Power equipment fault diagnosis inspection robot using machine vision

Abstract

The invention discloses an electrical equipment fault diagnosis inspection robot using machine vision, and particularly relates to the technical field of electrical fault detection devices.The electrical equipment fault diagnosis inspection robot comprises a body and further comprises shooting units, each shooting unit comprises a machine shell internally provided with an exhaust cavity and a heat dissipation cavity, and the number of the shooting units is not less than two; and the body is rotationally assembled through a support ring fixedly mounted on the body. According to the inspection robot provided by the invention, the shooting unit is located at the first station, so that the heat dissipation cavity communicates with the supporting ring, the exhaust cavity is closed, the supporting ring independently blows air into the heat dissipation cavity to dissipate heat of the shooting equipment in the heat dissipation cavity, when the shooting unit is located at the second station, the collection end of the shooting unit is opposite to the first station, and at the moment, the exhaust cavity communicates with the supporting ring; and the heat dissipation cavity is closed so as to independently blow air to the air exhaust cavity and exhaust air along the transverse air opening, so that an air curtain is formed at the acquisition end of the shooting unit for shielding rain, and the effects of heat dissipation and air curtain rain shielding are achieved by utilizing switching of the machine shell stations of the shooting unit.

Description

Technical Field

[0001] The invention relates to the technical field of electric fault detection devices, and in particular to an electric power equipment fault diagnosis and inspection robot using machine vision. Background Art

[0002] Machine vision refers to the ability to use computers to simulate the human visual system. Through cameras, sensors and image processing software, machine vision can identify, process and understand images, and perform tasks such as detection, classification and measurement. In the process of power equipment fault diagnosis and inspection, inspection robots equipped with machine vision conduct regular inspections in the power equipment area, and then notify the staff immediately after analysis with sensors and image processing software. Compared with manual inspections, the use of multiple machine vision inspection robots can perform all-weather inspections.

[0003] According to patent announcement number CN111983344A, announcement date: 2020-11-24, an intelligent power inspection robot system is disclosed, including a robot hardware system, an operation and maintenance management cloud platform, a robot control system and a client. The robot hardware system is internally provided with an inspection robot body, a driving wheel, an equipment status monitor, a temperature detection sensor, an environmental detection sensor, an SF6 gas leakage sensor, a data analysis and processing module and a wireless transceiver. The driving wheel is located on both sides of the lower end of the driving wheel, and the equipment status monitor, the temperature detection sensor, the environmental detection sensor and the SF6 gas leakage sensor are all connected to the data analysis and processing module, and the data analysis and processing module is connected to the wireless transceiver. The equipment status monitor is located in the middle of the upper end of the inspection robot body, the temperature detection sensor is located at the front end of the equipment status monitor, and the environmental detection sensor is located on the rear end side of the equipment status monitor.

[0004] In the prior art including the above patents, for some areas, electrical fault troubleshooting still needs to be done manually, and for some large power facilities, the occupied area is large and requires regular inspections. At present, the common electrical fault detection devices mostly use high-definition cameras or infrared probes. By adding high-definition cameras or infrared probes to inspection robots, the high-definition cameras or infrared probes are used to scan, take pictures and detect the equipment in the fixed area in coordination with the movement of the robot, and the data is transmitted to the background for real-time monitoring. For the inspection robot, it has a good working condition on sunny days to carry out inspection work. However, when it rains lightly, when the inspection robot controls the high-definition camera and infrared probe to lift up for photo detection, because of its large elevation angle, raindrops are very likely to fall on the lens of the high-definition camera or infrared probe with the wind, and the attachment of these raindrops will affect the shooting work of the high-definition camera or infrared probe. At the same time, in hot weather, the inspection robot is exposed to the sun, and most general camera devices do not have air blast heat dissipation, and then under long-term high-temperature working conditions, the aging of the internal components of the camera device is accelerated. Summary of the invention

[0005] The purpose of the present invention is to provide a power equipment fault diagnosis and inspection robot using machine vision to solve the above technical problems.

[0006] In order to achieve the above-mentioned object, the present invention provides the following technical solution: a power equipment fault diagnosis inspection robot using machine vision, comprising a main body and a shooting unit, which comprises a casing with an exhaust cavity and a heat dissipation cavity, wherein:

[0007] The number of the shooting units is not less than two, and they are rotatably assembled by a support ring fixedly mounted on the body, and the support ring is arranged in the following manner with the support ring during the rotational assembly:

[0008] In the first station, the collection end of the shooting unit faces the travel direction of the main body, the heat dissipation cavity and the support ring are connected, and the exhaust cavity is closed;

[0009] At the second station, when the collecting end faces the opposite direction to the first station, the exhaust cavity and the branch ring are connected, and the heat dissipation cavity is closed;

[0010] The housing is provided with a transverse air outlet which is distributed toward the collecting end and is connected to the exhaust cavity.

[0011] Preferably, a pan head for fixing a support ring is rotatably provided on the main body, and a centrifugal blower is fixedly installed in a receiving cavity provided in the main body, and the pan head, the support ring and the receiving cavity are sequentially connected to each other.

[0012] Preferably, an outer wall of the main body on one side in the direction of travel is provided with a cleaning port connected to the inner side of the support ring.

[0013] Preferably, it comprises a sealing plate rotatably arranged on one side of the ash cleaning port and a sealing block slidably arranged, wherein the sealing block moves to block the air blowing to the support ring, and the sealing plate flips over to open the ash cleaning port.

