Substation weeding machine

Abstract

The invention discloses a transformer substation weeding machine which comprises a moving mechanism used for overall movement of the weeding machine; the mechanical arm comprises a working end and a connecting end, and the connecting end is connected with the moving mechanism; the camera shooting assembly comprises a protective shell, a windscreen wiper and a camera, a light-transmitting part is arranged on the protective shell, and the camera is arranged in the protective shell and faces the light-transmitting part; the windscreen wiper is movably attached to the outer wall of the light-transmitting part and is driven by the driving part to clean impurities on the surface of the light-transmitting part; the functional component is used for treating weeds; the functional assembly and the camera shooting assembly are detachably arranged at the operation end of the mechanical arm. The camera has the advantages that the windscreen wiper is additionally arranged on the light-transmitting part in front of the camera, so that the problem that dust and rainwater attached to the camera module need to be manually cleaned at present is solved. The windscreen wiper of the weeding machine can remove impurities in time, clear imaging of the camera is ensured, and accurate visual information is provided for weeding operation.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a substation weeding machine. Background Technology

[0002] Because substations operate in a high-voltage environment, some tasks are now being replaced by robots, such as weeding and spraying pesticides. Robots can prevent people from being in a high-voltage environment and thus avoid threatening the lives of workers.

[0003] CN117519185A discloses a substation weeding system, comprising a main control room control center and a weeding robot interconnected. The weeding robot includes a controller, a drive module, a camera module, an obstacle avoidance module, and a lawnmower. The controller is connected to the main control room control center. The drive module, camera module, obstacle avoidance module, and lawnmower are all connected to the controller. The main control room control center issues weeding control commands. The controller receives the weeding control commands and issues control signals. The control signals include drive signals and camera signals. The drive module performs driving operations according to the drive signals. The camera module collects image data around the substation based on the camera signals and feeds the image data back to the controller. The controller also determines a planned path based on the image data. The obstacle avoidance module detects obstacles around the substation on the planned path and feeds the detection results back to the controller. It avoids obstacles according to the obstacle avoidance commands issued by the controller. The lawnmower weeds according to the weeding commands issued by the controller.

[0004] When the aforementioned substation weeding system is in use, the high-speed cutting lawnmower will generate dust. As the dust floats, it may adhere to the camera module, interfering with the camera module's image acquisition and affecting the normal operation of the substation weeding system. Staff need to regularly clean the dust and rainwater adhering to the camera module. Summary of the Invention

[0005] The purpose of this invention is to provide a substation weeding machine that can effectively solve the problem of needing to manually clean dust and rainwater adhering to the camera module in the prior art.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0007] A substation weeding machine, comprising:

[0008] The moving mechanism is used for the overall movement of the weed cutter;

[0009] A robotic arm includes a working end and a connecting end, wherein the connecting end is connected to a moving mechanism;

[0010] The camera assembly comprises a protective shell, a windshield wiper and a camera, the protective shell is provided with a light-transmitting part, the camera is built-in the protective shell and faces the light-transmitting part; the windshield wiper is movably attached to the outer wall of the light-transmitting part, the windshield wiper is connected with a driving part for driving the windshield wiper to clean the surface impurities of the light-transmitting part; and,

[0011] The functional assembly is used for processing weeds.

[0012] The functional assembly and the camera assembly are detachably arranged at the working end of the mechanical arm.

[0013] In the above substation weeding machine, the driving part is located in the protective shell, the driving part is provided with a driving shaft penetrating the light-transmitting part, and the driving shaft is used to drive the windshield wiper to rotate.

[0014] In the above substation weeding machine, the light-transmitting part is provided with a through hole for the driving shaft to pass through, a sealing part is arranged between the driving shaft and the through hole, the sealing part comprises a sealing main body, a first end ring and a second end ring fixed at both ends of the sealing main body respectively, the sealing main body is sleeved on the driving shaft, the first end ring is tightly attached to the outer wall of the light-transmitting part, and the second end ring is tightly attached to the inner wall of the light-transmitting part.

[0015] In the above substation weeding machine, a sealing ring is further arranged between the sealing main body and the driving shaft.

[0016] In the above substation weeding machine, the driving shaft penetrates the center of the light-transmitting part, and the driving part drives the windshield wiper to rotate unidirectionally and continuously.

[0017] In the above substation weeding machine, the protective shell is further provided with a lighting part, and the lighting part and the camera are located on the two sides of the driving part respectively.

[0018] In the above substation weeding machine, the working end is arranged at the end of the mechanical arm away from the moving mechanism, the working end is pivotally connected with a mounting seat, and the functional assembly and the camera assembly are detachably connected to the mounting seat.

[0019] In the above substation weeding machine, the camera assembly is located directly below the functional assembly.

[0020] In the above substation weeding machine, the moving mechanism comprises a chassis and four Mecanum wheels rotatably arranged on the chassis, and the connecting end of the mechanical arm is rotatably arranged on the chassis in a vertical plane.

