A flexible obstacle-avoiding robot for a substation

Abstract

This utility model discloses a flexible obstacle avoidance robot for substations, including a robot assembly comprising a wire-controlled chassis, a housing fixed to the top of the wire-controlled chassis, a six-axis robotic arm located above the housing, and a rotating base fixed to the top of the housing for rotating the six-axis robotic arm; and an obstacle avoidance assembly comprising a control motherboard fixed to the top of the wire-controlled chassis and located within the housing cavity, and a sensor assembly mounted on the surface of the robot assembly. This utility model utilizes a combination of multiple obstacle avoidance sensors, including 3D LiDAR, binocular cameras, and millimeter-wave radar, within the obstacle avoidance assembly. This allows the robot to perceive the surrounding environment from different angles and in different ways. Data fusion from multiple sensors enables the robot to detect obstacles more comprehensively and accurately, providing a more reliable basis for obstacle avoidance decisions. It can perceive environmental information around the robotic arm in real time, overcoming the shortcomings of previous robotic arms that lacked corresponding obstacle avoidance devices.

Description

Technical Field

[0001] This invention relates to the field of robot technology for substations, specifically to a flexible obstacle avoidance robot for substations. Background Technology

[0002] The flexible obstacle avoidance robot for substations is an important piece of equipment to ensure the safe and stable operation of the power system. It is used to replace manual labor for on-site equipment inspection. It mainly consists of a mobile chassis, a robotic arm, an end effector, and obstacle avoidance components. It has flexible movement and intelligent obstacle avoidance capabilities, can adapt to the complex environment of substations, and improve inspection efficiency and safety.

[0003] By integrating advanced sensor technology and intelligent algorithms, robots can perceive their surroundings in real time, accurately identify obstacles, and autonomously plan the optimal inspection path. The robotic arm and end effector have high-precision operation capabilities and can accurately perform various operations in the inspection task, such as switch operation and instrument reading recording. However, in actual use, the robot's obstacle avoidance components are usually only installed around the mobile chassis, while the robotic arm lacks corresponding obstacle avoidance. This makes it easy for the robotic arm to collide with the equipment during inspection operations, which can cause equipment or robot malfunctions and reduce the robot's effectiveness. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible obstacle avoidance robot for substations, which has the advantages of strong obstacle avoidance capability and flexible operation of the robotic arm. It solves the problem that in actual use, the obstacle avoidance components of the robot are usually only installed around the mobile chassis, while the robotic arm lacks corresponding obstacle avoidance, which makes it easy for the robotic arm to collide with the equipment during inspection operations, thereby causing equipment or robot failure and reducing the effectiveness of robot use.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a flexible obstacle avoidance robot for substations, comprising a robot assembly including a wire-controlled chassis, a housing fixed to the top of the wire-controlled chassis, a six-axis robotic arm located above the housing, and a rotating base fixed to the top of the housing for rotating the six-axis robotic arm; an obstacle avoidance assembly including a control motherboard fixed to the top of the wire-controlled chassis and located within the housing cavity, a sensor assembly mounted on the surface of the robot assembly, and a three-color indicator light fixed to the top of the housing, wherein the control motherboard has a built-in dynamic path planning module that fuses sensor data to generate obstacle avoidance commands; and a transmission assembly including components fixed to the wire-controlled chassis. The communication module is located at the top and inside the housing cavity, and the transmission antenna is fixed to the rear end of the housing; the sensor assembly includes a 3D LiDAR fixed to the top front end of the 3D LiDAR, a binocular camera fixed to the front of the housing, millimeter-wave radars fixed to the front and back of the housing, a first ultrasonic radar fixed to both sides of the housing, an RGB-D camera fixed to the end of the six-axis robotic arm, a multi-dimensional force sensor fixed to the connection between the six-axis robotic arm and the actuator, and a second ultrasonic radar fixed to the joint of the six-axis robotic arm. The number of millimeter-wave radars is set to four, and they are respectively fixed to both sides of the front and back of the housing.

[0006] Preferably, the rotating base includes a housing fixed to the top of the outer shell, a gear located at the upper end of the inner cavity of the housing, a gear ring movably connected to the upper end of the inner cavity of the housing via a rotary support bearing, and a servo motor and a reducer fixed to the bottom of the inner cavity of the housing.

[0007] Preferably, the output shaft of the servo motor is connected to the input shaft of the reducer, the output shaft of the reducer is connected to the gear, the gear meshes with the gear ring, and the gear ring is fixedly connected to the six-axis robotic arm.

