CN106903667A - Relay protection room inspecting robot - Google Patents
Relay protection room inspecting robot Download PDFInfo
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- CN106903667A CN106903667A CN201710153307.9A CN201710153307A CN106903667A CN 106903667 A CN106903667 A CN 106903667A CN 201710153307 A CN201710153307 A CN 201710153307A CN 106903667 A CN106903667 A CN 106903667A
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- CN
- China
- Prior art keywords
- car body
- relay protection
- control module
- protection room
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to relay protection room inspecting robot, including：Car body, motor, directional drive, driving wheel, image mechanism, tracing sensor, control module and power supply module；Driving wheel is connected to position of the car body near bottom, and motor is connected with drive wheel, and directional drive is connected with driving wheel；Image mechanism includes camera and lifting assembly, and lifting assembly is movably set in the top of car body, and camera is connected with lifting assembly；Tracing sensor is arranged on car body, and tracing sensor is electrically connected with control module, and control module is electrically connected with motor and directional drive.The control module of car body obtains the press plate position in relay protection room according to tracing sensor; driving wheel is controlled to move by motor and directional drive; so that car body is pressed desired guiding trajectory and is maked an inspection tour in relay protection room; and the pressing plate on protection screen is taken pictures by camera; obtain the state of pressing plate; human cost and time cost are effectively reduced, tour efficiency is effectively improved.
Description
Technical field
Technical field is maked an inspection tour the present invention relates to power network, more particularly, to relay protection room inspecting robot.
Background technology
In order to safeguard power network, the stable operation of power network is ensured.According to the requirement of current transformer station's maintenance work, run people
Member will be monthly checked the pressing plate state in relay protection room.Pressing plate, is called protection pressing plate or protection in flakes, is protection device
Can the bridge and tie of contact external wiring, the function and action outlet for being related to protection normally play a role.Pressing plate is used for
The access or cut-out of functional circuit are provided for power transmission and transformation net, in general, pressing plate is arranged on protection screen, is provided with protection screen
Multiple pressing plates.Pressing plate includes input and exits two states, and pressing plate is thrown then functions circuit and accessed, and pressing plate moves back then functions
Circuitry cuts.
, it is necessary to be carried out carrying out pressing plate according to reasons such as business demand, running status and weather in the operation of power network
Throwing is moved back, and due to often having multiple pressing plates on protection screen, and a relay protection room then has multiple protection screens, therefore, operations staff
Monthly the checking work to the pressing plate state in relay protection room needs to expend substantial amounts of human resources, need to take the substantial amounts of time, and
Inefficiency, causes human cost and time cost to the verification of pressing plate state higher, additionally, complex whenever carrying out
Operation when, often there is miscarrying and move back in secondary pressing plate, cause electric network fault, and the synthesis of the increase of new equipment or used equipment
Transformation, makes the operation content of secondary pressure plate increase or change, and operation difficulty and risk also accordingly increase, it is easier to occur wrong
Leakage.As can be seen here, traditional artificial nucleus by operations staff take considerable time, and easily cause to not only inefficiency
Miscarrying is moved back, and operation difficulty and risk are higher.
The content of the invention
Based on this, it is necessary to detected by the pressing plate of the relay protection room of manual type pair for tradition, it is necessary to expended compared with
Big human cost and time cost, make an inspection tour inefficiency, risk defect higher, there is provided machine is maked an inspection tour in a kind of relay protection room
People.
A kind of relay protection room inspecting robot, including：Car body, motor, directional drive, driving wheel, image mechanism, seek
Mark sensor, control module and power supply module；
Accommodating cavity is provided with the car body, the motor and the control module are arranged at the accommodating cavity
Interior, the driving wheel is connected to position of the car body near bottom, and the motor is connected with the drive wheel, institute
Directional drive is stated to be connected with the driving wheel；
The image mechanism includes camera and lifting assembly, and the lifting assembly is movably set in the top of the car body
Portion, the camera is connected with the lifting assembly；
The tracing sensor is arranged on the car body, the tracing sensor and the camera respectively with the control
Molding block is electrically connected, and the control module is electrically connected with the motor and the directional drive；
The power supply module respectively with the motor, the directional drive, the camera, the sensing that tracks
Device and the control module are electrically connected.
Wherein in one embodiment, the tracing sensor includes infrared sensor.
Wherein in one embodiment, the quantity of the infrared sensor is four.
