Inspection equipment and its monitoring system

Abstract

The present invention provides inspection equipment and its monitoring system, which relate to the field of cable inspection technology. The inspection equipment includes: a battery box, a first main side plate and a second main side plate are partially fixed above the battery box, the first main side plate and the second main side plate are mutually perforated and connected together through a driven shaft and a wheel-type driven shaft, a group of driving wheels and a group of driven wheels are correspondingly arranged at the front and rear between the first main side plate and the second main side plate, the driving wheel and the driven wheel are connected to the first main side plate and the second main side plate through the driven shaft, a synchronous wheel matching the driving wheel is arranged on the outer side of the first main side plate, a belt is tightly sleeved on the wheel surface of the synchronous wheel, and the synchronous wheel is connected to a driving motor arranged on the inner side of the first main side plate. Through the above structure, the present invention can reduce the control difficulty of the inspection equipment, reduce the weight of the inspection equipment and reduce the manufacturing cost.

Description

Technical Field

[0001] The present invention relates to the technical field of cable inspection, in particular to inspection equipment and a monitoring system thereof. Background Art

[0002] It is the primary task of the power supply bureau to regularly maintain and inspect high-voltage transmission cables, keep abreast of the operation of high-voltage transmission lines, quickly eliminate existing hidden dangers, and prevent potential accidents. For some line maintenance work, such as the movement of the anti-vibration hammer and the rust of the wire, experienced old employees are generally required to carry out maintenance by sitting on the line. While the labor intensity is high, the strong electric field on the power grid also poses a great threat to the personal safety of the operators. Therefore, there is a need for inspection robots on high-voltage lines to inspect the lines for maintenance employees, freeing people from the dangerous and heavy work of high-voltage power grid inspection. The robot mainly marks and locates the damaged parts, waiting for the maintenance employees to "sit on the line" for maintenance. At present, the inspection robots on high-voltage cables are basically double-arm antisymmetric wheel suspensions. The mechanical structure of such robots is relatively complex, and the degree of freedom of the entire mechanical structure is relatively high, so the control difficulty will be relatively large, and the weight of the robot body is relatively large, and the corresponding production cost will increase. Summary of the invention

[0003] In view of this, an object of the present invention is to provide an inspection device and a monitoring system thereof, so as to reduce the control difficulty of the inspection device, reduce the weight of the inspection device and reduce the manufacturing cost.

[0004] In the first aspect, an embodiment of the present invention provides an inspection device, which includes: a battery box, a first main side plate and a second main side plate are partially fixed above the battery box, the first main side plate and the second main side plate are mutually perforated and connected together through a driven shaft and a wheel-type driven shaft, a group of driving wheels and a group of driven wheels are correspondingly arranged at the front and rear between the first main side plate and the second main side plate, the driving wheel and the driven wheel are connected to the first main side plate and the second main side plate through the wheel-type driven shaft, a synchronous wheel matching the driving wheel is arranged on the outer side of the first main side plate, a belt is tightly fitted on the wheel surface of the synchronous wheel, and the synchronous wheel is connected to a driving motor arranged on the inner side of the first main side plate.

[0005] In combination with the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein the driving wheel includes a first driving wheel and a second driving wheel arranged vertically, and the synchronous wheel includes a first synchronous wheel driving the first driving wheel to rotate and a second synchronous wheel driving the second driving wheel to rotate;

[0006] The belt is tightly sleeved on the wheel surfaces of the first synchronous wheel and the second synchronous wheel, and the first synchronous wheel is connected to the driving motor.

[0007] In combination with the first aspect, an embodiment of the present invention provides a second possible implementation method of the first aspect, wherein the upper and lower panels of the first main side panel are connected with two L-shaped connecting blocks, and the two connecting blocks are connected together by nuts; and the second main side panels are connected together by hinges.

[0008] In combination with the first aspect, the embodiment of the present invention provides a third possible implementation of the first aspect, wherein a battery is sealed inside the battery box.

