obstacles, so the rotation radius is narrow and the movement characteristics of the unmanned mobile device 10 for monitoring power facilities that need to move in a narrow space can be matched.

In FIG. 2 a first omnidirectional wheel 51 is shown. The first to fourth omnidirectional wheels have the same structure, and the structure of the Mecanum wheel applied to the present invention will be described using the first omnidirectional wheel 51 as an example.

The first forward wheel 51 is a wheel shaft 51a rotating by the first wheel driving part 52 installed on the first boom 42, and a pair of disc parts 51b connected to the wheel shaft 51a. , a plurality of roller mounting portions 51c installed across the pair of disk portions 51b, and a plurality of roller portions 51d installed on the roller mounting portions 51c.

The plurality of roller parts 51d is a wheel moving in contact with the ground g and may be installed to be inclined in a diagonal direction between the pair of disk parts 51b. Unlike a general wheel having a speed vector perpendicular to the wheel axis 51a, the Mecanum wheel includes a speed vector in a diagonal direction (see V1 in FIG. 1 ). That is, the Mecanum wheel can have both straightness in the second direction and directionality in a diagonal direction that is inclined to the first and second directions.

As in the illustrated embodiment, the present invention may include eight Mecanum wheels, and the driving direction of the unmanned moving device 10 may be determined through the sum of speed vectors generated from the plurality of Mecanum wheels. In other words, by combining the directionality of the eight omnidirectional wheels in a vector way, they rotate up, down, left, right in place (clockwise, counterclockwise), up 45 degrees down 45 degrees left 45 degrees, right 45 degrees, etc. control is possible. Through this, the driving wheel unit 50 may move the vehicle body unit 20 in all directions (refer to FIGS. 1 and 2 ).

Also, as described above, two first omnidirectional wheels 51 , two second omnidirectional wheels 53 , two third omnidirectional wheels 55 , and two fourth omnidirectional wheels 57 . ) can be driven independently.

Specifically, the driving wheel unit 50 may include a first wheel driving unit 52 , a second wheel driving unit 54 , a third wheel driving unit 56 , and a fourth wheel driving unit 58 .

The first wheel driving unit 52 may be coupled to a wheel shaft of the first omnidirectional wheel 51 to rotate the first omnidirectional wheel 51 and be controlled by the controller 70 . The second wheel driving unit 54 may be coupled to the wheel shaft of the second omnidirectional wheel 53 to rotate the second omnidirectional wheel 53 and be controlled by the controller 70 .

The third wheel driving unit 56 may be coupled to the wheel shaft of the third omnidirectional wheel 55 to rotate the third omnidirectional wheel 55 and be controlled by the controller 70 . The fourth wheel driving unit 58 may be coupled to a wheel shaft of the fourth omnidirectional wheel 57 to rotate the fourth omnidirectional wheel 57 and be controlled by the controller 70 .

Here, the controller 70 may control the first wheel driving unit 52 , the second wheel driving unit 54 , the third wheel driving unit 56 , and the fourth wheel driving unit 58 to be driven independently. Accordingly, there is an advantage that the eight driving wheel units 50 can be driven separately depending on the driving environment. For example, as shown in FIGS. 3 and 5 , only the first omnidirectional wheel 51 and the third omnidirectional wheel 55 among the eight omnidirectional wheels for height adjustment of the vehicle body 20 are positioned on the ground (g) When in contact with , the control unit 70 may stop the driving of the second wheel driving unit 54 and the fourth wheel driving unit 58 .

Here, the first wheel driving unit 52 , the second wheel driving unit 54 , the third wheel driving unit 56 , and the fourth wheel driving unit 58 may be an in-wheel motor built into the omnidirectional wheel, but is not limited thereto. .

Hereinafter, the operation of the unmanned mobile device 10 for monitoring power facilities according to an embodiment of the present invention will be described with reference to FIGS. 3 and 7 .

First, when it is necessary to increase the height of the vehicle body 20 by meeting an obstacle as shown in FIG. 3 , the first boom unit 41 or the second boom unit 45 is rotated under the control of the control unit 70 to increase the height of the vehicle body. can increase

As in the illustrated embodiment as an example, the control unit 70 drives the first rotary motor 44 and the second rotary motor 48 to rotate the first boom stand 42 and the second boom stand 46 , thereby The first omnidirectional wheel 51 and the third omnidirectional wheel 55 may be in contact with the ground g. The first boom 42 and the second boom 46 are rotated so as to be perpendicular to the ground g, so that the first rotating shaft 43 and the second rotating shaft 47 are moved away from the ground g, and the body part 20 may increase in height.

