Hanging rail type intelligent unmanned inspection robot and system suitable for electric power tunnel

Abstract

The invention relates to the technical field of power transmission network maintenance, in particular to a hanging rail type intelligent unmanned inspection robot suitable for a power tunnel, which comprises an I-shaped rail, a patrol machine is connected to the lower portion of the I-shaped rail through a movement suspension structure in a suspension mode. The motion suspension structure comprises a suspension part and a power part; the idler wheels above the hanging part are hung on a track of the I-shaped track, and the lower part of the hanging part is connected with the patrol machine through a connecting piece; the power part is arranged under the I-shaped rail, and rolling wheels at the upper end of the power part abut against the lower surface of the I-shaped rail. The patrol machine is provided with an environment sensing system, and the environment sensing system comprises one or more signal receivers and is used for monitoring the environment around the patrol machine. According to the invention, all-weather intelligent monitoring of the equipment state can be realized through automatic routing inspection path planning and a high-precision sensing technology, and the detection efficiency and the data precision are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission network maintenance. Specifically, it particularly relates to a rail-mounted intelligent unmanned inspection robot suitable for power tunnels. Background Art

[0002] In the existing power transmission network maintenance mechanism, operators need to strictly follow the set path to conduct on-foot inspections and verify the status of power devices item by item along the line. This has led to the fact that the vast majority of infrastructure such as substations and cable channels still rely on traditional manual inspections for equipment maintenance and condition monitoring. This working method has three major technical defects: First, a large amount of human resources need to be allocated for a long time during the inspection process and the operation efficiency is low. Due to the constraints of human physiological functions, 24-hour non-blind-spot monitoring cannot be achieved, resulting in regional inspection blanks. Second, the accuracy of device status determination and the accuracy of information recording are subject to the professional quality of the operator, and human evaluation biases are likely to occur. Finally, in special working conditions such as high-voltage live areas, operators need to directly face safety hazards such as arc discharge and device short-circuit explosion. The existing protection system is difficult to fully guarantee the safety of personnel's lives.

[0003] In summary, the traditional power inspection system has three core problems: 1. The limited spatio-temporal coverage ability of manual inspections leads to incomplete monitoring data; 2. The differences in personnel's professional qualities directly affect the accuracy of detection results; 3. There are systematic technical gaps in the protection system for high-risk environment operations. These defects jointly restrict the reliability and emergency response efficiency of power grid operation and maintenance.

[0004] In view of the above technical problems, those skilled in the art are committed to developing a solution that can improve the safety, reliability, and response timeliness of power grid operation and maintenance. Summary of the Invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a rail-mounted intelligent unmanned inspection robot system that can effectively solve the above technical problems. Through automated inspection path planning and high-precision sensing technology, this system can achieve all-weather intelligent monitoring of equipment status, significantly improving the detection efficiency and data accuracy. At the same time, the robot operation mode completely avoids the risk of personnel being exposed to high-risk environments, solves the problem of personnel safety in the power operation and maintenance system, and provides technical support for building a safe and reliable power operation and maintenance system.

[0006] To achieve the above object, the present invention provides a rail-mounted intelligent unmanned inspection robot suitable for power tunnels, including an I-shaped rail; a patrol robot is suspended and connected below the I-shaped rail through a moving suspension structure; The moving suspension structure includes a suspension part and a power part; the roller above the suspension part is hung on the track of the I-shaped track, and the lower part of the suspension part is connected to the patrol machine through a connecting piece; the power part is arranged directly below the I-shaped track, and the rolling wheel at the upper end of the power part abuts against the lower surface of the I-shaped track; An environment perception system is arranged on the patrol machine, and the environment perception system includes one or more signal receivers for monitoring the environment around the patrol machine.

[0007] The beneficial effects of the present invention are as follows: Through the cooperation of the I-shaped track and the moving suspension structure, the patrol machine can stably and reliably perform inspections along the set route in the power tunnel, avoiding the problem of blank areas in area inspections that may exist in traditional manual inspections, effectively improving its monitoring efficiency and coverage of the power tunnel, achieving 24-hour uninterrupted and dead-angle-free inspections, and providing more complete and timely monitoring data for power grid operation and maintenance; The patrol machine replaces manual inspections, which can avoid operators directly contacting dangerous environments such as high-voltage live areas, reduce the risk of personnel facing safety hazards such as arc discharge and device short-circuit explosion, effectively improve the safety of power grid operation and maintenance, and solve the systematic technical gap problem in the protection system during traditional manual inspections in high-risk environments; The environment perception system includes one or more signal receivers, which can monitor the environment around the patrol machine in real time, such as temperature, humidity, harmful gas concentration, etc., provide accurate environment information for the operation of equipment and the safety of personnel in the power tunnel, help to detect potential safety hazards in a timely manner, and improve the reliability of power grid operation and maintenance; This inspection robot has a certain degree of versatility and compatibility, which is convenient for adding or upgrading other functional modules according to actual needs, such as data transmission modules, intelligent analysis modules, etc., to further improve its intelligent level and inspection efficiency, and better meet the continuously developing needs of power grid operation and maintenance.

[0008] Further, the power part includes a motor, the power output end of the motor is connected to the shaft of the transfer gear through a belt, and the transfer gear meshes with the rolling gear; rolling wheels are respectively arranged at both ends of the gear shaft of the rolling gear.