[0009] In combination with the first aspect, an embodiment of the present invention provides a fourth possible implementation of the first aspect, wherein spring blocks are embedded in the perforated portions where the first main side plate and the second main side plate are connected, and the spring blocks are arranged on the outside of the wheel driven shaft.

[0010] In combination with the first aspect, the embodiment of the present invention provides a fifth possible implementation of the first aspect, wherein both the driving wheel and the driven wheel are made of polymer composite materials.

[0011] In combination with the first aspect, an embodiment of the present invention provides a sixth possible implementation of the first aspect, wherein the inner surfaces of the wheel grooves of the driving wheel and the driven wheel are designed to be concave arc surfaces that match the transmission wires, and the concave arc surfaces are half-wrapped around the outside of the high-voltage wires.

[0012] In a second aspect, an embodiment of the present invention further provides a monitoring system for patrol inspection equipment, which includes: the patrol inspection equipment as described in any one of the above items, further including a visual processing module disposed on the patrol inspection equipment, and a server terminal connected to the visual processing system;

[0013] The server terminal is used to initiate control instructions to the visual processing module through wireless communication technology;

[0014] The visual processing module is used to output PWM waves to the driving motor in the inspection device according to the control instructions to control the travel speed of the inspection device.

[0015] In combination with the second aspect, an embodiment of the present invention provides a first possible implementation of the second aspect, which includes a camera;

[0016] When the inspection equipment is moving, the camera is used to collect environmental images in real time and send the environmental images to the visual processing module. After the visual processing module processes the environmental images, it initiates a connection request to the server terminal, and after the connection is successful, sends the processed environmental images to the server terminal.

[0017] In combination with the second aspect, an embodiment of the present invention provides a second possible implementation of the second aspect, wherein the visual processing module is a Raspberry Pi.

[0018] The embodiments of the present invention bring the following beneficial effects:

[0019] The patrol inspection equipment and monitoring system provided by the present invention include: a battery box, a first main side plate and a second main side plate are partially fixed above the battery box, the first main side plate and the second main side plate are mutually perforated and connected together through a driven shaft, a group of driving wheels and a group of driven wheels are correspondingly arranged at the front and rear between the first main side plate and the second main side plate, the driving wheel and the driven wheel are connected to the first main side plate and the second main side plate through the driven shaft, a synchronous wheel matching the driving wheel is arranged on the outer side of the first main side plate, a belt is tightly sleeved on the wheel surface of the synchronous wheel, and the synchronous wheel is connected to a driving motor arranged on the inner side of the first main side plate. Through the above structure, the present invention can reduce the control difficulty of the patrol inspection equipment, reduce the weight of the patrol inspection equipment and reduce the manufacturing cost.

[0020] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 , 2 A schematic diagram of the structure of the inspection equipment at different angles provided by an embodiment of the present invention;

[0024] Figure 3A schematic diagram of the structure of the travel wheel provided in an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of the structure of the inspection equipment monitoring system provided by an embodiment of the present invention;

[0026] Figure 5 A flow chart of the working method of the inspection equipment monitoring system provided in an embodiment of the present invention.

[0027] icon:

[0028] 1-driving motor; 21-first main side plate; 22-second main side plate; 3-driven shaft; 41-first driven wheel; 42-second driven wheel; 5-L-shaped connecting block; 6-battery box; 71-first synchronous wheel; 72-second synchronous wheel; 8-belt; 9-spring block; 10-wheel driven shaft; 11-hinge; 121-first driving wheel; 122-second driving wheel; 13-camera; 14-visual processing module; 15-server terminal. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] At present, the inspection robots installed on high-voltage lines for line inspection mainly mark and locate damaged parts, waiting for maintenance staff to carry out "online" maintenance. Currently, the inspection robots on high-voltage cables are basically double-arm antisymmetric wheel suspensions. The mechanical structure of such robots is relatively complex, and the degree of freedom of the entire mechanical structure is relatively high, so the control is more difficult, and the weight of the robot body is relatively large, which increases the corresponding production cost.

