AU2020318124B2

AU2020318124B2 - High-pole lamp post robot

Info

Publication number: AU2020318124B2
Application number: AU2020318124A
Authority: AU
Inventors: Daniel C. L. WONG
Original assignee: Pegasus Industrial Ltd
Current assignee: Pegasus Industrial Ltd
Priority date: 2019-07-23
Filing date: 2020-07-17
Publication date: 2026-01-29
Anticipated expiration: 2040-07-17
Also published as: GB2601266B; GB2601266A; AU2020318124C1; AU2020318124A1; WO2021013098A1; CN114222698A; GB202202439D0

Abstract

Disclosed is a high-pole lamp post robot, comprising an annular body (10), a plurality of arm-type driving wheel mechanisms (20), a plurality of monitoring modules (30), and a control system (40). The plurality of arm-type driving wheel mechanisms are fixed to the annular body and extend downwards from the annular body, with one end of the arm-type driving wheel mechanisms being connected to an outer side of the annular body at equal intervals, and the other ends thereof being provided with a driving wheel (210, 220) and abutting against a surface of a pole body of a high-pole lamp post. The plurality of monitoring modules are connected to the annular body at equal intervals. With the above-mentioned structure, the high-pole lamp post robot can vertically move on the high-pole lamp post by means of the arm-type driving wheel mechanisms, and then detects the high-pole lamp post by means of the monitoring modules, so as to detect every detail on the surface more accurately at close range, in addition to reducing the cost and risk associated with manual maintenance.

Description

Summary:

[0004] An embodiment of the present invention provides a robot for high mast lamp posts, which may perform close inspection of the high mast lamp post pole surface, so to not only 5 lowers the maintenance costs and risks of inspections, but also increases the inspection accuracy.

[0005] According to an aspect of the present invention there is provided a high mast lamp post robot for inspecting high mast lamp posts, comprising: a circular body; 2020318124

a plurality of roller leg assemblies mounted on to the circular body and extended downwards 10 from the circular body, each roller leg assembly having one end being equidistantly spaced apart and connected to an outer rim of the circular body and another end being engaged to pole surface of the high mast lamp post; a plurality of monitoring modules being equidistantly spaced apart and mounted on the circular body; and 15 a control system configured for controlling the roller legs to drive the high mast lamp post with the monitor modules inspecting pole surface of the high mast lamp post; and wherein each roller leg assembly comprises: a first leg having one end connected to the outer rim of the circular body and another end linked to a single-wheel roller; and 20 a second leg having one end connected to the outer rim of the circular body and another end linked to a double-wheel roller.

[0006] According to another aspect of the present invention, the robot for inspecting high mast lamp post comprises a circular body, a multiple roller legs assembly, a plurality of wireless 25 monitoring modules and a control system. The roller legs assembly is secured at the bottom side of the circular body and extends downwards from the circular body. One end of each roller leg is equidistantly connected to the outer rim of the circular body, and the other end of the roller leg has a roller wheel engaged to the pole surface of the high mast lamp post. The wireless monitoring modules are equidistantly spaced and mounted on the circular body. The control 30 system is configured for controlling the roller legs assembly to drive the monitor modules that inspects the pole surface of the high mast lamp post.

[0007] In one embodiment, each roller leg comprises a first leg and a second leg. The first leg has an end connected to an outer rim of the circular body, and another end of the first leg is coupled with a single-wheel roller. The second leg has an end connected to the outer rim of the 35 circular body, and another end of the second leg is coupled with a double-wheel roller.

[0008] Accordingly, based on the aforesaid structure, the high mast lamp post robot is able to 07 Aug 2025

be driven by the roller legs, which moves up and down and inspect the high mast lamp post with its monitoring modules. This not only lowers the maintenance costs and risks of manual inspections, but also more accurately perform close inspection of every detail on the high mast 5 lamp post pole surface.

[0009] Embodiments may provide a high mast lamp post robot, which is able to perform on- site operations and can be remotely or autonomously controlled, avoiding the risk of having human workers working at high elevations. 2020318124

[0010] According to another aspect of the present invention, provided is a high mast lamp 10 post robot comprising a multiple roller legs assembly and at least one robotic arm. The roller legs assembly is secured at the circular body and extends downwards from the circular body to the pole surface of the high mast lamp post. One end of the robotic arm is connected to a circular track located on the inner rim of the circular body, while the other end is linked to a working module to perform specific tasks. 15 [0011] The working module is interchangeable to extend the functionalities of the arm and satisfies various needs. The functionalities include, but are not limited to, surface testing, grinding, polishing, painting, cleaning, ultrasonic for internal sensing and lamp inspections.

