Electric power inspection robot based on remote control

Abstract

The invention discloses an electric power inspection robot based on remote control and an electric power inspection method. The electric power inspection robot comprises a machine body bottom shell, a monitoring mechanism, a cleaning mechanism and a moving mechanism. A storage battery pack is arranged in the machine body bottom shell, a monitoring mechanism and a cleaning mechanism are arranged at the top, and the monitoring mechanism comprises an adjustable monitoring assembly, a control module and a wireless communication module; the adjustable monitoring assembly comprises an adjusting unit movably connected with the machine body bottom shell and a camera shooting unit movably connected with the adjusting unit. The cleaning mechanism is connected with the control module and conducts cleaning operation on at least one of the external equipment, the machine body bottom shell, the monitoring mechanism and the moving mechanism according to instructions of the control module. The electric power inspection robot has a perfect remote control function, can adapt to inspection requirements in various complex environments, can complete cleaning and maintenance of external equipment and the robot according to control instructions, can automatically and stably work for a long time, and reduces the maintenance cost.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots, and in particular, relates to a remote-controlled electric inspection robot, and more particularly to a remote-controlled self-cleaning, weather-resistant, and wear-resistant electric inspection robot. Background Art

[0002] With the rapid development of power systems and the continuous expansion of power grids, power inspection work has become increasingly important. Traditional power inspections are mainly carried out manually, which is not only inefficient but also has certain safety risks. In order to improve the efficiency and safety of power inspections, power inspection robot technology has developed rapidly in recent years.

[0003] Invention CN119036485A discloses an adaptive power inspection robot and inspection method, which has core modules such as an autonomous navigation algorithm unit, a dynamic decision-making unit, and an adaptive learning unit. Through the neural network algorithm, in-depth diagnosis of equipment failures is achieved, and three-dimensional modeling and environmental perception are achieved by combining multiple sensors (such as lidar, infrared thermal imager), and the inspection strategy can be adjusted according to environmental changes. However, the invention mainly involves the design of core modules related to the inspection method, and does not focus on the improvement of the structure of the adaptive power inspection robot, which easily leads to insufficient functions of the robot hardware, making it difficult to meet the technical requirements of the working environment, and the equipment is not durable enough to be used stably in harsh working environments for a long time.

[0004] Although existing power inspection robots have achieved automated inspections to a certain extent, they still have some shortcomings. For example, some robots cannot monitor the status of equipment in real time during the inspection process, and cannot detect or handle problems in time, resulting in reduced power generation efficiency of solar panels; some robots are not perfect in remote control functions and cannot meet the inspection needs in complex environments.

[0005] Invention CN118809544A discloses an inspection robot for GIS room, including a walking robot body and a high-definition camera for inspecting, photographing and transcribing the pressure gauge of GIS equipment, and a device box 1 is embedded on the top of the walking robot body. Through the setting of the cleaning mechanism, when the electric telescopic rod drives the high-definition camera to move to the side close to the pressure gauge of the GIS equipment to be inspected, the pressure gauge can be rotated and wiped by the cleaning wipe in the cleaning mechanism, and through the setting of the automatic supply mechanism of the cleaning liquid, the pressure gauge can be automatically sprayed with a quantitative cleaning liquid during the process of the cleaning wipe rotating to wipe and clean the pressure gauge, which is more conducive to the cleaning wipe to clean the pressure gauge, so that the subsequent high-definition camera can take clear photos of the pressure gauge values, ensure the effectiveness of the high-definition camera inspection and transcription, and avoid the phenomenon of invalid inspection and transcription due to the large number of stains on the surface of the pressure gauge. The inspection robot of the invention includes a cleaning mechanism, which can simply and quickly solve the problem of surface contamination of the pressure gauge and provide accurate transcription results, but does not pay attention to the cleaning and maintenance of the inspection robot itself, and the manual maintenance cost is high, which is not conducive to long-term stable operation.

[0006] Therefore, how to prepare an electric power inspection robot that can monitor equipment status in real time, respond quickly, provide timely remote feedback, and has external cleaning and internal self-cleaning capabilities and is suitable for long-term stable work has become a technical problem that needs to be urgently solved in this field. Summary of the invention

[0007] In order to solve the above problems, the present invention proposes a remote-controlled power inspection robot. The robot is equipped with an adjustable monitoring mechanism and a perfect remote control function, which can monitor the status of power equipment in real time, provide real-time feedback through a wireless communication module, and quickly and accurately complete inspection and maintenance tasks according to control instructions, adapting to inspection needs in various complex environments. In addition, the robot is also equipped with a multifunctional cleaning mechanism, which can clean the external battery panels according to the control instructions to ensure its power generation efficiency, as well as self-clean the robot components, improve inspection efficiency and accuracy, reduce maintenance costs, and facilitate long-term automated work.