Wherein in one embodiment, two infrared sensors are arranged side by side.
Wherein in one embodiment, the tracing sensor includes ultrasonic sensor.
Wherein in one embodiment, the tracing sensor is arranged at the bottom of the car body.
Wherein in one embodiment, the tracing sensor is arranged on the end face of one end of the car body.
Wherein in one embodiment, the quantity of the driving wheel is four.
Wherein in one embodiment, four driving wheels include two front-wheels and two trailing wheels, the motor
It is connected with two rear wheel drives, the directional drive is connected with two front-wheels.
Wherein in one embodiment, also including positioning inductor, the positioning inductor is electrically connected with the control module
Connect.
Above-mentioned relay protection room inspecting robot, the control module of car body obtains the pressing plate in relay protection room according to tracing sensor
Position, and then control driving wheel to move by motor and directional drive so that car body presses desired guiding trajectory in relay protection room
Interior tour, and the pressing plate on protection screen is taken pictures by camera, so as to obtain the state of pressing plate, and then effectively reduce
Human cost and time cost, effectively improve tour efficiency, and high caused by reducing due to being related to pressing plate quantity larger
Risk.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the relay protection room inspecting robot of an embodiment；
Fig. 2 is the other direction structural representation of the relay protection room inspecting robot of an embodiment；
Fig. 3 is the structural representation of the relay protection room inspecting robot of another embodiment；
Fig. 4 is the modular structure schematic diagram of the relay protection room inspecting robot of an embodiment.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is implementation with certain large-scale provincial power network
Example, with reference to accompanying drawing, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to
The present invention is explained, is not intended to limit the present invention.
For example, a kind of relay protection room inspecting robot, including：Car body, motor, directional drive, driving wheel, video camera
Structure, tracing sensor, control module and power supply module；It is provided with accommodating cavity in the car body, the motor and described
Control module is arranged in the accommodating cavity, and the driving wheel is connected to position of the car body near bottom, the driving electricity
Machine is connected with the drive wheel, and the directional drive is connected with the driving wheel；The image mechanism includes camera
And lifting assembly, the lifting assembly is movably set in the top of the car body, and the camera is connected with the lifting assembly；
The tracing sensor is arranged on the car body, and the tracing sensor and the camera are electric with the control module respectively
Connection, the control module is electrically connected with the motor and the directional drive；The power supply module respectively with institute
State the electrical connection of motor, the directional drive, the camera, the tracing sensor and the control module.
In the present embodiment, the control module of car body obtains the press plate position in relay protection room, Jin Ertong according to tracing sensor
Overdrive motor and directional drive control driving wheel motion so that car body is pressed desired guiding trajectory and is maked an inspection tour in relay protection room, and leads to
Camera is crossed to take pictures the pressing plate on protection screen, so as to obtain the state of pressing plate, and then effectively reduce human cost with
And time cost, effectively improve tour efficiency, and excessive risk caused by reducing due to being related to pressing plate quantity larger.
In one embodiment, relay protection room inspecting robot includes：Car body, motor, directional drive, driving wheel,
Image mechanism, tracing sensor, control module and power supply module.
As shown in Figure 1 to Figure 3, it is provided with accommodating cavity (not shown) in the car body 100, the motor and described
Control module is arranged in the accommodating cavity, and the driving wheel 110 is connected to position of the car body 100 near bottom, described
Motor is connected with the drive connection of the driving wheel 110, the directional drive with the driving wheel 110, the video camera
Structure 120 includes camera 230 and lifting assembly 121, and the lifting assembly 121 is movably set in the top of the car body 100, institute
Camera 230 is stated to be connected with the lifting assembly 121；The tracing sensor 220 is arranged on the car body 100.
As shown in figure 4, the tracing sensor 220 and the camera 230 are electrically connected with the control module 250 respectively
Connect, the control module 250 is electrically connected with the motor 210 and the directional drive 240；The power supply module
260 respectively with the motor 210, the directional drive 240, the camera 230, the tracing sensor 220 with
And the control module 250 is electrically connected.
For example, tracing sensor 220 is used to obtain tracing signal, for example, tracing sensor 220 is used to be got in detection
After tracing signal, tracing signal is sent to control module 250, for example, the control module 250 is used for the biography that tracked according to
The tracing signal that sensor 220 is obtained controls the motor 210 and the directional drive 240 to work, for example, the drive
Dynamic motor 210 is used to drive the driving wheel 110 to rotate, for example, the directional drive 240 is used to control the driving wheel
110 turn to, and the camera is used to image protection screen, obtains pressing plate image, for example, camera is used to obtain pressing plate figure
Pressing plate image is sent to image comparison device by communication module as after.
