CN101254593A - Vision navigated converting station patrolling robot - Google Patents
Vision navigated converting station patrolling robot Download PDFInfo
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- CN101254593A CN101254593A CN 200810015225 CN200810015225A CN101254593A CN 101254593 A CN101254593 A CN 101254593A CN 200810015225 CN200810015225 CN 200810015225 CN 200810015225 A CN200810015225 A CN 200810015225A CN 101254593 A CN101254593 A CN 101254593A
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Abstract
The invention relates to an inspection robot for equipment of transformer substation, which comprises a motor-driven carry trolley, a computer arranged on the carry trolley and connected with a trolley driver, a navigation and positioning device connected with the computer, a wireless bridge, transformation and distribution equipment and a power line detection device connected with the computer and arranged on the carry trolley through a cloud platform, and an onboard power supply for supplying power to each unit of the robot. The inspection robot is characterized in that the navigation and positioning device of the robot is a panoramic camera connected with the computer. The robot can achieve navigation by sufficiently utilizing the natural road and natural scene information, and is simple and compact. The robot can meet the requirement for night inspection, and has wide application in inspecting transformation and distribution equipment of various power plants and transformer substations.
Description
Technical field
The present invention relates to a kind of industrial mobile robot, especially for the robot of inspecting substation equipment.
Background technology
Along with developing rapidly of high voltage, big capacity, big electrical network, the automaticity of power system is more and more higher, and many transformer stations have all realized unmanned.In order to grasp the working order of distribution equipment at any time, the defective of discovery and abatement apparatus existence in time, guarantee the safe operation of power equipment, State Intellectual Property Office and on June 13rd, 2007 bulletin patent No. ZL200410024231.2, name is called and has proposed the technical scheme that an employing robot patrols and examines the converting equipment operation conditions automatically in the patent of " power station equipment intelligence automatic crusing robot ".This scheme adopts the GPS global positioning system laser range sensor of unifying to form the navigation information transfer unit, its navigation information transfer unit equipment complexity, and be in the forceful electric power, magnetic field environment of distribution equipment, the precision of location navigation is lower, influences the work quality of patrolling and examining of robot.
Summary of the invention
The purpose of this invention is to provide that a kind of equipment is simple, the substation inspection robot of the accurate vision guided navigation of navigation.
The scheme of technical solution problem of the present invention is that the substation inspection robot of vision guided navigation comprises: motor-driven delivery dolly, the vehicle power that is installed in the computer that links to each other with delivery dolly driver on the delivery dolly, the navigation positional device that links to each other with computer, wireless bridge, is connected with computer and is installed in the distribution equipment that delivers on the dolly and power circuit checkout gear and powers to each unit of robot by The Cloud Terrace, be characterized in: said robot navigation's positioner is the panoramic camera that is connected with computer.Panoramic camera picked-up nature road information is sent into described Computer Processing, and computer program is realized self-navigation according to the input information commander delivery moving of car of the video camera after handling.Described computer control is equipped with the The Cloud Terrace rotation and the lifting of distribution equipment and power circuit polling device, and receives and handle the information of distribution equipment and power circuit checkout gear and the master computer exchange message by wireless bridge and command centre and receive and instruct.
The navigation video camera of the substation inspection robot of vision guided navigation adopts the CCD panoramic camera, is connected with described computer by A/D converter, implements the information transmission of video camera and computer.
The navigation panoramic camera top of the substation inspection robot of vision guided navigation is equipped with the auxiliary lighting apparatus of natural scene luminance sensor control, according to the natural scene monochrome information that luminance sensor records, control the opening and closing of auxiliary lighting apparatus automatically.
The beneficial effect of the substation inspection robot of vision guided navigation is: can make full use of nature road and natural scene information and realize navigation, equipment is simple, and compactness can satisfy night inspection, and the distribution equipment that can be widely used in various power plants and transformer station is maked an inspection tour.
Description of drawings
Accompanying drawing is a structural representation of the present invention.Each reference numerals is expressed as: dolly driver 1, computer 2, vehicle power 3, single chip circuit 4, secondary light source 5, panoramic camera 6, luminance sensor 7, Temperature Detector 8, image acquisition device 9, The Cloud Terrace 10, delivery dolly 11, wireless bridge 12.