[0008] In a first aspect, the present invention provides a remote-controlled power inspection robot, comprising a body bottom shell, a monitoring mechanism, a cleaning mechanism, and a moving mechanism connected to the body bottom shell;

[0009] A battery pack is provided inside the bottom shell of the machine body to supply power to the monitoring mechanism, the cleaning mechanism and the moving mechanism;

[0010] The monitoring mechanism and cleaning mechanism are arranged on the top of the bottom shell of the machine body;

[0011] The monitoring mechanism includes an adjustable monitoring component, a control module and a wireless communication module; the adjustable monitoring component includes an adjustment unit movably connected to the bottom shell of the machine body, and a camera unit movably connected to the adjustment unit;

[0012] The cleaning mechanism is connected to the control module and performs a cleaning operation on at least one of the external device, the machine body bottom shell, the monitoring mechanism, and the moving mechanism according to the instruction of the control module.

[0013] The bottom shell of the body is the main frame of the entire robot. A battery pack is installed inside it to provide stable power support for the monitoring mechanism and the mobile mechanism, ensuring that the robot can operate independently for a long time.

[0014] The adjustable monitoring components in the monitoring mechanism can realize flexible monitoring through the adjustment unit and the camera unit according to the task requirements, while the wireless communication module can transmit data to the remote control terminal in real time, fully realizing the remote and automated inspection. The mobile mechanism adopts the first motor drive and movable wheel system, which can efficiently complete the inspection task without manual pushing and pulling. Through the collaborative work of the monitoring and mobile mechanisms, the robot can automatically adapt to multi-scenario tasks, further reducing the need for manual intervention and improving work efficiency and safety.

[0015] The multifunctional cleaning mechanism of the present invention can be optionally arranged on the top of the bottom shell of the body. It has a simple structure and can utilize existing cleaning mechanisms including blowing, spraying cleaning liquid, wiping and other functions. On the basis of external cleaning such as solar panels, various instruments and other external equipment, the cleaning mechanism can clean the robot's own components under the command of the control module, including but not limited to the outer surface of the bottom shell of the body, the outer surface of the monitoring mechanism, anti-fouling goggles, etc.

[0016] Furthermore, the moving mechanism includes a support platform fixedly arranged inside the bottom shell of the body, a first motor is fixedly installed on the top of the support platform, a first gear is provided at the output end of the first motor, a rotating column is provided on one side of the first gear that passes through the bottom shell of the body and is rotatably connected thereto, a second gear meshing with the first gear is fixedly sleeved on the rotating column, and both ends of the rotating column extend to the outside of the bottom shell of the body and are fixedly connected to movable wheels.

[0017] The mobile mechanism of the present invention realizes efficient and stable power transmission and flexible movement through modular design. The mobile mechanism includes a support platform fixedly arranged inside the bottom shell of the machine body, a first motor is installed on the top of the support platform, and the output end of the motor is connected to the first gear, and the power is transmitted to the rotating column that runs through the bottom shell of the machine body through the meshing transmission of the first gear and the second gear. Both ends of the rotating column extend to the outside of the bottom shell of the machine body and are fixedly connected to the movable wheels respectively, so as to realize the smooth forward, backward and turning operations of the robot. This design optimizes the power transmission efficiency through the gear transmission system, and combined with the flexibility of the movable wheels, the robot can adapt to a variety of complex terrain conditions, such as uneven ground or slippery environment, thereby meeting the requirements for high reliability and adaptability of the mobile mechanism during power inspection.

[0018] Furthermore, both ends of the rotating column are rotatably connected to the side wall of the bottom shell of the body through a first bearing.

[0019] Further, the adjustment unit includes a retractable connecting seat support, the bottom of the connecting seat support is fixedly connected to the bottom shell of the body, and the top is rotatably connected to the rotating base plate, the rotating base plate is fixedly connected to the first support, the side wall of the rotating base plate is fixedly connected to the driving shell, the inner wall of the driving shell is fixedly connected to the second motor, the third motor and the second support, the output end of the second motor is provided with an active transmission wheel, the first support is rotatably connected to the first worm, one end of the first worm extends to the outside of the first support and is fixedly connected to the driven transmission wheel, the active transmission wheel and the driven transmission wheel are connected by a transmission belt, the top of the connecting seat support is fixedly connected to the first worm wheel meshing with the first worm, the second support is rotatably connected to the second worm, one end of the second worm extends to the outside of the second support and is connected to the output shaft of the third motor, one side of the second worm is provided with a rotating shaft that passes through the driving shell and is rotatably connected thereto, the outer fixed sleeve of the rotating shaft is provided with a second worm wheel meshing with the second worm, both ends of the rotating shaft are fixedly connected to a support frame, and the top of the support frame is fixedly connected to the camera unit.

[0020] Furthermore, both ends of the rotating shaft are rotatably connected to the driving housing via a third bearing, and both ends of the first worm and both ends of the second worm are rotatably connected to the first support and the second support respectively via bearing members.

[0021] Furthermore, the outer surfaces of the machine body bottom shell and the monitoring mechanism have a self-cleaning weather-resistant and wear-resistant layer, and the water contact angle of the self-cleaning weather-resistant and wear-resistant layer is above 130°;

[0022] The self-cleaning weather-resistant and wear-resistant layer is formed by the following steps:

[0023] S1, adding flame retardant, hindered amine light stabilizer (HALS), cage polysilsesquioxane and mesoporous silica into solvent and mixing them evenly to obtain a self-cleaning weather-resistant and wear-resistant spray agent;

[0024] In terms of weight percentage, the self-cleaning weather-resistant and wear-resistant spraying agent may optionally contain: 70-80% of n-hexane solvent, 10-15% of flame retardant, 1-5% of hindered amine light stabilizer (HALS), 1-5% of cage-type polysilsesquioxane, and 1-5% of mesoporous silica;

[0025] S2, spraying the self-cleaning weather-resistant and wear-resistant spray agent onto the outer surface of the machine body bottom shell and the monitoring mechanism;

[0026] S3. The self-cleaning weather-resistant and wear-resistant spray agent forms the self-cleaning weather-resistant and wear-resistant layer after drying.