[0009] The beneficial effects of adopting the above further solution are as follows: Through the cooperation of the motor, belt, transfer gear and rolling gear, stable power transmission is achieved, so that the rolling wheel can reliably abut against and roll on the lower surface of the I-shaped track, thereby providing stable and continuous forward power for the patrol machine, ensuring the stable inspection of the patrol machine in the power tunnel, and preventing problems such as inspection interruption or uneven speed caused by insufficient power or unstable transmission. Moreover, when it is necessary to repair or replace the power components, the fault point can be quickly located and processed, reducing the maintenance time and cost, and improving the availability and reliability of the inspection robot.

[0010] Further, the suspension part includes an L-shaped roller mounting plate. A roller is provided inside the upper end of the roller mounting plate, and the roller is suspended on the lower side plate of the I-shaped track; the outer surface of the roller mounting plate is fixed to the shell of the patrol machine through a connecting plate.

[0011] The beneficial effect of adopting the above further solution is that by using an L-shaped roller mounting plate, the roller inside the upper end thereof is suspended on the lower side plate of the I-shaped track, which can provide stable suspension support for the patrol machine, ensuring that the patrol machine will not tip over laterally or shake when running on the track, and guaranteeing the smoothness and safety of the inspection process; The outer surface of the roller mounting plate is fixed to the shell of the patrol machine through a connecting plate. This connection method is simple and firm, facilitating the assembly and disassembly of the patrol machine. At the same time, it can also ensure the connection strength between the suspension part and the patrol machine, ensuring that the suspension part will not become loose or damaged during the inspection process, and improving the overall stability of the inspection robot.

[0012] Further, there are three suspension parts in total. One pair is respectively hung on the outer sides of two rolling gears and is located at the front half of the patrol machine; the other suspension part is located at the rear half of the patrol machine.

[0013] The beneficial effect of adopting the above further solution is that by setting three suspension parts, one pair is distributed on the outer sides of the rolling gears and is located at the front half of the patrol machine, and the other is at the rear half, forming a multi-point suspension support structure. This layout can distribute the weight of the patrol machine more evenly, enhancing its stability on the track. Especially when the patrol machine passes through a curve or an uneven track, it can effectively prevent the patrol machine from tilting or shifting, ensuring the accuracy and reliability of the inspection; The multi-suspension parts enable the patrol machine to better adapt to the complex and changeable track environment in the power tunnel, such as the undulation and bending of the track, ensuring that the patrol machine can operate stably under various working conditions, and improving the adaptability and versatility of the inspection robot.

[0014] Further, the environment perception system specifically includes one or any combination of a visible light camera, an ultrasonic sensor, a thermal imager, a temperature and humidity sensor, and a methane detector; The visible light camera is used to photograph the surrounding environment where the patrol machine patrols; The ultrasonic sensor is used to detect obstacles and distances in the surrounding environment of the patrol machine; The thermal imager is used to detect the temperature change situation in the surrounding environment of the patrol machine; The temperature and humidity sensor is used to detect the ambient temperature and humidity around the patrol machine; The methane detector is used to detect the methane concentration in the environment around the patrol machine.

[0015] The beneficial effects of adopting the above further scheme are as follows: The environmental perception system includes a variety of sensors, such as visible light cameras, ultrasonic sensors, thermal imagers, temperature and humidity sensors, methane detectors, etc., which can realize the comprehensive monitoring of the power tunnel environment. The visible light camera can directly capture the images of the surrounding environment, the ultrasonic sensor can detect obstacles and distances, the thermal imager can monitor temperature changes, the temperature and humidity sensor can obtain environmental temperature and humidity information, and the methane detector can detect methane concentration, providing rich environmental data for the safe operation of the power tunnel and helping to timely discover potential safety hazards.

[0016] Further, the patrol machine includes an installation base frame, and the installation base frame includes an upper installation plate and a lower installation plate. The upper surface of the upper installation plate is sequentially installed with a power unit and a battery from left to right, and an ultrasonic sensor is installed on the right side surface of the upper installation plate; the lower surface of the lower installation plate is sequentially provided with a methane detector, a temperature and humidity sensor, a thermal imager, and a visible light camera from left to right.

[0017] The beneficial effects of adopting the above further scheme are as follows: The patrol machine adopts an installation base frame, which is divided into an upper installation plate and a lower installation plate. The upper layer installs the power unit, battery and ultrasonic sensor, and the lower layer installs various environmental monitoring sensors, realizing the reasonable layout and integration of functional modules. This hierarchical design is beneficial to optimizing space utilization, enabling the components to not interfere with each other, facilitating installation, maintenance and heat dissipation, and at the same time improving the overall performance and reliability of the patrol machine; Moreover, the patrol machine has good expandability, and other functional modules, such as data transmission modules, intelligent analysis modules, etc., can be added or replaced on the installation base frame according to actual needs to further improve the intelligent level and inspection efficiency of the patrol machine and meet the continuously developing requirements of power tunnel inspection.

[0018] Further, a 3D scanner is also installed on the upper surface of the upper installation plate, and the 3D scanner is located on the right side of the battery; the 3D scanner is used to scan the point cloud data of the surface of the objects around the patrol machine and construct a high-precision 3D model through steps such as point cloud processing, meshing, patching and simplification.

[0019] The beneficial effects of adopting the above further scheme are as follows: Adding a 3D scanner on the upper installation plate can scan the point cloud data of the surface of the objects around the patrol machine and construct a high-precision 3D model. Through steps such as point cloud processing, meshing, patching and simplification, fine modeling of the equipment and environment in the power tunnel can be realized, providing more intuitive and accurate equipment status and spatial information for power grid operation and maintenance, helping to timely discover the subtle defects and abnormalities of the equipment, and improving the accuracy and efficiency of operation and maintenance; The construction of the three-dimensional model provides a rich data foundation for subsequent intelligent analysis and decision-making. By combining with other sensor data, it can achieve intelligent diagnosis and predictive maintenance of the power tunnel, improve the intelligent level and reliability of power grid operation and maintenance, and reduce the workload and risk of manual inspection.

