Intelligent patrol device based on first-person visual angle

Abstract

The invention provides an intelligent patrol device based on a first person visual angle, which comprises an unmanned trolley, a head-mounted display terminal and a remote control terminal, and is characterized in that the unmanned trolley is provided with a main control module, an image acquisition module, an image processing module, a wireless transmission module, an unmanned trolley driving module and a power supply module, the main control module is electrically connected with the image acquisition module, the image processing module, the wireless transmission module and the unmanned vehicle driving module, and the power module is electrically connected with the main control module, the image acquisition module, the image processing module, the wireless transmission module and the unmanned vehicle driving module. The wireless transmission module sends image information to the head-mounted display terminal through a 4G signal, and the wireless transmission module can receive a vehicle control instruction sent by a remote control terminal through a 2.4 G signal and transmit the vehicle control instruction to the main control module. Images of objects around the unmanned trolley are collected through the image acquisition module and the image processing module and are displayed on the head-mounted display terminal, so that a video basis is provided for routing inspection.

Description

Technical Field

[0001] The present invention provides a patrol device, in particular to an intelligent patrol device based on a first-person perspective, belonging to the technical field of power grid operation and maintenance. Background Art

[0002] Power inspection is an important measure to ensure the safety and stability of the power grid. Through regular inspection of power equipment, faults and hidden dangers of power equipment can be discovered and solved in time, and the impact of equipment failure on the stability of the power grid can be avoided, thereby ensuring the continuity and stability of power supply. In addition, power inspection helps to extend the service life of equipment, reduce the number of equipment repairs and replacements, and reduce costs. Power inspection can also improve work efficiency. Through regular inspections, it is possible to timely understand the legacy issues of various power services and the status of the power grid, so as to formulate reasonable solutions, improve the operating efficiency and safety of power equipment, and thus improve service quality. Power inspection includes two methods: on-site inspection and equipment performance monitoring. On-site inspection refers to inspecting the external and surrounding environment of the equipment to find abnormalities and abnormal conditions of the equipment so as to deal with them in time. Equipment performance monitoring refers to online monitoring of the performance parameters of the equipment, timely feedback on the operating status of the equipment, and prevent equipment failure. The steps of power inspection include five aspects: preparation, equipment inspection, performance monitoring, fault diagnosis and hidden danger investigation. Among them: in preparation, it is necessary to formulate inspection plans and programs, prepare inspection tools and equipment, and organize inspection personnel; in equipment inspection, it is necessary to inspect the external condition of the equipment and the surrounding environment; in performance monitoring, it is necessary to monitor and record the various parameters and indicators of the equipment in real time; in fault diagnosis, it is necessary to analyze and determine the equipment failure in detail, and take corresponding measures in time; in hidden danger investigation, it is necessary to evaluate and investigate the hidden dangers of the equipment, and formulate corresponding rectification measures. At present, power grid inspection is mainly carried out manually. Manual inspection has the following disadvantages: (1) High human resource cost: Manual inspection requires a lot of human resource investment, including training, salary, welfare and other costs, and the deployment and management of human resources is also a challenging task; (2) Low inspection efficiency: The efficiency of manual inspection is relatively low, especially in large-scale distribution networks. It takes a lot of time and energy, and it is easy to ignore or miss some potential safety hazards; (3) Low inspection accuracy: Manual inspection is easily affected by human factors, such as fatigue and subjective judgment, resulting in low accuracy and reliability of inspection results; (4) Difficulty in information recording and analysis: The information recording of manual inspection is not accurate. Recording and analysis usually rely on paper or simple spreadsheets, which is not conducive to the long-term storage, analysis and mining of data, and limits the level of safety management; (5) High safety risks: Manual inspections have certain safety risks, especially in complex environments such as high voltage, high temperature, and high altitude, where personnel safety is difficult to guarantee; (6) Standardized operations are difficult to implement: Although power supply companies have implemented a "standardized" operation work model, it is often difficult to ensure standardization requirements in specific work, and inspectors may still conduct inspections according to their own habits; (7) Difficulty in managing basic line data: In the past, line information was mainly saved in Excel document format or folder format, which was difficult to query and complex to maintain.Therefore be necessary to improve the prior art. Summary of the invention

[0003] In order to solve the problems of low inspection efficiency, poor inspection accuracy, difficulty in information recording and analysis, high safety risks, high human resource costs, etc. caused by the manual inspection of existing power grids, the present invention provides an intelligent inspection device based on the first-person perspective.

