CN208444335U - A kind of cruising inspection system - Google Patents
A kind of cruising inspection system Download PDFInfo
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- CN208444335U CN208444335U CN201820939870.9U CN201820939870U CN208444335U CN 208444335 U CN208444335 U CN 208444335U CN 201820939870 U CN201820939870 U CN 201820939870U CN 208444335 U CN208444335 U CN 208444335U
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Abstract
The utility model discloses a kind of cruising inspection systems, comprising: centralized control end and several crusing robots for target inspection place to be arranged in；Wherein, centralized control end and each crusing robot communicate to connect, for sending corresponding inspection instruction to each crusing robot respectively, and obtain the inspection data of each crusing robot corresponding inspection target collected and/or the running state information of each crusing robot itself.The corresponding inspection data of each inspection target are acquired by several crusing robots, and the inspection data of acquisition and the running state information of itself etc. are fed back into centralized control end to carry out unified analysis processing, and then can determine whether the target device in target place breaks down.Solves the problems, such as inspection blind area, inspection is carried out simultaneously by several crusing robots, routing inspection efficiency is improved, by centralized control end to carry out unified management to all crusing robots in target inspection place, also improves the efficiency of management to crusing robot.
Description
Technical field
The utility model relates to electric inspection process technical field, in particular to a kind of cruising inspection system.
Background technique
The places such as power distribution room, residential area, large storehouse and underground parking are securely and reliably directly related to numerous people
The vital interests and inherently safe of the people, the especially safety problem in workshop of power distribution room and storage of hazardous chemicals etc. are especially prominent
Out, currently, mainly by associated safety management rules, for example, in the workshop of storage chemicals various articles must store classifiedly,
No smoking in workshop；The vehicle of underground parking must all stop working, and power distribution room equipment needs artificial regular visit etc..But
Because the number of devices in target place is more, inspection workload is bigger, when taking manual inspection mode, because of mesh
Mark in place environment is poor, in such as chemicals workshop there are toxic and harmful gas, when manual inspection there is a certain security risk,
Underground garage and power distribution room air circulation are obstructed, and are had an impact to inspection person's physiological status, in addition, when manual inspection, due to being patrolled
The influence of inspection person's physiological status, working experience and level of skill etc., inspection data accuracy and authenticity are relatively low, so very
There are abnormal or potential security risks for difficult discovering device.So inspection data accuracy and authenticity are relatively low, also
It is to say manual inspection there are certain inspection blind area, inspection is not comprehensive enough, and routing inspection efficiency is low.
Currently, power distribution station mainly takes manual inspection, distributed sensor system to carry out inspection etc., but this mode is imitated
Fruit is not, due to being limited by the device space in power distribution room, to divide it is obvious that when carrying out inspection using distributed sensor system
Cloth sensor can layout less, there are certain inspection blind area, monitor not comprehensive enough, and then cause monitoring effect poor.Thus
As it can be seen that routing inspection efficiency is low and the efficiency of management is low asks when traditional equipment in target place how to be overcome to carry out inspection
Topic is those skilled in the art's urgent problem to be solved.
Utility model content
The embodiment of the present application provides a kind of cruising inspection system, traditional to setting in target place in the prior art to solve
When standby progress inspection, the low problem low with the efficiency of management of routing inspection efficiency.
In order to solve the above technical problems, the utility model provides a kind of cruising inspection system, comprising:
Centralized control end and several crusing robots for target inspection place to be arranged in；
Wherein, the centralized control end and each crusing robot communicate to connect, for respectively to each survey monitor
Device human hair send corresponding inspection to instruct, and obtains the inspection data of each crusing robot corresponding inspection target collected
And/or the running state information of each crusing robot itself.
Preferably, the centralized control end includes:
Communication module for being communicatively coupled with each crusing robot；
It is connected with the communication module, for storing data information that acquired each crusing robot is sent
Database server；
It is connected with the communication module and the database server, for responding the operation of user and/or calling certainly
The operating instruction of body storage, sends the human-computer interaction device that corresponding inspection instructs to each crusing robot respectively.
Preferably, the crusing robot includes:
Communication unit for being communicatively coupled with the centralized control end；
It is connected with the communication unit, analyzes and execute the inspection machine human organism of corresponding inspection instruction；
It is connected with the inspection machine human organism, is instructed according to the inspection and carry out inspection navigation, and by inspection navigation information
Feed back to the navigation elements of the inspection machine human organism.
