Inspection robot traveling device and control method

Abstract

The application discloses a kind of inspection robot travelling device and control method, the car frame structure of Y type structure provided by itself please, when normal walking, two groups of walking wheel units are installed on cable on both sides of car frame, a certain angle is rotated by controlling front side driving mechanism to drive car frame, the frame plate of car frame front side is lifted and separated from cable by making the walking wheel unit of front side during the rotation of car frame, the function of the walking wheel unit of front side is realized to cross over obstacle, the crossing ability of inspection robot when facing large obstacle can be improved by the travelling structure provided by itself, the technical problem of poor capability is solved by the action of traditional unmanned inspection robot to realize crossing obstacle by wheel telescopic installation.

Description

Technical Field

[0001] This application relates to the field of line inspection technology, and in particular to an inspection robot travel device and control method. Background Technology

[0002] my country's power grid is widely distributed, and its intricate network transmits electricity to the whole country, playing an important role in the daily operation of enterprises and the daily electricity consumption of users.

[0003] Regionalized maintenance and management of the power grid is fundamental to ensuring stable electricity supply for businesses and daily life. Traditional power grid maintenance primarily relies on manual, comprehensive inspections of overhead high-voltage lines. At higher altitudes, where visibility is limited, manual work at height is necessary. The inspections mainly focus on the cable condition, checking for broken strands and loose connections. This method is not only inefficient and costly, but also poses significant risks to personnel working at heights. To address these issues, trailer-mounted power grid inspection robots have been developed. These robots, equipped with video transmission systems, remotely transmit cable status data to a ground terminal. Maintenance personnel can then monitor the cables, significantly improving inspection efficiency.

[0004] However, it was found in use that traditional unmanned inspection robots achieve the action of crossing obstacles by installing retractable wheels. This method is only suitable for small obstacles with a certain shape and has poor crossing ability. Summary of the Invention

[0005] This application provides a travel device and control method for an inspection robot, which solves the technical problem that traditional unmanned inspection robots, which achieve obstacle crossing by retracting wheels, have poor mobility.

[0006] To solve the above-mentioned technical problems, the first aspect of this application provides a patrol robot travel device, including: a mounting base and two sets of moving mechanisms;

[0007] The mounting base includes: a base and two side plates;

[0008] The two side plates are fixed to one side of the base, and the two side plates are arranged in a front-to-back direction according to a preset travel direction;

[0009] The two sets of moving mechanisms are respectively mounted on the two side plates;

[0010] The moving mechanism includes: wheels, a Y-shaped frame, a first drive assembly, and a second drive assembly. The first drive assembly is connected to the center point of the Y-shaped frame and is used to drive the rotation of the Y-shaped frame. Each end of each side of the Y-shaped frame is provided with a set of wheels and a second drive assembly.

[0011] Preferably, the moving mechanism further includes: a sliding seat and a buffer assembly;

[0012] The sliding seat is provided with a shaft hole, and the first drive component passes through the shaft hole and connects to the center point of the Y-shaped frame.

[0013] The side plate is provided with a through groove, and the through groove is provided with a vertical slide rail groove, which is used to movably connect with the sliding seat of the moving mechanism.

[0014] The buffer assembly is disposed in the gap between the sliding seat and the through groove.

[0015] Preferably, the buffer assembly includes a fixed post and a spring.

[0016] Preferably, it further includes: a first limiting mechanism;

[0017] The first limiting mechanism is mounted on the Y-shaped frame of the moving mechanism via a movable connection, and the mounting position is on the side of the Y-shaped frame facing away from the side plate.

[0018] Preferably, the first limiting mechanism is movably connected to the Y-shaped frame of the moving mechanism via a rotating shaft assembly;

[0019] The rotating shaft assembly includes: a connecting shaft, a shaft sleeve, and a retaining ring;

[0020] The connecting shaft is provided with an annular groove, and the retaining ring is disposed inside the shaft cylinder and is rotatably mounted on the groove.

[0021] Preferably, it further includes: a second limiting mechanism;

[0022] The second limiting mechanism is disposed on the base and is in the same vertical plane as the first limiting mechanism.