[0027] The cleaning frequency and cleanliness of the inspection robot itself mainly depend on its design purpose, working environment and maintenance. Regular maintenance can extend the service life of the robot, reduce the failure rate, and improve the inspection quality, but in the long run, the maintenance frequency and cost of the inspection robot are very high. The present invention forms a self-cleaning weather-resistant and wear-resistant layer on the outer surface of the bottom shell of the body and the monitoring mechanism by spraying a self-cleaning weather-resistant and wear-resistant spray agent. The layer has excellent hydrophobicity and anti-fouling properties, and can prevent mud, dust and water stains from polluting the external parts of the robot. By spraying a mixed material containing flame retardants, hindered amine light stabilizers and cage-type polysilsesquioxanes, the durability and reliability of the robot in harsh environments are effectively improved, and the frequency and cost of equipment cleaning and maintenance are reduced, thereby further reducing the need for manual participation.

[0028] The flame retardant may be selected from at least one of phosphorus-containing flame retardants, nitrogen-containing flame retardants, polyaniline, and double metal hydroxides. The phosphorus-containing flame retardant is selected from at least one of phosphate flame retardants, phosphonate flame retardants, phosphaphenanthrene flame retardants, phosphazene flame retardants, phosphorus-containing polyol flame retardants, organic phosphonate flame retardants, and phosphate flame retardants; the nitrogen-containing flame retardant is at least one of melamine and its derivatives. The phosphorus-containing flame retardant and nitrogen-containing flame retardant include liquid flame retardants or solid flame retardant particles, and the particle size of the solid flame retardant particles is less than 50μm. Mesoporous silica has a unique pore structure and ultra-high specific surface area. This structure can adsorb and capture harmful substances in smoke during combustion, such as volatile organic compounds (VOCs) and other small molecular pollutants. Flame retardants and mesoporous silica can form a composite to provide excellent and long-term flame retardant and smoke suppression properties. In addition, if double metal hydroxide is used, the coating can also provide better electromagnetic shielding for the inspection robot, avoiding interference or electromagnetic damage when shooting images in a high electromagnetic radiation environment. When spraying, the signal transmission port of the wireless communication module can be avoided to avoid affecting the reception of remote signals.

[0029] The main function of hindered amine light stabilizers (HALS) is to capture free radicals, quench singlet oxygen and decompose peroxides. Hindered amine light stabilizers are a class of organic amine compounds with steric hindrance effects. They mainly inhibit the photooxidation and photoaging process of polymer materials by capturing free radicals, quenching singlet oxygen and decomposing peroxides, thereby extending the service life of polymer products.

[0030] Compared with general organosilicon polysiloxane, cage-type polysilsesquioxane has higher heat resistance and lower surface energy. Optionally, it includes at least one of trisilanol isooctyl-POSS, trisilanol phenyl-POSS, octaphenyl-POSS, dodecanyl-POSS, amino-POSS, and epoxidized-POSS. In addition, mesoporous silica has good load dispersibility, which is helpful for cage-type polysilsesquioxane loading and dispersion.

[0031] More preferably, the present invention can also add fluoride according to the use environment, and the amount of fluoride is 0.5-5% of the weight of the self-cleaning weather-resistant and wear-resistant spray agent, and the fluoride includes at least one of nitrogen fluoride, trifluoromethanesulfonic anhydride, and fluorinated 1,1,1,3,3,3-hexafluoroisopropanol, or the above substances are pre-reacted with polydimethylsiloxane to obtain fluorinated polydimethylsiloxane. Since fluorine atoms have very low surface energy, when fluorine functional groups are introduced into silane molecules, the surface energy of the entire molecule will also be reduced accordingly. Substances with low surface energy are more likely to repel water molecules, thereby showing stronger hydrophobicity.

[0032] Furthermore, the camera unit includes a camera mounting box and a monitoring camera arranged inside the camera mounting box, and the camera mounting box includes an anti-fouling protective mirror arranged corresponding to the monitoring camera lens, the anti-fouling protective mirror has a light transmittance of more than 85%, preferably more than 90%, and a water contact angle of more than 110°, preferably more than 120°.

