CN204069209U - A kind of transformer station ground cruising inspection system - Google Patents
A kind of transformer station ground cruising inspection system Download PDFInfo
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- CN204069209U CN204069209U CN201420556362.4U CN201420556362U CN204069209U CN 204069209 U CN204069209 U CN 204069209U CN 201420556362 U CN201420556362 U CN 201420556362U CN 204069209 U CN204069209 U CN 204069209U
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- 238000007689 inspection Methods 0.000 title claims abstract description 39
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- 230000006698 induction Effects 0.000 claims description 20
- 238000005259 measurement Methods 0.000 claims description 4
- 230000004807 localization Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 13
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- 238000012423 maintenance Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
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Abstract
The utility model provides a kind of transformer station ground cruising inspection system, comprising: navigation track, is laid on the polling path in transformer station; Radio-frequency (RF) identification ID card, is arranged on equipment to be checked; Crusing robot, comprising: the checkout gear detecting the magnetic track signal of described navigation track; Identify the radio frequency identification module of described radio-frequency (RF) identification ID card; Picture pick-up device; Wireless bridge, connects described crusing robot and remote monitoring end.The utility model can realize the Navigation and localization of polling path simply accurately, and structure is simple, and cost is low.
Description
Technical field
The utility model relates to substation inspection field, particularly relates to a kind of transformer station ground cruising inspection system.
Background technology
Along with the raising of Automation of Electric Systems degree, transformer station is on duty is also tending towards unmanned or few peopleization gradually.
Although traditional relaying protection system of transformer station can obtain the crucial operation information of transformer station, this but reduces the accuracy of artificial judgment accident and the development of prediction accident, also reduces the quick reaction capability to accident.Camera, in order to increase the amount of information of monitoring, is installed and various probe monitors fire prevention, antitheft and machine operation in transformer station by many transformer stations, thus allows dispatcher manually make a policy at remote port.But because the position of camera is fixed, there is dead angle unavoidably.Now, provide a kind of removable and the inspection device carrying multiple degrees of freedom camera just seems necessary.
Current domestic existing Intelligent Mobile Robot uses in input transformer station, but is all the large-scale substation for more than 110KV or ultra-high voltage transformer station, and it patrols and examines process complexity, and cost is higher, and need frequently to carry out manual maintenance, maintenance cost is higher.
Utility model content
The purpose of this utility model to provide a kind of transformer station ground cruising inspection system, can realize the Navigation and localization of polling path simply accurately, and structure is simple, and cost is low.
To achieve these goals, the utility model provides a kind of transformer station ground cruising inspection system, comprising:
Navigation track, is laid on the polling path in transformer station;
Radio-frequency (RF) identification ID card, is arranged on equipment to be checked;
Crusing robot, comprising: the checkout gear detecting the magnetic track signal of described navigation track; Identify the radio frequency identification module of described radio-frequency (RF) identification ID card; Picture pick-up device;
Wireless bridge, connects described crusing robot and remote monitoring end.
Optionally, in above-mentioned transformer station's ground cruising inspection system, described crusing robot also comprises: ultrasonic wave module and GPRS module.
Optionally, in above-mentioned transformer station's ground cruising inspection system, described picture pick-up device comprises visible ray high-definition camera and infrared camera.
Optionally, in above-mentioned transformer station's ground cruising inspection system, also comprise:
Wireless charging device, is arranged on the region of awaiting orders in described transformer station;
Wireless charging induction region, is arranged on described crusing robot.
Optionally, in above-mentioned transformer station's ground cruising inspection system, described in region of awaiting orders be positioned at the presumptive area of magnetic field intensity higher than threshold value of transformer station.
Optionally, in above-mentioned transformer station's ground cruising inspection system, described crusing robot also comprises:
Storage device, stores magnetic field intensity information and magnetic direction information that high-voltage line in described transformer station that the trajectory measurement along described navigation track obtains or transformer produce;
Induction coil; Described induction coil has towards adjusting device, connects described storage device.
Optionally, in above-mentioned transformer station's ground cruising inspection system, described crusing robot comprises:
Chassis;
Two driving wheels adopting differential fashion to turn to, are arranged on described chassis;
Universal wheel, is arranged on described chassis;
Two direct current machines, are arranged on described chassis, and connect described two driving wheels respectively;
Power supply, is arranged on described chassis, connects described two direct current machines.
