CN213705621U - Robot and inspection system - Google Patents
Robot and inspection system Download PDFInfo
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- CN213705621U CN213705621U CN202022780771.0U CN202022780771U CN213705621U CN 213705621 U CN213705621 U CN 213705621U CN 202022780771 U CN202022780771 U CN 202022780771U CN 213705621 U CN213705621 U CN 213705621U
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Abstract
The application provides a robot and system of patrolling and examining relates to automatic technical field. The robot comprises a vehicle body, a radar, shooting equipment, a mechanical arm, an apron and a first controller; the radar is arranged at the front end of the vehicle body, the shooting equipment is arranged at the top of the vehicle body through a mechanical arm, and the parking apron is arranged at the top of the vehicle body; the first controller is respectively connected with the vehicle body, the radar and the shooting equipment and used for controlling the vehicle body to move according to detection signals of the radar, controlling the shooting equipment to start shooting and controlling the unmanned aerial vehicle parked on the parking apron to take off. This application technical scheme can subtract the security that improves unmanned aerial vehicle patrols and examines in the air, need not unmanned aerial vehicle and treats again and patrol and examine regional repeated composition to and extension unmanned aerial vehicle's live time.
Description
Technical Field
The application relates to the technical field of automation, in particular to a robot and inspection system.
Background
With the continuous development of science and technology, the manual work is gradually replaced by machines, and various kinds of work are performed. For example: and the robot is adopted to replace the manpower to inspect the main equipment in the transformer substation.
In practical application, in order to improve the efficiency of patrolling and examining of robot, still can be with the help of unmanned aerial vehicle for unmanned aerial vehicle patrols and examines with the robot jointly. Particularly, the inspection area is divided, the robot inspects one part of the area, and the unmanned aerial vehicle inspects the other part of the area.
However, in the process of routing inspection, the unmanned aerial vehicle needs to fly in the air, and various uncertain factors in the air can reduce the safety of the unmanned aerial vehicle flying in the air. For example: the overhead in the transformer substation is erected and is equipped with more cables, and unmanned aerial vehicle flies in the transformer substation, will have great probability to touch the cable, and then increases the potential safety hazard that unmanned aerial vehicle patrolled and examined aloft.
SUMMERY OF THE UTILITY MODEL
The purpose of the embodiment of the application is to provide a robot and inspection system, can improve the security that unmanned aerial vehicle patrolled and examined in the air.
In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:
the present application provides in a first aspect a robot comprising: the device comprises a vehicle body, a radar, shooting equipment, a mechanical arm, an apron and a first controller; the radar is arranged at the front end of the vehicle body, the shooting equipment is arranged at the top of the vehicle body through the mechanical arm, and the apron is arranged at the top of the vehicle body; the first controller is respectively connected with the vehicle body, the radar and the shooting equipment and used for controlling the vehicle body to move according to the detection signal of the radar, controlling the shooting equipment to start shooting and controlling the unmanned aerial vehicle parked on the parking apron to take off.
In some modified embodiments of the first aspect of the present application, the photographing apparatus includes: a visible light camera and/or an infrared camera.
In some variations of the first aspect of the present application, the robotic arm is coupled to the first controller; one end of the mechanical arm is rotatably connected with the shooting equipment; and/or the mechanical arm is a telescopic rod.
In some modified embodiments of the first aspect of the present application, the tarmac is provided with a mark for indicating a relative position of the drone and the robot, so that the drone can land on the tarmac according to the relative position.
In some modified embodiments of the first aspect of the present application, the apron is provided with a groove, a width of a bottom of the groove is smaller than a width of a mouth of the groove, and a size of the bottom of the groove is the same as a size of the bottom of the unmanned aerial vehicle.
In some modified embodiments of the first aspect of the present application, the method further comprises: a fixing assembly; the fixed assembly is arranged on the parking apron and is connected with the first controller; wherein the fixing component can fix or unfirm the unmanned aerial vehicle on or from the apron according to the control instruction generated by the first controller.
In some variations of the first aspect of the present application, the securing component is an electromagnet; the electromagnet can be powered on or powered off according to a control command generated by the first controller, so that the unmanned aerial vehicle parked on the parking apron is adsorbed or desorbed.