[0020] Further, a fire extinguishing bomb launching device is provided on the left side of the lower surface of the lower mounting plate; when the thermal imager or the temperature and humidity sensor detects too high a temperature, the fire extinguishing bomb launching device will be automatically triggered to launch a fire extinguishing bomb.

[0021] The beneficial effect of adopting the above further solution is that when the thermal imager or the temperature and humidity sensor on the lower mounting plate detects too high a temperature, the fire extinguishing bomb launching device is automatically triggered to launch a fire extinguishing bomb, which can quickly respond to potential fire hazards, carry out fire extinguishing treatment in a timely manner, avoid the expansion of fire accidents, ensure the safety of equipment and facilities in the power tunnel, and reduce fire losses; In response to the possible fire risks in the power tunnel, a fire extinguishing bomb launching device is specially equipped, which reflects the targeted protection against specific safety risks, improves the safety performance and emergency response ability of the inspection robot, and enhances the safety guarantee level of the power tunnel.

[0022] Further, the fire extinguishing bomb launching device includes a rotating structure and a launching mechanism. The rotating structure includes a mounting plate, a pair of gear sets are provided on the mounting plate, and an inclined launching mechanism is connected below the driven gear; The launching mechanism includes a fire extinguishing bomb storage structure and an automatic triggering structure. The fire extinguishing bomb storage structure includes a storage box, the storage box is inclined, a spring is provided in the storage box, and the end of the spring is a fire extinguishing bomb; an automatic triggering mechanism is provided on the upper surface of the storage box; The automatic triggering mechanism includes a motor, a first driving gear is provided at the output end of the motor, two pairs of second driven gears are sequentially meshed on both sides of the first driving gear, the second driven gears are arranged on a cross plate, the rotating shafts of the second driven gears at the two side edges of the cross plate penetrate the cross plate, and the ends of the rotating shafts are set as large-diameter discs. A connecting column is provided at the edge of the large-diameter disc, the connecting column is connected with a plug through a connecting rod, the two plugs are arranged at two corners of the front end of the storage box, penetrate the storage box, the axial distance between the two plugs is less than the diameter of the fire extinguishing bomb, and when the plug is at the lowest position, it contacts the fire extinguishing bomb.

[0023] The beneficial effects of adopting the above further solution are as follows: The rotating structure and automatic triggering mechanism of the fire extinguishing bomb launching device are ingeniously designed. Through the cooperation of components such as motors, gear sets, and pins, precise control of the fire extinguishing bomb launch is achieved. When the triggering conditions are met, the fire extinguishing bomb can be accurately launched, ensuring that the fire extinguishing bomb is released at the appropriate position and time, improving the fire extinguishing effect and reliability; The fire extinguishing bomb storage structure adopts an inclined storage box and a spring, which can stably store the fire extinguishing bombs and, when needed, assist in launching with the elastic force of the spring to ensure the smooth release of the fire extinguishing bombs. At the same time, the linkage structure of the large-diameter disc, connecting rod, and pin ensures the stability and consistency of the launching process, avoiding jamming or misfiring of the fire extinguishing bombs, and improving the safety and stability of the fire extinguishing device.

[0024] A system of a hanging-rail type intelligent unmanned inspection robot applicable to power tunnels, applied to the hanging-rail type intelligent unmanned inspection robot applicable to power tunnels as described above, includes a data acquisition module. The data acquisition module is used to collect image information, temperature information, and methane concentration information of the path of the inspection robot and transmit the collected data to a data processing center. After receiving the signal from the data acquisition module, the data processing center calculates the results according to the internal preset algorithm and feeds the results back to the output end; The data acquisition module includes: A 3D intelligent modeling module, which collects the point cloud data of the object surface by a 3D scanner and sends the data to the data processing center; A visible light camera, which is used to photograph the surrounding environment of the patrol area of the patrol robot and send the video signal to the data processing center; An ultrasonic sensor, which is used to detect obstacles and distances in the surrounding environment of the patrol robot and send the detected data to the data processing center; A thermal imager, which is used to detect the temperature change situation in the surrounding environment of the patrol robot and send the detected data to the data processing center; A temperature and humidity sensor, which is used to detect the ambient temperature and humidity around the patrol robot and send the detected data to the data processing center; A methane detector, which is used to detect the methane concentration in the surrounding environment of the patrol robot and send the detected data to the data processing center; The output end includes: A fire extinguishing bomb launching device, which can automatically eject the fire extinguishing bombs; A display screen, which is used to display the data collected by the data acquisition module. The displayed data includes video signals, 3D models, temperature data, humidity data, and methane data; An alarm, which is used to send alarm information to security personnel; The data processing center receives the data collected by the data acquisition module and processes the data; When the data processing center receives the point cloud data fed back by the 3D intelligent modeling module, the data processing center performs point cloud processing, meshing, and patching to construct a three-dimensional model, and transmits the signal to the display screen at the output end, and the user can view the three-dimensional model; When the data processing center receives the video signal collected by the visible light camera, it performs graphic recognition and analysis on the video signal, and judges whether there is an abnormality. If so, it alarms through the alarm, otherwise, it directly stores the video data; When the data processing center receives the feedback signal from the ultrasonic sensor, it judges whether there is an obstacle according to the preset algorithm. If so, it alarms through the alarm; When the data processing center receives the feedback signals from the thermal imager, temperature and humidity sensor, and methane detector, according to the preset internal temperature, humidity, and methane concentration thresholds, when the threshold is exceeded, alarm processing is performed. When the temperature is too high and it has been judged as an open fire in combination with the video signal, the fire extinguishing bomb launching device is directly triggered.

