A cableway self-propelled intelligent inspection robot system

Abstract

The present invention provides a cableway-type self-propelled intelligent inspection robot system, which belongs to the technical field of inspection robots and includes: a load-bearing channel with two parallel cableways arranged at intervals; the robot is provided with walking wheels suitable for moving on the load-bearing channel; the outer surface of the walking wheel has a first annular groove, and the first annular groove is suitable for accommodating the cableway; a main tower; an intermediate tower; the cableway-type self-propelled intelligent inspection robot system of the present invention has a plurality of intermediate towers arranged between the main towers to support the cableway, reduce the overall deflection of the cableway, improve the sag of the cableway, keep the cableway smooth and smooth, and ensure the smooth passage of the robot on the cableway.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to a cableway type self-propelled intelligent inspection robot system. Background Art

[0002] Traditional monitoring methods include manual scheduled inspections and fixed installation of video monitoring equipment at multiple points. However, for complex environments such as large areas and dense forests, traditional monitoring methods are labor-intensive and inefficient.

[0003] In the prior art, a long-span cableway is erected above the monitoring area as a carrying channel, so that a mobile robot can move on the carrying channel; the mobile robot can perform patrol, security monitoring, perimeter protection, and other issues in the area.

[0004] However, if a large-span cableway is supported only by the iron towers at both ends, the cableway may sag, making it impossible for the load-bearing channel to remain smooth and the robot to move smoothly. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that the cableway has only support points at both ends, so that the mobile robot cannot pass smoothly when the cableway is bent downward, thereby providing a cableway-type self-propelled intelligent inspection robot system.

[0006] The present invention provides a cableway type self-propelled intelligent inspection robot system, comprising:

[0007] The carrying channel is suitable for being installed across the area to be monitored, and has two parallel cableways arranged at intervals;

[0008] The robot has a camera device for monitoring; is provided with a running wheel suitable for moving on the carrying channel; the outer surface of the running wheel has a first annular groove, and the first annular groove is suitable for accommodating a cableway;

[0009] There are two main towers, which are arranged at both ends of the bearing channel and are respectively connected to the two ends of the cableway;

[0010] The middle tower is arranged between the main towers; the upper end of the middle tower is connected to the cableway; the upper surface of the middle tower is provided with a cable saddle for the robot to pass through.

[0011] As a preferred solution, the robot is provided with an anti-falling device having a blocking pin; the cable saddle is provided with a push plate;

[0012] The blocking pin has a blocking state in which it extends toward the bottom of the traveling wheel to block the opening of the first annular groove, and also has a avoiding state in which it is retracted by the push plate to avoid the opening below the first annular groove.

[0013] As a preferred solution, the cable saddle comprises: a base having a receiving groove for placing the cableway, wherein the receiving groove has a supporting surface for supporting the cableway;

[0014] The lifting plates are arranged on both sides of the receiving groove of the base; the upper surface of the lifting plates is a lifting surface suitable for the movement of the walking wheels.

[0015] As a preferred solution, the cable saddle further comprises:

[0016] There are multiple supporting wheels, which are arranged in sequence in the accommodating groove; a second annular groove is arranged on the supporting wheel, and multiple second annular grooves form a supporting surface for supporting the cableway.

[0017] As a preferred solution, the lifting surface is arranged in an arc shape.

[0018] As a preferred solution, the supporting surface formed by the second annular groove of the supporting wheel is arranged in an arc shape.

[0019] As a preferred solution, the anti-falling device comprises: a sleeve having a receiving cavity and connected to the frame of the robot;

[0020] The blocking pin is slidably arranged in the accommodating cavity of the sleeve; it has a blocking state in which it partially extends out of the accommodating cavity, and also has an avoiding state in which it is retracted into the accommodating cavity.

[0021] The elastic member is arranged in the accommodating cavity of the sleeve and has a driving force for driving the blocking pin to extend out of the sleeve.