[0033] After forming a self-cleaning weather-resistant and wear-resistant layer on the outer surface of the body bottom shell and the monitoring mechanism, in order to ensure the shooting clarity and accuracy, the present invention particularly sets an anti-fouling protective mirror on the side of the camera mounting box facing the monitoring camera lens. It is slightly different from the self-cleaning weather-resistant and wear-resistant layer on the outer surface of the robot. In addition to the functions of anti-fouling and self-cleaning, the anti-fouling protective mirror also needs to maintain a high light transmittance. The present invention adopts two methods to provide anti-fouling protective mirrors. One is to attach a light-transmitting self-cleaning film to the original lens, including a glass lens or a resin lens, to achieve functions such as long-term self-cleaning and wear resistance, and reduce the need for manual or mechanical cleaning. The other is to directly use an integrated lens or a protective mirror panel with light transmission and self-cleaning. When the working environment is extremely harsh, the anti-fouling protective mirror can also be cleaned, maintained, or the surface film or integrated lens can be replaced after inspection.

[0034] Specifically, the anti-fouling goggles include a lens and a light-transmitting self-cleaning film attached to the outer surface of the lens, wherein the light-transmitting self-cleaning film is prepared by blending and extruding cage-type polysilsesquioxane with a light-transmitting base resin;

[0035] The light-transmitting base resin includes at least one of polyethylene terephthalate (PET), polycarbonate (PC), polymethyl methacrylate (PMMA), polyethersulfone (PES), thermoplastic polyurethane (TPU), and cycloolefin polymer (COP / COC).

[0036] Preferably, the anti-fouling goggles are prepared by uniformly blending cage-type polysilsesquioxane with a light-transmitting base resin and then molding;

[0037] The light-transmitting base resin includes at least one of polycarbonate (PC) and polymethyl methacrylate (PMMA);

[0038] The molding preparation method is selected from injection molding or hot pressing molding.

[0039] Preferably, the power inspection robot also includes a cleaning mechanism, which is connected to the control module and performs cleaning operations on at least one of the external device, the outer surface of the bottom shell of the body, the outer surface of the monitoring mechanism, and the anti-fouling mirror according to the instructions of the control module.

[0040] Furthermore, an optical monitor is also provided in the camera mounting box, and the optical monitor is connected to the control module for monitoring the cleanliness of the anti-fouling goggles. More preferably, the optical monitor includes at least one of a clarity monitor, a dust monitor, and a transmittance monitor. Through regular detection of the optical monitor, the cleanliness of the anti-fouling goggles can be monitored and the cleaning and maintenance timing of the cleaning mechanism can be determined. The combined effect of the anti-fouling goggles, the optical monitor, and the cleaning mechanism of the present invention, based on the high transmittance and self-cleaning of the anti-fouling goggles, in addition to the usual protection against damage such as collision or entry of foreign objects from the camera lens, can significantly extend the cleaning and maintenance time and service life of the goggles, and automatically clean and maintain, reducing the frequency and cost of manual maintenance. Even when the environment is extremely harsh or damaged by unexpected factors, it is easy to replace at a low cost.

[0041] In a second aspect, the present invention further provides a power inspection method using the aforementioned power inspection robot, comprising:

[0042] The wireless communication module receives the inspection task, and the control module constructs the inspection path based on the inspection task;

[0043] The electric power inspection robot moves along the inspection path via a moving mechanism;

[0044] The camera unit obtains monitoring results on the inspection path, and the control module determines whether to start the cleaning mechanism according to the monitoring results.

[0045] The present invention constructs an inspection path according to the inspection task as a conventional method, for example, by performing path planning through an autonomous navigation algorithm. There is at least one monitoring point on the inspection path to correspond to an external device to be inspected, such as a solar panel. The inspection robot obtains monitoring results at the monitoring point through a camera unit.

[0046] The present invention has at least the following beneficial effects:

[0047] (1) The electric power inspection robot provided by the present invention has a remote control function, which significantly improves the inspection efficiency and safety: by integrating remote control and real-time monitoring functions, it can quickly respond to inspection needs and reduce the frequency and duration of manual inspections; at the same time, the robot replaces manual labor to enter high-risk areas to perform inspections and equipment cleaning and other maintenance work, effectively reducing the safety risks of inspection personnel.

[0048] (2) The monitoring mechanism of the present invention is composed of an adjustable monitoring component, a control module and a wireless communication module. The adjustable monitoring component drives the camera unit through the adjustment unit to realize multi-angle monitoring. The control module processes the monitoring data in real time and quickly transmits the inspection information to the remote terminal through the wireless communication module. This technical solution combines multi-axis rotation adjustment with wireless communication technology to enable the monitoring mechanism to flexibly adapt to the monitoring needs of different equipment and environments, while realizing remote real-time feedback of monitoring data. Through this design, the robot can significantly improve the inspection efficiency and the timeliness of equipment status feedback. In particular, when an abnormality occurs in the equipment, it can quickly respond and locate the problem, reducing the risk and workload of manual inspections.

[0049] (3) The self-cleaning weather-resistant and wear-resistant layer used in the present invention is formed by spraying a spraying agent containing flame retardants, hindered amine light stabilizers and cage-type polysilsesquioxane, etc., with a water contact angle of more than 130°, and excellent hydrophobicity and pollution resistance; the anti-fouling mirror equipped with the camera unit uses a light-transmitting self-cleaning film, whose light transmittance reaches more than 85%, and the water contact angle is more than 110°, which further improves the cleaning effect and durability of the monitoring equipment, and further designs a multifunctional cleaning mechanism to clean and maintain the robot itself when necessary. Through these designs, the surface and key components of the robot can remain clean during long-term operation without frequent manual maintenance, thereby significantly reducing the operation and maintenance costs and improving the overall reliability of the equipment.

