CN109101020A - The unmanned cruising inspection system of electricity substation based on Internet of Things - Google Patents
The unmanned cruising inspection system of electricity substation based on Internet of Things Download PDFInfo
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- CN109101020A CN109101020A CN201810898486.3A CN201810898486A CN109101020A CN 109101020 A CN109101020 A CN 109101020A CN 201810898486 A CN201810898486 A CN 201810898486A CN 109101020 A CN109101020 A CN 109101020A
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- 238000007689 inspection Methods 0.000 title claims abstract description 34
- 230000005611 electricity Effects 0.000 title claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 25
- 238000012360 testing method Methods 0.000 claims abstract description 17
- 230000008054 signal transmission Effects 0.000 claims abstract description 15
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 238000002604 ultrasonography Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims 1
- 239000002699 waste material Substances 0.000 abstract description 4
- 230000006870 function Effects 0.000 abstract description 3
- 230000006378 damage Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Alarm Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of unmanned cruising inspection system of the electricity substation based on Internet of Things, including automatic detecting unit, remote monitoring unit and signal transmission module, the automatic detecting unit is connect with remote monitoring unit by signal transmission module telecommunication, the automatic detecting unit includes main control module, the video acquisition module being connect respectively with main control module, navigation module, radio frequency module for reading and writing, locating module, managing electric quantity module, path adjusts module, drive module, power module and timing module, and it is mounted on the radio frequency identification module on Devices to test, the remote monitoring unit includes active operation module, display module for human-computer interaction, memory module and alarm module.The present invention can replace work of transformer substation personnel to carry out inspection work, reduce risk and waste of human resource brought by patrol task, while also have positioning function and power-off prompting function, and staff is facilitated to recycle and recover in time.
Description
Technical field
The invention belongs to substation inspection technical fields, specifically, be related to it is a kind of based on the electricity substation of Internet of Things without
People's cruising inspection system.
Background technique
Electric power resource is the indispensable resource of the mankind, in order to save the loss during power transmission, needs to exchange
Electricity is converted to direct current and is transmitted, and is reconverted into alternating current when direct current reaches near user and carries out using this mistake
Substation will be used in journey, as an important ring for electric power remote transmission, need to carry out inspection to substation, and solve in time
The problem.
In the prior art, the inspection of substation is mainly the uninterrupted inspection for relying on manpower to carry out 24 hours, in order to guarantee
The effect of inspection, finds failure in time, needs a certain number of staff to carry out, but substation is as a kind of high pressure, height
The equipment of radiation, manual inspection have very big risk, also greatly waste human resources, with the development of science and technology more
Start to carry out inspection using intelligent robot come more substations, on the one hand can reduce or exempt manual inspection, reduce
The waste of human resources is also greatly reduced the accident probability that human inspection is easy to appear, but intelligent robot is as a kind of
The machine being driven by electricity is easy due to catastrophic failure or electric power is low causes to shut down, at work if intelligence cannot be found in time
Robot simultaneously repairs it, on the one hand can be delayed the progress of inspection work, on the other hand be also easy to lead to intelligent robot
By accidental destruction, while the inspection in technology at present is usually to be patrolled according to the route of setting with intelligent robot
Inspection, controllable ability is poor, and in order to solve this problem, the present invention provides following technical schemes.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned cruising inspection systems of the electricity substation based on Internet of Things.
The purpose of the present invention can be achieved through the following technical solutions:
The unmanned cruising inspection system of electricity substation based on Internet of Things, including automatic detecting unit, remote monitoring unit and letter
Number transmission module, the automatic detecting unit are connect with remote monitoring unit by signal transmission module telecommunication, it is described from
Dynamic routing inspection unit includes main control module, the video acquisition module that connect respectively with main control module, navigation module, radio frequency read-write
Module, locating module, managing electric quantity module, path adjustment module, drive module, power module and timing module, and installation
Radio frequency identification module on Devices to test, the remote monitoring unit include active operation module, for the aobvious of human-computer interaction
Show module, memory module and alarm module；
It is main control module, video acquisition module, navigation module, radio frequency module for reading and writing in the automatic detecting unit, fixed
Position module, managing electric quantity module, path adjustment module, drive module and timing module etc. are arranged at intelligence used in automatic detecting
In energy robot, the drive module is for moving automatic detecting intelligent robot；
The video acquisition module includes the visible image capturing head and infrared pick-up head being arranged on intelligent robot, is used
In the concrete condition of the Devices to test on acquisition intelligent robot polling path；
The radio frequency module for reading and writing is equipped with the Devices to test of radio frequency identification module for identification, when radio frequency module for reading and writing is examined
When measuring Devices to test, main control module can suspend intelligent robot traveling time T by control drive module, and pass through view
Frequency acquisition module acquires the real time information of Devices to test；
The power module includes driving power and positioning power supply, and positioning power supply includes small battery and solar battery
Plate, the managing electric quantity module are used for the information about power of real-time monitoring driving power, and collected information about power is transmitted to
Main control module；
The locating module is used to acquire the real time position of intelligent robot and passes through signal transmission module for intelligence machine
The location information of people is transmitted to remote monitoring unit；
The display module be used for show video acquisition module institute collected video information, locating module transmission position
The information about power for the driving power that information and managing electric quantity module are sent, is checked by staff and is judged；
The memory module is for storing video acquisition module video information collected；
The active operation module need the travel route of Iterim Change intelligent robot to check outside default route
When situation, it can remotely control drive module and carry out Mobile Intelligent Robot, so that video acquisition module is collected and need position
Video information.
