An insulator cleaning robot with on-site real-time monitoring function

Abstract

The present invention relates to an insulator cleaning robot with on-site real-time monitoring function, and particularly to the field of cleaning equipment. It includes a structural body, a cleaning device, a walking device, a controller and a power supply. The structural body includes an upper part and a lower part. The upper part is hinged to one side of the lower part, and the other side of the upper part and the lower part are detachably connected. The cleaning device includes 4 cleaning brush heads on the same plane. The structural body is provided with at least one cleaning device. The structural body is also provided with a motor connected to each of the cleaning brush heads. The walking device is arranged in the structural body. The power supply is connected to the cleaning device and the walking device respectively. The camera, the motor and the walking device are all connected to the controller. This solution solves the technical problem of how to obtain the cleaning status of the insulator in real time, and is suitable for cleaning and monitoring insulators.

Description

Technical Field

[0001] The invention relates to the field of cleaning equipment, and in particular to an insulator cleaning robot with an on-site real-time monitoring function. Background Art

[0002] For outdoor construction, large temporary work sites have the need to transmit videos back to the headquarters and centers. Since the work sites are temporary and need to be changed frequently, the cost of installing fixed monitoring is relatively high, and it is not convenient to dismantle and take away after completion. With a real-time monitoring system, users' needs for such applications can be easily solved. Summary of the invention

[0003] The technical problem to be solved by the present invention is how to obtain the cleaning status of the insulator in real time.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: an insulator cleaning robot with on-site real-time monitoring function, comprising: a structural body, a cleaning device, a walking device, a controller and a power supply, the structural body comprising an upper part and a lower part, the upper part is hinged to one side of the lower part, and the other side of the upper part and the lower part are detachably connected, the cleaning device comprises 4 cleaning brush heads on the same plane, at least one cleaning device is provided on the structural body, and a motor connected to each of the cleaning brush heads is also provided on the structural body, the walking device is arranged in the structural body, the power supply is connected to the cleaning device and the walking device respectively, and the camera, the motor and the walking device are all connected to the controller;

[0005] The motor is also provided with a camera device, which is connected to the controller. The camera device includes a camera arm and a camera head. The camera head is installed on the camera arm, and the other end of the camera arm is connected to one end of the structural body.

[0006] The beneficial effect of the present invention is that when in use, the upper and lower parts of the structural body are separated by a detachable connection, and after being installed on the insulator to be cleaned, the upper and lower parts are reassembled by the detachable connection, and then moved on the surface of the insulator by a walking device arranged inside the structural body, so as to achieve the purpose of live cleaning of the insulator, and a camera arranged at one end of the structural body can provide real-time feedback on the cleaning status of the insulator.

[0007] Based on the above technical solution, the present invention can also be improved as follows.

[0008] Furthermore, it also includes an image recognition device, which is connected to the camera device and the controller respectively. The image recognition device obtains analysis information based on the image information of the camera device, and the controller is used to generate continue cleaning information or stop cleaning information based on the analysis information.

[0009] The beneficial effect of adopting the above further solution is that, after such arrangement, when the image recognition device recognizes that there is residual dirt on the insulator, it can be repeatedly cleaned until there is no residual dirt, and the cleaning automatically stops.

[0010] Furthermore, the cleaning device includes a dry ice device, and the dry ice device is connected to the controller via a motor.

[0011] The beneficial effect of adopting the above further scheme is that when the motor rotates, the dry ice device is started, and the camera arm is also driven to move, so that the relative position of the camera changes. When the field of view is not clear when the dry ice is started, the camera is replaced to improve the user experience.

[0012] Furthermore, the dry ice device is connected to the controller via a telescopic motor, and the controller is used to control the movement of the camera arm when the dry ice device is started.

[0013] The beneficial effect of adopting the above further solution is that the dry ice device uses a separate motor, which avoids an overly complex structure that increases the difficulty of subsequent maintenance.

[0014] Furthermore, it comprises two cleaning devices, one of which is arranged at the head of the structural body, and the other cleaning device is arranged at the tail of the structural body.

[0015] The beneficial effect of adopting the above further scheme is that the camera arm extends backwards when working, which makes it convenient for the user to check the surface condition of the insulator after one cleaning. If the user determines that the insulator is not cleaned cleanly through the image returned by the camera, the user controls the cleaning robot to clean the insulator again.