[0008] Preferably, the output and input terminals of the control motherboard are interconnected with the output and input terminals of the communication module, and the output and input terminals of the communication module are interconnected with the output and input terminals of the transmission antenna.

[0009] Preferably, the output terminals of the 3D LiDAR, binocular camera, millimeter-wave radar, first ultrasonic radar, RGB-D camera, multi-dimensional force sensor and second ultrasonic radar are all connected to the input terminals of the control motherboard, and the output terminals of the control motherboard are respectively connected to the input terminals of the wire-controlled chassis, the six-axis robotic arm and the three-color indicator light.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0011] 1. This invention utilizes a sensor assembly in its obstacle avoidance system that incorporates a combination of various obstacle avoidance sensors, including 3D LiDAR, binocular cameras, and millimeter-wave radar. This combination enables the robot to perceive the surrounding environment from different angles and in different ways. The data fusion of multiple sensors allows the robot to detect obstacles more comprehensively and accurately, providing a more reliable basis for obstacle avoidance decisions. Specifically, the RGB-D camera is fixed to the end of the six-axis robotic arm, the multi-dimensional force sensor is fixed at the connection between the six-axis robotic arm and the actuator, and the second ultrasonic radar is fixed at the joint of the six-axis robotic arm. Through the cooperation of the RGB-D camera, the multi-dimensional force sensor, and the second ultrasonic radar, the robot can perceive environmental information around the robotic arm in real time, making up for the shortcomings of previous robotic arms that lacked corresponding obstacle avoidance devices.

[0012] 2. This invention controls the built-in dynamic path planning module on the mainboard to generate obstacle avoidance commands by integrating data collected by sensor components. The sensor components include not only sensors installed on the robotic arm, but also 3D LiDAR, binocular cameras, millimeter-wave radar, and first ultrasonic radar installed in other parts of the robot. Through multi-sensor data fusion, the robot can perceive the surrounding environment more comprehensively and accurately, providing a more reliable obstacle avoidance basis for the movement of the robotic arm and avoiding collisions between the robotic arm and equipment. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0014] Figure 2 This is a schematic diagram of the rear view structure of the present invention;

[0015] Figure 3 This is a schematic diagram showing the connection structure between the wire-controlled chassis, the control motherboard, and the communication module of the present invention.

[0016] Figure 4 This is a schematic diagram of the six-axis robotic arm and the rotating base in their separated state according to the present invention;

[0017] Figure 5 This is a schematic diagram of the detached structure of the rotating base of the present invention;

[0018] Figure 6 This is a schematic diagram of the system flow structure of the present invention.

[0019] In the diagram: 100, Robot component; 110, Wired chassis; 120, Shell; 130, Six-axis robotic arm; 140, Rotating base; 141, Shell; 142, Gear; 143, Gear ring; 144, Servo motor; 145, Reducer; 200, Obstacle avoidance component; 210, Control motherboard; 220, Sensor component; 221, 3D LiDAR; 222, Binocular camera; 223, Millimeter-wave radar; 224, First ultrasonic radar; 225, RGB-D camera; 226, Multi-dimensional force sensor; 227, Second ultrasonic radar; 230, Three-color indicator light; 300, Transmission component; 310, Communication module; 320, Transmission antenna. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1

[0022] like Figure 1-6As shown, this is the first embodiment of the present invention. This embodiment provides a flexible obstacle avoidance robot for substations, including a robot assembly 100, comprising a wire-controlled chassis 110, a housing 120 fixed to the top of the wire-controlled chassis 110, a six-axis robotic arm 130 located above the housing 120, and a rotating base 140 fixed to the top of the housing 120 for rotating the six-axis robotic arm 130; an obstacle avoidance assembly 200, comprising a control motherboard 210 fixed to the top of the wire-controlled chassis 110 and located inside the housing 120, a sensor assembly 220 mounted on the surface of the robot assembly 100, and a three-color indicator light 230 fixed to the top of the housing 120, wherein the control motherboard 210 has a built-in dynamic path planning module that integrates sensor data to generate obstacle avoidance commands; and a transmission assembly 300, comprising a component fixed to the top of the wire-controlled chassis 110. The communication module 310 is located inside the cavity of the housing 120, and the transmission antenna 320 is fixed to the rear end of the housing 120. The sensor assembly 220 includes a 3D LiDAR 221 fixed to the top front end of the 3D LiDAR 221, a binocular camera 222 fixed to the front of the housing 120, a millimeter-wave radar 223 fixed to the front and back of the housing 120, a first ultrasonic radar 224 fixed to both sides of the housing 120, an RGB-D camera 225 fixed to the end of the six-axis robotic arm 130, a multi-dimensional force sensor 226 fixed to the connection between the six-axis robotic arm 130 and the actuator, and a second ultrasonic radar 227 fixed to the joint of the six-axis robotic arm 130. The number of millimeter-wave radars 223 is four, and they are respectively fixed to both sides of the front and back of the housing 120.