Meanwhile, as shown in FIG. 4 , when the vehicle body 20 passes through a low ceiling, the first boom 42 and the second boom 46 are placed on the ground g under the control of the control unit 70 . can be parallelized. Accordingly, all eight wheels may be in contact with the ground g, and the height of the vehicle body 20 may be lowered. By adjusting the rotation angle of the first boom 42 and the second boom 46 by this control, the height of the vehicle body 20 can be adjusted to a height between FIGS. 3 and 4 .

Meanwhile, as shown in FIG. 5 , when the unmanned mobile device 10 travels on the slope g, the control unit 70 may make the vehicle body 20 remain horizontal or maintain a predetermined angle with the slope g. . For example, the control unit 70 may rotate the second rotary motor 48 so that the first boom 42 is horizontal, and the second boom 46 is rotated. In this case, only the first omnidirectional wheel 51 and the third omnidirectional wheel 55 on the ramp g may contact the ramp g. As a result, the second rotation shaft 47 can be farther from the ground g than the first rotation shaft 43 , whereby the vehicle body portion 20 can be maintained horizontally.

Meanwhile, FIGS. 6 and 7 show that the unmanned mobile device 10 passes through the stairs S, and FIG. 6 shows each in the process of climbing the stairs S, and FIG. 7 shows each process at the same time. did it

While the unmanned mobile device 10 climbs the stairs S, the control unit 70 may continuously determine the height of the stairs S, which is an obstacle, and the inclination of the vehicle body 20 resulting therefrom. In addition, the vehicle body 20 can be made to climb the stairs S while maintaining a predetermined angle. Here, the predetermined angle may be horizontal or inclined to the extent that parts or contents accommodated in the interior of the vehicle body 20 are not damaged.

As such, the unmanned moving device 10 for monitoring power facilities according to an embodiment of the present invention includes a rotatable first boom unit 41 and a second boom unit 45 and an omnidirectional wheel. It is possible to freely climb obstacles and stairs S, etc., and the vehicle body 20 can be driven while maintaining a predetermined angle on the ramp g.

In addition, according to an embodiment of the present invention, it is possible to freely travel in a narrow space only by movement of the omnidirectional wheel by providing the omnidirectional wheel. Accordingly, if the present invention is used, it is possible to smoothly check power facilities such as substations and power outlets exposed outdoors with a narrow internal space.

That is, in the existing ground unmanned mobile device, when a person encounters a tall obstacle or has to manually move the position on the slope (g), and the space that requires free driving such as T-shaped driving is narrow, the body part 20 is rotated There was a problem that could not be fixed. The present invention can solve this problem by improving the wheel connection part 40 and the driving wheel part 50 .

Therefore, when the present invention is used, it is directly put into a place where the ground is weak, an extreme environment where it is difficult to identify the cause of the failure due to the input of manpower due to a serious equipment failure, and a place where it is difficult to identify the cause of the failure with the human view angle, etc. can be visually confirmed.

8 to 12 show an unmanned mobile device 10 for monitoring power facilities according to another embodiment of the present invention. The unmanned mobile device 10 for monitoring power facilities according to another embodiment of the present invention is different in that the telescopic unit is included in the first boom unit 41 and the second boom unit 45 in contrast to the above-described embodiment. there is Hereinafter, duplicate descriptions of the same configuration will be omitted.

8 to 12 , in the unmanned mobile device 10 for monitoring power facilities according to another embodiment of the present invention, the first boom 42 ′ and the second boom 46 ′ may include a telescopic unit. .

Here, the telescopic unit provided on the first boom 42 ′ and the second boom 46 ′ may have the same structure. The telescopic unit is a structure for enabling the length of the first boom stand (42') and the second boom stand (46') to be adjusted.

Specifically, the telescopic unit may include a plurality of telescopic booms (42a, 42b, 42c) and a telescopic driving unit (42d).

The telescopic booms (42a, 42b, 42c) are provided slidably to extend and contract in the longitudinal direction, and may be provided in multiple stages to be overlapped with each other and provided in plurality.

The telescopic driving unit 42d is connected to the telescopic booms 42a, 42b, and 42c to slide the telescopic booms 42a, 42b, and 42c to extend or contract, and may be controlled by the control unit 70 .

For example, referring to the example shown in FIG. 12, the telescopic booms 42a, 42b, and 42c may be provided in a form in which multi-stage tubes are overlapped. In addition, the telescopic driving unit 42d is provided as a hydraulic device, and may slidably move the plurality of telescopic booms 42a, 42b, and 42c through supply or discharge of hydraulic pressure. Thereby, the telescopic unit can be enlarged or reduced.

However, the configuration and type of the telescopic boom (42a, 42b, 42c) and the telescopic driving unit (42d) is not limited to the above bar, various modifications are possible. For example, the telescopic boom (42a, 42b, 42c) may be made of a member having various cross-sections if it is slidable. In addition, if the telescopic driving unit 42d can slide the telescopic booms 42a, 42b, and 42c, various methods such as a gear type, a belt pulley type, and a multi-stage fixed type can be applied.