[0050] (4) The mobile mechanism of the present invention ensures the smooth movement of the robot under complex terrain conditions. At the same time, the comprehensive design of the multi-axis adjustment capability of the monitoring mechanism, the self-cleaning weather-resistant and wear-resistant layer, and the multifunctional cleaning mechanism enable the robot to adapt to a variety of extreme environments and work stably for a long time. It performs well in scenarios such as power inspections that require long-term outdoor or harsh environment operations, and at the same time expands the application potential of the robot in multiple scenarios and multiple functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present disclosure will become readily understood. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0052] Figure 1 It is a schematic diagram of the overall structure of the electric power inspection robot based on remote control of the present invention;

[0053] Figure 2 The invention is a remote-controlled power inspection robot. Figure 1 Another perspective structural diagram;

[0054] Figure 3 It is a partial cross-sectional view of the electric power inspection robot based on remote control of the present invention;

[0055] Figure 4 This is a schematic diagram of the local structure of the remote-controlled power inspection robot of the present invention. Figure 1 ;

[0056] Figure 5 It is a partial exploded view of the adjustable monitoring mechanism of the remote-controlled electric power inspection robot of the present invention;

[0057] Figure 6 It is a partial structural schematic diagram of the adjustable monitoring mechanism of the remote-controlled electric power inspection robot of the present invention;

[0058] Figure 7 It is the overall design block diagram of the electric power inspection robot based on remote control of the present invention.

[0059] As shown in the figure: 1. Body bottom shell; 2. Battery pack; 3. Moving mechanism; 3.1. Support platform; 3.2. First motor; 3.3. First gear; 3.4. Rotating column; 3.5. Second gear; 3.6. Movable wheel; 3.7. First bearing; 4. Control module; 5. Wireless communication module; 6. Fixed support; 7. Adjustable monitoring mechanism; 7.1. Connecting seat support; 7.2. Second bearing; 7.3. Rotating bottom plate; 7.4. Driving housing; 7.5. Second motor 7.6, third motor; 7.7, second support; 7.8, active transmission wheel; 7.9, first worm; 7.10, driven transmission wheel; 7.11, transmission belt; 7.12, first worm wheel; 7.13, second worm; 7.14, rotating shaft; 7.15, second worm wheel; 7.16, support frame; 7.18, third bearing; 7.19, first support; 8, camera unit; 8.1, camera mounting box; 8.2, monitoring camera; 8.3, anti-fouling protective glasses. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0061] As attached Figure 1-7 As shown, the present invention provides a remote-controlled power inspection robot, comprising a body bottom shell 1, a monitoring mechanism, and a moving mechanism 3 connected to the body bottom shell 1; a battery pack 2 is arranged in the body bottom shell 1 to supply power to the monitoring mechanism and the moving mechanism 3. The moving mechanism 3 is arranged at both ends of the body bottom shell 1, the monitoring mechanism is arranged on the top of the body bottom shell 1 and is fixedly connected to a fixed support 6, the monitoring mechanism comprises an adjustable monitoring component, a control module 4 and a wireless communication module 5, the adjustable monitoring component comprises an adjustment unit 7 movably connected to the fixed support 6 of the body bottom shell 1, and a camera unit 8 movably connected to the adjustment unit 7.

[0062] The electric power inspection robot is also provided with a multifunctional cleaning mechanism (not shown) on the top of the body bottom shell 1. The cleaning mechanism adopts the existing cleaning mechanism including the functions of blowing, spraying cleaning liquid, wiping, etc. According to the instructions of the control module, in addition to cleaning external equipment such as solar panels and various instruments, it can also clean the robot's own components, including but not limited to the outer surface of the body bottom shell, the outer surface of the monitoring mechanism, anti-fouling goggles, etc.

[0063] The outer surface of the machine body bottom shell 1 and the monitoring mechanism has a self-cleaning weather-resistant and wear-resistant layer, and the water contact angle of the self-cleaning weather-resistant and wear-resistant layer is above 130°, which is formed by the following steps:

[0064] S1, adding flame retardant, hindered amine light stabilizer (HALS), cage polysilsesquioxane and mesoporous silica into solvent and mixing them evenly to obtain a self-cleaning weather-resistant and wear-resistant spray agent;

[0065] S2, spraying the self-cleaning weather-resistant and wear-resistant spray agent onto the outer surface of the machine body bottom shell 1 and the monitoring mechanism;

[0066] S3. The self-cleaning weather-resistant and wear-resistant spray agent forms the self-cleaning weather-resistant and wear-resistant layer after drying.

[0067] like Figure 3 As shown, the moving mechanism 3 includes a support platform 3.1 fixedly arranged inside the body bottom shell 1, a first motor 3.2 is fixedly installed on the top of the support platform 3.1, a first gear 3.3 is provided at the output end of the first motor 3.2, a rotating column 3.4 is provided on one side of the first gear 3.3, which passes through the body bottom shell 1 and is rotatably connected thereto, a second gear 3.5 meshing with the first gear 3.3 is fixedly sleeved on the rotating column 3.4, both ends of the rotating column 3.4 extend to the outside of the body bottom shell 1 and are fixedly connected with a movable wheel 3.6, and both ends of the rotating column 3.4 are rotatably connected to the side wall of the body bottom shell 1 through a first bearing 3.7.