[0023] like Figure 1-6As shown, the six-axis robotic arm 130 is equipped with various obstacle avoidance sensors via sensor assembly 220. Among them, an RGB-D camera 225 is fixed to the end of the six-axis robotic arm 130, a multi-dimensional force sensor 226 is fixed at the connection between the six-axis robotic arm 130 and the actuator, and a second ultrasonic radar 227 is fixed at the joint of the six-axis robotic arm 130. Through the cooperation of the RGB-D camera 225, the multi-dimensional force sensor 226, and the second ultrasonic radar 227, the surrounding environment of the six-axis robotic arm 130 can be perceived in real time, thus compensating for the lack of corresponding obstacle avoidance devices in previous robotic arms. Through the built-in dynamic path planning module of the control motherboard 210, obstacle avoidance commands can be generated by integrating the data collected by sensor assembly 220. Sensor assembly 220 does not... Including only the sensors mounted on the six-axis robotic arm 130, it also includes a 3D LiDAR 221, a binocular camera 222, a millimeter-wave radar 223, and a first ultrasonic radar 224 mounted on the surface of the wired chassis 110. Through multi-sensor data fusion, the surrounding environment can be perceived more comprehensively and accurately, providing a more reliable obstacle avoidance basis for the movement of the six-axis robotic arm 130 and preventing collisions between the six-axis robotic arm 130 and the equipment. The dynamic path planning module built into the control motherboard 210 adopts a time-distance priority algorithm and a dynamic hybrid path planning algorithm. The time-distance priority algorithm calculates the obstacle approach time and divides the obstacle avoidance priority by formula, which helps the robot make timely obstacle avoidance decisions. The dynamic hybrid path planning algorithm includes an improved global planning layer A. * The algorithm and the dynamic artificial potential field of the local obstacle avoidance layer can plan a more reasonable motion path for the robot based on the electromagnetic interference intensity and obstacle type factors, further reducing the risk of collision between the six-axis robotic arm 130 and the equipment. The communication module 310 and the transmission antenna 320 constitute the transmission component 300, which is responsible for the robot's communication with the outside world. The control motherboard 210 sends the robot's status information and collected data to the remote monitoring center through the communication module 310 and the transmission antenna 320. At the same time, the remote monitoring center can also send control commands to the control motherboard 210 through the transmission antenna 320 and the communication module 310 to realize remote control of the robot.

[0024] Example 2

[0025] Reference Figure 1 , 2 3 and 6 are the second embodiment of the present invention, which is based on the previous embodiment.

[0026] In this embodiment, the dynamic path planning module built into the control motherboard 210 adopts a time-distance priority algorithm and a dynamic hybrid path planning algorithm, and the time-distance priority algorithm is expressed by the formula... Obstacle avoidance priorities are determined by calculating the time it takes for an obstacle to approach, where D is the relative distance and υ is the robot's speed.

[0027] The dynamic hybrid path planning algorithm is as follows:

[0028] 1) Global Planning Layer: Improve A * The algorithm, with the cost function as follows:

[0029]

[0030] in, For electromagnetic interference intensity weighting, =0.6, =0.3;

[0031] 2) Local obstacle avoidance layer: dynamic artificial potential field, repulsive force calculation formula:

[0032]

[0033] in, Adjust according to the type of obstacle. The safety thresholds are 0.5m for living organisms and 0.3m for equipment.

[0034] The output and input terminals of the control motherboard 210 are interconnected with the output and input terminals of the communication module 310, and the output and input terminals of the communication module 310 are interconnected with the output and input terminals of the transmission antenna 320.

[0035] The output terminals of the 3D LiDAR 221, binocular camera 222, millimeter-wave radar 223, first ultrasonic radar 224, RGB-D camera 225, multi-dimensional force sensor 226, and second ultrasonic radar 227 are all connected to the input terminals of the control motherboard 210. The output terminals of the control motherboard 210 are respectively connected to the input terminals of the wire-controlled chassis 110, the six-axis robotic arm 130, and the three-color indicator light 230.