[0021] In the above substation weeding machine, a DC driving motor is further fixed on the chassis, and each Mecanum wheel is connected with a DC driving motor.

[0022] Compared with the prior art, the advantages of the present application are:

[0023] By adding a wiper in front of the camera lens, the problem of manual cleaning of dust and rainwater adhering to the camera module is solved. The substation weeder integrates a moving mechanism, a mechanical arm, a camera assembly, and a functional assembly. The moving mechanism is responsible for overall movement, allowing the weeder to move flexibly between various areas of the substation. The mechanical arm connects the moving mechanism to other components, enabling precise control of the working position and angle. The camera assembly captures real-time images of the working area, providing visual support for weeding operations. The functional assembly directly handles weeds. This integrated design enables the components to work together, improving operational efficiency.

[0024] The camera assembly is equipped with a protective shell, a wiper, and a camera. The wiper is movable and adheres to the outer wall of the light-transmitting component. The wiper is driven by a driving element to clean the impurities on the surface of the light-transmitting component. During the weeding process in the substation, dust, rainwater, and other impurities easily adhere to the camera, affecting image capture and transmission, and leading to a decrease in operational accuracy. The wiper of the weeder can remove impurities in a timely manner, ensuring clear imaging of the camera and providing accurate visual information for weeding operations. Compared with camera equipment without automatic cleaning function, the number of manual cleaning can be reduced, and the continuity and accuracy of the operation can be improved.

[0025] The functional assembly and the camera assembly can be detachably arranged at the working end of the mechanical arm. This design enhances the adaptability and flexibility of the equipment. In different working scenarios, the functional assembly can be quickly replaced according to actual needs, such as using a weeding functional assembly in areas with more weeds or replacing it with a pesticide spraying functional assembly when pest control is needed. At the same time, when the camera assembly fails or needs to be upgraded, it can be easily detached and replaced, reducing the maintenance cost of the equipment and improving the use efficiency of the equipment.

[0026] When the camera is fixed to the moving mechanism (such as the chassis), there is a spatial deviation between its field of view and the actual position of the working end of the mechanical arm. Especially when the mechanical arm has multiple degrees of freedom, complex algorithms are needed to compensate for positional errors, which can lead to inaccurate weeding / spraying positioning. In the present application, the functional assembly and the camera assembly can be detachably arranged at the working end of the mechanical arm, forming a real-time visual-execution closed-loop system. The camera directly captures images of the working area of the functional assembly (such as weed positions), without the need for coordinate conversion to control the mechanical arm to adjust the working angle, with an error of millimeters. The camera assembly and the functional assembly are designed to work together, allowing real-time monitoring of the working effect (such as analyzing weed cutting marks or pesticide adhesion through images), and dynamically adjusting the mechanical arm force, angle, or pesticide spraying amount. This is especially suitable for uneven gravel ground or shrubs in substations.

[0027] Further, the driving member is located in the protective shell, and the driving member is provided with a driving shaft penetrating the light-transmitting member to drive the wiper to rotate. The driving member is placed in the protective shell, which can effectively isolate it from the external environment. In the herbicide working environment of the substation, there are a large amount of dust, grass clippings and possibly encountered rainwater. If the driving member is exposed, these impurities are easy to enter the inside of the driving member, causing its wear and tear to increase, frequent failure, and affecting the service life. The protective shell can provide a relatively clean and stable working environment for the driving member, reduce the damage of external factors to the driving member, and reduce the maintenance cost and downtime of the equipment. The driving member drives the wiper to rotate through the driving shaft penetrating the light-transmitting member, which makes the structure of the whole camera assembly more compact. Compared with the way of setting the driving member outside the protective shell and then driving the wiper through a complex transmission mechanism, this design reduces unnecessary space occupation and transmission components, making the whole device more simple. This is not only conducive to the miniaturization design of the device, but also facilitates the operation in the limited space of the substation and other areas, and can also reduce the risk of failure caused by too many transmission components. The driving shaft directly penetrates the light-transmitting member to drive the wiper to rotate, which can realize the close fitting and efficient movement of the wiper and the light-transmitting member. The wiper can be accurately controlled by the driving member to clean the surface of the light-transmitting member at a suitable speed and force, and timely remove the dust, rainwater and other impurities attached to it, to ensure that the camera can always obtain clear images. Moreover, this direct driving method has fast response speed, which can quickly start the cleaning program when detecting that the surface of the light-transmitting member is blurred, ensuring the timeliness and effectiveness of cleaning, and thus improving the operation accuracy and reliability of the device.