[0016] Furthermore, it includes two camera devices, one of which is fixed to the upper right rear end of the structural body, and the other is fixed to the upper left front end of the structural body.

[0017] The beneficial effect of adopting the above further solution is that when the user decides to repeat the cleaning, the cleaning robot goes back, and the camera device previously located in the front moves to the rear, so that the user can know whether the insulator of the cleaning robot is cleaned when returning.

[0018] Furthermore, the camera arm includes a telescopic arm, a swing arm and a rotating slide, the camera is fixed on the rotating slide, and the telescopic arm and the rotating slide are connected through the swing arm.

[0019] The beneficial effect of adopting the above further solution is that the viewing angle of the camera can be freely rotated through the cooperation of the telescopic arm, the swing arm and the rotating slide.

[0020] Furthermore, the camera arm is a conveyor belt, the axis of the camera arm is parallel to the axis of the structural body, the camera arm extends to the rear of the structural body, and the cameras are evenly distributed on the camera arm.

[0021] The beneficial effect of adopting the above further solution is that the positions of the two cameras can be changed by clicking to drive the camera arm to rotate. When changing the position, the camera will be cleaned with a cleaning brush or dry ice, so that the photos taken are clear and easy to identify.

[0022] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of an insulator cleaning robot with on-site real-time monitoring function of the present invention;

[0024] Figure 2 It is a schematic diagram of a three-dimensional structure from a top view of an embodiment of an insulator cleaning robot with an on-site real-time monitoring function according to the present invention;

[0025] Figure 3 A schematic diagram of the structure of a cleaning device of another embodiment of the insulator cleaning robot with on-site real-time monitoring function of the present invention;

[0026] Figure 4 A schematic diagram of the connection relationship between the cleaning device and the motor of another embodiment of the insulator cleaning robot with on-site real-time monitoring function of the present invention;

[0027] Figure 5 An exploded view of the connection between the camera and the main structure of another embodiment of the insulator cleaning robot with on-site real-time monitoring function of the present invention ；

[0028] Figure 6 It is a three-dimensional schematic diagram of the installation position of the inner climbing arm of the robot of other embodiments of the porcelain insulator zero value detection cleaning robot and control system of the present invention;

[0029] Figure 7 A schematic diagram of the installation position of the inner climbing arm of the robot of the porcelain insulator zero value detection cleaning robot and the control system of other embodiments of the present invention;

[0030] Figure 8 This is a three-dimensional schematic diagram of the installation position of the dry ice device of other embodiments of the porcelain insulator zero value cleaning robot and control system of the present invention. DETAILED DESCRIPTION

[0031] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0032] The embodiment is basically as shown in the attached Figure 1 and attached Figure 2 As shown:

[0033] The insulator cleaning robot with on-site real-time monitoring function in this embodiment includes: a structural body 1, a cleaning device, a walking device, a controller and a power supply. The structural body 1 includes an upper part and a lower part. One side of the upper part and the lower part are hinged, and the other side of the upper part and the lower part are detachably connected. The cleaning device includes four cleaning brush heads 2 on the same plane. The cleaning device in this embodiment is shown in the attached Figure 3 As shown, four cleaning brush heads 2 are closely arranged, at least one cleaning device is provided on the structural body 1, and a motor 17 connected to each cleaning brush head 2 is also provided on the structural body 1. The motor 17 in this embodiment is a servo motor, wherein the connection relationship between the cleaning device and the motor 17 is as shown in the attached figure. Figure 4 As shown, it includes a guide bracket 15, a brush group connecting arm 16, a cleaning brush head 2, a bearing 17, a main frame connecting block 18, a motor shaft adapter rod 19, a motor bracket 20 and a motor 17, a walking device is arranged in the structural body 1, a power supply is connected to the cleaning device and the walking device respectively, and a camera 4, a motor 17 and a walking device are all connected to a controller;

[0034] The motor 17 is also provided with a camera, which is connected to the controller. Figure 5 As shown, the camera device includes a camera arm 3 and a camera 4, the camera 4 is mounted on the camera arm 3, and the other end of the camera arm 3 is connected to one end of the structural body 1. In other embodiments, the camera device includes two cameras 4, each camera 4 is mounted on the camera arm 3, the camera 4 can be a JYA4001 miniature camera, and the other end of the camera arm 3 is connected to one of the motors 17.