[0014] Preferably, it comprises special-shaped rods movably connected to the sealing block and the sealing plate respectively, and the tension springs fixedly mounted on the special-shaped rods are deformed and store force when the special-shaped rods are close to the sealing block and the sealing plate.

[0015] Preferably, when the collecting end of the shooting unit moves obliquely downward in the horizontal direction at the second station, the supporting ring is gradually blocked and isolated.

[0016] Preferably, a shielding platform is arranged on the main body, and a dust cleaning air outlet is provided on the shielding platform, and when the collecting end of the shooting unit moves obliquely downward in the horizontal direction at the first station, the collecting end is gradually located above the dust cleaning air outlet.

[0017] Preferably, the cleaning air outlet is connected to the support ring, a mounting rod is slidably provided on the inner wall of the cleaning air outlet, and the mounting rod is located on the moving path of the casing, and an elastic cover plate is fixedly installed on the mounting rod to shield the cleaning air outlet in a default state.

[0018] Preferably, the mounting rod slides to disconnect the support ring and the cleaning air outlet when the elastic cover plate opens the cleaning air outlet.

[0019] Preferably, a trigger rod movably connected to the sealing block is included, and the trigger rod is located on the moving path of the mounting rod.

[0020] In the above technical scheme, the present invention provides an electric power equipment fault diagnosis inspection robot using machine vision, which has the following beneficial effects: by utilizing the shooting unit to be rotatably set on the support ring, up and down swing scanning is realized, and by making the casing collection end of the shooting unit face the driving direction of the main body, so that the heat dissipation cavity and the support ring are connected, and the exhaust cavity is closed, at this time, air is blown into the heat dissipation cavity alone through the support ring to dissipate the heat of the shooting equipment in the heat dissipation cavity, similarly, by turning the casing of the shooting unit over, and the collection end of the shooting unit is opposite to the first workstation, at this time, the exhaust cavity and the support ring are connected, and the heat dissipation cavity is closed, and then air is blown into the exhaust cavity alone and exhausted along the horizontal air outlet to form a wind curtain at the collection end of the shooting unit to block rain, and the switching of the casing workstation of the shooting unit is utilized to achieve the effects of heat dissipation and wind curtain blocking rain. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0022] Figure 1 A schematic diagram of the overall structure of the main body provided by an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the structure of the pan / tilt head provided in an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of the structure of the housing provided by an embodiment of the present invention at a working position;

[0025] Figure 4 A schematic diagram of the structure of the casing in the second working position provided by an embodiment of the present invention;

[0026] Figure 5 A schematic diagram of the structure of a housing portion provided by an embodiment of the present invention;

[0027] Figure 6 A schematic diagram of the overall cross-sectional structure of the body provided by an embodiment of the present invention;

[0028] Figure 7 A schematic diagram of a cross-sectional structure of a main body provided by an embodiment of the present invention;

[0029] Figure 8 A schematic diagram of a cross-sectional structure of a casing provided by an embodiment of the present invention;

[0030] Fig. 9 A schematic diagram of a cross-sectional structure of a pan / tilt platform provided in an embodiment of the present invention;

[0031] Fig.10 A schematic diagram of a cross-sectional structure of a circular cavity ring provided in an embodiment of the present invention;

[0032] Fig.11 A schematic diagram of a partial cross-sectional structure of a circular cavity ring provided by an embodiment of the present invention;

[0033] Fig.12 The embodiment of the present invention provides Figure 6 The enlarged structural diagram at A in the middle;

[0034] Fig.13 The embodiment of the present invention provides Figure 7 Enlarged structural diagram at B in the middle.

[0035] Description of reference numerals:

[0036] 1. Main body; 2. PTZ; 3. Angle motor; 4. Casing; 5. High-definition camera; 6. Special-shaped rod; 7. Trigger rod; 8. Buffer rubber pad; 11. Accommodation chamber; 12. Dust removal port; 13. Air intake window; 14. Shielding platform; 15. Dust removal air outlet; 16. Arc slide; 17. Searchlight; 18. Walking probe; 19. Monitoring unit; 21. Rotating ring; 22. Air vent; 23. Support ring; 24. Semicircular plate; 25. Side air outlet; 26. Second gear; 27. First gear; 28. Steering motor; 31. Wedge gear; 32. Contact ring; 33. Transmission line; 34. First contact Contact metal ring; 35. Contact plate; 36. Metal contact rod; 37. Adapter metal ring; 41. Main shaft rod; 42. Heat dissipation cavity; 43. Heat dissipation mesh; 44. Exhaust cavity; 45. Circular cavity ring; 46. Air filling port; 47. Shield; 48. Fan-shaped port; 49. Horizontal air port; 51. Infrared probe; 52. Mounting rod; 53. Elastic cover plate; 54. Extrusion spring; 55. Centrifugal blower; 61. Tension spring; 62. Guide rod; 63. Extension rod; 64. Connecting rod; 65. Crossing rod; 66. Sealing plate; 67. Sealing block; 68. Inclined portion; 71. Pull spring; 72. Push rod. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0038] like Figure 1-13 As shown, a power equipment fault diagnosis inspection robot using machine vision includes a main body 1 and a shooting unit, which includes a housing 4 with an exhaust cavity 44 and a heat dissipation cavity 42, wherein:

[0039] The number of the shooting units is not less than two, and they are rotatably assembled by the support ring 23 fixedly mounted on the body 1, and the support ring 23 is arranged in the following manner with the support ring 23 during the rotational assembly:

[0040] In the first station, the collection end of the shooting unit faces the travel direction of the body 1, the heat dissipation cavity 42 and the support ring 23 are connected, and the exhaust cavity 44 is closed;

[0041] At the second station, when the collecting end faces the opposite direction to the first station, the exhaust cavity 44 and the support ring 23 are connected, and the heat dissipation cavity 42 is closed;

[0042] The housing 4 is provided with a transverse air outlet 49 which is distributed toward the collecting end and connected to the exhaust cavity 44 .

