Inspection robot

Abstract

The invention provides an inspection robot, and the inspection robot comprises a machine body which is provided with a camera, an aircraft and an electric power storage part, and the electric power storage part is electrically connected with the camera and the aircraft; the mechanical arm group comprises at least two mechanical arms, and one ends of the at least two mechanical arms are connected with the machine body; the electricity taking claw is arranged at the end, away from the machine body, of the mechanical arm, the electricity taking claw has a closed state and an open state, when the electricity taking claw is in the closed state, the electricity taking claw can be arranged on the wire in a sleeving mode so as to obtain electricity from the wire, and the electricity taking claw is electrically connected with the electricity storage part; and the control part is electrically connected with the power storage part, the control part is in signal connection with the aircraft, the camera, the mechanical arm and the power taking claw, and the control part controls the aircraft, the mechanical arm and the power taking claw to work according to a picture shot by the camera. Through the technical scheme provided by the invention, the problem that the endurance time of the inspection robot in the related technology is short can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of substation inspection, and in particular to an inspection robot. Background Art

[0002] The number of low-voltage equipment in the low-voltage distribution network is large and widely distributed. Most of the low-voltage distribution network failures are simple and repetitive problems. The impact of low-voltage distribution network failures is far less than that of medium-voltage distribution network failures, which makes the daily work of distribution network operation and maintenance personnel focus on medium-voltage distribution networks. As a result, the various operation and maintenance resources of low-voltage distribution networks are difficult to fully meet the actual requirements on site. The daily work of low-voltage emergency repair personnel is mainly to deal with the successive failures and repairs, and it has become the norm to focus on repairs and neglect operation. Although the low-voltage ledger data is missing, the low-voltage layout is inaccurate, and the daily inspections are not in place, the problems are important but not urgent, and have not been standardized and improved.

[0003] In the relevant technology, the intelligent inspection robot of the substation can complete the functions of infrared temperature measurement of the whole station equipment, meter reading, equipment status identification, designated point inspection, remote control inspection, high-definition visible light and infrared real-time video monitoring, main transformer and high noise resistance monitoring, visible light image intelligent identification, inspection report analysis and historical data analysis. In the early stage of operation, the inspection robot was guided "point to point" at multiple points, so that the inspection robot can perform periodic inspections according to the set operation and maintenance strategy, so as to detect abnormal switch position indications, excessive equipment temperature or low SF6 gas pressure, and automatically alarm. The inspection robot can use automatic or manual methods to achieve full coverage of all-round inspection tasks, which can greatly reduce the labor intensity of operation and maintenance personnel and improve inspection efficiency.

[0004] However, the inspection robots used for overhead line inspection in the related art are mainly used in relatively open areas. The inspection robots have a small load capacity, resulting in a small battery capacity and a short battery life. Summary of the invention

[0005] The present invention provides an inspection robot to solve the problem of short battery life of the inspection robot in the related art.

[0006] The present invention provides an inspection robot, which comprises: a body, which has a camera, an aircraft and a power storage device, and the power storage device is electrically connected to the camera and the aircraft respectively; a mechanical arm group, which comprises at least two mechanical arms, and one end of at least two mechanical arms is connected to the body; a power collection claw, which is arranged at the end of the mechanical arm away from the body, and the power collection claw has a closed state and an open state. When the power collection claw is in the closed state, the power collection claw can be sleeved on a wire to obtain electricity from the wire, and the power collection claw is electrically connected to the power storage device; a control component, which is electrically connected to the power storage device, and the control component is respectively connected to the aircraft, the camera, the mechanical arm and the power collection claw signal, and the control component controls the aircraft, the mechanical arm and the power collection claw to work according to the shooting picture of the camera.

[0007] Furthermore, the power-collecting claw includes: a wire-collecting claw, which is fixedly arranged at one end of the mechanical arm away from the body; a movable claw, which is movably arranged on the wire-collecting claw, and when the power-collecting claw is in a closed state, the movable claw and the wire-collecting claw are arranged to form a wire through-hole, and when the power-collecting claw is in an open state, the movable claw and the wire-collecting claw open the wire through-hole; a driving member, which is arranged between the wire-collecting claw and the movable claw to drive the movable claw to move relative to the wire-collecting claw, and the control member is connected to the driving member by signal.

