Outdoor all-weather environment adaptation type intelligent inspection robot based on thermal power plant

Abstract

The invention relates to the technical field of wheel type inspection robots, and discloses a thermal power plant outdoor all-weather environment adaptation type intelligent inspection robot which comprises an environment detection mechanism, and an equipment temperature detection mechanism is arranged at the top of the environment detection mechanism. According to the outdoor all-weather environment adaptation type intelligent inspection robot based on the thermal power plant, an intelligent inspection robot body is composed of a robot core controller, a laser sensor, a holder, a high-definition visible light camera, a thermal infrared imager, a pickup, independent driving wheels and other core devices and other auxiliary devices. The shell of the intelligent inspection robot adopts an anti-static and anti-electromagnetic field electric coating, process innovation, clamp manufacturing and new process are carried out through repeated tests, the appearance is attractive, a concealed heat dissipation filtering device is arranged in the shell, and the shell of the whole robot body is convenient to disassemble and assemble; and a four-wheel all-drive mode is adopted, so that the obstacle crossing performance and the windproof performance of the platform are ensured. The method is completely suitable for intelligent inspection of outdoor booster stations and main transformer stations of power plants.

Description

Technical Field

[0001] The invention relates to the technical field of wheeled inspection robots, and in particular to an outdoor all-weather environment adaptable intelligent inspection robot based on a thermal power plant. Background Art

[0002] Daily monitoring, inspection and maintenance work in power plants is the basis for ensuring the normal operation, safety and stability of equipment. Traditional routine and special inspections, daily maintenance and other work require operators or operation team members to conduct regular inspections, collect a large amount of data manually, and do a lot of tedious periodic, repetitive and mechanical work. At the same time, with the rapid development of robot technology, people expect to use robots to replace themselves to complete certain repetitive and dangerous inspection tasks.

[0003] The switch station and main transformer station are outdoor scenes. The overall environment is worse than that of indoor scenes, which requires higher environmental adaptability of the robot. At the same time, it is necessary to meet the functional requirements of infrared temperature measurement and real-time monitoring of the booster station. Therefore, there is an urgent need for an intelligent inspection robot based on the outdoor all-weather environment of thermal power plants. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent inspection robot that is adaptable to the outdoor all-weather environment of a thermal power plant to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an outdoor all-weather environment adaptable intelligent inspection robot based on a thermal power plant, comprising an environment detection mechanism, and a device temperature detection mechanism is arranged on the top of the environment detection mechanism; The environment detection mechanism comprises a chassis, a core controller is fixedly connected to the top of the chassis, a micro-particle sensor is fixedly connected to the left side of the core controller, a temperature and humidity sensor is fixedly connected to the upper left end of the core controller, and a gas sensor is fixedly connected to the right side of the core controller; The equipment temperature detection mechanism includes a connecting frame, the top of the connecting frame is connected to a pan-tilt via a thread, the left side of the pan-tilt is fixedly connected to a mounting shell 1, the front side of the mounting shell 1 is provided with a high-definition visible light camera, the front lower end of the mounting shell 1 is provided with a laser sensor, the right side of the pan-tilt is fixedly connected to a mounting shell 2, the front side of the mounting shell 2 is provided with an infrared thermal imager, and the tops of the mounting shells 1 and 2 are both fixedly connected with rain shields.

[0006] Preferably, the bottom of the connecting frame is threadedly connected to the core controller, the front side of the top of the core controller is fixedly connected to an obstacle avoidance sensor, the top of the core controller is fixedly connected to a microphone, and the top of the core controller is fixedly connected to a signal receiver.

[0007] Preferably, the top of the chassis is fixedly connected to a driving chamber, and both sides of the chassis are rotatably connected to casters.

[0008] Preferably, the top of the chassis is fixedly connected to a support frame, a shell 1 is provided on the top front side of the support frame, a shell 2 is provided on the top rear side of the support frame, a connecting column is fixedly connected to the bottom of the shell 1 and the shell 2, and the shell 1 and the shell 2 are both threadedly connected to the support frame through the connecting column.

[0009] Preferably, a light connecting shell is fixedly connected to the front side of the shell one, and a lighting lamp is fixedly connected to the front side of the light connecting shell. Two lighting lamps are provided, and the two lighting lamps are respectively arranged on the left and right sides of the front side of the light connecting shell.

[0010] Preferably, a warning light is fixedly connected to the rear side of the second shell, an anti-collision shell is fixedly connected to the rear side of the second shell, the warning light is located inside the anti-collision shell, and a heat dissipation groove is opened on the rear side of the second shell.

[0011] Preferably, a heat dissipation filter device is fixedly connected to the rear side of the support frame, and an air inlet of the heat dissipation filter device faces the heat dissipation slot.