[0022] As a preferred solution, the push plate is arranged in contact with a side of the base close to the robot; both ends of the push plate have push parts, and the push parts are inclined in a direction away from the robot; the push parts are arranged at the lower end of the cableway.

[0023] As a preferred solution, the anti-falling device further comprises: a rolling member, one end of which is rotatably arranged at an end of the blocking pin away from the sleeve; and the other end of the rolling member is suitable for abutting against the push plate.

[0024] As a preferred solution, the robot comprises:

[0025] The frame has running wheels symmetrically arranged on both sides; the frame is provided with a driving device for driving the running wheels to rotate;

[0026] A main function compartment is connected to the lower end of the frame; the main function compartment includes: a pan / tilt, a high-definition wide-angle camera, a high-definition zoom camera, an infrared thermal imager, environmental monitoring equipment and deterrent strike equipment;

[0027] A shock absorbing device is arranged between the vehicle frame and the main function compartment.

[0028] The technical solution of the present invention has the following advantages:

[0029] 1. The cableway self-propelled intelligent inspection robot system provided by the present invention comprises: a load-bearing channel, a robot, a main tower and an intermediate tower; a plurality of intermediate towers are arranged between the main towers to support the cableway, reduce the overall deflection of the cableway, improve the sag of the cableway, keep the cableway smooth, and ensure the smooth passage of the robot on the cableway; at the same time, a cable saddle is arranged at the connection between the intermediate tower and the cableway, so that the robot can smoothly pass through the connection between the intermediate tower and the cableway, ensuring that the robot can smoothly pass through the intermediate tower while the intermediate tower is arranged.

[0030] 2. The cableway self-propelled intelligent inspection robot system provided by the present invention is provided with an anti-falling device. When the blocking pin is in a blocking state, the blocking pin cooperates with the first annular groove of the traveling wheel to form a closed space, so that when the traveling wheel moves on the cableway, the anti-falling device restricts the cableway in the first annular groove of the traveling wheel, thereby preventing the cableway from detaching from the first annular groove of the traveling wheel in an unexpected situation;

[0031] The cable saddle is provided with a push plate, which can make the blocking pin in an evasive state, and can ensure that the robot's running wheels and anti-falling device pass smoothly through the connection between the middle tower and the cableway.

[0032] 3. The cableway self-propelled intelligent inspection robot system provided by the present invention, the cable saddle includes: a base and a lifting plate; the supporting surface in the base is used to support the cableway; the lifting surface on the lifting plate is used to support the movement of the walking wheels.

[0033] 4. The cableway-type self-propelled intelligent inspection robot system provided by the present invention has an arc-shaped lifting surface and an arc-shaped supporting surface formed by the second annular groove of the supporting wheel; the cableway is set on the supporting surface of the supporting wheel, and when the robot moves from one side of the cable saddle to the other side, the walking wheels pass through the lifting surface. The arc-shaped setting makes the robot's walking path smoother and reduces vibration during the robot's movement.

[0034] 5. The cableway-type self-propelled intelligent inspection robot system provided by the present invention, the anti-falling device includes: a sleeve, a blocking pin and an elastic member; this structural setting can realize the popping out and retraction of the blocking pin on the anti-falling device.

[0035] 6. The cableway-type self-propelled intelligent inspection robot system provided by the present invention, the anti-fall device also includes: a rolling element, which is rotatably set at one end of the blocking pin and the other end is abutted against the push plate; when the robot moves along the cableway, the push plate abuts against the blocking pin, and the setting of the rolling element can reduce the friction between the push plate and the blocking pin.

[0036] 7. The cableway-type self-propelled intelligent inspection robot system provided by the present invention has a shock-absorbing device arranged between the frame and the main function compartment to reduce the vibration of the robot to the main function compartment during movement, thereby ensuring the shooting effect of the camera device on the main function compartment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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.

[0038] Figure 1 This is a front view structural diagram of the cableway type self-propelled intelligent inspection robot system of the present invention.