[0008] Furthermore, the power-collecting claw includes a power-collecting coil, which is arranged on the movable claw and is electrically connected to the power storage component.

[0009] Furthermore, the inspection robot also includes a current detection component, which is electrically connected to the power collection coil to detect the current of the wire.

[0010] Furthermore, the power-collecting claw also includes a pressure-sensitive component, which is arranged on the lower side of the wire-collecting claw, and the control component is respectively connected to the pressure-sensitive component and the driving component by signal; and / or, the power-collecting claw also includes a locking component, which is arranged between the wire-collecting claw and the movable claw, and the locking component has a locked state and an unlocked state. When the locking component is in the locked state, the locking component restricts the movement of the movable claw relative to the wire-collecting claw, and when the locking component is in the unlocked state, the locking component allows the movable claw to move relative to the wire-collecting claw.

[0011] Furthermore, the inspection robot also includes a wire diameter detection component, which is arranged on the lower side of the wire picking claw and is connected to the control component signal; and / or, the inspection robot also includes a crawler walking component, which is arranged on the lower side of the wire picking claw, and the control component is connected to the crawler walking component signal.

[0012] Furthermore, a hollow structure is provided in the middle of the body, and the cameras include: a main camera, which is provided in the hollow structure; and an auxiliary camera, which is provided at the edge of the body corresponding to the robotic arm group.

[0013] Furthermore, the camera also includes an offset gimbal, which is flippably arranged at the hollow structure, and the flip axis of the offset gimbal extends in the lateral direction. The main camera is arranged on the offset gimbal, and the flip axis of the offset gimbal and the main camera are respectively located on both sides of the middle part of the offset gimbal.

[0014] Furthermore, the inspection robot also includes a GPS positioning component and a communication component, both of which are connected to the control component signal; and / or, the power storage component includes a battery, and the battery is embedded in the body.

[0015] Further, the aircraft includes two propellers, which are respectively arranged on the front and rear sides of the aircraft body; and / or, the inspection robot includes two mechanical arm groups, which are relatively arranged on the left and right sides of the aircraft body.

[0016] By applying the technical solution of the present invention, the inspection robot includes a body, a robotic arm group, a power-collecting claw and a control component. The control component controls the operation of the aircraft according to the shooting image of the camera, so that the inspection robot rises from the ground to above the low-voltage wire, and makes the end of the robotic arm away from the body close to the low-voltage wire, so that the power-collecting claw is sleeved on the wire to obtain electricity from the wire to supplement the power consumption of the storage component, so as to reduce the inspection robot's demand for the capacity of the storage component. The capacity of the storage component only meets the usage requirements during the short-distance flight from the ground to above the low-voltage wire, thereby extending the endurance of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A schematic diagram of the structure of an inspection robot provided according to an embodiment of the present invention is shown;

[0019] Figure 2 A schematic diagram of the structure of an inspection robot provided according to an embodiment of the present invention is shown;

[0020] Figure 3 A schematic structural diagram of a mechanical arm, a power-collecting claw, and a wire diameter detection component of an inspection robot provided according to an embodiment of the present invention is shown.

[0021] The above drawings include the following reference numerals:

[0022] 10. body; 11. camera; 111. offset gimbal; 1111. flip axis; 12. aircraft; 121. propeller; 13. hollow structure;

[0023] 20. Robotic arm group; 21. Robotic arm;

[0024] 30. Power-collecting claw; 31. Wire-connecting claw; 32. Movable claw; 321. Ball bearing; 33. Wire perforation; 34. Pressure-sensitive part;

[0025] 40. Wire diameter detection parts;

[0026] 50. Tracked parts; 60. Obstacles; 70. Wires. DETAILED DESCRIPTION

[0027] 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, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. 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.

