Automatic cleaning system for visual equipment of power robot

Abstract

The utility model relates to the technical field of electric power systems, in particular to an automatic cleaning system for visual equipment of an electric power robot, which comprises a camera shell, and a camera mounting position is arranged in the camera shell; the camera shell comprises a dustproof light-transmitting layer arranged in front of a camera mounting position and an overhanging structure for fixing the dustproof light-transmitting layer; the device further comprises a cleaning system. The cleaning system comprises an ultrasonic generator, the ultrasonic generator comprises an ultrasonic generating circuit and an ultrasonic piezoelectric ceramic piece, and the ultrasonic piezoelectric ceramic piece is arranged between the dustproof light-transmitting layer and the camera mounting position; the ceramic patch part of the ultrasonic piezoelectric ceramic piece is attached to the inner side of the dustproof light-transmitting layer and is fixed through the overhanging structure; the cleaning system further comprises an electric air blower, and the electric air blower is arranged on the outer side of the dustproof light-transmitting layer. An air blowing opening of the electric air blower faces the dustproof light-transmitting layer; the power robot removes dust on the camera in long-time unmanned daily work.

Description

Technical Field

[0001] This utility model relates to the field of power system technology, and in particular to a power robot. Background Technology

[0002] Substations in power systems need to operate in a stable environment to ensure the safe and reliable conversion and distribution of power. Substation operation requires regular inspections to ensure the safety, reliability, and effective operation of equipment. Introducing power robots into these regular inspections can significantly improve inspection efficiency and safety. Power robots can automatically perform many repetitive and high-risk inspection tasks.

[0003] However, electric robots need to operate unattended for extended periods during daily work, which causes dust to accumulate on their cameras. If this dust cannot be removed, it will affect the quality of subsequent inspection work by the electric robot. Utility Model Content

[0004] The purpose of this section is to outline some aspects of the embodiments of this utility model and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of this section, the abstract and the title of this utility model. Such simplifications or omissions shall not be used to limit the scope of this utility model.

[0005] In view of the problems existing in the prior art, the present invention is proposed.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution;

[0007] Automatic cleaning system for power robot vision equipment.

[0008] Includes a camera housing, and a camera mounting position is provided inside the camera housing;

[0009] The camera housing includes a dustproof and light-transmitting layer disposed in front of the camera mounting position and an extension structure for fixing the dustproof and light-transmitting layer;

[0010] It also includes a cleaning system;

[0011] The cleaning system includes an ultrasonic generator, which includes an ultrasonic generating circuit and an ultrasonic piezoelectric ceramic sheet, wherein the ultrasonic piezoelectric ceramic sheet is disposed between the dustproof and light-transmitting layer and the camera mounting position.

[0012] The ultrasonic piezoelectric ceramic sheet has a circular hole, and the center of the camera mounting position is located on the central axis of the circular hole;

[0013] The radius of the circular hole is greater than the diameter of the camera mounting position, which allows for the installation of a camera.

[0014] The side of the dustproof and light-transmitting layer facing the camera mounting position is the inner side;

[0015] The ultrasonic piezoelectric ceramic sheet has a metal carrier and a ceramic patch.

[0016] The ceramic patch portion of the ultrasonic piezoelectric ceramic sheet is attached to the inner side of the dustproof and light-transmitting layer and fixed by the extension structure.

[0017] The cleaning system also includes an electric air blower, which is disposed on the outside of the dustproof and light-transmitting layer;

[0018] The air nozzle of the electric air blower faces the dustproof and light-transmitting layer;

[0019] The ultrasonic generator and the electric air blower are connected in parallel to the same power supply system.

[0020] The above design firstly prevents dust from settling on the camera lens installed in the camera mounting position by setting a dustproof and light-transmitting layer, ensuring the working quality of the electric robot's vision equipment. Secondly, by setting up an ultrasonic generator and an electric air blower, the ultrasonic generator uses an ultrasonic piezoelectric ceramic plate to drive the dustproof and light-transmitting layer to vibrate, shaking off water droplets and dust. The electric air blower then blows away the shaken-off dust and small water droplets, ensuring the long-term working quality of the electric robot's vision equipment. Finally, the ultrasonic generator and the electric air blower are connected in parallel to the same power supply system, which is controlled by the electric robot's central control system. When the central control system starts the electric robot, it also controls the power supply system to power the ultrasonic generator and the electric air blower. After running for 4-8 seconds, the central control system cuts off the power supply system, stopping the ultrasonic generator and the electric air blower. In this way, dust or water droplets are cleaned every time the electric robot starts, ensuring the long-term unattended operation quality of the electric robot's vision equipment.