[0028] Further, the light-transmitting piece has a through hole for the driving shaft to pass through, and a sealing member is arranged between the driving shaft and the through hole. The sealing member includes a sealing body, a first end ring and a second end ring fixed to two ends of the sealing body respectively. The sealing body is sleeved on the driving shaft, the first end ring is tightly attached to the outer wall of the light-transmitting piece, and the second end ring is tightly attached to the inner wall of the light-transmitting piece. In the environment of the substation weeding operation, there are a large amount of dust, grass clippings and possible rainwater and other pollutants. The design of the sealing member can form a reliable sealing barrier between the driving shaft and the through hole of the light-transmitting piece. The sealing body is sleeved on the driving shaft, and the first end ring and the second end ring are tightly attached to the outer wall and the inner wall of the light-transmitting piece respectively. The tightly attached structure can effectively block the pollutants from the outside from entering the inside of the protective shell through the through hole, so as to avoid damage to the precision components such as the driving member and the camera in the protective shell, thereby ensuring the normal operation of the camera assembly and the clarity of image acquisition. By preventing the pollutants from entering, the sealing member reduces the probability of equipment failure caused by pollution, reduces the maintenance frequency and downtime of the equipment, and improves the stability and reliability of the equipment. This is particularly important for the substation weeding machine which needs to work continuously for a long time, and can ensure its continuous and efficient work in complex environments. It also helps to prevent the influence of humid air, electromagnetic interference and other factors on the internal elements, and creates a stable working environment for the driving member and the camera, thereby prolonging the service life of the equipment.

[0029] Further, a sealing ring is further arranged between the sealing body and the driving shaft. In the substation weeding operation, the environment is complex, and there are dust, rainwater, grass clippings and other pollutants. Relying only on the sealing of the sealing body, the first end ring and the second end ring may not be able to completely prevent the invasion of small particles or water vapor. The addition of the sealing ring can form an additional sealing line at the contact between the sealing body and the driving shaft. It can fill the possible small gap between the two, effectively block the pollutants from entering the inside of the protective shell from this key part, thereby better protecting the precision components such as the driving member and the camera, and ensuring the normal operation of the camera assembly and the clarity of image acquisition.

[0030] Further, the drive shaft passes through the center of the light-transmitting piece, and the drive piece drives the wiper to continuously rotate in one direction. The drive shaft passes through the center of the light-transmitting piece, and the wiper rotates continuously in one direction with the center as the axis, which can make the movement track of the wiper evenly cover the entire surface of the light-transmitting piece. Compared with other layout modes, this design will not appear cleaning dead angle, and can more comprehensively remove dust, rainwater, grass clippings and other pollutants attached to the light-transmitting piece, to ensure that the camera can always obtain clear images, and provide reliable visual support for the accurate operation of the lawn mower. The continuous rotation in one direction makes the pressure and friction force applied by the wiper to the surface of the light-transmitting piece more stable during cleaning. In this way, it can ensure that each cleaning action has similar cleaning effect, avoiding the problem of incomplete cleaning in some areas due to uneven cleaning force, thereby improving the overall cleaning quality. The continuous rotation in one direction can realize uninterrupted cleaning operation, without the need to frequently change the direction of motion like reciprocating motion. This not only reduces the time loss caused by reversing, but also improves the cleaning efficiency, so that the lawn mower can timely deal with the pollution on the surface of the light-transmitting piece during operation, to ensure the real-time clear imaging of the camera. Compared with complex motion mode, the control logic of continuous rotation in one direction is simpler. This makes the control of the drive piece easier to implement, reduces the design difficulty and cost of the control system, and also improves the stability and reliability of the system, and reduces the cleaning problems caused by control failure.

[0031] Further, the protective shell is also provided with an illuminating piece, and the illuminating piece and the camera are respectively located on the two sides of the drive piece. Placing the illuminating piece and the camera on the two sides of the drive piece can make full use of the limited space in the protective shell, and make the internal structure more compact. This layout avoids the mutual interference and space waste between components, which helps to reduce the volume of the protective shell, and makes the entire camera assembly more compact and portable, and facilitates the installation on the working end of the lawn mower. The relatively independent layout of each component is conducive to heat dissipation. The drive piece generates heat during operation, and separating the illuminating piece and the camera from the drive piece can reduce the influence of heat on them, and prolong their service life. At the same time, this layout also facilitates the individual maintenance and repair of each component, and reduces the maintenance difficulty and cost.

[0032] Further, the working end is arranged at the end of the mechanical arm away from the moving mechanism, and the working end is pivotally connected with a mounting seat, and the functional component and the camera component are detachably connected to the mounting seat. The working end is pivotally connected with the mounting seat, so that the mounting seat can rotate relative to the working end, thereby driving the functional component and the camera component to flexibly adjust the angle. In the complex environment of the substation, the height and position of the weeds may be different, and through the rotation of the mounting seat, the functional component can process the weeds from different angles, and the camera component can also adjust the viewing angle to comprehensively observe the working area, so as to ensure that there is no dead angle in the weeding operation. The functional component and the camera component are detachably connected to the mounting seat, which greatly facilitates the maintenance and repair of the equipment. When the functional component (such as a weeding knife or a pesticide spraying device) fails or needs to be replaced, the operator can quickly detach it from the mounting seat for repair or replacement, without the need to disassemble the entire weeding machine on a large scale, thereby greatly shortening the repair time and reducing the repair cost.