[0028] like Figures 1 to 3 As shown, an embodiment of the present invention provides an inspection robot, which includes a body 10, a robotic arm group 20, a power-collecting claw 30 and a control component. The body 10 has a camera 11, an aircraft 12 and a power storage component, which are electrically connected to the camera 11 and the aircraft 12 respectively. The robotic arm group 20 includes at least two robotic arms 21, and one end of at least two robotic arms 21 is connected to the body 10. The power-collecting claw 30 is arranged at the end of the robotic arm 21 away from the body 10. The power-collecting claw 30 has a closed state and an open state. When the power-collecting claw 30 is in the closed state, the power-collecting claw 30 can be sleeved on the wire 70 to obtain electricity from the wire 70. The power-collecting claw 30 is electrically connected to the power storage component, and the control component is electrically connected to the power storage component. The control component is signal-connected to the aircraft 12, the camera 11, the robotic arm 21 and the power-collecting claw 30 respectively, and the control component controls the aircraft 12, the robotic arm 21 and the power-collecting claw 30 to work according to the shooting picture of the camera 11. The drone is fixed on the low-voltage overhead line and can obtain the power needed for work from the line, avoiding the limitation of battery capacity that causes the current limitation of short working life of electric drones. This structure is generally suitable for patrolling power overhead lines, can effectively avoid limitations such as no-fly zones, and can basically cover low-voltage overhead lines.

[0029] The inspection robot provided in this embodiment includes a body 10, a robotic arm group 20, a power-collecting claw 30 and a control component. The control component controls the operation of the aircraft 12 according to the shooting image of the camera 11, so that the inspection robot rises from the ground to above the low-voltage wire 70, and makes the end of the robotic arm 21 away from the body 10 close to the low-voltage wire 70, so that the power-collecting claw 30 is sleeved on the wire 70 to obtain electricity from the wire 70 to supplement the power consumption of the power storage component, so as to reduce the capacity demand of the inspection robot for the power storage component. The capacity of the power storage component only meets the usage requirements during the short-distance flight from the ground to above the low-voltage wire 70, thereby extending the battery life of the inspection robot.

[0030] The inspection robot provided in this embodiment is small in size and suitable for residential areas with dense human traffic.

[0031] like Figure 3 As shown, the power-collecting claw 30 includes a wire-collecting claw 31, a movable claw 32 and a driving member. The wire-collecting claw 31 is fixedly arranged at one end of the mechanical arm 21 away from the body 10, and the movable claw 32 can be movably arranged on the wire-collecting claw 31. When the power-collecting claw 30 is in a closed state, the movable claw 32 and the wire-collecting claw 31 are arranged to form a wire through-hole 33. When the power-collecting claw 30 is in an open state, the movable claw 32 and the wire-collecting claw 31 open the wire through-hole 33. The driving member is arranged between the wire-collecting claw 31 and the movable claw 32 to drive the movable claw 32 to move relative to the wire-collecting claw 31. The control member is connected to the driving member by signal.

[0032] In this embodiment, the power-collecting claw 30 also includes a power-collecting coil, which is arranged on the movable claw 32 and is electrically connected to the power storage component. When the inspection robot walks on the wire 70, the power-collecting coil cuts the magnetic field generated by the wire 70 being energized, so that current is generated in the power-collecting coil.

[0033] In this embodiment, the inspection robot further includes a current detection component, which is electrically connected to the power collection coil to detect the current of the wire 70. The current detection component detects the current of the power collection coil and infers the current of the wire 70.

[0034] like Figure 3 As shown, the power-collecting claw 30 also includes a pressure-sensitive component 34, which is arranged at the lower side of the wire-collecting claw 31, and the control component is respectively connected to the pressure-sensitive component 34 and the drive component by signal. In the initial state, the power-collecting claw 30 is in an open state, the inspection robot flies above the wire 70, and the ground personnel unfold the mechanical arm 21 through the camera and make the inspection robot slowly land on the low-voltage wire 70. The pressure-sensitive component 34 will generate a pressure signal, and the control component controls the drive component to drive the movable claw 32 to move relative to the wire-collecting claw 31, so that the power-collecting claw 30 switches to a closed state, and the inspection robot is fixed on the wire 70.