[0043] Specifically, there are two shooting units, and the heat dissipation chambers 42 of the two housings 4 are respectively fixed with a high-definition camera 5 and an infrared probe 51, the acquisition end is the lens part of the high-definition camera 5 and the infrared probe 51 exposed from the housing 4, and the horizontal air vent 49 is located at the acquisition end port and is respectively located on one side of the lens of the high-definition camera 5 and the infrared probe 51. At the same time, there are two support rings 23 and they are matched with the housing 4 respectively.

[0044] Further, the outer wall of the support ring 23 is provided with a side air outlet 25, a semicircular plate 24 is fixedly mounted on the first end of the support ring 23, the housing 4 is rotatably arranged on the outer wall of the support ring 23 through a circular cavity ring 45 fixedly mounted on the side thereof, the circular cavity ring 45 is fixedly connected to the exhaust cavity 44, and the exhaust cavity 44 is fixedly connected to the horizontal air outlet 49, the inner wall of the heat dissipation cavity 42 is provided with a shield plate 47 located on one side of the semicircular plate 24, and a fan-shaped opening 48 is provided on the shield plate 47, and an air inlet 46 connected to the cavity of the circular cavity ring 45 is provided on the inner wall of the circular cavity ring 45. The outer wall of the housing 4 is provided with a heat dissipation mesh 43 connected to the heat dissipation cavity 42.

[0045] When you are at work, Fig.10 As shown, the outer wall of the support ring 23 blocks and closes the air inlet 46, and the inner wall of the circular cavity ring 45 blocks the side air inlet 25. At the same time, the semicircular plate 24 and the shielding plate 47 overlap to expose the fan-shaped opening 48. At this time, the inner side of the support ring 23 is connected to the heat dissipation cavity 42 along the fan-shaped opening 48. At the same time, because the outer wall of the support ring 23 blocks and closes the air inlet 46, the exhaust cavity 44 and the inner side of the support ring 23 are separated and closed, so that most of the blast along the support ring 23 is blown into the heat dissipation cavity 42 along the fan-shaped opening 48. Similarly, when the heat dissipation cavities 42 of the two housings 4 are blown into, the high-definition cameras 5 and infrared probes 51 in the two heat dissipation cavities 42 are respectively blasted and cooled, and then the blast is discharged from the housing 4 along the heat dissipation mesh 43. Then, the workstation 1 is used to make most of the blast to achieve heat dissipation of the high-definition camera 5 and the infrared probe 51.

[0046] At workstation 2, Fig.11As shown, due to the rotation of the housing 4 relative to the support ring 23, the air inlet 46 on the circular cavity ring 45 and the side air outlet 25 on the support ring 23 are connected to each other. At the same time, as the housing 4 rotates, the semicircular plate 24 blocks the fan-shaped opening 48. At this time, the inner side of the support ring 23 and the heat dissipation cavity 42 are separated and closed by the semicircular plate 24 and the shielding plate 47, and the inner side of the support ring 23 is connected to the circular cavity ring 45 along the side air outlet 25 and the air inlet 46. Since the circular cavity ring 45 is connected to the exhaust cavity 44, the inner side of the support ring 23 is connected to the exhaust cavity 44. At this time, the support ring 23 Most of the air on the inside is blown to the transverse air vent 49 along the side air vent 25, the air filling vent 46, the circular cavity ring 45 cavity and the exhaust cavity 44. When in the second station, the transverse air vent 49 is located above the high-definition camera 5 and the infrared probe 51. Therefore, the air blowing from the transverse air vent 49 forms a wind curtain at the lens end of the high-definition camera 5 and the infrared probe 51. When the casing 4 is tilted upward in the second station, the formed wind curtain is used to blow away the falling raindrops, thereby reducing the impact of raindrops falling on the lens on shooting. At the same time, the wind curtain will not block the lens.

[0047] The air blowing in the two branch rings 23 can be carried out by two blowers respectively; or the two branch rings 23 can be connected and one of the branch rings 23 is blown so that air is blown in both branch rings 23 at the same time; or any method known to those skilled in the art to blow air in the two branch rings 23 respectively is available.

[0048] The two housings 4 may be rotated by being driven by motors respectively; or they may be connected to the two housings 4 by a shaft and then driven to rotate by a motor at the same time; or the two housings 4 may be driven to rotate by any method known to those skilled in the art.

[0049] In the above technical scheme, the shooting unit is rotatably arranged on the support ring 23 to realize up and down swing scanning, and the collecting end of the casing 4 of the shooting unit is directed toward the traveling direction of the main body 1 so that the heat dissipation cavity 42 and the support ring 23 are connected, and the exhaust cavity 44 is closed. At this time, air is blown into the heat dissipation cavity 42 alone through the support ring 23 to dissipate the heat of the shooting equipment in the heat dissipation cavity 42. Similarly, the casing 4 of the shooting unit is flipped over, and the collecting end of the shooting unit is directed opposite to the first station. At this time, the exhaust cavity 44 and the support ring 23 are connected, and the heat dissipation cavity 42 is closed, and then air is blown into the exhaust cavity 44 alone and exhausted along the horizontal air outlet 49 to form a wind curtain at the collecting end of the shooting unit to block rain, thereby utilizing the switching of the casing 4 of the shooting unit to achieve the effects of heat dissipation and wind curtain to block rain.