[0033] Further, the camera component is located directly below the functional component. From the overall layout of the equipment, the camera component is located directly below the functional component, so that the center of gravity of the equipment is lower and the stability is better. When moving in the complex environment of the substation, the risk of falling due to unstable center of gravity can be reduced. Moreover, in the design of the protective equipment, an integrated protective shell can be used to protect the functional component and the camera component, so as to reduce the complexity of the protective structure, improve the protection effect, and reduce the manufacturing cost of the equipment.

[0034] Further, the moving mechanism comprises a chassis and four Mecanum wheels rotatably arranged on the chassis, and the connecting end of the mechanical arm is rotatably arranged on the chassis in a vertical plane. The four Mecanum wheels are rotatably arranged on the chassis, which gives the weeding machine excellent mobility. The Mecanum wheels can realize omnidirectional movement, including lateral translation, oblique movement and rotation in place, which enables the weeding machine to freely shuttle in the narrow space and complex terrain of the substation. The connecting end of the mechanical arm is rotatably arranged on the chassis in a vertical plane, which, in combination with the flexible movement of the Mecanum wheels, greatly expands the working coverage of the weeding machine. The mechanical arm can rotate 360° in the vertical plane, and can process weeds at different positions and heights. When weeds near the walls of the substation are removed, the mechanical arm can be rotated to the appropriate angle, so that the functional component can accurately contact the weeds, realize efficient weeding, and improve the accuracy of the operation.

[0035] Further, the chassis is also fixed with a direct current driving motor, and each Mecanum wheel is connected with a direct current driving motor. Each Mecanum wheel is connected with a direct current driving motor, so that independent control of each wheel can be realized. In the complex environment of the substation, such precise power control can make the weeding machine flexibly cope with various situations. When turning, by adjusting the rotating speed of different wheels, small-radius turning or even turning in place can be realized, so as to avoid collision with the equipment or obstacles in the substation due to inflexible turning. When working in a narrow passageway, the movement of the wheels can be precisely controlled, so that the weeding machine can pass through stably. Compared with the traditional unified driving mode, the independent control of the direct current driving motor can provide precise power output according to the actual demand, so that the controllability and working efficiency of the equipment are improved. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is a front view of the substation weeding machine of the application;

[0037] Figure 2 It is a left view of the substation weeding machine of the application;

[0038] Figure 3 It is an assembled perspective view of the mechanical arm, the camera assembly and the functional assembly in the application;

[0039] Figure 4 It is a perspective view of the camera assembly in the application;

[0040] Figure 5 It is a perspective view of the internal structure of the camera assembly in the application;

[0041] Figure 6 It is a sectional view of the camera assembly in the application;

[0042] Figure 7 It is Figure 6 It is an enlarged view of part A in the application.

[0043] The reference signs are:

[0044] The moving mechanism 100, the chassis 110, the Mecanum wheel 120, the direct current driving motor 130, the mechanical arm 200, the working end 210, the connecting end 220, the camera assembly 300, the protective shell 310, the wiper 320, the camera 330, the light-transmitting piece 340, the perforation 341, the driving piece 350, the driving shaft 351, the sealing piece 360, the sealing main body 361, the first end ring 362, the second end ring 363, the sealing ring 370, the lighting piece 380, the functional assembly 400 and the mounting seat 500. DETAILED DESCRIPTION

[0045] The substation weeding machine comprises:

[0046] The mobile mechanism 100 is used for the overall movement of the weeding machine.

[0047] The mechanical arm 200 comprises a working end 210 and a connecting end 220, and the connecting end 220 is connected to the mobile mechanism 100.

[0048] The camera assembly 300 comprises a protective shell 310, a wiper 320, and a camera 330, the protective shell 310 is provided with a light-transmitting piece 340, the camera 330 is built-in the protective shell 310 and faces the light-transmitting piece 340, the wiper 320 is movably attached to the outer wall of the light-transmitting piece 340, and the wiper 320 is connected to a driving member 350 for driving the wiper 320 to clean the impurities on the surface of the light-transmitting piece 340.

[0049] The functional assembly 400 is used for processing weeds.

[0050] The functional assembly 400 and the camera assembly 300 are detachably arranged at the working end 210 of the mechanical arm 200.

[0051] The wiper 320 is added to the light-transmitting piece 340 in front of the camera 330, which solves the problem of manually cleaning dust and rainwater attached to the camera module. The weeding machine for substations integrates the mobile mechanism 100, the mechanical arm 200, the camera assembly 300, and the functional assembly 400. The mobile mechanism 100 is responsible for the overall movement, so that the weeding machine can flexibly shuttle in each area of the substation; the mechanical arm 200 connects the mobile mechanism 100 and other assemblies to realize precise control of the working position and angle; the camera assembly 300 collects images of the working area in real time to provide visual support for weeding; the functional assembly 400 directly processes weeds. This integrated design makes the components work together, improving the work efficiency.