Preferably, the inspection machine human organism includes:
Robot chassis module, robot chassis module bottom are equipped with the moving component for traveling；
It is connected with the robot chassis module and the communication unit, analysis handles what the communication unit received
The control module of the inspection instruction；
It connects with the robot chassis module and the control module, is held according to the control instruction of the control module
The lifting module of row lifting inspection instruction；
Setting connects on the robot chassis and/or in the lifting module with the control module, for carrying out
The information acquisition module of inspection information collection.
Preferably, the lifting module includes:
Folding arm on the robot chassis module is set；
It is mounted on the folding arm, for driving the information acquisition module being arranged on itself to rotate horizontally and/or hanging down
The holder that direct rotary turns.
Preferably, the information acquisition module includes:
Image acquisition units；
For acquiring the infrared measurement of temperature unit of the temperature information of target device corresponding line；
And/or inspection environmental monitoring unit.
Preferably, the inspection environmental monitoring unit includes: Temperature Humidity Sensor, SF6 sensor, smoke sensor device, vibration
Dynamic sensor and displacement sensor.
Preferably, further includes:
It is laid on each inspection route in target inspection place or is arranged in each inspection in target inspection place
Several auxiliary positioning tag units in equipment；
Wherein, the navigation elements include: the information for obtaining the auxiliary positioning tag unit on current inspection route
Navigation information obtain subelement；According to the information of the current auxiliary positioning tag unit of acquisition, corresponding fixed point location is analyzed
The navigation solution subelement of information.
Preferably, the auxiliary positioning tag unit is each inspection line for being uniformly laid on target inspection place
The two-dimension code label of road, wherein each two-dimension code label is equipped with the position symbol subelement of characterization own location information；
It is the two dimensional code camera for scanning corresponding position symbol subelement that the navigation information, which obtains subelement,.
Preferably, the communication module and the communication unit include corresponding wireless communication device, mobile data network
Network communicator and/or half mobile data and wireless communication device.
Compared with the prior art, a kind of cruising inspection system provided by the utility model, comprising: centralized control end and for setting
Set several crusing robots in target inspection place；Wherein, centralized control end and each crusing robot communicate to connect, for dividing
Corresponding inspection instruction is not sent to each crusing robot, and obtains patrolling for each crusing robot corresponding inspection target collected
Examine the running state information of data and/or each crusing robot itself.The system, if by being set in target inspection place
Dry crusing robot acquires the corresponding inspection data of each inspection target, and by the inspection data and the operating status of itself of acquisition
Information etc. feeds back to centralized control end to carry out unified analysis processing, and then can determine that the target device in target place is
It is no to break down.To solve the problems, such as inspection blind area, inspection can be carried out simultaneously by several crusing robots, improved
Routing inspection efficiency, by centralized control end all crusing robots in target inspection place are carried out with unified management and control
System, also improves the efficiency of management to crusing robot.
Detailed description of the invention
Fig. 1 is a kind of cruising inspection system structural schematic diagram provided by the utility model one embodiment；
Fig. 2 is centralized control end structure schematic diagram provided by an embodiment of the present invention；
Fig. 3 is crusing robot structural schematic diagram provided by an embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that the described embodiments are only a part of the embodiments of the utility model, instead of all the embodiments.
Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
All other embodiment, fall within the protection scope of the utility model.
The core of the utility model is to provide a kind of cruising inspection system, can solve traditional to target place in the prior art
In equipment carry out inspection when, the low problem low with the efficiency of management of routing inspection efficiency.
It is with reference to the accompanying drawing and specific real in order to make those skilled in the art more fully understand the embodiment of the utility model
Applying example, the utility model is described in further detail.
Referring to FIG. 1, Fig. 1 is a kind of cruising inspection system structural schematic diagram provided by the utility model one embodiment.
Cruising inspection system provided by the utility model one embodiment includes: centralized control end 101 and is used to be arranged in mesh
Mark several crusing robots 102 in inspection place, at least two crusing robots；Wherein, centralized control end 101 and each survey monitor
Device people 102 communicates to connect, and for sending corresponding inspection instruction to each crusing robot 102 respectively, and obtains each inspection machine
The inspection data of the corresponding inspection target collected of people 102 and/or the running state information of each crusing robot 102 itself.Its
In, so-called inspection data refer to the letters such as the specific or all data, image and the video that obtain during inspection
Breath.
The corresponding inspection number of each inspection target is acquired by several crusing robots 102 being set in target inspection place
According to, and the inspection data of acquisition and the running state information of itself etc. fed back to centralized control end 101 to be unified
Analysis processing, and then can determine whether the target device in target place breaks down, to solve asking for inspection blind area
Topic can carry out inspection simultaneously by several crusing robots 102, routing inspection efficiency be improved, by centralized control end 101 with right
What all crusing robots 102 in target inspection place were unified manages and controls, and also improves to crusing robot
The efficiency of management.