[0050] As an embodiment further provided by the present invention, a pan head 2 for fixing a support ring 23 is rotatably provided on the main body 1, and a centrifugal blower 55 is fixedly installed in the accommodating chamber 11 opened in the main body 1, and the pan head 2, the support ring 23 and the accommodating chamber 11 are sequentially connected to each other.

[0051] Specifically, the gimbal 2 is rotatably arranged on the top of the body 1 through a swivel 21 fixedly installed at the bottom end thereof, a steering motor 28 is fixedly installed on the inner wall of one side of the accommodating chamber 11, and a first gear 27 fixedly installed at the output end of the steering motor 28 and a second gear 26 fixedly installed on the outer wall of the swivel 21 are meshed with each other, and air vents 22 are symmetrically opened on the outer walls of the opposite sides of the gimbal 2, and support rings 23 fixedly installed on the outer walls of the opposite sides of the gimbal 2 are respectively connected to the air vents 22, and the housings 4 of the two shooting units are rotated. The main body 1 is movable on the support ring 23, and the support ring 23 is connected to the accommodating chamber 11 through the air vent 22 and the internal cavity of the pan-tilt head 2 and the swivel 21. The outer wall of the main body 1 is provided with an air inlet window 13 connected to the accommodating chamber 11, and the centrifugal blower 55 is located on one side of the air inlet window 13. The centrifugal blower 55 is used to blow air into the accommodating chamber 11, and then the air is blown along the accommodating chamber 11, the swivel 21, the pan-tilt head 2 and the two air vents 22 to blow into the two support rings 23 respectively, and the two support rings 23 are blown at the same time.

[0052] A monitoring unit 19 is fixedly installed in the main body 1. The monitoring unit 19 at least includes a computing chip, a device status monitor, a wireless network module, a battery pack and a control circuit board. The equipment status monitor receives the pictures taken by the high-definition camera 5 and the infrared probe 51, which are processed by the computing chip and transmitted by the control circuit board. Then, the wireless network module is used to transmit the collected information to the computer terminal to realize remote monitoring. Similarly, the instructions sent by the computer terminal can also be transmitted to the high-definition camera 5 and the infrared probe 51 again through the wireless network module, the control circuit board, the computing chip and the device status monitor.

[0053] like Figure 8 , Fig. 9 as well as Fig.12As shown, in two housings 4 located on the outer walls of the pan-tilt head 2 on opposite sides, a main shaft rod 41 fixedly installed between the high-definition camera 5 and the infrared probe 51 is rotatably arranged on the pan-tilt head 2, an angle motor 3 is fixedly installed in the pan-tilt head 2, and the output end of the angle motor 3 and the wedge gear 31 respectively fixedly installed on the outer wall of the main shaft rod 41 are meshed with each other, a contact ring 32 sleeved on the main shaft rod 41 is fixedly installed on the inner wall of the pan-tilt head 2, the data line and the power line in the high-definition camera 5 and the infrared probe 51 are electrically connected to the transmission line 33 fixedly installed in the main shaft rod 41, and the ends of the transmission line 33 are respectively exposed on the main shaft rod 41. The outer wall of the contact ring 32, the multiple first contact metal rings 34 arranged on the inner wall of the contact ring 32 contact the ends of the transmission line 33 in turn, and then the circuit is arranged in the pan / tilt head 2 and multiple adapter metal rings 37 electrically connected to the circuit are fixedly installed on the outer wall of the rotating ring 21, and then the contact plate 35 electrically connected to the monitoring unit 19 is fixedly installed in the main body 1, and the multiple metal contact rods 36 arranged on the contact plate 35 are respectively attached to the adapter metal rings 37, so as to realize the rotation of the casing 4 and the up and down angle adjustment, and at the same time, the high-definition camera 5 and the infrared probe 51 in the casing 4 can be received and processed in real time.

[0054] As another embodiment provided by the present invention, a cleaning port 12 communicating with the inner side of the support ring 23 is provided on the outer wall of the main body 1 on one side in the travel direction.

[0055] Specifically, the dust removal port 12 is tilted toward the ground. Since most power equipment is set outdoors, and the ground along the track of the main body 1 is prone to dead leaves, pebbles, etc. falling due to natural factors during normal driving, and when the main body 1 rolls over these debris, it is easy to cause the main body 1 to shake, and the shaking of the main body 1 not only affects the image acquisition, but also causes a certain deviation of the main body 1 on the original track. Therefore, when the centrifugal blower 55 blows air into the accommodating chamber 11, the air in the accommodating chamber 11 can be tilted along the dust removal port 12 to blow toward the ground, so that the pebbles on the ground can be removed, so as to facilitate the stable operation of the main body 1.

[0056] Another embodiment provided by the present invention includes a sealing plate 66 rotatably arranged on one side of the cleaning port 12 and a sealing block 67 slidably arranged, wherein the sealing block 67 moves to block the blowing of air to the support ring 23 , and the sealing plate 66 flips over to open the cleaning port 12 .

