Nacelle rail inspection robot with anti-collision function and nacelle inspection system

Abstract

The utility model discloses a kind of cabin hanging rail inspection robots with anti-collision function and cabin inspection system, the robot shell of cabin hanging rail inspection robot is the cuboid groove structure of upper opening, at least one upper thermal imaging camera is installed on each side wall of robot shell, at least one anti-collision sensor is installed on the side wall of the front and rear ends of robot shell, the bottom of robot shell is installed with the electric push rod extending downward, visual acquisition and interactive system is installed in the lower end of electric push rod.Using the above cabin hanging rail inspection robot and cabin inspection system, not only can different anti-collision strategies be executed according to the distance from the adjacent cabin hanging rail inspection robot, greatly reducing the risk of collision of adjacent cabin hanging rail inspection robots;And the position of visual acquisition and interactive system is adjusted by electric push rod, which can not only avoid collision, but also help to collect clearer target image.

Description

Technical Field

[0001] This utility model relates to the technical field of wind turbine testing equipment, specifically to a nacelle rail inspection robot and nacelle inspection system with anti-collision function. Background Technology

[0002] Wind turbines, as electrical equipment that can convert wind energy into electrical energy, have been widely used and promoted in my country.

[0003] The nacelle of a wind turbine primarily houses core equipment such as the transmission system, control system, and generator, thus requiring frequent inspections to ensure its normal operation. Currently, inspections of the equipment inside the nacelle are mainly conducted manually. However, due to the nacelle's high location within the turbine, manual climbing is extremely time-consuming and labor-intensive. To save manpower and improve the timeliness of problem detection, an increasing number of wind turbines are incorporating mounting rails inside the nacelle, employing inspection robots similar to those disclosed in publication number CN308529270S. These robots transmit collected video footage to a remote facility, enabling remote inspection of the nacelle's interior.

[0004] To ensure the continuity of inspection operations, an increasing number of wind turbine managers are looking to deploy two or more inspection robots on the track. However, existing inspection robots lack anti-collision structures, posing a risk of collisions not only with each other but also with nacelle equipment or personnel during operation.

[0005] Solving these problems is now a top priority. Utility Model Content

[0006] In view of this, the present invention provides a cabin rail inspection robot and cabin inspection system with anti-collision function.

[0007] The technical solution is as follows: The first aspect of this application relates to a cabin rail inspection robot with anti-collision function, comprising a robot shell, a vision acquisition and interaction system, and a walking mechanism assembly. The robot shell is a cuboid groove-shaped structure with an open top. The walking mechanism assembly is installed in the robot shell. At least one upper thermal imaging camera is installed on each side wall of the robot shell. At least one anti-collision sensor is installed on the side walls at both the front and rear ends of the robot shell. A downwardly extending electric push rod is installed at the bottom of the robot shell. The vision acquisition and interaction system is installed at the lower end of the electric push rod, thereby enabling it to rise and fall under the drive of the electric push rod.

[0008] The cabin rail inspection robot with anti-collision function described above can not only detect the position information of adjacent cabin rail inspection robots at a distance through the upper thermal imaging camera, but also detect information that a collision with an adjacent cabin rail inspection robot is imminent through the anti-collision sensor. This allows it to execute different anti-collision strategies based on the distance to adjacent cabin rail inspection robots, greatly reducing the risk of collisions between adjacent cabin rail inspection robots. Simultaneously, by mounting the vision acquisition and interaction system on the bottom of the robot's shell via an electric push rod, it can not only adjust the position of the vision acquisition and interaction system to avoid collisions when a potential collision risk with cabin equipment or personnel is detected by the vision acquisition and interaction system or the upper thermal imaging camera, but also acquire clearer images of target objects by adjusting the height of the vision acquisition and interaction system, improving the accuracy of inspection judgments.

[0009] The second aspect of this application relates to a cabin inspection system, including a rail assembly and at least one of the aforementioned cabin rail inspection robots, each of which runs on the rail assembly via a walking mechanism assembly.

