CN206598277U - A kind of crusing robot - Google Patents
A kind of crusing robot Download PDFInfo
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- CN206598277U CN206598277U CN201621013503.3U CN201621013503U CN206598277U CN 206598277 U CN206598277 U CN 206598277U CN 201621013503 U CN201621013503 U CN 201621013503U CN 206598277 U CN206598277 U CN 206598277U
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- 238000007689 inspection Methods 0.000 claims abstract description 84
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 16
- 230000004888 barrier function Effects 0.000 claims abstract description 10
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 238000007726 management method Methods 0.000 claims abstract description 5
- 238000012544 monitoring process Methods 0.000 claims description 15
- 238000001931 thermography Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 2
- 230000007547 defect Effects 0.000 description 17
- 230000006870 function Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 230000007812 deficiency Effects 0.000 description 4
- 238000007405 data analysis Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000004807 localization Effects 0.000 description 2
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- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
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Abstract
The utility model discloses a kind of crusing robot, including：Robot body control system, information gathering and processing system, navigation system；Robot body control system includes the control of head angle, detection device control, transmits control, motion planning and robot control, stops barrier control, robot power supply management and storing up electricity control；Navigation system, it determines exact position of the robot in transformer station using sensor, identifies road area and barrier region, and cook up the suitable path for reaching target；Information gathering and processing system, its data for reading various instrument, the division state of breaker and disconnecting switch, infrared measurement of temperature, collection of equipment running noises, and various data are analyzed.Disclosed substation inspection system can be replaced with complete autonomous, local or remote control pattern or indirect labor carries out inspection, inspection content includes device temperature, instrument etc., with detection mode variation, intellectuality, inspection woprk standardization, objectivity is strong the features such as.
Description
Technical field
The utility model is related to detecting system, more precisely a kind of Intelligent Mobile Robot.
Background technology
With the fast development of Chinese society, unattended substation gradually increases, and the watch of transformer station is managed before
Member turns into the administrative staff of multiple transformer stations, because administrative staff need the transformer station managed more, so be difficult to according to tradition
Mode carries out emphasis equipment and patrolled one by one, also to need inspection in time effectively to protect yet with the visual plant of transformer station
The safety in utilization of transformer station is demonstrate,proved, so the quality in order to improve inspection transformer station emphasis equipment, it is ensured that the use peace of transformer station
Entirely, it is badly in need of a kind of inspection device of research and development.
Utility model content
The purpose of this utility model is to provide crusing robot described in one, effectively improves transformer station's emphasis equipment inspection quality
And routing inspection efficiency can be effectively improved.
The utility model uses following technical scheme：
A kind of crusing robot, including：Robot body control system, information gathering and processing system, navigation system；
Robot body control system includes the control of head angle, detection device control, transmission control, robot motion's control
Make, stop barrier control, robot power supply management and storing up electricity control；
Navigation system, it determines exact position of the robot in transformer station using sensor, identify road area and
Barrier region, and cook up the suitable path for reaching target；
Information gathering and processing system, it is its data for reading various instrument, the division state of breaker and disconnecting switch, red
The collection of outer thermometric, equipment running noises, and various data are analyzed.
The crusing robot also includes recharging system, the equipment of the body of the recharging system detectio robot
State, when need to charge, control machine people returns to accumulator plant, completes charging.
There is the recharging system real time electrical quantity to detect and two-way automatic charging function, and recharging system is using electricity
The power supply mode that pond is combined with the charging of ground charging system contact.
Also include monitoring system：The main operation interface of user, can be achieved and robot two-way information interaction, in information exchange
Appearance includes detection data and robot body status data；Monitoring system also can control robot and carry out autonomous inspection, special patrol
Inspection, remote control inspection.
Also include big data processing system, the various detection device information of its collecting robot human body collection, programming count
Form is generated, multi-source heterogeneous detection data storage and processing is realized, realizes presence evaluation；And historical data can be combined, point
Analyse facility operation situation.
Information gathering and processing system include Noise Identification sound pick-up, infrared thermography, visible light camera and visible
Light video light compensating lamp；
The Noise Identification sound pick-up can detect noise pickup and identification in transformer station；
The infrared thermography can be to inspection device thermal imaging video acquisition and analysis；
Visible light camera can be to equipment-patrolling in transformer station；
Visible light video light compensating lamp can be to visible light video light filling under dark situation.
