Multi-view holder and inspection device

Abstract

The utility model discloses a multi-view holder and an inspection device, and relates to the technical field of intelligent inspection of power systems, and the holder comprises a housing, a mounting seat, a movement assembly, an auxiliary assembly and an external interface. A cavity for mounting the movement assembly and the auxiliary assembly is arranged in the shell, and a window is arranged on the outer surface of the shell corresponding to a lens of the movement assembly; the mounting base is located at the bottom of the shell, and the multi-view holder and external equipment are mounted and fixed through the mounting base; the machine core assembly and the auxiliary assembly are arranged in the shell; the external interface is located on the surface of the shell, and the multi-view holder is in data communication and power transmission connection with external equipment through the external interface; and a protective sleeve is arranged outside the multi-view holder. The problem that a robot is heavy in load due to the fact that the size of carried cradle head equipment is large in an existing inspection device is solved, the monitoring range of the inspection device can basically cover equipment at different positions in a power system, the complexity of the cradle head equipment is reduced, and the operation reliability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent inspection of power systems, in particular to a multi-purpose holder and an inspection device. BACKGROUND

[0002] In recent years, as an inspection device, a foot-type robot has been popularized in intelligent inspection of power systems, and its advantages are more obvious compared with traditional wheeled robots. The foot-type robot has strong road adaptability and body adjustment capability as a mobile platform, but the holder device carried by the foot-type robot is mostly transplanted from wheeled robots or fixed devices, which has problems such as large volume, heavy weight and complex structure when used on the foot-type robot, and the flexibility of the robot body is not fully utilized.

[0003] At the same time, with the application of visual navigation scheme, the deployment of a visual camera is also required for the inspection device, and the traditional monocular or binocular holder cannot well meet the needs of the robot.

[0004] Therefore, there is an urgent need for an inspection device carrying a multi-purpose holder to solve the problems of the current foot-type robot holder. CONTENT OF THE INVENTION

[0005] To solve the problems in the prior art, the present application provides a multi-purpose holder carried by an inspection robot to solve the problems of the current foot-type robot holder.

[0006] The utility model adopts the following technical solutions.

[0007] The first aspect of the present application discloses a multi-purpose holder, comprising a shell, a mounting seat, a core assembly, an auxiliary assembly and an external interface.

[0008] The shell is internally provided with a cavity for mounting the core assembly and the auxiliary assembly, and the shell is externally provided with a window corresponding to the lens of the core assembly.

[0009] The mounting seat is located at the bottom of the shell, and the multi-purpose holder is mounted and fixed with external devices through the mounting seat.

[0010] The core assembly and the auxiliary assembly are arranged in the interior of the shell.

[0011] The external interface is located on the surface of the shell, and the multi-purpose holder is connected with external devices for data communication and power transmission through the external interface. The multi-purpose holder is externally provided with a protective sleeve.

[0012] Preferably, the shell comprises a first shell, a second shell, a third shell, a fourth shell and a fifth shell.

[0013] The first shell and the second shell are mutually butted to form a first cavity; a first sealing element is arranged at the butting position of the first shell and the second shell;

[0014] The second shell and the third shell are mutually butted to form a second cavity; a second sealing element is arranged at the butting position of the second shell and the third shell;

[0015] The second shell and the fourth shell are mutually butted to form a third cavity; a third sealing element is arranged at the butting position of the second shell and the fourth shell;

[0016] The first shell and the fifth shell are mutually butted to form a fourth cavity.

[0017] Preferably, the shell further comprises a mounting plate, which is located outside the first shell; a fourth sealing element is arranged between the mounting plate and the first shell.

[0018] Preferably, the mounting seat comprises a connecting piece, which is arranged at the bottom of the second shell.

[0019] Preferably, the movement assembly comprises a visible light movement assembly and an infrared movement assembly;

[0020] The angle between the lens axis of the visible light movement assembly and the infrared movement assembly and the horizontal direction is 30° or any other angle not greater than 90°.