In some modified embodiments of the first aspect of the present application, the method further comprises: a power supply and charging contacts; the charging contact is arranged on the parking apron and is electrically connected with the power supply; the power supply is used for supplying power to the unmanned aerial vehicle through the charging contact; wherein, when the unmanned aerial vehicle stops on the parking apron and contacts with the charging contact, the power supply charges the unmanned aerial vehicle through the charging contact.
The second aspect of the present application provides an inspection system, including: an unmanned aerial vehicle and the robot of the first aspect; the unmanned aerial vehicle includes: a first camera and a second camera; the first camera set up in unmanned aerial vehicle bottom, the second camera set up in the unmanned aerial vehicle side, first camera is used for discerning the position of air park, the second camera is used for shooing the second target.
In some modified embodiments of the second aspect of the present application, the drone further comprises: a second controller; the second controller is respectively connected with the first camera and the second camera and used for controlling the unmanned aerial vehicle to land on the parking apron of the robot according to the image shot by the first camera and controlling the second camera to shoot.
Compare in prior art, the robot that this application first aspect provided is through setting up the air park at automobile body top for unmanned aerial vehicle parks on the air park, when the robot traveles to the target location, and the unmanned aerial vehicle that parks on the air park takes off, and then makes unmanned aerial vehicle patrol and examine at the target location through the first controller control among the rethread robot. Like this, can reduce the time of unmanned aerial vehicle flight in the air, reduce the probability that unmanned aerial vehicle touched the target in the air, improve the security that unmanned aerial vehicle patrolled and examined in the air. And unmanned aerial vehicle just takes off according to the control command of first controller in the robot for unmanned aerial vehicle and robot constitute one set of complete system, only need the robot to treat to patrol and examine the region and carry out the composition once, and unmanned aerial vehicle need not to treat again to patrol and examine regional repeated composition. When the unmanned aerial vehicle does not reach the target position to be patrolled and examined, the unmanned aerial vehicle is parked on the parking apron, and the unmanned aerial vehicle flies to operate after arriving the target position by virtue of the operation of the robot, so that the electric energy consumed by the unmanned aerial vehicle in the process of flying to the target position can be saved, and the service time of the unmanned aerial vehicle is prolonged.
The system of patrolling and examining that this application second aspect provided has the same beneficial effect with the robot that the first aspect provided, and the event is no longer repeated the beneficial effect of the system of patrolling and examining that the second aspect provided again.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present application will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present application are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
figure 1 schematically shows a first structural view of a robot;
figure 2 schematically shows a first use diagram of the robot;
figure 3 schematically shows a use diagram two of the robot;
figure 4 schematically shows a diagram of the relative positions of the drone and the robot;
FIG. 5 schematically illustrates artwork for a logo;
fig. 6 schematically shows a photographic view of an identification photographed by a drone while in flight;
FIG. 7 schematically illustrates a second configuration of the robot;
FIG. 8 schematically shows a third block diagram of the robot;
FIG. 9 schematically illustrates a construction of the robot four;
FIG. 10 schematically illustrates a block diagram of the inspection system;
figure 11 schematically shows a block diagram of a drone;
fig. 12 schematically shows an inspection process diagram of the inspection system.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which this application belongs.
An embodiment of the present application provides a robot, fig. 1 schematically illustrates a first structural diagram of the robot, and in fig. 1, the robot may include: the vehicle body 101, the radar 102, the photographing apparatus 103, the robot arm 104, the apron 105, and the first controller 106.
The radar is arranged at the front end of the vehicle body. That is, the radar is provided at the vehicle head position of the vehicle body. Therefore, when the vehicle body runs, other parts on the vehicle body can not shield the waves emitted by the radar, so that the radar can be accurately positioned. Specifically, the radar may be provided at the vehicle body roof front end or may be provided at the vehicle body front side. The specific position of the radar on the vehicle body is not limited herein.
