CN111844066A - Inspection type substation inspection robot and control and moving method thereof - Google Patents
Inspection type substation inspection robot and control and moving method thereof Download PDFInfo
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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
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The invention discloses a checking type substation inspection robot and a control and measurement method thereof, wherein the checking type substation inspection robot comprises the following components: the robot comprises a robot chassis, a lifting measurement assembly, a data acquisition and processing device and the like; compared with the traditional chassis, the robot chassis is additionally provided with electric components such as a laser radar, a wireless communication module, an industrial personal computer and the like; the data acquisition and processing device comprises: an upper computer, an industrial camera, a graduated scale and the like; the inspection type transformer station inspection robot control and measurement method comprises the following steps: by information interaction between the laser radar and the upper computer, map information can be automatically acquired, and an optimal path is automatically planned; after the ground surface measuring device reaches a detection point, the detection point can be automatically measured and recorded by lifting up information interaction between the measuring component and the data acquisition and processing device, and the measured values of all the detection points are processed to obtain the overall ground condition information.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an inspection type substation inspection robot and a control and moving method thereof.
Background
At present, the use amount of electric power gradually rises, the transformer substation is built and transformed by increasing the force in order to reduce the electric power loss, and the future development trend of the transformer substation is intellectualized and unmanned in order to improve the working efficiency and the inspection quality; at present, professional AGVs (automated guided vehicles) can replace manual work to finish the patrol work of a transformer substation in the industry, but the ground flatness requirement of the AGVs in the operation process is very high, and the method can be known from GB/T20721-: the undulation value of the road surface of AGV walking in unit square meter should be less than 3mm (including 3mm), if the ground flatness is relatively poor, the phenomenon of skidding appears easily, in order to guarantee that AGV that the transformer substation drops into can be safe, stable work, must carry out the roughness measurement to its region of operation.
Currently, the flatness of the ground is mainly measured by manually using a professional flatness measuring instrument, such as: a jolt totalizer and the like, and the method is mostly used for outdoor road detection and has single function and insufficient precision; the AGV generally runs in an indoor small-range area and has more obstacles, so that the measurement cannot be carried out through the instrument; at present, no automatic instrument specially used for measuring the flatness of the running ground of the AGV is available in the market, the feeler gauge is usually used manually for measurement, the workload is huge, and deviation is easy to occur.
Disclosure of Invention
The invention mainly aims to provide an inspection type substation inspection robot and a control and moving method thereof, which are used for an inspection robot for construction ground inspection and a control, moving and measuring mode thereof, and can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
an inspection type substation inspection robot comprises a robot chassis, a lifting measuring component, a servo rotating component and a data acquisition and processing device, wherein the robot chassis is positioned at the lower end of the lifting measuring component, the servo rotating component is positioned at the upper end of the lifting measuring component, the lower end of the servo rotating component penetrates through the lifting measuring component and is fixedly connected with the robot chassis, and a graduated scale in the data acquisition and processing device is fixedly connected to the upper end of the lifting measuring component and is positioned on the same horizontal line with the servo rotating component; the lifting measurement assembly comprises an installation supporting plate, single-shaft inclination angle sensors, electric linear push rods, universal adjustment type ground feet, a spring limiting mechanism and guide rail sliding blocks, the electric linear push rods and the universal adjustment type ground feet are three, right-angled triangles can be formed by connecting the centers of the three universal adjustment type ground feet, the single-shaft inclination angle sensors are provided with two single-shaft inclination angle sensors, the two single-shaft inclination angle sensors are respectively installed on two right-angled edges of the right-angled triangles, and the spring limiting mechanism and the guide rail sliding blocks are respectively provided with two sets and are respectively installed on the two linear push rods located at non-right-angle positions.
Preferably, spring stop gear includes spring, guide bar, spring holder, unsteady joint seat, unsteady joint and fixing base, spring holder and fixing base fixed connection, the spring is placed inside the spring holder, the guide bar can carry out concertina movement through the spring, unsteady joint and guide bar fixed connection, unsteady joint seat and unsteady joint are floated and are connected.