[0052] The camera assembly 300 is provided with the protective shell 310, the wiper 320, and the camera 330, the wiper 320 is movably attached to the outer wall of the light-transmitting piece 340, and the driving member 350 is used to drive the wiper 320 to clean the impurities on the surface of the light-transmitting piece 340. In the process of weeding in substations, dust, rainwater, and other impurities are easily attached to the camera 330, affecting image acquisition and transmission, and leading to a decrease in work accuracy. The wiper 320 of the weeding machine can timely remove impurities, ensuring clear imaging of the camera 330 and providing accurate visual information for weeding work. Compared with camera equipment without automatic cleaning function, the number of manual cleaning can be reduced, and the continuity and accuracy of the work can be improved.

[0053] The functional assembly 400 and the camera assembly 300 are detachably arranged on the working end 210 of the mechanical arm 200, which enhances the adaptability and flexibility of the device. In different working scenarios, the functional assembly 400 can be quickly replaced according to actual needs, such as using the weeding functional assembly 400 in an area with more weeds, and replacing the spraying functional assembly 400 when pest control is needed. At the same time, when the camera assembly 300 fails or needs to be upgraded, it can also be conveniently disassembled and replaced, reducing the maintenance cost of the device and improving the use efficiency of the device.

[0054] When the camera 330 is fixed to the moving mechanism 100 (such as the chassis 110), there is a spatial deviation between its field of view and the actual position of the working end 210 of the mechanical arm 200. Especially when the mechanical arm 200 moves in multiple degrees of freedom, the position error needs to be compensated through a complex algorithm, which is easy to cause inaccurate positioning of weeding / spraying. In the present application, the functional assembly 400 and the camera assembly 300 are detachably arranged on the working end 210 of the mechanical arm 200, forming a real-time vision-execution closed-loop system. The camera 330 directly collects images (such as weed positions) of the working area of the functional assembly 400, and can control the mechanical arm 200 to adjust the working angle without coordinate conversion, with an error controlled within millimeters. The camera assembly 300 and the functional assembly 400 are designed in linkage, which can monitor the working effect (such as analyzing the weed cutting traces or the liquid adhesion through images) in real time, dynamically adjust the force, angle or spraying amount of the mechanical arm 200, and are especially suitable for uneven gravel ground or shrubs in a substation.

[0055] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0056] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms “center”, “longitudinal”, “transverse”, “length”, “width”, “thickness”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0057] In addition, the terms "first", "second", etc. are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0058] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] Reference Figures 1 to 3 For an embodiment of a substation weeding machine of the present application, a substation weeding machine, comprising a moving mechanism 100, a mechanical arm 200, a camera 330 assembly and a function assembly 400, the moving mechanism 100 is used for the overall movement of the weeding machine, and the moving mechanism 100 comprises a chassis 110 and a moving assembly arranged on the chassis 110. The moving assembly can be a wheel or a track, etc., and the main purpose is to drive the chassis 110 to move.

[0060] The chassis 110 is provided with a mechanical arm 200, which can be a single link or a plurality of links and joints. In this embodiment, the mechanical arm 200 is formed by two links connected by a joint. The mechanical arm 200 includes a working end 210 and a connecting end 220. The connecting end 220 is movably connected to the chassis 110 of the mobile mechanism 100. The working end 210 is away from the mobile mechanism 100. The working end 210 is provided with a detachable functional assembly 400 and a camera assembly 300. The functional assembly 400 can be detached and replaced as needed. For example, the functional assembly 400 can be a weeding mechanism or a pesticide spraying mechanism. In different working scenarios, different functional assemblies 400 may be needed, and the camera assembly 300 may also need to be replaced or adjusted according to the working requirements. The functional assembly 400 and the camera assembly 300 are simultaneously detachable, which facilitates quick switching of different functional modules. In areas with more weeds, a component with stronger weeding function can be installed. When pest control is needed, the pesticide spraying assembly can be quickly replaced, and the position or parameters of the camera assembly 300 can be adjusted according to the characteristics of the pesticide spraying operation, thereby improving the flexibility and efficiency of the operation. The camera assembly 300 and the functional assembly 400 are integrated on the working end 210 of the mechanical arm 200, forming a closed-loop system of "what you see is what you do". The camera 330 directly collects real-time images (such as weed positions) of the working area, and can control the mechanical arm 200 to adjust the angle and force without coordinate conversion, with an error of millimeter level. It is especially suitable for complex terrain of transformer substations, avoiding the positioning delay problem of traditional split design.

[0061] The camera assembly 300 includes a protective shell 310, a wiper 320, and a camera 330. The protective shell 310 is provided with a light-transmitting piece 340, which can be made of glass or high-transmittance organic glass. The camera 330 is built-in the protective shell 310 and faces the light-transmitting piece 340. The protective shell 310 can protect the camera 330 from being hit by weeds and debris during operation. The light-transmitting piece 340 can ensure the normal operation of the camera 330, allowing the camera 330 to clearly see the outside situation. The wiper 320 is movably attached to the outer wall of the light-transmitting piece 340 and is driven by a driving member 350 to clean the surface impurities of the light-transmitting piece 340. The wiper 320 is driven by the driving member 350 to rotate in one direction, instantly removing dust and rainwater on the surface of the light-transmitting piece 340, solving the problem of high-voltage static adsorption of dust during weeding in transformer substations.