[0004] The present invention is completed by the following technical solutions: an intelligent patrol device based on a first-person perspective, comprising an unmanned vehicle, a head-mounted display terminal, and a remote control terminal, characterized in that the unmanned vehicle is provided with a main control module, an image acquisition module, an image processing module, a wireless transmission module, an unmanned vehicle driving module and a power module, the main control module is electrically connected to the image acquisition module, the image processing module, the wireless transmission module, and the unmanned vehicle driving module respectively, the power module is electrically connected to the main control module, the image acquisition module, the image processing module, the wireless transmission module, and the unmanned vehicle driving module respectively, the wireless transmission module sends image information to the head-mounted display terminal through a 4G signal, and the wireless transmission module can receive a vehicle control instruction sent by the remote control terminal through a 2.4G signal, and transmit it to the main control module, so that the unmanned vehicle driving module is controlled by the main control module to make the unmanned vehicle perform forward, backward, and turning running actions, the images of objects around the unmanned vehicle are collected by the image acquisition module and the image processing module and processed into digital signals, and then the image digital signals are transmitted to the head-mounted display terminal through the wireless transmission module for display, providing a video basis for the staff to operate the unmanned vehicle and patrol.

[0005] The unmanned vehicle comprises a vehicle body, a power machine arranged on the vehicle body, a main shaft of the power machine being connected to an input shaft of a transfer case, an output shaft of the transfer case being connected to input ends of front and rear drive axles arranged on the vehicle body through front and rear transmission shafts, two left and right front drive wheels and two left and right rear drive wheels being respectively arranged at the two ends of the drive shafts of the front and rear drive axles, wherein a steering rod is movably arranged between the left and right front drive wheels, a universal joint is arranged in the middle of the steering rod, the universal joint is connected to one end of a swing rod, and the other end of the swing rod is connected to a rotating shaft of a steering gear, the steering gear being arranged on the vehicle body, the power machine and the steering gear being electrically connected to an unmanned vehicle drive module respectively, so as to transmit a control instruction sent by a remote control terminal to the unmanned vehicle drive module through the main control module, and then the unmanned vehicle drive module controls the power machine to drive the unmanned vehicle forward and backward, and controls the steering gear to drive the front drive wheels to swing left and right to make the unmanned vehicle turn, and both the front and rear drive wheels have power to effectively improve the all-terrain maneuverability of the unmanned vehicle.

[0006] The unmanned vehicle drive module includes an unmanned vehicle processing chip, which is connected to a first motor drive module and a second motor drive module, wherein the first motor drive module is electrically connected to a power machine, and the second motor drive module is electrically connected to a steering gear. The unmanned vehicle processing chip receives a control signal sent by a remote control terminal through a wireless transmission module, so as to send a corresponding PWM drive signal to the first motor drive module through the unmanned vehicle processing chip to adjust the speed and forward and backward travel direction of the unmanned vehicle, and sends a corresponding PWM drive signal to the second motor drive module through the unmanned vehicle processing chip to adjust the rotation angle of the unmanned vehicle.

[0007] The image acquisition module includes a front camera and an FPV camera arranged in parallel at the front of the vehicle body, and a rear camera arranged at the rear of the vehicle body, wherein the front camera and the FPV camera are fixed on the vehicle body, and the rear camera is connected to the vehicle body through a rotating pitch mechanism, and the rotating pitch mechanism includes a rotating base composed of a fixed part and a rotating part, and left and right support plates are arranged on both sides of the rotating part and extend vertically upward, and a spherical shell is movably arranged between the left and right support plates, and the spherical shell is matched with the seat bearings correspondingly arranged on the left and right support plates through the rotating shafts on both sides thereof, and a motor matched with the rotating shaft is arranged in the spherical shell, and a camera is arranged on the front of the spherical shell, so as to collect images of the surrounding environment through the front camera and the rear camera of the vehicle body, and collect video images in real time through the FPV camera, and then the wireless transmission module sends the image information to the head-mounted display terminal through a 4G signal.

