Electric power obstacle crossing inspection robot

Abstract

The invention relates to an electric power obstacle-crossing inspection robot which comprises a triangular crawler obstacle-crossing leveling motion platform and a double-arm cooperative visual servo maintenance system, the double-arm cooperative visual servo maintenance system is arranged on the triangular crawler obstacle-crossing leveling motion platform, and an inclination signal is sent by a vehicle body attitude sensor. The controller controls the leveling electric push rod to conduct leveling adjustment on the leveling upper bearing platform, the stability of the triangular crawler belt obstacle crossing leveling motion platform can be guaranteed, and the double-arm cooperation visual servo maintenance system is made to be in the horizontal state. The motor speed reduction driving module and the triangular crawler belt movement module are used in cooperation, so that the vehicle can stably pass on soft terrains or rugged roads; according to the electric power obstacle crossing inspection robot, automatic and accurate maintenance of electric power inspection equipment can be achieved, and meanwhile the maintenance efficiency and the maintenance quality of the electric power obstacle crossing inspection robot are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an electric power obstacle-crossing inspection robot. Background Art

[0002] Power inspection is an important part of ensuring the safety and stable operation of the power system. When inspectors work on rough roads, they face many challenges. For example, rough road conditions directly affect the work efficiency of inspectors, complex terrain environments increase safety risks during inspections, and harsh road conditions also impose certain restrictions on equipment inspection and maintenance. Therefore, there is an increasing demand for automation of inspection and maintenance operations.

[0003] In addition, in power operations, horizontality is a crucial technical indicator that directly affects the safety, stability and operating efficiency of the equipment. First, there are horizontality requirements during the installation of power equipment. Voltage transformers, electrical cabinets and other equipment need to be kept horizontal during installation to avoid oil leakage, equipment wear and electrical failures caused by tilting. Secondly, there are horizontality requirements in power production and operation and maintenance. Equipment operation status detection, automatic information recognition, etc. all need to be in a horizontal state to obtain the best work efficiency and work results.

[0004] However, current power inspection robots have problems with chassis stability in complex terrain environments. Chassis stability directly affects the horizontality of the robotic arm, which will further affect the precision of inspection and maintenance operations. Summary of the invention

[0005] In order to solve the above problems existing in the prior art, the present invention provides a power obstacle inspection robot. The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0006] An electric power obstacle-crossing inspection robot, characterized in that it comprises: a triangular crawler obstacle-crossing leveling motion platform and a dual-arm collaborative visual servo maintenance system, wherein the dual-arm collaborative visual servo maintenance system is arranged on the triangular crawler obstacle-crossing leveling motion platform, wherein:

[0007] The triangular crawler obstacle-crossing leveling motion platform comprises a motion platform bottom plate, a leveling upper bearing platform, a motor deceleration drive module, a leveling electric push rod, a vehicle body posture sensor, a triangular crawler motion module, a power supply and a controller; the motor deceleration drive module, the leveling electric push rod, the power supply and the controller are all arranged on the motion platform bottom plate and are located below the leveling upper bearing platform; the upper end of the leveling electric push rod is connected to the bottom surface of the leveling upper bearing platform; the vehicle body posture sensor is arranged in the middle of the leveling upper bearing platform; the triangular crawler motion module is arranged on both sides of the motion platform bottom plate and is connected to the output end of the motor deceleration drive module; the motor deceleration drive module, the leveling electric push rod and the vehicle body posture sensor are respectively connected to the power supply and the controller;

[0008] The dual-arm collaborative visual servo maintenance system includes: a dual-spectrum patroller, a robotic arm, a liftable base, and a central connecting piece of the maintenance system, wherein the lower end of the central connecting piece of the maintenance system is connected to the liftable base, the left and right ends are respectively connected to one of the robotic arms, and the upper end is connected to the dual-spectrum patroller; the dual-spectrum patroller, the robotic arm and the liftable base are respectively connected to the power supply and the controller.