[0057] Specifically, the sealing plate 66 is rotatably disposed in the accommodating chamber 11, and the sealing block 67 slides in the accommodating chamber 11 along the vertical direction. Since the support ring 23 and the cleaning port 12 are connected to the accommodating chamber 11 at the same time, in order to reduce the airflow to the support ring 23 when the cleaning port 12 is cleaned, so that more blast air can be blown out along the cleaning port 12, the sealing block 67 is moved up to block the bottom end of the rotating ring 21, and the sealing plate 66 is driven to flip and open the cleaning port 12. At this time, the centrifugal blower 55 blows most of the blast air in the accommodating chamber 11 out along the cleaning port 12, thereby improving the air outlet effect of the cleaning port 12 and the cleaning effect on the ground. Furthermore, when it is not necessary to clean the ground, the sealing block 67 is moved down to open the bottom end of the rotating ring 21, and the sealing plate 66 is flipped to close the cleaning port 12, so that most of the blast air in the accommodating chamber 11 can be blown toward the support ring 23, thereby improving the blast intensity to the exhaust chamber 44 and the heat dissipation chamber 42.

[0058] The sealing block 67 may be pushed by an electric push rod; or may be driven by a motor in conjunction with a gear or a rack; or may be driven by any method known to those skilled in the art to slide the sealing block 67.

[0059] The sealing plate 66 may be flipped by a motor driving a hinge shaft, by an electric push rod in cooperation with a connecting rod, or by any other method known to those skilled in the art to drive the sealing plate 66 to flip.

[0060] Another embodiment provided by the present invention includes a shaped rod 6 movably connected to the sealing block 67 and the sealing plate 66 respectively, and a tension spring 61 fixedly installed on the shaped rod 6 deforms and accumulates force when the shaped rod 6 approaches the sealing block 67 and the sealing plate 66.

[0061] Specifically, the special-shaped rod 6 is slidably arranged on the main body 1, and the two ends of the tension spring 61 are respectively fixedly installed on the main body 1 and the special-shaped rod 6. The guide rod 62 and the extension rod 63 are fixedly installed on the special-shaped rod 6, and the outer walls on both sides of the sealing block 67 are symmetrically provided with inclined portions 68. The guide rod 62 is slidably arranged on the inclined portions 68, and the sealing plate 66 is fixedly installed with a crossing rod 65, and the first end of the crossing rod 65 is hingedly provided with a connecting rod 64, and the first end of the connecting rod 64 is hingedly provided at the end of the extension rod 63. The special-shaped rod 6 is located on the same side of the sealing block 67 and the sealing plate 66. When the special-shaped rod 6 slides to approach the sealing block 67 and the sealing plate 66 at the same time, the guide rod 62 on the special-shaped rod 6 squeezes the inclined surface 68 to make the sealing block 67 move up, and the extension rod 63 on the special-shaped rod 6 cooperates with the connecting rod 64 to push the connecting rod 65, and then the connecting rod 65 drives the sealing plate 66 to flip to open the cleaning port 12, and the tension spring 61 deforms and accumulates force. As the sealing block 67 moves up to close the bottom end of the rotating ring 21, the centrifugal blower 55 is blocked from blowing air into the rotating ring 21, so that most of the blowing air of the centrifugal blower 55 is blown to the cleaning port 12, thereby improving the air outlet strength of the cleaning port 12, so as to improve the air blowing and cleaning strength of the ground. In order to buffer between the sealing block 67 and the bottom end of the rotating ring 21, a buffer rubber pad 8 is fixedly installed on the top of the sealing block 67.

[0062] As the best embodiment provided by the present invention, when the collecting end of the shooting unit moves obliquely downward along the horizontal direction at the second station, the support ring 23 is gradually blocked and isolated.

[0063] Specifically, part of the end of the special-shaped rod 6 extends out of the top of the body 1, and along with the sliding of the special-shaped rod 6, part of the end of the special-shaped rod 6 can slide along the top of the body 1. When the shooting unit is in the second station, the collection end of the housing 4 faces the side of the special-shaped rod 6, and then the housing 4 flips and scans obliquely downward along the horizontal direction. At this time, the collection end of the housing 4 gradually approaches the special-shaped rod 6, and then when the collection end of the housing 4 flips downward and approaches the outer wall of the pan-tilt head 2, the collection end of the housing 4 moves the part of the end of the special-shaped rod 6 extending out of the top of the body 1, and makes the special-shaped rod 6 slide The shaped rod 6 then slides to cooperate with the guide rod 62 on the shaped rod 6 to squeeze the inclined portion 68 so that the sealing block 67 moves up to close the bottom end of the rotating ring 21, and the extension rod 63 on the shaped rod 6 cooperates with the connecting rod 64 to push the connecting rod 65, and the connecting rod 65 drives the sealing plate 66 to flip upward to open the cleaning port 12 and the tension spring 61 deforms and stores force, so that most of the air from the centrifugal blower 55 is blown toward the cleaning port 12, thereby improving the air outlet intensity of the cleaning port 12.

[0064] Then, the shooting unit continues at the second workstation, and the collecting end of the casing 4 is flipped upward based on this direction to disengage from the special-shaped rod 6, and then the tension spring 61 releases the stored force to pull the special-shaped rod 6 to reset, and then the guide rod 62 moves away from the sealing block 67, and the sealing block 67 slides down under the action of gravity to open the bottom end of the rotating ring 21, and at the same time, the extension rod 63 cooperates with the connecting rod 64 to pull the transfer rod 65 and drive the sealing plate 66 to flip downward to close the cleaning port 12.

[0065] As another embodiment provided by the present invention, it includes a shielding platform 14 set on the main body 1, and a cleaning air outlet 15 is opened on the shielding platform 14. When the collecting end of the shooting unit moves obliquely downward in the horizontal direction at the first workstation, the collecting end is gradually located above the cleaning air outlet 15.