[0039] Figure 2 for Figure 1 The front view of the robot is shown.

[0040] Figure 3 It is a schematic structural diagram of the travel wheel and the anti-falling device of the present invention.

[0041] Figure 4 It is a front perspective view of the anti-falling device of the present invention in a blocking state.

[0042] Figure 5 It is a front perspective view of the anti-falling device of the present invention in an evasive state.

[0043] Figure 6 It is a schematic structural diagram of the traveling wheel and the cable saddle of the present invention.

[0044] Figure 7 It is a schematic diagram of the three-dimensional structure of the cable saddle of the present invention.

[0045] Figure 8 It is a structural schematic diagram of the cable saddle and the cableway of the present invention.

[0046] Description of reference numerals:

[0047] 1. Cableway; 2. Robot; 3. Main tower; 4. Intermediate tower; 5. Vehicle frame; 6. Main functional cabin;

[0048] 7. Travel wheel; 8. Shock absorbing device; 9. First annular groove; 10. Anti-fall device; 11. Sleeve; 12.

[0049] Blocking pin; 13, elastic member; 14, pulley; 15, accommodating chamber; 16, cable saddle; 17, base; 18,

[0050] Lifting plate; 19. Supporting wheel; 20. Pushing plate; 21. Pushing part. DETAILED DESCRIPTION

[0051] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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.

[0052] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0053] In the description of the present invention, it should be noted that, 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 it can be indirectly connected through an intermediate medium, or 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.

[0054] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0055] The cableway self-propelled intelligent inspection robot system provided in this embodiment is as follows: Figure 1 As shown, it includes a bearing channel, a robot 2, a main tower 3 and an intermediate tower 4; a plurality of intermediate towers 4 are arranged between the main towers 3, and two are arranged in this embodiment to support the cableway 1, reduce the overall deflection of the cableway 1, improve the sag of the cableway 1, keep the cableway 1 smooth, and ensure the smooth passage of the robot 2 on the cableway 1; at the same time, a cable saddle 16 is arranged at the connection between the intermediate tower 4 and the cableway 1, which is used for the robot 2 to smoothly pass through the connection between the intermediate tower 4 and the cableway 1, ensuring that the robot 2 smoothly passes through the intermediate tower 4 when the intermediate tower 4 is arranged.

[0056] The carrying channel is set up above the area to be monitored, and the general setting height is not less than 10 meters. The carrying channel uses two parallel cableways 1 on the left and right as the movement channel of the robot 2. The two cableways 1 have the characteristics of stability and large carrying capacity.

[0057] Both ends of the cableway 1 are supported by main towers 3. To prevent the cableway 1 from sagging in the middle, several intermediate towers 4 are arranged in the middle of the cableway 1. A cable saddle 16 is arranged at the connection between the intermediate towers 4 and the cableway 1 to facilitate the robot 2 to pass smoothly.

[0058] like Figure 2 As shown, the robot 2 includes a frame 5, and running wheels 7 are symmetrically arranged on both sides of the frame 5. There are four running wheels 7, which stably straddle the two cableways 1 and are driven to rotate by a driving motor on its own driving device, thereby realizing forward and backward movement on the cableway 1; a main function compartment 6 is arranged at the lower end of the frame 5; and a shock absorbing device 8 is arranged between the frame 5 and the main function compartment 6.

[0059] like Figure 3 As shown, the outer surface of the running wheel 7 has a first annular groove 9, and the cableway 1 is accommodated in the first annular groove 9; an anti-falling device 10 is arranged under each running wheel 7, and the anti-falling device 10 has a blocking pin 12, and the blocking pin 12 cooperates with the first annular groove 9 of the running wheel 7 to form a closed space, so that when the running wheel 7 moves on the cableway 1, the anti-falling device 10 is used to restrict the cableway 1 in the first annular groove 9 of the running wheel 7, thereby preventing the cableway 1 from escaping from the first annular groove 9 of the running wheel in an accident.