[0021] Preferably, the extended structure further includes a glass plate, which is positioned between the ultrasonic piezoelectric ceramic sheet and the camera mounting position. The glass plate, the dustproof and light-transmitting layer, and the extended structure form an airtight cavity, within which the ultrasonic piezoelectric ceramic sheet is disposed. A gap exists between the glass plate and the ultrasonic piezoelectric ceramic sheet. By incorporating the glass plate, the cavity can be reduced in size, increasing the intensity of the ultrasonic vibrations from the ultrasonic piezoelectric ceramic sheet driving the glass plate's vibration. This improves the cleaning effect on dust or water droplets. Simultaneously, the glass plate reduces the intensity of ultrasonic vibrations transmitted to the camera, preventing the ultrasonic waves from affecting the camera lens and ensuring that the camera lens does not vibrate, thus guaranteeing image quality.

[0022] Preferably, the dustproof and light-transmitting layer is made of polycarbonate; the thickness of the dustproof and light-transmitting layer is 1-2 mm, and the thickness of the glass sheet is 3-6 mm; the gap between the glass sheet and the ultrasonic piezoelectric ceramic sheet is 5-10 mm. Polycarbonate has extremely high impact resistance, typically dozens of times that of ordinary glass, making it suitable for safety and protective applications. Compared to glass, polycarbonate has a lower density, making it easier to handle and install. Polycarbonate has high light transmittance (approximately 88%-90%), performing excellently in optical applications. The dustproof and light-transmitting layer is thin enough to be vibrated by the ultrasonic generator, while the glass sheet is thick enough to reduce the impact of ultrasonic waves on the lens.

[0023] Preferably, the camera housing further includes a fixing head, which covers the extended structure and presses the dustproof and light-transmitting layer at its bottom; the dustproof and light-transmitting layer is circular, and the fixing head has a circular opening with a diameter smaller than that of the circular dustproof and light-transmitting layer; the design of the fixing head facilitates the removal of the dustproof and light-transmitting layer and facilitates subsequent maintenance.

[0024] Preferably, the dustproof and light-transmitting layer is disposed at the opening of the extended structure, and a sealing rubber ring is provided between the dustproof and light-transmitting layer and the extended structure. The sealing rubber ring serves two purposes: firstly, to prevent dust from entering, and secondly, to reduce the impact between the dustproof and light-transmitting layer and the extended structure.

[0025] Preferably, the air nozzle of the electric air blower is flat, and the length of the flat air nozzle is 25-35mm; the air nozzle can cover a larger area and can remove dust and fine water droplets more evenly.

[0026] Preferably, a dust baffle is provided above the camera, and the electric air blower is fixedly installed on the upper side of the dust baffle; the air outlet of the electric air blower is located below the dust baffle. By providing a dust baffle, dust can be reduced from falling onto the dustproof and light-transmitting layer.

[0027] Preferably, the dust baffle extends from the camera mounting position toward the dustproof and light-transmitting layer, and the furthest distance between the protruding end of the dust baffle and the dustproof and light-transmitting layer is 4-8 cm. This ensures the dust baffle's dust-blocking effect.

[0028] Preferably, the device also includes an electric robot drive chassis, on which a camera bracket is mounted. The camera housing is connected to the camera bracket via a buffer mechanism. A locking mechanism is also provided between the camera housing and the camera bracket, the locking mechanism having an electromagnetic lock that performs a locking function. The electromagnetic lock is normally closed. The power interface of the electric robot drive chassis's motor is connected in parallel to the electromagnetic lock. When the electric robot drive chassis's motor moves, the electromagnetic lock unlocks, the camera housing is no longer locked, and the buffer mechanism engages, eliminating movement vibrations. When the electric robot is stationary, the electromagnetic lock is locked, enabling precise visual positioning. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0030] Figure 1 This is a schematic diagram of the camera housing structure of this utility model;

[0031] Figure 2 This is a cross-sectional view of the camera housing of this utility model;

[0032] Figure 3 For the present utility model Figure 2 A magnified structural diagram at point A;

[0033] Figure 4 This is a schematic diagram of the structure of the camera housing of this utility model installed on the camera bracket. Detailed Implementation

[0034] To make the above-mentioned objectives, features and advantages of this utility model more readily understood, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0035] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0036] Secondly, this utility model is described in detail with reference to the schematic diagrams. When describing the embodiments of this utility model, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of this utility model. In addition, actual manufacturing should include the three-dimensional spatial dimensions of length, width, and depth.

