CN109202853A - A kind of power construction safety supervision robot - Google Patents
A kind of power construction safety supervision robot Download PDFInfo
- Publication number
- CN109202853A CN109202853A CN201811339999.7A CN201811339999A CN109202853A CN 109202853 A CN109202853 A CN 109202853A CN 201811339999 A CN201811339999 A CN 201811339999A CN 109202853 A CN109202853 A CN 109202853A
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- construction safety
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- 238000010276 construction Methods 0.000 title claims abstract description 19
- 230000004888 barrier function Effects 0.000 claims abstract description 6
- 238000007689 inspection Methods 0.000 claims abstract 2
- 239000000523 sample Substances 0.000 claims description 20
- 238000002604 ultrasonography Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000012360 testing method Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 2
- 206010016256 fatigue Diseases 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 description 11
- 230000008901 benefit Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of power construction safety supervision robots, including robot body, driving motor, power supply, holder and information acquisition unit；Robot body is internally provided with the driving motor, driving motor and the power electric connection, the rear portion of the robot body is arranged in power supply, bracket is provided in the middle part of robot body, robot body front is provided with industrial personal computer and drive control device, holder is arranged on the bracket, and industrial personal computer passes through drive control device respectively and is electrically connected with driving motor, holder and information acquisition unit.Robot of the invention can be automatically in electric operating on-the-spot make an inspection tour, electric operating personnel operation information is acquired, identifies unsafe acts, operation field security implementation is supervised, to reduce safety accident risk, solves the problems such as fatiguability, low efficiency and attention existing for artificial monitor easily are dispersed.Robot can also detect the barrier of direction of travel, accident collision when preventing automatic running.
Description
Technical field
The present invention relates to power construction detection device technical fields, and in particular to a kind of power construction safety supervision machine
People.
Background technique
With the development of the city, increasing for the demand of electric power, during power generation and power test, electricity
The supervision of masterpiece industry site safety is for guaranteeing that the safety of staff is of great significance.Do not have in existing electric operating place
Good real-time monitoring equipment generally requires manually to carry out security monitoring, and this mode manually monitored is time-consuming and laborious, moreover,
It may cause monitoring invalid due to artificial origin, some unnecessary safety accidents is caused to occur.
Therefore, how to provide one kind to be suitable for working in power industry, and the electric operating that work efficiency is high is supervised safely
Superintend and direct the problem of robot is those skilled in the art's urgent need to resolve.
Summary of the invention
To be solved by this invention is that electric operating process is this artificial using artificial progress security monitoring in the prior art
The mode of monitoring is time-consuming and laborious, furthermore, it is possible to cause some unnecessary accidents to occur since artificial origin causes monitoring invalid
The technical issues of, and it is an object of the present invention to provide a kind of power construction safety supervision robot.
The present invention is achieved through the following technical solutions:
A kind of power construction safety supervision robot, including robot body, driving motor, power supply, holder and information are adopted
Collect unit；The robot body is internally provided with the driving motor, the driving motor and the power electric connection, described
Power supply is arranged in the rear portion of the robot body, is provided with bracket in the middle part of the robot body, before the robot body
Portion is provided with industrial personal computer and drive control device, and the holder is arranged on the bracket, and the industrial personal computer passes through driving control respectively
Device processed is electrically connected with driving motor, holder and information acquisition unit.
Preferred embodiment, the robot body include chassis, front-wheel, rear-wheel, rear axle and front axle；The chassis and it is described before
Wheel by the preceding axis connection, the chassis and the rear-wheel by the axis connection afterwards, the output end of the driving motor and
Preceding axis connection, the front axle pass through transmission device and rear axis connection.
Preferred embodiment, the information acquisition unit include binocular camera and obstacle detection unit, the binocular camera
It is set on holder, the obstacle detection unit is arranged in chassis front end.
Preferred embodiment, the transmission device include driving wheel, driven wheel and chain；The driving wheel is set on front axle,
Driven wheel is set on rear axle, and the chain is socketed on driving wheel and driven wheel.
Preferred embodiment, the robot body further include gyroscope, and the gyroscope is set on chassis.
Preferred embodiment, the outside of the robot body are provided with shell, and cover top portion is provided with work light.
Preferred embodiment, the holder include cradle head control module, and the cradle head control module includes cradle head controllor, motor
Drive module, horizontal DC servo motor, vertical DC servo motor, horizontal angle sensor and vertical angle sensor, institute
It states cradle head controllor to connect with industrial personal computer, the horizontal angle sensor and vertical angle sensor acquisition PTZ level run angle
Operation angle vertical with holder is spent, and is transmitted to cradle head controllor, the cradle head controllor drives water by motor drive module
Straight flow servo motor and vertical DC servo motor.
