CN214267595U

CN214267595U - Agricultural inspection robot walking on strop cable

Info

Publication number: CN214267595U
Application number: CN202023191765.8U
Authority: CN
Inventors: 张森; 韩冰; 黄铝文
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2020-12-27
Filing date: 2020-12-27
Publication date: 2021-09-24
Anticipated expiration: 2030-12-27

Abstract

The utility model discloses an agricultural of walking on strolling rope patrols and examines robot with infrared thermal imaging machine, 3D point cloud camera and optics panoramic camera belongs to the robot technical field of patrolling and examining, including patrolling and examining the robot and supplying to patrol and examine the robot and patrol and examine the strolling rope track of removal, strolling rope track top installation circular telegram line, circular telegram line and the charge-discharge control unit who patrols and examines in the robot box are connected, provide the electric energy for the battery with patrol and examine the robot, and three kinds of cameras, WIFI wireless transmission module and step motor are connected to the industry controller, and the host computer sends through wireless send instruction to the industry controller, and analytic instruction drive step motor realizes patrolling and examining the marcing of robot afterwards. The utility model discloses can acquire the multiple data of patrolling and examining automatically, save the manual work greatly and patrol and examine the cost, improve and patrol and examine efficiency and effect, reduce the probability that takes place the incident.

Description

Agricultural inspection robot walking on strop cable

Technical Field

The utility model relates to an inspection robot technical field specifically is an agricultural inspection robot of walking on strop cable.

Background

The inspection robot is mainly divided into a wheel type inspection robot, a rail type inspection robot and an unmanned aerial vehicle at present, the traditional agricultural inspection mode in China is manual inspection, but the traditional manual inspection is generally tedious, high in repeatability, mechanical, time-consuming, labor-consuming and labor-intensive, the inspection is easily affected by weather problems, similar automatic application mainly lies in industries such as electric power, pipelines, nuclear energy and underwater ships, and similar technical cost in the industries is high and has certain limitation.

Therefore, based on the specific agricultural production environment and practical conditions, it is necessary to design a stable and low-cost inspection robot walking on a strop cable to replace manual agricultural inspection work.

Disclosure of Invention

The utility model aims at solving the shortcoming existing in the background art by providing an agricultural inspection robot walking on a strop rope.

In order to realize the purpose, the utility model adopts the following technical scheme:

the utility model provides an agricultural inspection robot of walking on strop ropeway, includes pylon, strop ropeway track, robot box, infrared thermal imaging machine, 3DLiDAR camera, panoramic camera, step motor, steps up wheel, RFID label, its characterized in that, the robot box includes sensor, mounting panel, step motor and steps up the wheel, and the mounting panel divide into the box with the space inside and outside, and step motor installs to the box inside, connects and steps up the wheel, and temperature and humidity sensor installs to the outside top of box, patrol and examine the robot can walk in by on the circuit that pylon and strop ropeway were built.

As a further optimization scheme of the utility model, the pylon is equal height and has horizontal distance support such as 2, adopts three to become triangle-shaped distribution cable between to connect, and one of them is the cable, as the circular telegram line, and another two are the steel cable, conduct the strop track.

As the utility model discloses a further optimization scheme, infrared thermal imaging machine, 3D LiDAR camera and panoramic camera are three kinds of different effect cameras, can gather the multiple data of patrolling and examining.

As a further optimization scheme of the utility model, place the RFID label on the strop ropeway track, gather the mobile data, realize accurate mobile location.

As a further optimization scheme of the utility model, the inside battery of placing of robot box is as preparing the power.

Drawings

Fig. 1 is an overall schematic view of the present invention.

Fig. 2 is a schematic view of the running track of the present invention.

Fig. 3 is a schematic view of the internal structure of the present invention.

Fig. 4 is a schematic diagram of the connection structure of the internal modules of the control system according to the present invention.

In the figure: 1. the inspection robot comprises an inspection robot box body, 2, an infrared thermal imaging machine, 3, a 3D point cloud camera, 4, an optical panoramic camera, 5, a synchronizing wheel, 6, a guide rail, 7, a guide rail, 8, a power line, 9, an RFID tag, 10, a speed reducer, 11, an industrial control machine, 12, a WIFI wireless transceiver module, 13, a stepping motor, 14 charge-discharge controllers, 15 and a storage battery.