[0062] In the process of weeding in the substation, a large amount of dust, grass clippings and other debris will be generated, which will easily adhere to the light-transmitting piece 340, seriously affecting the image acquisition effect of the camera 330. The wiper 320 can timely remove the debris on the light-transmitting piece 340, ensuring that the camera 330 always obtains clear images. In the complex environment of the substation, clear images are the key to the precise operation of the weeding machine. It can help the device accurately identify the location and growth of weeds, provide a reliable visual basis for weeding operations, and improve the precision and efficiency of weeding. Without the wiper 320, the debris on the light-transmitting piece 340 needs to be cleaned regularly by hand, which not only consumes manpower, but also affects the normal operation time of the device. The automatic cleaning function of the wiper 320 greatly reduces the frequency of manual maintenance and improves the degree of automation of the device. Whether in rainy weather or in a dusty environment, the wiper 320 can play a role and ensure the normal operation of the camera 330. This makes the weeding machine stable in different weather and environmental conditions, improves the environmental adaptability and universality of the device, and expands the application range of the device.

[0063] As shown in Figures 4 to 7 Further, the driving member 350 is also located in the protective shell 310 to avoid direct contact of external dust and rainwater with the driving components, thereby improving the durability of the device. The driving member 350 is provided with a driving shaft 351 penetrating the light-transmitting piece 340, and the wiper 320 is driven to rotate through the driving shaft 351. The driving member 350 can be a driving motor, and the driving shaft 351 is a motor shaft. This driving mode is more direct, can reduce transmission components, and makes the structure more compact.

[0064] Further, the light-transmitting member 340 is provided with a through hole 341 through which the driving shaft 351 passes, so as to better arrange the driving shaft 351 to pass through the light-transmitting member 340 and can rotate freely. In order to avoid rain and dust entering the protective shell 310 through the gap between the driving shaft 351 and the light-transmitting member 340, a sealing member 360 is arranged between the driving shaft 351 and the through hole 341, and the sealing member 360 includes a sealing body 361, a first end ring 362 and a second end ring 363 fixed to both ends of the sealing body 361 respectively. Generally, the sealing body 361 is integrally arranged with the first end ring 362 and the second end ring 363, the sealing body 361 is sleeved on the driving shaft 351 and located between the driving shaft 351 and the through hole 341, the first end ring 362 and the second end ring 363 both extend radially outward, that is, the diameters of the first end ring 362 and the second end ring 363 are greater than the diameter of the sealing body 361, so that the first end ring 362 and the second end ring 363 can cover both ends of the through hole 341, the sealing body 361 is sleeved on the driving shaft 351, and the two end rings are fixed to the inner and outer walls of the light-transmitting member 340 to form a rigid connection, avoiding the sealing member 360 loosening or falling off when the driving shaft 351 rotates. The first end ring 362 is tightly attached to the outer wall of the light-transmitting member 340, and the second end ring 363 is tightly attached to the inner wall of the light-transmitting member 340. The sealing member 360 tightly attaches to the outer wall of the light-transmitting member 340 through the first end ring 362, and tightly attaches to the inner wall of the light-transmitting member 340 through the second end ring 363, forming a physical sealing barrier on the inner and outer sides, effectively preventing water vapor and dust from entering the interior of the protective shell 310 from the gap between the driving shaft 351 and the through hole 341.

[0065] A sealing ring 370 can also be added between the sealing body 361 and the driving shaft 351. Since the driving shaft 351 needs to rotate relative to the sealing body 361, the sealing ring 370 directly fills the gap between the sealing body 361 and the driving shaft 351, and tightly adheres when the driving shaft 351 rotates. Compared with the static sealing of the end ring alone, this design can effectively prevent water vapor and dust from entering the interior of the protective shell 310 from the gap between the dynamically rotating driving shaft 351 and the sealing body 361. The sealing ring 370 is made of low-friction coefficient material (such as fluorine rubber), which can reduce the resistance of the driving shaft 351 while ensuring the sealing performance.

[0066] Compared with the previous wiper 320, the wiper 320 in the application is not reciprocating within a certain angle, but the driving shaft 351 penetrates from the center of the light-transmitting piece 340, and the driving part 350 drives the wiper 320 to rotate continuously in one direction, for example, the driving part 350 drives the wiper 320 to rotate in the clockwise direction all the time, and the corresponding driving shaft 351 is connected to the center of the wiper 320, which rotates continuously in one direction without frequent reversing, and the wiper 320 continuously wipes off the dust, rainwater and other impurities on the surface of the light-transmitting piece 340, and when the driving shaft 351 drives the wiper 320 to rotate one circle, the same position on the light-transmitting piece 340 is swept twice by the wiper 320, and correspondingly the light-transmitting piece 340 can also be made into a circular shape, so that the wiper 320 can cover the entire light-transmitting piece 340, avoiding the generation of dead angles.