[0012] Preferably, a protective frame is threadedly connected to the front side of the chassis, and a bumper is fixedly connected to the front side of the protective frame.

[0013] Preferably, detection grooves are provided on both sides of the second shell, and the surfaces of the first shell and the second shell are sprayed with an anti-electromagnetic field coating.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are: First, the environmental detection mechanism of the present invention includes a micro-particle sensor, a temperature and humidity sensor, and a gas sensor, which can monitor environmental information such as environmental temperature, humidity, gas concentration, dust concentration, and smoke concentration. The environmental information collected by the robot in real time is transmitted to the system management platform in a timely manner to provide the operator with on-site environmental information to facilitate the operator's decision-making.

[0015] Second, an infrared thermal imager is arranged in a mounting shell to which the pan / tilt of the present invention is fixedly connected. The infrared thermal imager can not only realize remote video monitoring of the equipment, but also detect the temperature of different parts of the equipment by rotating the pan / tilt. The system can automatically perform temperature inspections on the preset points of the equipment, and transmit the infrared thermal imaging images, temperature data, etc. to the monitoring center in real time through the network. High temperature and low temperature limit alarms can be set for the temperature detection of the preset points. The system will automatically save the records of each temperature inspection and can record videos at the same time. Once the system detects an abnormal temperature (i.e., exceeding the high and low temperature range settings), it will prompt the monitoring staff that an abnormality has occurred through the flashing of the monitoring screen and the alarm sound.

[0016] Thirdly, the obstacle avoidance sensor provided in the present invention can avoid obstacles, the warning light provided at the rear of the outer shell can warn the outside world when the device is working at night to avoid rear-end collision, and an anti-collision shell is provided to protect the warning light, while the protective frame and bumper provided on the front side of the chassis can reduce the damage to the device when a collision occurs, thereby improving the safety of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a side view of the present invention; Figure 3 It is a left view of a part of the structure of the present invention; Figure 4 It is a right view of a part of the structure of the present invention; Figure 5 It is a rear view of the present invention; Figure 6 This is a schematic diagram of the disassembly of part of the structure of the present invention; Figure 7 It is a schematic diagram of the disassembly of part of the structure of the present invention.

[0018] Among them: 1. Environmental detection mechanism; 2. Equipment temperature detection mechanism; 3. Chassis; 4. Core controller; 5. Shell 1; 6. Shell 2; 7. Connecting frame; 8. Pan / tilt; 9. Mounting shell 1; 10. High-definition visible light camera; 11. Laser sensor; 12. Rain shield; 13. Protective frame; 14. Bumper; 15. Casters; 16. Light connection shell; 17. Lighting; 18. Obstacle avoidance sensor; 19. Pickup; 20. Signal receiver; 21. Detection slot; 22. Microparticle sensor; 23. Temperature and humidity sensor; 24. Support frame; 25. Heat dissipation filter; 26. Gas sensor; 27. Drive room; 28. Warning light; 29. ​​Anti-collision shell; 30. Connecting column; 31. Heat dissipation slot; 32. Infrared thermal imager; 33. Mounting shell 2. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0020] The present invention provides the following technical solutions: See also Figure 1-7, an outdoor all-weather environment adaptable intelligent inspection robot based on a thermal power plant, comprising an environment detection mechanism 1, and an equipment temperature detection mechanism 2 is arranged on the top of the environment detection mechanism 1; The environment detection mechanism 1 includes a chassis 3, a core controller 4 is fixedly connected to the top of the chassis 3, a micro-particle sensor 22 is fixedly connected to the left side of the core controller 4, a temperature and humidity sensor 23 is fixedly connected to the upper left end of the core controller 4, and a gas sensor 26 is fixedly connected to the right side of the core controller 4; The equipment temperature detection mechanism 2 includes a connecting frame 7, the top of the connecting frame 7 is connected to a pan / tilt 8 by a thread, the left side of the pan / tilt 8 is fixedly connected to a mounting shell 1 9, the front side of the mounting shell 1 9 is provided with a high-definition visible light camera 10, the front lower end of the mounting shell 1 9 is provided with a laser sensor 11, the right side of the pan / tilt 8 is fixedly connected to a mounting shell 2 33, the front side of the mounting shell 2 33 is provided with an infrared thermal imager 32, and the tops of the mounting shell 1 (9) and the mounting shell 2 33 are both fixedly connected with a rain shield 12.

[0021] Through the above technical scheme, the micro-particle sensor 22, the temperature and humidity sensor 23 and the gas sensor 26 can monitor environmental information such as ambient temperature, humidity, gas concentration, dust concentration and smoke concentration. The infrared thermal imager 32 can not only realize remote video monitoring of the equipment, but also detect the temperature of different parts of the equipment by rotating the pan-tilt head 8. The internal circuits of the high-definition visible light camera 10, the laser sensor 11, the micro-particle sensor 22, the temperature and humidity sensor 23, the gas sensor 26 and the infrared thermal imager 32 are existing technologies.