Specific embodiment
Computer (2) and vehicle power (3) are installed on the delivery dolly (11), and dolly driver (1) links to each other with computer (2); Three 12V/75Ah lead-acid accumulators of vehicle power (3) are to delivery dolly (11), computer (2) and other power devices.The vision guided navigation positioning unit comprises: panoramic camera (6), LED secondary light source (5) and luminance sensor (7), wherein panoramic camera (6) is selected the sony360 panoramic camera for use, link to each other with computer (2) by video frequency collection card, video frequency collection card is installed on the PCI groove of computer motherboard, secondary light source (5) is connected with computer (2) serial ports by single chip circuit (4) with luminance sensor (7), auxiliary lighting apparatus is installed in the panoramic camera top, and luminance sensor is selected APDS-9007 for use; The checkout gear of distribution equipment and power circuit comprises: Temperature Detector (8) is that the high moral IR230 thermal infrared imager in Wuhan, image acquisition device (9) are Samsung SDZ-160R visible light cameras, thermal infrared imager, visible light camera are installed on the delivery dolly (11) by The Cloud Terrace (10), The Cloud Terrace (10) can horizontally rotate and pitching up and down, it links to each other with computer (2) serial ports by self drive circuit, and wireless bridge (12) links to each other with computer (2) and the master computer exchange message of command centre is instructed with reception.
Claims (3)
1, a kind of substation inspection robot of vision guided navigation, comprise motor-driven delivery dolly, the vehicle power that is installed in the computer that links to each other with delivery dolly driver on the delivery dolly, the navigation positional device that links to each other with computer, wireless bridge, is connected with computer and is installed in the distribution equipment that delivers on the dolly and power circuit checkout gear and powers to each unit of robot by The Cloud Terrace, be characterized in: said robot navigation's positioning unit is the panoramic camera that is connected with said computer.
2, by the substation inspection robot of the described vision guided navigation of claim 1, it is characterized in that: said panoramic camera is a ccd video camera, and ccd video camera links to each other with described computer by A/D converter.
3, the substation inspection robot by claim 1 or 2 described vision guided navigations is characterized in that: the panoramic camera top is equipped with the auxiliary lighting apparatus by luminance sensor control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810015225 CN101254593A (en) | 2008-04-11 | 2008-04-11 | Vision navigated converting station patrolling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810015225 CN101254593A (en) | 2008-04-11 | 2008-04-11 | Vision navigated converting station patrolling robot |
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| CN101254593A true CN101254593A (en) | 2008-09-03 |
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| CN 200810015225 Pending CN101254593A (en) | 2008-04-11 | 2008-04-11 | Vision navigated converting station patrolling robot |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101807316A (en) * | 2010-03-26 | 2010-08-18 | 深圳市科陆电子科技股份有限公司 | Electric intelligent lock system and control method |
| CN101833057A (en) * | 2010-05-25 | 2010-09-15 | 广州科易光电技术有限公司 | Vehicular power line detection device |
| CN102097860A (en) * | 2010-11-29 | 2011-06-15 | 广东峰杰科技有限公司 | Intelligent robot patrol system for safety detection of substation |
| CN102169602A (en) * | 2011-01-07 | 2011-08-31 | 东北电网有限公司沈阳超高压局 | Structural design of inspection robot of transformer substation |
| CN101604825B (en) * | 2009-07-14 | 2011-12-14 | 山东鲁能智能技术有限公司 | Robot used for intelligent substation patrol |