[0025] The beneficial effects of adopting the above further solution are as follows: The system comprehensively collects various environmental and equipment information in the power tunnel through the 3D intelligent modeling module, visible light camera, ultrasonic sensor, thermal imager, temperature and humidity sensor, methane detector, etc. in the data acquisition module, and transmits it to the data processing center. The data processing center analyzes and processes the collected data according to the preset algorithm, can timely detect abnormal situations and feedback to the fire extinguishing bomb launching device, display screen, alarm, etc. at the output end, realizes real-time monitoring, intelligent analysis and rapid response of the power tunnel, greatly improves the intelligent and automated level of the power tunnel inspection and the emergency handling ability, and effectively guarantees the safe and stable operation of the power tunnel. Brief Description of the Drawings

[0026] Figure 1 It is a schematic structural diagram of a hanging-rail type intelligent unmanned inspection robot applicable to a power tunnel in a specific embodiment of the present invention; Figure 2 It is a schematic structural diagram of a motion suspension structure in a specific embodiment of the present invention; Figure 3 It is a schematic structural diagram of a power unit in a specific embodiment of the present invention; Figure 4 It is a schematic side view structural diagram of a power unit in a specific embodiment of the present invention; Figure 5 It is a schematic structural diagram of an environment perception system in a specific embodiment of the present invention; Figure 6 It is a schematic structural diagram of a patrol machine in a specific embodiment of the present invention; Figure 7 Side view structural schematic diagram of the fire extinguishing bomb launching device according to a specific embodiment of the present invention; Figure 8 Front view structural schematic diagram of the fire extinguishing bomb launching device according to a specific embodiment of the present invention; Figure 9 Cross-sectional view structural schematic diagram of the fire extinguishing bomb launching device according to a specific embodiment of the present invention.

[0027] In the attached drawings, the list of components represented by each reference numeral is as follows: 100, I-shaped track; 200, moving suspension structure; 210, suspension part; 211, roller mounting plate; 212, roller; 220, power part; 221, motor; 222, intermediate gear; 223, rolling gear; 224, rolling wheel 300, patrol machine; 310, installation base frame; 320, battery; 330, 3D scanner; 340, fire extinguishing bomb launching device; 3411, mounting plate; 3412, gear set; 341, rotating structure; 342, launching mechanism; 3421, storage box; 3422, fire extinguishing bomb; 3423, first driving gear; 3424, second driven gear; 3425, cross plate; 3426, connecting rod; 3427, bolt; 3428, spring; 400, environmental perception system; 401, visible light camera; 402, ultrasonic sensor; 403, thermal imager; 404, temperature and humidity sensor; 405, methane detector. Specific embodiments

[0028] The principles and features of the present invention will be described below with reference to the attached drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0029] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by terms such as "center", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "inner", "outer", "peripheral side", "circumferential direction", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the system or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined. In the present invention, unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown in

[0031] , a rail-mounted intelligent unmanned inspection robot applicable to a power tunnel includes an I-shaped rail 100. A patrol machine 300 is suspended and connected below the I-shaped rail 100 through a moving suspension structure 200. Specifically, the moving suspension structure 200 includes a suspension part 210 and a power part 220. The roller above the suspension part 210 is hung on the rail of the I-shaped rail 100, and the suspension part 210 is connected to the patrol machine 300 through a connecting member below. The power part 220 is disposed directly below the I-shaped rail 100, and the rolling wheel 224 at the upper end of the power part 220 abuts against the lower surface of the I-shaped rail 100. An environment perception system 400 is provided on the patrol machine 300. The environment perception system 400 includes one or more signal receivers for monitoring the environment around the patrol machine 300.

[0031] In the present invention, through the cooperation of the I-shaped track 100 and the motion suspension structure 200, the patrol machine 300 can stably and reliably patrol along the set route in the power tunnel, avoiding the problem of regional inspection gaps that may exist in traditional manual inspections, effectively improving its monitoring efficiency and coverage of power tunnels, and realizing 24-hour uninterrupted and no-dead-angle patrol, providing more complete and timely monitoring data for power grid operation and maintenance.

[0032] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, the power unit 220 includes a motor 221. In a specific embodiment, the motor 221 is a collaborative robot arm joint module motor. The power output end of the motor 221 is connected to the shaft of the transfer gear 222 through a synchronous belt. A synchronous gear is installed on the shaft. The synchronous gear is connected to the transfer gear 222. The transfer gear 222 is meshed with the rolling gear 223. Both ends of the gear shaft of the rolling gear 223 are respectively provided with rolling wheels 224. The outer edge of the rolling wheel 224 abuts against the I-shaped track 100. The rotation of the motor 221 drives the belt, the transfer gear 222, the rolling gear 223 and the rolling wheel 224 to rotate in turn, so that the rolling wheel 224 drives the patrol machine 300 to move along the I-shaped track 100.

[0033] In the embodiment, the suspension part 210 includes an L-shaped roller mounting plate 211, a roller 212 is provided on the inner side of the upper end of the roller mounting plate 211, and the roller 212 is suspended on the lower side plate of the I-shaped track 100, and the outer surface of the roller mounting plate 211 is fixed to the outer shell of the patrol machine 300 through a connecting plate, and one or more rollers 212 cooperate with the rolling wheel 224 to clamp the edge of the I-shaped track 100, thereby increasing the friction between the rolling wheel 224 and the I-shaped track 100, thereby facilitating the patrol machine 300 to move along the I-shaped track 100. In the specific embodiment, there are three suspension parts 210, one pair of which is respectively hung on the outer side surfaces of the two rolling gears 223 and located at the front half of the patrol machine 300, and the other suspension part 210 is provided at the rear half of the patrol machine 300. Through multiple suspension parts 210, the patrol machine 300 can maintain stability and reduce shaking during the movement process.