[0068] like Figure 5 and Figure 6As shown, the adjusting unit 7 comprises a retractable connecting seat support 7.1, the inner end of the connecting seat support 7.1 is connected to the fixed support 6, the outer side of the connecting seat support 7.1 is rotatably connected to a rotating base plate 7.3 through a second bearing 7.2, the rotating base plate 7.3 is fixedly connected to a first support 7.19, the outer side of the rotating base plate 7.3 is fixedly connected to a driving housing 7.4, the inner wall of the driving housing 7.4 is fixedly connected to a second motor 7.5, a third motor 7.6, and a second support 7.7, the output end of the second motor 7.5 is provided with an active transmission wheel 7.8, the first support 7.19 is rotatably connected to a first worm 7.9, one end of the first worm 7.9 extends to the outer side of the first support 7.19 and is fixedly connected to a driven transmission wheel 7.10, the active transmission wheel 7.8 and the driven transmission wheel 7.10 are connected by a transmission belt 7.11, and the top of the connecting seat support 7.1 is fixedly connected to the first support 7.1. A first worm wheel 7.12 meshing with the first worm 7.9 is fixedly connected, a second worm 7.13 is rotatably connected to the second support 7.7, one end of the second worm 7.13 extends to the outside of the second support 7.7 and is connected to the output shaft of the third motor 7.6, a rotating shaft 7.14 is provided on one side of the second worm 7.13, which passes through the driving housing 7.4 and is rotatably connected thereto, a second worm wheel 7.15 meshing with the second worm 7.13 is fixedly sleeved on the outside of the rotating shaft 7.14, both ends of the rotating shaft 7.14 are fixedly connected to a support frame 7.16, the top of the support frame 7.16 is fixedly connected to the camera unit 8, both ends of the rotating shaft 7.14 are rotatably connected to the driving housing 7.4 through a third bearing 7.18, both ends of the first worm 7.9 and the second worm 7.13 are rotatably connected to the first support 7.19 and the second support 7.7 through bearing members.

[0069] like Figure 3 and Figure 5 As shown, the camera unit 8 includes a camera mounting box 8.1 and a monitoring camera 8.2 arranged inside the camera mounting box. The camera mounting box 8.1 includes an anti-fouling protective mirror 8.3 arranged corresponding to the lens of the monitoring camera 8.2. The light transmittance of the anti-fouling protective mirror 8.3 is above 85% and the water contact angle is above 110°.

[0070] The anti-fouling goggles 8.3 can be set in two ways:

[0071] (1) The anti-fouling goggles 8.3 include a lens and a light-transmitting self-cleaning film adhered to the outer surface of the lens, wherein the light-transmitting self-cleaning film is prepared by blending and extruding a cage-type polysilsesquioxane with a light-transmitting base resin; the light-transmitting base resin includes at least one of polyethylene terephthalate (PET), polycarbonate (PC), polymethyl methacrylate (PMMA), polyether sulfone (PES), thermoplastic polyurethane (TPU), and cycloolefin polymer (COP / COC).

[0072] (2) The anti-fouling goggles 8.3 are prepared by uniformly blending cage-type polysilsesquioxane with a translucent base resin and then molding the mixture; the translucent base resin comprises at least one of polycarbonate (PC) and polymethyl methacrylate (PMMA); and the molding preparation method is selected from injection molding or hot pressing molding.

[0073] In order to monitor the cleanliness of the anti-fouling protective mirror 8.3, an optical monitor is also provided in the camera mounting box 8.1. The optical monitor is connected to the control module 4. The optical monitor includes at least one of a clarity monitor, a dust monitor, and a transmittance monitor, and is used to monitor the cleanliness of the anti-fouling protective mirror 8.3. Through the aforementioned anti-fouling design, the anti-fouling protective mirror has functions such as high light transmittance and self-cleaning, which can significantly extend the cleaning and maintenance time of the protective mirror. Under normal working conditions, if there is no external force damage, it can be cleaned and maintained for a long time. When the monitoring results show that cleaning is required, the wireless communication module receives remote instructions, and the control module sends control instructions to the cleaning mechanism to start automatic cleaning and maintenance work, thereby reducing the frequency and cost of manual maintenance. When the environment is extremely harsh or it is damaged by unexpected factors, it is easy to replace and low cost.

[0074] like Figure 7 As shown, the control module 4, the battery pack 2, the wireless communication module 5, the camera unit 8 (which may include an optical monitor), the first motor 3.2, the second motor 7.5, and the third motor 7.6 in the present invention are electrically connected.

[0075] The inspection robot of the present invention has upgraded performances such as self-cleaning, self-weathering and wear resistance, and its working principle during specific implementation is as follows:

[0076] First, the wireless communication module 5 receives the inspection task sent by the remote control center, and the control module 4 constructs the inspection path based on the inspection task, and the mobile mechanism 3 moves the power inspection robot along the inspection path. By controlling the first motor 3.2 to start, the first gear 3.3 is driven to rotate, and the rotation of the first gear 3.3 will drive the rotating column 3.4 to rotate through the second gear 3.5 meshing with it, and the rotation of the rotating column 3.4 will rotate its movable wheel 3.6, thereby realizing the movement of the bottom shell 1 of the body, so that the inspection robot can move freely according to the remote control command.