Preferred embodiment, the driving motor include that revolver motor, right wheel motor, revolver motor driver and right wheel motor drive
Dynamic device, the revolver motor driver and right wheel motor driver driving revolver motor and right wheel motor, the revolver motor and
Right wheel motor respectively drives two front-drives；The revolver motor and right wheel motor are connected separately with photoelectric encoder, pass through
The speed of photoelectric encoder measurement revolver motor and right wheel motor.
Preferred embodiment, the obstacle detection unit include ultrasound transducer probe, and connect with ultrasound transducer probe
Ultrasonic signal processing board, the range information that it will test is transmitted to industrial personal computer, and there are four the ultrasound transducer probes, and
Column are mounted on chassis front end；Ultrasound transducer probe is used to detect the barrier of robot body direction of travel, prevents from transporting automatically
Accident collision when row.
Preferred embodiment, information acquisition unit further include wireless messages transceiver module, and the wireless messages transceiver module is used for
Transmit binocular camera video collected, image information.
Compared with prior art, the present invention having the following advantages and benefits: a kind of power construction peace of the invention
Full supervision machine people, can be automatically performed electric apparatus monitoring in daily substation, acquire status of electric power information, greatly improve
Electric apparatus monitoring efficiency and quality reduce the labor intensity and work risk of operation maintenance personnel, solve artificial monitoring and exist
Large labor intensity, low efficiency and detection mass-dispersion the problems such as.Robot carries ultrasound transducer probe, the ultrasonic sensing
The range information that device probe detects is transmitted to industrial personal computer, and ultrasound transducer probe is used to detect the barrier of robot body direction of travel
Accident collision when hindering object, preventing automatic running improves robot automation's operation, and monitoring range is wider, monitoring effect is more preferable,
It is easy to operate.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is robot schematic perspective view of the invention；
Fig. 2 is robot bottom substance schematic diagram of the invention.
Label and corresponding parts title in attached drawing:
1- robot body, 2- driving motor, 3- power supply, 4- holder, 5- binocular camera, 6- bracket, 7- industrial personal computer, 8-
Drive control device, 9- shell, 10- indicator light, 11- ultrasound transducer probe, the chassis 101-, 102- front-wheel, 103- rear-wheel, 104-
Rear axle, 105- front axle.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment
As depicted in figs. 1 and 2, a kind of power construction safety supervision robot of the invention, including robot body 1, in machine
Device human body 1 is equipped with driving motor 2, power supply 3, holder 4 and information acquisition unit.Robot body 1 includes chassis 101, preceding
Wheel 102, rear-wheel 103, rear axle 104 and front axle 105；Chassis 101 is connect with front-wheel 102 by front axle 105, chassis 101 and rear-wheel
103 are connected by rear axle 104, and the output end of driving motor 2 is connect with front axle 105, and front axle 105 passes through transmission device and rear axle
104 connections.Transmission device includes driving wheel, driven wheel and chain；Driving wheel is set on front axle 105, after driven wheel is set to
On axis 104, chain is socketed on driving wheel and driven wheel, is realized the transmission of robot 4 wheel driven, is improved the obstacle climbing ability of robot.
Driving motor 2 is electrically connected with power supply 3, and power supply 3 is preferably but not limited to as serondary lithium battery, and robot body 1 is arranged in power supply 3
Rear portion.Bracket 6 is provided in the middle part of robot body 1,1 front of robot body is provided with industrial personal computer 7 and drive control device 8, cloud
Platform 4 is set on bracket 6, and industrial personal computer 7 passes through drive control device 8 and driving motor 2, holder 4 and information acquisition unit electricity respectively
Connection.
The driving motor 2 includes revolver motor, right wheel motor, revolver motor driver and right wheel motor driver,
Revolver motor driver and right wheel motor driver respectively drive revolver motor and right wheel motor, revolver motor and right wheel motor point
It Qu Dong not two rotations of front-wheels 102；It is connected separately with photoelectric encoder in revolver motor and right wheel motor, passes through photoelectric encoder
Measure the speed of revolver motor and right wheel motor.It is realized by the way of the two wheel hub differentials and resolution of velocity of front-wheel when turning
Turning, turning radius is small, while gyroscope measurement movement error and feed back to drive control device 8, to movement cumulative errors into
Row feedback control.It is under the premise of not needing suspension using the advantage that front-wheel 102 drives, realizes that four-wheel lands simultaneously, improve
Obstacle performance.