Optionally, in above-mentioned transformer station's ground cruising inspection system, described crusing robot also comprises: the flip-shell shell that can open, covers on described chassis.
The utility model embodiment has following technique effect:
1) the navigation track by laying in transformer station for the polling path that navigates, by arranging radio-frequency (RF) identification ID card on equipment to be checked, can realize simply and easily patrolling and examining navigation and equipment location, make the utility model example structure simple, cost is low.
2) by arranging wireless charging device in region of awaiting orders, wireless charging can be carried out directly to crusing robot, not needing personnel to carry out power supply connection, decrease the cost of artificial charge maintenance.
3) by measuring the magnetic direction in transformer station in advance, in crusing robot motion process, by charging towards the magnetic field made full use of in transformer station of adjustment induction coil, because crusing robot is kept in motion, and there is in transformer station the multiple high-intensity magnetic field source such as high-voltage line and transformer, therefore this embodiment not only can crusing robot run in real time charging, add the course continuation mileage of crusing robot, also take full advantage of the magnetic field energy in space, save the energy and charging cost.
4) the automatic tour shooting of transformer station can be carried out in automatic or manual mode, and remote control terminal can be transferred data to by the bridge from master component, substantially unmanned maintenance is accomplished, replace manual inspection, can overall labour productivity be improved, ensure unattended operation transformer station equipment running quality.
According to hereafter by reference to the accompanying drawings to the detailed description of the utility model specific embodiment, those skilled in the art will understand above-mentioned and other objects, advantage and feature of the present utility model more.
Accompanying drawing explanation
Hereinafter describe specific embodiments more of the present utility model with reference to the accompanying drawings by way of example, and not by way of limitation in detail.Reference numeral identical in accompanying drawing denotes same or similar parts or part.It should be appreciated by those skilled in the art that these accompanying drawings may not be drawn in proportion.In accompanying drawing:
Fig. 1 is the flow chart of transformer station's ground method for inspecting of the utility model embodiment;
Fig. 2 is the control system connection diagram of the crusing robot of the utility model embodiment;
Fig. 3 is the three-dimensional structure diagram of the crusing robot of the utility model embodiment;
Fig. 4 is the three-dimensional structure diagram at another visual angle of the crusing robot of the utility model embodiment.
Embodiment
Fig. 1 is the flow chart of transformer station's ground method for inspecting of the utility model embodiment, as shown in Figure 1, a kind of transformer station ground method for inspecting, it comprises:
Step 101, lays the navigation track for the polling path that navigates, equipment to be checked arranges radio-frequency (RF) identification ID card in transformer station;
Step 102, is made crusing robot advance along described navigation track, and carries out the identification of described equipment to be checked by described radio-frequency (RF) identification ID card, carried out the collection of the video data of described equipment to be checked by the picture pick-up device of described crusing robot;
Step 103, is sent to remote monitoring end by wireless bridge by described video data.
As from the foregoing, in the utility model embodiment, by laying the navigation track for the polling path that navigates in transformer station, by arranging radio-frequency (RF) identification ID card on equipment to be checked, can realize simply and easily patrolling and examining navigation and equipment location, make the utility model example structure simple, cost is low.
In an embodiment of the present utility model, in the step making crusing robot advance along described navigation track, also comprise:
The magnetic track signal of described navigation track is detected by the checkout gear of described crusing robot;
By the ultrasonic wave module detecting obstacles thing of described crusing robot, control to continue after described crusing robot walks around described barrier to advance along described navigation track according to result of detection;
Receive teleinstruction by the GPRS module of described crusing robot, and the alarm signal produced in the process of patrolling and examining is sent to mobile phone terminal.
Wherein, by GPRS module, can teleinstruction be sent, control crusing robot and start or stop patrolling and examining.Get around barrier by ultrasonic wave module, and can get back on polling path.
Picture pick-up device comprises visible ray high-definition camera and infrared camera.Whether dangerous infrared camera can detect the infrared light in transformer station, can draw alarm signal, and send in time by infrared light analysis, effectively can avoid that transformer station is overheated on firely waits hazard event.
