Mechanical dog lift camera assembly

Abstract

The utility model discloses a mechanical dog elevating camera assembly relates to robot inspection technical field, include: main control box is fixed on the mechanical dog, elevating lever is fixed one end on the main control box, three -axis holder is located in the elevating lever output, and the main control box is connected with three -axis holder communication through the connecting line, camera module is located on three -axis holder, light supplementing lamp is located on the camera module, three -axis holder control camera module carries out the three -axis angle adjustment of pitch axis, horizontal roll axle and rotation axis. The utility model discloses collection elevating control function, video thermal imaging function and three -axis holder control function, can have automatic regulation height, photo video acquisition, temperature data acquisition simultaneously, and the holder has the posture follow mechanical dog posture automatic regulation function and up and down left and right angle regulation function.

Description

Technical Field

[0001] This utility model relates to the field of robot inspection technology, specifically to a mechanical dog lifting camera assembly. Background Technology

[0002] When mechanical dogs inspect equipment in special locations such as power grids and energy facilities, the vibrations from their own footsteps and various obstacles and uneven surfaces (such as stairs, slopes, thresholds, barriers, elevators, etc.) affect their stable movement, causing excessive vertical movement and resulting in shaky camera footage, which affects the inspection view. When inspecting equipment to read instrument panel data or observe key components, the inconsistent height of the observation points makes it difficult to adjust the camera height as needed to achieve clear photos, videos, and other data collection. Furthermore, existing inspection equipment only carries visible light cameras, which cannot meet the requirements for collecting and detecting temperature information of equipment and the environment in special locations, such as detecting equipment temperature, wiring overheating, and excessively high ambient temperatures. Therefore, this utility model proposes a mechanical dog lifting camera assembly. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of the aforementioned technologies by proposing a mechanical dog lifting camera assembly, which aims to solve the problems mentioned above.

[0004] This utility model provides a mechanical dog lifting camera assembly, including: The main control box is fixedly mounted on the mechanical dog; The lifting rod is fixed at one end to the main control box; The three-axis gimbal is located at the output end of the lifting mast, and the main control box is connected to the three-axis gimbal via a connecting cable. The camera module is mounted on a three-axis gimbal; A fill light is mounted on the camera module; The three-axis gimbal controls the camera module to adjust the angles of the pitch, roll, and rotation axes.

[0005] Preferably, the camera module includes a housing, a visible light camera, and a thermal imaging camera. The housing is connected to a three-axis gimbal, and the visible light camera and the thermal imaging camera are located inside the housing. A fill light is located inside the housing.

[0006] Preferably, the three-axis gimbal includes a mounting box, a rotation motor, a roll motor, and a pitch motor. The mounting box is fixedly mounted on the output end of the lifting rod, and the main control box is connected to the mounting box via a connecting cable. The rotation motor is mounted on the mounting box, and its conveying end is connected to an "L"-shaped component. The roll motor is located at the end of the "L"-shaped component, and a swing component is connected to the output end of the roll motor. The pitch motor is located at the end of the swing component, and the housing is connected to the output end of the pitch motor.

[0007] Preferably, the connecting cable is a Type-C data cable. A connecting screw is provided on one side of the end of the Type-C data cable.

[0008] Preferably, it also includes a protective frame, which is connected to the mounting box via a mounting plate. The protective frame has a "U" shaped structure and is provided with a 90-degree bend.

[0009] Preferably, the lifting rod is a telescopic structure controlled by a motor.

[0010] Preferably, the main control box contains a main control module, which includes a power supply board and a main control board.

[0011] Compared with existing technologies, it has the following beneficial effects: 1. Solve the functions of environmental observation, photo storage, and video storage during mechanical dog inspection operations; for scenes with low light, the ambient brightness can be improved by turning on the supplementary light; during the inspection process, the temperature information of objects in the inspection equipment and inspection scene is detected in real time and displayed on the screen to provide users with high temperature hazard source analysis.

[0012] 2. To address the issue of adjusting the raising / lowering action of the boom during inspections, the boom can be raised and lowered with a single button; alternatively, a preset height value can be used to precisely adjust the boom to the desired height during the inspection process. 3. Solve the high-precision control of the camera module's pitch axis, roll axis, and rotation axis; during inspection, it is necessary to adjust the camera's viewing angle up and down / left and right. The pitch axis of the gimbal can be used to adjust the camera's vertical angle, the rotation axis to adjust the camera's horizontal angle, and the roll axis to effectively adjust the camera's horizontal viewing angle; through three-axis angle adjustment, the gimbal's viewing angle and attitude can be kept continuously balanced, enabling the camera to follow the mechanical dog's movement in real time with stable tilt and turning angle tracking. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in 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 preferred embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the mechanical dog lifting camera assembly of this utility model. Figure 1 ; Figure 2 This is a schematic diagram of the mechanical dog lifting camera assembly of this utility model. Figure 2 ; Figure 3This is a schematic diagram of the three-axis gimbal of this utility model. Figure 1 ; Figure 4 This is a schematic diagram of the mechanical dog lifting camera assembly of this utility model. Figure 3 ; Figure 5 This is a schematic diagram of the three-axis gimbal of this utility model. Figure 2 ; Figure 6 This is a schematic diagram of the protective frame of this utility model; Figure 7 This is a schematic diagram showing the disassembly of the main control box of this utility model; Figure 8 This is a schematic diagram illustrating the extension and retraction of the telescopic rod of this utility model; Figure 9 This is a schematic diagram of the mechanical dog lifting camera assembly of this utility model; Figure 10 This is a schematic diagram of the power supply board of this utility model; Figure 11 This utility model relates to a power supply tree for a power board. Figure 12 This is a power input soft-start circuit diagram for this utility model; Figure 13 This is the DC-DC circuit diagram of this utility model; Figure 14 This is the circuit diagram for the supplementary lighting control of this utility model; Figure 15 Power supply diagram for the main control board of this utility model.