For example, the power supply module 260 is used to be the motor 210, the directional drive 240, the shooting
Head, the tracing sensor 220 and the control module 250 provide electric energy, for example, the power supply module 260 includes battery
Submodule, for example, the battery submodule be used for for the motor 210, the directional drive 240, the camera,
The tracing sensor 220 and the control module 250 provide electric energy, for example, the power supply module 260 includes charging submodule
Block, for example, the charging submodule is electrically connected with the battery submodule, for example, the charging submodule is used to be the electricity
Pond module charges.
For example, the charging submodule includes wireless charging submodule, the wireless charging submodule is used to obtain radio
Ripple, electric energy is converted to by radio wave, and electric energy is filled with battery submodule.So, relay protection room inspecting robot can be logical
Wireless charging mode is crossed to be charged, and without manual intervention, for example, the predeterminated position in relay protection room sets wireless charging mould
Block, for example, control module 250 is used for after completing to detect the protection screen of predetermined number, according to tracing signal control
Motor 210 and directional drive 240 work, to drive car body 100 to move to wireless charging module.It is right in the present embodiment
The detection of protection screen is taken pictures by camera to the pressing plate on protection screen, after the detection to protection screen so that relay protection
Room inspecting robot can automatic charging, and without manual intervention so that the electricity of relay protection room inspecting robot is sufficient, and reduces
Manual intervention, further reduces cost of labor.
For example, referring to Fig. 1 to Fig. 3, in running status, driving wheel 110 is used to be connected to ground car body 100, drives
Wheel 110 is used for being rotated by motor 210, and then band motor vehicles bodies 100 are moved on the ground, the bottom of car body 100
Be car body 100 near the position on ground, the top of car body 100 is car body 100 away from the position on ground, and the two ends of car body 100
Respectively the rear and front end in a forward direction of car body 100, for example, driving wheel 110 is arranged at the bottom of car body 100, is conducive to
Driving wheel 110 is moved with motor vehicles bodies 100, and the lifting assembly of image mechanism is arranged at the top of car body 100, is conducive to shooting
The height of head is adjusted, and then causes that camera is aligned in the pressing plate on protection screen.
In order to accurately obtain tracing signal, for example, as shown in figure 3, the tracing sensor 220 is arranged at the car body
100 bottom, for example, the tracing sensor 220 is arranged at one side of the car body 100 towards ground, for example, the sensing that tracks
Device 220 is arranged at the bottom surface of the car body 100, and the bottom surface of car body 100 is one side of the car body 100 towards ground, for example, relay protection
Be provided with the bar that tracks on room floor, it is described track bar for set with the different color of environment, for example, the bar that tracks is black
Color, relay protection room floor is set to white, and specifically, the bar that tracks is used to provide movement locus so that car body 100 is transported along the bar that tracks
Dynamic, the bar that tracks is set along each protection screen so that car body 100 can be by each protection screen.
In the present embodiment, as shown in figure 3, the tracing sensor 220 includes infrared sensor 221, for example, the biography that tracks
Sensor is infrared sensor, for example, tracing sensor includes two infrared sensors, for example, two infrared sensors are simultaneously
Row is set, for example, two central axis of the infrared sensor on car body are symmetrical arranged, the central axis of car body is parallel to car
The central axis of the linear movement direction of body, for example, infrared sensor is used for emission infrared signal, and receives the red of reflection
External signal and then acquisition tracing signal, for example, two infrared sensors are used to launch infrared signal towards equidirectional, for example,
The direction of the launch of two infrared sensors is parallel to each other.