Because, existing crusing robot is all adopt driven by power, need often to carry out charge maintenance to storage battery, cost of labor is very high, therefore, in an embodiment of the present utility model, also comprise: in described transformer station, region of awaiting orders is set, in described region of awaiting orders, wireless charging device is set, described crusing robot arranges the wireless charging induction region corresponding with described wireless charging device, awaiting orders described in being parked at described crusing robot behind region, is that described crusing robot carries out wireless charging by described wireless charging induction region.
Therefore, by arranging wireless charging device in region of awaiting orders, wireless charging can be carried out directly to crusing robot, not needing personnel to carry out power supply connection, decreasing the cost of artificial charge maintenance.
Wireless charging device such as utilizes electromagnetic wave induction principle to carry out the equipment charged, and principle is similar to transformer.Respectively have a coil in transmission and receiving terminal, transmitting terminal coil connects cable power generation electromagnetic signal, and the electromagnetic signal of the coil-induced transmitting terminal of receiving terminal thus generation current charge the battery
In another embodiment of the present utility model, also comprise: along described navigation track trajectory measurement described in the magnetic field intensity information that produces of high-voltage line in transformer station or transformer and magnetic direction information, and be stored in described crusing robot; In the process that described crusing robot is advanced along described navigation track, according to described magnetic direction information control induction coil on described crusing robot towards, make described induction coil produce the charging current of charging to storage battery.
Therefore, the utility model embodiment is by measuring the magnetic direction in transformer station in advance, in crusing robot motion process, by charging towards the magnetic field made full use of in transformer station of adjustment induction coil, because crusing robot is kept in motion, and there is in transformer station the multiple high-intensity magnetic field source such as high-voltage line and transformer, therefore this embodiment not only can crusing robot run in real time charging, add the course continuation mileage of crusing robot, also take full advantage of the magnetic field energy in space, save the energy and charging cost.
In another embodiment of the present utility model, also comprise: the magnetic field intensity measuring the transformer periphery in described transformer station, find magnetic field intensity higher than the presumptive area of threshold value; In described presumptive area, region of awaiting orders is set; Described crusing robot arranges the wireless charging induction region corresponding with described transformer, behind region of awaiting orders, is that described crusing robot carries out wireless charging by described wireless charging induction region at described crusing robot described in being parked in.This embodiment takes full advantage of the magnetic field energy in the space in transformer station, has saved charging cost.
The utility model additionally provides the embodiment of a kind of transformer station ground cruising inspection system, comprising:
Navigation track, is laid on the polling path in transformer station;
Radio-frequency (RF) identification ID card, is arranged on equipment to be checked;
Crusing robot, comprising: the checkout gear detecting the magnetic track signal of described navigation track; Identify the radio frequency identification module of described radio-frequency (RF) identification ID card; Picture pick-up device;
Wireless bridge, connects described crusing robot and remote monitoring end.
Wherein, crusing robot, for: advance along described navigation track, and carry out the identification of described equipment to be checked by described radio-frequency (RF) identification ID card, carried out the collection of the video data of described equipment to be checked by the picture pick-up device of described crusing robot;
As from the foregoing, in the utility model cruising inspection system embodiment, by laying the navigation track for the polling path that navigates in transformer station, by arranging radio-frequency (RF) identification ID card on equipment to be checked, can realize simply and easily patrolling and examining navigation and equipment location, make the utility model example structure simple, cost is low
Fig. 2 is the control system connection diagram of the crusing robot of the utility model embodiment, as shown in Figure 2,
The controller of crusing robot receives the control information of SMS module (GPRS module), or regularly realizes automatic control according to set point.Controller controlled motion system realizes a cycle along the magnetic stripe track laid in advance and patrols and examines.Motion process in, information is also sent to remote control terminal by wireless bridge by controller Real-time Collection camera information, and remote control terminal can control The Cloud Terrace angle, thus comprehensive, without dead angle carry out visible ray, infrared light take.Controller also connects radio frequency identification module and track monitoring modular, and by ID card recognition technology, crusing robot can distinguish the distinct device of transformer station, thus realizes ad-hoc location shooting.