[0021] Preferably, the auxiliary assembly comprises a voice intercom assembly.

[0022] The voice intercom assembly comprises a loudspeaker and a microphone, which are arranged in the second cavity and the third cavity respectively; the third shell and the fourth shell have through holes on the surface; waterproof sound transmission membranes are attached to the inner walls corresponding to the through holes of the third shell and the fourth shell.

[0023] Preferably, the auxiliary assembly comprises a windshield wiper assembly.

[0024] The windshield wiper assembly comprises a windshield wiper blade, a windshield wiper motor, a windshield wiper shaft and a fifth sealing element; the windshield wiper motor is arranged in the first cavity; one end of the windshield wiper shaft is connected to the windshield wiper motor, and the other end penetrates through the mounting plate and the first shell and is connected to the windshield wiper blade; the windshield wiper blade is arranged on the surface of the mounting plate; the fifth sealing element is arranged between the windshield wiper shaft and the mounting plate.

[0025] Preferably, the auxiliary assembly further comprises a light supplementing lamp assembly and a time setting module.

[0026] The position of the light supplementing lamp assembly corresponds to the light entrance surface of the visible light movement assembly.

[0027] The time matching module is located at the top of the multi-view holder, and no metal structure member is arranged above the time matching module.

[0028] Preferably, the first housing and the second housing are provided with a plurality of view windows.

[0029] The plurality of view windows correspond to the positions of the light entrance surfaces of the lenses of the core assembly, respectively.

[0030] The second aspect of the application discloses a patrol device, comprising a foot-type robot body and the multi-view holder.

[0031] Compared with the prior art, the application has at least the following beneficial effects:

[0032] By using the multi-view holder, the foot-type patrol robot can monitor the power equipment through temperature and image information, and by integrating various service components, the problems of large volume of the holder device and heavy load of the robot are solved.

[0033] The multi-view holder has a compact structure and no complex power and transmission components, and in combination with the adjusting ability and high flexibility of the foot-type robot body, the monitoring range of the multi-view holder can basically cover the equipment at different positions in the power system, thereby reducing the complexity of the holder device and improving the reliability of the operation.

[0034] The simple structure of the multi-view holder can easily meet the requirements of outdoor unmanned patrol, and the deployment of the visual camera also provides a platform support for the visual navigation of the patrol robot, which cannot be met by the traditional single-view or double-view holder. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a schematic view of the overall structure of the multi-view holder provided by the application;

[0036] Figure 2 is a schematic view of the mounting seat of the multi-view holder provided by the application;

[0037] Figure 3 is a schematic view of the core assembly of the multi-view holder provided by the application;

[0038] Figure 4 is a cross-sectional view of the voice intercom assembly of the multi-view holder provided by the application;

[0039] Figure 5 is a schematic view of the wiper assembly of the multi-view holder provided by the application.

[0040] In the figure, 1, the shell; 11, the first shell; 12, the second shell; 13, the third shell; 14, the fourth shell; 15, the fifth shell; 16, the mounting plate; 101, the first sealing element; 102, the second sealing element; 103, the third sealing element; 104, the fourth sealing element; 105, the fifth sealing element; 1001, the first cavity; 1002, the second cavity; 1003, the third cavity; 1004, the fourth cavity; 2, the mounting seat; 21, the connecting piece; 3, the movement assembly; 31, the visible light movement assembly; 32, the infrared movement assembly; 33, the camera assembly; 4, the auxiliary assembly; 40, the voice intercom assembly; 41, the loudspeaker; 42, the microphone; 43, the waterproof sound-permeable membrane; 50, the windshield wiper assembly; 51, the windshield wiper blade; 52, the windshield wiper motor; 53, the windshield wiper shaft; 60, the fill light assembly; 7, the external interface; 8, the protective sleeve; 9, the window; 10, the time module. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. The embodiments described in the present application are only a part of the embodiments of the present application, but not all the embodiments. All other embodiments obtained by those skilled in the art without making creative efforts on the basis of the spirit of the present application shall fall within the protection scope of the present application.