[0034] like Figure 1 , Figure 5As shown, in some embodiments, the environmental perception system 400 integrates multi-modal sensor fusion technology. Specifically, the environmental perception system 400 includes one or any combination of a visible light camera 401, an ultrasonic sensor 402, a thermal imager 403, a temperature and humidity sensor 404, and a methane detector 405. The visible light camera 401, the ultrasonic sensor 402, the thermal imager 403, the temperature and humidity sensor 404, and the methane detector 405 are all electrically connected to the data module.

[0035] Specifically, the visible light camera 401 is used to capture the surrounding environment of the patrol area of the patrol machine, supporting 360° panoramic monitoring and infrared fill light functions to ensure imaging clarity in night or low light environments.

[0036] The ultrasonic sensor 402 is used to detect obstacles and distances in the surrounding environment of the patrol machine 300. Specifically, the ultrasonic sensor 402 can adopt a 40kHz pulse emission frequency, detect obstacles and distances in the surrounding environment of the patrol machine based on the time-of-flight measurement method, achieve a resolution of ±2mm within the range of 0.2m - 5m, compress the detection angle to 15° through beamforming technology to improve directivity, and fill the inside of its aluminum alloy shell with acoustic absorption material to eliminate multipath interference.

[0037] The thermal imager 403 is used to detect the temperature change situation in the surrounding environment of the patrol machine 300. Specifically, the thermal imager 403 uses a non-cooled vanadium oxide microbolometer with 384×288 pixels, the spectral response range is 8 - 14μm, the temperature detection sensitivity reaches 0.05°C, detects the temperature change situation in the surrounding environment of the patrol machine through a dual-band colorimetric algorithm, and can automatically identify abnormal areas with a temperature difference exceeding 10°C and generate a temperature gradient false color map.

[0038] The temperature and humidity sensor 404 is used to detect the ambient temperature and humidity around the patrol machine 300. Specifically, the temperature and humidity sensor 404 integrates a PT100 platinum resistance and a capacitive polymer film probe. The temperature detection range is -40°C to 120°C (accuracy ±0.1°C), the humidity detection range is 0 - 100%RH (accuracy ±1.5%RH), and an active ventilation protection structure is adopted to avoid the influence of condensation on the measurement accuracy, and it is used to detect the ambient temperature and humidity around the patrol machine.

[0039] The methane detector 405 is used to detect the methane concentration in the surrounding environment of the patrol machine 300. Specifically, the methane detector 405 is built with a dual-mode detection unit of a catalytic combustion sensor and an NDIR infrared sensor, with a measurement range covering 0 - 100%LEL and 0 - 50000ppm, a response time of less than 3 seconds, and eliminates cross-sensitivity interference through a temperature compensation algorithm. It is used to detect the methane concentration in the surrounding environment of the patrol machine, and triggers a three-level alarm mechanism when the detected concentration exceeds 1%LEL.

[0040] As Figure 1 , Figure 6 , Figure 7 and Figure 8 shown, in some embodiments, the patrol robot 300 includes a mounting base 310, the mounting base 310 includes an upper mounting plate and a lower mounting plate, the upper mounting plate and the lower mounting plate are connected by a connecting frame, and a power unit 220 and a battery 320 are sequentially mounted on the upper surface of the upper mounting plate from left to right. An ultrasonic sensor 402 is mounted on the right side surface of the upper mounting plate. A methane detector 405, a temperature and humidity sensor 404, a thermal imager 403, and a visible light camera 401 are sequentially arranged on the lower surface of the lower mounting plate from left to right.

[0041] In other embodiments, the battery 320 is equipped with a wireless charging solution, supporting multiple charging methods. It can be charged manually or, when the battery level is lower than the set threshold, automatically return to the charging pile for charging using the robot's navigation system. This intelligent charging method not only greatly reduces the workload of management personnel but also improves the operation efficiency and reliability of the entire system.

[0042] A 3D scanner 330 is also mounted on the upper surface of the upper mounting plate, and the 3D scanner 330 is located on the right side of the battery 320; the 3D scanner 330 is used to scan the point cloud data of the surface of objects around the patrol robot and construct a high-precision 3D model through steps such as point cloud processing, meshing, patching, and simplification. A fire extinguishing bomb launching device 340 is provided on the left side of the lower surface of the lower mounting plate. When the thermal imager 403 or the temperature and humidity sensor 404 detects too high a temperature, the fire extinguishing bomb launching device 340 will be automatically triggered to launch fire extinguishing bombs.

[0043] In the embodiment, the fire extinguishing bomb launching device 340 includes a rotating structure 341 and a launching mechanism 342. The rotating structure 341 includes a mounting plate 3411, a rotating motor is mounted at the upper end of the mounting plate 3411, a pair of gear sets 3412 are provided on the mounting plate 3411, the output end of the rotating motor is meshed with the gear sets 3412, and the lower part of the driven gear is connected with an inclined launching mechanism 342. When the rotating motor rotates and drives the gear sets 3412 to rotate, the driven gear is driven to rotate, and then the launching mechanism 342 is driven to rotate.