Fig. 3 is the three-dimensional structure diagram of the crusing robot of the utility model embodiment, and Fig. 4 is the three-dimensional structure diagram at another visual angle of the crusing robot of the utility model embodiment.As shown in Figure 3, Figure 4,
Described crusing robot comprises:
Checkout gear 301, for: the magnetic track signal detecting described navigation track;
Ultrasonic wave module 302, for: detecting obstacles thing;
GPRS module 303, for: receive teleinstruction, and the alarm signal produced in the process of patrolling and examining is sent to mobile phone terminal.
Wherein, described picture pick-up device 304 comprises visible ray high-definition camera and infrared camera.
Described picture pick-up device 304 is arranged on The Cloud Terrace 305, can realize horizontally rotating and tilted upward of camera angle.
Described checkout gear 301 can be the filter circuit detected magnetic track signal, is also the filter circuit simultaneously transformer station's interference being carried out to noise reduction;
As shown in Figure 4.Described crusing robot also comprises: two driving wheels 306 adopting differential fashion to turn to, are arranged on described chassis, universal wheel 308, are arranged on described chassis;
Two direct current machines, are arranged on described chassis, and connect described two driving wheels respectively;
Power supply, is arranged on described chassis, connects described two direct current machines.
The flip-shell shell 309 that can open, covers on described chassis;
Crusing robot has following functions
The crusing robot of the utility model embodiment can reach following functions:
1, motion control.Controller controls driver motor by DC motor driver and runs.Owing to adopting two driving wheel mechanism, so turning round of inspection device adopts the mode of two-wheel differential.
2, track line walking.Track band is magnetic, by Hall element, and in addition suitable signal conditioning circuit, just can realize line walking and control.
3, wireless bridge networking.Because electrical network internal network has not allowed WAP (wireless access point).And the distance of wireless bridge is 50KM, meets the demands.Therefore adopt wireless bridge constructing local network, save expense needed for ad hoc network of leasing to economize on the use of funds.
4, camera collection.Adopt High Resolution Visible Light and infrared pick-up head, the information such as temperature, operation conditions of monitoring substation equipment.
5, note controls.Substation operation personnel short message sending is to inspection device control command, and the reception order realizing inspection device runs; Utilize the convenience of mobile phone, develop the function by GSM network sending controling instruction, employee only needs to send by given data format the operation that note to " number " of inspection device just can control inspection device like a cork, realizes Remote inspection device.
6, track navigation.The rail that patrols being realized robot by Magnetic Sensor is navigated, and cost is low, and precision is high.The device channels of transformer station and cable cover all spread inspection device operation track, is convenient to inspection device line walking and travels.
7, ID card mark relevant device.By pasting the mode of identification label on a particular device, realize the identification of particular device.Identified by RFID REID.
In another embodiment of transformer station of the present utility model ground cruising inspection system, also comprise:
Wireless charging device, is arranged on the region of awaiting orders in described transformer station;
Wireless charging induction region, is arranged on described crusing robot, for: behind region of awaiting orders described in being parked at described crusing robot, be that described crusing robot carries out wireless charging by described wireless charging induction region.Therefore, by arranging wireless charging device in region of awaiting orders, wireless charging can be carried out directly to crusing robot, not needing personnel to carry out power supply connection, decreasing the cost of artificial charge maintenance.
In another embodiment of transformer station of the present utility model ground cruising inspection system, described crusing robot also comprises:
Storage device, for: store magnetic field intensity information and magnetic direction information that high-voltage line in described transformer station that the trajectory measurement along described navigation track obtains or transformer produce;
Induction coil, described induction coil has towards adjusting device, connects described storage device.For: in the process that described crusing robot is advanced along described navigation track, according to described magnetic direction information control towards, produce the charging current that storage battery is charged.
Therefore, the utility model embodiment is by measuring the magnetic direction in transformer station in advance, in crusing robot motion process, by charging towards the magnetic field made full use of in transformer station of adjustment induction coil, because crusing robot is kept in motion, and there is in transformer station the multiple high-intensity magnetic field source such as high-voltage line and transformer, therefore this embodiment not only can crusing robot run in real time charging, add the course continuation mileage of crusing robot, also take full advantage of the magnetic field energy in space, save the energy and charging cost.