[0060] like Figure 4 , 5 As shown, the outer surface of the anti-falling device 10 is a sleeve 11, and the sleeve 11 is connected to the frame 5 of the robot 2. The sleeve 11 has a receiving cavity 15, and an elastic member 13 is arranged in the receiving cavity 15. One end of the elastic member 13 abuts against the bottom wall of the receiving cavity 15, and the other end abuts against one end of the blocking pin 12; the elastic member 13 has a driving force to drive the blocking pin 12 to extend out of the sleeve 11; the elastic member 13 is preferably a spring; as shown in FIG. Figure 4 As shown, the blocking pin 12 is in a blocking state extending toward the bottom of the running wheel 7 to block the opening of the first annular groove 9; Figure 5 As shown, the blocking pin 12 is in a state of being retracted by the push plate 20 to avoid the opening below the first annular groove 9. Further, in order to reduce the friction between the blocking pin 12 and the push plate 20 during contact, a pulley 14 is rotatably provided at the end of the blocking pin 12, and the rolling direction of the pulley 14 is perpendicular to the rolling direction of the walking wheel 7.

[0061] As an alternative embodiment, a ball may also be rotatably provided at the end of the blocking pin 12 .

[0062] like Figure 6 As shown, in order for the robot 2 to smoothly pass through the connection between the intermediate tower 4 and the cableway 1, a cable saddle 16 is provided on the top of the intermediate tower 4;

[0063] like Figure 7 As shown, the cable saddle 16 has a base 17, the lower end of the base 17 is connected to the upper end of the middle tower 4, the upper end of the base 17 has a receiving groove, and the inner side surfaces of the two side walls of the receiving groove are respectively fitted with lifting plates 18, and the upper surface of the lifting plate 18 has a lifting surface, which is suitable for the movement of the walking wheels 7 of the robot 2; the lifting surface is arranged in an arc shape to facilitate the smooth passage of the robot 2; a plurality of supporting wheels 19 are arranged in sequence in the receiving groove, each supporting wheel 19 has a second annular groove, and the plurality of second annular grooves form a supporting surface, which is used to support the cableway 1 and reduce the deflection of the cableway 1; a push plate 20 is fitted on the side of the base 17 close to the robot 2.

[0064] like Figure 8 As shown, both ends of the push plate 20 have a push portion 21, and the push portion 21 is inclined in the direction away from the robot 2; the push portion 21 is arranged at the lower end of the cableway 1; when the robot 2 approaches the cable saddle 16 from one end, the end of the push portion 21 of the push plate 20 contacts the pulley 14 on the blocking pin 12. Since the push portion 21 is inclined, during the movement of the robot 2, the push portion 21 gradually pushes the blocking pin 12 from a blocking state to an avoidance state of retracting into the accommodating cavity 15, so that the robot 2 can pass through the cable saddle 16 smoothly.

[0065] The frame 5 and the main function compartment 6 are connected by hanging bolts, and shock-absorbing pads are arranged on the hanging bolts to reduce the vibration of the robot 2 to the main function compartment 6 during the movement, and ensure the shooting effect of the camera device on the main function compartment 6.

[0066] The main function compartment 6 includes: a pan / tilt head, a high-definition wide-angle camera, a high-definition zoom camera, an infrared thermal imager, environmental monitoring equipment and deterrence and strike equipment.

[0067] Usage and principle

[0068] Main towers 3 are respectively arranged at both ends of the area to be monitored, and a cableway 1 is erected on the main towers 3. An intermediate tower 4 is arranged between the main towers 3 to support the cableway 1. The robot 2 walks on the cableway 1, and the blocking pin 12 is in a blocking state under normal conditions; when the robot 2 gradually approaches the cable saddle 16, the blocking pin 12 first touches the pushing portion 21 of the pushing plate 20, and as the robot 2 moves, the blocking pin 12 retracts into the accommodating cavity 15, so that the blocking pin 12 is in an avoidance state; the walking wheels 7 of the robot 2 move on the lifting surface of the lifting plate 18 to ensure that the robot 2 passes through the cable saddle 16 smoothly and completes the entire monitoring process.