[0066] Specifically, the shielding platforms 14 are two and symmetrically fixedly installed on the top of the body 1, and the two shielding platforms 14 are respectively located under the two housings 4, and the dust cleaning air outlets 15 are located on the top arc surface of the shielding platforms 14, and the dust cleaning air outlets 15 are respectively connected to the accommodating chamber 11. When the wedge gear 31 at the output end of the angle motor 3 and the wedge gear 31 on the outer wall of the main shaft rod 41 are meshed and transmitted with each other, the two housings 4 are flipped over at this time, and the collection end of the housing 4 of the shooting unit is moved horizontally under the first station. The collecting end of the casing 4 gradually approaches the shielding platform 14, and then as the collecting end of the casing 4 swings down, the collecting end of the casing 4 is located above the shielding platform 14, and the collecting end of the casing 4 faces the cleaning air outlet 15. At this time, the centrifugal blower 55 in the accommodating chamber 11 is used to blow air, so that part of the air is blown out along the cleaning air outlet 15, thereby cleaning or defogging the lenses of the high-definition cameras 5 and the infrared probe 51 in the two casings 4 on the pan-tilt head 2.

[0067] Furthermore, a searchlight 17 is fixedly installed on the shielding platform 14, and a walking probe 18 is fixedly installed on the outer wall of the main body 1 at one side of the cleaning port 12. The searchlight 17 and the walking probe 18 are electrically connected to the monitoring unit 19 respectively. The walking probe 18 monitors the road conditions in front of the main body 1 when it is walking, and the searchlight 17 is used to illuminate when the light is poor to facilitate the walking of the main body 1.

[0068] As another embodiment provided by the present invention, the cleaning air outlet 15 is connected to the support ring 23, and a mounting rod 52 is slidably provided on the inner wall of the cleaning air outlet 15, and the mounting rod 52 is located on the moving path of the casing 4, and an elastic cover plate 53 is fixedly installed on the mounting rod 52 to cover the cleaning air outlet 15 in a default state.

[0069] Specifically, Fig.13As shown, the inner wall of the cleaning air outlet 15 is provided with an arc-shaped slide 16, and the mounting rod 52 slide is arranged on the arc-shaped slide 16, the elastic cover plate 53 slide is arranged in the body 1, and the elastic cover plate 53 is fixedly installed with an extrusion spring 54 on the side relative to the mounting rod 52, and the first end of the extrusion spring 54 is fixedly installed on the body 1. In the default state, the extrusion spring 54 pushes the elastic cover plate 53 to make the elastic cover plate 53 cover the cleaning air outlet 15, and by closing the cleaning air outlet 15, it is prevented that some stones, dust, water droplets, etc. are splashed into the accommodating chamber 11 along the cleaning air outlet 15 when the body 1 is in operation. When the collecting end of the casing 4 of the shooting unit moves obliquely downward in the horizontal direction at the first station, the collecting end of the casing 4 gradually approaches the shielding platform 14, and then as the collecting end of the casing 4 swings down, the casing 4 begins to move the mounting rod 52 along the The arc slide 16 slides, and the installation rod 52 moves the elastic cover plate 53 to slide to open the dust cleaning air outlet 15, and the spring 54 is squeezed to deform and store force, and then the collection end of the housing 4 faces the dust cleaning air outlet 15. At this time, the centrifugal blower 55 in the accommodating chamber 11 blows air, so that part of the air blows out along the dust cleaning air outlet 15, so as to clean or defog the lenses of the high-definition camera 5 and the infrared probe 51 in the two housings 4 on the pan / tilt 2, respectively. At the same time, the lenses of the high-definition camera 5 and the infrared probe 51 face the dust cleaning air outlet 15 and cooperate with the shielding platform 14 to provide a certain shielding and sealing effect on the collection end of the housing 4, so that when the body 1 is not in use, the housing 4 faces the dust cleaning air outlet 15 to reduce dust deposition on the lenses of the high-definition camera 5 and the infrared probe 51, which affects the use of the lenses. The elastic cover plate 53 is made of elastic plastic plate.

[0070] As another embodiment further provided by the present invention, the mounting rod 52 slides to disconnect the connection between the support ring 23 and the cleaning air outlet 15 when the elastic cover plate 53 opens the cleaning air outlet 15 .

[0071] Specifically, since the centrifugal blower 55 in the accommodating chamber 11 has a limited amount of air blown in the accommodating chamber 11, in order to make more air blown along the ash cleaning air port 15 when the ash cleaning air port 15 is opened, the bottom end of the swivel ring 21 is closed to block the air blown in the swivel ring 21, thereby achieving the effect of simultaneously blocking the air blown in the two support rings 23, so that more air blown in the accommodating chamber 11 is blown to the ash cleaning air port 15. In order to block the bottom end of the swivel ring 21, the sealing block 67 is driven upward to close the bottom end of the swivel ring 21. When the guide rod 62 squeezes the inclined surface 68 to drive the sealing block 67 upward, the special-shaped rod 6 will cooperate with the extension rod 63, the connecting rod 64 and the intersection rod 65 to drive the sealing plate 66 to flip and open the ash cleaning port 12. Therefore, in order to prevent the ash cleaning port 12 from being opened, the sealing block 67 can be driven to slide upward to close the bottom end of the swivel ring 21 by another driving method.

