Substation wheeled obstacle surmounting mechanism, robot and method thereof

Abstract

The invention discloses a wheel type obstacle crossing mechanism of a transformer substation, a robot and a method of the obstacle crossing mechanism. The wheel type obstacle crossing mechanism comprises a walking mechanism, wherein a chassis of the walking mechanism is provided with a guide rail mechanism; the chassis is configured to move along the guide rail mechanism; a lifting mechanism is arranged at one end of the bottom of the chassis and is configured to lift the walking mechanism to do perpendicular motion; a distance sensor is arranged on each of two sides of the chassis of the walking mechanism; and a binocular vision module is arranged at the upper end of the walking mechanism. When the binocular vision module detects an obstacle and the distance sensors measure that distances from the obstacle are within a set length, the lifting mechanism lifts the walking mechanism to rise to a height higher than the obstacle, and the chassis moves towards the obstacle direction along the guide rail mechanism, so that the chassis of the walking mechanism reaches a position above the obstacle, and obstacle crossing is realized. The wheel type obstacle crossing mechanism guarantees the requirement on the walking speed of a wheel type robot and has the obstacle crossing function which is not set in the common wheel type robot.

Description

technical field [0001] The invention relates to a wheeled obstacle-surmounting mechanism for a substation, a robot and a method thereof. Background technique [0002] The substation is the hub of the power transmission network, and the safety of its equipment operation status is very important. Effective inspection of the equipment is an important guarantee to ensure the good operation of the substation and the reliability of power supply to the majority of users. With the development of electric robot technology, robot inspection has gradually replaced manual inspection, greatly reducing the labor force. The current main structures of mobile inspection robots are: wheeled, tracked, leg-footed, peristaltic, etc., among which wheeled and tracked are the most widely used. The wheel type has the advantages of simple structure, fast running speed, and high efficiency, but it is generally only suitable for relatively flat and hard road environments, with poor obstacle-crossing a...

AI Technical Summary

Problems solved by technology

The wheel type has the advantages of simple structure, fast running speed, and high efficiency, but it is generally only suitable for relatively flat and hard road environments, with poor obstacle-crossing ability and poor mobility on soft and muddy ground

Leg-foot pose can be divided into crawling pose and walking pose. Crawling pose is a bionic movement pattern that imitates the movement of reptile insects. It is generally in a static and stable state and can adapt to discontinuous complex environments, but the walking speed is generally relatively slow, and the internal The structure design is relatively complicated; the walking style is a bionic movement pattern imitating the fast walking of mammals, which can adapt to discontinuous and complex environments, but it is in an unstable state when walking at high speed, and the control system and mechanical structure are very complicated. Practical

[0003] At present, the mobile robots used for inspection in substations are mainly wheeled robots, which are fast, but have poor environmental adaptability, and cannot climb over roadside stones or drive in complex environments such as grasslands; the other is crawlers with outriggers. Type mobile robot, it can use the support arm to climb over obstacles, but the disadvantage of crawler robot is that it moves slowly and inefficiently under the ordinary flat cement road, and the friction between the track and the ground is large, and the track is easy to be damaged. The design of the crawler robot with the support arm is relatively complicated and inconvenient to control

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