Wind power intelligent robot moving system

Abstract

The wind power intelligent robot moving system comprises a battery box, a storage battery is arranged in the battery box, leg frames are installed on the four sides of the battery box through elastic supporting mechanisms, electromagnetic suction cups are arranged in the leg frames, and moving driving mechanisms are arranged on the side edges of the leg frames; an electric rotating disc is arranged at the top of the battery box, supporting top frames are mounted on rotating seats of the electric rotating disc, mounting plates are mounted at the tops of the supporting top frames, and an ultrasonic array module is arranged between the supporting top frames; a camera is mounted on one side of the bottom of the mounting plate and is used for shooting the surrounding environment of the system; a thermal infrared probe is arranged on the other side of the bottom of the mounting plate; and an analysis processing module and a driving control module are arranged in the development board. Movement in all directions on the wall of a steel tower drum with a certain radian and the wall of a steel cabin is met, and autonomous movement, intelligent monitoring and efficient operation and maintenance can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent robot systems, and in particular relates to a wind power intelligent robot mobile system. Background Art

[0002] With the transformation of the global energy structure and the in-depth implementation of the sustainable development strategy, wind energy, as a clean and renewable energy source, has been increasingly valued for its development and utilization. Wind power generation, as the main form of wind energy utilization, has been widely used around the world. However, the operation and maintenance of wind farms faces many challenges, such as complex terrain, scattered equipment, and harsh environment, which greatly increase the difficulty and cost of operation and maintenance.

[0003] Traditional wind farm operation and maintenance methods mainly rely on manual inspections, which is not only inefficient but also has safety risks. Especially in some remote or harsh environments, the difficulty and danger of manual inspections are greatly increased.

[0004] Especially during the inspection process of the inner and outer areas of the steel tower and the steel cabin, it is difficult to control the drone flying close to the wall for inspection. Therefore, it is particularly important to develop a wind power intelligent robot mobile system that can move autonomously, monitor intelligently and operate efficiently. Summary of the invention

[0005] The purpose of the present invention is to provide a wind power intelligent robot mobile system to solve the problems existing in the prior art.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a wind power intelligent robot mobile system, comprising a battery box, wherein the battery box is provided with a storage battery, and leg frames are installed on four sides of the battery box through an elastic support mechanism, wherein an electromagnetic suction cup is provided in the leg frame, and a moving drive mechanism is provided on the side of the leg frame, wherein the elastic support mechanism is used to give the leg frame a movable distance when the electromagnetic suction cup increases the suction force; and the moving drive mechanism is used to drive the mobile system to move;

[0007] An electric turntable is arranged on the top of the battery box, a support top frame is installed on the turntable seat of the electric turntable, a mounting plate is installed on the top of the support top frame, an ultrasonic array module is arranged between the support top frames, and the ultrasonic array module is used to emit ultrasonic waves and receive ultrasonic feed point signals; a camera is installed on one side of the bottom of the mounting plate, and the camera is used to photograph the surrounding environment of the system; a thermal infrared probe is arranged on the other side of the bottom of the mounting plate, and the thermal infrared probe is used to obtain thermal infrared images of the surrounding environment;

[0008] A protection box is arranged on the top of the mounting plate, a development board is arranged in the protection box, and a transceiver antenna is arranged on the top of the protection box;

[0009] The development board is provided with an analysis and processing module and a drive control module. The analysis and processing module is used to control the operating power of the electromagnetic chuck, and is also used to analyze the ultrasonic signal obtained by the ultrasonic array module, the surrounding environment video obtained by the camera, and the surrounding environment thermal infrared image obtained by the thermal infrared probe, and remotely transmit the analysis and processing results to the mobile device through the transceiver antenna;

[0010] Mobile devices include computers.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] In the present invention, the device can move in all directions along a steel tower wall with a certain curvature and a steel cabin wall, and can realize autonomous movement, intelligent monitoring and efficient operation and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a front view schematic diagram of the present invention;

[0014] Figure 2 for Figure 1 A right side schematic diagram of

[0015] Figure 3 for Figure 2 A partial cutaway diagram of

[0016] Figure 4 for Figure 3 A schematic diagram of the structure at a is enlarged;

[0017] Figure 5 This is a schematic diagram of the connection of the analysis and processing modules in the development board of the present invention;

[0018] Figure 6 It is a schematic diagram of the connection of various modules of the drive control module in the development board of the present invention.