Transformer station's ground automatic tour inspection system of the utility model embodiment can replace the routine manually realizing 35KV transformer station to patrol and examine substantially.Its crusing robot carries visible ray high-definition camera and infrared camera, can carry out the automatic tour shooting of transformer station in automatic or manual mode.And remote control terminal can be transferred data to by the bridge from master component.
Transformer station's ground automatic tour inspection system accomplishes unmanned maintenance substantially, substantially replaces manual inspection, can improve overall labour productivity, ensures unattended operation transformer station equipment running quality.
So far, those skilled in the art will recognize that, although multiple exemplary embodiment of the present utility model is illustrate and described herein detailed, but, when not departing from the utility model spirit and scope, still can directly determine or derive other modification many or amendment of meeting the utility model principle according to content disclosed in the utility model.Therefore, scope of the present utility model should be understood and regard as and cover all these other modification or amendments.
Claims (8)
1. a transformer station ground cruising inspection system, is characterized in that, comprising:
Navigation track, is laid on the polling path in transformer station;
Radio-frequency (RF) identification ID card, is arranged on equipment to be checked;
Crusing robot, comprising: the checkout gear detecting the magnetic track signal of described navigation track; Identify the radio frequency identification module of described radio-frequency (RF) identification ID card; Picture pick-up device;
Wireless bridge, connects described crusing robot and remote monitoring end.
2. transformer station according to claim 1 ground cruising inspection system, is characterized in that, described crusing robot also comprises: ultrasonic wave module and GPRS module.
3. transformer station according to claim 1 ground cruising inspection system, is characterized in that, described picture pick-up device comprises visible ray high-definition camera and infrared camera.
4. transformer station according to claim 1 ground cruising inspection system, is characterized in that, also comprise:
Wireless charging device, is arranged on the region of awaiting orders in described transformer station;
Wireless charging induction region, is arranged on described crusing robot.
5. transformer station according to claim 4 ground cruising inspection system, is characterized in that, described in region of awaiting orders be positioned at the presumptive area of magnetic field intensity higher than threshold value of transformer station.
6. transformer station according to claim 1 ground cruising inspection system, is characterized in that, described crusing robot also comprises:
Storage device, stores magnetic field intensity information and magnetic direction information that high-voltage line in described transformer station that the trajectory measurement along described navigation track obtains or transformer produce;
Induction coil; Described induction coil has towards adjusting device, connects described storage device.
7. transformer station according to claim 1 ground cruising inspection system, is characterized in that,
Described crusing robot comprises:
Chassis;
Two driving wheels adopting differential fashion to turn to, are arranged on described chassis;
Universal wheel, is arranged on described chassis;
Two direct current machines, are arranged on described chassis, and connect described two driving wheels respectively;
Power supply, is arranged on described chassis, connects described two direct current machines.
8. transformer station according to claim 7 ground cruising inspection system, is characterized in that, described crusing robot also comprises: the flip-shell shell that can open, covers on described chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420556362.4U CN204069209U (en) | 2014-09-25 | 2014-09-25 | A kind of transformer station ground cruising inspection system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420556362.4U CN204069209U (en) | 2014-09-25 | 2014-09-25 | A kind of transformer station ground cruising inspection system |
