Mountain adaptive substation inspection robot and use method

Abstract

The embodiment of the application provides a mountain self-adaptive transformer substation inspection robot and a use method, which comprise a shock avoidance mechanism, a self-stabilizing holder mechanism and a control unit; the shock avoidance mechanism comprises a shock absorber and a suspension, the shock absorber is arranged on the suspension, one end of the suspension is connected with a wheel knuckle, and the other end is connected with a vehicle frame; the self-stabilizing holder mechanism comprises a first support, a second support and a third support, the first support and the second support are connected through a pitch shaft, the second support and the third support are connected through a roll shaft, the third support is connected with a platform through a yaw shaft, and the platform is connected with the vehicle frame through a connecting rod; an image acquisition unit and a posture sensor are arranged on the first support; a signal input end of the control unit is connected with a signal output end of the posture sensor, a control end of the control unit is connected with first, second and third driving units, and the first, second and third driving units are connected with the pitch shaft, the roll shaft and the yaw shaft respectively. The robot can realize stable driving and visual monitoring.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a mountain-adaptive substation inspection robot and its usage method. Background Technology

[0002] Inspection robots are an important equipment maintenance tool, widely used in wind farm facilities, field power transmission networks, emergency maintenance and repair, and other scenarios. As infrastructure networks extend into unstructured areas, emergency rescue and field infrastructure construction tasks place higher demands on the all-terrain mobility and visual monitoring stability of inspection equipment.

[0003] In complex terrain environments, traditional inspection robots have poor maneuverability, are affected by severe vibrations during movement, and have poor accuracy and stability in visual data acquisition. Summary of the Invention

[0004] In view of this, the purpose of this application is to propose a mountain-adaptive substation inspection robot and its usage method.

[0005] Based on the above objectives, this application provides a mountain-adaptive substation inspection robot, including: a shock-absorbing mechanism, a self-stabilizing gimbal mechanism, and a control unit;

[0006] The shock absorption mechanism includes a shock absorber and a suspension. The shock absorber is mounted on the suspension. One end of the suspension is connected to the wheel steering knuckle, and the other end is connected to the vehicle frame. The self-stabilizing gimbal mechanism includes a first bracket, a second bracket, and a third bracket. The first bracket and the second bracket are connected by a pitch axis, the second bracket and the third bracket are connected by a roll axis, the third bracket is connected to the platform by a yaw axis, and the platform is connected to the vehicle frame by a connecting rod. The first bracket is equipped with an image acquisition unit and an attitude sensor. The signal input terminal of the control unit is connected to the signal output terminal of the attitude sensor, and the control terminal of the control unit is connected to the first drive unit, the second drive unit, and the third drive unit. The first drive unit, the second drive unit, and the third drive unit are respectively connected to the pitch axis, the roll axis, and the yaw axis.

[0007] Optionally, the frame includes an upper frame and a lower frame connected by a support member. The lower frame is provided with a drive mechanism, and the upper frame is provided with a steering mechanism, the shock absorption mechanism, and a self-stabilizing gimbal mechanism.

[0008] Optionally, the suspension includes an upper suspension and a lower suspension. One end of the upper suspension is connected to the upper frame, and the other end of the upper suspension is connected to the wheel steering knuckle. One end of the lower suspension is connected to the lower frame, and the other end of the lower suspension is connected to the wheel steering knuckle.

[0009] Optionally, one end of the shock absorber is connected to the upper suspension, and the other end of the shock absorber is connected to the upper frame via a tapered bracket.

[0010] Optionally, the steering mechanism includes a steering motor and a steering push rod; the steering motor is mounted on the upper frame, and the output shaft of the steering motor is connected to the wheel steering knuckle through a transmission component and the steering push rod.

[0011] Optionally, the steering push rod is provided with a limiting block.

[0012] Optionally, the drive mechanism includes a drive motor, a drive spindle, and a wheel axle. The drive motor and the drive spindle are mounted on the lower frame. The output shaft of the drive motor is connected to the wheel via a transmission belt, the drive spindle, and the wheel axle.