[0009] In one embodiment of the present invention, the leveling electric push rod is pushed out to different lengths under the control of the controller according to the tilt signal given by the vehicle body posture sensor, so as to level the leveling upper bearing platform.

[0010] In one embodiment of the present invention, the leveling electric push rod can push the leveling upper load-bearing platform to flip left and right to a maximum angle of 40°, and to flip front and back to a maximum angle of 30°.

[0011] In one embodiment of the present invention, the triangular track motion module includes side plates, driving wheels, load-bearing wheels and tracks, wherein the driving wheels are connected to the output end of the motor reduction driving module through the side plates via a transmission shaft; the two groups of load-bearing wheels are located below the driving wheels and are connected to the inner side of the side plates via a rotating shaft; the tracks are arranged around the periphery of the driving wheels and the load-bearing wheels.

[0012] In one embodiment of the present invention, the dual-spectrum inspection instrument includes a detector base, a detector horizontal rotation structure, a detector pitch rotation structure, an infrared camera, a visible light camera and a laser ranging device; wherein the detector horizontal rotation structure is vertically arranged on the detector base, and the upper end of the detector horizontal rotation structure is connected to a component equipped with the infrared camera, the visible light camera and the laser ranging device through the pitch rotation structure.

[0013] In one embodiment of the present invention, the horizontal rotation angle of the dual-spectrum inspection instrument is 0° to 360°, and the vertical pitch angle is -30° to +45°.

[0014] In one embodiment of the present invention, the robotic arm is a six-degree-of-freedom robotic arm.

[0015] In one embodiment of the present invention, a connecting portion is provided at the end of the robot arm for connecting to an actuator.

[0016] In one embodiment of the present invention, the liftable base includes an electric push rod and an electric push rod base, and the electric push rod base is fixed on the leveling upper bearing platform.

[0017] In one embodiment of the present invention, it also includes maintenance system accessories, and the maintenance system accessories are arranged on the leveling upper bearing platform.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The electric obstacle inspection robot of the present invention uses the tilt signal given by the body posture sensor installed on the triangular crawler obstacle leveling motion platform to control the leveling electric push rod through the controller to adjust the leveling upper load-bearing platform, and can make the operation and maintenance detection in a horizontal state by leveling the upper load-bearing platform; and the coordinated use of the motor reduction drive module and the triangular crawler motion module can smoothly pass on soft terrain or rugged roads. And ensure the balance of the dual-arm collaborative visual servo maintenance system, so that the dual-arm collaborative visual servo maintenance system is in a horizontal state, and then combined with the dual-spectrum inspection instrument to detect the fault point of the equipment, the mechanical arm repairs the fault point under the control of the control system and the height adjustment of the liftable base, thereby realizing the automated and precise maintenance of the electric inspection equipment, and also ensuring the maintenance efficiency and quality of the electric obstacle inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of an electric obstacle inspection robot provided by an embodiment of the present invention;

[0021] Figure 2 It is a structural schematic diagram of a triangular crawler obstacle-crossing and leveling motion platform provided by an embodiment of the present invention;

[0022] Figure 3 It is a structural schematic diagram of a dual-arm collaborative visual servo maintenance system provided by an embodiment of the present invention;

[0023] Figure 4 is a structural schematic diagram of a motion platform bottom plate provided by an embodiment of the present invention;

[0024] Figure 5 is a structural schematic diagram of a vehicle posture sensor provided by an embodiment of the present invention;

[0025] Figure 6 It is a structural schematic diagram of a triangular crawler motion module provided by an embodiment of the present invention;

[0026] Figure 7 It is a structural schematic diagram of a dual-spectrum inspection instrument provided by an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of the structure of a robotic arm provided in an embodiment of the present invention.