[0036] like Figure 1 , 2As shown in Figures 3 and 6, the various sensors in sensor assembly 220 are responsible for collecting information about the surrounding environment from all directions. 3D LiDAR 221 can generate three-dimensional point cloud data of the surrounding environment for constructing a high-precision environmental map. Binocular camera 222 can acquire stereoscopic vision information to identify the shape and distance of target objects. Millimeter-wave radar 223 can accurately measure the distance, speed, and angle of obstacles. First ultrasonic radar 224 is used to detect obstacles at close range on both sides of the robot. RGB-D camera 225 provides visual and depth information to the end effector of the six-axis robotic arm 130, assisting it in completing operational tasks. Multi-dimensional force sensor 226 can... The system senses the force at the connection point between the six-axis robotic arm 130 and the actuator. The second ultrasonic radar 227 monitors obstacles near the joints of the six-axis robotic arm 130. After the control motherboard 210 receives environmental information from the sensor assembly 220, its built-in dynamic path planning module begins operation. This module processes data using a time-distance priority algorithm and a dynamic hybrid path planning algorithm. The time-distance priority algorithm calculates obstacle approach times using a formula to prioritize obstacle avoidance, ensuring the robot prioritizes more threatening obstacles. The dynamic hybrid path planning algorithm includes a global planning layer and a local obstacle avoidance layer: the global planning layer uses an improved A... * The algorithm comprehensively considers factors such as electromagnetic interference intensity to plan the overall travel path. The local obstacle avoidance layer uses the dynamic artificial potential field method, adjusting the repulsive force calculation formula according to the obstacle type, so that the robot can adjust its path in time to avoid obstacles when it encounters them. Finally, the control motherboard 210 fuses sensor data to generate obstacle avoidance commands, which are then sent to the wire-controlled chassis 110 and the six-axis robotic arm 130. The wire-controlled chassis 110 adjusts the robot's travel direction and speed according to the commands, so that the robot moves along the planned path. The six-axis robotic arm 130 performs corresponding actions according to the commands. The end effector of the six-axis robotic arm 130 is equipped with corresponding actuators according to the usage requirements for inspection operations. At the same time, the control motherboard 210 also controls the three-color indicator lights 230 to display different colors according to the robot's working status, providing intuitive status indications for the operator.

[0037] Example 3

[0038] Reference Figure 1 , 2 4 and 5 are the third embodiment of the present invention, which is based on the first two embodiments.

[0039] In this embodiment, the rotating base 140 includes a housing 141 fixed to the top of the outer shell 120, a gear 142 located at the upper end of the inner cavity of the housing 141, a gear ring 143 movably connected to the upper end of the inner cavity of the housing 141 via a slewing support bearing, and a servo motor 144 and a reducer 145 fixed to the bottom of the inner cavity of the housing 141.

[0040] The output shaft of the servo motor 144 is connected to the input shaft of the reducer 145, the output shaft of the reducer 145 is connected to the gear 142, the gear 142 meshes with the gear ring 143, and the gear ring 143 is fixedly connected to the six-axis robotic arm 130.

[0041] like Figure 1 , 2 As shown in Figures 4 and 5, the six-axis robotic arm 130 is also equipped with a rotating base 140. The rotating base 140, through the cooperation of a servo motor 144, a reducer 145, a gear 142, and a gear ring 143, can drive the six-axis robotic arm 130 to rotate. The servo motor 144 drives the gear 142 to rotate through the reducer 145. The gear 142 meshes with the gear ring 143, causing the gear ring 143 to drive the six-axis robotic arm 130 to rotate. This expands the operating range and flexibility of the six-axis robotic arm 130, enabling it to complete multi-angle and multi-position operation tasks in complex equipment inspection and operation scenarios in substations.

[0042] In use, the wire-controlled chassis 110 serves as the robot's mobile base and can move accordingly according to control commands. The servo motor 144 in the rotating base 140 outputs power, which is transmitted to the gear 142 via the reducer 145. The gear 142 meshes with the gear ring 143, causing the gear ring 143 to rotate. Since the gear ring 143 is fixedly connected to the six-axis robotic arm 130, the rotation of the six-axis robotic arm 130 is realized, allowing the six-axis robotic arm 130 to operate at different angles and positions.