[0022] Specifically, the bottom of the connecting frame 7 is threadedly connected to the core controller 4, the top front side of the core controller 4 is fixedly connected with an obstacle avoidance sensor 18, the top of the core controller 4 is fixedly connected with a microphone 19, and the top of the core controller 4 is fixedly connected with a signal receiver 20.

[0023] Through the above technical solution, the obstacle avoidance sensor 18 is used to detect obstacles ahead and help the device avoid potential collisions. The microphone 19 is mainly used to capture sound information. The function of the signal receiver 20 is to receive wireless signals so that the device can communicate with an external system or receive remote commands. The internal circuits of the above core controller 4, microphone 19, obstacle avoidance sensor 18, and signal receiver 20 are existing technologies.

[0024] Specifically, the top of the chassis 3 is fixedly connected to the driving chamber 27 , and both sides of the chassis 3 are rotatably connected to the casters 15 .

[0025] Through the above technical solution, the drive chamber 27 is used to install drive devices such as motors and batteries to provide power support.

[0026] Specifically, the top of the chassis 3 is fixedly connected to a support frame 24, a shell 1 5 is provided on the top front side of the support frame 24, a shell 2 6 is provided on the top rear side of the support frame 24, and a connecting column 30 is fixedly connected to the bottom of the shell 1 5 and the shell 2 6, and the shell 1 5 and the shell 2 6 are both threadedly connected to the support frame 24 through the connecting column 30.

[0027] Through the above technical solution, the housing 1 5 and the housing 2 6 of the device can be installed on the device and can be quickly disassembled when repair is required.

[0028] Specifically, a light connection shell 16 is fixedly connected to the front side of the housing 15, and a lighting lamp 17 is fixedly connected to the front side of the light connection shell 16. Two lighting lamps 17 are provided, and the two lighting lamps 17 are respectively arranged on the left and right sides of the front side of the light connection shell 16.

[0029] Through the above technical solution, the robot can still keep running at night, and the internal circuit of the above lighting lamp 17 is the existing technology.

[0030] Specifically, a warning light 28 is fixedly connected to the rear side of the second shell 6 , an anti-collision shell 29 is fixedly connected to the rear side of the second shell 6 , the warning light 28 is located inside the anti-collision shell 29 , and a heat dissipation slot 31 is opened on the rear side of the second shell 6 .

[0031] Through the above technical solution, the warning light 28 arranged behind the shell 26 can warn the outside world when the device is working at night to avoid rear-end collision, and an anti-collision shell 29 is provided to protect the warning light 28. The internal circuit of the warning light 28 is the existing technology.

[0032] Specifically, a heat dissipation filter device 25 is fixedly connected to the rear side of the support frame 24 , and an air inlet of the heat dissipation filter device 25 faces the heat dissipation slot 31 .

[0033] Through the above technical solution, the heat dissipation filter device 25 absorbs external air through the heat dissipation groove 31 to dissipate heat for the internal parts of the robot, so that the robot's working efficiency will not be reduced due to its own high temperature during operation. The internal circuit of the heat dissipation filter device 25 is the existing technology.

[0034] Specifically, the front side of the chassis 3 is threadedly connected with a protection frame 13 , and the front side of the protection frame 13 is fixedly connected with a bumper 14 .

[0035] Through the above technical solution, the protection frame 13 and the bumper 14 arranged on the front side of the chassis 3 can reduce the damage when the device collides.

[0036] Specifically, detection slots 21 are provided on both sides of the second housing 6 , and the surfaces of the first housing 5 and the second housing 6 are sprayed with an anti-electromagnetic field coating.

[0037] Through the above technical solution, the detection slot 21 discharges the air absorbed by the heat dissipation slot 31 while making the air flow through the micro-particle sensor 22, the temperature and humidity sensor 23 and the gas sensor 26, so that the robot can effectively perform environmental detection.

[0038] When in use, the environment detection mechanism 1 includes a micro-particle sensor 22, a temperature and humidity sensor 23 and a gas sensor 26, which can monitor environmental information such as environmental temperature, humidity, gas concentration, dust concentration and smoke concentration. The environmental information collected by the robot in real time is transmitted to the system management platform in a timely manner to provide the operator with on-site environmental information to facilitate the operator's decision-making; An infrared thermal imager 32 is arranged in a mounting shell 9 fixedly connected by a pan-tilt head 8. The infrared thermal imager 32 can not only realize remote video monitoring of the equipment, but also detect the temperature of different parts of the equipment by rotating the pan-tilt head 8. The system can automatically perform temperature inspections on preset points of the equipment, and transmit infrared thermal imaging images, temperature data, etc. to the monitoring center in real time through the network. High and low temperature limit alarms can be set for temperature detection at preset points. The system will automatically save records of each temperature inspection and can record videos at the same time. Once the system detects a temperature abnormality (i.e., exceeding the high and low temperature range settings), it will prompt the monitoring staff that an abnormality has occurred through the flashing of the monitoring screen and the alarm sound; The obstacle avoidance sensor 18 can be used to avoid obstacles. The warning light 28 arranged behind the shell 26 can warn the outside world when the device is working at night to avoid rear-end collision. An anti-collision shell 29 is provided to protect the warning light 28. The protective frame 13 and the bumper 14 arranged on the front side of the chassis 3 can reduce damage to the device when a collision occurs, thereby improving the safety of the entire device.