| CN102621419A (en) * | 2012-03-28 | 2012-08-01 | 山东省电力学校 | Method for automatically recognizing and monitoring line electrical equipment based on laser and binocular vision image |
| CN102621985A (en) * | 2012-04-11 | 2012-08-01 | 中国农业大学 | Vision and electromagnet based fusion inspecting navigation control system |
| CN102736623A (en) * | 2011-04-12 | 2012-10-17 | 中国科学院沈阳自动化研究所 | Track self-directed moving robot |
| CN102756741A (en) * | 2012-06-27 | 2012-10-31 | 吉林省电力有限公司辽源供电公司 | Orbital transfer type carrier loader for inspection robot in transformer substation |
| CN103198606A (en) * | 2013-04-01 | 2013-07-10 | 常熟理工学院 | Intelligent household alarming robot |
| CN103683499A (en) * | 2013-11-30 | 2014-03-26 | 国网河南省电力公司南阳供电公司 | Automatic remote infrared temperature monitoring warning system for electrical equipment of transformer substation |
| CN103868602A (en) * | 2014-03-18 | 2014-06-18 | 国家电网公司 | Transformer substation remote guarding system |
| CN103862457A (en) * | 2014-03-13 | 2014-06-18 | 湖南信息职业技术学院 | Service robot with visual system |
| CN103963043A (en) * | 2014-04-30 | 2014-08-06 | 湖南大学 | Intelligent robot for power station inspection and maintenance and control system thereof |
| CN104408788A (en) * | 2014-09-27 | 2015-03-11 | 江苏华宏实业集团有限公司 | Inspection tour method for electric power instrument |
| CN105415380A (en) * | 2015-12-11 | 2016-03-23 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot system for detecting equipment in box and method thereof |
| CN105446392A (en) * | 2016-01-06 | 2016-03-30 | 广州冰泉制冷设备有限责任公司 | Warehouse intelligent temperature adjustment turnover robot |
| CN105698809A (en) * | 2016-03-06 | 2016-06-22 | 王涛 | Solar photovoltaic power station remote management measurement and control system |
| CN106556428A (en) * | 2016-11-30 | 2017-04-05 | 河海大学常州校区 | A kind of robot power station cruising inspection system and method |
| CN106863301A (en) * | 2017-02-24 | 2017-06-20 | 深圳汇创联合自动化控制有限公司 | A kind of effective robot used for intelligent substation patrol |
| CN108155595A (en) * | 2017-12-19 | 2018-06-12 | 国网浙江临海市供电有限公司 | Cable duct of substation intelligent patrol system |
| CN112102515A (en) * | 2020-09-14 | 2020-12-18 | 深圳优地科技有限公司 | Robot inspection method, device, equipment and storage medium |
| CN112531516A (en) * | 2021-02-18 | 2021-03-19 | 山东广域科技有限责任公司 | Automatic accurate control device of transformer substation |
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
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2008
- 2008-04-11 CN CN 200810015225 patent/CN101254593A/en active Pending
Cited By (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101604825B (en) * | 2009-07-14 | 2011-12-14 | 山东鲁能智能技术有限公司 | Robot used for intelligent substation patrol |
| CN101807316A (en) * | 2010-03-26 | 2010-08-18 | 深圳市科陆电子科技股份有限公司 | Electric intelligent lock system and control method |
| CN101833057A (en) * | 2010-05-25 | 2010-09-15 | 广州科易光电技术有限公司 | Vehicular power line detection device |
| CN102097860A (en) * | 2010-11-29 | 2011-06-15 | 广东峰杰科技有限公司 | Intelligent robot patrol system for safety detection of substation |
| CN102169602A (en) * | 2011-01-07 | 2011-08-31 | 东北电网有限公司沈阳超高压局 | Structural design of inspection robot of transformer substation |
| CN102736623B (en) * | 2011-04-12 | 2014-11-26 | 中国科学院沈阳自动化研究所 | Track self-directed moving robot |
| CN102736623A (en) * | 2011-04-12 | 2012-10-17 | 中国科学院沈阳自动化研究所 | Track self-directed moving robot |
| WO2012139476A1 (en) * | 2011-04-12 | 2012-10-18 | 辽宁省电力有限公司鞍山供电公司 | Track self-directed moving robot |
| CN102621419A (en) * | 2012-03-28 | 2012-08-01 | 山东省电力学校 | Method for automatically recognizing and monitoring line electrical equipment based on laser and binocular vision image |
| CN102621985A (en) * | 2012-04-11 | 2012-08-01 | 中国农业大学 | Vision and electromagnet based fusion inspecting navigation control system |