[0072] The sealing block 67 may be driven to slide upward by an electric push rod, or by a motor in conjunction with a gear or rack, or by any other method known to those skilled in the art.

[0073] Therefore, by driving the sealing block 67 to slide up and close the bottom end of the rotating ring 21 alone, the cleaning port 12 is closed by the sealing plate 66 in the default state; and the bottom end of the rotating ring 21 is closed by the sealing block 67. At this time, most of the blown air in the accommodating chamber 11 will be blown along the two cleaning air ports 15 to the lenses of the high-definition camera 5 and the infrared probe 51 respectively, thereby increasing the air outlet intensity of the cleaning air port 15 to enhance the cleaning effect on the lens.

[0074] As a further optimal embodiment provided by the present invention, it includes a trigger rod 7 movably connected to the sealing block 67 , and the trigger rod 7 is located on the moving path of the mounting rod 52 .

[0075] Specifically, a pulling spring 71 is fixedly mounted on the trigger rod 7, and a first end of the pulling spring 71 is fixedly mounted on the body 1. A pushing rod 72 fixedly mounted on the trigger rod 7 moves on the inclined surface 68. In the default state, the squeezing spring 54 pushes the elastic cover plate 53 so that the elastic cover plate 53 covers the dust cleaning air outlet 15. At this time, the pulling spring 71 pulls the trigger rod 7 to make the pushing rod 72 move away from the sealing block 67. When the collecting end of the casing 4 of the shooting unit moves obliquely downward in the horizontal direction at the first station, the collecting end of the casing 4 gradually approaches the shielding platform 14. Then, as the collecting end of the casing 4 swings down, the casing 4 begins to push the mounting rod 52 to slide along the arc slide 16. As the mounting rod 52 pushes the elastic cover plate 53 to slide to open the dust cleaning air outlet 15, the squeezing spring 54 is squeezed and deformed to accumulate force. Then, the collecting end of the casing 4 faces the dust cleaning air outlet 15, and the mounting rod 52 moves to push the trigger rod 7. Fig.13 As shown, at this time, the trigger rod 7 slides to drive the pushing rod 72 to push the inclined surface 68. At this time, the pulling spring 71 deforms and accumulates force, and the sealing block 67 is pushed by the pushing rod 72 to slide up to the bottom end of the closed rotating ring 21. Since the sealing plate 66 closes the cleaning port 12, at this time, most of the air from the centrifugal blower 55 in the accommodating chamber 11 is blown out along the cleaning air port 15, thereby performing cleaning or defogging operations on the high-definition camera 5 in the two housings 4 on the pan-tilt head 2 and the lens of the infrared probe 51.

[0076] When the collecting end of the casing 4 flips up and away from the cleaning air outlet 15, the pulling spring 71 and the squeezing spring 54 release their stored forces respectively, and then the mounting rod 52 slides again to drive the elastic cover plate 53 to slide and close the cleaning air outlet 15, and at the same time, the trigger rod 7 slides and resets to make the squeezing rod 72 away from the sealing block 67. At this time, the sealing block 67 moves downward and resets under the action of gravity to open the bottom end of the rotating ring 21.

[0077] Working principle: When the weather is hot, the housing 4 of the shooting unit is placed in the first position, and the housing 4 is kept horizontal; or tilted upward; or tilted downward at a certain angle, that is, the housing 4 is kept away from the shielding platform 14 when tilted downward, such as Fig.10 As shown, the outer wall of the support ring 23 blocks and closes the air inlet 46, and the inner wall of the circular cavity ring 45 blocks the side air outlet 25, and at the same time, the semicircular plate 24 and the shielding plate 47 overlap to expose the fan-shaped opening 48. At this time, the inner side of the support ring 23 is connected to the heat dissipation cavity 42 along the fan-shaped opening 48, and the extrusion spring 54 pushes the elastic cover plate 53 to cover the dust removal air outlet 15, and at the same time, the sealing plate 66 closes the dust removal port 12. Then, most of the air from the centrifugal blower 55 in the accommodating cavity 11 blows air into the support ring 23 along the rotating ring 21 and the pan / tilt head 2, and then the air is blown into the heat dissipation cavity 42 along the fan-shaped opening 48, and the high-definition camera 5 and the infrared probe 51 in the two heat dissipation cavities 42 are respectively blown and cooled.

[0078] When there is a certain amount of light rain, the housing 4 of the shooting unit is in the second position. Fig.11 As shown, the air filling port 46 on the circular cavity ring 45 and the side air port 25 on the support ring 23 are connected to each other, and the semicircular plate 24 blocks the fan-shaped port 48. At this time, the inner side of the support ring 23 and the heat dissipation cavity 42 are separated and closed by the semicircular plate 24 and the shielding plate 47, and the inner side of the support ring 23 is connected along the side air port 25 and the air filling port 46 and the circular cavity ring 45 cavity. At this time, most of the air from the centrifugal blower 55 in the accommodating cavity 11 continues to blow air into the support ring 23 along the rotating ring 21 and the pan-tilt head 2 respectively, and then the air is blown to the transverse air port 49 along the side air port 25, the air filling port 46, the cavity of the circular cavity ring 45 and the exhaust cavity 44. The air from the transverse air port 49 forms a wind curtain at the lens end of the high-definition camera 5 and the infrared probe 51, and the wind curtain is used to blow away the falling raindrops, thereby reducing the impact of raindrops falling on the lens on shooting.