[0023] Preferably, the mounting base further includes a connecting plate, the two ends of which are fixedly connected to the two side plates respectively;

[0024] The connecting plate is provided with a first inspection equipment mounting base for installing inspection equipment.

[0025] Preferably, a second inspection equipment mounting base is disposed on the base.

[0026] Preferably, the inspection equipment specifically includes a camera device.

[0027] The second aspect of this application provides an obstacle crossing control method for an inspection robot, applied to the inspection robot travel device as provided in the first aspect of this application, comprising:

[0028] When the inspection robot's traveling device encounters an obstacle during its journey, it outputs a motor control command to the first drive component, which drives the Y-shaped frame to rotate, causing the wheels located at the front end of the traveling direction to lift up in order to cross the obstacle.

[0029] After the wheel at the front of the travel direction passes the obstacle, the Y-shaped frame is driven to rotate again by the first drive assembly, causing the wheel at the rear of the travel direction to lift up in order to cross the obstacle.

[0030] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0031] The inspection robot's travel mechanism, as requested, employs a Y-shaped frame structure. During normal movement, two sets of walking wheel units are mounted on cables on both sides of the frame. By controlling the front drive mechanism, the frame rotates at a certain angle. During this rotation, the front plate of the frame lifts the front walking wheel units off the cables, enabling them to cross obstacles. Similarly, by controlling the remaining three sets of walking wheel units to move forward, the front drive mechanism rotates the frame in the opposite direction at a certain angle, causing the rear plate of the frame to lift the front walking wheels off the cables, enabling the second set of walking wheel units to cross obstacles. This travel structure enhances the inspection robot's ability to cross large obstacles, solving the technical problem of traditional unmanned inspection robots that rely on retractable wheels to achieve obstacle crossing, which suffers from poor clearance. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is the first three-dimensional structural diagram of a patrol robot travel device provided in this application.

[0034] Figure 2 This is a second three-dimensional structural diagram of a patrol robot travel device provided in this application.

[0035] Figure 3 This is a scene diagram of a patrol robot's traveling device provided in this application, showing a spacer bar connector appearing on the front wheel during travel.

[0036] Figure 4 This is a scene diagram showing the movement of an inspection robot traveling device provided in this application, where the spacer connector passes through the first limit mechanism during the movement process.

[0037] Figure 5 This is a three-dimensional structural diagram of the moving mechanism of an inspection robot's traveling device provided in this application.

[0038] Figure 6 A top-view perspective of the mounting base for an inspection robot's traveling device provided in this application.

[0039] Figure 7 A three-dimensional bottom view of the mounting base for an inspection robot's traveling device provided in this application.

[0040] Figure 8 This application provides a perspective view of the disassembled and assembled first drive mechanism, sliding seat, frame, and first limit mechanism in an inspection robot travel device.

[0041] Figure 9 This is a flowchart illustrating an obstacle crossing control method for an inspection robot provided in this application.

[0042] The reference numerals in the figure include: 1. Base; 2. Equipment and counterweight box; 3. Second inspection equipment mounting base; 4. Second limiting mechanism; 5. Side plate; 6. Equipment slide groove; 7. Through groove; 71. Slide rail groove; 8. Connecting plate; 9. First inspection equipment mounting base; 10. First drive assembly; 11. Sliding seat; 111. Insert block; 12. Shaft hole; 13. Fixed column; 14. Spring; 15. Y-shaped frame; 16. Second drive assembly; 17. Wheel; 18. Connecting shaft; 19. Slot; 20. Shaft cylinder; 21. Snap ring; 22. First limiting mechanism; 23. Cable; 24. Spacer bar connector. Detailed Implementation

[0043] This application provides a travel device and control method for an inspection robot, which solves the technical problem that traditional unmanned inspection robots, which achieve obstacle crossing by retracting wheels, have poor mobility.

[0044] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] Please see Figures 1 to 8 The first embodiment of this application provides a patrol robot travel device, including: a mounting base and two sets of moving mechanisms;

[0046] The mounting bracket includes: a base 1 and two side plates 5;

[0047] Two side plates 5 are fixed to one side of the base 1, and the two side plates are arranged in front and behind according to the preset direction of travel;

[0048] The two sets of moving mechanisms are respectively mounted on the two side plates 5;

[0049] The moving mechanism includes: wheels 17, a Y-shaped frame 15, a first drive assembly 10 and a second drive assembly 16, wherein the first drive assembly 10 is connected to the center point of the Y-shaped frame 15 and is used to drive the rotation of the Y-shaped frame 15, and each end of each side of the Y-shaped frame 15 is provided with a set of wheels 17 and a second drive assembly 16.