[0012] Accordingly, the robotic arm may allow the high mast lamp post robot of the present invention to perform a close on-site operation directly, avoiding the risk of having human 20 workers working at high elevations.

Brief Description of the Drawings:

[0013] FIG. 1 is an illustrative diagram of a high mast lamp post robot in accordance with one embodiment of the present invention. 25 [0014] FIG. 2 is another perspective illustration of the high mast lamp post robot of FIG. 1.

[0015] FIG. 3 is a block diagram of the control system in accordance with one embodiment of the present invention.

[0016] FIG. 4 is an illustrative diagram of a high mast lamp post robot in accordance with one embodiment of the present invention. 30 [0017] FIG. 5 is another perspective illustration of the high mast lamp post robot.

[0018] FIG. 6 is a block diagram of the control system in accordance with one embodiment of the present invention.

Detailed Description: 07 Aug 2025

[0019] With reference to FIGs. 1 to 3, FIG. 1 is an an illustrative diagram of a high mast lamp post robot in accordance with one embodiment of the present invention; FIG. 2 is another perspective illustration of the high mast lamp post robot of FIG. 1; and FIG. 3 is a block diagram 5 of the control system in accordance with one embodiment of the present invention. The monitoring module and the control system of FIG. 1 are omitted from FIG. 2 for clarity.

[0020] As shown in FIGs .1 and 2, in one embodiment, the high mast lamp post robot comprises a circular body 10, multiple roller legs assembly 20, a plurality of monitoring modules 2020318124

30 and a control system 40. The circular body 10 is a ring having an inner hole 11 which may be 10 composed of two assembled semi-circle shaped rings. The inner hole 11 is configured for receiving a pole having a diameter of a range of 230 to 800 millimeters. The roller legs 20 are equidistantly spaced apart and mounted on to the outer rim of circular body 10 and each roller leg 20 has two ends. One end of the roller leg 20 is connected to the outer rim of the circular body 10, and the other end of the roller leg 20 is connected to roller wheels 210, 220 engaged to 15 the pole surface of the high mast lamp post. The monitoring modules 30 are equidistantly spaced apart and mounted on the circular body 10. The control system 40 is electrically connected to the roller legs assembly 20 and the monitoring modules 30. The roller wheel 210/220 is engaged to the pole surface and configures to drive the high mast lamp post robot with the monitoring modules 30 moving up and down along the high mast lamp post to perform inspection on the 20 pole surface.

[0021] Each of the roller legs 20 comprises a first leg 21 and a second leg 22. In this embodiment, the first leg 21 is composed of two pivotally connected leg portions and has a hydraulic cylinder rod 211 connected between two distal ends of the leg portions. One end of the first leg 21 is connected to the circular body 10, and the other end of the first leg 21 is connected 25 to a single-wheel roller 210. The control system 40 controls the hydraulic cylinder rod 211 to move the first leg 21 and drives the single-wheel roller 210.

[0022] The second leg 22 is also composed of two pivotally connected leg portions and has a hydraulic cylinder rod 221 connected between two distal ends of the leg portions. One end of the second leg 22 is connected to the circular body 10, and the other end of the second leg 22 is 30 connected to a double-wheel roller 220. Simultaneously, the control system 40 controls the hydraulic cylinder rod 221 to move the first leg 22and drives the double-wheel roller 220.

[0023] As shown in FIG. 3, the control system 40 comprises a control unit 41, a power suppling module 42, a GPS module 43, an electronic compass 44 and a wireless transmitting module 45. The power suppling module 42 is configured to supply power to all electronic 35 components. The GPS module 43 is used for positioning. The electronic compass 44 is configured to assist the GPS module 43 for positioning, direction, tilts, and moving speeds of the 07 Aug 2025 robot. However, a person skilled in the art will realize that the electronic compass 44 can easily incorporate the functions of an accelerometer and gyroscope sensor, hence be able to determine the speed and calculate its positions, thus it is not further described herein. 5 [0024] When the circular body 10 is secured around the high mast lamp post, the control system 40 controls the hydraulic cylinder rod 211. By the extension and retraction of hydraulic cylinder rod 221, it moves the first leg 21 and the second leg 22 respectively to make the single- wheel roller 210 and the double-wheel roller 220 engage to the surface of the pole. The rollers 2020318124 rotate to allow the robot to move up and down along the high mast lamp post. 10 [0025] A person at ground level is able to transmit a command to the control unit 41 via the wireless transmitting module 45. The control unit 41 instructs the robot to a specific position by using the GPS module 43 and the electronic compass 44 based on the received command. In addition, the control unit 41 determines the location of the robot using the GPS module 43 and the electronic compass 44, and transmit the robot’s location information via the wireless 15 transmitting module 45 to the ground crew’s terminal equipment for positioning the robot.