Detailed Description

The technical solution in the embodiment of the present invention is described in detail below with reference to the accompanying drawings in the embodiment of the present invention.

The invention discloses an agricultural inspection robot walking on a strop ropeway, which combines a figure 1, a figure 2, a figure 3 and a figure 4, wherein the figure 1 is a main body part of the inspection robot and comprises a robot box body 1, an infrared thermal imaging machine 2, a 3D point cloud camera 3, an optical panoramic camera 4 and a synchronizing wheel 5, wherein the box body is connected with all units by an industrial control machine 11. Fig. 2 is patrolling and examining robot guide rail, mainly includes track 6, track 7 and circular telegram line 8 to place RFID label 9 on guide rail 6 and guide rail 7, robot box 1 is connected in the track below through synchronizing wheel 5 and is hung, and circular telegram line 8 inserts and is connected the realization power supply and the battery function of charging with battery and charge-discharge unit in the box.

The box below is the data acquisition unit, including infrared thermal imaging machine 2, 3D point cloud camera 3 and the integrative panoramic camera 4 of optics, and wherein infrared thermal imaging machine 2 and 3D point cloud camera 3 link to each other through the cloud platform, realize the multi-angle rotating of camera.

The charging and discharging controller 14 and the storage battery 15, the stepping motor 13 and the speed reducer 10 which are connected with the storage battery, and the synchronizing wheel 5 which is connected with the stepping motor 13 and the speed reducer 10 are arranged in the box body, the synchronizing wheel 5 is connected with the guide rail 6 and the guide rail 7, and the communication control component is a WIFI wireless transceiver module 12; the charging and discharging controller 14, the stepping motor 13 and the WIFI wireless transceiver module 12 are all connected with the industrial controller 11.

When the intelligent positioning device is used, the electrified wire 8 is connected with the storage battery 15 and the charge-discharge controller 14, the upper computer platform sends an instruction to the industrial controller 11 through the WIFI wireless transceiver module 12, the industrial controller 11 analyzes the received signal and transmits the instruction, the traveling of the stepping motor 13 or the operation of the holder are driven, and the accurate positioning is realized by calculating the rotating speed of the motor and the label positioning information. The infrared thermal imaging machine 2, the 3D point cloud camera 3 and the optical integrated panoramic camera 4 are connected with an industrial control machine through an RS485 port, the industrial control machine receives and stores the acquired image and video data, and the acquisition and inspection of various image data of an orchard are fully automatically realized in all weather.

Claims

1. The utility model provides a robot is patrolled and examined to agricultural of walking on strop ropeway, includes pylon, strop ropeway track, robot box, infrared thermal imaging machine, 3D LiDAR camera, panoramic camera, step motor, step wheel, RFID label, its characterized in that: the robot box includes sensor, mounting panel, step motor and steps up the wheel, and the mounting panel divide into the box with the space inside and outside, and step motor installs to the box inside, connects and steps up the wheel, and temperature and humidity sensor installs to the outside top of box, and the robot of patrolling and examining can walk in by on the circuit that pylon and strop cable track were built.

2. The agricultural inspection robot walking on a strop line of claim 1, wherein: the tower is provided with 2 equal-height brackets with horizontal distance, and the two brackets are connected by adopting three triangularly-distributed cables, wherein one cable is used as a live wire, and the other two cables are used as the sliding cable track.

3. The agricultural inspection robot walking on a strop line of claim 1, wherein: the infrared thermal imaging machine, the 3D LiDAR camera and the panoramic camera are three cameras with different functions and can collect various inspection data.

4. The agricultural inspection robot walking on a strop line of claim 1, wherein: and an RFID label is placed on the strop track, and the movement data is collected to realize accurate movement positioning.

5. The agricultural inspection robot walking on a strop line of claim 1, wherein: and a storage battery is arranged in the robot box body to be used as a prepared power supply.