Also include 5.8G Wifi antennas, laser sensor, ultrasonic sensor and head；
5.8G Wifi antennas can be to communication apparatus, real-time data transmission equipment；
Laser sensor sets up transformer station's map, determines exact position where robot, identification road area and barrier
Region；
Ultrasonic sensor assists laser sensor to realize robot obstacle-avoiding；
Head can carry out conduct monitoring at all levels.
Also include emergency stop switch, guidance panel and vehicle-mounted charging device；
Emergency stop switch can start when robot is abnormal, make robot emergent stopping；
Guidance panel, comprising robot power supply switch, battery electric quantity show, VGA mouthfuls, USB port, network interface, manual powered mouth；
Vehicle-mounted charging device can carry out automatic contact to robot and charge.
The utility model has the advantages that：
Substation inspection system of the present utility model can be replaced or auxiliary people with complete autonomous, local or remote control pattern
Work carries out inspection, and inspection content includes device temperature, instrument etc., with detection mode variation, intelligent, inspection working stamndard
Change, the features such as objectivity is strong.Meanwhile, system collection makes an inspection tour content, time, route, Report Server Management and one, realizes the full mistake of inspection
Cheng Zidong is managed, and can provide data analysis and decision support.
Brief description of the drawings
The utility model is described in detail with reference to embodiment and accompanying drawing, wherein：
Fig. 1 is structural representation of the present utility model.
Fig. 2 is Fig. 1 rearview.
Embodiment
Embodiment of the present utility model is expanded on further with reference to embodiment：
As shown in Figure 1, 2, a kind of crusing robot, including：Robot body control system, information gathering and processing system
System, navigation system；
Robot body control system includes the control of head angle, detection device control, transmission control, robot motion's control
Make, stop barrier control, robot power supply management and storing up electricity control；
Navigation system, it determines exact position of the robot in transformer station using sensor, identify road area and
Barrier region, and cook up the suitable path for reaching target；
Information gathering and processing system, it is its data for reading various instrument, the division state of breaker and disconnecting switch, red
The collection of outer thermometric, equipment running noises, and various data are analyzed.
The crusing robot also includes recharging system, the equipment of the body of the recharging system detectio robot
State, when need to charge, control machine people returns to accumulator plant, completes charging.
There is the recharging system real time electrical quantity to detect and two-way automatic charging function, and recharging system is using electricity
The power supply mode that pond is combined with the charging of ground charging system contact.
The utility model also includes monitoring system：The main operation interface of user, can be achieved and robot two-way information interaction,
Information exchange content includes detection data and robot body status data；Monitoring system also can control robot and independently be patrolled
Inspection, special inspection, remote control inspection.
Also include big data processing system, the various detection device information of its collecting robot human body collection, programming count
Form is generated, multi-source heterogeneous detection data storage and processing is realized, realizes presence evaluation；And historical data can be combined, point
Analyse facility operation situation.
Information gathering of the present utility model and processing system include Noise Identification sound pick-up 1, infrared thermography 2, visible
Light video camera 2 and visible light video light compensating lamp 4；
The Noise Identification sound pick-up can detect noise pickup and identification in transformer station；
The infrared thermography can be to inspection device thermal imaging video acquisition and analysis；
Visible light camera can be to equipment-patrolling in transformer station；
Visible light video light compensating lamp can be to visible light video light filling under dark situation.
Also include 5.8G Wifi antennas 5, laser sensor 6, ultrasonic sensor 7 and head 8；
5.8G Wifi antennas can be to communication apparatus, real-time data transmission equipment；
Laser sensor sets up transformer station's map, determines exact position where robot, identification road area and barrier
Region；
Ultrasonic sensor assists laser sensor to realize robot obstacle-avoiding；
Head can carry out conduct monitoring at all levels.
Also include emergency stop switch 9, guidance panel 10 and vehicle-mounted charging device 11；
Emergency stop switch can start when robot is abnormal, make robot emergent stopping；
Guidance panel, comprising robot power supply switch, battery electric quantity show, VGA mouthfuls, USB port, network interface, manual powered mouth；
Vehicle-mounted charging device can carry out automatic contact to robot and charge.