[0044] In this embodiment, the launching mechanism 342 includes a fire extinguishing bomb storage structure and an automatic triggering structure. The fire extinguishing bomb storage structure includes a storage box 3421, the storage box 3421 is inclined, a spring is provided in the storage box 3421, and the end of the spring is a fire extinguishing bomb 3422; an automatic triggering mechanism is provided on the upper surface of the storage box 3421; As Figure 1 , Figure 6 , Figure 7 , Figure 8 andFigure 9 As shown in the figure, specifically, the automatic triggering mechanism includes a motor. A first driving gear 3423 is provided at the output end of the motor. Two pairs of second driven gears 3424 are sequentially meshed on both sides of the first driving gear 3423. The second driven gears 3424 are arranged on a cross plate 3425. The rotating shafts of the second driven gears 3424 located at the two side edges of the cross plate 3425 penetrate the cross plate 3425, and the ends of the rotating shafts are set as large-diameter discs. Connecting columns are provided at the edges of the large-diameter discs. The connecting columns are connected with a latch 3427 through a connecting rod 3426. The two latches 3427 are arranged at the two corners of the front end of a storage box 3421 and penetrate the storage box 3421. Linear bearings are sleeved outside the two latches 3427, and the linear bearings are installed on the storage box 3421 to facilitate the up-and-down movement of the latch 3427. The axial distance between the two latches 3427 is smaller than the diameter of the fire extinguishing bomb 3422. When the latch 3427 is at the lowest position, it contacts the fire extinguishing bomb 3422. The fire extinguishing bomb 3422 is arranged in the cavity of the storage box 3421, and a spring 3428 is also installed between the inner wall of the storage box 3421 and the fire extinguishing bomb 3422.

[0045] When the motor rotates to drive the first driving gear 3423 to rotate, it sequentially drives the second driven gears 3424 and the large-diameter discs to rotate. Since the connecting rod 3426 is installed on the outer edge of the large-diameter disc, the rotation of the large-diameter disc drives the connecting rod 3426 to rotate eccentrically, and then the latch 3427 moves up and down. When the latch 3427 is disengaged from the fire extinguishing bomb 3422, the storage box 3421 is inclined, and the fire extinguishing bomb 3422 is thrown to the fire source under the combined action of gravity and the spring 3428 to achieve fire extinguishing.

[0046] The present invention also provides a system of a hanging-rail type intelligent unmanned inspection robot applicable to a power tunnel, which is applied to the hanging-rail type intelligent unmanned inspection robot applicable to the power tunnel as described above. It includes a data acquisition module. The data acquisition module is used to collect image information, temperature information, and methane concentration information of the path of the inspection robot, and transmit the collected data to a data processing center. After receiving the signal from the data acquisition module, the data processing center calculates the result according to the internal preset algorithm and feeds back the result to the output end; The data acquisition module includes: A 3D intelligent modeling module. The 3D intelligent modeling module collects the point cloud data of the object surface by a three-dimensional scanner 330; and sends the data to the data processing center; Visible light camera 401 is used to capture the surrounding environment of the patrol area of the patrol robot and send the video signal to the data processing center. Through the wireless network, the real-time video stream captured by the visible light camera 401 is transmitted to the internal processing unit of the robot. In the robot system, the deep learning image recognition algorithm carefully analyzes each frame of the received image to determine whether there are abnormalities or potential risks. Once the system identifies an unexpected situation, the robot will quickly respond and execute the preset countermeasures to ensure power stability.

[0047] Ultrasonic sensor 402 is used to detect obstacles and distances in the surrounding environment of the patrol robot and send the detection data to the data processing center; Thermal imager 403 is used to detect the temperature changes in the surrounding environment of the patrol robot and send the detection data to the data processing center; Temperature and humidity sensor 404 is used to detect the ambient temperature and humidity around the patrol robot and send the detection data to the data processing center; Methane detector 405 is used to detect the methane concentration in the surrounding environment of the patrol robot and send the detection data to the data processing center.

[0048] The collaborative work of the environmental perception system 400 and the algorithm together constitute the core of the robot environmental perception system 400, greatly improving the safety guarantee level of the power system and realizing the timely discovery and response to potential risks.

[0049] In this embodiment, the output end includes: Fire extinguisher bomb launching device 340 can automatically eject fire extinguisher bombs; Display screen is used to display the data collected by the data acquisition module. The displayed data includes video signals, 3D models, temperature data, humidity data, and methane data; Alarm is used to send alarm information to security personnel; The data processing center receives the data collected by the data acquisition module and processes the data; When the data processing center receives the point cloud data fed back by the 3D intelligent modeling module, the data processing center performs point cloud processing, meshing, and patching to construct a 3D model and transmits the signal to the display screen at the output end. The user can then view the 3D model. In addition, the system integrates a global path planning algorithm (A* algorithm) and a local path planning algorithm (dynamic window method) to ensure that when the robot is automatically patrolling, it is not only stable and reliable, but also can flexibly handle various complex situations and always stay on the predetermined route. The excellent performance of this navigation system will greatly improve the automation and intelligence level of the patrol.

[0050] When the data processing center receives the video signal collected by the visible light camera 401, it performs pattern recognition analysis on the video signal and determines whether there is an abnormality. If so, an alarm is issued through an alarm device. Otherwise, the video data is directly stored. When the data processing center receives the signal fed back by the ultrasonic sensor 402, it will determine whether there are obstacles in the surrounding environment based on the internal preset algorithm. Once it is determined that there is an obstacle, an alarm signal will be issued with the help of an alarm. In addition, when the data processing center receives the signal fed back by the thermal imager 403, the temperature and humidity sensor 404, and the methane detector 405, it will make a comparison and judgment based on the internally preset temperature, humidity, and methane concentration thresholds. If the detected data exceeds the set threshold range, an alarm will be processed immediately. In particular, when the temperature is detected to be too high, and combined with the video signal, it has been determined that there is an open fire, the fire extinguishing bomb launcher 340 will be directly triggered to start working.