[0019] In the figure: 1 battery box, 2 battery, 3 support tube, 4 spring, 5 support plate, 6 pressure sensor, 7 support column, 8 pressure plate, 9 leg frame, 10 electromagnetic suction cup, 11 mounting plate, 12 motor, 13 support wheel frame, 14 brushless gear hub motor, 15 walking wheel, 16 electric rotating disk, 17 support top frame, 18 mounting plate, 19 ultrasonic array module, 20 camera, 21 thermal infrared probe, 22 protection box, 23 development board, 24 transceiver antenna. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0021] See also Figure 1 , Figure 2 and Figure 3The wind power intelligent robot mobile system is characterized by comprising a battery box 1, a battery 2 is installed in the battery box 1, a leg frame 9 is installed on four sides of the battery box 1 through an elastic support mechanism, an electromagnetic suction cup 10 is installed in the leg frame 9, a moving drive mechanism is arranged on the side of the leg frame 9, and the elastic support mechanism is used to give the leg frame 9 a moving distance when the electromagnetic suction cup 10 increases the suction force; the moving drive mechanism is used to drive the mobile system to move;

[0022] The battery box 1 and the leg frame 9 are made of ABS plastic, and the storage battery 2 is a 12V lithium battery.

[0023] The top bolt of the battery box 1 fixes the electric turntable 16, which is a stepper motor driven electric turntable. The screws on the turntable of the electric turntable 16 fix the support top frame 17, and the top bolts of the support top frame 17 fix the mounting plate 18. An ultrasonic array module 19 is installed between the support top frames 17. The ultrasonic array module 19 is used to emit ultrasonic waves and receive ultrasonic feed point signals; the bottom right side of the mounting plate 18 fixes the camera 20 with screws, and the camera 20 is used to shoot the surrounding environment of the system; the bottom left side of the mounting plate 18 fixes the thermal infrared probe 21 with screws, and the thermal infrared probe 21 is used to obtain thermal infrared images of the surrounding environment;

[0024] The top screws of the mounting plate 18 fix the protection box 22, the insulating pad screws are used to fix the development board 23 in the protection box 22, and the transceiver antenna 23 is installed on the top of the protection box 22;

[0025] The development board 23 is provided with an analysis and processing module and a drive control module. The analysis and processing module is used to control the operating power of the electromagnetic chuck 10, and is also used to analyze the ultrasonic signal obtained by the ultrasonic array module 19, the surrounding environment video obtained by the camera 20, and the surrounding environment thermal infrared image obtained by the thermal infrared probe 21, and remotely transmit the analysis and processing results to the mobile device through the transceiver antenna 23;

[0026] Mobile devices are computers.

[0027] See also Figure 3 and Figure 4 The elastic support mechanism includes a support tube 3 fixed to the side of the battery box 1 by bolts, a spring 4 is inserted into the support tube 3, and the spring 4 is a compression rebound type, and its initial compression rebound force satisfies: when the electromagnetic suction cup 10 is not in operation, its elastic force can make the upper port of the battery box 1 level with the upper end of the leg frame 9; a support plate 5 is slidably arranged in the support tube 3 and located on the upper part of the support spring 4, the support plate 5 is screwed to fix the top of the spring 4, and the support plate 5 is screwed to fix the base of the pressure sensor 6;

[0028] A wire port is provided on the side of the support tube 3 for connecting the transmission line of the pressure sensor 6 .

[0029] The top of the support tube 3 slides through the support column 7, which is a square column. The top of the support column 7 is connected to the top side of the leg frame 9. The bottom bolts of the support column 7 fix the pressure plate 8, and the pressure plate 8 is located in the support tube 3. The pressure plate 8 is fixedly mounted on the pressure sensing surface of the pressure sensor 6.

[0030] The pressure sensor 6 inputs a downward pressure signal, and the auxiliary analysis and processing module controls the operating power of the electromagnetic chuck 10, thereby changing the magnetic attraction of the electromagnetic chuck 10 to the steel tower and the inner wall of the steel cabin.

[0031] See also Figure 3 An installation slot is provided in the leg frame 9, and the electromagnetic suction cup 10 is bolted in the installation slot. The power line of the electromagnetic suction cup 10 is connected to the power modulation output end of the intelligent inverter, and the intelligent inverter is installed in the leg frame 9.

[0032] See also Figure 1 , Figure 2 , Figure 3 The driving mechanism includes a mounting plate 11 bolted to the side of the leg frame 9, a motor 12 is installed on the top of the mounting plate 11, the motor 12 is a magnetic brake self-locking stepper motor, the rotor shaft of the motor 12 passes through the mounting plate 11 and is flange-connected to the top of the support wheel frame 13, the flanges on both sides of the support wheel frame 13 are connected to the brushless gear hub motor 14, the outer rotor of the brushless gear hub motor 14 is bolted to the walking wheel 15, and the outer wheel surface of the walking wheel 15 has anti-slip grooves.

