CN102097860A - Intelligent robot patrol system for safety detection of substation - Google Patents
Intelligent robot patrol system for safety detection of substation Download PDFInfo
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- CN102097860A CN102097860A CN2010105777901A CN201010577790A CN102097860A CN 102097860 A CN102097860 A CN 102097860A CN 2010105777901 A CN2010105777901 A CN 2010105777901A CN 201010577790 A CN201010577790 A CN 201010577790A CN 102097860 A CN102097860 A CN 102097860A
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Abstract
The invention discloses an intelligent robot patrol system for safety detection of a substation, which comprises a moving body, a base station and communication network equipment for connecting the moving body and the base station, wherein the moving body is used as a moving carrier and an information acquisition control carrier of the whole robot system and comprises a wireless communication subsystem, a moving station host, a motion control subsystem, a navigation and positioning system, a signal detection subsystem and a visual processing system; and the signal detection subsystem acquires and processes the appearance image, internal temperature and working noise information of the substation equipment, and transmits the information to the base station through the communication network equipment. The intelligent robot patrol system disclosed by the invention can work outdoors to replace the patrol personnel of the substation to finish the safety detection of the substation equipment. The system disclosed by the invention lowers the operating cost of the substation, improves the accuracy of the patrol work, and eliminates the personal potential safety hazards.
Description
[technical field]
The present invention relates to a kind of industrial mobile-robot system, be used in particular for the intelligent robot cruising inspection system of substation equipment safety detection.
[background technology]
The electric signal of substation equipment can be passed through supervisory control and data acquisition system (SCADA), high voltage equipment insulation detects device acquisitions such as relaying protection, thereby the remote monitoring that has realized transformer station's main equipment is " five is distant " (remote measurement, remote signalling, remote control, remote regulating, remote viewing) function.Yet so-called " five is distant " also can only lack effective discovery means for some non-electric signals by some electric signal collections are carried out monitoring of equipment, so that stays a lot of safe operation hidden danger.
Even in the very high transformer station of automated procedures, manual inspection still is the arbitrary way an of necessity.Manual inspection has following shortcoming: 1, monitoring time is long, the operation cost height; 2, it is not high to patrol and examine the accuracy of work; 3, because the height repeatability of its work easily makes the people produce and is sick of psychology, cause the work of patrolling and examining not in place sometimes, also might cause casualties during dangerous operation.
[summary of the invention]
The present invention has overcome the deficiency of above-mentioned technology, providing a kind of can replace the substation inspection personnel at outside work, can finish the intelligent robot cruising inspection system of power station equipment safety detection, this system had both reduced the operation cost of transformer station, had improved the accuracy of the work of patrolling and examining.Eliminated personal safety hidden danger simultaneously.
For achieving the above object, the present invention has adopted following technical proposal:
The intelligent robot cruising inspection system that a kind of substation safety detects includes moving body 1, and base station 2 connects the communication network device 3 between them, and the remote controller of control moving body work.
Mobile vehicle that described moving body 1 is the entire machine robot system and information gathering control carrier comprise radio communication subsystem 11, mobile radio station main frame 12, motion control subsystem 13 and navigation positioning system 14, input subsystem 15, vision processing system 16.
Radio communication subsystem 11 and communication network device 3 radio communications; Mobile radio station main frame 12 is connected with radio communication subsystem 11, the index point that can configure the track route of robot and want checkout equipment in transformer station in advance by mobile radio station main frame 12.Motion control subsystem 13 and navigation positioning system 14 are connected on the mobile radio station main frame 12 motion control subsystem 13 and are used to control whole moving body 1 and move, described navigation positioning system 14 is handled the back with the position of moving body and navigation information by mobile radio station main frame 12 and is real-time transmitted to base station 2 by communication network device 3, tracking target and demonstration geographic orientation real-time dynamicly on the electronic chart base station 2 in; Input subsystem 15 is connected with radio communication subsystem 11, and 15 pairs of substation equipment appearance images of described input subsystem, internal temperature and operating noise information are gathered and handled, and are transferred to base station 2 by communication network device 3.
The invention has the beneficial effects as follows: native system had both reduced the operation cost of transformer station, had improved the accuracy of the work of patrolling and examining.Simultaneously, eliminate personal safety hidden danger, realized remote real time monitoring, supervision, the antitheft and combination of reporting to the police.
[description of drawings]
Fig. 1 is a structure chart of the present invention;
Fig. 2 is a workflow diagram of the present invention.
[embodiment]
Referring to Fig. 1, the intelligent robot cruising inspection system that a kind of substation safety detects includes moving body 1, base station 2, the remote controller that connects the communication network device 3 between them and control moving body work.
Mobile vehicle that described moving body 1 is the entire machine robot system and information gathering control carrier comprise radio communication subsystem 11, mobile radio station main frame 12, motion control subsystem 13 and navigation positioning system 14, input subsystem 15, vision processing system 16.