Preferably, the single-shaft inclination angle sensors detect the inclination angles of two right-angle sides of the right-angled triangle and the horizontal plane respectively, the three electric linear push rods are used for adjusting the height of the anchor, and the method for automatically leveling the three anchors of the mobile robot is further provided.
Preferably, it is three universal regulation type lower margin is used for guaranteeing that electronic linear push rod is perpendicular with the erection bracing board all the time, and the electronic linear push rod that is located non-right angle side is at the in-process that stretches out, and its steady displacement that takes place is guaranteed through spring stop gear and guide rail slider in the upper end, finally reaches the plane at right angled triangle place and is parallel with the horizontal plane.
Preferably, be provided with laser radar, drive wheel subassembly, driven wheel subassembly, weighing sensor, wireless communication module, industrial computer and proximity switch on the robot chassis, laser radar and industrial computer symmetry set up the both sides terminal surface on the robot chassis, drive wheel subassembly and follow the lower part and the drive wheel subassembly of driving wheel subassembly swing joint on the robot chassis are located from the driving wheel subassembly middle part, wireless communication module is located the robot chassis and is close to on the side end face of industrial computer, proximity switch fixed connection is in the upper end on the robot chassis.
Preferably, the servo rotating assembly comprises a rotating servo motor, a speed reducer, a tapered roller bearing and a driving shaft, the rotating servo motor is fixedly connected with the speed reducer, the output end of the speed reducer is fixedly connected with the driving shaft, the fixed end of the speed reducer is fixedly connected with the lifting measuring assembly, and the driving shaft penetrates through the lifting measuring assembly and is fixedly connected with a robot chassis below the lifting measuring assembly.
Preferably, the data acquisition and processing device comprises a graduated scale, an upper computer and an industrial camera, the industrial camera is horizontally placed in a wide area of a detection field, all the graduated scales located on detection points can be shot, and the upper computer is arranged right behind the industrial camera.
Preferably, the weighing sensor is used for detecting the mass of the robot chassis, and the weighing sensor is used for detecting whether the robot chassis is completely separated from the ground.
A control and movement method of a check type substation inspection robot comprises the following operation steps:
the method comprises the following steps: manually placing the inspection robot on the paved ground, placing the industrial camera at a proper position and setting proper height parameters, starting the inspection robot, rapidly scanning a map by using a laser radar, transmitting the map to an upper computer through a wireless communication module, setting a plurality of detection points in the upper computer after verifying that the map is correct, and automatically calculating a path by using the upper computer;
Step two: stopping the inspection robot after the inspection robot reaches a certain detection point; the detection position is determined by the laser radar and is transmitted to an upper computer through a wireless communication module, and the industrial camera is controlled by the upper computer to automatically steer and focus so as to ensure that a shot picture is clear;
step three: the industrial personal computer controls each electric linear push rod to ensure that the graduated scale horizontally rises to the measurement height according to the judgment results of the two single-shaft tilt sensors;
step four: after the industrial camera judges that the graduated scale reaches the measuring height, each electric linear push rod mechanism stops rising, and the industrial personal computer records the extension amount of each electric linear push rod;
step five: after the recording is finished, the servo rotating assembly drives the robot chassis to rotate, the electric linear push rod retracts after the robot chassis rotates to a set angle, the servo rotating assembly drives the lifting measuring assembly to rotate after the robot chassis is completely contacted with the ground, and the third step and the fourth step are repeated after the proximity switch is detected in place;
step six: after the detection is finished, the inspection robot automatically goes to the next detection point, and the third, fourth and fifth steps are repeated; until all the detection points are measured;
step seven: and carrying out calculation analysis according to a plurality of groups of data measured by all the detection points to obtain the overall ground condition information.
Compared with the prior art, the invention has the following beneficial effects:
1. the robot designed by the invention replaces manpower to finish accurate measurement of ground flatness, thereby greatly reducing the labor intensity of the manpower;
2. through the cooperative work among various electrical components, the robot can realize full-automatic operation and measurement after the detection points are manually set, and the automation degree is high;
3. the invention ensures the accuracy of measurement through the uniqueness of the height reference; through the rotation of the lifting measurement assembly, multiple measurements can be carried out on one detection point, and the uncertainty in the measurement is reduced;
4. the invention provides a method for realizing self-leveling by lifting three ground feet for an intelligent mobile robot, which has wide application.