[0077] At the same time, the camera unit obtains monitoring results at the monitoring points of the inspection path. Specifically, the control module 4 controls the adjustable monitoring mechanism 7 to perform corresponding adjustment operations according to the instruction content. By controlling the second motor 7.5 to start, the active transmission wheel 7.8 is driven to rotate, and the active transmission wheel 7.8 rotates through the transmission belt 7.11 to drive the driven transmission wheel 7.10 to rotate, and the driven transmission wheel 7.10 rotates to drive the first worm 7.9 to rotate. Since the first worm wheel 7.12 is fixedly connected to the fixed support 6 through the connecting seat support 7.1, when the first worm wheel 7.9 rotates, it will rotate along the first worm wheel 7.12. The first worm wheel 7.9 is installed on the first support 7.19 and the first support 7.19 is fixedly connected to the rotating base plate 7.3. Therefore, at this time, the rotating base plate 7.3 will be driven to rotate around the connecting seat support 7.1, thereby driving the driving shell 7.4 to rotate as a whole, and then, the horizontal angle of the camera unit 8 (including the camera mounting box 8.1 and its internal monitoring camera 8.2) can be adjusted. By controlling the third motor 7.6 to start, the second worm 7.13 is driven to rotate, and the second worm 7.13 rotates through the second worm wheel 7.15 to drive the rotating shaft 7.14 to rotate, and the rotating shaft 7.14 rotates through the supporting frame 7.16 to drive the camera unit 8 to rotate, so that the vertical angle of the camera unit 8 is adjusted, and the monitoring camera 8.2 obtains the best monitoring angle and obtains the monitoring result.

[0078] The control module 4 determines whether to start the cleaning mechanism according to the monitoring result:

[0079] 1) If there is no need to start the cleaning mechanism, the moving mechanism 3 enables the power inspection robot to continue to move along the inspection path, and the camera unit continues to obtain the next monitoring result;

[0080] 2) If it is detected that the cleanliness of the external equipment is insufficient, for example, the solar panel is heavily contaminated, the cleaning mechanism is started to clean the external equipment. After the cleaning is completed, the mobile mechanism 3 continues to move along the inspection path;

[0081] 3) If the monitoring camera 8.2 detects that the robot itself, such as the body bottom shell 1, the monitoring mechanism, the moving mechanism 3, etc., is heavily contaminated, or the shooting quality of the monitoring camera 8.2 is significantly reduced, or the optical monitor in the camera installation box detects that the cleanliness of the anti-fouling mirror is insufficient, the cleaning mechanism starts cleaning and maintaining the corresponding parts of itself. Due to the design of the self-cleaning weather-resistant and wear-resistant layer and the anti-fouling mirror of the inspection robot, the frequency and intensity of the robot's self-cleaning are very low, and it can also be carried out outside the inspection task, which basically does not take up the inspection time, and can provide long-term and stable protection for the inspection robot.

[0082] The inspection robot of the present invention has a complete remote control function, can monitor the status of power equipment in real time, provide real-time feedback through the wireless communication module, and quickly and accurately complete inspection and maintenance tasks according to control instructions. In addition, the robot's multifunctional cleaning mechanism can clean the external battery panels according to control instructions to ensure its power generation efficiency, as well as self-clean the robot components, thereby improving inspection efficiency and accuracy, reducing maintenance costs, and facilitating long-term automated work.

[0083] The above introduces the preferred embodiments of the present invention, which is intended to make the spirit of the present invention clearer and easier to understand, but is not intended to limit the present invention. All modifications, substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection outlined by the claims attached to the present invention.

Claims

1. A remote-controlled power inspection robot, characterized in that: It comprises a machine body bottom shell (1), a monitoring mechanism, a cleaning mechanism and a moving mechanism (3) connected to the machine body bottom shell (1); A battery pack (2) is arranged inside the machine body bottom shell (1) to supply power to the monitoring mechanism, the cleaning mechanism and the moving mechanism (3); The monitoring mechanism and the cleaning mechanism are arranged on the top of the machine body bottom shell (1); The monitoring mechanism comprises an adjustable monitoring component, a control module (4) and a wireless communication module (5); the adjustable monitoring component comprises an adjustment unit (7) movably connected to the machine body bottom shell (1), and a camera unit movably connected to the adjustment unit (7); The cleaning mechanism is connected to the control module (4) and performs a cleaning operation on at least one of the external device, the machine body bottom shell (1), the monitoring mechanism, and the moving mechanism (3) according to the instruction of the control module (4).

2. The power inspection robot according to claim 1, characterized in that: The moving mechanism (3) comprises a support platform (3.1) fixedly arranged inside the machine body bottom shell (1); a first motor (3.2) is fixedly mounted on the top of the support platform (3.1); a first gear (3.3) is provided at the output end of the first motor (3.2); a rotating column (3.4) is provided on one side of the first gear (3.3) and passes through the machine body bottom shell (1) and is rotatably connected thereto; a second gear (3.5) meshing with the first gear (3.3) is fixedly sleeved on the rotating column (3.4); both ends of the rotating column (3.4) extend to the outside of the machine body bottom shell (1) and are fixedly connected to movable wheels (3.6).