[0008] The head mounted display terminal comprises a wireless receiving module, a lens, a display screen, a battery and a housing. The wireless receiving module, the lens, the display screen and the battery are installed in the housing. The lens is located in front of the human eye, the display screen is located in front of the lens, the wireless receiving module is arranged outside the housing, and a retractable headband is also arranged on the housing, wherein: The display screen size is set to 3-4 inches, the resolution is set to 480*272-800*480, the brightness is set to 100-300cd / m2, the video format is set to NTSC / PAL switchable, and supports external video signal input and AV signal output; The wireless receiving module is set to an antenna connector of model RP-SMA (inner pin), frequency 5362~5945M, 48 channels; In order to display the images and videos collected by the image acquisition module through the head-mounted display terminal, real-time line inspection can be carried out from a first-person perspective, and line defects or potential accidents can be discovered at the first time.

[0009] The remote control terminal includes a remote control chip of model DUMB0-X4, a throttle signal acquisition circuit, a brake signal acquisition circuit, a steering signal acquisition circuit and a front and rear direction signal acquisition circuit electrically connected to the remote control chip, and the throttle signal acquisition circuit, the brake signal acquisition circuit, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit are respectively connected to the throttle lever, the brake lever and the steering wheel, so that the throttle signal acquisition circuit, the brake signal acquisition circuit, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit can respectively collect the throttle signal, the brake signal, the steering signal and the front and rear travel direction signal through the throttle pedal, the brake pedal and the steering wheel, so that the remote control chip sends the corresponding signal to the unmanned vehicle drive module, providing video basis for the staff to operate the unmanned vehicle and patrol.

[0010] The throttle lever, the brake lever and the steering wheel are arranged on the operating handle.

[0011] The present invention has the following advantages and effects: 1. Safety inspection and maintenance: Substations have many confined spaces. Operators entering confined spaces pose a serious safety risk to personnel. Unmanned vehicles are equipped with high-definition cameras and sensors to conduct inspections and maintenance in environments that are difficult for workers to reach or dangerous, thereby reducing the working time of personnel in high-risk areas. 2. Remote monitoring: The unmanned vehicle can be remotely controlled: the staff can view the real-time status of the substation through the FPV head-mounted display in the control room, and conduct remote inspection and troubleshooting; 3. Accident response: In the event of a natural disaster or other emergency, the unmanned vehicle can quickly enter the fault area to conduct damage assessment, help determine a safe path, and provide key information for troubleshooting; 4. Training and education: Unmanned vehicles can be used for safety training of new employees, allowing them to become familiar with the substation environment and work processes without touching actual equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 It is a structural diagram of the present invention; Figure 2 This is a rear view of the driverless vehicle of the present invention; Figure 3 It is a structural diagram of the rear camera of the present invention; Figure 4It is a schematic diagram of the composition of the present invention; Figure 5 This is a block diagram of the unmanned vehicle driving module of the present invention; Figure 6 It is a block diagram of the remote control terminal of the present invention.

[0014] In the figure, 1. remote control terminal, 2. head-mounted display terminal, 3. rear camera, 4. front camera, 5. FPV camera, 6. unmanned vehicle, 7. front drive wheel, 8. sway bar, 9. servo, 10. front drive axle, 11. rear drive axle, 12. rear drive wheel, 13. fixing part, 14. rotating part, 15. left and right support plates, 16. spherical shell, 17. camera. DETAILED DESCRIPTION