[0013] Optionally, the connecting rod is a lifting rod, the platform is connected to the upper frame through the lifting rod, the control signal output terminal of the control unit is connected to the lifting drive unit, and the lifting drive unit is connected to the lifting rod.

[0014] Optionally, the vehicle frame is equipped with a temperature and humidity sensor, a dust concentration sensor, and a gas detector. The signals detected by the temperature and humidity sensor, the dust concentration sensor, and the gas detector are transmitted to a remote center through a communication module.

[0015] This application also provides a method for using a mountain adaptive substation inspection robot, which performs inspections using the mountain adaptive substation inspection robot as described in any one of claims 1-9.

[0016] As described above, the mountain-adaptive substation inspection robot and its usage method provided in this application include a shock-absorbing mechanism, a self-stabilizing gimbal mechanism, and a control unit. The shock-absorbing mechanism includes a shock absorber and a suspension. The shock absorber is mounted on the suspension, with one end connected to the wheel steering knuckle and the other end connected to the vehicle frame. The self-stabilizing gimbal mechanism includes a first support, a second support, and a third support. The first and second supports are connected via a pitch axis, the second and third supports are connected via a roll axis, and the third support is connected to the platform via a yaw axis. The platform is connected to the vehicle frame via a connecting rod. The first support is equipped with an image acquisition unit and an attitude sensor. The signal input terminal of the control unit is connected to the signal output terminal of the attitude sensor, and the control terminal of the control unit is connected to the first, second, and third drive units. The first, second, and third drive units are respectively connected to the pitch axis, roll axis, and yaw axis. This mountain-adaptive substation inspection robot can achieve stable driving and visual monitoring in complex terrain, improving the practicality and reliability of the inspection equipment. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application; Figure 2 This is a schematic diagram of the self-stabilizing gimbal mechanism according to an embodiment of this application; Figure 3 This is a top view of the shock-absorbing mechanism according to an embodiment of this application; Figure 4 This is a side view of the shock absorption mechanism according to an embodiment of this application; Figure 5 This is a schematic diagram of the rotating mechanism according to an embodiment of this application; Figure 6 This is a schematic diagram of the drive mechanism according to an embodiment of this application; Figure 7 This is a schematic diagram of the structure of the environmental monitoring module according to an embodiment of this application; Figure 8 This is a structural block diagram of the control unit in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0020] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] like Figure 1 , 2As shown in Figures 8 and 9, this application provides a mountain-adaptive substation inspection robot, including: a shock-absorbing mechanism 6, a self-stabilizing gimbal mechanism 2, and a control unit 4; The shock absorption mechanism 6 includes a shock absorber 63 and a suspension. The shock absorber 63 is mounted on the suspension. One end of the suspension is connected to the wheel steering knuckle 83, and the other end is connected to the vehicle frame 1. The self-stabilizing gimbal mechanism 2 includes a first bracket 24, a second bracket 25, and a third bracket 26. The first bracket 24 and the second bracket 25 are connected by a pitch axis 21, the second bracket 25 and the third bracket 26 are connected by a roll axis 22, the third bracket 26 is connected to the platform 3 by a yaw axis 23, and the platform 3 is connected to the vehicle frame 1 by a connecting rod. An image acquisition unit 27 and an attitude sensor are provided on the first bracket 24. The signal input terminal of the control unit is connected to the signal output terminal of the attitude sensor, and the control terminal of the control unit is connected to the first drive unit, the second drive unit, and the third drive unit. The first drive unit, the second drive unit, and the third drive unit are respectively connected to the pitch axis 21, the roll axis 22, and the yaw axis 23.

[0022] The mountain-adaptive substation inspection robot provided in this embodiment has a shock absorption mechanism 6 and a self-stabilizing gimbal mechanism 2 on its frame. The shock absorption mechanism 6 includes a shock absorber and a suspension. The frame is connected to the wheel steering knuckles 83 through the suspension. During the robot's movement, the shock absorption mechanism can attenuate road vibrations and improve the robot's stability. In some embodiments, the shock absorber 63 consists of a spring and a monotube shock absorber, installed at approximately a 40° angle to the ground. The spring reduces impact, and the monotube shock absorber filters out excess vibrations.