In the present embodiment, preferably centralized control end 101 and each crusing robot 102 by web Service interface and/
Or IEC61850 interface connection.It is set between each crusing robot 102 and centralized control end 101 in target inspection place and adopts
Carry out data interaction with WebService agreement and/or IEC61850 standard agreement, data transmission bauds is fast, and conveniently with support
Three method, systems of standard agreement carry out data interaction.
The cruising inspection system supports multiple target places to cover the overall management of the patrol task of crusing robot more, support own
The centralized integration of inspection data meets clustering regulatory requirement.In practical applications, crusing robot can select security protection machine
People.Security robot can detect the electricity of itself, when self electric quantity is lower than certain value, with regard to auto-returned charging house
It charges, charging time etc. can control.The cruising inspection system can assist security personnel to complete important place (target field
Institute) inspection work, while the collection of a large amount of inspection data that in combination with centralized control end to crusing robot inspection when acquires
Analysis, the effectively problem low supplemented with inspection data accuracy during manual inspection and authenticity, the cruising inspection system can be with
It applies in power distribution room and other places in addition to power distribution room.For example, the places such as cell, bulk storage plant, various commercial synthesis
Security protection.Can detecte the controller switching equipment in power distribution room whether break down or underground garage in vehicle whether put out
Fire etc..
Referring to FIG. 2, Fig. 2 is centralized control end structure schematic diagram provided by an embodiment of the present invention.
In one embodiment of the utility model, centralized control end 101 include: for and each crusing robot 102 into
The communication module 11 of row communication connection；It is connected with communication module 11, each crusing robot 102 for storing acquired is sent
Data information database server 12；It is connected with communication module 11 and database server 12, for responding user's
The operating instruction for operating and/or calling itself to store sends the man-machine of corresponding inspection instruction to each crusing robot 102 respectively
Interactive device 13.
In the present embodiment, human-computer interaction device 13 includes pc client, mobile phone terminal and other all kinds of browser ends, people
Machine interactive device can be worked in the form of work station.
Further, centralized control end is constructed, based on C/S framework and B/S framework to facilitate to each crusing robot
Inspection data carry out concentrate browsing consult, control and analysis.Human-computer interaction end can provide cross-platform browsing access mode,
Management and intelligence are monitored to crusing robot by modes such as pc client, cell phone application end and other all kinds of browser ends
It can processing.The major function at centralized control end includes: real time monitoring, patrol plan, remote control, data analysis, historical query
Deng can carry out corresponding function setting by human-computer interaction device, specific function addition or setting the present embodiment are herein not
It repeats.Wherein, database server, can be by SQL Server as data for the centrally stored of all inspection data
Library is to carry out data interaction with crusing robot.
Referring to FIG. 3, Fig. 3 is crusing robot structural schematic diagram provided by an embodiment of the present invention.
In one embodiment of the utility model, crusing robot 102 includes: to be used for and concentrate control terminal 101 to carry out
The communication unit 21 of communication connection；It is connected with communication unit 21, analyzes and the inspection machine for executing corresponding inspection instruction is man-machine
Body 22；It is connected with inspection machine human organism 22, is instructed according to the inspection and carry out inspection navigation, and inspection navigation information is fed back to
The navigation elements 23 of inspection machine human organism 22.
In the present embodiment, communication module 11 and communication unit 21 include corresponding wireless communication device, mobile data
Network communication device and/or half mobile data and wireless communication device, i.e., can lead between centralized control end and crusing robot
Mobile networks and half mobile network and the nothings such as the wireless network based on private electric power, the 3G/4G/5G provided based on operator are provided
The mode of line network integration carries out data transmission, specifically can determines according to actual conditions using which kind of network, the utility model pair
This and without limitation.
In one embodiment of the utility model, inspection machine human organism 22 includes: robot chassis module, robot
Chassis module bottom is equipped with the moving component for traveling；It is connected with robot chassis module and communication unit 21, at analysis
The control module for the inspection instruction that reason communication unit 21 receives；It is connected with robot chassis module and control module, according to
The control instruction of control module executes the lifting module of lifting inspection instruction；It is arranged on robot chassis and/or goes up and down module
On connected with control module, for carrying out the information acquisition module of inspection information collection.
Robot chassis module is located at crusing robot bottom, to complete straight line walking, the movement such as turn and rotate in place
Function, moving component can be wheel or other can be realized the component for the functions such as walk and turn.Crusing robot
The control module of body is also used to the data of real-time processor device people chassis module and navigation elements, and can be led in real time according to calculating
Boat information and inspection instruct to control the movement of robot chassis module.