[0015] 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. Example 1

[0016] The intelligent patrol device based on the first-person perspective provided by the present invention comprises an unmanned vehicle 6, a head-mounted display terminal 2, and a remote control terminal 1, wherein: the unmanned vehicle 6 is provided with a main control module, an image acquisition module, an image processing module, a wireless transmission module, an unmanned vehicle driving module and a power module; the main control module is electrically connected to the image acquisition module, the image processing module, the wireless transmission module, and the unmanned vehicle driving module respectively; the power module is electrically connected to the main control module, the image acquisition module, the image processing module, the wireless transmission module, and the unmanned vehicle driving module respectively; the wireless transmission module is electrically connected to the main control module, the image acquisition module, the image processing module, the wireless transmission module, and the unmanned vehicle driving module through 4 G signal sends the image information to the head mounted display terminal 2, and the wireless transmission module can receive the vehicle control command sent by the remote control terminal 1 through the 2.4G signal, and transmit it to the main control module, so as to control the unmanned vehicle drive module through the main control module to make the unmanned vehicle 6 move forward, backward, and turn. The image of the objects around the unmanned vehicle 6 is collected through the image acquisition module and the image processing module and processed into a digital signal, and then the image digital signal is transmitted to the head mounted display terminal 2 for display through the wireless transmission module, so as to provide a video basis for the staff to operate the unmanned vehicle 6 and patrol; The unmanned vehicle 6 includes a vehicle body, a power machine arranged on the vehicle body, the main shaft of the power machine is connected to the input shaft of the transfer case, the output shaft of the transfer case is connected to the input ends of the front drive axle 10 and the rear drive axle 11 arranged on the vehicle body through the front and rear transmission shafts, and the two ends of the drive shafts of the front drive axle 10 and the rear drive axle 11 are respectively provided with left and right front drive wheels 7 and left and right rear drive wheels 12, wherein a steering rod is movably arranged between the left and right front drive wheels 7, and a universal joint is arranged in the middle of the steering rod, and the universal joint is connected to one end of the swing rod 8, and the other end of the swing rod 8 is connected to the The steering gear 9 is connected to the rotating shaft, and the steering gear 9 is arranged on the vehicle body. The power machine and the steering gear 9 are electrically connected to the unmanned vehicle driving module respectively, so that the control command sent by the remote control terminal is transmitted to the unmanned vehicle driving module through the main control module, and then the unmanned vehicle driving module controls the power machine to drive the unmanned vehicle forward and backward, and controls the steering gear 9 to drive the front driving wheel 7 to swing left and right, so that the unmanned vehicle 6 turns. The left and right front driving wheels 7 and the left and right rear driving wheels 12 are all powered, which can effectively improve the all-terrain maneuverability of the unmanned vehicle; The unmanned vehicle driving module includes an unmanned vehicle processing chip, which is connected to the first motor driving module and the second motor driving module, wherein the first motor driving module is electrically connected to the power machine, and the second motor driving module is electrically connected to the steering gear. The unmanned vehicle processing chip receives the control signal sent by the remote control terminal 1 through the wireless transmission module, so as to send the