Intelligent Mobile Robot of the present utility model, can detect outside bad border, and the content of inspection includes weather, road surface
Situation, maintenance situation, the automatic door state of charging house etc..
The situation that routine inspection does not pass through：
Rainfall is more than 15.0mm in (1) 12 hour (more than heavy rain, wheel easily skids)
Snowfall is more than 3.0mm in (2) 12 hours (more than moderate snow, wheel easily skids)
(3) large area maintenance (used equipment has an impact to positioning and image-capture during maintenance)
(4) charging house automatically-controlled door is not turned off
(5) there is a situation where the operation of other influences inspection car
Any of the above situation occurs, and is all considered as external environment condition inspection and does not pass through, and is not suitable for intelligent inspection robot execution and patrols
Inspection task, it is necessary to next step operation could be continued after abnormal restoring.
The content that robotary is checked includes machine user tripod head mirror status, robotic laser state, robot initial
Position, client selftest module alarm condition, robot localization state etc..Following either case occurs, and is all considered as robot shape
State inspection does not pass through, and is not suitable for performing patrol task, it is necessary to could carry out inspection operation after abnormal restoring：1) robots cloud
Platform minute surface has spot 2) there is spot 3 on robotic laser surface) robot initial position not in charging house 4) client self-inspection mould
Alarm occurs for block, and 5) robot localization is incorrect.
The user of client software is mainly the operation maintenance personnel of transformer station, so software interface design is succinct, conveniently,
It can view any information related to crusing robot at a glance, and can be completed by simple mouse action pair
The control operation of robot.
Client software primary operational interface includes real-time monitoring, patrol plan, Remote, data analysis, history
Inquiry, Debugging interface, system configuration, pressing plate monitoring system.
The equipment that crusing robot patrol task designated robot wants inspection, is the key point of crusing robot operation.
Patrol plan mainly includes task arrangement and task editor two large divisions.Task arrangement can check robot inspection historical record.
Same day robot patrol record can be checked some day of calendar control by clicking, can if there is robot patrol task record on the same day
Details button is checked in click, and details show the initial time of same day patrol task, end time, detection device number, set
Standby number of defects and task status.Task editor includes self-defined circuit, three parts of collection circuit and timing inspection.User can be certainly
The equipment that a definition patrol task of setting needs inspection, some conventional inspection circuits can also be puted into collection, directly select
Collect line name.In addition, user can also set timing patrol task, the system after setting time that reaches can automatic start timing
Task.
Transformer station's all devices can be according to equipment region, inspection type, three kinds of model splits of device type, and user is by any
A kind of device class, which is chosen, needs the equipment of inspection, and the number of devices of task configuration can show the number of devices chosen, and terminates dynamic
Work is to return to origin, return to charging or stay where one is, pending further orders after the completion of can setting robot inspection.User has been chosen after inspection device
Click on beginning inspection button and then start inspection, client can jump to real-time monitoring interface automatically, and electronic map can show inspection
Path, related inspection point and dolly real time position, the progress of inspection presentation of information patrol task, robot setting in motion to first
Individual inspection point.It is shown.Fixation circuit for needing frequent inspection, user can click on button of puting into collection after devices selected, this
When can eject dialog box and require that user is that this circuit is named, determination is clicked on after incoming line title to collect circuit circle
The circuit of collection is seen in the line name combobox of face.
Collection circuit can choose the equipment of certain name circuit automatically, and user only need to choose circuit in line name combobox
Title, client chooses equipment automatically, and the number of devices of task configuration shows the number of devices chosen, and tenth skill can set machine
It is to return to origin, return to charging or stay where one is, pending further orders after the completion of device people's inspection, beginning inspection is clicked on after the completion of setting and starts inspection.
Collection line module can also edit certain inspection route, choose the route name to be edited, choose or cancel and choose implementor name
Clicked on after title and preserve the circuit after the renewable change of circuit；Certain inspection circuit can be deleted by clicking on deletion line button.