Drawings
Fig. 1 is a schematic diagram of a retracted state of a foot component of an inspection type substation inspection robot in the invention;
FIG. 2 is a schematic diagram of a supporting state of a foot component of the inspection type substation inspection robot;
FIG. 3 is a front view of an inspection type substation inspection robot according to the present invention;
fig. 4 is an overall structural schematic diagram of a lifting measurement assembly of the inspection type substation inspection robot according to the present invention;
FIG. 5 is a schematic view of the overall structure of a robot chassis of an inspection robot for inspecting a substation according to the present invention;
fig. 6 is a plan view of a robot chassis of an inspection type substation inspection robot according to the present invention;
fig. 7 is a cross-sectional view of a robot chassis of an inspection type substation inspection robot according to the present invention;
fig. 8 is an overall structural schematic diagram of a spring limiting mechanism of the inspection type substation inspection robot of the invention;
fig. 9 is a sectional view of a servo rotary assembly of an inspection type substation inspection robot according to the present invention;
fig. 10 is a motion analysis diagram of an inspection type substation inspection robot according to the present invention;
FIG. 11 is view J of a motion analysis chart according to the present invention;
fig. 12 is a view H of the motion analysis chart of the present invention.
In the figure: 1. a robot chassis; 2. lifting the measuring assembly; 3. a servo rotation assembly; 4. a data acquisition and processing device; 11. a laser radar; 12. a drive wheel assembly; 13. a driven wheel assembly; 14. a weighing sensor; 15. a wireless communication module; 16. an industrial personal computer; 17. a proximity switch; 21. mounting a support plate; 22. a single axis tilt sensor; 23. an electric linear push rod; 24. a universal adjustable anchor; 25. a spring limiting mechanism; 26. a guide rail slider; 31. rotating the servo motor; 32. a speed reducer; 33. a tapered roller bearing; 34. a drive shaft; 41. a graduated scale; 42. an upper computer; 43. an industrial camera; 251. a spring; 252. a guide bar; 253. a spring seat; 254. a floating joint seat; 255. a floating joint; 256. a fixed seat.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-9, an inspection type substation inspection robot comprises a robot chassis 1, a lifting measurement component 2, a servo rotation component 3 and a data acquisition and processing device 4, wherein the robot chassis 1 is located at the lower end of the lifting measurement component 2, the servo rotation component 3 is located at the upper end of the lifting measurement component 2, the lower end of the servo rotation component 3 penetrates through the lifting measurement component 2 and is fixedly connected with the robot chassis 1, and a graduated scale 41 in the data acquisition and processing device 4 is fixedly connected to the upper end of the lifting measurement component 2 and is located on the same horizontal line with the servo rotation component 3; lift up measuring subassembly 2 including erection bracing board 21, unipolar inclination sensor 22, electronic linear push rod 23, universal regulation type lower margin 24, spring stop gear 25 and guide rail slider 26, electronic linear push rod 23 and universal regulation type lower margin 24 all are provided with threely, and right angled triangle can be constituteed to the line at three universal regulation type lower margin 24 center, unipolar inclination sensor 22 is provided with two, two unipolar inclination sensors 22 are installed respectively on two right angle edges of right angled triangle, spring stop gear 25 and guide rail slider 26 all set up two sets, install respectively on two linear push rods that are located non-right angle position.
The spring limiting mechanism 25 comprises a spring 251, a guide rod 252, a spring seat 253, a floating joint seat 254, a floating joint 255 and a fixed seat 256, wherein the spring seat 253 is fixedly connected with the fixed seat 256, the spring 251 is placed in the spring seat 253, the guide rod 252 can perform telescopic motion through the spring 251, the floating joint 254 is fixedly connected with the guide rod 252, and the floating joint seat 254 is in floating connection with the floating joint 255.