corresponding PWM driving signal to the first motor driving module through the unmanned vehicle processing chip to adjust the speed and forward and backward travel direction of the unmanned vehicle 6, and sends the corresponding PWM driving signal to the second motor driving module through the unmanned vehicle processing chip to adjust the rotation angle of the unmanned vehicle 6; The image acquisition module includes a front camera 4 and an FPV camera 5 arranged in parallel at the front of the vehicle body, and a rear camera 3 arranged at the rear of the vehicle body, wherein the front camera 4 and the FPV camera 5 are fixed on the vehicle body, and the rear camera 3 is connected to the vehicle body through a rotating pitch mechanism; the rotating pitch mechanism includes a rotating base composed of a fixed member 13 and a rotating member 14, a left and a right supporting plate 15 arranged on both sides of the rotating member 14 and extending vertically upward, a spherical shell 16 is movably arranged between the left and right supporting plates 15, and the spherical shell 16 is rotatably connected with the seat bearings correspondingly arranged on the left and right supporting plates 15 through the rotating shafts on both sides thereof, a motor matched with the rotating shaft is arranged in the spherical shell 16, and a camera 17 is arranged on the front of the spherical shell 16, so as to collect images of the surrounding environment through the front camera 4 and the rear camera 3 of the vehicle body, collect video images in real time through the FPV camera 5 and send them to the main control module for processing, and then send the image information to the head-mounted display terminal 2 through the wireless transmission module through the 4G signal; The head mounted display terminal 2 includes a wireless receiving module, a Fresnel lens, a display screen, a battery and a housing. The wireless receiving module, the Fresnel lens, the display screen and the battery are installed in the housing. The Fresnel lens is located in front of the human eye, the display screen is located in front of the Fresnel lens, the wireless receiving module is arranged outside the housing, and a retractable headband is also arranged on the housing, wherein: The display screen size is set to 3 inches, the resolution is set to 480*272, the brightness is set to 100, the video format is set to NTSC / PAL switchable, and supports external video signal input and AV signal output; The wireless receiving module is set to an antenna connector with model RP-SMA (inner pin), frequency 5362M, 48 channels; In order to display the images and videos collected by the image acquisition module through the head mounted display terminal 2, the line can be inspected in real time from a first-person perspective, and line defects or potential accidents can be discovered at the first time; The remote control terminal 1 includes a remote control chip of model DUMB0-X4, a throttle signal acquisition circuit, a brake signal acquisition circuit, a steering signal acquisition circuit and a front and rear direction signal acquisition circuit electrically connected to the remote control chip, wherein the throttle signal acquisition circuit, the brake signal acquisition circuit, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit are respectively connected to the throttle lever, the brake lever and the steering wheel, so as to collect the throttle signal, the brake signal, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit through the throttle signal acquisition circuit, the brake signal acquisition circuit, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit, and then collect the throttle signal, the brake signal, the steering signal and the front and rear travel direction signal through the throttle pedal, the brake pedal and the steering wheel, so that the remote control chip sends the corresponding signal to the unmanned vehicle drive module, providing a video basis for the staff to operate the unmanned vehicle and conduct inspections; The throttle lever, brake lever and steering wheel are arranged on the operating handle. Example 2