[0067] On the basis of the above-mentioned embodiments, the protective shell 310 is also provided with an illuminating part 380, such as an LED illuminating lamp, which supplements light in the condition of dim light, so that the camera 330 can clearly see the current environmental conditions. And the illuminating part 380 and the camera 330 are respectively located on the two sides of the driving part 350, so that the light supplement direction and the camera 330 visual angle form symmetrical distribution, avoiding the shadow or reflection problem caused by single light source, and ensuring that the light in the visual field of the camera 330 is uniformly covered. The driving part 350 serves as an intermediate partition, so that the illuminating part 380 and the camera 330 share the internal space of the protective shell 310, without the need for additional expansion structure, and the overall layout is compact. Through the design of the illuminating part 380 and the camera 330 being separately arranged on the two sides of the driving part 350, the independent advantages of uniform light coverage, compact structure and environmental adaptability are realized, and the image acquisition quality is optimized especially for the special working conditions of low light and dust in the substation.

[0068] In order to make the functional assembly 400 obtain the largest possible range of motion, the working end 210 of the mechanical arm 200 is located at the end of the mechanical arm 200 away from the moving mechanism 100, and the working end 210 is pivotally connected with a mounting seat 500, a control motor can be installed on the working end 210 to remotely control the angle of the mounting seat 500 relative to the working end 210, and the functional assembly 400 and the camera assembly 300 can be detachably connected to the mounting seat 500, in order to maintain the distance between the camera assembly 300 and the functional assembly 400, a support can be added to the mounting seat 500, and the camera assembly 300 is installed on the support, so that the camera assembly 300 can obtain the best shooting angle. The mounting seat 500 is pivotally connected with the working end 210, allowing the functional assembly 400 and the camera assembly 300 to rotate around the pivot, adjust the pitch angle, and adapt to complex terrain.

[0069] In the embodiment, the camera 330 assembly and the functional assembly 400 are arranged above and below, and the camera 330 assembly is located directly below the functional assembly 400, and the camera assembly 300 is located directly below the functional assembly 400, so that the best view angle of the functional assembly 400 during operation can be obtained. During weeding operation, the functional assembly 400 (such as a rotating blade or a pesticide spraying head) works to cause dynamic conditions such as grass shaking and pesticide spraying, and the camera assembly 300 can directly capture these processes to clearly present the operation state of the functional assembly 400. This layout can enhance the synergy between the functional assembly 400 and the camera assembly 300. Because the distance is short, the signal transmission delay is smaller, and after the camera assembly 300 collects image information of the operation area, the image information can be quickly transmitted to the control system, and the control system can quickly respond and accurately adjust the action of the functional assembly 400. For example, when the pesticide spraying function is used, the camera assembly 300 monitors the spraying range and concentration of the pesticide in real time, and once an abnormality is found, the control system can timely adjust the angle or amount of the pesticide spraying head to achieve accurate operation and avoid waste of pesticide and environmental pollution. From the overall layout of the equipment, the camera assembly 300 is located directly below the functional assembly 400, so that the center of gravity of the equipment is lower and the stability is better. When moving in a complex substation environment, the risk of tipping due to unstable center of gravity can be reduced. Moreover, when designing the equipment protection, an integrated protective shell can be used to protect the functional assembly 400 and the camera assembly 300, so as to reduce the complexity of the protective structure, improve the protection effect, and reduce the equipment manufacturing cost.

[0070] As shown in Figure 1 , Figure 2 based on the above embodiment, in the mobile mechanism 100 of the embodiment, in addition to the chassis 110, four Mecanum wheels 120 are installed on the chassis 110, the Mecanum wheels 120 are directly integrated with the chassis 110, the mechanical arm 200 is rigidly connected with the chassis 110, the overall structure is compact, the complex transmission parts of the traditional track-type mobile mechanism 100 are avoided, the Mecanum wheels 120 can realize omnidirectional movement, including horizontal translation, oblique movement and rotation in place, etc., which enables the weeding machine to freely shuttle in the narrow space and complex terrain of the substation. Therefore, the connecting end 220 of the mechanical arm 200 is arranged on the chassis 110 to rotate in the vertical plane, the rotation in the vertical direction can be realized by controlling the Mecanum wheels 120, and the mechanical arm 200 only needs to realize the rotation in the vertical plane, which greatly expands the operation coverage of the weeding machine.

[0071] Further, each Mecanum wheel 120 is driven by a separate DC drive motor 130, each Mecanum wheel 120 is connected with an independent DC drive motor 130, the rotation speed and direction of the four wheels are independently adjusted through differential control, the steering angle and torque of each wheel can be accurately controlled, and millimeter-level path correction can be realized.