The control unit 70 individually drives the telescopic driving unit 42d, so that the telescopic driving unit 42d of the first boom 42' and the telescopic driving unit 42d of the second boom 46' are independently enlarged or reduced. can do.

Hereinafter, the operation of the unmanned mobile device 10 for monitoring power facilities according to another embodiment of the present invention will be described with reference to FIGS. 3 to 7 and FIGS. 8 to 12 described above.

First, referring to FIGS. 5 and 9 , the control unit 70 controls the wheel connection part 40 to drive the vehicle body 20 while maintaining a reference angle, which is an angle within a predetermined range, with the ground g when driving on a slope g. ) can be controlled.

When the slope of the slope g is within a set range, the control unit 70 drives at least one of the first rotation motor 44 and the second rotation motor 48 to control the vehicle body unit 20 to maintain the reference angle. can Here, the reference angle may be horizontal or a predetermined angle (see FIG. 5 ).

In addition, the control unit 70 drives at least one of the first rotating motor 44 and the second rotating motor 48 and the telescopic driving unit 42d when the inclination of the ramp g exceeds a set range to drive the car body part 20 ) can be controlled to maintain the reference angle.

For example, if the inclination exceeds the setting range, it is difficult to implement the reference angle only by rotating the first boom stand 42 ′ and the second boom stand 46 ′. In this case, the control unit 70 drives the first rotary motor 44 and the second rotary motor 48 to rotate the first boom stand 42 ′ and the second boom stand 46 ′, and at the same time, the second boom stand By driving the telescopic driving unit 42d provided in the 46', the length of the second boom stand 46' can be increased.

As described above, according to another embodiment of the present invention, since the first boom 42 ′ and the second boom 46 ′ are provided with a telescopic unit, it is possible to respond to more diverse slopes g.

A process of passing the stairs S and the obstacle O will be described with reference to FIGS. 6, 7, 10, and 11 .

First, a process of detecting the height of the obstacle O by the sensing unit 80 and the control unit 70 will be described with reference to FIG. 10 . The sensing unit 80 installed in the vehicle body 20 may be a camera or a sensor, and may measure a horizontal distance L between an obstacle and the vehicle body 20 . In addition, when a plane horizontal to the sensing unit 80 is referred to as a reference plane and the sensing unit 80 is referred to as a reference point, the sensing unit 80 measures the angle θ formed by the upper end of the obstacle with respect to the reference plane with respect to the reference point. do.

The control unit 70 receives the horizontal distance L value between the obstacle O and the vehicle body 20 measured by the sensing unit 80 and the angle θ between the upper end of the obstacle O with respect to the reference plane. And, the height H from the reference plane to the upper end of the obstacle O can be calculated using a trigonometric function (H=L*cosθ). Based on this, the control unit 70 may rotate the first boom stand 42 ′ and the second boom stand 46 ′, and operate the telescopic unit. Here, the control unit 70 may include an inertial measurement unit (IMU).

Through the above process, the control unit 70 determines the height of the obstacle O, and the control unit 70 drives the first rotating motor 44 and the second rotating motor 48 when the height of the obstacle is within a set range. Thus, the height of the vehicle body 20 can be adjusted (see FIGS. 6 and 7 ).

When the height of the obstacle exceeds the set range, the control unit 70 drives the first rotating motor 44, the second rotating motor 48, and the telescopic driving unit 42d to adjust the height of the body part 20. can be (see FIG. 11).

As such, the unmanned moving device for monitoring power facilities according to an embodiment of the present invention includes a rotatable first boom unit and a second boom unit, and an omnidirectional wheel, so that it can freely climb obstacles and stairs with a height, etc., on a ramp In this case, the vehicle body part can be driven while maintaining a predetermined angle.

In addition, according to an embodiment of the present invention, it is possible to freely travel in a narrow space only by movement of the omnidirectional wheel by providing the omnidirectional wheel. Accordingly, if the present invention is used, it is possible to smoothly check power facilities such as substations and power outlets exposed outdoors with a narrow internal space.

Therefore, when the present invention is used, it is directly put into a place where the ground is weak, a place where it is difficult to identify the cause of the failure by human viewing angle, etc. can be visually confirmed.

As mentioned above, although specific embodiments of the present invention have been described above, the spirit and scope of the present invention are not limited to these specific embodiments, and those described in the claims by those of ordinary skill in the art to which the present invention pertains Various modifications and variations are possible without changing the gist of the present invention.