[0017] The intelligent patrol device based on the first-person perspective provided by the present invention comprises an unmanned vehicle 6, a head-mounted display terminal 2, and a remote control terminal 1, wherein: the unmanned vehicle 6 is provided with a main control module, an image acquisition module, an image processing module, a wireless transmission module, an unmanned vehicle driving module and a power module; the main control module is electrically connected to the image acquisition module, the image processing module, the wireless transmission module, and the unmanned vehicle driving module respectively; the power module is electrically connected to the main control module, the image acquisition module, the image processing module, the wireless transmission module, and the unmanned vehicle driving module respectively; the wireless transmission module is electrically connected to the main control module, the image acquisition module, the image processing module, the wireless transmission module, and the unmanned vehicle driving module through 4 G signal sends the image information to the head mounted display terminal 2, and the wireless transmission module can receive the vehicle control command sent by the remote control terminal 1 through the 2.4G signal, and transmit it to the main control module, so as to control the unmanned vehicle drive module through the main control module to make the unmanned vehicle 6 move forward, backward, and turn. The image of the objects around the unmanned vehicle 6 is collected through the image acquisition module and the image processing module and processed into a digital signal, and then the image digital signal is transmitted to the head mounted display terminal 2 for display through the wireless transmission module, so as to provide a video basis for the staff to operate the unmanned vehicle 6 and patrol; The unmanned vehicle 6 includes a vehicle body, a power machine arranged on the vehicle body, the main shaft of the power machine is connected to the input shaft of the transfer case, the output shaft of the transfer case is connected to the input ends of the front drive axle 10 and the rear drive axle 11 arranged on the vehicle body through the front and rear transmission shafts, and the two ends of the drive shafts of the front drive axle 10 and the rear drive axle 11 are respectively provided with left and right front drive wheels 7 and left and right rear drive wheels 12, wherein a steering rod is movably arranged between the left and right front drive wheels 7, and a universal joint is arranged in the middle of the steering rod, and the universal joint is connected to one end of the swing rod 8, and the other end of the swing rod 8 is connected to the The steering gear 9 is connected to the rotating shaft, and the steering gear 9 is arranged on the vehicle body. The power machine and the steering gear 9 are electrically connected to the unmanned vehicle driving module respectively, so that the control command sent by the remote control terminal is transmitted to the unmanned vehicle driving module through the main control module, and then the unmanned vehicle driving module controls the power machine to drive the unmanned vehicle forward and backward, and controls the steering gear 9 to drive the front driving wheel 7 to swing left and right, so that the unmanned vehicle 6 turns. The left and right front driving wheels 7 and the left and right rear driving wheels 12 are all powered, which can effectively improve the all-terrain maneuverability of the unmanned vehicle; The unmanned vehicle driving module includes an unmanned vehicle processing chip, which is connected to the first motor driving module and the second motor driving module, wherein the first motor driving module is electrically connected to the power machine, and the second motor driving module is electrically connected to the steering gear. The unmanned vehicle processing chip receives the control signal sent by the remote control terminal 1 through the wireless transmission module, so as to send the corresponding PWM driving signal to the first motor driving module through the unmanned vehicle processing chip to adjust the speed and forward and backward travel direction of the unmanned vehicle 6, and sends the corresponding PWM driving signal to the second motor driving module through the unmanned vehicle processing chip to adjust the rotation angle of the unmanned vehicle 6; The image acquisition module includes a front camera 4 and an FPV camera 5 arranged in parallel at the front of the vehicle body, and a rear camera 3 arranged at the rear of the vehicle body, wherein the front camera 4 and the FPV camera 5 are fixed on the vehicle body, and the rear camera 3 is connected to the vehicle body through a rotating pitch mechanism; the rotating pitch mechanism includes a rotating base composed of a fixed member 13 and a rotating member 14, a left and a right supporting plate 15 arranged on both sides of the rotating member 14 and extending vertically upward, a spherical shell 16 is movably arranged between the left and right supporting plates 15, and the spherical shell 16 is rotatably connected with the seat bearings correspondingly arranged on the left and right supporting plates 15 through the rotating shafts on both sides thereof, a motor matched with the rotating shaft is arranged in the spherical shell 16, and a camera 17 is arranged on the front of the spherical shell 16, so as to collect images of the surrounding environment through the front camera 4 and the rear camera 3 of the vehicle body, collect video images in real time through the FPV camera 5 and send them to the main control module for processing, and then send the image information to the head-mounted display terminal 2 through the wireless transmission module through the 4G signal; The head mounted display terminal 2 includes a wireless receiving module, a Fresnel lens, a display screen, a battery and a housing. The wireless receiving module, the convex lens, the display screen and the battery are installed in the housing. The convex lens is located in front of the human eye, the display screen is located in front of the convex lens, the wireless receiving module is arranged outside the housing, and a retractable headband is also arranged on the housing, wherein: The display screen size is set to 4 inches, the resolution is set to 800*480, the brightness is set to 300cd / m2, the video format is set to NTSC / PAL switchable, and supports external video signal input and AV signal output; The wireless receiving module is set to an antenna connector with model RP-SMA (inner pin), frequency 5945M, 48 channels; In order to display the images and videos collected by the image acquisition module through the head mounted display terminal 2, the line can be inspected in real time from a first-person perspective, and line defects or potential accidents can be discovered at the first time; The remote control terminal 1 includes a remote control chip of model DUMB0-X4, a throttle signal acquisition circuit, a brake signal acquisition circuit, a steering signal acquisition circuit and a front and rear direction signal acquisition circuit electrically connected to the remote control chip, wherein the throttle signal acquisition circuit, the brake signal acquisition circuit, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit are respectively connected to the throttle lever, the brake lever and the steering wheel, so as to collect the throttle signal, the brake signal, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit through the throttle signal acquisition circuit, the brake signal acquisition circuit, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit, and then collect the throttle signal, the brake signal, the steering signal and the front and rear travel direction signal through the throttle pedal, the brake pedal and the steering wheel, so that the remote control chip sends the corresponding signal to the unmanned vehicle drive module, providing a video basis for the staff to operate the unmanned vehicle and conduct inspections; The throttle lever, brake lever and steering wheel are arranged on the operating handle. Example 3