In practical applications, the radar may be a laser radar, a nano-wave radar, or the like. The specific type of radar is not limited herein. The method comprises the steps of composing a picture of an area to be inspected through a radar, determining the appearance and the position of each target in the area to be inspected, and determining the current position of the robot in the area to be inspected. And the first controller is used for controlling the robot to travel to the first target position.
For example, assume that the area to be inspected is a substation. The radar transmits electromagnetic waves, reflected waves received by the radar are analyzed, the external shapes and the placing positions of various power equipment in the transformer substation are determined, and the current position of the robot in the transformer substation is determined. In this way, the first controller can be used to determine in which direction and to which position the robot needs to be controlled.
Shooting equipment is connected with the one end of arm, and the other end and the automobile body top of arm are connected. Like this, the arm can make shooting equipment have higher visual angle, avoids other parts on the automobile body to cause the visual angle of shooting equipment to shelter from for shooting equipment can more add the whole target of shooing on every side.
In practical application, the shooting device may be a shooting device, a video recording device, or a device capable of both shooting and recording. The specific type of the photographing apparatus is not limited herein.
The apron is arranged on the top of the vehicle body. When not using unmanned aerial vehicle to shoot, can make unmanned aerial vehicle stop on this parking apron. Like this, can reduce unmanned aerial vehicle's flight time, improve the security of unmanned aerial vehicle flight in the air to and extension unmanned aerial vehicle's the time of patrolling and examining.
In practice, the apron may be a platform, or a boss, or a recess, or a support, or a circular table, or a rectangular table, etc., built on the robot. The specific shape of the apron is not limited herein. And, because the air park is used for parking unmanned aerial vehicle, the size of air park can be according to the concrete size setting of unmanned aerial vehicle. Because unmanned aerial vehicle generally adopts the lightweight unmanned aerial vehicle, the volume can not be too big, so the size of air park also can not too big.
The first controller is respectively connected with the vehicle body, the radar and the shooting equipment. The first controller controls the vehicle body to move according to a detection signal of the radar, controls the shooting equipment to start shooting, and controls the unmanned aerial vehicle to take off from the parking apron of the robot.
Specifically, when the robot is required to be used for polling an area to be polled, composition is carried out on the area to be polled by the radar, the current position of the robot in the area to be polled is determined, the current position is sent to the first controller, the first controller generates a control command by combining the current position of the robot and a first target position which is required to be polled by the robot, and sends the control command to the vehicle body so as to control the robot to run to the first target position. After the robot reaches the first target position, the radar sends the detected current position of the robot to the first controller, the first controller determines that the robot reaches the first target position, then a control instruction is generated, the control instruction is sent to the shooting equipment, and the shooting equipment shoots the target at the first target position.
When not using unmanned aerial vehicle, park unmanned aerial vehicle on the parking apron in the robot, take unmanned aerial vehicle to the second target position through the robot after, take off by the first controller control unmanned aerial vehicle in the robot again and patrol and examine. Specifically, after the robot reaches the second target position, the radar sends the second target position currently reached by the robot to the first controller, and the first controller determines that the robot has reached the second target position, so that a control instruction is generated, and the control instruction is sent to the unmanned aerial vehicle. And after receiving the control instruction, the unmanned aerial vehicle takes off from the parking apron immediately and shoots the target at the second target position. Like this, can reduce the time of unmanned aerial vehicle flight in the air, reduce the probability that unmanned aerial vehicle touched the target in the air, and then improve the security that unmanned aerial vehicle patrolled and examined in the air.
It should be noted here that the first target position for the robot to patrol and the second target position for the unmanned aerial vehicle to patrol may be different or the same. The first target location that the robot patrolled and the second target location that unmanned aerial vehicle patrolled and patrolled have constituted all target location in the region of waiting to patrol and examine. When the first target location that the robot patrolled and examined is different with the second target location that unmanned aerial vehicle patrolled and examined, the second target location that unmanned aerial vehicle patrolled and examined can be the position that the robot can't patrol and examine. Like this, when having improved the efficiency of patrolling and examining, can also treat more comprehensively and patrol and examine the region and patrol and examine.
In practical applications, the first controller is an existing controller capable of generating control instructions according to input data to control other devices connected with the first controller to execute the control instructions. The specific type of the first controller is not limited herein.