Radio communication subsystem 11 and communication network device 3 radio communications; Mobile radio station main frame 12 is connected with radio communication subsystem 11, the index point that can configure the track route of robot and want checkout equipment in transformer station in advance by mobile radio station main frame 12.Motion control subsystem 13 and navigation positioning system 14 are connected on the mobile radio station main frame 12 motion control subsystem 13 and are used to control whole moving body 1 and move, described navigation positioning system 14 is handled the back with the position of moving body and navigation information by mobile radio station main frame 12 and is real-time transmitted to base station 2 by communication network device 3, tracking target and demonstration geographic orientation real-time dynamicly on the electronic chart base station 2 in; Input subsystem 15 is connected with radio communication subsystem 11, and 15 pairs of substation equipment appearance images of described input subsystem, internal temperature and operating noise information are gathered and handled, and are transferred to base station 2 by communication network device 3.
Described motion control subsystem 13 comprises the control main board that connects in turn, motion control card, and motor driver, drive motors, described control main board is connected with mobile radio station main frame 12, and control main board is for embedding the PC104 mainboard.Two front-wheels are housed on the moving body 1, two trailing wheels and be enclosed within two outer crawler belts of front and back wheel, two trailing wheels are driven by drive motors.Moving body 1 chassis is higher than 20cm, is provided with certain top rake, and simultaneous altitude has enough spaces charging appliance greater than 60cm to guarantee inside.In order to realize good shockproof properties, moving body 1 also will adopt the flexible header system based on spring.Control main board is carried out according to mobile radio station main frame 12 path plannings and is patrolled and examined, and uploads the moving body motion state, mainly is responsible for motion, the behavior control of moving body in the process of patrolling and examining.Motion control subsystem adopts inertial navigation (INS) and differential GPS (DGPS) data fusion method accurately to locate.And the position and the navigation information of moving body be real-time transmitted to base station 2 by communication network device 3, on electronic chart, store, handle, demonstration etc., can realize navigation information visual, integrated and integrated on map, can be on map tracking target and show geographic orientation real-time dynamicly.The method of employing figure of the present invention stratification is carried out developing and managing of electronic chart.In conjunction with actual environment, with road, node, test point, building, the lawn is defined in respectively in the different figure layers, preserves information such as coordinate with the form of database, is convenient to the extraction to node and test point.
Described input subsystem 15 comprises thermal infrared imager, visible light ccd video camera, this system can finish the collection and the processing of information such as substation equipment appearance images, internal temperature and operating noise, detects data the most at last and is sent to the base station by communication subsystem.
Described communication network device 3 is the platforms that carry out information interaction between moving body and the base station.For making things convenient for moving of robot be not subjected to the restriction of circuit, utilize wireless network to set up data communication between crusing robot and the base station usually.A crusing robot needs real-time Transmission 2 road video images and 1 road audio frequency intercommunication signal, and wherein 2 road video images are respectively infrared thermography image and video monitoring image.WLAN (wireless local area network) is made of 4 high-power wireless AP, 4 equal adjunctions of AP are towards the 14DB of transformer station center gain directional antenna, and be distributed in four corners of transformer station, form a whole by cable again between 4 wireless aps, wireless signal is covered in whole transformer station the most at last, forms wireless " net " of a high-intensity signal.WLAN (wireless local area network) is connected to central control room by cable again.The WLAN (wireless local area network) that this mode makes up is equivalent to existing cable network is extended to the every nook and cranny of transformer station by wireless mode, the crusing robot in the work WLAN (wireless local area network) coverage realize by self radio AP again and WLAN (wireless local area network) between transfer of data.
Described base station 2 comprises monitoring host computer and video server, and the base station is mainly finished moving body is effectively monitored, controls and manages.The base station provides the real time human-machine interaction interface based on multithreading and event-driven mechanism.Function mainly comprises information such as display device people position, live video, robot operation; Also be responsible for simultaneously the monitor staff is transferred to moving body to the control command of moving body; And by database technology, set up transformer station's integrated date managment system and electrical equipment fault expert database, and carry out characteristic matching with field data that moving body collects, judge the unusual condition of substation equipment with this, and alarm.
The present invention also includes the vision processing system 16 that detects leading line, index point and barrier, and this vision processing system 16 is connected with mobile radio station main frame 11.In the process of walking, detect leading line and index point by vision processing system, the index point location is carried out in navigation walking when detecting leading line when detecting index point, keeps away barrier or anxious stopping when finding barrier.
Referring to Fig. 2, native system is controlled moving body walking path, editor's monitoring task in the trial run stage by artificial distant operation, each step that the traversal power equipment is patrolled and examined, during manual operation is patrolled and examined, system notes the polling path and the task of moving body in conjunction with electronic map system, and realizes the preliminary collection of power equipment normal working hours certificate.After the stage was patrolled and examined in manual operation, robot system can be patrolled and examined automatically.When patrolling and examining automatically, robot system is called the path and the task data of storage, and after path flow and task flow be optimized, robot began according to the result's operation after optimizing.Because robot system has write down the pose of moving body manually-operated the time, so can know own what task of carrying out where when moving automatically accurately, and can accurately move to suitable angle with the equipment realization data acquisition that aims at the mark by signal detection system.The moving body of crusing robot moves to the target detection point, utilize information collecting devices such as infrared video camera, CDD visible light camera and microphone to note the work state information or the environmental information of this test point equipment, note the current pose state of moving body simultaneously.To being real-time transmitted to the base station by wireless network after the Information Monitoring preliminary treatment, by the intelligent server analysis and call expert system the signal and the current Information Monitoring of raw data base is analyzed and intelligent diagnostics.