[0018] The intelligent patrol device based on the first-person perspective provided by the present invention comprises an unmanned vehicle 6, a head-mounted display terminal 2, and a remote control terminal 1, wherein: the unmanned vehicle 6 is provided with a main control module, an image acquisition module, an image processing module, a wireless transmission module, an unmanned vehicle driving module and a power module; the main control module is electrically connected to the image acquisition module, the image processing module, the wireless transmission module, and the unmanned vehicle driving module respectively; the power module is electrically connected to the main control module, the image acquisition module, the image processing module, the wireless transmission module, and the unmanned vehicle driving module respectively; the wireless transmission module is electrically connected to the main control module, the image acquisition module, the image processing module, the wireless transmission module, and the unmanned vehicle driving module through 4 G signal sends the image information to the head mounted display terminal 2, and the wireless transmission module can receive the vehicle control command sent by the remote control terminal 1 through the 2.4G signal, and transmit it to the main control module, so as to control the unmanned vehicle drive module through the main control module to make the unmanned vehicle 6 move forward, backward, and turn. The image of the objects around the unmanned vehicle 6 is collected through the image acquisition module and the image processing module and processed into a digital signal, and then the image digital signal is transmitted to the head mounted display terminal 2 for display through the wireless transmission module, so as to provide a video basis for the staff to operate the unmanned vehicle 6 and patrol; The unmanned vehicle 6 includes a vehicle body, a left power machine and a right power machine arranged on the vehicle body, the main shafts of the left power machine and the right power machine are connected to the input shafts of the left and right transmission boxes, the output shafts of the left and right transmission boxes are respectively connected to the crawler driving wheels on both sides of the vehicle body, and the left and right power machines are respectively electrically connected to the unmanned vehicle drive module, so that the control instructions sent by the remote control terminal are transmitted to the unmanned vehicle drive module through the main control module, and then the unmanned vehicle drive module controls the power machine to drive the unmanned vehicle forward and backward, and controls the left and right power machines to generate a speed difference to make the unmanned vehicle 6 turn, and the crawler walking mode can effectively improve the all-terrain maneuverability of the unmanned vehicle; The unmanned vehicle driving module includes an unmanned vehicle processing chip, which is connected to the motor driving module, wherein the motor driving module is electrically connected to the left and right power machines, and the unmanned vehicle processing chip receives the control signal sent by the remote control terminal 1 through the wireless transmission module, so as to send the corresponding PWM driving signal to the motor driving module through the unmanned vehicle processing chip, so as to adjust the speed of the unmanned vehicle 6, the forward and backward travel direction, and the speed difference between the left and right tracks; The image acquisition module includes a front camera 4 and an FPV camera 5 arranged in parallel at the front of the vehicle body, and a rear camera 3 arranged at the rear of the vehicle body, wherein the front camera 4 and the FPV camera 5 are fixed on the vehicle body, and the rear camera 3 is connected to the vehicle body through a rotating pitch mechanism; the rotating pitch mechanism includes a rotating base composed of a fixed member 13 and a rotating member 14, a left and a right supporting plate 15 arranged on both sides of the rotating member 14 and extending vertically upward, a spherical shell 16 is movably arranged between the left and right supporting plates 15, and the spherical shell 16 is rotatably connected with the seat bearings correspondingly arranged on the left and right supporting plates 15 through the rotating shafts on both sides thereof, a motor matched with the rotating shaft is arranged in the spherical shell 16, and a camera 17 is arranged on the front of the spherical shell 16, so as to collect images of the surrounding environment through the front camera 4 and the rear camera 3 of the vehicle body, collect video images in real time through the FPV camera 5 and send them to the main control module for processing, and then send the image information to the head-mounted display terminal 2 through the wireless transmission module through the 4G signal; The head mounted display terminal 2 includes a wireless receiving module, a Fresnel lens, a display screen, a battery and a housing. The wireless receiving module, the Fresnel lens, the display screen and the battery are installed in the housing. The Fresnel lens is located in front of the human eye, the display screen is located in front of the Fresnel lens, the wireless receiving module is arranged outside the housing, and a retractable headband is also arranged on the housing, wherein: The display screen size is set to 3.5 inches, the resolution is set to 480*320, the brightness is set to 200cd / m2, the video format is set to NTSC / PAL switchable, and supports external video signal input and AV signal output; The wireless receiving module is set to an antenna connector of model RP-SMA (inner pin), frequency 5500M, 48 channels; In order to display the images and videos collected by the image acquisition module through the head mounted display terminal 2, the line can be inspected in real time from a first-person perspective, and line defects or potential accidents can be discovered at the first time; The remote control terminal 1 includes a remote control chip of model DUMB0-X4, a throttle signal acquisition circuit, a brake signal acquisition circuit, a steering signal acquisition circuit and a front and rear direction signal acquisition circuit electrically connected to the remote control chip, wherein the throttle signal acquisition circuit, the brake signal acquisition circuit, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit are respectively connected to the throttle lever, the brake lever and the steering wheel, so as to collect the throttle signal, the brake signal, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit through the throttle signal acquisition circuit, the brake signal acquisition circuit, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit, and then collect the throttle signal, the brake signal, the steering signal and the front and rear travel direction signal through the throttle pedal, the brake pedal and the steering wheel, so that the remote control chip sends the corresponding signal to the unmanned vehicle drive module, providing a video basis for the staff to operate the unmanned vehicle and conduct inspections; The throttle lever, brake lever and steering wheel are arranged on the operating handle.