According to the above content, the robot provided by the embodiment of the application is provided with the parking apron at the top of the vehicle body, so that the unmanned aerial vehicle is parked on the parking apron, when the robot runs to the target position, the unmanned aerial vehicle parked on the parking apron is controlled to take off by the first controller in the robot, and then the unmanned aerial vehicle is patrolled and examined at the target position. Like this, can reduce the time of unmanned aerial vehicle flight in the air, reduce the probability that unmanned aerial vehicle touched the target in the air, improve the security that unmanned aerial vehicle patrolled and examined in the air. And unmanned aerial vehicle just takes off according to the control command of first controller in the robot for unmanned aerial vehicle and robot constitute one set of complete system, only need the robot to treat to patrol and examine the region and carry out the composition once, and unmanned aerial vehicle need not to treat again to patrol and examine regional repeated composition. When the unmanned aerial vehicle does not reach the target position to be patrolled and examined, the unmanned aerial vehicle is parked on the parking apron, and the unmanned aerial vehicle flies to operate after arriving the target position by virtue of the operation of the robot, so that the electric energy consumed by the unmanned aerial vehicle in the process of flying to the target position can be saved, and the service time of the unmanned aerial vehicle is prolonged.
Further, the photographing apparatus may include: a visible light camera and/or an infrared camera.
That is, the robot may be provided with only the visible light camera, only the infrared camera, both the visible light camera and the infrared camera.
Generally, in order to enable the robot to achieve the best inspection effect, a visible light camera and an infrared camera can be simultaneously installed on the robot. The visible light camera can shoot the target in the area to be inspected under the condition of better daytime illumination condition, and the infrared camera can shoot the target in the area to be inspected under the condition of worse daytime illumination condition at night. Therefore, the robot can shoot the region to be patrolled and examined no matter in the day or at night, and the region to be patrolled and examined is treated at all times to be patrolled and examined. Since the visible light camera and the infrared camera are both conventional cameras, the specific models of the visible light camera and the infrared camera are not limited herein.
Since the orientation of the target requiring the robot to perform the inspection varies, for example: the orientation of the meters in the substation is not uniform. If the shooting equipment is fixed on the vehicle body, the shooting equipment cannot shoot the front faces of all targets, the front faces of some targets can be shot only, the side faces of other targets can be shot only, images of the side faces of the targets can cause that maintenance personnel cannot see the targets thoroughly, the targets without problems are mistaken for being in question, the targets with problems are mistaken for not being in question, and the accuracy of routing inspection is reduced.
Further, fig. 2 schematically shows a first usage view of the robot, in fig. 2, the robot arm 104 is connected to the first controller 106, and one end of the robot arm 104 is rotatably connected to the photographing apparatus 103.
Thus, under the control of the first controller, the mechanical arm can enable the shooting equipment to rotate by 360 degrees up and down, left and right and the like.
In a specific using process, when the robot reaches the first target position, the first target at the first target position needs to be shot, and the front face of the first target does not face the shooting device, the first controller generates a control instruction and sends the control instruction to the mechanical arm, and the mechanical arm rotates after receiving the control instruction and drives the shooting device on the mechanical arm to rotate to the front face of the first target.
Before the first controller generates the control instruction, namely when the shooting device does not face the front face of the first target, the shooting device can shoot the side face of the first target, and then the image of the side face of the first target is sent to the first controller, the first controller can determine that the received image is not the front image of the target according to a preset algorithm, and can also calculate how much degree the shooting device needs to rotate to shoot the front image of the target.
Due to the varying heights of the objects that require the robot to perform the inspection, for example: the heights of the meters in the substation are not uniform. And if fix the shooting equipment on the automobile body, the shooting equipment probably can't carry out the complete shooting to some targets, probably can only shoot some targets partly, can lead to the maintainer to know the whole condition of target like this, will not have the target mistake that goes wrong and think that the problem appears, will go wrong the target mistake that goes wrong and think that no problem appears, reduce the accuracy of patrolling and examining.