[0010] The above-mentioned cabin inspection system possesses all the advantages of the cabin rail-mounted inspection robot. Attached Figure Description

[0011] Figure 1 A partial structural diagram of the cabin inspection system; Figure 2 A structural schematic diagram of the cabin rail inspection robot from one perspective; Figure 3 Another structural diagram of the cabin rail inspection robot; Figure 4 A schematic diagram of the structure of the cabin rail inspection robot after removing the two protective cabins; Figure 5 This is a schematic diagram showing the meshing relationship between the drive gear and the locking gear. Figure 6 This is a schematic diagram showing the engagement relationship between the drive gear and the locking gear when they are separated. Detailed Implementation

[0012] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0013] Example 1: like Figures 1-4As shown, a nacelle rail inspection robot with anti-collision function mainly includes a robot shell 1, a vision acquisition and interaction system, and a walking mechanism assembly. The walking mechanism assembly is used to enable the nacelle rail intelligent inspection robot to run on the rail 15. The vision acquisition and interaction system is used to collect information inside the wind turbine nacelle and enable interaction between personnel inside the nacelle and remote operators.

[0014] In this embodiment, the walking mechanism assembly is installed in the robot shell 1, which is a rectangular slot-shaped structure with an opening at the top to facilitate the assembly of the walking mechanism assembly. The robot shell 1 has four side walls, and at least one upper thermal imaging camera 33 is installed on each side wall. At least one anti-collision sensor 14 is installed on the side walls at both the front and rear ends of the robot shell 1. Because the upper thermal imaging cameras 33 are installed around the robot shell 1, the position information of adjacent cabin rail inspection robots can be detected at a relatively long distance. Simultaneously, by installing anti-collision sensors 14 at the front and rear ends of the robot shell 1, information indicating an impending collision with an adjacent cabin rail inspection robot can be detected. This allows for the implementation of different anti-collision strategies based on the distance to the adjacent cabin rail inspection robot (deceleration and reversal strategies can be implemented at greater distances, while emergency braking strategies can be implemented at closer distances), greatly reducing the risk of collisions between adjacent cabin rail inspection robots.

[0015] In this embodiment, a downward-extending electric push rod 32 is installed at the bottom of the robot shell 1. The vision acquisition and interaction system is installed at the lower end of the electric push rod 32, allowing it to rise and fall under the drive of the electric push rod 32. Therefore, by installing the vision acquisition and interaction system at the bottom of the robot shell 1 via the electric push rod 32, not only can the position of the vision acquisition and interaction system be adjusted via the electric push rod 32 to avoid collisions when the vision acquisition and interaction system or the upper thermal imaging camera 33 detects a potential collision risk with cabin equipment or personnel, but also, by adjusting the height of the vision acquisition and interaction system, clearer images of target objects can be acquired, improving the accuracy of inspection judgments.

[0016] The robot shell 1 includes a base plate 1a, two end baffles 1b, and two protective chambers 1c. The two end baffles 1b and the two protective chambers 1c are arranged opposite each other to form a rectangular ring structure, thus making the robot shell 1 a cuboid groove structure with an open top. Specifically, the walking mechanism assembly and the electric push rod 32 are respectively fixedly installed on the top and bottom of the base plate 1a. The base plate 1a and the two end baffles 1b are preferably integrally formed by stamping, resulting in high structural strength. The two protective chambers 1c are preferably fixed to the base plate 1a and the two end baffles 1b by welding, which is simple and reliable.

[0017] Furthermore, two end baffles 1b are respectively installed at the front and rear ends of the bottom plate 1a of the outer shell, and two protective chambers 1c are respectively installed on the left and right sides of the bottom plate 1a of the outer shell. This design can reduce the risk of deformation of the protective chambers 1c, thereby better protecting the devices inside the protective chambers 1c.

[0018] Furthermore, each end baffle 1b is provided with several air inlets 1b1, which can improve the heat dissipation capacity of the internal components of the robot shell 1.