In practical applications, navigation elements can be selected as radar scanner, and radar scanner is connect with control module, use
Environment in scanning target place determines the current position of crusing robot to generate environmental map corresponding with target place
Information, radar scanner can be 3D laser radar scanner, specially need the target field of inspection when crusing robot enters
When institute, corresponding ring is generated with the storage in crusing robot or the synchronous map structuring transferred by 3D laser radar scanner
Border information indicates without auxiliary, that is, can ensure that the accurate positioning of crusing robot.Information acquisition module and control module connect
Connect, for the target material object in such as photographic subjects place obtain with the corresponding target information of target material object, and by target information
It is compared with pre-stored standard information and obtains comparison result, comparison result is uploaded to centralized control end.Specifically, believe
The target information of breath acquisition module acquisition can first be uploaded to the control module in crusing robot, and then control module will compare again
As a result it is uploaded to centralized control end.Target material object refers mainly to the reading shown in the cabinet meter in power distribution room, ground in this application
The barrier etc. placed on vehicle in lower garage, the people in cell and road.Such as can in target place face,
The license plate number of road surface foreign matter and underground garage take pictures acquiring relevant information, after identifying to face, if the people of acquisition
Face information is not met with the proprietary face information in target place pre-stored in crusing robot, it is determined that the people
For abnormal personage, needs for the information to be uploaded to centralized control end and the relevant personnel is notified to carry out nuclear tests to exception personage in time
Card, to prevent something unexpected happened.
Further, lifting module includes: the folding arm being arranged on robot chassis module；It is mounted in and folds on arm,
For driving the information acquisition module being arranged on itself to rotate horizontally and/or the holder of vertical rotary.Further, information
Acquisition module includes: image acquisition units；For acquiring the infrared measurement of temperature unit of the temperature information of target device corresponding line；
And/or inspection environmental monitoring unit.Inspection environmental monitoring unit preferably includes: Temperature Humidity Sensor, SF6 sensor, smog pass
Sensor, vibrating sensor and displacement sensor.
In the present embodiment, preferably lifting module includes folding arm of the stroke up to 1050mm, folds and carries holder on arm,
PTZ level rotating range is 0 °~+350 °, and vertical swivel range is 0 °~+90 °, and setting information acquisition module on holder leads to
The mutual cooperation for folding arm, holder and information acquisition module is crossed, to guarantee crusing robot to all equipment regions to be inspected
Covering, realizes the comprehensive autonomous inspection of crusing robot.
Wherein, the holder of preferably each crusing robot be equipped with image acquisition units and infrared measurement of temperature unit, and with
Control module connection in crusing robot.In practical applications, image acquisition units can shoot each equipment pair in power distribution room
The reading that is shown in the cabinet meter answered, then by shooting with the picture of reading be sent to the control module in crusing robot into
Row analysis processing, that is to say, that be imported with discriminance analysis algorithm in control module, be finally uploaded to centralized control end, controlled by concentrating
Whether within the set range end processed determines corresponding reading；Infrared measurement of temperature unit, that is, power circuit detection unit is mainly used in use
The biggish occasion of electricity ratio, such as the corresponding line signal of target device in power distribution room is obtained using power circuit detection unit,
After getting the circuit signal, and the control module that is first sent in crusing robot be analyzed and processed after be uploaded to
Centralized control end determines in power distribution room whether corresponding device line is normal etc. by centralized control end；Preferably, image adopts unit
It can be high-definition camera；Power circuit detection unit can be thermal infrared imager, which is mainly used for acquiring mesh
The temperature value of marking device corresponding line, after getting temperature value, treatment process is same as above, and details are not described herein.