[0050] It should be noted that the Y-shaped frame 15 configured in this application includes three inner-side end-connected, evenly distributed ring-shaped frame plates. Walking wheel units are installed at the ends of the frame plates. During normal travel, two sets of frames 15 are mounted on the unmanned inspection robot. In the normal walking state, each set of frames 15 contains two sets of walking wheel units installed on the cable 23. When it is necessary to cross an obstacle, the walking wheel units are lifted off the cable 23 by rotating the frame 15, thereby crossing small obstacles. Alternatively, by continuously rotating the frame 15, the walking wheel units are alternately rotated and moved on the cable 23, and obstacles are crossed by the frame plates at intervals, thereby achieving safe and stable crossing of large obstacles.

[0051] Furthermore, such as Figure 5 and Figure 8As shown, a through groove 7 is provided above the side plate 5, and a fixed column 13 is installed parallel to it in the through groove 7. The sliding seat 11 is slidably mounted on the fixed column 13 on both sides. The fixed column 13 increases the stability of the sliding. At the same time, springs 14 are installed on the fixed column 13 above and below the sliding seat 11. When crossing the obstacle, the sliding seat 11 slides upward to reduce the robot's tilt angle and increase the safety and stability of the equipment. The installation of springs 14 reduces the impact of obstacle crossing vibration on the overall structure and increases the stability of operation. During the rotation of the frame 15, the distance between it and the cable 23 will increase. The increased distance will naturally lift one side of the robot. That is, by mounting the frame 15 on the sliding seat 11, shock absorption can be achieved, and the lifting height of one side of the robot can be reduced during the lifting process to increase the stability of operation.

[0052] like Figure 6 , 8 As shown, the two sides of the equipment slide groove 10 are connected to the slide rail groove 71 recessed in the side plate 5. The two sides are symmetrically provided with insert blocks 111 for inserting into the slide rail groove 71. By setting the slide rail groove 71 and the insert blocks 111, the sliding stability of the slide seat 11 is further increased. A drive mechanism is installed on the back side of the slide seat 11. The drive mechanism is the first drive assembly 10. The first drive assembly 10 is installed on the back side of the slide seat 11 by screws and washers, which is convenient for disassembly and assembly.

[0053] like Figure 8 As shown, the sliding seat 11 has a shaft hole 12 in the middle. The output end of the first drive assembly 10 passes through the shaft hole 12 and is connected to the center of one side of the frame 15. A connecting shaft 18 is installed at the center of the other side of the frame 15. An upper anti-detachment component is rotatably installed on the connecting shaft 18. The rotation of the frame 15 is controlled by the first drive assembly 10 to provide a stable lifting foundation for obstacle crossing.

[0054] like Figure 5 , 8 As shown, the walking wheel unit includes a second drive assembly 16 and a wheel 17 with a concave wheel surface. The concave wheel 17 increases the stability of the wheel when it is mounted on the cable 23. The second drive assembly 16 is installed on the back side of the outer end of the frame plate. The output end of the second drive assembly 16 passes through the outer end of the frame plate and connects to the wheel 17. The second drive assembly 16 controls the rotation of the wheel 17, thereby realizing the function of walking on the cable 23.

[0055] like Figure 6 As shown, a device slide 6 is provided below the side plate 5 to avoid the second drive assembly 16 when the frame 15 rotates. When the frame 15 rotates continuously to cross obstacles, the second drive assembly 16 will slide across the inner side of the side plate 5. By setting the device slide 6, the limit is avoided and the stability of rotation is increased.