[0042] In the description of the present application, it should be understood that the terms “upper”, “lower”, “front”, “back”, “left”, “right”, “inner”, “outer” and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms “first”, “second” and the like are 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 limited by “first”, “second” and the like can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of “multiple” is two or more, unless otherwise explicitly and specifically limited.

[0043] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, or electrical connection or can communicate with each other; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. 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.

[0044] Reference Figure 1 Embodiment 1 of the present application provides a multi-view gimbal, comprising a shell 1, a mounting seat 2, a core assembly 3, an auxiliary assembly 4 and an external interface 7.

[0045] The shell 1 is internally provided with a cavity for mounting the core assembly 3 and the auxiliary assembly 4, and an observation window 9 is provided on the outside corresponding to the lens of the core assembly 3;

[0046] The mounting seat 2 is located at the bottom of the shell 1 and is used for mounting and fixing the multi-view gimbal;

[0047] The core assembly 3 is composed of multiple different types and functions of cores, so that the inspection device can detect the fault conditions of the power equipment through temperature and image during the inspection.

[0048] The auxiliary assembly 4 includes a voice intercom assembly 40, a windshield wiper assembly 50, a fill light assembly 60 and a time module 10. The voice intercom assembly 40 enables the accompanying staff to communicate with other staff in the control room; the windshield wiper assembly 50 enables the multi-view gimbal to still operate normally in rainy weather without affecting the field of view due to precipitation; the fill light assembly 60 enables the multi-view gimbal to work normally in the night or dim light scene; the time module 10 can ensure that the time of each core assembly in the multi-view gimbal is consistent.

[0049] The external interface 7 is located on the surface of the shell 1, and realizes data communication and power transmission between the multi-view gimbal and the inspection device or the auxiliary control equipment.

[0050] Reference Figure 4 、 Figure 5 In some embodiments, the shell 1 includes a first shell 11, a second shell 12, a third shell 13, a fourth shell 14, a fifth shell 15 and a mounting plate 16;

[0051] The first shell 11 and the second shell 12 are mutually butted to form a first cavity 1001; the butted part of the first shell 11 and the second shell 12 is provided with a first sealing element 101;

[0052] The second shell 12 and the third shell 13 are in abutment to form the second cavity 1002; the abutment of the second shell 12 and the third shell 13 is provided with a second sealing element 102;

[0053] The second shell 12 and the fourth shell 14 are in abutment to form the third cavity 1003; the abutment of the second shell 12 and the fourth shell 14 is provided with a third sealing element 103;

[0054] The first shell 11 and the fifth shell 15 are in abutment to form the fourth cavity 1004;

[0055] The mounting plate 16 is located outside the first shell 11; the fourth sealing element 104 is arranged between the mounting plate 16 and the first shell 11.

[0056] In some embodiments, the first sealing element 101, the second sealing element 102, the third sealing element 103, the fourth sealing element 104, and the fifth sealing element 105 can be selected from a rubber ring, a rubber strip, or glue; the multi-eye gimbal has a certain IP (Ingress Protection) protection capability and meets the needs of outdoor unmanned inspection through the sealing elements.

[0057] Reference Figure 2 In some embodiments, the mounting seat 2 is located at the bottom of the second shell 12 and includes a connecting piece 21 for guiding and positioning during installation of the multi-eye gimbal and fastening after installation; the mounting seat 2 is used to install the multi-eye gimbal at a designated position.

[0058] Reference Figure 3 In some embodiments, the movement core assembly 3 includes a visible light movement core assembly 31, an infrared movement core assembly 32, and a camera assembly 33.

[0059] The camera assembly is one or more of a wide-angle camera assembly, a depth camera assembly, or a fisheye camera assembly.