As further scheme of the invention, the navigation module includes navigation track, track detection module and ultrasound
Transmitting module, the navigation track are laid in advance on the inspection route of automatic detecting unit；
The track detection module is used to detect the laying signal of navigation track, enables intelligent robot according to navigation magnetic
The layout path of rail is moved；
The front end of intelligent robot is arranged in the ultrasound emission module, for detecting on intelligent robot moving direction
Barrier enables intelligent robot to avoid barrier on moving direction in time.
As further scheme of the invention, when normal work, the driving power is that automatic detecting unit removes radio frequency
The part of identification module powers, and when driving power electric power is lower than a%, main control module opens positioning power supply power supply and stops driving
The work of dynamic power supply, wherein a is greater than 0, and can guarantee that main control module continues work, and at this moment positioning power supply can be positioning
Module, main control module and signal transmission module power supply, and continue to remote monitoring unit output position information, by the people that works
Member quickly recovers intelligent robot.
As further scheme of the invention, the timing module starts timing when positioning power supply and entering working condition,
Stop timing when driving power enters charged state, when the Dose times of timing module are more than T, main control module passes through letter
Number transmission module alarms the alarm module that alarm signal is transmitted to remote monitoring unit, prevents intelligent robot for a long time
It is undiscovered in irremovable state.
As further scheme of the invention, the path management module includes that intelligent robot front and rear part is installed respectively
Magnetic Sensor detects the magnetic field and both ends of detection navigation track by Magnetic Sensor in the traveling process of intelligent robot
The deviation of the position computational intelligence robot location of Magnetic Sensor, and intelligent machine is adjusted by main control module and drive module
The direction of travel of device people.
Beneficial effects of the present invention:
1, the present invention is worked in coordination by each unit module, be can be realized the automatic detecting to substation, is greatly reduced
The risk of inspection process, while reducing the brought manpower consumption of patrol task；
2, location information is sent to remote monitoring unit by locating module in real time, when intelligent robot electric power deficiency causes
Staff can be facilitated to position in time when can not move or is stolen；
3, by the setting of timing module, power module and alarm module, can intelligent robot driving power without
When method driving intelligent robot is worked normally, it is automatically reminded to the staff in remote monitoring unit, to facilitate work
Personnel quickly have found the intelligent robot that need to be charged and recycle in time；
4, it is capable of the movement of remote control intelligent robot by the setting of active operation module, to change intelligence machine
The fixation inspection route of people, to facilitate when emergency case occurs, staff can understand the situation of specific position in time.
Detailed description of the invention
The present invention will be further described below with reference to the drawings.
Fig. 1 is system structure diagram of the invention.
Specific embodiment
The following is a clear and complete description of the technical scheme in the embodiments of the invention, it is clear that described embodiment
Only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel all other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
The unmanned cruising inspection system of electricity substation based on Internet of Things, as shown in Figure 1, including automatic detecting unit, long-range prison
Control unit and signal transmission module, the automatic detecting unit are connected with remote monitoring unit by signal transmission module telecommunication
It connects, the automatic detecting unit includes main control module, the video acquisition module that connect respectively with main control module, navigation mould
Block, radio frequency module for reading and writing, locating module, managing electric quantity module, path adjustment module, drive module, power module and timing mould
Block, and the radio frequency identification module being mounted on Devices to test, the remote monitoring unit include active operation module, for people
Display module, memory module and the alarm module of machine interaction.