[0028] In the figure, 100-triangular crawler obstacle crossing and leveling motion platform; 200-dual-arm collaborative visual servo maintenance system; 101-motion platform bottom plate; 102-leveling upper bearing platform; 103-motor reduction drive module; 104-leveling electric push rod; 105-vehicle posture sensor; 106-triangular crawler motion module; 107-power supply; 108-controller; 201-dual-spectrum patrol instrument; 202-mechanical arm; 203-liftable base; 204-maintenance system center connector; 1061-side panel; 1062-driving wheel; 1063-load-bearing wheel; 1064-crawler; 2011-detector base; 2012-detector horizontal rotation structure; 2013-detector pitch rotation structure; 2014-infrared camera; 2015-visible light camera; 2016-laser ranging device. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with specific implementation modes, but the implementation modes of the present invention are not limited thereto.

[0030] See also Figure 1 , Figure 1 It is a structural schematic diagram of an electric obstacle inspection robot provided by an embodiment of the present invention. The electric obstacle inspection robot provided by an embodiment of the present invention comprises: a triangular crawler obstacle leveling motion platform 100 and a dual-arm collaborative visual servo maintenance system 200. The dual-arm collaborative visual servo maintenance system 200 is arranged on the triangular crawler obstacle leveling motion platform 100. The triangular crawler obstacle leveling motion platform 100 provides support and power for the dual-arm collaborative visual servo maintenance system 200. Under the support and drive of the triangular crawler obstacle leveling motion platform 100, the dual-arm collaborative visual servo maintenance system 200 can inspect the equipment in the electric power environment and run to the fault point of the electric power equipment for inspection and maintenance operations.

[0031] See also Figure 2 , Figure 21 is a structural schematic diagram of a triangular crawler obstacle leveling motion platform 100 provided in an embodiment of the present invention. The triangular crawler obstacle leveling motion platform 100 in an embodiment of the present invention comprises a motion platform bottom plate 101, a leveling upper bearing platform 102, a motor deceleration drive module 103, a leveling electric push rod 104, a vehicle body posture sensor 105, a triangular crawler motion module 106, a power supply 107 and a controller 108; the motor deceleration drive module 103, the leveling electric push rod 104, the power supply 107 and the controller 108 are all arranged on the motion platform. On the platform base plate 101, and located below the leveling upper bearing platform 102; the upper end of the leveling electric push rod 104 is connected to the bottom surface of the leveling upper bearing platform 102; the vehicle body posture sensor 105 is arranged in the middle of the leveling upper bearing platform 102; the triangular crawler motion module 106 is arranged on both sides of the motion platform base plate 101, and is connected to the output end of the motor reduction drive module 103; the motor reduction drive module 103, the leveling electric push rod 104, and the vehicle body posture sensor 105 are respectively connected to the power supply 107 and the controller 108.

[0032] The triangular crawler obstacle-crossing leveling motion platform 100 of the embodiment of the present invention is provided with a vehicle posture sensor 105 which can, under the tilt signal given by the vehicle posture sensor 105, control the leveling electric push rod 104 through the controller 108 to adjust the leveling upper supporting platform 102, and can make the operation and maintenance inspection in a horizontal state by leveling the upper supporting platform 102; and the coordinated use of the motor reduction drive module 103 and the triangular crawler motion module 106 can enable smooth passage on soft terrain or rugged roads.

[0033] See also Figure 3 , Figure 3 It is a structural schematic diagram of a dual-arm collaborative visual servo maintenance system 200 provided by an embodiment of the present invention. The dual-arm collaborative visual servo maintenance system 200 of the embodiment of the present invention includes: a dual-spectrum patroller 201, a robotic arm 202, a liftable base 203, and a maintenance system central connecting piece 204, wherein the lower end of the maintenance system central connecting piece 204 is connected to the liftable base 203, and a robotic arm 202 is connected to the left and right ends respectively, and the upper end is connected to the dual-spectrum patroller 201; the dual-spectrum patroller 201, the robotic arm 202 and the liftable base 203 are respectively connected to the power supply 107 and the controller 108.