[0035] The beneficial effect of the present invention is that when in use, the upper and lower parts of the structural body 1 are separated by a detachable connection, and after being installed on the insulator to be cleaned, the upper and lower parts are reassembled by the detachable connection, and then moved on the surface of the insulator by a walking device arranged inside the structural body 1, so as to achieve the purpose of live cleaning of the insulator, and the camera 4 arranged at one end of the structural body 1 can provide real-time feedback on the cleaning status of the insulator.

[0036] Based on the above technical solution, the present invention can also be improved as follows.

[0037] Optionally, in some other embodiments, such as the attached Figure 6 and attached Figure 7As shown, the walking device includes a climbing arm and a walking motor 17, and the climbing arm and the walking motor 17 are detachably connected. The climbing arm includes a climbing upper arm 36 and a climbing lower arm 37. A through hole is provided between the climbing upper arm 36 and the climbing lower arm 37, and the through hole is connected to the output end of the walking motor 17. A pair of ceramic wheel groups 38 are provided at the free ends of the climbing upper arm 36 and the climbing lower arm 37. One walking device includes 2 climbing arms, and a total of one walking device includes 8 ceramic wheel groups 38.

[0038] The connection between the climbing arm and the travel motor 17 in this embodiment is detachable, so that climbing arms of different sizes with the same through hole can be connected to the travel motor 17 in this embodiment, so that when cleaning insulators of different specifications, the climbing arm can be replaced to obtain a cleaning robot suitable for insulators of different specifications. Optionally, in some other embodiments, an image recognition device is also included, and the image recognition device is connected to the camera device and the controller respectively. The image recognition device obtains analysis information based on the image information of the camera device, and the controller is used to generate a continue cleaning information or a stop cleaning information based on the analysis information.

[0039] After such arrangement, when the image recognition device recognizes that there is residual dirt on the insulator, the cleaning can be repeated until there is no residual dirt and the cleaning stops automatically.

[0040] Optionally, in some other embodiments, the cleaning device includes a dry ice device, which is connected to the controller via a motor 17. The dry ice device in this embodiment is a dry ice spray can with a pressing head. The motor 17 rotates to drive the pressing head downward so that the dry ice is sprayed out to achieve the purpose of cleaning.

[0041] The motor 17 starts the dry ice device when it rotates, and also drives the camera arm 3 to move, so that the relative position of the camera 4 changes. When the field of view is not clear when the dry ice is started, the camera 4 is replaced to improve the user experience.

[0042] Optional, as attached Figure 8 As shown, in some other embodiments, the dry ice device is connected to the controller through a telescopic motor. The controller is used to control the movement of the camera arm 3 when the dry ice device is started. The dry ice device in this embodiment includes a pressing block 5, a nozzle 6, a transmission arm 7, a dry ice tank 8, a 12V reciprocating telescopic motor, a knob 10 and a shell. The knob 10 is set at the bottom of the shell. The dry ice tank 8 is fixed in the shell through the knob 10. The top of the dry ice tank 8 contacts the nozzle 6 pressing block 5. When the pressing block 5 is pressed, the dry ice tank 8 sprays dry ice outward through the nozzle 6. The 12V reciprocating telescopic motor 9 is connected to the pressing block 5 for controlling the pressing or resetting of the pressing block 5.

[0043] The dry ice device uses a separate motor to avoid an overly complex structure that increases the difficulty of subsequent maintenance.

[0044] Optionally, in some other embodiments, two cleaning devices are included, one cleaning device is arranged at the head of the structural body 1 , and the other cleaning device is arranged at the tail of the structural body 1 .

[0045] The camera arm 3 extends backwards when working, so that the user can check the surface state of the insulator after cleaning once. If the user determines that the insulator is not cleaned thoroughly through the image returned by the camera 4, the user can control the cleaning robot to clean the insulator again.

