Iron tower guide rail flatness monitoring system and tower patrol robot

Abstract

The utility model relates to the technical field of iron tower guide rail flatness monitoring scheme design, in particular to an iron tower guide rail flatness monitoring system and a tower patrol robot. The system comprises a tower patrol robot body, the front end of the tower patrol robot body is provided with an image module, and the image module is used for shooting an image of a guide rail in the climbing process of the tower patrol robot on the iron tower guide rail and sending the shot image of the guide rail to a mobile terminal through a cloud server; the monitoring module is used for monitoring whether the guide rail is flat or not; and the mobile terminal is used for receiving images of the guide rail shot by the tower patrol robot in the crawling process on the iron tower guide rail. Manual tower climbing for maintenance is not needed, and the working efficiency of guide rail flatness detection is improved to a great extent.

Description

Technical Field

[0001] The utility model relates to the technical field of design of a tower guide rail flatness monitoring scheme, in particular to a tower guide rail flatness monitoring system and a tower patrol robot. Background Art

[0002] The tower fall protection device is an important safety device designed to protect personnel from accidental falls when working or moving at heights.

[0003] Common tower fall prevention devices include rigid rails and fall arresters. Deformation of tower rigid rails over extended use primarily involves left-right bending, heaving bending, partial bending at joints, and misalignment. State Grid Corporation of China's corporate standard, "Fall Prevention Devices for Tower Operations" (Q / GDW 10162-2016), requires regular inspection and maintenance of tower fall prevention devices after installation and during operation.

[0004] Currently, maintenance is performed manually by climbing the tower. Because the tower rails themselves are used to attach the manual fall arrester, defects in the rails require additional attachment points for the safety rope. This significantly reduces the reliability of the fall arrest rails, increases the difficulty of maintenance, and creates a significant risk of falls. Currently, transmission line fall arrest rails are primarily inspected manually by climbing the tower or using drones for visual inspection. However, drones cannot measure rail deformation, requiring manual estimation.

[0005] Therefore, the existing technology needs to be further developed. Utility Model Content

[0006] The purpose of the present invention is to overcome the above technical deficiencies and provide a tower guide rail flatness monitoring system and a tower patrol robot to solve the problems existing in the prior art.

[0007] To achieve the above technical objectives, according to a first aspect of the present invention, the present invention provides a tower guide rail flatness monitoring system, the method comprising:

[0008] The tower patrol robot body is provided with an imaging module at the front end thereof, which is used to capture images of the guide rails while the tower patrol robot is crawling on the guide rails of the tower, and transmit the captured images of the guide rails to the mobile terminal via the cloud server;

[0009] A monitoring module, which is used to monitor whether the guide rail is flat;

[0010] The mobile terminal is used to receive images of the guide rails taken by the tower patrol robot while it is crawling on the tower guide rails.

[0011] Specifically, the monitoring module includes:

[0012] A laser sensor is embedded in the lower surface of the tower patrol robot body. The surface of the laser output end of the laser sensor is at the same height as the lower surface of the tower patrol robot body. It is used to collect the distance from the lower surface of the tower patrol robot body to the upper surface of the guide rail, and send the distance to the mobile terminal through the cloud server.

[0013] Specifically, the monitoring module is provided on the lower surface of the tower patrol robot body, and the monitoring module includes:

[0014] The cam is provided with a plurality of guide wheels, and the guide wheels are provided with a plurality of guide wheels, and the guide wheels are connected with each other through a plurality of guide wheels, and the guide wheels are connected with each other through a plurality of guide wheels.

[0015] Specifically, when there is a protrusion on the surface of the guide rail, the roller drives the fork seat to move upward. At this time, the fork seat squeezes the upper travel switch, causing the circuit where the upper travel switch is located to be turned on. The control module sends the signal that the circuit where the upper travel switch is located is turned on to the mobile terminal through the cloud server.

[0016] Specifically, when there is a groove on the surface of the guide rail, the height of the fork seat drops, the support is squeezed with the lower travel switch, the circuit where the lower travel switch is located is turned on, and the control module sends the signal that the circuit where the lower travel switch is located is turned on to the mobile terminal through the cloud server.

[0017] Specifically, it also includes a crawling module, which is used to control the tower patrol robot to crawl on the tower guide rail; the crawling module includes magnetic tires, which are installed on the lower surface of the tower patrol robot body and are used for the tower patrol robot to be adsorbed on the tower guide rail.

[0018] Specifically, the imaging module includes:

[0019] The camera is installed on the front end of the tower patrol robot through a 360-degree 3-axis pan-tilt platform.

[0020] Specifically, the camera includes:

[0021] Depth camera.

[0022] According to a second aspect of the present invention, a tower patrol robot is provided, which adopts the above-mentioned tower guide rail flatness monitoring system.