[0056] To prevent the device from derailing during wheel lifting, this embodiment also includes upper and lower anti-derailment components to limit the travel mechanism. Figure 5 , 8 As shown, the upper anti-derailment component includes a shaft cylinder 20 and a first limiting mechanism 22 mounted on one side wall. The connecting shaft 18 is provided with an annular groove 19. The shaft cylinder 20 is provided with a retaining ring 21 rotatably mounted on the groove 19. The first limiting mechanism 22 can be freely rotated and mounted on the connecting shaft 18. When an obstacle passes by, it can be avoided by moving the first limiting mechanism 22. At the same time, the first limiting mechanism 22 also plays a stabilizing and protective role for the robot when it walks. In the normal walking state, the side plate 5 and the first limiting mechanism 22 limit the cable 23 from both sides to prevent the cable 23 from jumping and causing derailment.

[0057] like Figure 1 , 3 As shown, the lower anti-detachment component is the second limiting mechanism 4, which is installed in the middle of the base 1 and located at the front of the cable 23. During the lifting process to cross obstacles, the second limiting mechanism 4 will rise relative to the cable 23 as the base 1 is raised. Normally, one side of the cable 23 is the side plate 5, and the other side is the first limiting mechanism 22. During the lifting process, the bottom of the first limiting mechanism 22 rises and no longer provides limiting protection for one side of the cable 23. During this process, the second limiting mechanism 4 will rise to the side of the cable 23 to provide limiting protection, thereby achieving stable protection for the robot when crossing obstacles.

[0058] The above is a detailed description of a specific embodiment of an inspection robot traveling device provided in this application. The following is a detailed description of an obstacle crossing control method for an inspection robot provided in this application.

[0059] Please see Figure 9 This embodiment provides an obstacle crossing control method for an inspection robot, applied to the inspection robot traveling device provided in the previous embodiment, including:

[0060] Step 101: When the inspection robot's traveling device encounters an obstacle during its travel, it outputs a motor control command to the first drive component, which drives the Y-shaped frame to rotate, causing the wheels located at the front end of the traveling direction to lift up in order to cross the obstacle.

[0061] Step 102: After the front wheel in the direction of travel has passed the obstacle, the Y-shaped frame is driven to rotate again by the first drive assembly, so that the rear wheel in the direction of travel is lifted to cross the obstacle.

[0062] Understandably, the control method for the latter group of traveling mechanisms to cross obstacles is the same as the steps described above.

[0063] To illustrate this more clearly, the obstacle crossing control method for inspection robots can be divided into two crossing modes, as detailed below:

[0064] Crossing small obstacles mode: When the front wheel 17 encounters the spacer connector 24, the first drive component 10 on the front side is controlled by the mobile control terminal and the wireless motor controller to drive the frame 15 to rotate clockwise by a certain angle. The rotation angle can be determined according to the height of the small obstacle, usually by the video effect transmitted back by the inspection robot. During the clockwise rotation of the frame 15, the frame plate on the front side of the frame 15 is lifted, which drives the front wheel 17 to leave the cable 23. During the lifting process, the sliding seat 11 slides upward, and at the same time, the side plate 5 drives the base 1 to be lifted relative to the cable 23. During the lifting process, the base 1 drives the second limiting mechanism 4 in the middle to be lifted and inserted into the front side of the cable 23, which increases the safety protection performance of the inspection robot installed on the cable 23 during the lifting process.

[0065] By controlling the other three sets of second drive components 16 to drive the wheels 17 forward, the front wheels 17 cross small obstacles. Then, the reverse operation is performed to reset (the frame 15 rotates counterclockwise, so that the front wheels 17 are supported and clamped on the cable 23). The wheels continue to move forward. The spacer connector 24 reaches the front of the second wheel 17 by moving the first limit mechanism 22. By controlling the first drive component 10 to drive the frame 15 to rotate counterclockwise by a certain angle, the frame plate on the rear side of the frame 15 is lifted away from the cable 23 during the clockwise rotation of the frame 15. Similarly, the second set crosses the small obstacles of the wheels 17. The third and fourth sets of wheels repeat S1 and S2 to complete the obstacle crossing action.

[0066] Large obstacle crossing mode: When the front wheel 17 encounters the spacer bar connector 24, the first drive assembly 10 on the front side drives the frame 15 to rotate clockwise, so that the frame plate on the top of the frame 15 rotates and drives the wheel 17 at its end to cross the obstacle and mount and walk on the cable 23. The frame 15 is continuously rotated (the first drive assembly 10 drives the frame 15 to rotate clockwise) so that another set of wheels located behind the obstacle also crosses the obstacle. In this process, two wheel changes are completed to walk on the cable 23, accompanied by two lifting and lowering actions.