[0034] The dual-arm cooperative visual servo maintenance system 200 of the embodiment of the present invention is provided with a dual-spectrum inspection instrument 201, a mechanical arm 202, a liftable base 203, a maintenance system central connector 204 and a controller 108. The dual-spectrum inspection instrument 201 detects the fault point of the equipment, and the mechanical arm 202 repairs the fault point under the control of the control system and the height adjustment of the liftable base 203, thereby realizing the automated and precise maintenance of the power inspection equipment. In particular, based on the triangular crawler obstacle-crossing leveling motion platform 100 provided in the embodiment of the present invention, the triangular crawler obstacle-crossing leveling motion platform 100 can ensure that the power obstacle-crossing inspection robot can pass smoothly on soft terrain or rugged roads, and ensure the balance of the dual-arm cooperative visual servo maintenance system 200, so that the dual-arm cooperative visual servo maintenance system 200 is in a horizontal state, thereby realizing more precise maintenance of power equipment.

[0035] The specific structure, function and cooperation between the triangular crawler obstacle-crossing leveling motion platform 100 and the dual-arm collaborative visual servoing maintenance system 200 of the electric obstacle-crossing inspection robot provided in an embodiment of the present invention are described in detail below.

[0036] See also Figure 4 , Figure 4 1 is a structural schematic diagram of a motion platform base plate 101 provided by an embodiment of the present invention. Specifically, the motion platform base plate 101 serves as a mounting base plate for related equipment, and the motor deceleration drive module 103, the leveling electric push rod 104, the power supply 107 and the controller 108 are all mounted on its upper surface, and the upper end of the leveling electric push rod 104 is connected to the bottom surface of the leveling upper bearing platform 102. In other words, the lower end of the leveling electric push rod 104 is fixed on the motion platform base plate 101, and the upper end props up the leveling upper bearing platform 102, while the motor deceleration drive module 103, the power supply 107 and the controller 108 are all located between the motion platform base plate 101 and the leveling upper bearing platform 102.

[0037] See also Figure 5 , Figure 5 It is a structural schematic diagram of a vehicle posture sensor 105 provided in an embodiment of the present invention. The vehicle posture sensor 105 is arranged in the middle of the leveling upper bearing platform 102, and is used to monitor the state, direction and position information of the leveling upper bearing platform 102, and timely feedback to the controller 108.

[0038] See also Figure 6 , Figure 61 is a structural schematic diagram of a triangular crawler motion module 106 provided in an embodiment of the present invention. The triangular crawler motion modules 106 are arranged on both sides of the motion platform bottom plate 101, and are arranged in four groups, and are symmetrically arranged on both sides of the motion platform bottom plate 101 in pairs, and are connected to the output end of the motor reduction drive module 103. In other words, two groups of triangular crawler motion modules 106 are respectively arranged at symmetrical positions on both sides of the motion platform bottom plate 101, and each group of triangular crawler motion modules 106 is connected to the output end of the motor reduction drive module 103, so that each group of triangular crawler motion modules 106 rotates under the drive of the motor reduction drive module 103, thereby driving the entire triangular crawler obstacle-crossing and leveling motion platform 100 to move.

[0039] The triangular crawler motion module 106 of the present invention includes a side plate 1061, a driving wheel 1062, a load-bearing wheel 1063 and a crawler track 1064, wherein the driving wheel 1062 is connected to the output end of the motor reduction driving module 103 through the transmission shaft passing through the side plate 1061; two sets of load-bearing wheels 1063 are located on the side and lower side of the driving wheel 1062, and are connected to the inner side of the side plate 1061 through a rotating shaft; the crawler track 1064 is arranged around the periphery of the driving wheel 1062 and the load-bearing wheel 1063.

[0040] Specifically, each set of triangular track motion modules 106 includes a side plate 1061, a driving wheel 1062, two sets of load-bearing wheels 1063 and a pair of tracks 1064. The side plate 1061 is triangular in shape as a whole. A through hole is opened at the top corner of the triangular side plate 1061, and a bearing is embedded in the through hole. The transmission shaft connected to the driving wheel 1062 passes through the bearing and is connected to the output end of the motor reduction drive module 103; the two bottom corners of the triangular side plate 1061 are respectively connected with a rotating shaft, and the rotating shaft is perpendicularly arranged to the inner side surface of the side plate 1061, and the load-bearing wheel 1063 is sleeved on the rotating shaft. While bearing the weight, the load-bearing wheel 1063 is also responsible for opening the lower part of the track 1064 surrounding the periphery, thereby increasing the contact area between the track 1064 and the ground.