[0043] The 3D LiDAR 221, binocular camera 222, millimeter-wave radar 223, first ultrasonic radar 224, RGB-D camera 225, multi-dimensional force sensor 226, and second ultrasonic radar 227 in sensor assembly 220 collect information about the robot's surrounding environment from different angles and methods. 3D LiDAR 221 acquires three-dimensional spatial information of surrounding objects, binocular camera 222 provides visual images, and millimeter-wave radar 223 detects the distance and speed of targets. The control motherboard 210, with its built-in dynamic path planning module, receives data from sensor assembly 220. The dynamic path planning module employs a time-distance priority algorithm and a dynamic hybrid path planning algorithm. The time-distance priority algorithm calculates obstacle approach times using a formula to prioritize obstacle avoidance. The dynamic hybrid path planning algorithm includes an improved global planning layer. *The algorithm and the dynamic artificial potential field of the local obstacle avoidance layer are fused by the control motherboard 210 to generate obstacle avoidance commands. The three-color indicator light 230 displays different colors according to the commands of the control motherboard 210 to indicate the working status of the robot. The sensor component 220 transmits the collected environmental information to the control motherboard 210. The control motherboard 210 processes the information to generate obstacle avoidance commands and operation commands. The obstacle avoidance commands are sent to the wire-controlled chassis 110 to enable the robot to avoid obstacles. The operation commands are sent to the six-axis robotic arm 130 to enable it to complete the corresponding operation tasks. At the same time, the control motherboard 210 transmits relevant data to external devices through the communication module 310 and the transmission antenna 320 to realize information interaction.

[0044] All standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Since this application is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail in this application.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible obstacle avoidance robot for substations, characterized in that: include, The robot assembly (100) includes a wire-controlled chassis (110), a housing (120) fixed to the top of the wire-controlled chassis (110), a six-axis robotic arm (130) located above the housing (120), and a rotating base (140) fixed to the top of the housing (120) for rotating the six-axis robotic arm (130). The obstacle avoidance component (200) includes a control motherboard (210) fixed to the top of the wire-controlled chassis (110) and located in the inner cavity of the housing (120), a sensor component (220) mounted on the surface of the robot component (100), and a three-color indicator light (230) fixed to the top of the housing (120). The control motherboard (210) has a built-in dynamic path planning module that integrates sensor data to generate obstacle avoidance commands. The transmission assembly (300) includes a communication module (310) fixed to the top of the wired chassis (110) and located in the cavity of the housing (120), and a transmission antenna (320) fixed to the rear end of the housing (120). The sensor assembly (220) includes a 3D LiDAR (221) fixed to the top front end of the housing (120), a binocular camera (222) fixed to the front of the housing (120), a millimeter-wave radar (223) fixed to the front and back of the housing (120), a first ultrasonic radar (224) fixed to both sides of the housing (120), an RGB-D camera (225) fixed to the end of the six-axis robotic arm (130), a multi-dimensional force sensor (226) fixed to the connection between the six-axis robotic arm (130) and the actuator, and a second ultrasonic radar (227) fixed to the joint of the six-axis robotic arm (130). The number of millimeter-wave radars (223) is four, and they are respectively fixed to both sides of the front and back of the housing (120).

2. The flexible obstacle avoidance robot for substations according to claim 1, characterized in that: The rotating base (140) includes a housing (141) fixed to the top of the outer shell (120), a gear (142) located at the upper end of the inner cavity of the housing (141), a gear ring (143) movably connected to the upper end of the inner cavity of the housing (141) via a slewing support bearing, and a servo motor (144) and a reducer (145) fixed to the bottom of the inner cavity of the housing (141).

3. The flexible obstacle avoidance robot for substations according to claim 2, characterized in that: The output shaft of the servo motor (144) is connected to the input shaft of the reducer (145), the output shaft of the reducer (145) is connected to the gear (142), the gear (142) meshes with the gear ring (143), and the gear ring (143) is fixedly connected to the six-axis robotic arm (130).

4. The flexible obstacle avoidance robot for substations according to claim 1, characterized in that: The output and input terminals of the control motherboard (210) are interconnected with the output and input terminals of the communication module (310), and the output and input terminals of the communication module (310) are interconnected with the output and input terminals of the transmission antenna (320).

5. The flexible obstacle avoidance robot for substations according to claim 1, characterized in that: The output terminals of the 3D LiDAR (221), binocular camera (222), millimeter-wave radar (223), first ultrasonic radar (224), RGB-D camera (225), multi-dimensional force sensor (226) and second ultrasonic radar (227) are all connected to the input terminal of the control motherboard (210). The output terminal of the control motherboard (210) is connected to the input terminal of the wire-controlled chassis (110), the six-axis robotic arm (130) and the three-color indicator light (230), respectively.

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