The two single-shaft inclination angle sensors 22 respectively detect the inclination angles of two right-angle sides of the right-angled triangle and the horizontal plane, the three electric linear push rods 23 are used for adjusting the height of the anchor, and further the method for automatically leveling the three anchors of the mobile robot is provided.
The three universal adjustment type feet 24 are used for ensuring that the electric linear push rod 23 is perpendicular to the mounting support plate 21 all the time, and the electric linear push rod 23 on the non-right-angle side is ensured to stably displace by the upper end through the spring limiting mechanism 25 and the guide rail sliding block 26 in the extending process, so that the plane where the right-angled triangle is located is parallel to the horizontal plane.
Be provided with laser radar 11 on robot chassis 1, drive wheel assembly 12, from driving wheel assembly 13, weighing sensor 14, wireless communication module 15, industrial computer 16 and proximity switch 17, laser radar 11 and industrial computer 16 symmetry set up the both sides terminal surface in robot chassis 1, drive wheel assembly 12 and from driving wheel assembly 13 swing joint be located from driving wheel assembly 13 middle part in robot chassis 1's lower part and drive wheel assembly 12, wireless communication module 15 is located robot chassis 1 and is close to a side terminal surface of industrial computer 16, proximity switch 17 fixed connection is in robot chassis 1's upper end.
The servo rotating assembly 3 comprises a rotary servo motor 31, a speed reducer 32, a tapered roller bearing 33 and a driving shaft 34, the rotary servo motor 31 is fixedly connected with the speed reducer 32, the output end of the speed reducer 32 is fixedly connected with the driving shaft 34, the fixed end of the speed reducer 32 is fixedly connected with the lifting measuring assembly 2, and the driving shaft 34 penetrates through the lifting measuring assembly 2 and is fixedly connected with the robot chassis 1 below the lifting measuring assembly 2.
Data acquisition, processing apparatus 4 includes scale 41, host computer 42 and industry camera 43, and industry camera 43 level is placed in the open area in detection place, guarantees to shoot all scales 41 that are located the check point, and host computer 42 sets up at industry camera 43 dead astern.
The load cell 14 is used to detect the mass of the robot chassis 1, and the load cell 14 is used to detect whether the robot chassis 1 is completely separated from the ground.
The mechanism of action of the partial structure in the invention is as follows:
laser radar 11: completing map scanning, position determination and automatic obstacle avoidance;
the wireless communication module 15: completing information transmission between the robot and the upper computer;
an industrial personal computer 16: the information processing inside the robot is completed, and each electric component inside the robot is controlled;
the proximity switch 17: for determining a position for lifting the measurement component;
The load cell 14: the system is used for detecting whether the robot ground is separated from the ground or not;
the drive wheel assembly 12: providing power for the movement of the robot;
single-axis tilt sensor 22: the device is used for detecting the angle relation between the connecting line of the centers of the two feet and the horizontal plane;
electric linear push rod 23: providing power for the lifting of the robot;
industrial camera 43: the uniqueness of the height reference is ensured;
servo rotating assembly 3: the lifting mechanism is used for driving the robot chassis and lifting the measuring assembly to rotate.