[0035] In this embodiment, the power-collecting claw 30 further includes a locking member, which is disposed between the wire-collecting claw 31 and the movable claw 32. The locking member has a locked state and an unlocked state. When the locking member is in the locked state, the locking member limits the movement of the movable claw 32 relative to the wire-collecting claw 31. When the locking member is in the unlocked state, the locking member allows the movement of the movable claw 32 relative to the wire-collecting claw 31. The locking member is used to limit the movement of the movable claw 32 relative to the wire-collecting claw 31 to prevent the inspection robot from falling off the wire 70.

[0036] like Figure 3 As shown, the inspection robot further includes a wire diameter detection member 40, which is disposed at the lower side of the wire hooking claw 31 and is connected to the control member signal. The wire diameter detection member 40 uses a laser scanning device to calculate the laser range shielded by the wire 70, and thereby calculates the wire diameter of the wire 70.

[0037] like Figure 3 As shown, the inspection robot also includes a crawler walking part 50, which is arranged at the lower side of the wire hooking claw 31, and the control part is connected to the crawler walking part 50 by signal. When the robot arm is completely fixed on the wire 70 through the power-collecting claw 30, the crawler walking part 50 drives the inspection robot to walk on the wire 70, starts the robot inspection work, and collects the basic ledger data related to the low-voltage wire 70.

[0038] like Figure 1 and Figure 2 As shown, a hollow structure 13 is provided in the middle of the body 10 , and the camera 11 includes a main camera 11 and an auxiliary camera 11 . The main camera 11 is provided at the hollow structure 13 , and the auxiliary camera 11 is provided at the edge of the body 10 corresponding to the robotic arm group 20 .

[0039] like Figure 1 and Figure 2 As shown, the camera 11 also includes an offset gimbal 111, which is flippably disposed at the hollow structure 13, and a flip axis 1111 of the offset gimbal 111 extends in a lateral direction. The main camera 11 is disposed on the offset gimbal 111, and the flip axis 1111 of the offset gimbal 111 and the main camera 11 are respectively located on both sides of the middle of the offset gimbal 111.

[0040] In this embodiment, the inspection robot also includes a GPS positioning component and a communication component, and both the GPS positioning component and the communication component are connected to the control component signal. The body 10 is internally configured with an intelligent meter collection and identification device, and the GPS positioning component adopts the Beidou positioning system to complete the meter positioning work in a short time. While the inspection robot is patrolling along the line, it can automatically generate a low-voltage area layout map according to the patrol trajectory, and obtain the topological distribution, span and line length of the low-voltage wire 70 on the geographical map.

[0041] In this embodiment, the power storage device includes a battery, and the battery is embedded in the body 10 .

[0042] like Figure 1 As shown, the aircraft 12 includes two propellers 121 , which are respectively arranged at the front and rear sides of the body 10 .

[0043] like Figure 1 As shown, the inspection robot includes two mechanical arm groups 20 , and the two mechanical arm groups 20 are relatively arranged on the left and right sides of the body 10 .

[0044] The inspection robot provided in this embodiment is used to conduct long-term inspections along the overhead low-voltage distribution network mainly located in residential areas for distribution lines of 0.38kV and below with three-phase four-wire as the main trunk. The inspection robot is equipped with infrared and visible light cameras to conduct detailed inspections of insulators, hardware, poles and towers, line T-contacts, etc. The inspection robot can locally store inspection videos, infrared photos, etc. The inspection robot automatically generates a low-voltage layout of the substation area in the system based on the drone inspection positioning trajectory. The inspection robot can obtain 70 wire diameters of the conductors in real time on site to achieve full collection of basic data.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0046] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0047] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0048] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0049] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A patrol robot, characterized in that: The inspection robot comprises: A body (10) having a camera (11), an aircraft (12), and an electric storage component, wherein the electric storage component is electrically connected to the camera (11) and the aircraft (12) respectively; A mechanical arm group (20), comprising at least two mechanical arms (21), one end of at least two of the mechanical arms (21) being connected to the machine body (10); A power-collecting claw (30) is arranged at one end of the mechanical arm (21) away from the machine body (10), and the power-collecting claw (30) has a closed state and an open state. When the power-collecting claw (30) is in the closed state, the power-collecting claw (30) can be sleeved on the wire (70) to obtain electricity from the wire (70), and the power-collecting claw (30) is electrically connected to the power storage component; A control component is electrically connected to the power storage component. The control component is respectively connected to the aircraft (12), the camera (11), the mechanical arm (21) and the power collection claw (30) by signal. The control component controls the operation of the aircraft (12), the mechanical arm (21) and the power collection claw (30) according to the shooting picture of the camera (11).