[0015] In the diagram, 1-Main control box; 11-Main control board; 2-Lifting rod; 3-Three-axis gimbal; 31-Mounting box; 32-"L" shaped component; 33-Ornament; 4-Camera module; 41-Housing; 42-Visible light camera; 43-Thermal imaging camera; 5-Fill light; 6-Mechanical dog; 7-Connecting cable; 71-Connecting screw; 8-Protective frame; 1a-Pitch axis; 2b-Roll axis; 3c-Rot axis. Detailed Implementation

[0016] To better understand the structure, functional features, and advantages of this utility model, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings: Example: like Figures 1 to 8 As shown, this utility model provides a mechanical dog 6 lifting camera assembly, including: The main control box 1 is fixedly mounted on the mechanical dog 6; The lifting rod 2 is fixed at one end to the main control box 1; The three-axis gimbal 3 is located at the output end of the lifting pole 2, and the main control box 1 is connected to the three-axis gimbal 3 via the connecting cable 7. Camera module 4 is mounted on the three-axis gimbal 3; The supplementary light 5 is located on the camera module 4. The supplementary light 5 uses LED energy-saving lamp beads with a power output of 2W. It can be controlled to be turned on / off, effectively meeting the supplementary lighting needs of camera photography, video recording, and environmental inspection and observation.

[0017] The three-axis gimbal 3 controls the camera module 4 to perform three-axis angle adjustments: pitch axis 1a, roll axis 2b, and rotation axis 3c.

[0018] This utility model integrates lifting control function, video thermal imaging function and three-axis gimbal control function, and can simultaneously perform automatic height adjustment, photo and video acquisition, and temperature data acquisition; the gimbal has attitude following mechanical dog 6 attitude automatic adjustment function and up, down, left and right angle adjustment function.

[0019] As another embodiment of this utility model, such as Figure 2 and Figure 3 As shown, the camera module 4 includes a housing 41, a visible light camera 42 and a thermal imaging camera 43. The housing 41 is connected to the three-axis gimbal 3, and the visible light camera 42 and the thermal imaging camera 43 are located inside the housing 41; the fill light 5 is located inside the housing 41.

[0020] Among them, the visible light camera 42 is a color camera module 4, which uses a data cable for signal transmission and can take pictures and store videos. It can also provide visual observation for users during the inspection process.

[0021] The thermal imaging camera 43 can store information such as photos and videos; thermal imaging can read and record the temperature information of objects; resolution 640×512; target temperature measurement range 0℃~+550℃; features extremely low power consumption, high-quality images, and two temperature measurement levels.

[0022] As another embodiment of this utility model, such as Figure 5 As shown, the three-axis gimbal 3 includes a mounting box 31, a rotation motor, a roll motor, and a pitch motor. The mounting box 31 is fixedly mounted on the output end of the lifting rod 2. The main control box 1 is connected to the mounting box 31 via a connecting cable 7. The rotation motor is mounted on the mounting box 31, and its conveying end is connected to an "L"-shaped component 32. The roll motor is located at the end of the "L"-shaped component 32. The output end of the roll motor is connected to a swing component 33. The pitch motor is located at the end of the swing component 33. The housing 41 is connected to the output end of the pitch motor.

[0023] See Figure 3The camera module 4 features high-precision control of its pitch axis 1a, roll axis 2b, and rotation axis 3c; the three-axis gimbal 3 provides attitude stabilization and angle control; during inspections, when the viewing angle of the camera module 4 needs to be adjusted up / down or left / right, the pitch axis 1a of the three-axis gimbal 3 can be used to adjust the up / down angle of the camera module 4, the rotation axis 3c can be used to adjust the left / right angle of the camera module 4, and the roll axis 2b can effectively adjust the horizontal viewing angle of the camera module 4; through three-axis angle adjustment, the viewing angle and attitude of the three-axis gimbal 3 can be kept continuously balanced, enabling the camera module 4 to follow the mechanical dog 6 in real time with stable tilt and turning angles.

[0024] As another embodiment of this utility model, such as Figure 2 As shown, connector 7 is a Type-C data cable.

[0025] See Figure 4 A connecting screw 71 is provided on one side of the Type-C data cable end, so as to fix both ends of the Type-C data cable to the main control box 1 and the mounting box 31 by means of the connecting screw 71.