Specifically, infrared sensor 221 had both been used to launch infrared signal, was also used for receiving infrared signal.Infrared signal is sent out
When being incident upon white ground, infrared signal is launched to infrared sensor 221, and the infrared signal of reflection is connect by infrared sensor 221
Receive, and infrared signal is launched to tracking on bar, because the bar that tracks is for black, the infrared signal bar that tracked is absorbed without reflection,
Now infrared sensor 221 cannot receive the infrared signal of reflection, so, control module 250 by detection receive it is anti-
The infrared signal penetrated judges whether that deviation tracks bar, in this way, then moves on along current track, if not, according to detection
Output control directional drive 240 works.Specifically, two infrared sensors 221 are located at the two of the central axis of car body 100
Side, the central axis of car body 100 aligns with the bar that tracks, and so, when car body 100 is moved along the bar that tracks, two are respectively facing
Launch infrared signal, when car body 100 is moved along the bar that tracks, ground launch in direction parallel to the central axis of car body 100
Infrared signal can be received by infrared sensor 221, so, control module 250 then control car body 100 along current track after
Reforwarding is moved, and when car body 100 deviates, one in two infrared sensors 221 infrared signal launched bar that will be tracked is inhaled
Receive, so, the feedback of the infrared sensor 221 then according to the infrared signal for being not received by reflection of control module 250 is calculated
Go out deviation angle, and then control directional drive 240 to work, change the direction of driving wheel 110, control car body 100 is turned to, and right
Qi Yu tracks bar so that car body 100 continues on the bar motion that tracks.When the bar that tracks is turned to, in the infrared sensor 221 of both sides
An infrared signal for receiving reflection, another does not receive the infrared signal of reflection then, then show to be not received by anti-
The side of the infrared signal penetrated has the bar that tracks, and control module 250 then controls car body 100 to turn towards the side without infrared signal
To, and then realize Automatic Track Finding and the position control of relay protection room inspecting robot.
In order that must address it is more accurate, for example, the quantity of the infrared sensor be four, for example, four infrared biographies
Central axis of the sensor on car body is symmetrical arranged, for example, two infrared sensors in four infrared sensors
The side of the central axis of car body is arranged at, infrared sensor described in the another two in four infrared sensors is arranged at car
The opposite side of the central axis of body, so, two infrared sensors per side can cover bigger area of detection, improve
Detection to the bar that tracks, and then cause that addressing results are more accurate.
For example, four infrared sensors are arranged side by side the position in the bottom surface of the car body near front end, it should say
Bright, the front end of car body is car body along the one end in the front of the direction of motion, and the rear end of car body is car body along the direction of motion
Rear one end, for example, four infrared sensors alignment are set, i.e., four infrared sensors are in same straight line
On, in the present embodiment, four central axis of the infrared sensor on the car body are symmetrical arranged, i.e., two infrared sensings
Device is arranged at the side of central axis, and two other infrared sensor is arranged at the opposite side of central axis, so, described in four
Two in infrared sensor are used to carry out the ground of central axis side transmitting infrared signal, and receive the reflection letter on ground
Number, two in four infrared sensors are used to carry out transmitting infrared signal to the ground of central axis opposite side, and connect
The reflected signal on ground is received, so, after infrared sensor therein does not receive reflection infrared signal, then according to the same side
Whether another infrared sensor receives reflection infrared signal and then judges whether car body produces skew, or front to track
Bar is turned to, and two infrared sensors of homonymy can effectively improve the detection precision to the bar that tracks, and then cause that relay protection room is patrolled
It is more accurate depending on tracking for robot.
And for example, four infrared sensors are arranged at the bottom surface of car body near four diagonal positions, for example, four institutes
The line between infrared sensor is stated to be square setting, for example, four infrared sensors include two front sensors and
Sensor after two, two central axis of the front sensor on car body are symmetrical arranged, and two front sensors set
It is placed in the position of the bottom surface near front end of car body；Two central axis of the rear sensor on car body are set, and two institutes
Position of the bottom surface near rear end that rear sensor is arranged at car body is stated, for example, sensor is two-by-two after two front sensors and two
It is mutually aligned, so, when car body is moved along the bar that tracks, control module is by two front sensor head in four sensors
First whether the detection direction of motion deviates, and whether the bar that tracks turns to, then by sensor after two then to two front sensors
Testing result verified, and movement locus to car body is corrected, and then causes tracking for relay protection room inspecting robot
It is more accurate.
More precisely to obtain tracing signal, for example, as shown in figure 1, the tracing sensor 220 is arranged at the car
On the end face of one end of body 100, for example, the tracing sensor 220 is arranged on the end face of the front end of the car body 100, this
In embodiment, tracing sensor 220 is infrared sensor 221, for example, the quantity of infrared sensor 221 is two, for example, two
Individual infrared sensor 221 is arranged side by side on the front end face of car body 100, and two infrared sensors 221 are in car body 100
Heart axisymmetrical is set, for example, the direction of the launch of the tracing sensor 220 is towards under the direction of advance of the car body 100
Side inclines, so, tracing sensor 220 can be in the position of the bar that tracks for detecting the front of car body 100, control module 250
The motion of anticipation car body 100 can be shifted to an earlier date, and then more precisely control car body 100 is moved.