[0019] Since the mounting rail 15 is typically a ring-shaped or curved structure, at least one upper thermal imaging camera 33 is mounted on each of the two end baffles 1b and the two protective chambers 1c, protruding outwards. This allows for 360° thermal imaging, improving the accuracy of risk identification. Furthermore, the upper thermal imaging camera 33 is preferably an 8-megapixel thermal imaging camera to ensure monitoring accuracy.

[0020] The collision avoidance sensor 14 is used to detect information about an impending collision, i.e., close-range detection. Therefore, in this embodiment, it is preferable to install at least one collision avoidance sensor 14 on each of the two end baffles 1b. Of course, collision avoidance sensors 14 can also be installed on the two protective compartments 1c to identify the risk of an impending collision with the cabin equipment.

[0021] The two protective cabins 1c are respectively equipped with a first electrical component and a second electrical component. The first electrical component includes a control board 27 fixedly installed in the corresponding protective cabin 1c. It integrates multiple functional modules to precisely control various operations of the intelligent inspection robot on the cabin rail, has efficient data processing capabilities, and ensures error-free command execution. It supports multi-sensor data fusion, optimizes path planning, and improves inspection efficiency.

[0022] Specifically, the control board 27 integrates an algorithm module, environmental sensors, an intelligent recognition module, and a GPS positioning module. The algorithm module, with its built-in intelligent algorithms, processes inspection data in real time, supports multi-task parallel processing, and ensures efficient and accurate data analysis. Through deep learning technology, the algorithm module continuously optimizes the recognition model, improving fault detection accuracy to over 95%, helping the inspection robot achieve intelligent and automated operation and maintenance, and ensuring the safe and stable operation of the equipment. The environmental sensors monitor temperature and humidity changes in real time, ensuring the equipment operates in a suitable environment and avoiding performance degradation or damage caused by abnormal temperatures and humidity. The intelligent recognition module analyzes the acquired images in real time, identifies equipment anomalies, automatically alarms, and generates reports, improving inspection efficiency and accuracy. The GPS positioning module accurately locates the robot's position, optimizes the inspection path, and ensures efficient coverage.

[0023] The second electrical components include a power line carrier communication module 28, a switch 29, and a power supply module 30, which are fixedly installed in the corresponding protective cabin 1c.

[0024] The power line carrier communication module 28 is used to realize remote data transmission and ensure real-time information updates. The switch 29 is used to efficiently connect the various modules, ensure smooth data transmission, support multi-device collaborative work, and improve the overall stability of the system. The power supply current collector 7 connected to the sliding contact line supplies power to all modules on the intelligent inspection robot mounted on the entire cabin via the power supply module 30. The power supply module 30 ensures the normal operation of each module through stable power supply, and has overload protection and automatic recovery functions to ensure the robot's stable inspection over a long period of time.

[0025] In this embodiment, the visual acquisition and interaction system includes a T-shaped gimbal 8 fixedly installed at the lower end of the electric push rod 32. Specifically, the main body of the electric push rod 32 is fixedly installed at the bottom of the outer casing base plate 1a, the push rod of the electric push rod 32 extends downwards, and the T-shaped gimbal 8 is fixedly installed at the lower end of the push rod of the electric push rod 32. The maximum extension stroke of the electric push rod 32 exceeds 1 meter, providing excellent obstacle avoidance capabilities and allowing it to get closer to the detection location for clearer images.

[0026] The T-shaped pan-tilt head 8 has a lower thermal imaging camera 9 mounted on one side, and a visible light camera 10 mounted on the other side. Therefore, the T-shaped pan-tilt head 8 can simultaneously adjust the rotation angles of both the lower thermal imaging camera 9 and the visible light camera 10. The visible light camera 10 features 20x zoom, enabling it to clearly capture details and monitor the status of the equipment in real time. The backend then analyzes the images using intelligent recognition technology to promptly detect potential faults. The lower thermal imaging camera 9 primarily monitors abnormal temperatures in on-site equipment in real time, accurately locating heat sources and preventing fire hazards. Furthermore, the T-shaped pan-tilt head 8 integrates a laser rangefinder 34, which, through a well-designed algorithm, can work in conjunction with the visible light camera 10 to calculate the area of ​​any damaged parts detected.