A control and movement method of a check type substation inspection robot comprises the following operation steps:
the method comprises the following steps: manually placing the inspection robot on the paved ground, and placing the upper computer 42 and the industrial camera 43 at proper positions to ensure that the industrial camera 43 can shoot a whole detection area; set the industrial camera 43 to a suitable height and secure its level; starting the inspection robot, manually controlling the inspection robot to move in the detection area through the upper computer 42, and then rapidly scanning the map by the laser radar 11 and transmitting the map to the upper computer through the wireless communication module 15; after the map is confirmed to be accurate and correct manually in the upper computer 42, any number of detection points (recorded as A001, A002 and A003 … …) can be directly arranged on the map, when the AGV running area is detected, in order to ensure the reliability of the detection result, the detection points need to be uniformly distributed and each unit square meter is ensured to have the detection point, and after the detection points are confirmed, the upper computer 42 automatically calculates the optimal path;
Step two: the inspection robot starts from a starting point set by the upper computer, the upper computer 42 monitors the position of the inspection robot in real time, and the inspection robot stops when reaching a first detection point (A001); after the laser radar 11 confirms that the position is correct, the position is transmitted to the upper computer 42 through the wireless communication module 15, the upper computer 42 controls the industrial camera 43 to automatically steer and focus, and the scale 41 positioned at the first detection point (A001) can be shot clearly;
step three: when the industrial camera 43 automatically turns and focuses, the industrial personal computer 16 controls the three electric linear push rods 23 to extend out at the same time and at the same speed; when the value detected by the weighing sensor 14 is equal to the weight of the robot chassis 1, the robot chassis 1 is completely separated from the ground, and the industrial personal computer 16 controls the three electric linear push rods 23 to stop extending; the included angles between the two right-angle sides and the horizontal plane are respectively detected and recorded by the two single-axis tilt angle sensors 22; the industrial personal computer 16 controls the electric linear push rod 23 at the right angle position to extend for 4mm, so as to ensure that the height of the right angle end is higher than that of two non-right angle ends (according to GB/T20721 and 2006 Universal technical conditions for automatic guided vehicles, the required fluctuation degree of the road surface when the AGV travels is that the fluctuation degree is not more than 3mm within 1 square meter, if the height of the non-right angle end is more than that of the right angle end, the ground of the detection point is unqualified, detection is skipped and marked, and detection is automatically carried out forward to the next detection point); the angle respectively detected by the two single-axis tilt angle sensors 22 is calculated by the industrial personal computer 16, so that the extension amounts of the electric linear push rods 23 positioned at two non-right-angle points can be obtained, and the specific calculation mode is as follows:
Referring to fig. 10: q in FIG. 101Dot, R1Dot, S1The point is the center of a fixed flange surface on three electric linear push rods, and the three connecting lines can form a right-angled triangle, wherein < Q1R1S1Is a right angle; three points of T, O and PThe contact point of the ground feet and the ground; two single-shaft tilt angle sensors are respectively arranged on the right-angle edge R1S1And R1Q1Detecting theta and gamma at the same height time of the three electric linear push rods; theta is an included angle between OT and the Y axis, and gamma is an included angle between OP and the X axis; according to the control steps, the following steps are known: PQ1＝TS1、OR1＝PQ1+ h (h is the maximum height difference allowable for the unit detection range in the operation region); by increasing the length of PQ1 to PQ2Increase TS1Length of to TS2Let a triangle Q1R1S1Shift to Q2R2S2Further completing the leveling action; because of < Q1R1S1Shifting to < Q2R2S2Is always 90 deg. in the process of (1), so PQ1Shift to PQ2And TS1Shift to TS2The processes of (A) and (B) are not influenced mutually and can be analyzed independently.
Referring to fig. 11: FIG. 11 shows a right triangle Q1R1S1Right-angle side Q1R1Leveling process of (2); when the ground of the non-right-angle end is lower than the ground of the right-angle end, namely the point P is lower than the point O, the following steps are known according to the control steps: when the chassis of the robot is completely separated from the ground, the extension amounts of the three ground feet are equal, and the quadrilateral PURO is rectangular and is arranged on the Q according to the condition 1R1The included angle gamma between OP and the X axis is measured and recorded by the side single-axis sensor; increasing OR to OR1In the process, the central point of the upper end mounting surface of the electric linear push rod at the P point is shifted to Q point from the U point1Point, U1Q1Represents Q1Point to U1The distance of the points; PQ elongation1To PQ2Then the right-angle side Q is completed1R1In the process, the central point of the upper end mounting surface of the electric linear push rod at the point P is shifted to Q2Point, U2Q2Dot represents Q2Point to U2The distance of the points.