[0023] Beneficial effects:

[0024] The utility model arranges an imaging module at the front end of the tower patrol robot body. When the tower patrol robot crawls on the tower guide rail, it captures the image of the guide rail, and sends the captured image of the guide rail to the mobile terminal through the cloud server. The monitoring module monitors whether the guide rail is flat, eliminating the need for manual tower climbing for inspection and maintenance, thereby greatly improving the work efficiency of guide rail flatness detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the system composition of the tower guide rail flatness monitoring system provided in a specific embodiment of the utility model;

[0026] Figure 2 It is a structural diagram of the monitoring module provided in a specific embodiment of the utility model;

[0027] Figure 3 yes Figure 2 A partial enlarged schematic diagram;

[0028] In the above drawings, there are the following reference numerals:

[0029] 1. Guide rail; 2. Tower patrol robot body; 3. Image module; 4. Monitoring module; 21. Cylinder seat; 22. Sliding rod; 23. Fork seat; 231. Roller; 211. Stop block; 213. Upper travel switch; 232. Support; 2321. Lower travel switch; 212. Side panel. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solution of the present invention, the following is a clear and complete description of the technical solution of the present invention in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of this application. In addition, the directional terms mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only referenced to the directions of the drawings. Therefore, the directional terms used are used to illustrate rather than limit the invention of the present invention.

[0031] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0032] See also Figures 1 to 3 The utility model provides a tower guide rail flatness monitoring system, comprising:

[0033] The tower patrol robot body 2 has an imaging module 3 at its front end, which is used to capture images of the guide rail 1 while the tower patrol robot is crawling on the guide rail 1, and to send the captured images of the guide rail 1 to the mobile terminal via the cloud server;

[0034] Monitoring module 4, the monitoring module 4 is used to monitor whether the guide rail 1 is flat;

[0035] The mobile terminal is used to receive images of the guide rail 1 taken by the tower patrol robot while it is crawling on the tower guide rail 1.

[0036] Specifically, the monitoring module 4 includes:

[0037] A laser sensor is embedded in the lower surface of the tower patrol robot body 2. The surface of the laser output end of the laser sensor is at the same height as the lower surface of the tower patrol robot body 2. It is used to collect the distance from the lower surface of the tower patrol robot body to the upper surface of the guide rail 1, and send the distance to the mobile terminal through the cloud server.

[0038] Specifically, the monitoring module 4 is provided on the lower surface of the tower patrol robot body 2, and the monitoring module 4 includes:

[0039] The cylinder seat 21, the sliding rod 22 and the fork seat 23, the cylinder seat 21 is provided with a through hole, and the cylinder seat 21 is provided with a waist groove, the sliding rod 22 is installed in the cylinder seat 21, the sliding rod 22 is provided with a threaded hole, a bolt is installed in the threaded hole, the bolt is located in the waist groove on the cylinder seat 21, the fork seat 23 is installed at the lower end of the sliding rod 22, the fork seat 23 is connected to the roller 231, and a spring is installed in the cylinder seat 21, the upper end of the spring is provided with a stopper 211, and the upper end of the stopper 211 is screwed to the lower surface of the patrol robot body by a bolt. The stopper 211 is threadedly screwed onto the upper end of the cylinder seat 21, and the left and right ends of the cylinder seat 21 are bolted with side plates 212, and the side plates 212 are installed with an upper travel switch 213. The lower end of the upper travel switch 213 is located directly above the fork seat 23, and the left and right ends of the fork seat 23 are bolted with a support 232. The lower end surface of the support 232 is installed with a lower travel switch 2321, and the lower end of the lower travel switch 2321 contacts the lower end of the side plate 212. The upper travel switch 213 is connected in parallel with the lower travel switch 2321 and is communicatively connected with the control module.

[0040] Specifically, when there is a protrusion on the surface of the guide rail 1, the roller 231 drives the fork seat 23 to move upward. At this time, the fork seat 23 squeezes the upper travel switch 213, so that the circuit where the upper travel switch 213 is located is turned on. The control module sends the signal that the circuit where the upper travel switch 213 is located is turned on to the mobile terminal through the cloud server.

[0041] Specifically, when there is a groove on the surface of the guide rail 1, the height of the fork seat 23 drops, the support 232 is squeezed with the lower travel switch 2321, the circuit where the lower travel switch 2321 is located is turned on, and the control module sends the signal that the circuit where the lower travel switch 2321 is located is turned on to the mobile terminal through the cloud server.

[0042] Specifically, it also includes a crawling module, which is used to control the tower patrol robot to crawl on the tower guide rail 1; the crawling module includes magnetic tires, which are installed on the lower surface of the tower patrol robot body 2 and are used for the tower patrol robot to be adsorbed on the tower guide rail 1.

[0043] Specifically, the imaging module 3 includes:

[0044] The camera is mounted on the front end of the tower patrol robot via a 360-degree, three-axis pan-tilt head. It is used to simultaneously capture images of the tower, hardware, and wires, further improving the usability of the present invention.