[0033] The power controlled ends of the electric turntable 16, the motor 12 and the brushless gear hub motor 14 are connected to the power control output end of the driver through cables. The driver is installed in the leg frame 9. The main power input end of the intelligent inverter and the driver is connected to the power output post of the battery 2 through cables.

[0034] See also Figure 5 The analysis and processing module includes a pressure signal receiving module, a thermal infrared image receiving module, a video signal receiving module and an ultrasonic signal receiving module. The pressure signal receiving module is used to receive the pressure signal input by the pressure sensor 6 in real time and convert the pressure signal into a pressure value. The transmission line of the pressure sensor 6 is connected to the signal receiving pin of the pressure signal receiving module; the thermal infrared image receiving module is used to receive the thermal infrared image input by the thermal infrared probe 21 in real time. The signal output line of the thermal infrared probe 21 is connected to the signal input pin of the thermal infrared image receiving module; the video signal receiving module is used to receive the captured video input by the camera 20 in real time. The signal line of the camera 20 is connected to the signal input pin of the video signal receiving module; the ultrasonic signal receiving module is used to receive the ultrasonic feeding point signal input by the ultrasonic array module 19 in real time. The array elements of the ultrasonic array module 19 are connected to the feeding point receiving pin of the ultrasonic signal receiving module by serial lines;

[0035] The pressure signal receiving module, the thermal infrared image receiving module, the video signal receiving module and the ultrasonic signal receiving module are connected to the analysis and processing module, which is used to compare the pressure value converted in real time by the pressure signal receiving module with the standard pressure value, analyze the heat value of each area through the thermal infrared image, analyze the cleanliness and fire situation of the area through the real-time input video area environment image, and analyze the deformation of the area through the ultrasonic feed point signal input in real time by the ultrasonic signal receiving module;

[0036] The analysis and processing module is connected to the current control module and the alarm signal input module. The current control module is used to control the operating power of the electromagnetic chuck 10 according to the comparison between the real-time converted pressure value and the standard pressure value. The alarm signal input module is used to receive the analysis of the regional environment by the analysis and processing module in real time and determine the output alarm signal; the analysis and processing module is connected to the wireless signal transceiver module in bidirectional transmission. The signal access end of the wireless signal transceiver module is connected to the signal access end of the transceiver antenna 24 through a transmission line. The mobile device uses the wireless signal transceiver module to determine the reference of the regional environment in the analysis and processing module and the change of the standard pressure value. The analysis and processing module sends real-time operation process information to the mobile device through the wireless signal transceiver module;

[0037] Among them, the power access ends of the development board 23, ultrasonic array module 19, camera 20, thermal infrared probe 21, development board 23, and transceiver antenna 24 are respectively connected to various types of power output ends of the integrated power modulator, and the main power access end of the integrated power modulator is connected to the power output pile of the battery 2 through a cable.

[0038] The signal output pin of the current control module is connected to the signal input terminal of the intelligent inverter through a signal line, and the standard pressure value meets the following requirements: the magnetic attraction of any electromagnetic suction cup 10 to the steel tower and the steel cabin can stabilize the position of the mobile system; when the low pressure analysis and processing module analyzes that the real-time pressure value is lower than the standard pressure value, it immediately issues an instruction to increase the current to the intelligent inverter until the real-time input pressure value reaches the standard pressure value.

[0039] When the highest heat value in the area analyzed in the thermal infrared image reaches the alarm point, a high temperature alarm signal is sent to the alarm signal output module; when the dust deposition coverage in the analyzed area image reaches the threshold that requires cleaning or a fire occurs in the area environment, a cleaning signal and a fire signal are respectively sent to the alarm signal output module, and the real-time positioning information is connected and sent out by the wireless signal transceiver module.

[0040] When there is a site change of more than 1 cm between the dot matrix image converted by the ultrasonic feed point in the analysis area and the location in the physical model, and the number of site changes per square centimeter is higher than 20, an area deformation alarm signal is sent to the alarm signal output module, and the real-time positioning information is connected and sent out by the wireless signal transceiver module.

[0041] The alarm signal output module is connected to the wireless signal transceiver module for transmission, and the wireless signal transceiver module is used to send an alarm signal to the mobile device through the wireless signal transceiver module.