[0037] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in less than one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0038] Example 1

[0039] refer to Figures 1-3 Automatic cleaning system for power robot vision equipment.

[0040] Includes a camera housing 1, and a camera mounting position 11 is provided inside the camera housing 1;

[0041] The camera housing 1 includes a dustproof and light-transmitting layer 2 disposed in front of the camera mounting position 11 and an extension structure 12 for fixing the dustproof and light-transmitting layer 2;

[0042] It also includes a cleaning system;

[0043] The cleaning system includes an ultrasonic generator, which includes an ultrasonic generating circuit and an ultrasonic piezoelectric ceramic sheet 3. The ultrasonic piezoelectric ceramic sheet 3 is disposed between the dustproof and light-transmitting layer 2 and the camera mounting position 11.

[0044] The ultrasonic piezoelectric ceramic sheet 3 has a circular hole, and the center of the camera mounting position 11 is located on the central axis of the circular hole;

[0045] The radius of the circular hole is greater than the diameter of the camera mounting position 11, which allows the camera to be installed.

[0046] The side of the dustproof and light-transmitting layer 2 facing the camera mounting position 11 is the inner side;

[0047] The ultrasonic piezoelectric ceramic sheet 3 has a metal carrier and a ceramic patch;

[0048] The ceramic patch portion of the ultrasonic piezoelectric ceramic sheet 3 is attached to the inner side of the dustproof and light-transmitting layer 2 and fixed by the extension structure 12.

[0049] The cleaning system also includes an electric air blower 4, which is disposed on the outside of the dustproof and light-transmitting layer 2.

[0050] The air outlet 41 of the electric air blower 4 faces the dustproof and light-transmitting layer 2;

[0051] The ultrasonic generator and the electric air blower 4 are connected in parallel to the same power supply system.

[0052] The above design firstly prevents dust from falling onto the camera lens installed in the camera mounting position 11 by setting a dustproof and light-transmitting layer 2, thus ensuring the working quality of the electric robot's vision equipment. Secondly, by setting up an ultrasonic generator and an electric air blower 4, the ultrasonic generator can drive the dustproof and light-transmitting layer 2 to vibrate through the ultrasonic piezoelectric ceramic sheet 3, shaking off water droplets and dust. The electric air blower 4 can blow away the shaken-off dust and small water droplets, ensuring the long-term working quality of the electric robot's vision equipment. Finally, the ultrasonic generator and the electric air blower 4 are connected in parallel to the same power supply system. The power supply system is controlled by the electric robot's central control system. When the central control system starts the electric robot, it also controls the power supply system to supply power to the ultrasonic generator and the electric air blower 4. After running for 4-8 seconds, the central control system cuts off the power supply system, and the ultrasonic generator and the electric air blower 4 stop running. In this way, every time the electric robot starts, it cleans off the dust or water droplets, ensuring the long-term unattended working quality of the electric robot's vision equipment.

[0053] The extended structure 12 also includes a glass plate 5, which is positioned between the ultrasonic piezoelectric ceramic sheet 3 and the camera mounting position 11. The glass plate 5, the dustproof and light-transmitting layer 2, and the extended structure 12 form an airtight cavity, within which the ultrasonic piezoelectric ceramic sheet 3 is housed. A gap exists between the glass plate 5 and the ultrasonic piezoelectric ceramic sheet 3. By incorporating the glass plate 5, the cavity can be reduced in size, increasing the intensity of the ultrasonic waves from the ultrasonic piezoelectric ceramic sheet 3 that drive the glass plate 5 to vibrate, thus improving the cleaning effect of dust or water droplets. Simultaneously, the glass plate 5 reduces the intensity of ultrasonic vibrations transmitted to the camera, preventing the ultrasonic waves from affecting the camera lens and ensuring that the camera lens does not vibrate, thereby guaranteeing the quality of the image.