[0031] Based on this, an inspection device and a monitoring system thereof provided by an embodiment of the present invention can reduce the weight and manufacturing cost of the inspection device itself, and reduce the difficulty of controlling the inspection device through the PWM wave output by the image processing module.

[0032] To facilitate understanding of this embodiment, a patrol inspection device disclosed in an embodiment of the present invention is first introduced in detail.

[0033] Example:

[0034] Reference Figure 1 and Figure 2The inspection equipment shown in different angles includes: a battery box 6, in which a battery is sealed; a first main side plate 21 and a second main side plate 22 are partially fixed above the battery box 6, and the battery box 6 can be bonded to the first main side plate 21 and the second main side plate 22 by an adhesive; the first main side plate 21 and the second main side plate 22 are connected to each other through holes through a driven shaft 3 and a wheeled driven shaft 10, and a group of driving wheels and a group of driven wheels are correspondingly arranged at the front and rear between the first main side plate 21 and the second main side plate 22, and the driving wheel and the driven wheel are connected to the first main side plate 21 and the second main side plate 22 through the wheeled driven shaft 10, and a synchronous wheel matching the driving wheel is arranged on the outer side of the first main side plate 21, and a belt 8 is tightly fitted on the wheel surface of the synchronous wheel, and the synchronous wheel is connected to the drive motor 1 arranged on the inner side of the first main side plate 21. In a possible implementation, two driving wheels can be provided, including a first driving wheel 121 and a second driving wheel 122 arranged vertically, and two synchronous wheels matching the driving wheels are also provided, including a first synchronous wheel 71 driving the first driving wheel 121 to rotate and a second synchronous wheel 72 driving the second driving wheel 122 to rotate; a belt 8 is tightly fitted on the wheel surface of the first synchronous wheel 71 and the second synchronous wheel 72, and the first synchronous wheel 71 is connected to the driving motor 1.

[0035] It is understandable that the number of driven wheels may also be two, including a first driven wheel 41 and a second driven wheel 42 arranged vertically.

[0036] When the driving motor 1 drives the first synchronous wheel 71 above to move, the first synchronous wheel 71 drives the first driving wheel 121 above to rotate, and the first synchronous wheel 71 drives the second synchronous wheel 72 below to rotate through the belt 8. At this time, the second synchronous wheel 72 also drives the second driving wheel 122 below to rotate. The movement of the first driving wheel 121 and the second driving wheel 122 drives the entire robot to move forward, and at this time, the first driven wheel 41 and the second driven wheel 42 will also move forward.

[0037] In a possible implementation, spring blocks 9 are embedded in the perforated portions where the first main side plate 21 and the second main side plate 22 are connected, and the spring blocks 9 are arranged outside the wheel driven shaft 10. When the inspection device is moving, the driving wheel and the driven wheel clamp the line by adjusting the deformation of the spring blocks 9, so that the inspection device can move forward stably.

[0038] In a possible implementation, the upper and lower plates of the first main side plate 21 are connected with two L-shaped connecting blocks 5, and the two connecting blocks are connected together by nuts; the second main side plate 22 is connected together by hinges 11. Among them, the upper half of the first main side plate 21 is provided with a raised structure, and the driving motor 1 and the synchronous wheel are respectively arranged on both sides of the raised structure.

[0039] In a possible implementation, both the driving wheel and the driven wheel are made of polymer composite materials; the inner surface of the wheel groove of the driving wheel and the driven wheel is designed to be an inner concave arc surface that matches the transmission line, and the size of the inner concave arc surface is just half wrapped around the outside of the high-voltage wire. The setting of the inner concave arc surface can increase the friction between the wheel surface of the running wheel and the high-voltage wire. Among them, the running wheel is the first driving wheel 121, the second driving wheel 122, the first driven wheel 41, and the second driven wheel 42 mentioned above. The specific structure of the running wheel can be referred to Figure 3 .