[0072] According to the operation purpose, the type of the functional component 400 is selected, such as weeding or pesticide spraying. The Mecanum wheel 120 is driven by the direct current motor 130 to drive the whole device to the designated location, and the operation is started. During this period, the camera 330 is used to observe the operation of the functional component 400. When dust or weeds cover the light-transmitting piece 340 and affect the observation of the camera 330, the wiper 320 is started to rotate to clean the debris on the light-transmitting piece 340, ensuring that the camera 330 can normally observe, and the illuminating piece 380 can also be started to supplement light in insufficient light. For different height operation requirements, the height and angle of the mechanical arm 200 are adjusted to realize accurate operation of the functional component 400. The Mecanum wheel 120 is matched with the moving mechanism 100 of the direct current motor 130 to realize omnidirectional movement, which can quickly reach any weed area in the substation, and the four motors are independently driven, which is powerful and has strong climbing and obstacle crossing ability, reducing the moving time. The mechanical arm 200 has multiple degrees of freedom and can flexibly adjust the position and angle of the functional component 400, and accurately align the weeds. The wiper 320 of the camera assembly 300 continuously cleans the light-transmitting piece 340, ensuring clear imaging of the camera 330, providing precise visual guidance for the mechanical arm 200 and the functional component 400, making the weeding operation precise and efficient, and avoiding damage to the equipment due to misoperation. The functional component 400 (weeding, pesticide spraying) and the camera assembly 300 are detachably arranged on the working end 210 of the mechanical arm 200, and can be quickly replaced according to different operation requirements. In the area with dense weeds, the weeding component is used, and the pesticide spraying component is replaced during the high incidence period of pests and diseases, which meets various operation scenes and improves the utilization rate and applicability of the equipment. The driving part 350 is arranged in the protective shell 310, the driving shaft 351 penetrates the light-transmitting piece 340 to drive the wiper 320 to rotate, the structure is compact, and the failure points are reduced. The multiple sealing designs between the light-transmitting piece 340 and the driving shaft 351 effectively block dust, rainwater and other impurities from entering, protect the internal electronic elements, and prolong the service life of the equipment. The illuminating piece 380 and the camera 330 are arranged on both sides of the driving part 350, which can ensure that the light uniformly illuminates the working area, reduces the interference of reflection, ensures clear image acquisition, and can stably work even in a dim environment. The modular design of each component, the detachable functional component 400 and camera assembly 300 can be quickly replaced when a fault occurs, which shortens the downtime. The direct current motor 130 of the moving mechanism 100 is independently arranged, a single motor failure does not affect the work of other motors, and is convenient for individual maintenance or replacement, reducing the maintenance cost.

[0073] The above only describes specific embodiments of the present application, but the technical features of the present application are not limited to this. Any person skilled in the art in the field of the present application makes changes or modifications, which are covered by the patent scope of the present application.

Claims

1. A substation weeding machine, characterized in that, include: The moving mechanism is used for the overall movement of the weed cutter; A robotic arm includes a working end and a connecting end, wherein the connecting end is connected to a moving mechanism; A camera assembly includes a protective housing, a wiper, and a camera. The protective housing has a light-transmitting element, and the camera is built into the protective housing and faces the light-transmitting element. The wiper is movably attached to the outer wall of the light-transmitting element, and the wiper is connected to a drive component that drives the wiper to clean impurities on the surface of the light-transmitting element. A functional component is also included for treating weeds. Both the functional components and the camera components can be detachably mounted on the working end of the robotic arm.

2. The substation weeding machine as described in claim 1, characterized in that, The drive unit is located inside the protective housing, and the drive unit is provided with a drive shaft that penetrates the light-transmitting element to drive the wiper to rotate.

3. A substation weeding machine as described in claim 2, characterized in that, The light-transmitting element has a through hole for the drive shaft to pass through. A sealing element is provided between the drive shaft and the through hole. The sealing element includes a sealing body, a first end ring and a second end ring respectively fixed to both ends of the sealing body. The sealing body is sleeved on the drive shaft. The first end ring is in close contact with the outer wall of the light-transmitting element, and the second end ring is in close contact with the inner wall of the light-transmitting element.

4. A substation weeding machine as described in claim 3, characterized in that, A sealing ring is also provided between the sealing body and the drive shaft.

5. A substation weeding machine as described in any one of claims 2 to 4, characterized in that, The drive shaft extends from the center of the light-transmitting element, and the drive element drives the wiper to rotate continuously in one direction.

6. A substation weeding machine as described in claim 1, characterized in that, The protective housing is also equipped with an illumination element, and the illumination element and the camera are located on both sides of the drive unit, respectively.

7. A substation weeding machine as described in claim 1, characterized in that, The working end is located at the end of the robotic arm away from the moving mechanism. The working end is pivotally connected to a mounting base, and both the functional components and the camera components are detachably connected to the mounting base.

8. A substation weeding machine as described in claim 7, characterized in that, The camera component is located directly below the functional component.

9. A substation weeding machine as described in claim 1, characterized in that, The moving mechanism includes a chassis and four Mecanum wheels rotatably mounted on the chassis, and the connecting end of the robotic arm is rotatably mounted on the chassis in a vertical plane.

10. A substation weeding machine as described in claim 9, characterized in that, A DC drive motor is also fixed on the chassis, and each Mecanum wheel is connected to a DC drive motor.

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