[0045] Specifically, the camera includes:

[0046] Depth camera. It can be used by relevant personnel to determine whether the guide rail flatness is abnormal based on the depth image contained in the depth camera. This further improves the usability of the utility model and further enhances the detection efficiency.

[0047] As you can understand, both the control module and the cloud server, as well as the cloud server and the mobile device, utilize Wi-Fi for connectivity, offering excellent transmission performance and suitability for any scenario. The mobile device is configured with Android 9.0, 2GB of RAM, and 16GB of storage. The mobile device can also connect to the internet, further enhancing the usability, convenience, and practicality of this utility model and expanding its application scenarios.

[0048] It can be understood that the utility model sets an imaging module at the front end of the tower patrol robot body. When the tower patrol robot is crawling on the tower guide rail, it captures the image of the guide rail, and sends the captured image of the guide rail to the mobile terminal through the cloud server. It also monitors whether the guide rail is flat through the monitoring module, eliminating the need for manual tower climbing for inspection, thereby greatly improving the work efficiency of guide rail flatness detection.

[0049] See also Figure 2 The present utility model provides another embodiment, which provides a tower patrol robot that adopts the tower guide rail flatness monitoring system described in the previous embodiment.

[0050] It should be noted here that the utility model sets an imaging module at the front end of the tower patrol robot body. When the tower patrol robot is crawling on the tower guide rail, it captures the image of the guide rail, and sends the captured image of the guide rail to the mobile terminal through the cloud server. It also monitors whether the guide rail is flat through the monitoring module, eliminating the need for manual tower climbing for inspection, thereby greatly improving the work efficiency of guide rail flatness detection.

[0051] The various technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification as long as such combination does not conflict.

[0052] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A tower guide rail flatness monitoring system, characterized in that: The tower guide rail flatness monitoring system includes: A tower patrol robot body (2), wherein the front end of the tower patrol robot body (2) is provided with an imaging module (3), which is used to capture an image of the guide rail (1) when the tower patrol robot is crawling on the tower guide rail (1), and transmit the captured image of the guide rail (1) to a mobile terminal via a cloud server; A monitoring module (4), the monitoring module (4) is used to monitor whether the guide rail (1) is flat; The mobile terminal is used to receive images of the guide rail (1) taken by the tower patrol robot during the process of crawling on the iron tower guide rail (1).

2. The tower guide rail flatness monitoring system according to claim 1, characterized in that: The monitoring module (4) comprises: A laser sensor is embedded in the lower surface of the tower patrol robot body (2), and the surface of the laser output end of the laser sensor is at the same height as the lower surface of the tower patrol robot body (2). The laser sensor is used to collect the distance from the lower surface of the tower patrol robot body to the upper surface of the guide rail (1), and send the distance to the mobile terminal through the cloud server.

3. The tower guide rail flatness monitoring system according to claim 1, characterized in that: The monitoring module (4) is arranged on the lower surface of the tower patrol robot body (2), and the monitoring module (4) comprises: A cylinder seat (21), a sliding rod (22) and a fork seat (23), wherein the cylinder seat (21) is provided with a through hole and a waist groove, the sliding rod (22) is installed in the cylinder seat (21), the sliding rod (22) is provided with a threaded hole, a bolt is installed in the threaded hole, and the bolt is located in the waist groove on the cylinder seat (21), the fork seat (23) is installed at the lower end of the sliding rod (22), the upper shaft of the fork seat (23) is connected to a roller (231), and a spring is installed in the cylinder seat (21), the upper end of the spring is provided with a stopper (211), and the upper end of the stopper (211) is screwed to the lower surface of the patrol robot body by a bolt. The stopper (211) is screwed onto the upper end of the cylinder seat (21), and the left and right ends of the cylinder seat (21) are bolted with side plates (212). An upper travel switch (213) is installed on the side plate (212), and the lower end of the upper travel switch (213) is located directly above the fork seat (23). The left and right ends of the fork seat (23) are bolted with a support (232), and a lower travel switch (2321) is installed on the lower end surface of the support (232). The lower end of the lower travel switch (2321) contacts the lower end of the side plate (212), and the upper travel switch (213) and the lower travel switch (2321) are connected in parallel and are communicatively connected to the control module.

4. The tower guide rail flatness monitoring system according to claim 1, characterized in that: It also includes a crawling module, which is used to control the tower patrol robot to crawl on the iron tower guide rail (1); the crawling module includes a magnetic tire, which is installed on the lower surface of the tower patrol robot body (2) and is used for the tower patrol robot to be adsorbed on the iron tower guide rail (1).

5. The tower guide rail flatness monitoring system according to claim 1, characterized in that: The imaging module (3) comprises: The camera is installed on the front end of the tower patrol robot through a 360-degree 3-axis pan-tilt platform.

6. The tower guide rail flatness monitoring system according to claim 5, characterized in that: The camera includes: Depth camera.

7. A tower patrol robot, characterized in that: A tower guide rail flatness monitoring system according to any one of claims 1 to 6 is used.

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