[0019] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", 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 representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0020] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent patrol device based on the first-person perspective, comprising an unmanned vehicle, a head-mounted display terminal, and a remote control terminal, characterized in that The unmanned vehicle is provided with a main control module, an image acquisition module, an image processing module, a wireless transmission module, an unmanned vehicle driving module and a power module. The main control module is electrically connected to the image acquisition module, the image processing module, the wireless transmission module and the unmanned vehicle driving module respectively. The power module is electrically connected to the main control module, the image acquisition module, the image processing module, the wireless transmission module and the unmanned vehicle driving module respectively. The wireless transmission module sends image information to the head-mounted display terminal through a 4G signal, and the wireless transmission module can receive vehicle control instructions sent by the remote control terminal through a 2.4G signal, and transmit them to the main control module.

2. The intelligent patrol device based on the first-person perspective according to claim 1 is characterized in that The unmanned vehicle includes a vehicle body, a power machine arranged on the vehicle body, a main shaft of the power machine is connected to a transfer case input shaft, an output shaft of the transfer case is connected to the input ends of front and rear drive axles arranged on the vehicle body through front and rear transmission shafts, two left and right front drive wheels and two left and right rear drive wheels are respectively arranged at both ends of the drive shafts of the front and rear drive axles, wherein a steering rod is movably arranged between the left and right front drive wheels, a universal joint is arranged in the middle of the steering rod, the universal joint is connected to one end of a rocker bar, and the other end of the rocker bar is connected to a steering gear shaft, the steering gear is arranged on the vehicle body, and the power machine and the steering gear are respectively electrically connected to the unmanned vehicle drive module.

3. The intelligent patrol device based on the first-person perspective according to claim 1 is characterized in that The unmanned vehicle drive module includes an unmanned vehicle processing chip, which is connected to a first motor drive module and a second motor drive module, wherein the first motor drive module is electrically connected to a power machine, and the second motor drive module is electrically connected to a steering gear. The unmanned vehicle processing chip receives a control signal sent by a remote control terminal through a wireless transmission module.

4. The intelligent patrol device based on the first-person perspective according to claim 1 is characterized in that The image acquisition module includes a front camera and an FPV camera arranged in parallel at the front of the vehicle body, and a rear camera arranged at the rear of the vehicle body, wherein the front camera and the FPV camera are fixed on the vehicle body, and the rear camera is connected to the vehicle body through a rotating pitch mechanism, and the rotating pitch mechanism includes a rotating base composed of a fixed part and a rotating part, and left and right support plates are arranged on both sides of the rotating part and extend vertically upward, a spherical shell is movably arranged between the left and right support plates, and the spherical shell is matched with the seat bearings correspondingly arranged on the left and right support plates through the rotating shafts on both sides thereof, a motor matched with the rotating shaft is arranged in the spherical shell, and a camera is arranged on the front of the spherical shell.

5. The intelligent patrol device based on the first-person perspective according to claim 1 is characterized in that The head mounted display terminal comprises a wireless receiving module, a lens, a display screen, a battery and a shell. The wireless receiving module, the lens, the display screen and the battery are installed in the shell. The lens is located in front of the human eye, the display screen is located in front of the lens, the wireless receiving module is arranged outside the shell, and a retractable headband is also arranged on the shell.

6. The intelligent patrol device based on the first-person perspective according to claim 5 is characterized in that The display screen size is set to 3 to 4 inches, the resolution is set to 480*272 to 800*480, the brightness is set to 100 to 300cd / m2, the video format is set to NTSC / PAL switchable, and supports external video signal input and AV signal output.

7. The intelligent patrol device based on the first-person perspective according to claim 5 is characterized in that The wireless receiving module is configured as an antenna connector of model RP-SMA (inner pin), with a frequency of 5362-5945M and 48 channels.

8. The intelligent patrol device based on the first-person perspective according to claim 1 is characterized in that The remote control terminal includes a remote control chip of model DUMB0-X4, a throttle signal acquisition circuit, a brake signal acquisition circuit, a steering signal acquisition circuit and a front and rear direction signal acquisition circuit electrically connected to the remote control chip, and the throttle signal acquisition circuit, the brake signal acquisition circuit, the steering signal acquisition circuit and the front and rear direction signal acquisition circuit are respectively connected to the throttle lever, the brake lever and the steering wheel.

9. The intelligent patrol device based on the first-person perspective according to claim 1 is characterized in that The throttle lever, the brake lever and the steering wheel are arranged on the operating handle.

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