Inspection robot with high-definition panoramic camera

Abstract

The inspection robot comprises a cradle head assembly, a camera assembly is fixedly arranged at the top end of the cradle head assembly, and the bottom end of a cradle head is fixedly connected with a movable base; the camera assembly comprises a plurality of wide-angle cameras arranged in the circumferential direction. The holder assembly comprises a stand column and a photo-thermal module, a position sensing device is arranged on the stand column, a driving motor is installed at the bottom end of the stand column, the photo-thermal module is slidably matched with the stand column, the driving motor drives the photo-thermal module to slide up and down, and the photo-thermal module comprises a thermal imaging module and a visible light module; pulleys are arranged at the bottom of the movable base, a front camera and a loudspeaker are arranged in front of the movable base, a rear camera, a charging interface and a sound pickup are arranged behind the movable base, and a laser radar is arranged on the top surface of the movable base. According to the utility model, the requirements of no-dead-angle snapshot and real-time inspection monitoring can be met in the moving process.

Description

Technical Field

[0001] The utility model relates to the field of electric power inspection equipment, in particular to an inspection robot with a high-definition panoramic camera. Background Art

[0002] Power energy inspection management requires regular full coverage or designated area inspections of power equipment and various cabinets to identify abnormal and dangerous situations in advance, accumulate and count abnormal cycles, and report and alarm in a timely manner. Current inspection applications still retain a large number of manual operation scenarios, which require a lot of manpower costs. Intelligent inspection robots are currently developing rapidly and are an effective solution to current inspection needs.

[0003] Most of the current intelligent inspection robots are basically mobile vehicles that use laser navigation or visual navigation to achieve point movement, and add upper-mounted pan-tilt cameras and various hazardous gas sensors to realize information collection and judgment of the required inspection points. However, during the inspection process, especially when multiple collection points are scattered at different heights, the robot needs to move to a specific collection point and adjust the pan-tilt to a pre-taught position for fixed-point photography. Generally, during this process, the pan-tilt is first roughly adjusted to the taught shooting angle, and then the angle is fine-tuned to achieve precise positioning of the target point. The process requires a lot of manual teaching and calibration, and the pan-tilt alignment takes a lot of time during the inspection process, which is relatively inefficient.

[0004] Generally, the robot camera is installed on the vehicle body, which makes it impossible to remotely visually inspect the vehicle body shell. At the same time, during the robot operation, the pan-tilt camera has a limited field of view and cannot achieve all-round shooting, resulting in a large number of information gaps and making it impossible to ensure that the process is fully traceable and monitorable. Utility Model Content

[0005] The utility model aims to provide an inspection robot with a high-definition panoramic camera, which can meet the requirements of no-dead-angle capture and real-time inspection and monitoring during movement.

[0006] In order to achieve the above purpose, the utility model is implemented by adopting the following technical solutions:

[0007] The utility model discloses an inspection robot with a high-definition panoramic camera, which comprises a pan-tilt assembly. A camera assembly is fixedly arranged at the top end of the pan-tilt assembly, and a moving base is fixedly connected to the bottom end of the pan-tilt. The camera assembly comprises a plurality of wide-angle cameras arranged circumferentially. The pan-tilt assembly comprises a column and a photothermal module. A position sensing device is arranged on the column. A driving motor is installed at the bottom end of the column. The photothermal module is slidably adapted to the column. The driving motor drives the photothermal module to slide up and down. The photothermal module comprises a thermal imaging module and a visible light module. The bottom of the moving base is provided with pulleys. The front of the moving base is provided with a front camera and a speaker. The rear of the moving base is provided with a rear camera, a charging interface and a pickup. The top surface of the moving base is provided with a lidar.

[0008] Preferably, a heat sink is arranged between the camera assembly and the pan-tilt assembly. The camera assembly has a total of four vertical sides, and the shooting angle of the wide-angle camera is ≥180°.

[0009] Preferably, a housing is arranged outside the column. The position sensing device comprises an upper limit sensor and a lower limit sensor. The upper limit sensor is fixedly arranged at the top of the column, and the lower limit sensor is fixedly arranged at the bottom of the column.

[0010] Preferably, the photothermal module comprises a sliding table and a slider. The sliding table and the slider are fixedly connected to the tail end of the support beam, and the photothermal module is fixedly connected to the head end of the support beam.

[0011] Preferably, the column is slidably connected to a drag chain through a fixed clamp.