As is apparent from fig. 11: the extension amount of the linear push rod is as follows:
L1＝PQ2–PQ1
point B is X axis and PQ2The intersection of (a) is known from the conditions: angle BQ2R2、∠Q2R20、∠0BQ2Are all right angles, so that a quadrilateral BQ2R2O is rectangular, so: BQ2＝OR2；
Since ≈ PB0 is a right angle, the triangle PBO is a right-angle triangle, and can be known from a trigonometric function formula:
PB＝POsinγ
then:
PQ2＝BQ2+BP＝OR2+POsinγ
therefore, the elongation of the electric linear push rod at the point P is as follows:
L1＝OR2+POsinγ–PQ1；
referring to fig. 12: FIG. 12 shows a right triangle Q1R1S1Right-angle side S1R1Leveling process of (2); when the ground of the non-right-angle end is higher than the ground of the right-angle end, namely the T point is higher than the O point, the following steps are known according to the control steps: when the chassis of the robot is completely separated from the ground, the extension amounts of the three ground feet are equal, and the quadrilateral TVRO is rectangular according to conditions and is installed on the S1R1The included angle theta between OT and Y axis is measured and recorded by the single-axis sensor on the edge; increasing OR to OR 1In the process, the central point of the upper end mounting surface of the electric linear push rod at the T point is shifted to the S point from the V point1Dot, V1S1Denotes S1Point to V1The distance of the points; elongation TS1To TS2Then the right-angle side S is completed1R1The center point of the mounting surface at the upper end of the electric linear push rod at the T point is shifted to S in the process2Dot, S2V2Dot representation S2Point to V2The distance of the points.
As is apparent from fig. 12: the extension amount of the linear push rod is as follows:
L2＝TS2–TS1
elongation S2The intersection of the T and Y axes at point D, as can be seen from the conditions: angle of erectionDS2R2、∠S2R20、∠0DS2Are all right angles, so that the quadrangle DS2R2O is rectangular, so: DS (direct sequence)2＝OR2；
Since the ≈ TD0 is a right angle, the triangle TDO is a right-angle triangle, and can be known from a trigonometric function formula:
TD＝TOsinθ
then:
TS2＝DS2-TD＝OR2–TOsinθ
therefore, the elongation of the electric linear push rod at the T point is as follows:
L2＝OR2-TOsinθ–TS1
after the two electric linear push rods 23 on the non-right angle respectively rise to the calculated height, the two single-axis sensors 22 verify the height, and after the verification is accurate, the industrial personal computer 16 controls the three electric linear push rods 23 to simultaneously extend out at a constant speed until the graduated scale 41 reaches the specified height of the industrial camera 43;
step four: when the scale plate 41 on the installation supporting plate 21 is lifted to reach the preset measurement height of the industrial camera 43, the industrial camera 43 transmits information to the upper computer 42, the upper computer 42 enables the electric linear push rods 23 to stop extending through the wireless communication module 15, and the industrial personal computer 16 in the robot chassis 1 records the extension and retraction amount (respectively recorded as B) of each electric linear push rod 23 1001、B2001、B3001) And transmits to the upper computer 42 to record the data;
step five: after the recording is finished, the servo rotating assembly 3 drives the robot chassis 1 to rotate, and after the robot chassis 1 rotates to a set angle, each electric linear push rod 23 retracts to the starting point; after the robot chassis 1 is completely contacted with the ground, the servo rotating assembly 3 drives the lifting measuring assembly 2 to rotate, and after the proximity switch 17 detects the robot chassis in place, the third step and the fourth step are repeated; the step can carry out multiple groups of detection on the same detection point, thereby reducing the uncertainty in measurement, and the more the repetition times of the step are, the higher the measurement precision is;
step six: after the detection is finished, the inspection robot automatically goes to the next detection point, and the third, fourth and fifth steps are repeated; until all the detection points are measured;
step seven: and carrying out calculation analysis according to a plurality of groups of data measured by all the detection points to obtain the overall ground condition information.