[0079] When it is necessary to clean the ground road where the main body 1 walks, the shooting unit is placed in the second workstation, and then the casing 4 is flipped obliquely downward along the horizontal direction. At this time, the collecting end of the casing 4 gradually approaches and pushes the special-shaped rod 6 to approach the outer wall of the pan-tilt head 2, and then the special-shaped rod 6 slides to synchronously approach the sealing block 67 and the sealing plate 66. At this time, the guide rod 62 squeezes the inclined portion 68 to move the sealing block 67 up to the bottom end of the closed rotating ring 21, and the extension rod 63 cooperates with the connecting rod 64 to push the connecting rod 65, and the connecting rod 65 drives the sealing plate 66 to flip upward to open the cleaning port 12, so that most of the air from the centrifugal blower 55 is blown to the cleaning port 12 and the ground is cleaned.

[0080] When it is necessary to clean the lenses of the high-definition camera 5 and the infrared probe 51, the collecting end of the casing 4 is moved horizontally and obliquely downward at the first workstation. At this time, the collecting end of the casing 4 gradually approaches the shielding platform 14 and moves the mounting rod 52, and then the mounting rod 52 moves the elastic cover plate 53 to slide to open the cleaning air outlet 15. The collecting end of the casing 4 faces the cleaning air outlet 15, and when the mounting rod 52 moves, it slides the trigger rod 7 and drives the pushing rod 72 to push the inclined portion 68, the sealing block 67 slides up to close the bottom end of the rotating ring 21, and the sealing plate 66 closes the cleaning port 12. At this time, most of the air from the centrifugal blower 55 in the accommodating chamber 11 is blown out along the cleaning air outlet 15, thereby cleaning or defogging the lenses of the high-definition camera 5 and the infrared probe 51 in the two casings 4 on the pan-tilt head 2.

[0081] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A power equipment fault diagnosis and inspection robot using machine vision, comprising a body (1), characterized in that: It also includes a shooting unit, which includes a housing (4) having an exhaust cavity (44) and a heat dissipation cavity (42) formed therein, wherein: The number of the shooting units is not less than two, and they are rotatably assembled by a support ring (23) fixedly mounted on the body (1), and during the rotatable assembly, the support ring (23) is arranged in cooperation with the support ring in the following manner: At the first station, the collection end of the shooting unit faces the travel direction of the main body (1), the heat dissipation cavity (42) and the support ring (23) are connected, and the exhaust cavity (44) is closed; At the second station, when the collecting end faces the opposite direction to the first station, the exhaust cavity (44) and the support ring (23) are connected, and the heat dissipation cavity (42) is closed; The housing (4) is provided with a transverse air outlet (49) distributed toward the collecting end and connected to the exhaust cavity (44).

2. The power equipment fault diagnosis and inspection robot using machine vision according to claim 1 is characterized in that: A pan head (2) for fixing a support ring (23) is rotatably provided on the main body (1), and a centrifugal blower (55) is fixedly installed in a receiving chamber (11) provided in the main body (1); the pan head (2), the support ring (23) and the receiving chamber (11) are sequentially connected to each other.

3. The power equipment fault diagnosis and inspection robot using machine vision according to claim 1, characterized in that: The outer wall of the main body (1) on one side in the direction of travel thereof is provided with an ash cleaning port (12) which is in communication with the inner side of the support ring (23).

4. The power equipment fault diagnosis and inspection robot using machine vision according to claim 3 is characterized in that: It comprises a sealing plate (66) rotatably arranged on one side of the ash cleaning port (12) and a sealing block (67) slidably arranged, wherein the sealing block (67) moves to block the air blowing to the support ring (23), and the sealing plate (66) turns over to open the ash cleaning port (12).

5. The power equipment fault diagnosis and inspection robot using machine vision according to claim 4 is characterized in that: It comprises a special-shaped rod (6) movably connected to a sealing block (67) and a sealing plate (66) respectively, wherein a tension spring (61) fixedly mounted on the special-shaped rod (6) deforms and stores force when the special-shaped rod (6) approaches the sealing block (67) and the sealing plate (66).

6. The power equipment fault diagnosis and inspection robot using machine vision according to claim 1, characterized in that: When the collecting end of the shooting unit moves obliquely downward in the horizontal direction at the second station, the support ring (23) is gradually blocked and isolated.

7. The power equipment fault diagnosis and inspection robot using machine vision according to claim 1, characterized in that: It comprises a shielding platform (14) arranged on the main body (1), and a dust cleaning air outlet (15) is provided on the shielding platform (14), and when the collecting end of the shooting unit moves obliquely downward in the horizontal direction at the first workstation, the collecting end is gradually located above the dust cleaning air outlet (15).

8. The power equipment fault diagnosis and inspection robot using machine vision according to claim 7, characterized in that: The cleaning air outlet (15) is connected to the support ring (23); a mounting rod (52) is slidably provided on the inner wall of the cleaning air outlet (15), and the mounting rod (52) is located on the moving path of the casing (4); an elastic cover plate (53) is fixedly mounted on the mounting rod (52) to cover the cleaning air outlet (15) in a default state.

9. The power equipment fault diagnosis and inspection robot using machine vision according to claim 8, characterized in that: The mounting rod (52) slides so that when the elastic cover plate (53) opens the dust cleaning air outlet (15), the connection between the support ring (23) and the dust cleaning air outlet (15) is disconnected.

10. The power equipment fault diagnosis and inspection robot using machine vision according to claim 4, characterized in that: It comprises a trigger rod (7) movably connected to the sealing block (67), and the trigger rod (7) is located on the moving path of the mounting rod (52).

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