[0051] This system uses deep learning algorithms and high-precision sensors to detect abnormal situations. For example, when a line or device overheats, it will immediately make an intelligent judgment based on the severity of the abnormal situation. Subsequently, the system will send alarm signals of different levels to the smart center based on the judgment results to ensure timely notification of security personnel. At the same time, the system will also transmit the specific location information of the abnormal situation and the detailed data captured by the thermal imager 403 to the command center in real time for security personnel to conduct in-depth analysis. Based on this information, security personnel will accurately determine whether the abnormal situation constitutes a real safety risk, and make a decision on whether to lift the alarm accordingly. This process realizes rapid detection, accurate judgment and timely response to abnormal situations, providing strong technical support for the safety of the power system.

[0052] At the same time, the unmanned patrol robot can be remotely controlled through a laptop computer. The three-dimensional scanner it is equipped with can build a scene map around the location that needs to be inspected. With the help of advanced path planning technology, the robot can efficiently perform single-point, multi-point or full-process intelligent inspection tasks in the power system, realizing all-weather automated inspection. No matter how far apart the robot is from the remote computer, both parties can maintain real-time connection through network communication to ensure the rapid transmission and execution of instructions. The thermal imager 403 installed on the robot pan-tilt has the ability to monitor local temperature and can detect overheating anomalies of power equipment in time. Once the cable or equipment is detected to be overheated, the robot will immediately send an alarm to the computer staff through remote communication. If a fire occurs, the robot will use the fire extinguishing bomb launcher 340 to launch the fire extinguishing bomb to the source location to extinguish the fire. After the fire source is extinguished, the robot will wait for the next command from the staff and wait in place or continue to inspect to ensure the safety and stable operation of the power system.

[0053] In other embodiments, the detection and patrol robot 300 further includes a leakage detection module, which consists of a gas leakage sensor and a liquid leakage sensor. The gas leakage sensor is used to detect whether there is harmful gas leakage in the power tunnel, such as carbon monoxide, hydrogen sulfide, etc., and the liquid leakage sensor is used to detect whether there is groundwater leakage or cable insulating oil leakage, etc., and send the detection data to the data processing center. When the data processing center receives the signal feedback from the leakage detection module, it will make a judgment according to the preset safety threshold inside. If the gas or liquid leakage degree exceeds the set standard, an alarm will be immediately issued through the alarm, and the leakage location and severity will be displayed on the display screen. At the same time, the emergency communication module will automatically send a text message alarm to the preset mobile phone number of the security personnel, informing the specific leakage situation and the location of the robot, so that the security personnel can respond in time.

[0054] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0055] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A rail-mounted intelligent unmanned inspection robot suitable for power tunnels, characterized in that: It comprises an I-shaped track (100); a patrol machine (300) is suspended and connected below the I-shaped track (100) via a motion suspension structure (200); The motion suspension structure (200) comprises a suspension part (210) and a power part (220); the roller above the suspension part (210) is hung on the track of the I-shaped track (100), and the bottom of the suspension part (210) is connected to the patrol machine (300) via a connecting piece; the power part (220) is arranged directly below the I-shaped track (100), and the rolling wheel (224) at the upper end of the power part (220) abuts against the lower surface of the I-shaped track (100); The patrol machine (300) is provided with an environment perception system (400), and the environment perception system (400) comprises one or more signal receivers for monitoring the environment around the patrol machine.

2. The rail-mounted intelligent unmanned inspection robot suitable for power tunnels as claimed in claim 1 is characterized in that: The power unit (220) comprises a motor (221), the power output end of the motor is connected to the shaft of a transfer gear (222) via a belt, the transfer gear (222) is meshed with a rolling gear (223), and rolling wheels (224) are respectively provided at both ends of the gear shaft of the rolling gear (223).

3. The rail-mounted intelligent unmanned inspection robot suitable for power tunnels as claimed in claim 1 is characterized in that: The hanging part (210) comprises an L-shaped roller mounting plate (211), a roller (212) being provided on the inner side of the upper end of the roller mounting plate (211), and the roller (212) being hung on the lower side plate of the I-shaped track (100); the outer surface of the roller mounting plate (211) is fixed to the outer shell of the patrol machine (300) via a connecting plate.

4. The rail-mounted intelligent unmanned inspection robot suitable for power tunnels as claimed in claim 3 is characterized in that: There are three hanging parts (210) in total, a pair of which are hung on the outer sides of the two rolling gears (223) and are located at the front half of the patrol machine (300); and the other hanging part (210) is located at the rear half of the patrol machine (300).

5. The rail-mounted intelligent unmanned inspection robot suitable for power tunnels as claimed in claim 1 is characterized in that: The environment perception system (400) specifically includes one or a combination of any of a visible light camera (401), an ultrasonic sensor (402), a thermal imager (403), a temperature and humidity sensor (404), and a methane detector (405); The visible light camera (401) is used to photograph the surrounding environment of the patrol machine; The ultrasonic sensor (402) is used to detect obstacles and distances in the surrounding environment of the patrol machine; The thermal imager (403) is used to detect temperature changes in the environment surrounding the patrol machine; The temperature and humidity sensor (404) is used to detect the ambient temperature and humidity around the patrol machine; The methane detector (405) is used to detect the methane concentration in the environment surrounding the patrol machine.