It should be noted that, in the third step, the spring limiting mechanism is a buffer structure, and is used to ensure that the universal adjusting anchor at the non-right-angle point does not displace during the extension of the electric linear push rod at the non-right-angle point, and ensure that the three measuring points are always at the same position; however, the method is only suitable for indoor detection, and if the common spring limiting mechanism cannot meet the requirements in outdoor large environment, the common spring limiting mechanism needs to be replaced by a servo motor and a ball screw; in the process of extending the electric linear push rod, in order to ensure that the equipment runs stably and a measuring point on a detecting point does not displace, the servo motor needs to drive the upper end of the servo motor to displace; as can be seen from fig. 11 and 12, the displacement of the upper end of the electric linear push rod has a certain functional relationship with the extension thereof before being leveled, and the stability of the cooperative motion between the servo motor and the electric linear push rod can be ensured according to the functional relationship.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides an inspection type transformer station inspection robot, includes robot chassis (1), lifts up measuring component (2), servo rotating assembly (3) and data acquisition, processing apparatus (4), its characterized in that: the robot chassis (1) is positioned at the lower end of the lifting measuring component (2), the servo rotating component (3) is positioned at the upper end of the lifting measuring component (2), the lower end of the servo rotating component (3) penetrates through the lifting measuring component (2) and is fixedly connected with the robot chassis (1), and a graduated scale (41) in the data acquisition and processing device (4) is fixedly connected to the upper end of the lifting measuring component (2) and is positioned on the same horizontal line with the servo rotating component (3); the lifting measurement component (2) comprises a mounting support plate (21), single-shaft inclination angle sensors (22), electric linear push rods (23), universal adjusting type anchor feet (24), a spring limiting mechanism (25) and guide rail sliding blocks (26), the electric linear push rods (23) and the universal adjusting type anchor feet (24) are arranged in a three mode, the connecting lines of the centers of the three universal adjusting type anchor feet (24) can form a right-angled triangle, the single-shaft inclination angle sensors (22) are arranged in two modes, the two single-shaft inclination angle sensors (22) are respectively mounted on two right-angled edges of the right-angled triangle, and the spring limiting mechanism (25) and the guide rail sliding blocks (26) are respectively provided with two sets and are respectively mounted on the two linear push rods located at non-right-angle.
2. The inspection-type substation inspection robot according to claim 1, characterized in that: the spring limiting mechanism (25) comprises a spring (251), a guide rod (252), a spring seat (253), a floating joint seat (254), a floating joint (255) and a fixed seat (256), the spring seat (253) is fixedly connected with the fixed seat (256), the spring (251) is placed inside the spring seat (253), the guide rod (252) can perform telescopic motion through the spring (251), the floating joint (254) is fixedly connected with the guide rod (252), and the floating joint seat (254) is in floating connection with the floating joint (255).
3. The inspection-type substation inspection robot according to claim 1, characterized in that: two unipolar tilt angle sensor (22) detect the inclination of two right-angle sides of right triangle and horizontal plane respectively, three electronic straight line push rod (23) are used for adjusting the lower margin height, and further a method for three lower margin auto leveling of mobile robot is provided.
4. The inspection-type substation inspection robot according to claim 1, characterized in that: three universal regulation type lower margin (24) are used for guaranteeing that electronic straight line push rod (23) are perpendicular with erection bracing board (21) all the time, and electronic straight line push rod (23) that are located non-right angle limit are at the in-process that stretches out, and its steady displacement that takes place is guaranteed through spring stop gear (25) and guide rail slider (26) in the upper end, finally reaches that the plane at right angled triangle place is parallel with the horizontal plane.
5. The inspection-type substation inspection robot according to claim 1, characterized in that: be provided with laser radar (11), drive wheel subassembly (12), follow driving wheel subassembly (13), weighing sensor (14), wireless communication module (15), industrial computer (16) and proximity switch (17) on robot chassis (1), laser radar (11) and industrial computer (16) symmetry set up the both sides terminal surface in robot chassis (1), drive wheel subassembly (12) and follow driving wheel subassembly (13) swing joint are located from driving wheel subassembly (13) middle part in the lower part of robot chassis (1) and drive wheel subassembly (12), wireless communication module (15) are located robot chassis (1) and are close to on the terminal surface of one side of industrial computer (16), proximity switch (17) fixed connection is in the upper end of robot chassis (1).
6. The inspection-type substation inspection robot according to claim 1, characterized in that: the servo rotating assembly (3) comprises a rotating servo motor (31), a speed reducer (32), a tapered roller bearing (33) and a driving shaft (34), the rotating servo motor (31) is fixedly connected with the speed reducer (32), the output end of the speed reducer (32) is fixedly connected with the driving shaft (34), the fixed end of the speed reducer (32) is fixedly connected with the lifting measuring assembly (2), and the driving shaft (34) penetrates through the lifting measuring assembly (2) and is fixedly connected with a robot chassis (1) below the lifting measuring assembly.