Inspection environmental monitoring unit is used to detect the environmental aspect in target place.For example, in practical applications, Ke Yili
The temperature and humidity of target place environment is detected with Temperature Humidity Sensor, and then determines whether the temperature and humidity in target place conforms to
It asks；Using the SF6 concentration of SF6 sensor detection target place environment, target place (storage can be acquired using smoke sensor device
The workshop of chemicals, power distribution room) in smokescope.When centralized control termination receives Temperature Humidity Sensor, SF6 sensor and cigarette
When the related data that mist sensor uploads, temperature and humidity, SF6 concentration and smokescope can be judged whether in preset range respectively
It is interior, if within a preset range, i.e., explanation is all gone well, if it is any not within a preset range, it is necessary to notice is related
Personnel take timely measure, to ensure the environmental quality in target place.It can be right using rotation sensor or displacement sensor
Underground garage etc. carries out inspection, for example, crusing robot is set to underground garage, when the vehicle placed in underground garage issues
Alarm song or detect in vehicle nobody and vehicle vibration (can use whether shock sensor detection vehicle shakes),
At this moment when centralized control termination receives related data, so that it may it is abnormal to determine that the underground garage exists, relevant people can be assigned nearby
Member is in time handled it, to prevent something unexpected happened.Also it can use displacement sensor and determine vehicle in underground garage
It parks and whether complies with standard, i.e., whether be parked in the parking stall of standard etc., it is not repeating herein.Similarly, it also can use inspection
Robot carries out inspection to the workshop of storage of hazardous chemicals.Using the cruising inspection system, target is stayed in for a long time without related personnel
In place, as long as staying near target place the monitoring that can be realized to target place, personal safety, and benefit can be improved
Inspection data accuracy and authenticity and routing inspection efficiency can also be improved to target place inspection with crusing robot, inspection is more
Comprehensively.It is understood that preset range is set in advance with correlation experience according to the actual situation, the utility model is not limited
Specific range.
In one embodiment of the utility model, the system further include: be laid on each inspection line in target inspection place
Road or several auxiliary positioning tag units being arranged on each inspection device in target inspection place；Wherein, navigation elements packet
Include: the navigation information for obtaining the information of the auxiliary positioning tag unit on current inspection route obtains subelement；According to obtaining
The information of the current auxiliary positioning tag unit taken analyzes the navigation solution subelement of corresponding fixed point location information.
Wherein, preferably auxiliary positioning tag unit is for being uniformly laid on each inspection route in target inspection place
Two-dimension code label, wherein each two-dimension code label is equipped with the position symbol subelement of characterization own location information；Navigation information obtains
Taking subelement is the two dimensional code camera for scanning corresponding position symbol subelement.
In the present embodiment, realize that the positioning of crusing robot is led by way of putting up and being laid with auxiliary positioning label
Boat, in particular by two-dimension code navigation mode, what several two-dimension code labels for being positioned were advanced along crusing robot
Direction is equably laid on in travel line, and by the record positions symbolic information such as specific geometric figure, that is, passes through position
The characterization of set symbol subelement progress own location information.When crusing robot advance when, pass through two dimensional code camera scanning road
The two-dimension code label of road can read the information of corresponding position symbol subelement, such as label value, and the information of reading is defeated
Out to control module, crusing robot realizes that pinpoint stops it can be learnt that itself current position.And using which into
Row location navigation avoids the large-scale redevelopment to target inspection place, it is only necessary to it is fixed that auxiliary is laid on route to be inspected
Position tag unit is that crusing robot may make to carry out inspection according to the route of laying, reduces the cost of navigation, engineering construction
Measure small, hardly Structure of Place environment to be inspected damaged, and it is subsequent can flexibly adjust polling path as needed,
When needing to adjust polling path, it is only necessary to change the layout path of auxiliary positioning tag unit.And in closed environment
Such mode of middle use, which carries out navigation, can be avoided the failure of satellite positioning caused by the signal shielding due to caused by enclosed environment etc.
Or accuracy misalignment etc..
It should be noted that it is two-dimension code label that the present embodiment, which is preferred auxiliary positioning tag unit, can also use
The auxiliary positioning tag unit of other forms, the present embodiment to this and without limitation, specifically depend on the circumstances.
It should also be noted that, when auxiliary positioning tag unit is arranged on each inspection device in target inspection place,
Crusing robot continually scans for each auxiliary positioning label in the course of travel, to realize accurately to the fixed point of target equipment to be inspected
Detection.
Wherein, two dimensional code camera is directed at two dimensional code always and is shot.
In practical applications, two-dimension code label, two neighboring two-dimension code label are placed on crusing robot traveling track
The distance between according to circumstances depending on, preferably in 40cm between 60cm.Two-dimension code label records two dimensional code during being placed with
Code value and its corresponding coordinate, formed one group of two-dimensional barcode information, be placed with and finish to whole two dimensional codes, then can generate corresponding two
Tie up code message file.