[0023] The self-stabilizing gimbal mechanism 2 is a three-degree-of-freedom gimbal structure. The first support 24 and the second support 25 are connected via a pitch axis 21, the second support 25 and the third support 26 are connected via a roll axis 22, and the third support 26 is connected to the platform 3 via a yaw axis 23. The first support 24 can rotate around the pitch axis 21 in a left-right direction within a first angle range, the second support 25 can rotate around the roll axis 22 in a vertical direction within a second angle range, and the third support can rotate around the yaw axis 23 on the plane of the platform within a third angle range. Optionally, the first angle range and the second angle range can be ±90° or ±45°, and the third angle range is 360°. The layered orthogonal layout of the three-degree-of-freedom gimbal structure effectively reduces interference between the movements of each axis and facilitates independent control.

[0024] The first support 24 is equipped with an image acquisition unit 27 and an attitude sensor. The first drive unit, the second drive unit, and the third drive unit are respectively connected to the pitch axis 21, the roll axis 22, and the yaw axis 23. The signal output terminal of the attitude sensor is connected to the signal input terminal of the control unit. The control unit can drive one or more of the pitch axis 21, the roll axis 22, and the yaw axis 23 to rotate by controlling one or more of the first drive unit, the second drive unit, and the third drive unit, thereby adjusting the shooting angle and range of the image acquisition unit 27 on the first support 24.

[0025] In some methods, the control unit controls the first drive unit, the second drive unit, and the third drive unit to operate according to preset control parameters, so that the pitch axis 21, the roll axis 22, and the yaw axis 23 rotate at a specific angle according to the preset control parameters, and the image acquisition unit captures images of a specific area.

[0026] In other embodiments, the control signal output terminal of the control unit is connected to the button unit, and control parameters can be input using the button unit. The control unit controls the first drive unit, the second drive unit, and the third drive unit to operate according to the set control parameters, so that the pitch axis 21, the roll axis 22, and the yaw axis 23 rotate at a specific angle according to the set control parameters, and the image acquisition unit captures the target area.

[0027] In other methods, the control unit determines the current attitude of the first support 24 based on the attitude signal collected by the attitude sensor, compares the current attitude with the preset attitude parameters, and if the current attitude deviates from the attitude parameters, determines the control parameters through PID control. The first drive unit, the second drive unit, and the third drive unit are controlled to operate according to the determined control parameters, so that the pitch axis 21, the roll axis 22, and the yaw axis 23 rotate by a specific angle according to the control parameters, adjusting the first support 24 to the predetermined attitude corresponding to the attitude parameters. The target area is then captured by the image acquisition unit to ensure the stability of image monitoring.

[0028] In other methods, the signal input terminal of the control unit is connected to the wireless communication module, which receives attitude control commands from the remote center. The control unit controls the first drive unit, the second drive unit, and the third drive unit to perform actions according to the received attitude control commands, thereby realizing remote control of the attitude of the self-stabilizing gimbal mechanism.

[0029] In some configurations, the image acquisition unit uses a depth camera with a multi-input design that supports hot-swapping of the power supply. When the battery is low, a quick hot-swap replacement ensures stable image acquisition during battery swapping. The depth camera can also be directly powered by the robot's power module. The image acquisition unit uses a quick-release knob mounting design, allowing for rapid camera replacement for different operating conditions.

[0030] In some embodiments, the frame 1 includes an upper frame 10 and a lower frame 11 connected by a support member. The lower frame 11 is provided with a drive mechanism, and the upper frame 10 is provided with a steering mechanism 8, a shock absorption mechanism 6 and a self-stabilizing gimbal mechanism 2. The middle part of the upper frame 10 is connected to the platform 3 through multiple connecting rods 32.

[0031] like Figure 3 , 4 As shown, in some embodiments, the suspension includes an upper suspension 61 and a lower suspension 62. One end of the upper suspension 61 is connected to the upper frame 10, and the other end is connected to the wheel steering knuckle 83. One end of the lower suspension 62 is connected to the lower frame 11, and the other end is connected to the wheel steering knuckle 83. The suspension structure is used to ensure that the wheels maintain the correct trajectory during movement relative to the frame, reducing tire wear and driving resistance. One end of the shock absorber 63 is connected to the upper suspension 61, and the other end is connected to the upper frame 10 via a tapered bracket 64.