It is main control module, video acquisition module, navigation module, radio frequency module for reading and writing in the automatic detecting unit, fixed
Position module, managing electric quantity module, path adjustment module, drive module and timing module etc. are arranged at intelligence used in automatic detecting
In energy robot, the drive module is for moving automatic detecting intelligent robot；
The video acquisition module includes the visible image capturing head and infrared pick-up head being arranged on intelligent robot, is used
In the concrete condition of the Devices to test on acquisition intelligent robot polling path；
The radio frequency module for reading and writing is equipped with the Devices to test of radio frequency identification module for identification, when radio frequency module for reading and writing is examined
When measuring Devices to test, main control module can suspend intelligent robot traveling time T by control drive module, and pass through view
Frequency acquisition module acquires the real time information of Devices to test, so that staff is had sufficient time to device under test and looks into
It sees；
The navigation module includes that navigation track, track detection module and ultrasound emission module, the navigation track mention
Before be laid on the inspection route of automatic detecting unit, layout path can make intelligent robot examine whole transformer station
It looks into；
The track detection module is used to detect the laying signal of navigation track, enables intelligent robot according to navigation magnetic
The layout path of rail is moved；
The front end of intelligent robot is arranged in the ultrasound emission module, for detecting on intelligent robot moving direction
Barrier enables intelligent robot to avoid barrier on moving direction in time, can prevent the change due to external environment from leading
Cause on the layout path of navigation track that there are barriers to damage on intelligent robot or influence the normal work of intelligent robot
Make.
The power module includes driving power and positioning power supply, and positioning power supply includes small battery and solar battery
Plate, can guarantee the long-time stable power supply for positioning power supply, and the managing electric quantity module is used for the electricity of real-time monitoring driving power
Information is measured, and collected information about power is transmitted to main control module；
The locating module is used to acquire the real time position of intelligent robot and passes through signal transmission module for intelligence machine
The location information of people is transmitted to remote monitoring unit, and when normal work, driving power is that automatic detecting unit removes radio frequency identification
The part of module powers, and when driving power electric power is lower than a%, main control module opens positioning power supply power supply and stops driving electricity
The work in source, wherein a is greater than 0, and can guarantee that main control module continues work, and at this moment positioning power supply can be positioning mould
Block, main control module and signal transmission module power supply, and continue to facilitate work people to remote monitoring unit output position information
Member quickly recovers intelligent robot；
The timing module starts timing when positioning power supply and entering working condition, when driving power enters charged state
Stop timing, when the Dose times of timing module are more than T, main control module is transmitted alarm signal by signal transmission module
Alarm module to remote monitoring unit is alarmed, prevent intelligent robot be in irremovable state for a long time and not by
It was found that；
The path management module includes the Magnetic Sensor that intelligent robot front and rear part is installed respectively, in intelligent robot
In traveling process, the magnetic field of detection navigation track and the position computational intelligence machine of both ends Magnetic Sensor are detected by Magnetic Sensor
The deviation of device people position, and adjust by main control module and drive module the direction of travel of intelligent robot.
The display module be used for show video acquisition module institute collected video information, locating module transmission position
The information about power for the driving power that information and managing electric quantity module are sent, facilitates staff to check and judge；
The memory module is for storing video acquisition module video information collected, and the present invention is by memory module and certainly
Dynamic routing inspection unit is provided separately, and can effectively ensure that the safety of video information, is prevented since intelligent robot is by malicious damage
Or accidental damage causes to store information damage；
The active operation module need the travel route of Iterim Change intelligent robot to check outside default route
When situation (such as stranger invades, situations such as pilferage), it can remotely control drive module and carry out Mobile Intelligent Robot, make video acquisition
Module can collect the video information for needing position.
The present invention can replace work of transformer substation personnel to carry out inspection work, reduce danger brought by patrol task
Property, the waste of human resources, while also real-time navigation capability and power-off (work of driving power notice) prompting function are reduced,
Facilitate staff to recycle and recover in time, staff can also active operation intelligent robot carry out specific position
Inspection has more real operation meaning.
Above content is only to structure of the invention example and explanation, affiliated those skilled in the art couple
Described specific embodiment does various modifications or additions or is substituted in a similar manner, without departing from invention
Structure or beyond the scope defined by this claim, is within the scope of protection of the invention.