Further, fig. 3 schematically shows a second usage of the robot, in fig. 3, the robot arm 104 is connected to the first controller 106, and the robot arm 104 is a telescopic rod.
Therefore, under the control of the first controller, the mechanical arm can stretch up and down, the height of the shooting equipment is further variable, and the shooting equipment can shoot targets with different heights from the front.
In a specific use process, when the robot reaches a first target position, the first target at the first target position needs to be shot, and when the shooting equipment is not located at the same height as the first target, the first controller generates a control instruction and sends the control instruction to the mechanical arm, and after the mechanical arm receives the control instruction, the mechanical arm stretches and retracts, so that the shooting equipment is lifted to the same height as the first target.
Before generating a control instruction, namely when the shooting device and the first target are not at the same height, the shooting device shoots part of the first target or shoots an oblique view at a certain included angle with the first target, and at the moment, the images are sent to the first controller, the first controller can determine that the shooting device is not at the same height with the first target according to a preset algorithm, and even can calculate the height of the shooting device which needs to rise or fall to be parallel to the first target, at the moment, the first controller can generate the control instruction, and carry the height of the shooting device which needs to rise or fall in the control instruction, and send the control instruction to the mechanical arm, so that the mechanical arm drives the shooting device to rise or fall, and the shooting device finally shoots a complete front image of the first target.
It should be noted here that the mechanical arm may have only a rotation function, may also have only a telescopic function, and may also have both a rotation function and a telescopic function.
It should be noted that the visible light camera and the infrared camera may be mounted on the same mechanical arm, or may be mounted on different mechanical arms. When the visible light camera and the infrared camera are installed on the same mechanical arm, the first controller controls the mechanical arm to rotate, and the visible light camera and the infrared camera rotate synchronously. When the visible light camera and the infrared camera are installed on different mechanical arms, the first controller needs to control the different mechanical arms to rotate respectively.
And taking off the unmanned aerial vehicle from the parking apron, and after shooting the second target at the position of the second target, landing the unmanned aerial vehicle back to the parking apron. In order to make unmanned aerial vehicle can accurately descend on the parking apron, avoid unmanned aerial vehicle to descend and fall on other positions of robot. Further, a logo may be placed on the tarmac. Unmanned aerial vehicle can confirm the relative position of unmanned aerial vehicle and robot through looking over the sign on the air park, and then makes unmanned aerial vehicle can accurately descend on the air park.
Specifically, the drone may have stored therein the original image of the identification in advance. The original image is an image of the logo photographed from the front side of the logo on the apron with a certain distance. When the unmanned aerial vehicle flies in the air, the mark on the parking apron can be shot to obtain a shot picture of the mark. Unmanned aerial vehicle just can draw unmanned aerial vehicle and be located the robot directly over through comparing the original drawing of sign with the picture of shooting, the top is preceding partially, the top is back partially, the top is left partially, the top is right partially, the top is preceding right partially, the top is back upward the equidistance on the back partially, and draw the vertical distance between unmanned aerial vehicle and the robot. And then instruct the unmanned aerial vehicle to be capable of accurately parking on the parking apron.
For example, fig. 4 schematically shows a relative position diagram of the drone and the robot, and in fig. 4, the drone 20 is located above the robot 10 in a position leaning back upward. Fig. 5 schematically shows the original drawing of the logo, fig. 6 schematically shows the photographed drawing of the logo photographed by the drone during flight, and the drone 20 can determine the position at which the drone leans back and up above the logo by comparing the original drawing in fig. 5 with the photographed drawing in fig. 6, and can also determine the vertical distance between the drone and the robot by the area size of the original drawing and the photographed drawing. And because the sign sets up on the air park, consequently, unmanned aerial vehicle just can be according to the accurate horizontal landing of sign on the air park.
In practical applications, the identifier may be a two-dimensional code. Of course, the mark may be other figures, and the specific shape of the mark is not limited herein.
Of course, the unmanned aerial vehicle can land on the apron through a differential GPS and the like. The specific implementation manner of determining the relative position of the unmanned aerial vehicle and the robot is not limited herein.