[0012] Preferably, a reinforcing fastener is arranged at the bottom end of the column.

[0013] Preferably, the pulley comprises a driving wheel and a driven wheel.

[0014] Preferably, a front touch edge is arranged at the bottom of the front of the moving base, a rear touch edge is arranged at the bottom of the rear of the moving base, a front indicator light is arranged at the top of the front of the moving base, a rear indicator light is arranged at the top of the rear of the moving base, and a single-line radar is arranged above the front touch edge.

[0015] Preferably, an emergency stop button is arranged on the top surface of the moving base.

[0016] Preferably, the charging interface is a charging pole piece.

[0017] The beneficial effects of the utility model are as follows:

[0018] 1. The top of the utility model is equipped with high-definition panoramic video and panoramic photography capabilities, which can improve all-round video monitoring and photographic recording during inspection operations;

[0019] 2. The utility model uses a panoramic camera composed of four high-definition cameras, which can realize panoramic photography of dynamic processes. The relatively high installation position of the camera can take high-definition photos of the target object at an appropriate shooting angle under the most reasonable image distortion conditions, and is especially suitable for narrow aisle scenarios;

[0020] 3. The utility model adopts two cameras at the front and rear of the mobile base and a liftable dual-light thermal imaging pan-tilt head, which can achieve 360-degree dead-angle-free video monitoring and photographing. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a front view schematic diagram of the utility model;

[0022] Figure 2 is a rear view schematic diagram of the utility model;

[0023] Figure 3 is a front view schematic diagram of the pan-tilt head assembly;

[0024] Figure 4 is a rear view schematic diagram of the pan-tilt head assembly;

[0025] Figure 5 is a schematic diagram of the camera assembly.

[0026] In the figures: 1-camera assembly, 1.1-wide-angle camera, 1.2-heat sink, 1.3-screw, 2-pan-tilt head assembly, 2.1-slide table slider, 2.2-column, 3-front camera, 4-single-line radar, 5-front touch edge, 6-rear touch edge, 7-drive wheel, 8-emergency stop button, 9-lidar, 10-housing, 11-optical thermal module, 11.1-visible light module, 11.2-thermal imaging module, 12-upper limit sensor, 13-lower limit sensor, 14-reinforcing fastener, 15-drive motor, 16-support beam, 17-drag chain, 18-fixed clamp, 19-speaker, 20-front indicator light, 21-rear camera, 22-charging electrode plate, 23-rear indicator light, 24-pickup, 25-driven wheel. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] In order to make the purpose, technical solutions and advantages of the utility model clearer, the following further details the utility model with reference to the accompanying drawings.

[0028] As Figures 1-5 shown, the utility model includes a pan-tilt head assembly 2, a camera assembly 1 is fixedly arranged at the top of the pan-tilt head assembly 2, and the bottom of the pan-tilt head is fixedly connected to a mobile base; the camera assembly 1 includes a plurality of wide-angle cameras 1.1 arranged circumferentially; the pan-tilt head assembly 2 includes a column 2.2 and an optical thermal module 11, a position sensing device is arranged on the column 2.2, a drive motor 15 is installed at the bottom of the column 2.2, the optical thermal module 11 is slidably adapted to the column 2.2, the drive motor 15 drives the optical thermal module 11 to slide up and down, and the optical thermal module 11 includes a thermal imaging module 11.2 and a visible light module 11.1; the bottom of the mobile base is provided with pulleys, the front of the mobile base is provided with a front camera 3 and a speaker 19, the rear of the mobile base is provided with a rear camera 21, a charging interface and a pickup 24, and a lidar 9 is arranged on the top surface of the mobile base.

[0029] To prevent the camera component 1 from overheating and damaging the camera, a heat sink 1.2 is provided between the camera component 1 and the pan-tilt component 2. The camera component 1, the heat sink 1.2, and the pan-tilt component 2 are fixedly connected by screws 1.3. The camera component 1 has a total of four vertical sides, and the shooting angle of the wide-angle camera 1.1 is ≥180°.

[0030] To prevent the device from rubbing against the equipment under inspection, a housing 10 is provided outside the column 2.2. The position sensing device includes an upper limit sensor 12 and a lower limit sensor 13. The upper limit sensor 12 is fixedly installed at the top of the column 2.2, and the lower limit sensor 13 is fixedly installed at the bottom of the column 2.2.