7. The inspection-type substation inspection robot according to claim 1, characterized in that: data acquisition, processing apparatus (4) include scale (41), host computer (42) and industry camera (43), industry camera (43) level is placed in detection place open area, guarantees to shoot all scale (41) that are located the check point, host computer (42) set up in industry camera (43) direct rear.
8. The inspection-type substation inspection robot according to claim 5, characterized in that: the weighing sensor (14) is used for detecting the mass of the robot chassis (1), and the weighing sensor (14) is used for detecting whether the robot chassis (1) is completely separated from the ground or not.
9. The method for controlling and moving inspection type substation inspection robots according to claims 1 to 8, comprising the following operation steps:
the method comprises the following steps: manually placing the inspection robot on the paved ground, placing an industrial camera (43) at a proper position and setting proper height parameters, starting the inspection robot, rapidly scanning a map by a laser radar (11), transmitting the map to an upper computer (42) through a wireless communication module (15), setting a plurality of detection points in the upper computer (42) after verifying that the map is correct, and automatically calculating a path by the upper computer (42);
Step two: stopping the inspection robot after the inspection robot reaches a certain detection point; the detection position is determined by the laser radar (11) and is transmitted to the upper computer (42) through the wireless communication module (15), and the industrial camera (43) is controlled by the upper computer (42) to automatically steer and focus, so that the shot picture is clear;
step three: the industrial personal computer (16) controls each electric linear push rod (23) to ensure that the graduated scale (41) horizontally rises to the measurement height according to the judgment results of the two single-axis tilt angle sensors (22);
step four: after the industrial camera (43) judges that the graduated scale (41) reaches the measuring height, the mechanisms of the electric linear push rods (23) stop rising, and the industrial personal computer (16) records the extending amount of each electric linear push rod (23);
step five: after the recording is finished, the servo rotating assembly (3) drives the robot chassis (1) to rotate, the electric linear push rod (23) retracts after the robot chassis (1) rotates to a set angle, the servo rotating assembly (3) drives the lifting measuring assembly (2) to rotate after the robot chassis (1) is completely contacted with the ground, and the third step and the fourth step are repeated after the proximity switch (17) is detected in place;
step six: after the detection is finished, the inspection robot automatically goes to the next detection point, and the third, fourth and fifth steps are repeated; until all the detection points are measured;
Step seven: and carrying out calculation analysis according to a plurality of groups of data measured by all the detection points to obtain the overall ground condition information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010669739.7A CN111844066A (en) | 2020-07-13 | 2020-07-13 | Inspection type substation inspection robot and control and moving method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010669739.7A CN111844066A (en) | 2020-07-13 | 2020-07-13 | Inspection type substation inspection robot and control and moving method thereof |
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| CN111844066A true CN111844066A (en) | 2020-10-30 |
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| CN202010669739.7A Withdrawn CN111844066A (en) | 2020-07-13 | 2020-07-13 | Inspection type substation inspection robot and control and moving method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882470A (en) * | 2021-01-14 | 2021-06-01 | 中广核工程有限公司 | Nuclear power station test robot and test method |
| CN114407054A (en) * | 2022-03-30 | 2022-04-29 | 北京大成国测科技有限公司 | Total powerstation robot based on artificial intelligence |
-
2020
- 2020-07-13 CN CN202010669739.7A patent/CN111844066A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882470A (en) * | 2021-01-14 | 2021-06-01 | 中广核工程有限公司 | Nuclear power station test robot and test method |
| CN114407054A (en) * | 2022-03-30 | 2022-04-29 | 北京大成国测科技有限公司 | Total powerstation robot based on artificial intelligence |
| CN114407054B (en) * | 2022-03-30 | 2022-07-29 | 北京大成国测科技有限公司 | Total powerstation robot based on artificial intelligence |
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Application publication date: 20201030 |