More precisely to obtain tracing signal, for example, incorporated by reference to Fig. 1 and Fig. 2, the quantity of infrared sensor 221 is four
It is individual, for example, the infrared sensor 221 is arranged on the end face at the two ends of the car body 100, for example, the infrared sensor
221 are arranged on the end face of the front end of the car body 100, for example, two infrared sensors in four infrared sensors 221
221 are arranged on the end face of the front end of car body 100, and two infrared sensors 221 in four infrared sensors 221 are arranged at car
On the end face of the rear end of body 100, and two central axis of the infrared sensor 221 on car body 100 of front end are symmetrical arranged, after
Two central axis of the infrared sensor 221 on car body 100 at end are symmetrical arranged, for example, two infrared sensors of rear end
221 direction of the launch is to be directed downward inclination towards opposite with the direction of advance of the car body 100, so, control module 250
The tracing signal that can be detected according to the two of front end infrared sensors 221 shift to an earlier date the direction of motion of anticipation car body 100, and rear end
Two infrared sensors 221 direction of motion can be then corrected, and then cause car body 100 the direction of motion be more defined
Really.
In order to obtain tracing signal, for example, the tracing sensor includes ultrasonic sensor.For example, being set in relay protection room
Some supersonic generators are equipped with, supersonic generator is used to launch ultrasonic signal, and the tracing sensor is obtained for detection
The ultrasonic signal of supersonic generator transmitting is taken, control module is used for the ultrasonic signal detected according to ultrasonic sensor
Control body movement.
It is noted that the bar that tracks can be for car body provides movement locus, relay protection room inspecting robot can be along seeking
Before mark bar moves to each protection screen, in order that obtain before relay protection room inspecting robot can rest on protection screen shot, for example,
Relay protection room inspecting robot also includes locating module, for example, the locating module is electrically connected with control module, for example, the positioning mould
Block is radio frequency reader, for example, the locating module is radio frequency read head, for example, the radio frequency read head is RFID (Radio
Frequency Identification, radio frequency identification) read head, for example, the radio frequency read head is used to detect radiofrequency signal, example
Such as, the radiofrequency signal that the control module is used to be detected according to the radio frequency read head controls car body stop motion, for example, relay protection
Room is provided with some RF tags, and each RF tag corresponds to a protection screen, so, during body movement, radio frequency read head
After detecting the radiofrequency signal at RF tag bottom, control module then controls car body stop motion according to the radiofrequency signal, then control
Camera processed shoots to the pressing plate on protection screen.
It should be understood that being read to radiofrequency signal for radio frequency read head is in small distance, therefore so that each guarantor in relay protection room
Shield screen can be positioned according to radiofrequency signal, the effective reading due to the distance between each RF tag relative to radio frequency read head
Take in larger distance, radio frequency read head can't simultaneously read multiple RF tags, therefore, when radio frequency read head reads a radio frequency
During label, then a protection screen is positioned, in order to accurately obtain RF tag, it is to avoid radio frequency read head reads multiple radio frequency marks simultaneously
Sign, for example, the working frequency of the radio frequency read head is 125KHz, and for example, the working frequency of the radio frequency read head is 13.56MHz,
When the working frequency of radio frequency read head is 125KHz or 13.56MHz, effective reading distance of radio frequency read head is 50mm~100mm,
And generally the distance between protection screen is 300mm~500mm, so, the distance between protection screen is approximately equal between RF tag
Distance, effective reading distance of radio frequency read head is greater than due to the distance between RF tag, penetrated therefore, it is possible to be prevented effectively from
Frequency read head reads multiple RF tags simultaneously, and then enables that relay protection room inspecting robot is accurately positioned each protection screen,
Pressing plate to each protection screen shoots.
In order that the radio frequency read head for obtaining relay protection room inspecting robot can accurately read RF tag, and then position protection
Screen, for example, the RF tag is arranged on the protection screen, for example, the radio frequency read head is arranged at the side of the car body,
For example, the radio frequency read head is arranged at the side of the car body, so, radio frequency read head towards RF tag, and then can be caused
Radio frequency read head can read the RF tag on protection screen, and then position to protection screen is accurately positioned.