[0031] The photothermal module 11 includes a slide table slider 2.1. The slide table slider 2.1 is fixedly connected to the tail end of the support beam 16, and the photothermal module 11 is fixedly connected to the head end of the support beam 16. The column 2.2 is slidably connected to the drag chain 17 through a fixed clamp 18, and a strengthening fastener 14 is provided at the bottom end of the column 2.2.

[0032] While ensuring the mobility of the device, to further maintain the stability of the device, the pulley includes a driving wheel 7 and a plurality of driven wheels 25, and the plurality of driven wheels 25 are distributed in a matrix.

[0033] To prevent the device from colliding with the equipment under inspection, a front touch edge 5 is provided at the bottom of the front of the moving base, a rear touch edge 6 is provided at the bottom of the rear of the moving base, a front indicator light 20 is provided at the top of the front of the moving base, a rear indicator light 23 is provided at the top of the rear of the moving base, and a single-line radar 4 is provided above the front touch edge 5.

[0034] An emergency stop button 8 is provided on the top surface of the moving base.

[0035] To enable the device to charge itself, the charging interface is a charging electrode plate 22.

[0036] During actual use, the high-definition panoramic video and panoramic photo capabilities are realized through the wide-angle camera 1.1 at the top, and all-round video monitoring and photo recording are carried out during the inspection operation. While using the moving base to ensure the mobility, the front and rear cameras of the moving base and the pan-tilt component 2 can achieve 360° dead-angle-free video monitoring and photo taking.

[0037] Certainly, the present utility model can also have many other embodiments. Without departing from the spirit and essence of the present utility model, those skilled in the art can make various corresponding changes and deformations according to the present utility model, but these corresponding changes and deformations should all fall within the protection scope of the appended claims of the present utility model.

Claims

1. An inspection robot with a high-definition panoramic camera, characterized in that: It includes a pan-tilt assembly (2), with a camera assembly (1) fixedly installed at the top of the pan-tilt assembly (2), and a mobile base fixedly connected to the bottom of the pan-tilt. The camera assembly (1) includes a plurality of wide-angle cameras (1.1) arranged circumferentially. The pan-tilt assembly (2) includes a column (2.2) and a photothermal module (11). A position sensing device is provided on the column (2.2), a driving motor (15) is installed at the bottom of the column (2.2), the photothermal module (11) is slidably adapted to the column (2.2), and the driving motor (15) drives the photothermal module (11) to slide up and down. The photothermal module (11) includes a thermal imaging module (11.2) and a visible light module (11.1). The bottom of the mobile base is provided with pulleys, and in front of the mobile base, there is a front camera (3) and a speaker (19). At the back of the mobile base, there is a rear camera (21), a charging interface, and a pickup (24). On the top surface of the mobile base, there is a lidar (9).

2. The patrol robot according to claim 1, wherein: A heat sink (1.2) is provided between the camera assembly (1) and the pan-tilt assembly (2). The camera assembly (1) has a total of four vertical sides, and the shooting angle of the wide-angle camera (1.1) is ≥180°.

3. The inspection robot according to claim 1, characterized in that: There is a housing (10) outside the column (2.2). The position sensing device includes an upper limit sensor (12) and a lower limit sensor (13). The upper limit sensor (12) is fixedly installed at the top of the column (2.2), and the lower limit sensor (13) is fixedly installed at the bottom of the column (2.2).

4. The patrol robot according to claim 3, characterized in that: The photothermal module (11) includes a slide table slider (2.1). The slide table slider (2.1) is fixedly connected to the tail end of the support beam (16), and the photothermal module (11) is fixedly connected to the head end of the support beam (16).

5. The inspection robot according to claim 3, characterized in that: The column (2.2) is slidably connected to a drag chain (17) through a fixed clamp (18).

6. The patrol robot according to claim 3, characterized in that: There is a strengthening fastener (14) at the bottom of the column (2.2).

7. The inspection robot according to claim 1, characterized in that: The pulley includes a driving wheel (7) and a driven wheel (25).

8. The inspection robot according to claim 1, characterized in that: At the bottom in front of the mobile base, there is a front touch edge (5), and at the bottom at the back of the mobile base, there is a rear touch edge (6). At the top in front of the mobile base, there is a front indicator light (20), and at the top at the back of the mobile base, there is a rear indicator light (23). Above the front touch edge (5), there is a single-line radar (4).

9. The patrol robot according to claim 1, wherein: There is an emergency stop button (8) on the top surface of the mobile base.

10. The inspection robot according to claim 1, characterized in that: The charging interface is a charging electrode plate (22).

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