[0046] Optionally, in some other embodiments, two camera devices are included, one camera device is fixed to the upper right rear end of the structural body 1, and the other camera device is fixed to the upper left front end of the structural body 1.

[0047] When the user decides to repeat the cleaning, the cleaning robot goes back. At this time, the camera device previously located in the front moves to the rear, so that the user can know whether the insulator of the cleaning robot is cleaned during the return trip.

[0048] Optionally, in some other embodiments, the camera arm 3 includes a telescopic arm 30, a swing arm 27 and a rotating slide 31, the camera 4 is fixed on the rotating slide 31, and the telescopic arm 30 and the rotating slide 31 are connected through the swing arm 27. Figure 5 As shown, the camera device specifically includes a camera motor 18, a motor connection plate 19, a bearing 20, an arm lifting screw 21, a camera 4, a swing arm small sleeve 22, a swing arm turbine 23, an upper cover plate 24, a lifting nut 25, a nut support rod 26, a swing arm 27, a slide 28, a guide rail 29, a telescopic arm 30, a rotating slide 31, a fastening screw 32, a swing arm turbine flange 33, a worm 34 and a slide lower cover 35.

[0049] The beneficial effect of adopting the above further solution is that the viewing angle of the camera 4 can be freely rotated through the cooperation of the telescopic arm 30, the swing arm 27 and the rotating slide 31.

[0050] Optionally, in some other embodiments, the camera arm 3 is a conveyor belt, the axis of the camera arm 3 is parallel to the axis of the structural body 1, the camera arm 3 extends toward the rear of the structural body 1, and the cameras 4 are evenly distributed on the camera arm 3. This embodiment includes two cameras 4, which are distributed at both ends of the camera arm 3.

[0051] By clicking, the camera arm 3 is driven to rotate and the positions of the two cameras 4 are switched. When switching positions, the camera 4 will be cleaned with a cleaning brush or dry ice, so that the taken photos are clear and easy to identify.

[0052] It should be noted that the above embodiments are product embodiments corresponding to the above method embodiments. For the description of each structural device and optional implementation method in this embodiment, reference can be made to the corresponding description in the above method embodiments, which will not be repeated here.

[0053] The reader should understand that in the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0054] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0055] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An insulator cleaning robot with on-site real-time monitoring function, characterized in that: include: A structural body, a cleaning device, a walking device, a controller and a power supply, wherein the structural body comprises an upper part and a lower part, wherein the upper part is hinged to one side of the lower part, and the other side of the upper part and the lower part are detachably connected, wherein the cleaning device comprises four cleaning brush heads on the same plane, wherein at least one cleaning device is provided on the structural body, wherein the structural body is also provided with a motor connected to each of the cleaning brush heads, wherein the walking device is provided in the structural body, and wherein the power supply is connected to the cleaning device and the walking device respectively; The motor is also provided with a camera device, which is connected to the controller. The camera device includes a camera arm and a camera head. The camera head is mounted on the camera arm, and the other end of the camera arm is connected to one end of the structural body. The camera head, the motor and the walking device are all connected to the controller. It includes two camera devices, one of which is fixed to the upper right rear end of the structural body, and the other is fixed to the upper left front end of the structural body; The camera arm comprises a telescopic arm, a swing arm and a rotating slide, the camera is fixed on the rotating slide, and the telescopic arm and the rotating slide are connected through the swing arm.

2. The insulator cleaning robot with on-site real-time monitoring function according to claim 1 is characterized in that: It also includes an image recognition device, which is connected to the camera and the controller respectively. The image recognition device obtains analysis information based on the image information of the camera. The controller is used to generate continue cleaning information or stop cleaning information based on the analysis information.

3. The insulator cleaning robot with on-site real-time monitoring function according to claim 1 is characterized in that: The cleaning device comprises a dry ice device, and the dry ice device is connected to the controller via a motor.

4. The insulator cleaning robot with on-site real-time monitoring function according to claim 3 is characterized in that: The dry ice device is connected to the controller via a telescopic motor, and the controller is used to control the movement of the camera arm when the dry ice device is started.

5. The insulator cleaning robot with on-site real-time monitoring function according to claim 1 is characterized in that: It comprises two cleaning devices, one of which is arranged at the head of the structural body, and the other is arranged at the tail of the structural body.

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