[0027] Furthermore, the visible light camera 10 integrates a speaker 11 and a microphone 12. By setting up the microphone 12, on-site sound can be recorded, and the backend can then analyze the audio using intelligent algorithms. If any anomalies are detected, an alarm can be triggered in the backend. Moreover, by setting up the speaker 11 and microphone 12, real-time voice communication between personnel inside the cabin and remote personnel can be achieved, facilitating remote guidance and troubleshooting, improving communication efficiency, and ensuring timely information transmission.

[0028] Furthermore, several lens fill lights 25 are installed below the lens of the visible light camera 10 to enhance image clarity in low-light environments and ensure nighttime inspection effectiveness. Meanwhile, several ambient lights 13 are installed on the outer wall of the robot's shell 1, which not only provide supplementary ambient lighting for the visible light camera 10, effectively improving the color clarity of the video image, but also provide ambient lighting for personnel inside the cabin.

[0029] Furthermore, a status indicator light 24 is installed on the outer wall of the robot shell 1, which can effectively display the operating status of the cabin rail intelligent inspection robot. If the indicator light is not lit, it means that the cabin rail intelligent inspection robot is faulty and needs maintenance.

[0030] Example 2: Please see Figures 1-6 A cabin inspection system includes a rail assembly and at least one cabin rail inspection robot according to Embodiment 1, wherein each cabin rail inspection robot runs on the rail assembly via a walking mechanism assembly.

[0031] The rail assembly includes a rail 15 and several jacks 16 for hoisting the rail 15, each of which is fixedly mounted on the engine room. Meanwhile, racks 17 and sliding contact lines 18, each extending along the length of the rail 15, are fixedly mounted on the rail 15.

[0032] Accordingly, for each cabin rail inspection robot, the walking mechanism assembly includes an extended bracket 2 fixedly installed in the robot shell 1. The extended bracket 2 is equipped with a sliding contact line power supply current collector 7, a limit auxiliary wheel system, a drive gear 5, and a locking gear 6, all of which are higher than the robot shell 1. Each contact of the sliding contact line power supply current collector 7 is in frictional engagement with the sliding contact line 18 to achieve electrical connection. The limit auxiliary wheel system is rolled and supported on the rail 15. The drive gear 5 and the locking gear 6 are both located below the limit auxiliary wheel system. The drive gear 5 meshes with the rail 15 and can rotate forward or backward under the drive of the power motor 3. The locking gear 6 is fixedly mounted on the push rod of the telescopic motor 4 and can mesh with or disengage from the drive gear 5 under the drive of the telescopic motor 4.

[0033] Therefore, the power motor 3 drives the drive gear 5 to cooperate with the rack 17 on the rail 15, realizing the efficient movement of the cabin rail inspection robot in the cabin with high control precision. At the same time, by adding a locking gear 16, when it is necessary to lock the cabin rail inspection robot on the rail 15, the telescopic motor 4 drives the locking gear 6 to mesh with the drive gear 5. At this time, since the drive gear 5 meshes with both the rack 17 and the locking gear 6, the locking reliability is extremely high. This ensures that the cabin rail inspection robot remains stationary when the vision acquisition and interaction system is shooting, thus avoiding blurry and distorted videos.

[0034] Furthermore, the sliding contact line 18 preferably uses a seamless connection, which is retractable and suitable for both straight-line and curved operation. The method of transmitting power between the sliding contact line power supply current collector 7 and the sliding contact line 18 results in low resistance, low loss, and minimal heat generation.

[0035] In this embodiment, the power motor 3 drives the drive gear 5 through the reducer 26, thereby not only achieving the function of speed reduction and torque increase, but also improving control accuracy. Simultaneously, the forward and reverse rotation of the drive gear 5 enables the cabin-mounted rail inspection robot to move forward and backward. Furthermore, the telescopic motor 4 is mounted on the housing of the reducer 26 via the motor bracket 31, which is not only simple and reliable, but also reduces the possibility of interference when the drive gear 5 and the locking gear 6 engage.