[0042] See also Figure 6 The drive control module includes a positioning signal transceiver module, which is used to send a positioning signal to the mobile device in real time and receive the positioning information defined by the mobile device; the positioning signal transceiver module is connected to the dynamic source processing module, and the dynamic source processing module is bidirectionally connected to the path planning module and the modulus calculation module. The dynamic source processing module is used to receive the wind power equipment area physical model sent by the mobile device, and define the positioning information on the physical model. The cruise path planning information input by the path planning module is expressed on the physical model, and the control modulus corresponding to the position of each point on the path is calculated in combination with the point block size of the physical model;

[0043] During the control process, the distance and direction of the cruise path calculated by the path planning module and the modulus calculated by the modulus calculation module are changed in real time in combination with the changes in the physical model of the positioning information;

[0044] The mobile device inputs the cruise path planning information to the path planning module through the wireless signal transceiver module, and the path planning module calculates the direction and path distance of the cruise path; the path planning module is connected to the modulus calculation module, which is used to evolve the planned path distance and direction in real time and calculate the operating modulus required to drive each motor;

[0045] The analog-to-digital calculation module is connected to a storage module for temporarily storing the operation module obtained by the analog-to-digital calculation module; the storage module is connected to a drive analog-to-digital control input module 1, a drive analog-to-digital control input module 2 and a drive analog-to-digital control input module 3;

[0046] The driving analog-to-digital control input module 1 is used to control the operation of the motor 12; the driving analog-to-digital control input module 2 is used to control the operation of the brushless gear hub motor 14; the driving analog-to-digital control input module 3 is used to control the operation of the electric turntable 16, and the signal input ends of the driving analog-to-digital control input module 1, the driving analog-to-digital control input module 2 and the driving analog-to-digital control input module 3 are connected to the signal input end of the driver through a signal line.

[0047] The working principle of this embodiment is as follows:

[0048] The system is placed on the steel wind duct or the wall of the cabin, and the computer programs the defined positioning information, inspection path planning information and the physical model of the area to be inspected into the development board 23. The analysis and processing module combines the pressure signal fed back by the pressure sensor 6 to control the increase of the magnetic attraction of the electromagnetic suction cup 10, so that the running wheels 15 on the four sides are effectively pressed on the steel wall. The drive control module calculates the required operating modulus of each motor according to the path planning situation, and controls the motor 12, the brushless gear hub motor 14, and the electric turntable 16 to operate according to the path planning situation. During the inspection process, the operating modulus is adjusted in real time according to the real-time positioning situation.

[0049] Therefore, the mobile system can move in all directions on the steel tower wall with a certain curvature and the steel cabin wall, and can achieve the functions of autonomous movement, intelligent monitoring and efficient operation and maintenance.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. Wind power intelligent robot mobile system, characterized by: The invention comprises a battery box (1), wherein a storage battery (2) is arranged in the battery box (1), leg frames (9) are installed on four sides of the battery box (1) through elastic support mechanisms, an electromagnetic suction cup (10) is arranged in the leg frame (9), and a moving drive mechanism is arranged on the side of the leg frame (9), wherein the elastic support mechanism is used to give the leg frame (9) a moving distance when the electromagnetic suction cup (10) increases the suction force; and the moving drive mechanism is used to drive the mobile system to move; An electric turntable (16) is arranged on the top of the battery box (1), a support top frame (17) is installed on the turntable of the electric turntable (16), a mounting plate (18) is installed on the top of the support top frame (17), an ultrasonic array module (19) is arranged between the support top frames (17), and the ultrasonic array module (19) is used to emit ultrasonic waves and receive ultrasonic feed point signals; a camera (20) is installed on one side of the bottom of the mounting plate (18), and the camera (20) is used to photograph the surrounding environment of the system; a thermal infrared probe (21) is arranged on the other side of the bottom of the mounting plate (18), and the thermal infrared probe (21) is used to obtain a thermal infrared image of the surrounding environment; A protection box (22) is arranged on the top of the mounting plate (18), a development board (23) is arranged inside the protection box (22), and a transceiver antenna (23) is arranged on the top of the protection box (22); The development board (23) is provided with an analysis and processing module and a drive control module. The analysis and processing module is used to control the operating power of the electromagnetic chuck (10), and is also used to analyze the ultrasonic signal obtained by the ultrasonic array module (19), the surrounding environment video obtained by the camera (20), and the surrounding environment thermal infrared image obtained by the thermal infrared probe (21), and remotely transmit the analysis and processing results to the mobile device via the transceiver antenna (23); Mobile devices include computers.