In another embodiment of the utility model, navigational correction can be carried out using auxiliary positioning tag unit, without
It is directly to play the role of navigator fix.For example, it is assumed that crusing robot moves to terminal B from starting point A, detailed process is to work as
Prelocalization-target navigation-speed control-positioning reckoning-barcode scanning correction-end navigation；Determining for A point is obtained by mileage calculation first
Position information；After receiving terminal B, according to shortest path principle, the optimal path between starting point A and terminal B is obtained using algorithm
Sequence obtains the path sequence of A to B, as guidance path as guidance path；Further according to navigation results, speed in real time is calculated
Degree, real-time control machine people's chassis module, the movements such as realization is kept straight on, turning and acceleration and deceleration are smooth；According to motor feedback speed pair
The speed of crusing robot is controlled, and is calculated the mileage of crusing robot in real time and is converted to the positioning letter of crusing robot
Breath；In crusing robot navigation procedure, image acquisition units acquire ground image in real time and analyze, and judge whether to sweep to two dimension
Code then finds corresponding coordinate value according to the code value swept to, with this coordinate when sweeping to two dimensional code in two-dimensional barcode information file
The position of value correction crusing robot position until the B to terminal that passes through；It is proceeded directly into if not sweeping to two dimensional code
Terminal B terminates navigation task.
In above process, the mileage recursion of crusing robot uses motor feedback data, instead of common odometer
With inertial navigation module, the data for reducing this part calculate and sensor cost, improve real-time, reduce overall cost.Separately
External positioning correcting part is substituted common laser map matching way, is reduced by the way of camera scanning two dimensional code
Sensor cost.The utility model positioning accuracy is 10mm, improves crusing robot positioning accuracy.And the present embodiment is only located
Data and two-dimensional code data amount when reason sweeps to two dimensional code are far smaller than laser data amount, and the calculating for reducing positioning is complicated
Degree, improves real-time.
In order to make those skilled in the art more fully understand this programme, to this for being applied to the cruising inspection system of power distribution room
Scheme is described in detail；The cruising inspection system includes mobile monitoring device (crusing robot)；Communication device, charging unit is with after
Bench control system.Mobile monitoring device is provided with high-definition camera, thermal infrared imager, SF6 monitoring device, sound pick-up and speaker,
Motion detection device uses two-dimension code navigation, carries out Condition Detection, data in power distribution room in a manner of automatic or manual
Acquisition and passback.Communication device provides communications conduit for mobile monitoring device, is established and is connected to the network by wireless aps, with 5.8G frequency
Section carries out data transmission.Charging unit provides power supply for mobile monitoring device, and charging unit is inputted using AC220V, conversion output
DC36V.Mobile monitoring device acquires power distribution room field equipment data, is sent to background control system by communication device, backstage
Control system calculates the data of each power distribution room equipment of acquisition, shows each area operation situation realtime graphic, infrared
Image and related data, and render history data and curves show each area operation situation to staff, and provide long-range control
Function, if breaking down, (backstage display alarm pushing or short message are logical to staff's sending warning information for background control system
Know).
Specifically, in practical applications, mobile monitoring device is carried out with background control system by webservice agreement
Data interaction and control, can access power distribution room main system and third party system, and access power distribution room main system can obtain distribution foundations
Plinth data are compared with distribution room monitoring system, that is, background control system acquisition data, and third party system includes warm and humid
Spend monitoring, air-conditioning, cigarette sense, water logging, Infrared Intrusion Detection, fence, door sensor, alarm, signal light control, blower, rainfall inspection
Measurement equipment, SF6/O3 monitoring device and cable temperature monitoring.
Mobile monitoring device provided by the embodiments of the present application, first, can be timed in power distribution room, pinpoint inspection,
It can be according to the interim inspection of appointed task, remote control inspection etc.；Common fixed point inspection can be patrolled according to specified path and specified
It examines target point and carries out automatic uniform speed inspection, it is only necessary to which mobile monitoring device can be made by setting polling path and starting automatic detecting
(robot) is automatically performed an inspection.As soon as every inspection position of robot during inspection, can automatic accurate parking spy
It surveys, advances automatically toward next inspection target point after finishing defined movement according still further to path, and automatically record and save and adopted
The data collected, while record and printing reports can be inquired.Second, the device temperature in power distribution room can be detected；Pass through
The thermal infrared imager that mobile terminal carries, which acquires infrared image and returns background control system, carries out data analysis, and alarm is arranged
Threshold value, real-time watch device temperature avoid device temperature is excessively high from breaking down.Third, can in power distribution room meter, switch into
Row identification；The image data of the high-definition camera acquisition meter, switch that are carried by mobile monitoring device simultaneously passes Background control back
System carries out image recognition, exports recognition result with data mode, settable alarm threshold value is identified for meter, when the table of reading
When meter reading is beyond threshold value, background control system can be issued to staff and be alerted；For position of the switch state, Background control system