[0026] In one embodiment, the number of roller legs 20 is 3, and each roller leg has a first leg 21 and a second leg 22. In other words, the high mast lamp post robot in accordance with this embodiment has 6 legs that are distributed 30 degrees evenly around the circular body 10 and extend downwards. The number of the monitoring modules 30 is 6. The mounting positions of 20 monitoring modules 30 may correspond to the legs.

[0027] Each monitoring module 30 comprises a camera for capturing images of the pole surface of the high mast lamp post. The images captured by the monitoring module 30 is transmitted via wired or wireless transmission to the ground crew for further inspection. The monitoring modules 30 captures images at 360-degree angles to present images in a seamlessly 25 integrated manner. The wireless transmitting module 45 streams the images directly to a terminal device (e.g., mobile phone, tablet or notebook computer of the ground crew). Alternatively, the images may be stored in non-transient memory for later downloading and further processing by a remote device.

[0028] Moreover, there may be a downward monitoring module (not shown) mounted 30 underneath the circular body 10. The downward monitoring module and the monitoring module 30 have similar functionalities. The differences are that the downward monitoring module is disposed at a different location and provides another shooting angle. In this manner, the ground crew is provided with upward, downward, left, and right 720-degrees view without blind spots.

[0029] Accordingly, through the use of the roller legs, the high mast lamp post robot is able 35 to navigate up and down along the high mast lamp post to perform the inspection with the monitoring modules. This not only lowers the costs and risks, but also increases the inspection 18 Nov 2025 coverage and detail resolution on the pole surface of the high mast lamp post.

[0030] With references to FIGs. 4 to 6, FIG. 4 is an exemplary diagram illustrating an high mast lamp post robot in accordance with one embodiment of the present invention; FIG. 5 is 5 another perspective illustration of the high mast lamp post robot of FIG. 4; and FIG. 6 is a block diagram of the control system in accordance with one embodiment of the present invention. The present embodiment is similar to the above described embodiment. The major difference is that the present embodiment further comprises at least one robotic arm to perform specific tasks, 2020318124

avoiding the risk of having human worker to work at such height. As shown in FIG. 4, the 10 monitoring module 30 is disposed between the first leg 21 and the second leg 22. Similarly, the positions of the monitoring modules 30 are corresponded to the roller legs, and are equidistantly spaced apart and mounted on the circular body 10.

[0031] In this embodiment, as shown in FIGs. 4 and 5, one or more arm 50 is connected to the circular body 10. The circular body 10 has a circular track 12 formed at the inner rim of the 15 circular body 10. The arm 50 is extended upwards and has an end connected to a slider 51 that is installed inside the circular track 12 of the circular body 10. The other end of the arm is connected to a working module 52 corresponding to a target task. The slider 51 is able to drive the arm 50 horizontally 360-degrees to perform the task.

[0032] Moreover, in order to satisfy the needs of different tasks, the working module 52 is 20 replaceable and interchangeable. As shown in FIG. 4, the working module 52 is illustrated as a painting module for painting tasks. The working module 52 of FIG. 5 is illustrated as a grading module for grading and/or polishing tasks. Further, the working module 52 may be an ultrasonic sensing module to sense unobvious flaws, thin cracks, and corrosions that are unidentified by the human eyes. For example, the ultrasonic sensing module is able to sense inside the pole or inspect 25 the conditions of the bolts and nuts of the high mast lamp post, such as loose or damaged.

[0033] With further reference to FIG. 6, the control system 40 further comprises an extension control module 46 that corresponds and is electrically connected to the arm 50. In another embodiment, the extension control module 46 may integrate within the control unit 41.