2. The inspection robot according to claim 1, characterized in that: The power-collecting claw (30) comprises: A wire hook claw (31) fixedly arranged on an end of the mechanical arm (21) away from the machine body (10); A movable claw (32) is movably arranged on the wire hooking claw (31); when the power-collecting claw (30) is in the closed state, the movable claw (32) and the wire hooking claw (31) surround a wire through-hole (33); when the power-collecting claw (30) is in the open state, the movable claw (32) and the wire hooking claw (31) open the wire through-hole (33); The driving member is arranged between the wire-taking claw (31) and the movable claw (32) to drive the movable claw (32) to move relative to the wire-taking claw (31), and the control member is signal-connected to the driving member.

3. The inspection robot according to claim 2, characterized in that: The power collection claw (30) also includes a power collection coil, which is arranged on the movable claw (32) and is electrically connected to the power storage component.

4. The inspection robot according to claim 3, characterized in that: The inspection robot also includes a current detection component, which is electrically connected to the power collection coil to detect the current of the wire (70).

5. The inspection robot according to claim 2, characterized in that: The power-collecting claw (30) further comprises a pressure-sensitive component (34), wherein the pressure-sensitive component (34) is arranged on the lower side of the wiring claw (31), and the control component is respectively connected to the pressure-sensitive component (34) and the driving component by signals; and / or, The power-collecting claw (30) further comprises a locking member, which is arranged between the wire-collecting claw (31) and the movable claw (32), and has a locked state and an unlocked state. When the locking member is in the locked state, the locking member restricts the movement of the movable claw (32) relative to the wire-collecting claw (31), and when the locking member is in the unlocked state, the locking member allows the movable claw (32) to move relative to the wire-collecting claw (31).

6. The inspection robot according to claim 2, characterized in that: The inspection robot further comprises a wire diameter detection member (40), wherein the wire diameter detection member (40) is arranged at the lower side of the wire pick-up claw (31) and is signal-connected to the control member; and / or, The inspection robot further comprises a crawler walking member (50), wherein the crawler walking member (50) is arranged on the lower side of the wire-taking claw (31), and the control member is signal-connected to the crawler walking member (50).

7. The inspection robot according to claim 1, characterized in that: A hollow structure (13) is provided in the middle of the body (10), and the camera (11) comprises: A main camera (11) is arranged at the hollow structure (13); An auxiliary camera (11) is arranged at the edge of the machine body (10) corresponding to the mechanical arm group (20).

8. The inspection robot according to claim 7, characterized in that: The camera (11) further comprises an offset gimbal (111), the offset gimbal (111) being disposed flipably at the hollow structure (13), the flip axis (1111) of the offset gimbal (111) extending in a transverse direction, the main camera (11) being disposed on the offset gimbal (111), and the flip axis (1111) of the offset gimbal (111) and the main camera (11) being respectively located on both sides of the middle of the offset gimbal (111).

9. The inspection robot according to claim 1, characterized in that: The inspection robot further comprises a GPS positioning component and a communication component, wherein both the GPS positioning component and the communication component are connected to the control component by signal; and / or, The electric storage component comprises a battery, and the battery is embedded in the machine body (10).

10. The inspection robot according to claim 1, characterized in that: The aircraft (12) comprises two propellers (121), and the two propellers (121) are respectively arranged on the front side and the rear side of the body (10); and / or, The inspection robot comprises two mechanical arm groups (20), and the two mechanical arm groups (20) are arranged relatively on the left and right sides of the body (10).

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