6. The rail-mounted intelligent unmanned inspection robot suitable for power tunnels as claimed in claim 5 is characterized in that: The patrol machine (300) comprises a mounting base (310), wherein the mounting base (310) comprises an upper mounting plate and a lower mounting plate, wherein a power unit (220) and a battery (320) are mounted on the upper surface of the upper mounting plate in sequence from left to right, and an ultrasonic sensor (402) is mounted on the right side surface of the upper mounting plate; and a methane detector (405), a temperature and humidity sensor (404), a thermal imager (403), and a visible light camera (401) are mounted on the lower surface of the lower mounting plate in sequence from left to right.

7. The rail-mounted intelligent unmanned inspection robot suitable for power tunnels as claimed in claim 6 is characterized by: A three-dimensional scanner (330) is also installed on the upper surface of the upper mounting plate, and the three-dimensional scanner (330) is located on the right side of the battery (320); the three-dimensional scanner (330) is used to scan point cloud data on the surface of objects around the patrol machine, and to construct a high-precision three-dimensional model through point cloud processing, meshing, patching and simplification steps.

8. The rail-mounted intelligent unmanned inspection robot suitable for power tunnels as claimed in claim 6, characterized in that: A fire extinguishing bomb launching device (340) is provided on the left side of the lower surface of the lower installation plate; when the thermal imager (403) or the temperature and humidity sensor (404) detects that the temperature is too high, the fire extinguishing bomb launching device (340) will be automatically triggered to launch the fire extinguishing bomb.

9. The rail-mounted intelligent unmanned inspection robot suitable for power tunnels as claimed in claim 8, characterized in that: The fire extinguishing bomb launching device (340) comprises a rotating structure (341) and a launching mechanism (342); the rotating structure (341) comprises a mounting plate (3411); a pair of gear sets are provided on the mounting plate (3411); and an inclined launching mechanism (342) is connected below the driven gear; The launching mechanism (342) comprises a fire extinguishing bomb storage structure and an automatic triggering structure. The fire extinguishing bomb storage structure comprises a storage box (3421). The storage box (3421) is arranged tilted. A spring is provided in the storage box. The end of the spring is a fire extinguishing bomb (3422). The automatic triggering mechanism is provided on the upper surface of the storage box (3421). The automatic trigger mechanism comprises a motor, wherein the output end of the motor is provided with a first driving gear (3423), the two sides of the first driving gear (3423) respectively mesh with two pairs of second driven gears (3424) in sequence, the second driven gears are arranged on a horizontal plate (3425), the rotating shafts of the second driven gears (3424) located at the two side edges of the horizontal plate (3425) penetrate the horizontal plate (3425), and the ends of the rotating shafts are arranged as large-diameter disks, the edges of the large-diameter disks are provided with connecting columns, the connecting columns are connected to latches (3427) through connecting rods (3426), the two latches (3427) are arranged at two corners of the front end of the storage box (3421), penetrate the storage box (3421), the axial center distance between the two latches (3427) is smaller than the diameter of the fire extinguishing bomb, and when the latches (3427) are at the lowest position, they are in contact with the fire extinguishing bomb.

10. A system for a rail-mounted intelligent unmanned inspection robot applicable to a power tunnel, applied to the rail-mounted intelligent unmanned inspection robot applicable to a power tunnel as claimed in any one of claims 1 to 9, characterized in that: It includes a data acquisition module, which is used to collect image information, temperature information and methane concentration information of the inspection robot's path, and transmit the collected data to a data processing center. After receiving the signal from the data acquisition module, the data processing center calculates the result according to an internal preset algorithm and feeds the result back to the output end; The data acquisition module comprises: 3D intelligent modeling module, which uses a 3D scanner to collect point cloud data on the surface of an object and sends the data to a data processing center; A visible light camera (401), the visible light camera (401) is used to photograph the surrounding environment of the patrol machine and send the video signal to the data processing center; An ultrasonic sensor (402), the ultrasonic sensor (402) is used to detect obstacles and distances in the surrounding environment of the patrol machine, and send the detection data to a data processing center; A thermal imager (403), the thermal imager (403) is used to detect temperature changes in the environment surrounding the patrol machine and send the detection data to a data processing center; A temperature and humidity sensor (404), the temperature and humidity sensor (404) is used to detect the ambient temperature and humidity around the patrol machine and send the detection data to a data processing center; A methane detector (405), the methane detector (405) is used to detect the methane concentration in the environment surrounding the patrol machine and send the detection data to a data processing center; The output terminal comprises: Fire extinguishing bomb launching device, which can automatically eject fire extinguishing bombs; A display screen is used to display the data collected by the data acquisition module, and the displayed data includes video signals, three-dimensional models, temperature data, humidity data, and methane data; Alarm, used to send alarm information to security personnel; The data processing center receives the data collected by the data acquisition module and performs data processing; When the data processing center receives the point cloud data fed back by the 3D intelligent modeling module, it processes the point cloud, meshes it, and repairs it to build a 3D model, and transmits the signal to the display screen at the output end, so that the user can view the 3D model. When the data processing center receives the video signal collected by the visible light camera, it performs graphic recognition analysis on the video signal and determines whether there is any abnormality. If so, an alarm is issued through the alarm device. Otherwise, the video data is directly stored. When the data processing center receives the feedback signal from the ultrasonic sensor, it determines whether there is an obstacle based on the preset algorithm. If so, an alarm is sounded through the alarm; When the data processing center receives feedback signals from the thermal imager, temperature and humidity sensor, and methane detector, it will trigger an alarm based on the internal preset temperature, humidity, and methane concentration thresholds. If the threshold is exceeded, the alarm will be processed. When the temperature is too high and it has been determined to be an open fire based on the video signal, the fire extinguishing bomb launcher will be directly triggered.

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