2. The wind power intelligent robot mobile system according to claim 1 is characterized in that: The elastic support mechanism comprises a support tube (3) installed on the side of the battery box (1), a spring (4) is arranged in the support tube (3), a support plate (5) is arranged in the support tube (3) and located above the support spring (4), and a pressure sensor (6) is arranged on the support plate (5); A support column (7) is slidably inserted into the top of the support tube (3); the top of the support column (7) is connected to the top side of the leg frame (9); the bottom of the support column (7) is connected to a pressure plate (8) and the pressure plate (8) is located in the support tube (3); the pressure plate (8) is fixedly mounted on the pressure sensing surface of the pressure sensor (6).

3. The wind power intelligent robot mobile system according to claim 2 is characterized in that: The leg frame (9) is provided with a mounting slot, and the electromagnetic suction cup (10) is mounted in the mounting slot.

4. The wind power intelligent robot mobile system according to claim 3 is characterized in that: The driving mechanism comprises a mounting plate (11) mounted on the side of the leg frame (9), a motor (12) being mounted on the top of the mounting plate (11), a rotor shaft of the motor (12) passing through the mounting plate (11) and connected to a supporting wheel frame (13), a brushless gear hub motor (14) being arranged in the supporting wheel frame (13), and a travel wheel (15) being mounted on the outer rotor of the brushless gear hub motor (14).

5. The wind power intelligent robot mobile system according to claim 4 is characterized in that: The analysis and processing module comprises a pressure signal receiving module, a thermal infrared image receiving module, a video signal receiving module and an ultrasonic signal receiving module. The pressure signal receiving module is used to receive a pressure signal input by a pressure sensor (6) in real time and convert the pressure signal into a pressure value; the thermal infrared image receiving module is used to receive a thermal infrared image input by a thermal infrared probe (21) in real time; the video signal receiving module is used to receive a captured video input by a camera (20) in real time; and the ultrasonic signal receiving module is used to receive an ultrasonic feed point signal input by an ultrasonic array module (19) in real time. The pressure signal receiving module, the thermal infrared image receiving module, the video signal receiving module and the ultrasonic signal receiving module are connected to an analysis and processing module, which is used to compare the pressure value converted in real time by the pressure signal receiving module with the standard pressure value, analyze the heat value of each area through the thermal infrared image, analyze the cleanliness and fire condition of the area through the real-time input video area environment image, and analyze the deformation of the area through the ultrasonic feed point signal input in real time by the ultrasonic signal receiving module; The analysis and processing module is connected to a current control module and an alarm signal input module in transmission connection. The current control module is used to control the operating power of the electromagnetic suction cup (10) according to the comparison between the real-time converted pressure value and the standard pressure value. The alarm signal input module is used to receive the analysis of the regional environment by the analysis and processing module in real time and determine the output alarm signal. The analysis and processing module is connected to a wireless signal transceiver module in bidirectional transmission connection. The mobile device uses the wireless signal transceiver module to determine the reference of the regional environment in the analysis and processing module and the change of the standard pressure value. The analysis and processing module sends real-time operation process information to the mobile device through the wireless signal transceiver module. The alarm signal output module is connected to the wireless signal transceiver module for transmission, and the wireless signal transceiver module is used to send an alarm signal to the mobile device through the wireless signal transceiver module.

6. The wind power intelligent robot mobile system according to claim 5, characterized in that: The drive control module includes a positioning signal transceiver module, which is used to send a positioning signal to the mobile device in real time and receive positioning information defined by the mobile device; the positioning signal transceiver module is connected to a dynamic source processing module in transmission, and the dynamic source processing module is bidirectionally connected to a path planning module and a modulus calculation module, the dynamic source processing module is used to receive a wind power equipment area entity model sent by the mobile device, transfer the positioning information to the entity model, express the cruise path planning information input by the path planning module to the entity model, and calculate the control modulus corresponding to the position of each point on the path in combination with the point block size of the entity model; During the control process, the distance and direction of the cruise path calculated by the path planning module and the modulus calculated by the modulus calculation module are changed in real time in combination with the changes in the physical model of the positioning information; The mobile device inputs the cruise path planning information to the path planning module through the wireless signal transceiver module, and the path planning module calculates the direction and path distance of the cruise path; the path planning module is connected to the modulus calculation module, and the modulus calculation module is used to evolve the planned path distance and direction in real time and calculate the operating modulus required to drive each motor; The analog-to-digital calculation module is connected to a storage module for temporarily storing the operation module obtained by the analog-to-digital calculation module; the storage module is connected to a driving analog-to-digital control input module 1, a driving analog-to-digital control input module 2 and a driving analog-to-digital control input module 3; The first drive analog-to-digital control module is used to control the operation of the motor (12); the second drive analog-to-digital control module is used to control the operation of the brushless gear hub motor (14); and the third drive analog-to-digital control module is used to control the operation of the electric rotary disc (16).

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