| CN102756741A (en) * | 2012-06-27 | 2012-10-31 | 吉林省电力有限公司辽源供电公司 | Orbital transfer type carrier loader for inspection robot in transformer substation |
| CN103198606A (en) * | 2013-04-01 | 2013-07-10 | 常熟理工学院 | Intelligent household alarming robot |
| CN103683499B (en) * | 2013-11-30 | 2016-02-03 | 国网河南西峡县供电公司 | The infrared automatic temperature measurement early warning system of a kind of converting station electric power apparatus remote |
| CN103683499A (en) * | 2013-11-30 | 2014-03-26 | 国网河南省电力公司南阳供电公司 | Automatic remote infrared temperature monitoring warning system for electrical equipment of transformer substation |
| CN105406602A (en) * | 2013-11-30 | 2016-03-16 | 国网河南省电力公司南阳供电公司 | Automatic temperature measurement and early warning system for transformer station electric equipment |
| CN105406602B (en) * | 2013-11-30 | 2017-11-14 | 浙江法拉迪电气有限公司 | Converting station electric power equipment automatic temperature measurement early warning system |
| CN103862457A (en) * | 2014-03-13 | 2014-06-18 | 湖南信息职业技术学院 | Service robot with visual system |
| CN103868602A (en) * | 2014-03-18 | 2014-06-18 | 国家电网公司 | Transformer substation remote guarding system |
| CN103963043A (en) * | 2014-04-30 | 2014-08-06 | 湖南大学 | Intelligent robot for power station inspection and maintenance and control system thereof |
| CN103963043B (en) * | 2014-04-30 | 2015-12-02 | 湖南大学 | A kind of intelligent robot of patrolling and examining for power station and keep in repair and control system thereof |
| CN104408788A (en) * | 2014-09-27 | 2015-03-11 | 江苏华宏实业集团有限公司 | Inspection tour method for electric power instrument |
| CN104408788B (en) * | 2014-09-27 | 2016-08-17 | 江苏华宏实业集团有限公司 | A kind of method patrolling and examining electric instrument |
| CN105415380A (en) * | 2015-12-11 | 2016-03-23 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot system for detecting equipment in box and method thereof |
| CN105415380B (en) * | 2015-12-11 | 2017-05-24 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot system for detecting equipment in box and method thereof |
| CN105446392A (en) * | 2016-01-06 | 2016-03-30 | 广州冰泉制冷设备有限责任公司 | Warehouse intelligent temperature adjustment turnover robot |
| CN106248090A (en) * | 2016-03-06 | 2016-12-21 | 王涛 | Solar photovoltaic power plant remotely manages TT&C system |
| CN106248090B (en) * | 2016-03-06 | 2019-01-04 | 浙江电腾云光伏科技有限公司 | Solar photovoltaic power plant remotely manages TT&C system |
| CN105698809B (en) * | 2016-03-06 | 2016-12-14 | 奔亚科技集团有限公司 | Solar photovoltaic power plant remotely manages TT&C system |
| CN106249320A (en) * | 2016-03-06 | 2016-12-21 | 王涛 | Solar photovoltaic power plant remotely manages TT&C system |
| CN105698809A (en) * | 2016-03-06 | 2016-06-22 | 王涛 | Solar photovoltaic power station remote management measurement and control system |
| CN106556428A (en) * | 2016-11-30 | 2017-04-05 | 河海大学常州校区 | A kind of robot power station cruising inspection system and method |
| CN106556428B (en) * | 2016-11-30 | 2019-03-08 | 河海大学常州校区 | A kind of robot power station cruising inspection system and method |
| CN106863301A (en) * | 2017-02-24 | 2017-06-20 | 深圳汇创联合自动化控制有限公司 | A kind of effective robot used for intelligent substation patrol |
| CN106863301B (en) * | 2017-02-24 | 2020-09-29 | 合肥哈工库讯智能科技有限公司 | Effective intelligent inspection robot for transformer substation |
| CN108155595A (en) * | 2017-12-19 | 2018-06-12 | 国网浙江临海市供电有限公司 | Cable duct of substation intelligent patrol system |
| CN112102515A (en) * | 2020-09-14 | 2020-12-18 | 深圳优地科技有限公司 | Robot inspection method, device, equipment and storage medium |
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
| CN112531516A (en) * | 2021-02-18 | 2021-03-19 | 山东广域科技有限责任公司 | Automatic accurate control device of transformer substation |
| CN112531516B (en) * | 2021-02-18 | 2021-04-16 | 山东广域科技有限责任公司 | Automatic accurate control device of transformer substation |
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Open date: 20080903 |