[0054] The dustproof and light-transmitting layer 2 is made of polycarbonate; the thickness of the dustproof and light-transmitting layer 2 is 1-2 mm, and the thickness of the glass sheet 5 is 3-6 mm; the gap between the glass sheet 5 and the ultrasonic piezoelectric ceramic sheet 3 is 5-10 mm. Polycarbonate has extremely high impact resistance, typically dozens of times that of ordinary glass, making it suitable for safety and protective applications. Compared to glass, polycarbonate has a lower density, making it easier to handle and install. Polycarbonate has high light transmittance (approximately 88%-90%), performing excellently in optical applications. The dustproof and light-transmitting layer 2 is thin enough to be vibrated by the ultrasonic generator, while the glass sheet 5 is thick enough to reduce the impact of ultrasonic waves on the lens.

[0055] When in use, the central control system starts the electric robot and also controls the power supply system to power the ultrasonic generator and electric air blower 4. After running for 4-8 seconds, the central control power supply system cuts off the power, and the ultrasonic generator and electric air blower 4 stop running. This way, each time the electric robot starts, it cleans away dust or water droplets, ensuring the long-term unattended operation quality of the electric robot's vision equipment. The dustproof and light-transmitting layer 2 is thin enough to be driven to vibrate by the ultrasonic generator, and the glass plate 5 is thick enough to reduce the impact of ultrasonic waves on the lens.

[0056] Example 2

[0057] refer to Figures 2-4 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0058] The camera housing 1 also includes a fixing head 13, which covers the extended structure 12 and presses the dustproof and light-transmitting layer 2 at its bottom. The dustproof and light-transmitting layer 2 is circular, and the fixing head 13 has a circular opening with a diameter smaller than that of the circular dustproof and light-transmitting layer 2. The design of the fixing head 13 facilitates the removal of the dustproof and light-transmitting layer 2 and makes subsequent maintenance easier.

[0059] The dustproof and light-transmitting layer 2 is disposed at the opening of the extended structure 12, and a sealing rubber ring is provided between the dustproof and light-transmitting layer 2 and the extended structure 12. The sealing rubber ring serves two purposes: firstly, to prevent dust from entering, and secondly, to reduce the impact between the dustproof and light-transmitting layer 2 and the extended structure 12.

[0060] The air nozzle 41 of the electric air blower 4 is flat and has a length of 25-35mm. The air nozzle 41 can cover a larger area and can remove dust and fine water droplets more evenly.

[0061] A dust baffle 6 is installed above the camera, and the electric air blower 4 is fixedly installed on the upper side of the dust baffle 6; the air outlet 41 of the electric air blower 4 is located below the dust baffle 6. By setting the dust baffle 6, dust can be reduced from falling onto the dustproof and light-transmitting layer 2.

[0062] The dust baffle 6 extends from the camera mounting position 11 toward the dustproof and light-transmitting layer 2, and the furthest distance between the extended end of the dust baffle 6 and the dustproof and light-transmitting layer 2 is 4-8cm. This ensures the dust baffle 6's dust-blocking effect.

[0063] The system also includes an electric robot drive chassis, on which a camera bracket 8 is mounted. The camera housing 1 is connected to the camera bracket 8 via a buffer mechanism 7. A locking mechanism is also provided between the camera housing 1 and the camera bracket 8, the locking mechanism having an electromagnetic lock that performs a locking function. The electromagnetic lock is normally closed. The power interface of the electric robot drive chassis's motor is connected in parallel to the electromagnetic lock. When the electric robot drive chassis's motor moves, the electromagnetic lock unlocks, the camera housing 1 is no longer locked, and the buffer mechanism 7 engages, eliminating movement jitter. When the electric robot is stationary, the electromagnetic lock is locked, enabling precise visual positioning.

[0064] During use, the dust baffle 6 reduces dust accumulation on the dustproof and light-transmitting layer 2, while the flat air nozzle 41 covers a larger area, allowing for more even removal of dust and fine water droplets. The design of the fixing head 13 facilitates the removal of the dustproof and light-transmitting layer 2, simplifying subsequent maintenance. When the central control system starts the electric robot, the locking mechanism unlocks first, and the buffer mechanism 7 intervenes between the camera bracket 8 and the camera housing 1. When the central control system starts the electric robot in standby mode, the locking mechanism locks to prevent camera vibration from affecting its lifespan.