[0026] As another embodiment of this utility model, such as Figure 3 As shown, it also includes a protective frame 8, which is connected to the mounting box 31 via a mounting plate.

[0027] See Figure 3 The protective frame 8 has a "U" shaped structure and a 90-degree bend.

[0028] As another embodiment of this utility model, such as Figure 8 As shown, the lifting rod 2 is a telescopic structure controlled by a motor. It uses motor control to precisely adjust the height and can preset the height value. During the inspection process, the preset height value can be called to make precise adjustments to achieve the required height.

[0029] As another embodiment of this utility model, such as Figure 7 As shown, the main control box 1 contains a main control module, which includes a power board and a main control board 11.

[0030] The power board uses the 12V / 3A power interface of the Mechanical Dog 6 expansion dock, with the input connected to a TVS diode and a power soft-start circuit, effectively protecting the expansion dock's power supply.

[0031] The 5V / 3A power supply of the mechanical dog 6 expansion dock charges the battery through the battery charging management module, with a maximum charging power of 5V2A. The battery provides power to the motor drive board, which controls the motor of the lifting rod 2. The main control module and the motor drive board communicate via UART.

[0032] The expansion dock power supply input power soft start circuit outputs 12V to the gimbal, and the main control module and the gimbal communicate using UART.

[0033] The main control module supplies 5V power to camera module 4, and the two communicate via USB or data cable.

[0034] The fill light 5 uses TX-TPPMW60KJBMR-YB-09-F, and its power supply is provided by power board 11, with GPIO power control by the main control module.

[0035] The lifting pole 2 is equipped with a three-axis gimbal 3. The camera module 4 and the fill light 5 are installed on the three-axis gimbal 3, which is regarded as module 1. The main control module is in the main control box 1 at the lower end of the lifting pole 2, which is regarded as module 2. Module 1 and module 2 are connected by a Type-C data cable with screws to transmit power and signals, including 12V, 5V, USB, UART, etc.

[0036] The working principle of this utility model: The main control module powers the fill light 5 and controls its on / off state. It also powers the three-axis gimbal 3, communicates with it via UART, and controls its operation. Finally, it powers the camera module 4 via USB communication. The battery powers the motor drive board, which communicates with it via UART, controlling the motor of the lifting rod 2.

[0037] The above description is merely a preferred embodiment of this utility model and does not constitute any limitation on this utility model. Any person skilled in the art can make many possible variations and modifications to the technical solution of this utility model, or modify it into equivalent embodiments, without departing from the scope of the technical solution of this utility model. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technology of this utility model without departing from the scope of the technical solution of this utility model shall fall within the protection scope of this technical solution.

Claims

1. A mechanical dog lifting camera assembly, characterized in that, include: The main control box (1) is fixedly mounted on the mechanical dog (6); The lifting rod (2) is fixed at one end to the main control box (1); The three-axis gimbal (3) is located at the output end of the lifting rod (2), and the main control box (1) is connected to the three-axis gimbal (3) via a connecting cable (7). A camera module (4) is mounted on the three-axis gimbal (3); A fill light (5) is provided on the camera module (4); The three-axis gimbal (3) controls the camera module (4) to perform three-axis angle adjustment of the pitch axis (1a), roll axis (2b) and rotation axis (3c).

2. The mechanical dog lifting camera assembly according to claim 1, characterized in that, The camera module (4) includes a housing (41), a visible light camera (42) and a thermal imaging camera (43). The housing (41) is connected to the three-axis gimbal (3). The visible light camera (42) and the thermal imaging camera (43) are located inside the housing (41). The fill light (5) is located inside the housing (41).

3. The mechanical dog lifting camera assembly according to claim 2, characterized in that, The three-axis gimbal (3) includes a mounting box (31), a rotation motor, a roll motor and a pitch motor. The mounting box (31) is fixedly mounted on the output end of the lifting rod (2). The main control box (1) is connected to the mounting box (31) via a connecting line (7). The rotation motor is mounted on the mounting box (31), and its conveying end is connected to an "L" shaped component (32). The roll motor is mounted on the end of the "L" shaped component (32). The output end of the roll motor is connected to a swing component (33). The pitch motor is mounted on the end of the swing component (33). The housing (41) is connected to the output end of the pitch motor.

4. The mechanical dog lifting camera assembly according to claim 1, characterized in that, The connecting line (7) is a Type-C data line.

5. The mechanical dog lifting camera assembly according to claim 3, characterized in that, It also includes a protective frame (8), which is connected to the mounting box (31) via a mounting plate.

6. The mechanical dog lifting camera assembly according to claim 5, characterized in that, The protective frame (8) has a "U" shaped structure and a 90-degree bend.

7. The mechanical dog lifting camera assembly according to claim 1, characterized in that, The lifting rod (2) is a telescopic structure controlled by a motor.

8. The mechanical dog lifting camera assembly according to claim 1, characterized in that, The main control box (1) is equipped with a main control module, which includes a power board and a main control board (11).

9. The mechanical dog lifting camera assembly according to claim 4, characterized in that, A connecting screw (71) is provided on one side of the end of the Type-C data cable.

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