Recognition result is compared system with the current equipment state, issues and alerts to staff if not being inconsistent.4th, there is video
Monitoring function is realized the video monitoring at power distribution room scene by the high-definition camera that mobile monitoring device carries, and can be grabbed
It takes a picture, the functions such as record queries.5th, there is interactive voice and pickup abnormal sound detection function, taken by mobile monitoring device
The sound pick-up and speaker of load realize the two-way voice talkback at scene with control centre, on-site noise acquisition and typical sound model point
Analysis identification.6th, there is burglar alarm and environment monitoring function, access Infrared Intrusion Detection, electric fence, door sensor, alarm
Equal security devices, realize safety monitoring and warning function；It is realized by environment monitoring module to room temperature, humidity, leak, cigarette
The monitoring and alarm of the ambient conditions such as mist, and realize the linkage with equipment such as air-conditioning, blower, light；SF6/O3 monitoring, alarm and
Fan linkage function: by accessing power distribution room SF6/O3 sensor, power distribution room SF6, O3 concentration monitor is realized, is more than setting threshold value
It then issues and alerts to staff, linkage power distribution room blower fan system is aerated；Room conditioning control and temperature and humidity linkage function
Can: by accessing airconditioning control, realize state data acquisition and linkage control function to air-conditioning, and air-conditioning equipment work can be set
Operation mode, including refrigeration mode, heating mode, dehumidification mode, ventilation mode etc..7th, door access control function is matched by access
Electric door access control system realizes the state data acquisition and control to door lock, and the center that may be implemented is opened the door, temporary Authorization opens the door etc., and
It is able to achieve illegal alarm of opening the door, time-out of opening the door alarm, security protection linkage and fire-fighting link function.
Power distribution room cruising inspection system provided by the embodiments of the present application can obtain distribution foundations by accessing power distribution room main station system
Plinth data pass through comparison distribution such as current monitoring data, voltage detecting data, cable temperature measurement data, disconnecting link signal monitoring data
The data and power distribution room basic data of room mobile monitoring device acquisition judgement, promote data accuracy.Mobile monitoring device can be with
Power distribution room main system and third party system linkage control, data interaction form integrated distribution room monitoring system, improve inspection effect
Rate and recognition accuracy.
A kind of cruising inspection system provided by the utility model is described in detail above.Several examples are used herein
The principles of the present invention and embodiment are expounded, the explanation of above embodiments is merely used to help understand this reality
With novel method and its core concept；At the same time, for those skilled in the art, based on the idea of the present invention,
There will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as to this
The limitation of utility model, those skilled in the art repair under the premise of no creative work to what the utility model was made
Change, equivalent replacement, improvement etc., should be included in the application.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One operation is distinguished with another operation, without necessarily requiring or implying there are any between these entities or operation
This actual relationship or sequence.Moreover, the similar word such as term " includes ", so that including the unit of a series of elements, equipment
Or system not only includes those elements, but also including other elements that are not explicitly listed, or further includes for this list
Member, equipment or the intrinsic element of system.
Claims (10)
1. a kind of cruising inspection system characterized by comprising
Centralized control end and several crusing robots for target inspection place to be arranged in；
Wherein, the centralized control end and each crusing robot communicate to connect, for respectively to each crusing robot
Send corresponding inspection instruction, and obtain each crusing robot corresponding inspection target collected inspection data and/or
The running state information of each crusing robot itself.
2. cruising inspection system according to claim 1, which is characterized in that the centralized control end includes:
Communication module for being communicatively coupled with each crusing robot；
It is connected with the communication module, for storing the data for the data information that acquired each crusing robot is sent
Library server；
It connects with the communication module and the database server, itself is deposited for responding the operation of user and/or calling
The operating instruction of storage sends the human-computer interaction device that corresponding inspection instructs to each crusing robot respectively.
3. cruising inspection system according to claim 2, which is characterized in that the crusing robot includes:
Communication unit for being communicatively coupled with the centralized control end；
It is connected with the communication unit, analyzes and execute the inspection machine human organism of corresponding inspection instruction；
It is connected with the inspection machine human organism, is instructed according to the inspection and carry out inspection navigation, and inspection navigation information is fed back
To the navigation elements of the inspection machine human organism.
4. cruising inspection system according to claim 3, which is characterized in that the inspection machine human organism includes:
Robot chassis module, robot chassis module bottom are equipped with the moving component for traveling；
It is connected with the robot chassis module and the communication unit, the analysis processing communication unit receives described
The control module of inspection instruction；
It is connected with the robot chassis module and the control module, liter is executed according to the control instruction of the control module
The lifting module of inspection instruction drops；
Setting connects on the robot chassis and/or in the lifting module with the control module, for carrying out inspection
The information acquisition module of information collection.