The information acquisition unit includes binocular camera 2 and obstacle detection unit, and binocular camera 5 is set to holder
On 4, binocular camera 5 is mounted in progress omnidirectional images acquisition on holder 4, while binocular camera 5 can be in scene
Characteristic point or marker are identified, relative position is calculated, and accurately determine robot location.Obstacle detection unit is arranged on chassis
101 front ends, obstacle detection unit include ultrasound transducer probe 11, and the ultrasonic signal connecting with ultrasound transducer probe 11
Board is handled, the range information that ultrasound transducer probe 11 will test is transmitted to industrial personal computer 7, and there are four ultrasound transducer probes 1,
It is mounted on 101 front end of chassis side by side, avoids the occurrence of check frequency；Ultrasound transducer probe 11 is for detecting 1 row of robot body
Into direction barrier, prevent automatic running when accident collision.1 row of robot body is detected in ultrasound transducer probe 1
Into direction barrier when, industrial personal computer 7 by drive control device 8 to driving motor 2 issue driving signal, realize robot body
1 conversion direction is advanced, and front obstacle is avoided.Information acquisition unit further includes wireless messages transceiver module, wireless messages transmitting-receiving
Module is used to be wirelessly transferred the video of the acquisition of binocular camera 5, image information.
The holder 4 include cradle head control module, cradle head control module include cradle head controllor, motor drive module,
Horizontal DC servo motor, vertical DC servo motor, horizontal angle sensor and vertical angle sensor, cradle head controllor with
Industrial personal computer connection, the horizontal angle sensor and vertical angle sensor acquisition PTZ level operation angle and holder are vertically transported
Row angle, and it is transmitted to cradle head controllor, cradle head controllor drives horizontal DC servo motor by motor drive module and hangs down
Straight DC servo motor is realized the level orientation rotation and oscilaltion campaign of holder 4, is provided for binocular camera 5 cleverer
Image Acquisition visual angle living and wide.
Preferred embodiment scheme, the outside of robot body 1 are provided with shell 9, are provided with work light at the top of shell 9
10, shell 9 protects the component inside robot body 1, and work light 10 is used to show the working condition of robot.
Driving motor 2 and holder 4 inside robot body 1 of the invention are communicated by RS232 and industrial personal computer 7,
Industrial personal computer 7 completes task to the instruction such as driving motor 2 and 4 transmission speed of holder and displacement, driving motor 2 and holder 4 respectively
The signals such as the speed of feedback or displacement are fed back into industrial personal computer 7 simultaneously；Power supply 3 is communicated by USB and industrial personal computer 7；Ultrasonic sensing
Device probe 11 is communicated also by USB and industrial personal computer 7, and industrial personal computer 7 acquires 11 signal of ultrasound transducer probe, is converted through SLAM algorithm
At the identifiable map of robot, navigator fix information is being sent to driving motor 2；Industrial personal computer 7 is received and dispatched by wireless messages
The information such as video, image, audio, the state of robot acquisition are transferred to background server by module and background server communication,
All kinds of instructions will be transferred to robot again after information processing by server.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of power construction safety supervision robot, which is characterized in that including robot body, driving motor (2), power supply
(3), holder (4) and information acquisition unit；
The robot body is internally provided with the driving motor (2), and driving motor (2) is electrically connected with the power supply (3), institute
The rear portion that the robot body is arranged in power supply (3) is stated, is provided with bracket (6), the machine in the middle part of the robot body (1)
Device human body (1) front is provided with industrial personal computer (7) and drive control device (8), and the holder (4) is set on the bracket (6),
The industrial personal computer (7) is electrically connected by drive control device (8) with driving motor (2), holder (4) and information acquisition unit respectively.
2. a kind of power construction safety supervision robot according to claim 1, which is characterized in that the robot body
Including chassis (101), front-wheel (102), rear-wheel (103), rear axle (104) and front axle (105)；
The chassis (101) is connect with the front-wheel (102) by the front axle (105), the chassis (101) and the rear-wheel
(103) it is connected by the rear axle (104), the output end of the driving motor (2) is connect with front axle (105), the front axle
(105) it is connect by transmission device with rear axle (104).
3. a kind of power construction safety supervision robot according to claim 2, which is characterized in that the information collection list
Member includes binocular camera (501) and obstacle detection unit, and binocular camera (501) is set on holder (4), the obstacle inspection
Unit is surveyed to be arranged in chassis (101) front end.