[0041] It should be noted that each set of triangular crawler motion modules 106 uses the driving transmission shaft as the axis, so that the two sets of load-bearing wheels 1063 can adjust the front and rear angles, that is, the two sets of load-bearing wheels 1063 can rotate around the driving wheel 1062 with the driving wheel 1062 as the center. In this way, when the lower part of the crawler 1064 contacts various complex ground surfaces, the ground contact angle can be adjusted automatically as the terrain changes, so as to always maintain the maximum area contact, maintain friction, reduce ground pressure, and be able to pass through soft terrain. In addition, two sets of triangular crawler motion modules 106 are arranged on both sides of the motion platform bottom plate 101, which further increases the stability and pass rate of the present invention, making it more adaptable to various terrains.

[0042] The motor deceleration drive module 103, the leveling electric push rod 104, and the vehicle body posture sensor 105 of the embodiment of the present invention are respectively connected to the power supply 107 and the controller 108. Specifically, the motor deceleration drive module 103 is used to control the running speed of the entire triangular crawler obstacle-crossing leveling motion platform 100 to move forward or backward; the vehicle body posture sensor 105 is used to give a tilt signal when the leveling upper bearing platform 102 is tilted, and the leveling electric push rod 104 completes the adjustment of the leveling upper bearing platform 102 according to the tilt signal given by the vehicle body posture sensor 105 under the control of the controller 108, so that the leveling upper bearing platform 102 can maintain a horizontal state in the face of various terrains or complex road conditions.

[0043] The leveling electric push rods 104 of the embodiment of the present invention are at least three groups, preferably three groups. Specifically, one group of leveling electric push rods 104 is set in the middle position of the front end of the motion platform base plate 101, and two groups of leveling electric push rods 104 are correspondingly set at the rear end of the motion platform base plate 101. The front and rear three groups of leveling electric push rods 104 form a triangular point layout, so that the supported leveling upper bearing platform 102 is more stable, and the adjustment of the leveling upper bearing platform 102 is more flexible. The leveling electric push rods 104 of the embodiment of the present invention can push the leveling upper bearing platform 102 to flip left and right to a maximum angle of 40°, and the maximum angle of flipping front and back to 30°. In other words, under the push of the leveling electric push rods 104, the leveling upper bearing platform 102 can be adjusted to a maximum of 40° on both sides and a maximum of 30° on the front and back. The upper bearing platform 102 can be leveled by controlling the specific adjustment angle of the leveling electric push rod 104 through the controller 108 according to the specific tilt signal fed back by the vehicle posture sensor 105 .

[0044] The motor reduction drive module 103 of the embodiment of the present invention is set to two groups, each including a motor and a reducer. The motor is a stepper motor, each group drives two groups of triangular crawler motion modules 106 at the same time, and the reducer is a double-output shaft reducer, and a 10-fold double-output shaft reducer is matched to amplify the torque.

[0045] The triangular crawler obstacle-crossing leveling motion platform 100 provided in the embodiment of the present invention is provided with a vehicle body posture sensor 105, and under the tilt signal given by the vehicle body posture sensor 105, the controller 108 controls the leveling electric push rods 104, so that each group of leveling electric push rods 104 can be pushed out to different lengths according to the leveling requirements, and the adjustment of the leveling upper bearing platform 102 is completed, thereby meeting the obstacle-crossing adaptability to complex terrain, and can make the operation and maintenance detection in a horizontal state by leveling the upper bearing platform 102; and under the drive of the motor reduction drive module 103, the triangular crawler motion module 106 can pass smoothly on soft terrain or rugged roads.