5. cruising inspection system according to claim 4, which is characterized in that the lifting module includes:
Folding arm on the robot chassis module is set；
It is mounted on the folding arm, for driving the information acquisition module being arranged on itself to rotate horizontally and/or vertical rotation
The holder turned.
6. cruising inspection system according to claim 5, which is characterized in that the information acquisition module includes:
Image acquisition units；
For acquiring the infrared measurement of temperature unit of the temperature information of target device corresponding line；
And/or inspection environmental monitoring unit.
7. cruising inspection system according to claim 6, which is characterized in that the inspection environmental monitoring unit includes: temperature and humidity
Sensor, SF6 sensor, smoke sensor device, vibrating sensor and displacement sensor.
8. cruising inspection system according to claim 4, which is characterized in that further include:
It is laid on each inspection route in target inspection place or is arranged in each inspection device in target inspection place
On several auxiliary positioning tag units；
Wherein, the navigation elements include: for obtaining leading for the information of the auxiliary positioning tag unit on current inspection route
Navigate acquisition of information subelement；According to the information of the current auxiliary positioning tag unit of acquisition, corresponding fixed point location information is analyzed
Navigation solution subelement.
9. cruising inspection system according to claim 8, which is characterized in that the auxiliary positioning tag unit is for uniformly spreading
The two-dimension code label being located on each inspection route in target inspection place, wherein each two-dimension code label is equipped with table
Levy the position symbol subelement of own location information；
It is the two dimensional code camera for scanning corresponding position symbol subelement that the navigation information, which obtains subelement,.
10. cruising inspection system according to claim 9, which is characterized in that the communication module and the communication unit include
Corresponding wireless communication device, mobile data network communicator and/or half mobile data and wireless communication device.
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|---|---|---|---|
| CN201820939870.9U CN208444335U (en) | 2018-06-15 | 2018-06-15 | A kind of cruising inspection system |
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|---|---|---|---|
| CN201820939870.9U CN208444335U (en) | 2018-06-15 | 2018-06-15 | A kind of cruising inspection system |
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| CN208444335U true CN208444335U (en) | 2019-01-29 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108537913A (en) * | 2018-06-15 | 2018-09-14 | 浙江国自机器人技术有限公司 | A kind of cruising inspection system |
| CN110390737A (en) * | 2019-07-25 | 2019-10-29 | 新奥（中国）燃气投资有限公司 | A kind of gas leakage intelligent polling method and intelligent patrol detection vehicle |
| CN111667597A (en) * | 2020-06-05 | 2020-09-15 | 李建华 | Constructor monitoring system based on big data and task presetting |
| CN113763584A (en) * | 2021-05-13 | 2021-12-07 | 江门市赛为电力科技有限公司 | Intelligent inspection system for power line |
| CN114161957A (en) * | 2021-11-03 | 2022-03-11 | 山东爱普电气设备有限公司济南高新分公司 | New forms of energy electric automobile intelligence stereo garage with charge and safety monitoring function |
| TWI759848B (en) * | 2019-09-05 | 2022-04-01 | 大陸商北京海益同展信息科技有限公司 | Inspection robot, inspection system and inspection method |
| CN115661971A (en) * | 2022-12-27 | 2023-01-31 | 长江空间信息技术工程有限公司(武汉) | Intelligent inspection method and device, computing equipment and storage medium |
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2018
- 2018-06-15 CN CN201820939870.9U patent/CN208444335U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108537913A (en) * | 2018-06-15 | 2018-09-14 | 浙江国自机器人技术有限公司 | A kind of cruising inspection system |
| CN110390737A (en) * | 2019-07-25 | 2019-10-29 | 新奥（中国）燃气投资有限公司 | A kind of gas leakage intelligent polling method and intelligent patrol detection vehicle |
| TWI759848B (en) * | 2019-09-05 | 2022-04-01 | 大陸商北京海益同展信息科技有限公司 | Inspection robot, inspection system and inspection method |
| CN111667597A (en) * | 2020-06-05 | 2020-09-15 | 李建华 | Constructor monitoring system based on big data and task presetting |
| CN113763584A (en) * | 2021-05-13 | 2021-12-07 | 江门市赛为电力科技有限公司 | Intelligent inspection system for power line |
| CN114161957A (en) * | 2021-11-03 | 2022-03-11 | 山东爱普电气设备有限公司济南高新分公司 | New forms of energy electric automobile intelligence stereo garage with charge and safety monitoring function |
| CN115661971A (en) * | 2022-12-27 | 2023-01-31 | 长江空间信息技术工程有限公司(武汉) | Intelligent inspection method and device, computing equipment and storage medium |
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