[0065] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. An electric robot vision equipment automatic cleaning system, characterized in that: it comprises a camera shell, a camera mounting position is arranged in the camera shell; the camera shell comprises a dustproof and light-transmitting layer arranged in front of the camera mounting position and an overhanging structure for fixing the dustproof and light-transmitting layer; the system further comprises a cleaning system; the cleaning system comprises an ultrasonic generator, the ultrasonic generator comprises an ultrasonic generating circuit and an ultrasonic piezoelectric ceramic sheet, and the ultrasonic piezoelectric ceramic sheet is arranged between the dustproof and light-transmitting layer and the camera mounting position; the ultrasonic piezoelectric ceramic sheet has a circular hole, and the center of the camera mounting position is located on the central axis of the circular hole; the radius of the circular hole is greater than the diameter of the camera mounting position allowed to be mounted with a camera; the side of the dustproof and light-transmitting layer facing the camera mounting position is an inner side; the ultrasonic piezoelectric ceramic sheet has a metal carrier sheet and a ceramic sheet; the ceramic sheet part of the ultrasonic piezoelectric ceramic sheet is attached to the inner side of the dustproof and light-transmitting layer and is fixed through the overhanging structure; the cleaning system further comprises an electric air blower, and the electric air blower is arranged on the outer side of the dustproof and light-transmitting layer; the air outlet of the electric air blower faces the dustproof and light-transmitting layer; the ultrasonic generator and the electric air blower are connected to the same power supply system in parallel; the overhanging structure further comprises a glass sheet, and the glass sheet is arranged between the ultrasonic piezoelectric ceramic sheet and the camera mounting position; the glass sheet, the dustproof and light-transmitting layer and the overhanging structure form a gas-tight cavity, and the ultrasonic piezoelectric ceramic sheet is arranged in the cavity; there is a gap between the glass sheet and the ultrasonic piezoelectric ceramic sheet; the dustproof and light-transmitting layer is made of a polycarbonate light-transmitting layer; the thickness of the dustproof and light-transmitting layer is 1-2 mm, and the thickness of the glass sheet is 3-6 mm; the gap distance between the glass sheet and the ultrasonic piezoelectric ceramic sheet is 5-10 mm; the camera shell further comprises a fixing head, the fixing head covers the overhanging structure, and the bottom of the fixing head presses the dustproof and light-transmitting layer; the dustproof and light-transmitting layer is circular, the fixing head has a circular opening, and the diameter of the circular opening is smaller than that of the circular dustproof and light-transmitting layer; the dustproof and light-transmitting layer is arranged at the opening of the overhanging structure, and a sealing rubber ring is arranged between the dustproof and light-transmitting layer and the overhanging structure; the air outlet of the electric air blower is flat, and the length of the flat air outlet is 25-35 mm; a dust shield is arranged above the camera, and the electric air blower is fixedly arranged on the upper side of the dust shield; the air outlet of the electric air blower is arranged below the dust shield; the dust shield extends from the camera mounting position to the dustproof and light-transmitting layer, and the farthest distance between the extension end of the dust shield and the dustproof and light-transmitting layer is 4-8 cm; the system further comprises an electric robot driving chassis, and a camera support is arranged on the electric robot driving chassis; the camera shell is connected to the camera support through a buffer mechanism; a locking mechanism is further arranged between the camera shell and the camera support, and the locking mechanism has an electromagnetic lock for locking; the electromagnetic lock is a normally closed electromagnetic lock; the power supply interface of the motor of the electric robot driving chassis is connected to the electromagnetic lock in parallel. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 2. The electric power robotic vision apparatus automatic cleaning system according to claim 1, wherein: ​ ​ ​ 3. The electric robotic vision apparatus auto-cleaning system according to claim 2, wherein: ​ ​ ​ 4. The electric robotic vision apparatus automatic cleaning system of claim 2, wherein: ​ ​ 5. The electric robotic vision apparatus auto-cleaning system of claim 1, wherein: ​ 6. The electric power robotic vision apparatus automatic cleaning system of claim 1, wherein: ​ 7. The electric power robotic vision apparatus automatic cleaning system of claim 6, wherein: ​ ​ 8. The electric power robotic vision apparatus automatic cleaning system of claim 7, wherein: ​ 9. The electric robotic vision apparatus auto-cleaning system of claim 1, wherein: ​ ​ ​ ​ ​

Images