[0034] In the above embodiment, the roller legs 20 are mounted on the outer rim of the circular 30 body 10 and the arm 50 is mounted on the inner rim of the circular body 10. However, a person skilled in the art can realize that the circular track 12 may form at the outer rim of the circular body 10 and the roller legs 20 may be mounted on the inner rim of the circular body 10.

[0035] Accordingly, the arm is able to allow the high mast lamp post robot to perform a close on-site operation directly at the high mast lamp post, which avoids the risk of having 35 human worker to work at such height. Furthermore, the working module extends to the functionalities of the arm and satisfies various needs. The functions include, but are not limited 07 Aug 2025 to surface testing, grinding, polishing, painting, cleaning, ultrasonic for internal sensing and lamp inspections.

[0036] While the disclosure has been described in connection with a number of embodiments 5 and implementations, the disclosure is not limited, but covers various obvious modifications and equivalent arrangements, which fall within the appended claims. Although features of the disclosure are expressed in certain combinations among the claims, it is still uncertain that these features can be arranged in any combination and order. 2020318124

[0037] Prior art, if any, described herein is not to be taken as an admission that the prior art 10 forms part of the common general knowledge in any jurisdiction.

[0038] In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word “comprise” or variations such as “comprises" or “comprising" is used in an inclusive sense, that is to specify the presence of the stated features but not to preclude the presence or addition of 15 further features in various embodiments of the invention.

Claims

Claims:

1. A high mast lamp post robot for inspecting high mast lamp posts, comprising:

a circular body;

a plurality of roller leg assemblies mounted on to the circular body and extended

5 downwards from the circular body, each roller leg assembly having one end being 2020318124

equidistantly spaced apart and connected to an outer rim of the circular body and another end

being engaged to pole surface of the high mast lamp post;

a plurality of monitoring modules being equidistantly spaced apart and mounted on

the circular body; and

10 a control system configured for controlling the roller legs to drive the high mast lamp

post with the monitor modules inspecting pole surface of the high mast lamp post; and

wherein each roller leg assembly comprises:

a first leg having one end connected to the outer rim of the circular body and another

end linked to a single-wheel roller; and

15 a second leg having one end connected to the outer rim of the circular body and

another end linked to a double-wheel roller.

2. The high mast lamp post robot as claimed in claim 1, wherein the circular body has a

circular track formed at an inner rim of the circular body, and at least one arm is installed to

20 the circular track and extends upwardly from the circular body, wherein the arm is able to

slide 360 degree along the circular track to perform a specific task.

3. The high mast lamp post robot as claimed in claim 2, wherein the arm has a grinding

module.

25

4. The high mast lamp post robot as claimed in claim 2, wherein the arm has a painting

module.

5. The high mast lamp post robot as claimed in claim 2, wherein the arm has an

5 ultrasonic sensing module. 2020318124

6. The high mast lamp post robot as claimed in claim 1, wherein the first leg is

composed of two pivotally connected leg portions, an end of the first leg is connected to the

outer rim of the circular body, and another end of the first leg is linked to a single-wheel

10 roller, and the first leg has a hydraulic cylinder rod connected between two distal ends of the

leg portions; wherein the control system controls the hydraulic cylinder rod and drives the

single-wheel roller of the first leg.

7. The high mast lamp post robot as claimed in claim 1, wherein the second leg is

15 composed of two pivotally connected leg portion, an end of the second leg is connected to the

outer rim of the circular body, and another end of the second leg is linked to a double-wheel

roller, and the second leg has a hydraulic cylinder rod connected between two distal ends of

the leg portions; wherein the control system controls the hydraulic cylinder rod and drives the

double-wheel roller of the second leg.

20

8. The high mast lamp post robot as claimed in claim 1, wherein the control system

comprises a control unit, a power suppling module, a GPS module, an electronic compass and

a wireless transmitting module. 25

9. The high mast lamp post robot as claimed in claim 8, wherein a person on the ground

uses a terminal device to transmit a command to the control unit via the wireless transmitting

module, and the control unit instructs the high mast lamp post robot to move to a specific

position by using the GPS module and the electronic compass based on the received

command. 5 10. The high mast lamp post robot as claimed in claim 8, wherein the control unit

determines a position of the high mast lamp post robot by using the GPS module and the 2020318124

electronic compass, and transmits the position of the high mast lamp post robot to a terminal

device being used by a person on the ground via the wireless transmitting module for position

setting.

10

11. The high mast lamp post robot as claimed in claim 1, further comprising a downward

monitoring module mounted underneath the circular body.