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| CN201420556362.4U Expired - Fee Related CN204069209U (en) | 2014-09-25 | 2014-09-25 | A kind of transformer station ground cruising inspection system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140142868A1 (en) * | 2012-11-18 | 2014-05-22 | Andian Technologies Ltd. | Apparatus and method for inspecting track in railroad |
| CN104898671A (en) * | 2015-05-07 | 2015-09-09 | 北京工业大学 | Automatic polling trolley with obstacle clearing function for track mine conveyer |
| CN105204395A (en) * | 2015-08-28 | 2015-12-30 | 国网智能电网研究院 | Computer room inspection robot data acquisition and processing system, method and chip |
| CN105291112A (en) * | 2015-11-27 | 2016-02-03 | 深圳市神州云海智能科技有限公司 | Patrol robot |
| CN105500337A (en) * | 2016-01-30 | 2016-04-20 | 大连理工大学 | Comprehensive pipe gallery inspection robot |
| CN105578144A (en) * | 2015-12-25 | 2016-05-11 | 四川理工学院 | Camera thermostat of substation patrol robot |
| CN106004700A (en) * | 2016-06-29 | 2016-10-12 | 广西师范大学 | Stable omnibearing shooting trolley |
| CN107154591A (en) * | 2017-04-25 | 2017-09-12 | 成都中机盈科科技有限公司 | Mobile Robot for Substation Equipment Inspection |
| CN107526982A (en) * | 2017-09-05 | 2017-12-29 | 天津帕比特科技有限公司 | A kind of method for inspecting and cruising inspection system |
| CN108648295A (en) * | 2018-04-12 | 2018-10-12 | 安徽东源电力有限公司 | Electric power equipment inspection system |
| CN109093653A (en) * | 2018-10-09 | 2018-12-28 | 华北电力大学（保定） | A kind of high pressure inspection mobile robot swinging arm device |
| CN110082638A (en) * | 2019-05-13 | 2019-08-02 | 广东工业大学 | A kind of power matching network automatic inspection equipment and method |
| CN111482946A (en) * | 2020-05-15 | 2020-08-04 | 深圳供电局有限公司 | Inspection robot and system |
| CN113138600A (en) * | 2021-05-21 | 2021-07-20 | 四川农业大学 | Intelligent meter checking robot system and working method thereof |
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2014
- 2014-09-25 CN CN201420556362.4U patent/CN204069209U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140142868A1 (en) * | 2012-11-18 | 2014-05-22 | Andian Technologies Ltd. | Apparatus and method for inspecting track in railroad |
| CN104898671B (en) * | 2015-05-07 | 2017-11-24 | 北京工业大学 | A kind of band is removed obstacles the rail mounted mine conveyer automatic detecting dolly of function |
| CN104898671A (en) * | 2015-05-07 | 2015-09-09 | 北京工业大学 | Automatic polling trolley with obstacle clearing function for track mine conveyer |
| CN105204395A (en) * | 2015-08-28 | 2015-12-30 | 国网智能电网研究院 | Computer room inspection robot data acquisition and processing system, method and chip |
| CN105291112A (en) * | 2015-11-27 | 2016-02-03 | 深圳市神州云海智能科技有限公司 | Patrol robot |
| CN105578144A (en) * | 2015-12-25 | 2016-05-11 | 四川理工学院 | Camera thermostat of substation patrol robot |
| CN105500337A (en) * | 2016-01-30 | 2016-04-20 | 大连理工大学 | Comprehensive pipe gallery inspection robot |
| CN106004700A (en) * | 2016-06-29 | 2016-10-12 | 广西师范大学 | Stable omnibearing shooting trolley |
| CN107154591A (en) * | 2017-04-25 | 2017-09-12 | 成都中机盈科科技有限公司 | Mobile Robot for Substation Equipment Inspection |
| CN107154591B (en) * | 2017-04-25 | 2018-09-04 | 浙江红相科技股份有限公司 | Mobile Robot for Substation Equipment Inspection |
| CN107526982A (en) * | 2017-09-05 | 2017-12-29 | 天津帕比特科技有限公司 | A kind of method for inspecting and cruising inspection system |
| CN107526982B (en) * | 2017-09-05 | 2020-06-19 | 天津帕比特科技有限公司 | Inspection method and inspection system |
| CN108648295A (en) * | 2018-04-12 | 2018-10-12 | 安徽东源电力有限公司 | Electric power equipment inspection system |
| CN109093653A (en) * | 2018-10-09 | 2018-12-28 | 华北电力大学（保定） | A kind of high pressure inspection mobile robot swinging arm device |
| CN110082638A (en) * | 2019-05-13 | 2019-08-02 | 广东工业大学 | A kind of power matching network automatic inspection equipment and method |
| CN111482946A (en) * | 2020-05-15 | 2020-08-04 | 深圳供电局有限公司 | Inspection robot and system |
| CN113138600A (en) * | 2021-05-21 | 2021-07-20 | 四川农业大学 | Intelligent meter checking robot system and working method thereof |
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