[0036] Finally, it should be noted that the above description is merely a preferred embodiment of the present utility model. Those skilled in the art, under the guidance of the present utility model, can make various similar representations without departing from the spirit and claims of the present utility model, and such modifications all fall within the protection scope of the present utility model.

Claims

1. A cabin rail inspection robot with anti-collision function, comprising a robot shell (1), a vision acquisition and interaction system, and a walking mechanism assembly, wherein the robot shell (1) is a cuboid groove structure with an opening at the top, and the walking mechanism assembly is installed in the robot shell (1), characterized in that: At least one upper thermal imaging camera (33) is installed on each side wall of the robot shell (1). At least one anti-collision sensor (14) is installed on the side walls at both the front and rear ends of the robot shell (1). A downwardly extending electric push rod (32) is installed at the bottom of the robot shell (1). The vision acquisition and interaction system is installed at the lower end of the electric push rod (32), so that it can be raised and lowered by the electric push rod (32).

2. The cabin rail inspection robot with anti-collision function according to claim 1, characterized in that: The robot shell (1) includes a shell base plate (1a), two end baffles (1b) respectively disposed at the front and rear ends of the shell base plate (1a), and two protective chambers (1c) respectively disposed on the left and right sides of the shell base plate (1a). The two end baffles (1b) and the two protective chambers (1c) form a rectangular ring structure, and at least one upper thermal imaging camera (33) is installed protruding outwards in each of them. At least one anti-collision sensor (14) is installed in each of the end baffles (1b). The first electrical component and the second electrical component are respectively installed inside the two protective chambers (1c). The walking mechanism assembly and the electric push rod (32) are respectively fixedly installed on the top and bottom of the shell base plate (1a).

3. The cabin rail inspection robot with anti-collision function according to claim 2, characterized in that: Each end baffle (1b) is provided with several air inlets (1b1).

4. The cabin rail inspection robot with anti-collision function according to claim 1, characterized in that: The visual acquisition and interaction system includes a T-shaped gimbal (8) fixedly installed at the lower end of an electric push rod (32). A laser rangefinder (34) is integrated on the T-shaped gimbal (8). A lower thermal imaging camera (9) driven by the T-shaped gimbal (8) is installed on one side of the T-shaped gimbal (8), and a visible light camera (10) driven by the T-shaped gimbal (8) is installed on the other side. A speaker (11) and a microphone (12) are integrated on the visible light camera (10).

5. The cabin rail inspection robot with anti-collision function according to claim 4, characterized in that: Several lens fill lights (25) are provided below the lens of the visible light camera (10), and several ambient lighting lights (13) are installed on the circumferential sidewall of the robot shell (1).

6. A cabin inspection system, characterized in that: The system includes a rail assembly and at least one cabin rail inspection robot as described in any one of claims 1-5, wherein each cabin rail inspection robot runs on the rail assembly via a walking mechanism assembly.

7. The cabin inspection system according to claim 6, characterized in that: The rail assembly includes a rail (15) and several hangers (16) for hoisting the rail (15). The rail (15) is fixedly mounted with racks (17) and sliding contact lines (18) that extend along its length. The walking mechanism assembly includes a heightening bracket (2) fixedly installed in the robot shell (1). The heightening bracket (2) is equipped with a sliding contact line power supply current collector (7), a limit auxiliary wheel system, a drive gear (5), and a locking gear (6), all of which are higher than the robot shell (1). Each contact of the sliding contact line power supply current collector (7) is in frictional engagement with the sliding contact line (18). The limit auxiliary wheel system is rolled and supported on the hanging rail (15). The drive gear (5) and the locking gear (6) are both located below the limit auxiliary wheel system. The drive gear (5) meshes with the hanging rail (15) and can rotate forward or backward under the drive of the power motor (3). The locking gear (6) is fixedly mounted on the push rod of the telescopic motor (4) and can mesh or disengage with the drive gear (5) under the drive of the telescopic motor (4).

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