Claims (5)
1. the intelligent robot cruising inspection system that substation safety detects is characterized in that including moving body (1), and base station (2) connect the communication network device (3) between them; Described moving body (1) comprises
Radio communication subsystem (11) with communication network device (3) radio communication;
With radio communication subsystem (11) but mobile radio station main frame (12) that be connected and setting navigation line and index point;
Be connected motion control subsystem (13) and navigation positioning system (14) that the whole moving body of control (1) on the mobile radio station main frame (12) moves, described navigation positioning system (14) is handled the back with the position of moving body and navigation information by mobile radio station main frame (12) and is real-time transmitted to base station (2) by communication network device (3), tracking target and demonstration geographic orientation real-time dynamicly on the electronic chart base station (2) in;
And the input subsystem (15) that is connected with radio communication subsystem (11), described input subsystem (15) is gathered and is handled substation equipment appearance images, internal temperature and operating noise information, and is transferred to base station (2) by communication network device (3).
2. the intelligent robot cruising inspection system that a kind of substation safety according to claim 1 detects, it is characterized in that also including the vision processing system (16) that detects leading line, index point and barrier, this vision processing system (16) is connected with mobile radio station main frame (11).
3. the intelligent robot cruising inspection system that a kind of substation safety according to claim 1 detects is characterized in that described input subsystem (15) comprises thermal infrared imager, visible light ccd video camera and microphone.
4. the intelligent robot cruising inspection system that a kind of substation safety according to claim 1 detects, it is characterized in that described motion control subsystem (13) comprises the control main board that connects in turn, motion control card, motor driver, drive motors, described control main board is connected with mobile radio station main frame (12).
5. the intelligent robot cruising inspection system that a kind of substation safety according to claim 1 detects is characterized in that described base station (2) comprises monitoring host computer and video server.
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| CN103424143A (en) * | 2012-05-23 | 2013-12-04 | 句容茂森智能机器设备有限公司 | System and method for dynamic temperature and humidity monitoring |
| CN104242459A (en) * | 2014-09-26 | 2014-12-24 | 广东电网有限责任公司佛山供电局 | Real-time monitoring and analyzing system and real-time monitoring and analyzing method for substation |
| CN104463160A (en) * | 2014-11-27 | 2015-03-25 | 无锡北斗星通信息科技有限公司 | Intelligent meter reading robot for textile workshop |
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| CN107393270A (en) * | 2017-07-26 | 2017-11-24 | 河海大学常州校区 | A kind of portable vision inspection device and method for electric meter detection |
| CN107894739A (en) * | 2017-11-23 | 2018-04-10 | 太原工业学院 | A kind of control method of factory building Omni-mobile fire-fighting monitoring robot |
| CN108132675A (en) * | 2017-11-23 | 2018-06-08 | 东南大学 | Unmanned plane is maked an inspection tour from main path cruise and intelligent barrier avoiding method by a kind of factory |
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| CN102280826A (en) * | 2011-07-30 | 2011-12-14 | 山东鲁能智能技术有限公司 | Intelligent robot inspection system and intelligent robot inspection method for transformer station |
| CN102354174A (en) * | 2011-07-30 | 2012-02-15 | 山东电力研究院 | Inspection system based on mobile inspection apparatus of transformer station and inspection method thereof |
| CN102354174B (en) * | 2011-07-30 | 2012-12-26 | 山东电力研究院 | Inspection system based on mobile inspection apparatus of transformer station and inspection method thereof |
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| CN103326462A (en) * | 2013-02-22 | 2013-09-25 | 成都宝利信通科技有限公司 | Double-vision online monitoring intelligent pre-warning system of transformer substation |
| CN103326462B (en) * | 2013-02-22 | 2015-03-04 | 成都宝利信通科技有限公司 | Double-vision online monitoring intelligent pre-warning system of transformer substation |
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| CN108027275A (en) * | 2015-09-24 | 2018-05-11 | 西门子公司 | Method for the sound pressure level for measuring high pressure choke or high-tension transformer |
| CN106584450A (en) * | 2015-10-14 | 2017-04-26 | 山东鲁能智能技术有限公司 | Transformer substation inspection robot centralized monitoring system and method |
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| 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 |
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| CN107894739A (en) * | 2017-11-23 | 2018-04-10 | 太原工业学院 | A kind of control method of factory building Omni-mobile fire-fighting monitoring robot |
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Application publication date: 20110615 |