When the unmanned aerial vehicle is about to land on the apron, the unmanned aerial vehicle can land only on one approximate position of the apron by means of the identification, and cannot land on a certain specified point on the apron accurately. And, after unmanned aerial vehicle lands on the parking apron on the robot, because the robot still need continue to travel, the going of robot probably can make unmanned aerial vehicle unable at the parking apron unstability.
Further, fig. 7 schematically shows a second structural view of the robot, in fig. 7, a groove 107 may be provided on the apron 105, and the width of the bottom of the groove 107 is made smaller than the width of the mouth of the groove 107, and the size of the bottom of the groove 107 is made the same as the size of the bottom of the drone.
Like this, when unmanned aerial vehicle is about to descend on the parking apron, even if unmanned aerial vehicle does not aim at appointed point, as long as unmanned aerial vehicle descends at the recess oral area, at the in-process that unmanned aerial vehicle continues to descend, the lateral wall of the slope of recess will guide unmanned aerial vehicle to finally descend on appointed point, improves the accurate nature that unmanned aerial vehicle descends. And, the recess bottom that unmanned aerial vehicle finally parks is the same with the size of unmanned aerial vehicle bottom, even if the follow-up continuation motion of robot, unmanned aerial vehicle also can be because the screens of recess bottom for unmanned aerial vehicle can not slide on the parking apron, increases the stability that unmanned aerial vehicle parked.
In order to further fix the unmanned aerial vehicle on the apron, fig. 8 schematically shows a third structural diagram of the robot, and in fig. 8, the robot may further include: the assembly 108 is fixed. Wherein the fixed component 108 is arranged on the apron 105, and the fixed component 108 is connected with the first controller 106.
The fixed component can be switched on and off according to a control command sent by the first controller. Like this, when unmanned aerial vehicle lands on the parking apron, first controller can detect out that unmanned aerial vehicle descends on the parking apron through check out equipment such as gravity sensor, camera, and then generates control command to send control command for fixed subassembly, fixed subassembly just can open according to control command, and then fixes unmanned aerial vehicle on the parking apron. When unmanned aerial vehicle need take off, first controller is when sending the control command of taking off to unmanned aerial vehicle promptly, and first controller still can generate a control command, and then sends this control command for fixed subassembly, and fixed subassembly just can close according to control command, and then removes fixedly to unmanned aerial vehicle for unmanned aerial vehicle can follow and take off smoothly on the parking apron.
In practice, the fixing member may be an electromagnet. And the bottom of unmanned aerial vehicle can adopt the material that can be adsorbed by magnet to make. Like this, when unmanned aerial vehicle lands on the parking apron, detection equipment such as the camera on gravity sensor on the parking apron, the robot of first controller detects out the unmanned aerial vehicle landing on the parking apron, and then generates control command to through control command control electro-magnet circular telegram, the electro-magnet has just had magnetism, can adsorb unmanned aerial vehicle on the parking apron. When unmanned aerial vehicle need take off, first controller generates the control command that unmanned aerial vehicle takes off promptly after, will generate a control command again, through this control command control electro-magnet outage, the electro-magnet just has lost magnetism, can relieve the adsorption of air park to unmanned aerial vehicle.
Of course, the fixing component may be a buckle which can be opened and closed according to a control signal. The specific form of the fixing component is not limited herein.
Because the unmanned aerial vehicles parked on the parking apron of the robot are all light-weight unmanned aerial vehicles, and a large power supply cannot be configured in the light-weight unmanned aerial vehicles, the endurance time of the unmanned aerial vehicles is generally short.
In order to increase the endurance time of the unmanned aerial vehicle, further, fig. 9 schematically shows a structure diagram of a robot, in fig. 9, the robot may further include: a power supply 109 and a charging contact 110. Wherein, charging contact 110 sets up on air park 105 to be connected with the power 109 that sets up in automobile body 101, power 109 can be for robot and unmanned aerial vehicle power supply.