[0040] In a possible implementation, the voltage of the drive motor 1 is 24V, the power is 60W, and the speed is 30 revolutions per minute; the diameter of the driving wheel can be 82mm; it can be seen that when the drive motor 1 is fully loaded, it can move approximately 2.46 meters in one minute.

[0041] Based on the above inspection setting, the embodiment of the present invention also provides a monitoring system for inspection equipment, referring to Figure 4 The system includes: the inspection device described in the above embodiment, and also includes a camera 13, a visual processing module 14, and a server terminal 15 connected to the visual processing system. The visual processing module 14 can be a Raspberry Pi, and the server terminal 15 can be a computer.

[0042] In a possible implementation, the Raspberry Pi is placed flat on the battery box 6, and the drive motor 1 is connected to the Raspberry Pi through a plurality of studs; the camera 13 is a camera device matched with the Raspberry Pi, which is connected to the Raspberry Pi through a sensor interface, and the camera 13 is attached to one end of the battery box 6, and can capture the environmental image in front of the high-voltage cable.

[0043] The monitoring system of the inspection equipment may work in the following two ways:

[0044] The first is a speed control method: the server terminal 15 initiates a control instruction to the visual processing module 14 through wireless communication technology; the visual processing module 14 outputs a PWM wave to the drive motor 1 in the inspection device according to the control instruction to control the travel speed of the inspection device.

[0045] The second is the positioning method: when the inspection equipment is moving, the camera 13 collects the environmental image in real time and sends the environmental image to the visual processing module 14. After the visual processing module 14 processes the environmental image, it initiates a connection request to the server terminal 15, and after the connection is successful, the processed environmental image is sent to the server terminal 15, so that the server terminal 15 determines the current position and the current situation of the high-voltage wires based on the environmental image.

[0046] The above-mentioned inspection equipment and the monitoring system of the inspection equipment can be used for inspection on high-voltage power lines, and the situation on the high-voltage power lines can be displayed in real time on the remote server terminal 15.

[0047] Furthermore, the working process of the monitoring system based on the above inspection equipment can be referred to Figure 5 The signaling diagram shown.

[0048] Step S01: When the inspection device is moving, the camera collects environmental images in real time.

[0049] Step S02: The camera sends the environment image to the Raspberry Pi.

[0050] Step S03, the Raspberry Pi compresses the environmental image into an image compression file, and processes the environmental image in combination with the visual processing algorithm in opencv, and outputs a PWM wave for controlling the travel speed of the inspection equipment according to the processing result. In one implementation, the processing result may include: the environmental image contains suspicious targets such as suspected damaged parts, missing parts, etc.; or, everything is normal in the environmental image; when the processing result is that there is a suspicious target, the Raspberry Pi controls the inspection equipment to travel at a slower speed through the output PWM wave to avoid the inspection equipment from being offset and tilted due to excessive speed, and at the same time facilitates the camera to collect more environmental images, and then the Raspberry Pi performs further processing based on a large number of environmental images to improve the accuracy of the processing results; or, the Raspberry Pi can also send the environmental image to the computer, and the computer makes further recognition and judgment on the environmental image.

[0051] Step S04: The Raspberry Pi creates a Socket and initiates a Socket connection request to the computer.

[0052] Step S05, the computer creates a Socket and starts listening. When a Socket connection request initiated by the Raspberry Pi is listened, it is determined whether there is a connection requirement, and if so, step S06 is executed.

[0053] Step S06: the computer establishes a connection with the Raspberry Pi.

[0054] Step S07: Raspberry Pi sends the compressed image file to the computer via wireless communication technology such as WiFi.

[0055] Step S08, the computer decompresses the compressed image file and displays the environmental image to view the current status of the high-voltage power lines.

[0056] Step S09, the computer sends a control command to the Raspberry Pi. When the computer staff needs to perform remote operations on the inspection robot, the computer obtains the staff's input content and sends a control command to the Raspberry Pi according to the input content.