3. The power inspection robot according to claim 2, characterized in that: Both ends of the rotating column (3.4) are rotatably connected to the side wall of the machine body bottom shell (1) via a first bearing (3.7).

4. The power inspection robot according to any one of claims 1 to 3, characterized in that: The adjustment unit (7) comprises a retractable connection seat support (7.1), the bottom of the connection seat support (7.1) is fixedly connected to the machine body bottom shell (1), and the top is rotatably connected to the rotating base plate (7.3), the rotating base plate (7.3) is fixedly connected to a first support (7.19), the side wall of the rotating base plate (7.3) is fixedly connected to a driving housing (7.4), the inner wall of the driving housing (7.4) is fixedly connected to a second motor (7.5), a third motor (7.6) and a second support (7.7), the output end of the second motor (7.5) is provided with a driving transmission wheel (7.8), the first support (7.19) is rotatably connected to a first worm (7.9), one end of the first worm (7.9) extends to the outside of the first support (7.19) and is fixedly connected to a driven transmission wheel (7.10), the driving transmission wheel (7.8) and the driven transmission wheel (7.10) are connected to each other. The transmission wheels (7.10) are connected by a transmission belt (7.11); a first worm wheel (7.12) meshing with the first worm (7.9) is fixedly connected to the top of the connection seat pillar (7.1); a second worm wheel (7.13) is rotatably connected to the second support (7.7); one end of the second worm wheel (7.13) extends to the outside of the second support (7.7) and is connected to the output shaft of the third motor (7.6); a rotating shaft (7.14) penetrating through the driving housing (7.4) and rotatably connected thereto is provided on one side of the second worm wheel (7.13); a second worm wheel (7.15) meshing with the second worm (7.13) is fixedly sleeved on the outside of the rotating shaft (7.14); two ends of the rotating shaft (7.14) are fixedly connected to a support frame (7.16); and the top of the support frame (7.16) is fixedly connected to the camera unit (8).

5. The power inspection robot according to claim 4, characterized in that: Both ends of the rotating shaft (7.14) are rotationally connected to the drive housing (7.4) via a third bearing (7.18), and both ends of the first worm (7.9) and both ends of the second worm (7.13) are rotationally connected to the first support (7.19) and the second support (7.7) respectively via bearing members.

6. The power inspection robot according to any one of claims 1 to 3, characterized in that: The outer surfaces of the machine body bottom shell (1) and the monitoring mechanism are provided with a self-cleaning weather-resistant and wear-resistant layer, and the water contact angle of the self-cleaning weather-resistant and wear-resistant layer is above 130°; The self-cleaning weather-resistant and wear-resistant layer is formed by the following steps: S1, adding a flame retardant, a hindered amine light stabilizer, and a mesoporous silica loaded with a cage-type polysilsesquioxane into a solvent and mixing them evenly to obtain a self-cleaning weather-resistant and wear-resistant spray agent; S2, spraying the self-cleaning weather-resistant and wear-resistant spray agent onto the outer surface of the machine body bottom shell (1) and the monitoring mechanism; S3. The self-cleaning weather-resistant and wear-resistant spray agent forms the self-cleaning weather-resistant and wear-resistant layer after drying.

7. The power inspection robot according to claim 6, characterized in that: The camera unit (8) comprises a camera mounting box (8.1) and a monitoring camera (8.2) arranged inside the camera mounting box, the camera mounting box comprising an anti-fouling protective mirror (8.3) arranged corresponding to the lens of the monitoring camera (8.2), the anti-fouling protective mirror (8.3) having a light transmittance of more than 85% and a water contact angle of more than 110°.

8. The power inspection robot according to claim 7, characterized in that: The anti-fouling goggles (8.3) comprise a lens and a light-transmitting self-cleaning film attached to the outer surface of the lens, wherein the light-transmitting self-cleaning film is prepared by blending and extruding cage-type polysilsesquioxane with a light-transmitting base resin; The light-transmitting base resin includes at least one of polyethylene terephthalate (PET), polycarbonate (PC), polymethyl methacrylate (PMMA), polyethersulfone (PES), thermoplastic polyurethane (TPU), and cycloolefin polymer (COP / COC).

9. The power inspection robot according to claim 7, characterized in that: The anti-fouling goggles (8.3) are prepared by uniformly blending cage-type polysilsesquioxane and a light-transmitting base resin and then molding them; The light-transmitting base resin includes at least one of polycarbonate (PC) and polymethyl methacrylate (PMMA); The molding preparation method is selected from injection molding or hot pressing molding.

10. A power inspection method using the power inspection robot according to any one of claims 1 to 9, characterized in that: include: The wireless communication module (5) receives the inspection task, and the control module (4) constructs an inspection path based on the inspection task; The power inspection robot moves along the inspection path via a moving mechanism (3); The camera unit obtains monitoring results on the inspection path, and the control module (4) determines whether to start the cleaning mechanism according to the monitoring results.

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