Because the robot can store more electric energy, consequently, the power in the robot car body not only can be for the robot power supply, can also be for unmanned aerial vehicle power supply. Specifically, when the drone lands on the apron and makes contact with the charging contacts on the apron, the power supply in the robot can charge the drone through the charging contacts. Like this, end when unmanned aerial vehicle in air flight, when descending on the parking apron, unmanned aerial vehicle just can charge, has increased unmanned aerial vehicle's time of endurance. And the unmanned aerial vehicle is not required to return to the special charging position of the unmanned aerial vehicle at a distance again for charging, so that the unmanned aerial vehicle is more convenient to charge.
Here, it should be noted that: the robot provided by the embodiment of the application can be a combination of one or more of the above features.
Based on the same concept, an embodiment of the present application further provides an inspection system, fig. 10 schematically illustrates a structure diagram of the inspection system, and in fig. 10, the inspection system may include: a drone 20 and a robot 10 as in the previous embodiments.
Wherein, unmanned aerial vehicle 20 can include: a first camera 201 and a second camera 202. First camera 201 sets up in unmanned aerial vehicle 20's bottom, when unmanned aerial vehicle 20 need land on robot 10's air park 105, can discern the relative position of unmanned aerial vehicle 20 and robot 10, guides for unmanned aerial vehicle 20's descending. The second camera 202 is disposed at the side end of the drone 20, and when the drone 20 flies in the air, shooting can be performed.
After the robot controls the unmanned aerial vehicle to take off, the unmanned aerial vehicle needs to patrol and examine the target. And after the unmanned aerial vehicle is patrolled and examined, the unmanned aerial vehicle needs to land on the parking apron of robot.
Further, a controller is required to be disposed in the drone for controlling the drone accordingly. Fig. 11 schematically shows a structural diagram of the drone, and in fig. 11, the drone 20 may include: a first camera 201, a second camera 202 and a second controller 203.
Here, the second controller is connected to the first camera and the second camera, respectively. After the unmanned aerial vehicle takes off, the second controller can generate a control instruction, the control instruction is sent to the second camera, the second camera is controlled to shoot targets near the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to patrol and examine. After the unmanned aerial vehicle patrols and examines the completion, the second controller can generate control command to send control command for first camera, control first camera and shoot the parking apron on the robot, and then receive the image of the parking apron that first camera was shot, according to the image adjustment unmanned aerial vehicle's of the parking apron that first camera was shot flight route, and then control unmanned aerial vehicle and land on the parking apron of robot.
Next, the inspection process of the inspection system will be specifically described.
Fig. 12 schematically shows an inspection process diagram of the inspection system, and in fig. 12, when the robot 10 travels to the first target position a1, the photographing apparatus 103 of the robot 10 photographs the first target B1 at the first target position a 1. When the robot 10 travels to the second target position a2, the photographing device 103 of the robot 10 does not cover the second target B2 at the second target position a2, at which time the robot 10 controls the drone 20 to take off so that the second camera 202 of the drone 20 photographs the second target B2. After the unmanned aerial vehicle 20 finishes shooting the second target B2, the first camera 201 of the unmanned aerial vehicle 20 shoots the apron 105 of the robot 10, and then falls on the apron 105 according to the shot image. The robot then performs a next inspection of the target location.
It should be noted here that the unmanned aerial vehicle may transmit the captured image to the robot in real time, and the robot may transmit the captured image of the unmanned aerial vehicle and the captured image of the robot to the background in real time, so that a background maintainer can know the condition of each target in the inspection area in real time and maintain each target in the inspection area in time.
For example: maintainer in the transformer substation passes through the image discovery transformer substation that robot or unmanned aerial vehicle shot and goes up certain power equipment and hang there is the foreign matter, the corrosion appears, dirty scheduling problem, so, just so, can be about to clear away the foreign matter that hangs on this power equipment to and clear away corrosion, dirty etc. on this power equipment.
Proved by a large number of practices, the robot can patrol 90% of point locations in the transformer substation, the unmanned aerial vehicle can patrol 10% of point locations which cannot be patrolled by the robot in the transformer substation, and the patrol system formed by the robot and the unmanned aerial vehicle can realize the full coverage of a to-be-patrolled area.