[0032] like Figure 5 As shown, in some embodiments, the steering mechanism 8 includes a steering motor 81 and a steering push rod 82. The steering motor 81 is mounted on the upper frame 10, and the output shaft of the steering motor is connected to the wheel steering knuckle 83 via a transmission component and the steering push rod 82. In some embodiments, the output shaft of the steering motor is provided with a gear 85, and the steering push rod 82 is provided with a rack 86 at a position corresponding to the steering motor. The gear 85 and the rack 86 mesh, and the forward and reverse rotation of the motor drives the rotating push rod 82 to move left and right, thereby causing the wheel to rotate left and right. In some embodiments, both the front and rear wheels of the frame are provided with steering mechanisms, which can significantly shorten the turning radius of the robot and facilitate steering in narrow and congested areas.

[0033] In some embodiments, the steering push rod 82 is provided with a limiting block 84 to limit the rotation range of the wheel and prevent mechanical interference caused by oversteering.

[0034] like Figure 6 As shown, in some embodiments, the drive mechanism includes a drive motor 71, a drive spindle 72, and a wheel axle 73. The drive motor 71 and the drive spindle 72 are mounted on the lower frame 11. The output shaft of the drive motor 71 is connected to the wheel via a transmission belt 74, the drive spindle 72, and the wheel axle 73. In some embodiments, a first gear 75 is provided at the end of the drive spindle 72, and a second gear 76 is provided on the wheel axle 73 at a position corresponding to the drive spindle. The first gear meshes with the second gear, causing the drive motor 71 to rotate, which in turn drives the drive spindle 72 to rotate via the transmission belt 74, and then drives the wheel axle to rotate via the gear set, thus driving the wheel to rotate. Optionally, the drive motor and the rotating motor are high-torque motors.

[0035] like Figure 1As shown, in some embodiments, the connecting rod 32 is a lifting rod. The platform 3 is connected to the upper frame 10 through the lifting rod. The control signal output terminal of the control unit is connected to the lifting drive unit. The lifting drive unit is connected to the lifting rod. The lifting rod can be driven to rise or fall through the lifting drive unit, thereby adjusting the shooting height and range of the image acquisition unit.

[0036] In some embodiments, a power module 9 is installed on the lower frame 11. The power module includes a DC generator and a UPS power supply. The UPS power supply has an AC power interface and multiple output ports, providing multiple energy input and output options. External AC power can be connected through the AC power interface, which is converted to DC power by the UPS's built-in converter. One output charges the battery, while the other directly powers the robot's various modules, prioritizing the use of external power to reduce generator losses. When the external power supply is interrupted or the generator stops, the UPS power supply automatically switches to battery discharge mode, converting the DC power to the required voltage through the built-in inverter.

[0037] like Figure 7 As shown, in some embodiments, the chassis is equipped with a temperature and humidity sensor, a dust concentration sensor, and a gas detector. The signals detected by the temperature and humidity sensor, dust concentration sensor, and gas detector are transmitted to a remote center via a communication module. Specifically, the upper chassis 10 is equipped with an environmental monitoring module 5, which integrates a temperature and humidity sensor 51, a dust concentration sensor 52, a gas detector 53, and a communication module. The temperature and humidity signals collected by the temperature and humidity sensor 51, the dust concentration signals collected by the dust concentration sensor 52, and the gas signals detected by the gas detector 53 are transmitted to a remote center via the communication module. Based on the received signals, the remote center monitors the operating environment of the equipment to ensure that the electrical equipment operates efficiently within a suitable temperature and humidity range, avoids high concentrations of dust affecting the normal operation of the equipment, provides a basis for personnel to wear protective equipment, and promptly alarms when harmful gases are detected to avoid safety accidents and ensure safety.

[0038] In some configurations, the control unit can also receive drive control commands, rotation control commands, lifting control commands, camera parameter commands, etc., sent from the remote center, for remote control of the robot's movement, turning, gimbal lifting, camera parameter adjustment, etc., improving the robot's mobility and flexibility; images acquired by the image acquisition unit can be transmitted to the remote center via a wireless communication module to achieve remote image monitoring.