Claims (5)
1. the unmanned cruising inspection system of electricity substation based on Internet of Things, which is characterized in that including automatic detecting unit, long-range monitoring
Unit and signal transmission module, the automatic detecting unit are connected with remote monitoring unit by signal transmission module telecommunication
It connects, the automatic detecting unit includes main control module, the video acquisition module that connect respectively with main control module, navigation mould
Block, radio frequency module for reading and writing, locating module, managing electric quantity module, path adjustment module, drive module, power module and timing mould
Block, and the radio frequency identification module being mounted on Devices to test, the remote monitoring unit include active operation module, for people
Display module, memory module and the alarm module of machine interaction；
Main control module, video acquisition module, navigation module, radio frequency module for reading and writing, positioning mould in the automatic detecting unit
Block, managing electric quantity module, path adjustment module, drive module and timing module etc. are arranged at intelligent machine used in automatic detecting
On device people, the drive module is for moving automatic detecting intelligent robot；
The video acquisition module includes the visible image capturing head and infrared pick-up head being arranged on intelligent robot, for adopting
Collect the concrete condition of the Devices to test on intelligent robot polling path；
The radio frequency module for reading and writing is equipped with the Devices to test of radio frequency identification module for identification, when radio frequency module for reading and writing detects
When Devices to test, main control module can suspend intelligent robot traveling time T by control drive module, and be adopted by video
Collect module to acquire the real time information of Devices to test；
The power module includes driving power and positioning power supply, and positioning power supply includes small battery and solar panel,
The managing electric quantity module is used for the information about power of real-time monitoring driving power, and collected information about power is transmitted to master control
Molding block；
The locating module is used to acquire the real time position of intelligent robot and passes through signal transmission module for intelligent robot
Location information is transmitted to remote monitoring unit；
The display module be used for show video acquisition module institute collected video information, locating module transmission location information
And the information about power of the driving power of managing electric quantity module transmission, it is checked by staff and is judged；
The memory module is for storing video acquisition module video information collected；
The active operation module is needing the travel route of Iterim Change intelligent robot to check the situation outside default route
When, it can remotely control drive module and carry out Mobile Intelligent Robot, video acquisition module is enable to collect the view for needing position
Frequency information.
2. the unmanned cruising inspection system of the electricity substation according to claim 1 based on Internet of Things, which is characterized in that described to lead
Model plane block includes navigation track, track detection module and ultrasound emission module, and the navigation track is laid in advance to patrol automatically
On the inspection route for examining unit；
The track detection module is used to detect the laying signal of navigation track, enables intelligent robot according to navigation track
Layout path is moved；
The front end of intelligent robot is arranged in the ultrasound emission module, for detecting the obstacle on intelligent robot moving direction
Object enables intelligent robot to avoid barrier on moving direction in time.
3. the unmanned cruising inspection system of the electricity substation according to claim 1 based on Internet of Things, which is characterized in that normal work
When making, the driving power is the part power supply that automatic detecting unit removes radio frequency identification module, when driving power electric power is lower than
When a%, main control module opens positioning power supply power supply and stops the work of driving power, and wherein a is greater than 0, and can guarantee to lead
Control module continues work, and at this moment positioning power supply can power for locating module, main control module and signal transmission module,
And continue quickly to recover intelligent robot by staff to remote monitoring unit output position information.
4. the unmanned cruising inspection system of the electricity substation according to claim 1 based on Internet of Things, which is characterized in that the meter
When module position power supply enter working condition when start timing, stop timing when driving power enters charged state, work as meter
When module Dose times when being more than T, it is single that alarm signal by signal transmission module is transmitted to long-range monitoring by main control module
The alarm module of member is alarmed, and intelligent robot is prevented to be in irremovable state and undiscovered for a long time.
5. the unmanned cruising inspection system of the electricity substation according to claim 1 based on Internet of Things, which is characterized in that the road
Diameter management module includes the Magnetic Sensor that intelligent robot front and rear part is installed respectively, in the traveling process of intelligent robot, is led to
Cross Magnetic Sensor detection detection navigation track magnetic field and both ends Magnetic Sensor position computational intelligence robot location it is inclined
Difference, and adjust by main control module and drive module the direction of travel of intelligent robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810898486.3A CN109101020A (en) | 2018-08-08 | 2018-08-08 | The unmanned cruising inspection system of electricity substation based on Internet of Things |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810898486.3A CN109101020A (en) | 2018-08-08 | 2018-08-08 | The unmanned cruising inspection system of electricity substation based on Internet of Things |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110163990A (en) * | 2019-05-24 | 2019-08-23 | 中铝视拓智能科技有限公司 | A kind of mobile robot method for inspecting and system |
| CN110531437A (en) * | 2019-08-22 | 2019-12-03 | 深圳供电局有限公司 | A kind of power grid inspection car driving assistance system based on artificial intelligence |
| CN113671966A (en) * | 2021-08-24 | 2021-11-19 | 成都杰启科电科技有限公司 | Method for realizing remote obstacle avoidance of smart grid power inspection robot based on 5G and obstacle avoidance system |
| CN114582039A (en) * | 2022-03-18 | 2022-06-03 | 广东电网有限责任公司 | Intelligent inspection system, method, electronic equipment and storage medium |
| CN114851221A (en) * | 2022-05-12 | 2022-08-05 | 广东联航智能科技有限公司 | Electric power inspection robot based on remote control |
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