[0067] When the obstacle passes through the middle, the second limiting mechanism 4 does not restrict it due to insufficient height, and the second set of frames 15 can complete the crossing action of changing wheels on both sides by repeating S3.

[0068] In both the small obstacle crossing mode and the large obstacle crossing mode, the sliding seat 11 is slidably installed to reduce the overall equipment elevation angle during the lifting process, thereby increasing the safety and stability of obstacle crossing. At the same time, the sliding ring punch compression springs 14 are set above and below the sliding seat 11 to reduce the impact of obstacle crossing vibration on the overall structure and increase the stability of operation.

[0069] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0070] Unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0071] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A travel device for an inspection robot, characterized in that, include: Mounting base, first limit mechanism and two sets of moving mechanisms; The mounting base includes: a base and two side plates; The two side plates are fixed to one side of the base, and the two side plates are arranged in a front-to-back direction according to a preset travel direction; The two sets of moving mechanisms are respectively mounted on the two side plates; The moving mechanism includes: wheels, a Y-shaped frame, a first drive assembly and a second drive assembly, wherein the first drive assembly is connected to the center point of the Y-shaped frame and is used to drive the rotation of the Y-shaped frame, and each end of each side of the Y-shaped frame is provided with a set of wheels and a second drive assembly. The first limiting mechanism is mounted on the Y-shaped frame of the moving mechanism via a movable connection, and the mounting position is on the side of the Y-shaped frame facing away from the side plate.

2. The inspection robot traveling device according to claim 1, characterized in that, The moving mechanism further includes: a sliding seat and a buffer assembly; The sliding seat is provided with a shaft hole, and the first drive component passes through the shaft hole and connects to the center point of the Y-shaped frame. The side plate is provided with a through groove, and the through groove is provided with a vertical slide rail groove, which is used to movably connect with the sliding seat of the moving mechanism. The buffer assembly is disposed in the gap between the sliding seat and the through groove.

3. The inspection robot traveling device according to claim 2, characterized in that, The buffer assembly includes: a fixed post and a spring.

4. The inspection robot traveling device according to claim 1, characterized in that, The first limiting mechanism is movably connected to the Y-shaped frame of the moving mechanism via a rotating shaft assembly; The rotating shaft assembly includes: a connecting shaft, a shaft sleeve, and a retaining ring; The connecting shaft is provided with an annular groove, and the retaining ring is disposed inside the shaft cylinder and is rotatably mounted on the groove.

5. The inspection robot traveling device according to claim 1, characterized in that, Also includes: Second limiting mechanism; The second limiting mechanism is disposed on the base and is in the same vertical plane as the first limiting mechanism.

6. The inspection robot traveling device according to claim 1, characterized in that, The mounting base further includes a connecting plate, the two ends of which are fixedly connected to the two side plates respectively; The connecting plate is provided with a first inspection equipment mounting base for installing inspection equipment.

7. The inspection robot traveling device according to claim 6, characterized in that, The second inspection equipment mounting base is mounted on the base.

8. The inspection robot traveling device according to claim 7, characterized in that, The inspection equipment specifically includes camera equipment.

9. A method for controlling obstacle crossing of an inspection robot, applied to the inspection robot traveling device as described in any one of claims 1 to 8, characterized in that, include: When the inspection robot's traveling device encounters an obstacle during its travel, it outputs a motor control command to the first drive component, which drives the Y-shaped frame to rotate, causing the wheels at the front end of the traveling direction to lift and cross the obstacle. After the wheels at the front end of the traveling direction have crossed the obstacle, the first drive component drives the Y-shaped frame to rotate in the opposite direction, causing the wheels at the rear end of the traveling direction to lift and cross the obstacle. Alternatively, by controlling the first drive assembly to rotate the Y-shaped frame, the top plate of the Y-shaped frame rotates, causing the wheels at its ends to cross the obstacle and mount onto the cable. Then, by continuously controlling the first drive assembly to rotate the Y-shaped frame, another set of wheels located behind the obstacle also crosses the obstacle.

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