[0039] In some configurations, the control unit's data output is connected to a display screen, which displays relevant data such as current attitude, power level, and vehicle speed.

[0040] The mountain-adaptive substation inspection robot provided in this application embodiment is equipped with a shock-absorbing mechanism to reduce the vibration impact of complex terrain on robot operation. Its three-axis self-stabilizing gimbal mechanism allows for adjustable posture, enabling stable and adjustable visual monitoring. Equipped with a high-torque motor and multi-stage transmission, it possesses high passability and adaptability to complex terrain. The robot is suitable for scenarios such as wind farm emergency rescue and disaster relief, and field inspection operations, featuring rapid deployment, high mobility, and strong environmental adaptability.

[0041] This application also provides a method for using a mountain adaptive substation inspection robot, which performs inspections using the aforementioned mountain adaptive inspection robot.

[0042] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0043] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0044] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0045] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this disclosure.

Claims

1. A mountain-adaptive substation inspection robot, characterized in that, include: Vibration damping mechanism, self-stabilizing gimbal mechanism, and control unit; The shock absorption mechanism includes a shock absorber and a suspension. The shock absorber is mounted on the suspension. One end of the suspension is connected to the wheel steering knuckle, and the other end is connected to the vehicle frame. The self-stabilizing gimbal mechanism includes a first bracket, a second bracket, and a third bracket. The first bracket and the second bracket are connected by a pitch axis, the second bracket and the third bracket are connected by a roll axis, the third bracket is connected to the platform by a yaw axis, and the platform is connected to the vehicle frame by a connecting rod. The first bracket is equipped with an image acquisition unit and an attitude sensor. The signal input terminal of the control unit is connected to the signal output terminal of the attitude sensor, and the control terminal of the control unit is connected to the first drive unit, the second drive unit, and the third drive unit. The first drive unit, the second drive unit, and the third drive unit are respectively connected to the pitch axis, the roll axis, and the yaw axis.

2. The robot according to claim 1, characterized in that, The vehicle frame includes an upper frame and a lower frame connected by a support member. The lower frame is equipped with a drive mechanism, and the upper frame is equipped with a steering mechanism, a shock absorption mechanism, and a self-stabilizing gimbal mechanism.

3. The robot according to claim 2, characterized in that, The suspension includes an upper suspension and a lower suspension. One end of the upper suspension is connected to the upper frame, and the other end of the upper suspension is connected to the wheel steering knuckle. One end of the lower suspension is connected to the lower frame, and the other end of the lower suspension is connected to the wheel steering knuckle.

4. The robot according to claim 3, characterized in that, One end of the shock absorber is connected to the upper suspension, and the other end of the shock absorber is connected to the upper frame via a tapered bracket.

5. The robot according to claim 2, characterized in that, The steering mechanism includes a steering motor and a steering push rod; the steering motor is mounted on the upper frame, and the output shaft of the steering motor is connected to the wheel steering knuckle through a transmission component and the steering push rod.

6. The robot according to claim 5, characterized in that, The steering push rod is equipped with a limit block.

7. The robot according to claim 2, characterized in that, The drive mechanism includes a drive motor, a drive spindle, and a wheel axle. The drive motor and drive spindle are mounted on the lower frame. The output shaft of the drive motor is connected to the wheel via a transmission belt, the drive spindle, and the wheel axle.

8. The robot according to claim 2, characterized in that, The connecting rod is a lifting rod, and the platform is connected to the upper frame through the lifting rod. The control signal output terminal of the control unit is connected to the lifting drive unit, and the lifting drive unit is connected to the lifting rod.

9. The robot according to claim 1, characterized in that, The vehicle frame is equipped with a temperature and humidity sensor, a dust concentration sensor, and a gas detector. The signals detected by the temperature and humidity sensor, the dust concentration sensor, and the gas detector are transmitted to a remote center through a communication module.

10. A method for using a mountain-adaptive substation inspection robot, characterized in that, Inspections are carried out using the mountain-adaptive substation inspection robot as described in any one of claims 1-9.

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