[0046] See also Figure 7 , Figure 7 2 is a schematic diagram of the structure of the dual-spectrum inspection instrument 201 provided in an embodiment of the present invention. Figure 7 The dual-spectrum inspection instrument 201 shown includes a detector base 2011, a detector horizontal rotation structure 2012, a detector pitch rotation structure 2013, an infrared camera 2014, a visible light camera 2015 and a laser distance measuring device 2016; wherein, the detector horizontal rotation structure 2012 is vertically arranged on the detector base 2011, and the upper end of the detector horizontal rotation structure 2012 is connected to the components equipped with the infrared camera 2014, the visible light camera 2015 and the laser distance measuring device 2016 through the pitch rotation structure. The present invention can measure the temperature of the power equipment by arranging the infrared camera 2014 and the visible light camera 2015, and can achieve long-distance, fast and accurate temperature measurement by capturing the infrared radiation emitted by the power equipment; for abnormal equipment with excessively high temperature, thermal fault detection and diagnosis can be achieved. In addition, gas leakage detection and environmental monitoring can also be performed through the infrared camera 2014, and by capturing the infrared radiation emitted by the gas, tiny gas leakage can be detected, and safety hazards can be discovered in time. At the same time, the laser distance measuring device 2016 can provide high-precision distance measurement. Combined with the infrared camera 2014 and the visible light camera 2015 of the present invention, it can sense the changes of the inspected power equipment and its surrounding environment in real time and locate the fault point.

[0047] In order to expand the detection area, the component equipped with the infrared camera 2014 and the visible light camera 2015 is connected to the detector base 2011 through the detector pitch rotation structure 2013 and the detector horizontal rotation structure 2012, so that the dual-spectrum inspection instrument 201 can scan in the horizontal direction and the vertical direction. As a preferred solution, the horizontal rotation angle of the dual-spectrum inspection instrument 201 of the embodiment of the present invention is 0° to 360°, and the vertical pitch angle is -30° to +45°.

[0048] The central connecting piece 204 of the maintenance system of the embodiment of the present invention is a cross-connected structure, with flanges arranged in four directions, connected to the liftable base 203 through the flange at the lower end, connected to a mechanical arm 202 through the flanges at the left and right ends, and connected to the detector base 2011 of the dual-spectrum inspection instrument 201 through the flange at the upper end. It should be noted that the detector horizontal rotating structure 2012 and the detector base 2011 are rotatably connected, and specifically, the rotational connection can be realized by setting a bearing on the detector base 2011, and the lower end of the detector horizontal rotating structure 2012 is inserted into the bearing. Of course, other rotational connection methods are also possible, which are not specifically limited here.

[0049] See also Figure 8 , Figure 8 The schematic diagram of the structure of the mechanical arm 202 provided in the embodiment of the present invention; the mechanical arm 202 in the embodiment of the present invention is a six-degree-of-freedom mechanical arm. The six-degree-of-freedom mechanical arm is composed of six joints, each of which can move independently, move along the X-axis, Y-axis, and Z-axis, and rotate around the X-axis, Y-axis, and Z-axis. This design enables the mechanical arm 202 to move flexibly in six degrees of freedom, thereby performing complex operations in three-dimensional space. These joints of the six-degree-of-freedom mechanical arm form the main frame of the mechanical arm 202 through connecting rods, so that it can move in three-dimensional space. The movement of the six-degree-of-freedom mechanical arm is achieved by controlling the movement of each joint. Using a driving device such as a motor and a reducer, an appropriate force or torque is applied to each joint so that the joint can rotate or turn. By controlling the movement of the joint, the mechanical arm 202 can achieve various posture changes in three-dimensional space and complete different tasks. The present invention can meet the full coverage of spatial points within the arm span through a six-degree-of-freedom mechanical arm, and all equipment to be maintained can be touched by the six-degree-of-freedom mechanical arm.