[0069] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A cableway self-propelled intelligent inspection robot system, characterized in that: include: The load-bearing channel is suitable for being installed across the space above the area to be monitored; A cableway (1) having two parallel cableways arranged at intervals; The robot (2) has a camera device for monitoring; is provided with a running wheel (7) suitable for moving on the carrying channel; the outer surface of the running wheel (7) has a first annular groove (9), and the first annular groove (9) is suitable for accommodating the cableway (1); The main tower (3) has two parts, which are arranged at both ends of the bearing channel and are respectively connected to both ends of the cableway (1); An intermediate tower (4) is arranged between the main towers (3); the upper end of the intermediate tower (4) is connected to the cableway (1); the upper surface of the intermediate tower (4) is provided with a cable saddle (16) for the robot (2) to pass through; The robot (2) is provided with an anti-falling device (10) having a blocking pin (12); the cable saddle (16) is provided with a push plate (20); The blocking pin (12) has a blocking state in which it extends toward the bottom of the running wheel (7) to block the opening of the first annular groove (9), and also has a avoiding state in which it is retracted by the push plate (20) to avoid the opening below the first annular groove (9); The cable saddle (16) comprises: a base (17) having a receiving groove for placing the cableway (1), wherein the receiving groove has a supporting surface for supporting the cableway (1); A lifting plate (18) is arranged on both sides of the receiving groove of the base (17); the upper surface of the lifting plate (18) is a lifting surface suitable for the movement of the walking wheel (7); the lifting surface is arranged in an arc shape; The anti-falling device (10) comprises: A sleeve (11) having a receiving cavity (15) and connected to a frame of the robot (2); A blocking pin (12) is slidably disposed in the accommodating cavity (15) of the sleeve (11); it has a blocking state in which it partially extends out of the accommodating cavity (15), and also has an evasive state in which it is retracted into the accommodating cavity (15); An elastic member (13) is disposed in the accommodating cavity (15) of the sleeve (11), and has a driving force for driving the blocking pin (12) to extend out of the sleeve (11); The push plate (20) is arranged in contact with a side of the base (17) close to the robot (2); both ends of the push plate (20) have push portions (21), and the push portions (21) are arranged obliquely in a direction away from the robot (2); the push portions (21) are arranged at the lower end of the cableway (1); The anti-falling device (10) further comprises: a rolling element, one end of which is rotatably arranged on the blocking pin (12); and the other end of the rolling element is suitable for abutting against the push plate (20).

2. The cableway self-propelled intelligent inspection robot system according to claim 1 is characterized in that: The cable saddle (16) further comprises: The supporting wheels (19) are provided in plurality and arranged in sequence in the accommodating groove; a second annular groove is provided on the supporting wheel (19), and the plurality of the second annular grooves form a supporting surface for supporting the cableway (1).

3. The cableway self-propelled intelligent inspection robot system according to claim 2 is characterized in that: The supporting surface formed by the second annular groove of the supporting wheel (19) is arranged in an arc shape.

4. The cableway self-propelled intelligent inspection robot system according to any one of claims 1 to 3, characterized in that: The robot (2) comprises: A vehicle frame (5) is provided with running wheels (7) symmetrically on both sides; a driving device for driving the running wheels (7) to rotate is provided on the vehicle frame (5); A main function compartment (6) is connected to the lower end of the vehicle frame (5); the main function compartment (6) comprises: a pan / tilt platform, a high-definition wide-angle camera, a high-definition zoom camera, an infrared thermal imager, environmental monitoring equipment and deterrent strike equipment; A shock absorbing device (8) is provided between the vehicle frame (5) and the main function compartment (6).

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