Start after inspection, robot automatically according to the device name path planning chosen, move to each inspection point, arrive
Image is simultaneously saved in server, patrol record insertion database by inspection point collection image, meter identification, infrared measurement of temperature etc..It is fixed
When inspection user can independently select inspection route, that is, collect the line name collected in circuit, setting Start Date, when starting
Between, tenth skill, cycle and time interval, formulate timing patrol plan.After setting, addition task button is clicked on, can be
The timed task of addition is seen on calendar.Multiple patrol tasks can be added on the same day, but should be noted next patrol task
At the beginning of between need to ensure to start after the completion of upper once patrol task is performed, the monitoring time of a upper required by task is referred to
The evaluation time for the inspection route that system is provided.Click on and start timing inspection, the system automatic start time judges.
Remote realizes the function of remote control robot, and its interface includes visible light video, infrared video, electronics
Map, car body control, cradle head control and some robot body shortcut functions.Wherein visible light video, infrared video show in real time
Show the picture that robot current location Visible Light Camera and infrared camera are photographed；If robot is carrying out patrol task,
Electronic map shows current polling path, related inspection point and robot real time position；Car body control can Remote robot
Advance, retreat, to the left, to the right, turn left, turn right and stop motion；Cradle head control can control head face upward, nutation, left-hand rotation, right-hand rotation
And stop.
The Remote interface of client provides good remote control inspection function, robot is carried out by mouse distant
Control, can be by visible light video and infrared video come observer robot in order to ensure the safety of robot during remote control
The environment on current periphery.Remote-controlled robot is moved to correct position by Interface Control head so that high definition camera and infrared phase
Machine can be directed at the equipment for needing to make an inspection tour.Robot handle remote control and host computer interface Remote can realize seamless switching.
Data analysis interface is divided into equipment deficiency record, defect equipment list, robot body warning information, statistical number
According to, transformer station's defect statistics, six parts of individual equipment defect statistics.
Equipment deficiency record provides inquiry, export and the printing function of transformer station's defect equipment in a period of time, by inspection
Type, device type, alarm grade, equipment region, compartment name can further screen Query Result, including inspection time,
Title, inspection type, inspection value, the upper and lower limit of the equipment value and the alarm grade of defect equipment.
Robot body warning information can inquire about a period of time inner machine human body alarm record, and can be sieved by alarm type
Choosing inquiry, including alarm name, alarm time, alarm type and remarks.Statistics provides the day of the accumulative operation of client
The accumulative defect number of devices found of number, robot and the number of devices of accumulative inspection.Transformer station's defect statistics can provide this week, sheet
The moon, nearly 6 Ge Yue transformer stations find the line chart of defect number of devices, are easy to user to enter recent transformer station's defect equipment variations situation
Row understands.Individual equipment defect statistics can provide this week, this month, nearly 6 months some equipment and the line chart of defect number of times occur, just
There is defect number of times situation of change to some recent equipment in user to understand, need first to click on before individual equipment defect statistics scarce
Falling into equipment list needs the defect device name record of statistics.Certain record clicked in equipment deficiency record can be redirected automatically
To historical query interface, check when the details of time defect record, such as visible light shooting image, infrared image, and can look into
See patrol record and line chart of the current defect equipment within a period of time.Include report query, in detail equipment query, inquiry three
Module.
Report query provides the inquiry of a period of time inner machine people execution patrol task record, exports Excel forms and beat
Function is printed, wherein record includes patrol task initial time, terminates time, detection device number, equipment deficiency number and task shape
State..The inspection device inventory and inspection information when time patrol task can be shown automatically by clicking on certain patrol task record, including be set
Standby title, monitoring time, inspection value, state, value upper and lower limit, wherein exception record red display.Click on certain inspection letter
Breath can check the equipment when the details of time inspection, such as visible light shooting image, infrared image, and can check that the inspection is set
Standby patrol record and line chart within a period of time.Click on return push-button and can return to patrol task record queries interface.