[0050] The end side wall of the manipulator 202 of the embodiment of the present invention is provided with a depth camera, and the depth camera is connected to the controller 108. The depth camera can capture the depth information of the object, including the three-dimensional coordinates, distance, size and volume of the object. Through these data, the manipulator 202 can accurately identify and locate the object and achieve precise grasping. For example, the use of the depth camera can perform tasks such as point cloud segmentation, object recognition and 3D reconstruction, thereby achieving accurate grasping of the object. In addition, in terms of dynamic obstacle avoidance, the depth camera can monitor the working space of the manipulator 202 in real time, and detect and avoid obstacles through image morphological expansion operations and point cloud library filtering processing. For example, by adding detection points to the connecting rod of the manipulator 202 and using a virtual enclosing sphere for collision detection, the accuracy and efficiency of obstacle avoidance can be improved. It should be noted that the depth camera used in the embodiment of the present invention is an existing depth camera, such as PMD CamCube 3.0, Intel RealSense D415 and D435i, etc.

[0051] The end of the robot arm 202 of the embodiment of the present invention is provided with a connection part for connecting an actuator. When actually conducting power inspection, the robot arm 202 can carry different actuators such as an electric socket, an electric screwdriver or a robot gripper through the connection part to perform corresponding operations. Through the cooperation of both arms, the equipment can be moved to the required position and installed at the required position using electric tools. Especially with the cooperation of the depth camera, the cooperation of both arms can be more accurate.

[0052] The liftable base 203 of the embodiment of the present invention includes an electric push rod and an electric push rod base, and the liftable base 203 is connected to the controller 108. In practical applications, the dual-arm collaborative visual servo maintenance system 200 of the embodiment of the present invention is fixed on the power-driven platform through its electric push rod base. Under the movement of the power-driven platform, the dual-arm collaborative visual servo maintenance system 200 repairs or processes the located fault point. In the embodiment of the present invention, by setting a liftable base 203, the lifting and lowering of the liftable base 203 in the vertical direction can drive the detection and maintenance of the mechanical arm 202 and the dual-spectrum inspection instrument 201 at different heights in the vertical direction. It should be noted that as the base of the dual-arm collaborative visual servo maintenance system 200, the electric push rod base needs to bear the weight of the upper device itself, and also needs to consider bearing the weight of a certain operating object. Therefore, the electric push rod base needs to be reinforced.

[0053] During the inspection and maintenance process, according to the inspection results of the dual-spectrum inspection instrument 201, if a small fault is found in the equipment, a six-degree-of-freedom mechanical arm can be used to work in collaboration and replace it. The replacement spare parts, power tools, and disassembled screws required during the installation process must be placed in a planned fixed position corresponding to the receiving equipment. Therefore, in a further embodiment, the dual-arm collaborative visual servo maintenance system 200 of the present invention may also include maintenance system accessories, which are arranged on the side of the liftable base 203. When used in conjunction with a power-driven platform, it can be specifically fixed on the power-driven platform. Specifically, the maintenance system accessories may include a spare parts box and a screw tray. The spare parts box is arranged at the rear of the motion platform, and the spare parts box includes a square space portion and a circular deep hole portion. The square space is relatively open and can store spare parts to be replaced. The circular deep holes are densely arranged and can store various specifications of electric tool heads to meet the needs of equipment disassembly and assembly. The screw tray is arranged one on each side of the front of the motion platform; a medium-density buffer material is used, which has a certain amount of deformation, and a tight grip is maintained when the screw is inserted. The round holes are available in three sizes: 8mm, 6mm, and 3mm, with different depths and stepped settings; at the same position, they can be flexibly applied according to the screw size.

[0054] The electric obstacle inspection robot of the present invention uses the tilt signal given by the body posture sensor 105 installed on the triangular crawler obstacle leveling motion platform 100, and controls the leveling electric push rod 104 through the controller 108 to adjust the leveling upper bearing platform 102, and can make the operation and maintenance detection in a horizontal state by leveling the upper bearing platform 102; and the coordinated use of the motor deceleration drive module 103 and the triangular crawler motion module 106 can smoothly pass on soft terrain or rugged roads. And ensure the balance of the dual-arm collaborative visual servo maintenance system 200, so that the dual-arm collaborative visual servo maintenance system 200 is in a horizontal state, and then combined with the dual-spectrum inspection instrument 201 to detect the fault point of the equipment, the mechanical arm 202 is controlled by the control system and the height adjustment of the liftable base 203 to repair the fault point, thereby realizing the automatic and precise maintenance of the electric inspection equipment, and also ensuring the maintenance efficiency and maintenance quality of the electric obstacle inspection robot.