[0057] In step S10, the Raspberry Pi outputs a PWM wave to the driving motor in the inspection device according to the control instruction to control the traveling speed of the inspection device. In step S03 and step S10, the Raspberry Pi performs speed regulation processing on the driving motor through the PWM wave.

[0058] The sequence numbers of the above steps do not limit the order of execution. For example, step S05 can be executed between or before steps S01 to S04.

[0059] The embodiments of the present invention bring the following beneficial effects:

[0060] The patrol device and monitoring system provided by the present invention include: a battery box, a first main side plate and a second main side plate are partially fixed above the battery box, the first main side plate and the second main side plate are mutually perforated and connected together through a driven shaft, a group of driving wheels and a group of driven wheels are correspondingly arranged at the front and rear between the first main side plate and the second main side plate, the driving wheel and the driven wheel are connected to the first main side plate and the second main side plate through the driven shaft, a synchronous wheel matching the driving wheel is arranged on the outer side of the first main side plate, a belt is tightly sleeved on the wheel surface of the synchronous wheel, and the synchronous wheel is connected to the driving motor arranged on the inner side of the first main side plate. Through the above structure, the present invention can reduce the weight of the patrol device and reduce the production cost. At the same time, the visual processing module in the monitoring system outputs PWM waves to the driving motor to control the travel speed of the patrol device, which can reduce the difficulty of controlling the patrol device.

[0061] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0063] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0064] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0065] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0066] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0067] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0068] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A patrol inspection device, characterized in that: include: A battery box, a first main side plate and a second main side plate are partially fixed on the top of the battery box, the first main side plate and the second main side plate are mutually perforated and connected together through a driven shaft and a wheel-type driven shaft, a group of driving wheels and a group of driven wheels are correspondingly arranged at the front and rear between the first main side plate and the second main side plate, the driving wheel and the driven wheel are connected to the first main side plate and the second main side plate through the wheel-type driven shaft, a synchronous wheel matching the driving wheel is arranged on the outer side of the first main side plate, a belt is tightly sleeved on the wheel surface of the synchronous wheel, and the synchronous wheel is connected to a driving motor arranged on the inner side of the first main side plate; The driving wheel comprises a first driving wheel and a second driving wheel arranged vertically, the driven wheel comprises a first driven wheel and a second driven wheel arranged vertically, and the synchronous wheel comprises a first synchronous wheel driving the first driving wheel to rotate and a second synchronous wheel driving the second driving wheel to rotate; The belt is tightly sleeved on the wheel surfaces of the first synchronous wheel and the second synchronous wheel, and the first synchronous wheel is connected to the driving motor; The perforated parts where the first main side plate and the second main side plate are connected are both embedded with spring blocks, and the spring blocks are arranged outside the wheel driven shaft; The upper and lower plates of the first main side plate are connected with two L-shaped connecting blocks, and the two connecting blocks are connected together by nuts; the second main side plates are connected together by hinges; The driving wheel and the driven wheel are both made of polymer composite materials; the inner surfaces of the wheel grooves of the driving wheel and the driven wheel are designed to be concave arc surfaces that match the power transmission wires, and the concave arc surfaces are half-wrapped outside the high-voltage wires.

2. The inspection device according to claim 1, characterized in that: The battery box is sealed with batteries inside.

3. A monitoring system for inspection equipment, characterized in that: include: The inspection device according to any one of claims 1 to 2, further comprising a visual processing module disposed on the inspection device, and a server terminal connected to the visual processing module; The server terminal is used to initiate control instructions to the visual processing module through wireless communication technology; The visual processing module is used to output a PWM wave to a driving motor in the inspection device according to the control instruction, so as to control the traveling speed of the inspection device; The monitoring system of the inspection equipment also includes a camera; When the inspection device is moving, the camera is used to collect environmental images in real time and send the environmental images to the visual processing module. After the visual processing module processes the environmental images, it initiates a connection request to the server terminal and sends the processed environmental images to the server terminal after the connection is successful. The visual processing module is a Raspberry Pi.

Images