Equipment query can be found and chosen the equipment for needing to inquire about by device class, and equipment list can show the equipment automatically
Recent patrol record, the record clicked in equipment list can check the details of the current patrol record of the equipment, such as
Visible light shooting image, infrared image etc., and patrol record and line chart of the inspection device within a period of time can be checked.Point
Patrol record of the inspection device within a period of time is hit, equipment essential information, equipment details real-time update are to be patrolled when secondary
Examine record data.Export and print button can provide export and the printing function of patrol record Excel forms, and inquiry in detail is provided
The query function of equipment routing inspection record in any a period of time, and Query Result can be screened according to temperature range, equally
Export Excel forms and printing function are provided.Query Result includes task starting time, device name, device numbering (in electronics
The numbering used on map, user can be neglected), monitoring time, inspection type, inspection value, the information such as state.System configurations interface
Including database parameter configuration, device parameter configuration, modification robot learning information, substation equipment account and other several moulds
Block.Keeper can change every systematic parameter directly on interface, click on and change and restart host computer and can come into force.Transformer station transports
Dimension personnel may need the configuration of modification database parameter and device parameter configuration, and remaining module is to learn transformer station for technical staff
Used during facility information sampling site, operation maintenance personnel can be neglected.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (8)
1. a kind of crusing robot, it is characterised in that including：Robot body control system,
Information gathering and processing system, navigation system；
Robot body control system include head angle control, detection device control, transmission control, motion planning and robot control,
Stop barrier control, robot power supply management and storing up electricity control；
Navigation system, it determines exact position of the robot in transformer station using sensor, identifies road area and obstacle
Object area, and cook up the suitable path for reaching target；
Information gathering and processing system, it reads the data, the division state of breaker and disconnecting switch, infrared survey of various instrument
Temperature, the collection of equipment running noises, and various data are analyzed.
2. crusing robot according to claim 1, it is characterised in that the crusing robot also includes recharging system
System, the equipment state of the body of the recharging system detectio robot, when need to charge, control machine people returns to accumulator plant, complete
Into charging.
3. crusing robot according to claim 2, it is characterised in that the recharging system has real time electrical quantity inspection
Survey and two-way automatic charging function, the supplier of electricity that recharging system is combined using battery with the charging of ground charging system contact
Formula.
4. crusing robot according to claim 1, it is characterised in that also including monitoring system：
The main operation interface of user, can be achieved to include detection data and machine with robot two-way information interaction, information exchange content
Device human body's status data；Monitoring system also can control robot and carry out autonomous inspection, special inspection, remote control inspection.
5. crusing robot according to claim 1, it is characterised in that also including big data processing system, it collects machine
The various detection device information of device human body collection, programming count generation form, realize multi-source heterogeneous detection data storage and place
Reason, realizes presence evaluation；And historical data can be combined, analyze facility operation situation.
6. crusing robot according to claim 1, it is characterised in that information gathering and processing system include Noise Identification
Sound pick-up, infrared thermography, visible light camera and visible light video light compensating lamp；
The Noise Identification sound pick-up can detect noise pickup and identification in transformer station；
The infrared thermography can be to inspection device thermal imaging video acquisition and analysis；
Visible light camera can be to equipment-patrolling in transformer station；
Visible light video light compensating lamp can be to visible light video light filling under dark situation.
7. crusing robot according to claim 6, it is characterised in that also including 5.8GWifi antennas, laser sensor,
Ultrasonic sensor and head；
5.8G Wifi antennas can be to communication apparatus, real-time data transmission equipment；
Laser sensor sets up transformer station's map, determines exact position where robot, identification road area and barrier region；
Ultrasonic sensor assists laser sensor to realize robot obstacle-avoiding；
Head can carry out conduct monitoring at all levels.
8. crusing robot according to claim 4, it is characterised in that also including emergency stop switch, guidance panel and vehicle-mounted
Charging device；
Emergency stop switch can start when robot is abnormal, make robot emergent stopping；
Guidance panel, comprising robot power supply switch, battery electric quantity show, VGA mouthfuls, USB port, network interface, manual powered mouth；It is vehicle-mounted
Charging device can carry out automatic contact to robot and charge.
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| CN201621013503.3U CN206598277U (en) | 2016-08-31 | 2016-08-31 | A kind of crusing robot |
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| CN201621013503.3U CN206598277U (en) | 2016-08-31 | 2016-08-31 | A kind of crusing robot |
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| CN206598277U true CN206598277U (en) | 2017-10-31 |
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