[0060] The angle between the lens axis of the visible light movement core assembly 31 and the infrared movement core assembly 32 and the horizontal direction is 30° or any degree not greater than 90°, so as to facilitate the capture of the temperature and visible image of the power equipment by the visible light movement core assembly 31 and the infrared movement core assembly 32.

[0061] Reference Figure 4 In some embodiments, the voice intercom assembly 40 includes a loudspeaker 41 and a microphone 42, which are respectively arranged in the second cavity 1002 and the third cavity 1003; the third shell 13 and the fourth shell 14 have through holes on the surfaces; the inner walls corresponding to the through holes of the third shell 13 and the fourth shell 14 are attached with waterproof sound transmission films 43.

[0062] In some embodiments, the wiper assembly 50 comprises a wiper blade 51, a wiper motor 52, a wiper shaft 53 and a fifth sealing element 105; wherein the wiper motor 52 is arranged in the first cavity 1001 and is configured to drive the wiper shaft 53 to rotate;

[0063] One end of the wiper shaft 53 is connected with the wiper motor 52, and the other end penetrates through the mounting plate 16 and the first housing 11 and is connected with the wiper blade 51, and the wiper shaft 53 is configured to drive the wiper blade 51 to rotate for wiping;

[0064] The wiper blade 51 is arranged on the surface of the mounting plate 16 and is configured to wipe and clean the surface of the window 9 corresponding to the lens of the visible light movement core assembly 31;

[0065] The fifth sealing element 105 is arranged between the wiper shaft 53 and the mounting plate 16.

[0066] The position of the light supplement lamp assembly 60 corresponds to the light entrance surface of the visible light movement core assembly 31.

[0067] The time correction module 10 is located at the top of the multi-view holder, and the top of the time correction module is not blocked by metal structural members.

[0068] In some embodiments, the external interface 7 includes but is not limited to an SMA interface, an aviation socket, a USB3.0 or USB3.1 or USB-C interface, and an RJ45 interface.

[0069] In some embodiments, the multi-view holder is externally provided with a protective sleeve 8, and the material of the protective sleeve 8 includes but is not limited to rubber material or high-strength plastic material.

[0070] In some embodiments, the first housing 11 and the second housing 12 are provided with a window 9.

[0071] The number of the windows 9 corresponds to the positions of the light entrance surfaces of the lenses of the movement core assembly 3.

[0072] Embodiment 2 of the present application also provides a patrol device comprising a legged robot body and a multi-view holder as described above, wherein the multi-view holder is mounted on the legged robot body. The adjustment capability of the legged robot body enables the monitoring range of the holder device to basically cover power equipment at different positions in a power system, while reducing the size and weight of the holder device. The deployment of the visual camera also provides a platform support for visual navigation of the patrol device.

[0073] Compared with the prior art, the present application has at least the following beneficial effects:

[0074] By adopting the multi-lens holder in the application, the foot-type inspection robot can monitor power equipment through temperature and image information, and by integrating various service components, the problem of large volume of the holder device carried by the current foot-type robot and the problem of heavy load of the robot are solved.

[0075] The multi-lens holder structure described in the application is compact, has no complex power and transmission components, and has the adjusting ability and high flexibility of the foot-type robot body, so that the monitoring range of the multi-lens holder can basically cover the equipment at different positions in the power system, the complexity of the holder device is reduced, and the reliability of the operation is improved.

[0076] The simple structure of the multi-lens holder described in the application can easily meet the requirements of outdoor unmanned inspection, and the deployment of the visual camera also provides a platform support for the visual navigation of the inspection robot, which cannot be met by the traditional single-lens or dual-lens holder.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application and not to limit it, although the application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific embodiments of the application can still be modified or replaced, and any modification or equivalent replacement without departing from the spirit and scope of the application should be covered within the protection scope of the claims of the application.