10: Unmanned moving device for monitoring power facilities
20: body part 30: base frame part
31: first support shaft 33: second support shaft
35: connecting shaft 40: wheel connection
41: first boom unit 42, 42 ': first boom unit
42a, 42b, 42c: telescopic boom 42d: telescopic drive
43: first rotating shaft 44: first rotating motor
45: second boom unit 46, 46 ': second boom unit
47: second rotation shaft 48: second rotation motor
50: traveling wheel part 51: first omnidirectional wheel
51a: wheel axle 51b: disk part
51c: roller mounting portion 51d: roller portion
52: first wheel driving unit 53: second omnidirectional wheel
54: second wheel driving unit 55: third omnidirectional wheel
56: third wheel driving unit 57: fourth omnidirectional wheel
58: fourth wheel driving unit 70: control unit
80: detection unit

Claims (9)

body part;
a base frame part installed on the body part and including a first support shaft and a second support shaft installed parallel to the first support shaft;
A pair of first boom units installed vertically on both ends of the first support shaft and rotatably provided, and a pair of second boom units installed vertically on both ends of the second support shaft and rotatably provided A wheel connection comprising a;
a traveling wheel unit including both ends of the pair of first boom units and a plurality of forward wheels mounted on both ends of the pair of second boom units and movably provided in all directions; and
and a controller provided in the body part and controlling the driving of the driving wheel part and controlling the wheel connection part so that the height and inclination of the body part are adjusted in consideration of the driving direction and obstacles sensed in the surroundings. Unmanned mobile device for facility monitoring.
According to claim 1,
It is installed on the body part, further comprising a sensing unit for detecting the height of the obstacle,
The control unit is an unmanned moving device for monitoring power facilities, characterized in that it controls the first boom unit and the second boom unit based on the height of the obstacle detected by the sensing unit.
The method of claim 1,
The first boom unit
a first rotation shaft rotatably installed at both ends of the first support shaft;
a first boom coupled to the first rotational shaft and rotatably provided about the first rotational shaft; and
Unmanned moving device for monitoring power facilities, characterized in that it is coupled to the first rotating shaft and provides a driving force for rotating the first boom and comprises a first rotating motor controlled by the control unit.
4. The method of claim 3,
The second boom unit
a second rotation shaft rotatably installed at both ends of the second support shaft;
a second boom frame coupled to the second rotation shaft and rotatably provided about the second rotation shaft; and
Unmanned movement device for monitoring power facilities, characterized in that it is coupled to the second rotation shaft and provides a driving force for rotating the second boom and comprises a second rotation motor controlled by the control unit.
5. The method of claim 4,
The first boom and the second boom includes a telescopic unit,
The telescopic unit
A plurality of telescopic booms that are provided slidably to extend and contract in the longitudinal direction and are provided in multiple stages to be overlapped with each other; and
Unmanned moving device for monitoring power facilities, which is connected to the telescopic boom and slides so that the telescopic boom is extended or contracted and includes a telescopic driving unit controlled by the control unit.
6. The method of claim 5,
The control unit controls the wheel connection unit to travel while maintaining a reference angle that is an angle within a predetermined range with the ground when the vehicle body is driven on a slope,
the control unit
When the slope of the slope is within a set range, at least one of the first and second rotation motors is driven to control the vehicle body to maintain a reference angle,
When the slope of the slope exceeds a set range, at least one of the first and second rotation motors and the telescopic driving unit are driven to control the car body part to maintain a reference angle. mobile device.
6. The method of claim 5,
the control unit
When the height of the obstacle is within a set range, the first rotation motor and the second rotation motor are driven to adjust the height of the vehicle body,
When the height of the obstacle exceeds a set range, the unmanned moving device for monitoring power facilities is provided to adjust the height of the vehicle body by driving the first and second rotating motors and the telescopic driving unit.
The method of claim 1,
The driving wheel part
a first forward wheel mounted on one end of the first boom unit in the longitudinal direction;
a second omnidirectional wheel mounted to the other end of the first boom unit in the longitudinal direction;
a third omnidirectional wheel mounted on one end of the second boom unit in the longitudinal direction; and
The unmanned moving device for monitoring power facilities, characterized in that it comprises a fourth omnidirectional wheel mounted on the other end of the second boom unit in the longitudinal direction.
9. The method of claim 8,
The driving wheel part
a first wheel driving unit coupled to a wheel shaft of the first omnidirectional wheel to rotate the first omnidirectional wheel and controlled by the control unit;
a second wheel driving unit coupled to a wheel shaft of the second omnidirectional wheel to rotate the second omnidirectional wheel and controlled by the control unit;
a third wheel driving unit coupled to a wheel shaft of the third omnidirectional wheel to rotate the third omnidirectional wheel and controlled by the control unit; and
and a fourth wheel driving part coupled to the wheel shaft of the fourth omnidirectional wheel to rotate the fourth omnidirectional wheel and controlled by the control unit,
and the control unit controls the first wheel driving unit, the second wheel driving unit, the third wheel driving unit, and the fourth wheel driving unit to be driven independently.

Images