4. a kind of power construction safety supervision robot according to claim 2, which is characterized in that the transmission device packet
Include driving wheel, driven wheel and chain；
The driving wheel is set on front axle (105), and driven wheel is set on rear axle (104), chain be socketed in driving wheel and from
On driving wheel.
5. a kind of power construction safety supervision robot according to claim 2, which is characterized in that the robot body
It further include gyroscope, the gyroscope is set on chassis (101).
6. a kind of power construction safety supervision robot according to claim 2, which is characterized in that the robot body
Outside be provided with shell (9), be provided with work light (10) at the top of shell (9).
7. a kind of power construction safety supervision robot according to claim 2, which is characterized in that the holder includes cloud
Platform control module, the cradle head control module includes cradle head controllor, motor drive module, horizontal DC servo motor, vertical
DC servo motor, horizontal angle sensor and vertical angle sensor, the cradle head controllor are connect with industrial personal computer (7), institute
Horizontal angle sensor and vertical angle sensor acquisition PTZ level operation angle and the vertical operation angle of holder are stated, and is transmitted
To cradle head controllor, the cradle head controllor drives horizontal DC servo motor and vertical DC servo by motor drive module
Motor.
8. a kind of power construction safety supervision robot according to claim 2, which is characterized in that the driving motor
(2) include revolver motor, right wheel motor, revolver motor driver and right wheel motor driver, the revolver motor driver and
Right wheel motor driver driving revolver motor and right wheel motor, the revolver motor and right wheel motor respectively drive two front-wheels
(102) it rotates；The revolver motor and right wheel motor are connected separately with photoelectric encoder, measure revolver electricity by photoelectric encoder
The speed of machine and right wheel motor.
9. a kind of power construction safety supervision robot according to claim 3, which is characterized in that the obstacle detection list
Member includes ultrasound transducer probe, and the ultrasonic signal processing board connecting with ultrasound transducer probe, what it will test
Range information is transmitted to industrial personal computer (7), and there are four the ultrasound transducer probes, is mounted on chassis (101) front end side by side；Ultrasound passes
Accident collision when sensor probe is for detecting the barrier of robot body direction of travel, preventing automatic running.
10. a kind of power construction safety supervision robot according to claim 3, which is characterized in that information acquisition unit
It further include wireless messages transceiver module, the wireless messages transceiver module is used for transmission binocular camera (501) view collected
Frequently, image information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811339999.7A CN109202853A (en) | 2018-11-12 | 2018-11-12 | A kind of power construction safety supervision robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811339999.7A CN109202853A (en) | 2018-11-12 | 2018-11-12 | A kind of power construction safety supervision robot |
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| Publication Number | Publication Date |
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| CN109202853A true CN109202853A (en) | 2019-01-15 |
Family
ID=64996234
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| CN201811339999.7A Pending CN109202853A (en) | 2018-11-12 | 2018-11-12 | A kind of power construction safety supervision robot |
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Cited By (5)
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|---|---|---|---|---|
| CN110351527A (en) * | 2019-07-25 | 2019-10-18 | 友谊国际工程咨询有限公司 | The other robot system of standing of engineering construction intelligence |
| CN111846027A (en) * | 2020-08-07 | 2020-10-30 | 广东电科院能源技术有限责任公司 | Robot chassis structure |
| CN112140907A (en) * | 2020-09-28 | 2020-12-29 | 厦门安科科技有限公司 | Electric power construction site safety supervision and management equipment |
| CN112329540A (en) * | 2020-10-10 | 2021-02-05 | 广西电网有限责任公司电力科学研究院 | Identification method and system for overhead transmission line operation in-place supervision |
| CN113601479A (en) * | 2021-08-11 | 2021-11-05 | 铁科检测有限公司 | Self-walking intelligent platform inspection equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111846027A (en) * | 2020-08-07 | 2020-10-30 | 广东电科院能源技术有限责任公司 | Robot chassis structure |
| CN112140907A (en) * | 2020-09-28 | 2020-12-29 | 厦门安科科技有限公司 | Electric power construction site safety supervision and management equipment |
| CN112140907B (en) * | 2020-09-28 | 2021-10-22 | 厦门安科科技有限公司 | Electric power construction site safety supervision and management equipment |
| CN112329540A (en) * | 2020-10-10 | 2021-02-05 | 广西电网有限责任公司电力科学研究院 | Identification method and system for overhead transmission line operation in-place supervision |
| CN113601479A (en) * | 2021-08-11 | 2021-11-05 | 铁科检测有限公司 | Self-walking intelligent platform inspection equipment |
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