[0039] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit thereof, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An outdoor all-weather environment-adaptable intelligent inspection robot based on a thermal power plant, comprising an environmental detection mechanism (1), characterized in that: An equipment temperature detection mechanism (2) is provided on the top of the environment detection mechanism (1); The environment detection mechanism (1) comprises a chassis (3), the top of the chassis (3) is fixedly connected to a core controller (4), the left side of the core controller (4) is fixedly connected to a microparticle sensor (22), the upper left end of the core controller (4) is fixedly connected to a temperature and humidity sensor (23), and the right side of the core controller (4) is fixedly connected to a gas sensor (26); The device temperature detection mechanism (2) comprises a connecting frame (7), the top of the connecting frame (7) is connected to a pan / tilt (8) via a thread, the left side of the pan / tilt (8) is fixedly connected to a mounting shell (9), the front side of the mounting shell (9) is provided with a high-definition visible light camera (10), the front lower end of the mounting shell (9) is provided with a laser sensor (11), the right side of the pan / tilt (8) is fixedly connected to a mounting shell (33), the front side of the mounting shell (33) is provided with an infrared thermal imager (32), and the tops of the mounting shell (9) and the mounting shell (33) are both fixedly connected to a rain shield (12).

2. According to claim 1, the intelligent inspection robot based on the outdoor all-weather environment adaptability of the thermal power plant is characterized by: The bottom of the connecting frame (7) is threadedly connected to the core controller (4), the front side of the top end of the core controller (4) is fixedly connected to an obstacle avoidance sensor (18), the top end of the core controller (4) is fixedly connected to a microphone (19), and the top end of the core controller (4) is fixedly connected to a signal receiver (20).

3. According to claim 1, the intelligent inspection robot based on outdoor all-weather environment adaptability of thermal power plants is characterized by: The top of the chassis (3) is fixedly connected to a driving chamber (27), and both sides of the chassis (3) are rotatably connected to casters (15).

4. According to claim 1, the intelligent inspection robot based on outdoor all-weather environment adaptability of thermal power plants is characterized by: The top of the chassis (3) is fixedly connected to a support frame (24); a first shell (5) is provided on the front side of the top of the support frame (24); a second shell (6) is provided on the rear side of the top of the support frame (24); a connecting column (30) is fixedly connected to the bottom of the first shell (5) and the second shell (6); and the first shell (5) and the second shell (6) are both threadedly connected to the support frame (24) via the connecting column (30).

5. According to claim 4, the intelligent inspection robot based on outdoor all-weather environment adaptability of thermal power plants is characterized by: The front side of the housing 1 (5) is fixedly connected to a light connection housing (16), and the front side of the light connection housing (16) is fixedly connected to a lighting lamp (17), and two lighting lamps (17) are provided, and the two lighting lamps (17) are respectively arranged on the left and right sides of the front side of the light connection housing (16).

6. The intelligent inspection robot based on outdoor all-weather environment adaptability of thermal power plants according to claim 4 is characterized by: A warning light (28) is fixedly connected to the rear side of the second shell (6), an anti-collision shell (29) is fixedly connected to the rear side of the second shell (6), the warning light (28) is located inside the anti-collision shell (29), and a heat dissipation groove (31) is provided on the rear side of the second shell (6).

7. The intelligent inspection robot based on outdoor all-weather environment adaptability of thermal power plants according to claim 4 is characterized by: A heat dissipation filter device (25) is fixedly connected to the rear side of the support frame (24), and an air inlet of the heat dissipation filter device (25) faces the heat dissipation slot (31).

8. The intelligent inspection robot based on outdoor all-weather environment adaptability of thermal power plants according to claim 4 is characterized by: A protection frame (13) is threadedly connected to the front side of the chassis (3), and a bumper (14) is fixedly connected to the front side of the protection frame (13).

9. The intelligent inspection robot based on outdoor all-weather environment adaptability of thermal power plants according to claim 4 is characterized by: Detection grooves (21) are provided on both sides of the second shell (6), and the surfaces of the first shell (5) and the second shell (6) are sprayed with an anti-electromagnetic field coating.

Images