Claims

1. A multi-view gimbal, characterized in that: It includes a housing (1), a mounting base (2), a movement assembly (3), auxiliary components (4), and an external interface (7); The outer casing (1) has a cavity inside for installing the movement assembly (3) and auxiliary components (4), and a viewing window (9) is provided on the outer surface of the outer casing (1) corresponding to the lens of the movement assembly (3); The mounting base (2) is located at the bottom of the outer shell (1), and the multi-view gimbal is installed and fixed to the external equipment through the mounting base (2); The movement assembly (3) and auxiliary assembly (4) are disposed inside the outer casing (1); The external interface (7) is located on the surface of the outer shell (1). The multi-view gimbal is connected to external devices for data communication and power transmission through the external interface (7). The multi-view gimbal is provided with a protective cover (8).

2. The multi-view gimbal according to claim 1, characterized in that: The outer shell (1) includes a first outer shell (11), a second outer shell (12), a third outer shell (13), a fourth outer shell (14), and a fifth outer shell (15); The first outer shell (11) and the second outer shell (12) are joined together to form a first cavity (1001); a first sealing element (101) is provided at the joint of the first outer shell (11) and the second outer shell (12); The second outer shell (12) and the third outer shell (13) are joined together to form a second cavity (1002); a second sealing element (102) is provided at the joint between the second outer shell (12) and the third outer shell (13); The second outer shell (12) and the fourth outer shell (14) are joined together to form a third cavity (1003); a third sealing element (103) is provided at the joint between the second outer shell (12) and the fourth outer shell (14); The first outer shell (11) and the fifth outer shell (15) are joined together to form a fourth cavity (1004).

3. The multi-view gimbal according to claim 2, characterized in that: The housing also includes a mounting plate (16) located outside the first housing (11); a fourth sealing element (104) is provided between the mounting plate (16) and the first housing (11).

4. The multi-view gimbal according to claim 2, characterized in that: The mounting base (2) includes a connector (21) disposed at the bottom of the second housing (12).

5. The multi-view gimbal according to claim 1, characterized in that: The mechanism assembly (3) includes a visible light mechanism assembly (31) and an infrared mechanism assembly (32); The angle between the lens axis of the visible light mechanism assembly (31) and the horizontal direction of the infrared mechanism assembly (32) is 30° or any other degree not exceeding 90°.

6. The multi-view gimbal according to claim 3, characterized in that: The auxiliary component (4) includes a voice intercom component (40); The voice intercom component includes a speaker (41) and a microphone (42), which are respectively disposed in the second cavity (1002) and the third cavity (1003); the third outer shell (13) and the fourth outer shell (14) have through holes on their surfaces; the inner walls of the third outer shell (13) and the fourth outer shell (14) corresponding to the through holes are covered with waterproof and sound-permeable membranes (43).

7. The multi-view gimbal according to claim 3, characterized in that: The auxiliary component (4) includes a wiper assembly (50); The wiper assembly (50) includes a wiper blade (51), a wiper motor (52), a wiper shaft (53), and a fifth sealing element (105); the wiper motor (52) is disposed in the first cavity (1001); one end of the wiper shaft (53) is connected to the wiper motor (52), and the other end extends through the mounting plate (16) and the first housing (11) and is connected to the wiper blade (51); the wiper blade (51) is disposed on the surface of the mounting plate (16); the fifth sealing element (105) is disposed between the wiper shaft (53) and the mounting plate (16).

8. The multi-view gimbal according to claim 5, characterized in that: The auxiliary component (4) also includes a fill light assembly (60) and a time synchronization module (10); The position of the supplementary light assembly (60) corresponds to the light incident surface of the visible light core assembly (31); The time synchronization module (10) is located on top of the multi-view gimbal, and there are no metal structural components obstructing the time synchronization module (10).

9. The multi-view gimbal according to claim 2, characterized in that: The first outer shell (11) and the second outer shell (12) are provided with a plurality of windows (9); The plurality of windows (9) correspond to the light-incident surface of the lens of the mechanism assembly (3).

10. An inspection device, characterized in that, It includes a legged robot body and a multi-view gimbal as described in any one of claims 1-9, wherein the multi-view gimbal is mounted on the legged robot body.

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