[0055] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A power obstacle inspection robot, characterized in that: include: A triangular crawler obstacle-crossing leveling motion platform and a dual-arm collaborative visual servo maintenance system, wherein the dual-arm collaborative visual servo maintenance system is arranged on the triangular crawler obstacle-crossing leveling motion platform, wherein: The triangular crawler obstacle-crossing leveling motion platform comprises a motion platform bottom plate, a leveling upper bearing platform, a motor deceleration drive module, a leveling electric push rod, a vehicle body posture sensor, a triangular crawler motion module, a power supply and a controller; the motor deceleration drive module, the leveling electric push rod, the power supply and the controller are all arranged on the motion platform bottom plate and are located below the leveling upper bearing platform; the upper end of the leveling electric push rod is connected to the bottom surface of the leveling upper bearing platform; the vehicle body posture sensor is arranged in the middle of the leveling upper bearing platform; the triangular crawler motion module is arranged on both sides of the motion platform bottom plate and is connected to the output end of the motor deceleration drive module; the motor deceleration drive module, the leveling electric push rod and the vehicle body posture sensor are respectively connected to the power supply and the controller; The dual-arm collaborative visual servo maintenance system includes: a dual-spectrum patroller, a robotic arm, a liftable base, and a central connecting piece of the maintenance system, wherein the lower end of the central connecting piece of the maintenance system is connected to the liftable base, the left and right ends are respectively connected to one of the robotic arms, and the upper end is connected to the dual-spectrum patroller; the dual-spectrum patroller, the robotic arm and the liftable base are respectively connected to the power supply and the controller.

2. The power obstacle inspection robot according to claim 1, characterized in that: The leveling electric push rod is pushed out to different lengths under the control of the controller according to the tilt signal given by the vehicle body posture sensor, so as to level the leveling upper bearing platform.

3. The power obstacle inspection robot according to claim 1, characterized in that: The leveling electric push rod can push the leveling upper bearing platform to flip left and right to a maximum angle of 40°, and flip front and back to a maximum angle of 30°.

4. The power obstacle inspection robot according to claim 1, characterized in that: The triangular crawler motion module includes side plates, driving wheels, load-bearing wheels and crawler tracks, wherein the driving wheels are connected to the output end of the motor reduction driving module through the side plates via a transmission shaft; the two groups of load-bearing wheels are located below the driving wheels and are connected to the inner side of the side plates via a rotating shaft; the crawler tracks are arranged around the periphery of the driving wheels and the load-bearing wheels.

5. The power obstacle inspection robot according to claim 1, characterized in that: The dual-spectrum inspection instrument includes a detector base, a detector horizontal rotation structure, a detector pitch rotation structure, an infrared camera, a visible light camera and a laser ranging device; wherein the detector horizontal rotation structure is vertically arranged on the detector base, and the upper end of the detector horizontal rotation structure is connected to a component equipped with the infrared camera, the visible light camera and the laser ranging device through the pitch rotation structure.

6. The power obstacle inspection robot according to claim 1, characterized in that: The horizontal rotation angle of the dual-spectrum inspection instrument is 0° to 360°, and the vertical pitch angle is -30° to +45°.

7. The power obstacle inspection robot according to claim 1, characterized in that: The robotic arm is a six-degree-of-freedom robotic arm.

8. The power obstacle inspection robot according to claim 1, characterized in that: A connecting portion is provided at the end of the mechanical arm for connecting to an actuator.

9. The power obstacle inspection robot according to claim 1, characterized in that: The liftable base comprises an electric push rod and an electric push rod base, and the electric push rod base is fixed on the leveling upper bearing platform.

10. The power obstacle inspection robot according to claim 1, characterized in that: It also includes maintenance system accessories, which are arranged on the leveling upper bearing platform.

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