It should be noted here that the above description of the embodiment of the inspection system, similar to the above description of the embodiment of the robot, has similar advantageous effects to the embodiment of the robot. For technical details not disclosed in the embodiment of the inspection system, reference is made to the description of the embodiment of the robot for understanding.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A robot, comprising: the device comprises a vehicle body, a radar, shooting equipment, a mechanical arm, an apron and a first controller;
the radar is arranged at the front end of the vehicle body, the shooting equipment is arranged at the top of the vehicle body through the mechanical arm, and the apron is arranged at the top of the vehicle body;
the first controller is respectively connected with the vehicle body, the radar and the shooting equipment and used for controlling the vehicle body to move according to the detection signal of the radar, controlling the shooting equipment to start shooting and controlling the unmanned aerial vehicle parked on the parking apron to take off.
2. The robot according to claim 1, wherein the photographing apparatus comprises: a visible light camera and/or an infrared camera.
3. The robot of claim 1, wherein said robotic arm is connected to said first controller;
one end of the mechanical arm is rotatably connected with the shooting equipment; and/or the mechanical arm is a telescopic rod.
4. The robot of claim 1, wherein said apron is provided with a marker for indicating the relative position of said drone and said robot so that said drone can land on said apron according to said relative position.
5. The robot of claim 1, wherein the apron is provided with a groove, the width of the groove bottom is smaller than the width of the groove mouth, and the size of the groove bottom is the same as the size of the drone bottom.
6. The robot of claim 1, further comprising: a fixing assembly;
the fixed assembly is arranged on the parking apron and is connected with the first controller;
wherein the fixing component can fix or unfirm the unmanned aerial vehicle on or from the apron according to the control instruction generated by the first controller.
7. A robot as claimed in claim 6, characterized in that the fixed component is an electromagnet;
the electromagnet can be powered on or powered off according to a control command generated by the first controller, so that the unmanned aerial vehicle parked on the parking apron is adsorbed or desorbed.
8. The robot of claim 1, further comprising: a power supply and charging contacts;
the charging contact is arranged on the parking apron and is electrically connected with the power supply; the power supply is used for supplying power to the unmanned aerial vehicle through the charging contact;
wherein, when the unmanned aerial vehicle stops on the parking apron and contacts with the charging contact, the power supply charges the unmanned aerial vehicle through the charging contact.
9. An inspection system, comprising: an unmanned aerial vehicle and the robot of any one of claims 1 to 8;
the unmanned aerial vehicle includes: a first camera and a second camera; the first camera set up in unmanned aerial vehicle bottom, the second camera set up in the unmanned aerial vehicle side, first camera is used for discerning the position of air park, the second camera is used for shooting.
10. The inspection system according to claim 9, wherein the drone further includes: a second controller;
the second controller is respectively connected with the first camera and the second camera and used for controlling the unmanned aerial vehicle to land on the parking apron of the robot according to the image shot by the first camera and controlling the second camera to shoot.
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| CN202022780771.0U CN213705621U (en) | 2020-11-26 | 2020-11-26 | Robot and inspection system |
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| CN202022780771.0U CN213705621U (en) | 2020-11-26 | 2020-11-26 | Robot and inspection system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753154A (en) * | 2021-09-14 | 2021-12-07 | 国网河南省电力公司洛阳供电公司 | Transformer substation intelligent inspection system based on 5G and artificial intelligence |
| CN113781676A (en) * | 2021-09-15 | 2021-12-10 | 北京顺造科技有限公司 | Security protection system of patrolling and examining based on four-footed robot and unmanned aerial vehicle |
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2020
- 2020-11-26 CN CN202022780771.0U patent/CN213705621U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753154A (en) * | 2021-09-14 | 2021-12-07 | 国网河南省电力公司洛阳供电公司 | Transformer substation intelligent inspection system based on 5G and artificial intelligence |
| CN113753154B (en) * | 2021-09-14 | 2022-06-28 | 国网河南省电力公司洛阳供电公司 | Transformer substation intelligent inspection system based on 5G and artificial intelligence |
| CN113781676A (en) * | 2021-09-15 | 2021-12-10 | 北京顺造科技有限公司 | Security protection system of patrolling and examining based on four-footed robot and unmanned aerial vehicle |
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