In order to further such that radio frequency read head can accurately read RF tag, for example, RF tag is arranged at the bar that tracks
On, for example, radio frequency read head is arranged at the bottom surface of the car body, for example, radio frequency read head is set towards ground, so, when car body edge
Track bar move when, radio frequency read head necessarily by RF tag, and can detect RF tag, and cause RF tag exist
In effective read range of radio frequency read head so that reading of the radio frequency read head to RF tag is more accurate, and due to radio frequency read head
Towards ground, the RF tag on the corresponding ground of car body can be only read, and cannot read the RF tag of other positions, because
This so that the radiofrequency signal that radio frequency read head reads is more accurate.
For example, the control module is used for the radiofrequency signal detected according to the radio frequency read head, the knowledge of protection screen is obtained
Other information, for example, the identification information of protection screen is the identification marking of protection screen, for distinguishing different protection screens, for example, should
Identification information includes ID (identification) information, i.e., each identification information have recorded the ID of the protection screen, control module
For according to the protection screen information for prestoring, and the identification information for reading, detecting whether current protection screen has been taken, example
Such as, control module is used for after identification information is got, and control camera shoots, and the pressing plate image and identification information that will be shot
Association, and the identification information is recorded to have shot, for example, relay protection room inspecting robot includes memory module, memory module prestores
Protection screen information, specifically, the protection screen information that prestores is protection screen list, and it have recorded multiple protection screens in relay protection room
ID, so, when relay protection room inspecting robot is by a protection screen, reads the corresponding video tab of protection screen, obtains the guarantor
The ID of screen is protected, control module control camera shoots to protection screen, records the corresponding shooting states of protection screen ID for
Shoot, so, contrasted by the ID and the ID in protection screen list of the multiple protection screens for having shot, you can acquisition is not yet clapped
The ID of the protection screen taken the photograph, on the one hand, the repetition that can be prevented effectively from protection screen shoots, another, relay protection room can be effectively improved
The shooting efficiency of inspecting robot, and due to the pressing plate image of shooting being associated with the identification information of protection screen so that
The pressing plate image for getting all has unique identification marking, and then enables user or image comparison device Division identification
The corresponding pressing plate image of different protection screens.
Specifically, the control module of car body obtains the press plate position in relay protection room according to tracing sensor, and then by driving
Dynamic motor and directional drive control driving wheel motion so that car body is pressed desired guiding trajectory and maked an inspection tour in relay protection room, and by taking the photograph
As head is taken pictures to the pressing plate on protection screen, so as to obtain the state of pressing plate, and then human cost is effectively reduced with timely
Between cost, effectively improve tour efficiency, and excessive risk caused by reducing due to being related to pressing plate quantity larger.
In order that obtaining, body movement is more steady, for example, the quantity of the driving wheel is four, four driving wheels can be very
Support car body well so that car body keeps balance, and then causes that body movement is more steady, for example, four driving wheel bags
Two front-wheels and two trailing wheels are included, the motor is connected with two rear wheel drives, the directional drive and two
The front-wheel connection.In the present embodiment, two front-wheels are used to turn to, and two trailing wheels are used to drive car body to advance, in such manner, it is possible to have
Effect improves drive efficiency, and causes that the steering of car body is more accurate.
In order that camera can accurate alignment in protection screen, and then pressing plate is carried out clearly to take pictures exactly, one
In individual embodiment, relay protection room inspecting robot also includes positioning inductor, and the positioning inductor is electrically connected with the control module
Connect, for example, the control module is used for the location information control image mechanism work detected according to positioning inductor, for example, fixed
Position information includes elevation information and angle information, and specifically, elevation information is the elevation information of protection screen, and angle information is protection
The orientation information of screen, for example, control module is used for the elevation information detected according to positioning inductor, controls image mechanism work
Make, for example, control module is used for the angle information detected according to positioning inductor, control image mechanism work.
Specifically, the positioning inductor is used to detect the position of pressing plate, it should be understood that have multiple guarantor in relay protection room
Shield screen, each protection screen it is highly inconsistent, and the direction of protection screen is inconsistent, so, correspondingly, the pressing plate on different protection screens
Height also differ, and towards differing, when before body movement to a certain protection screen, car body is needed just to protection screen, and
Camera will be aligned in protection screen, not only align in height, in addition it is also necessary to alignd in level orientation, and then enable camera
Enough just to protection screen, camera can shoot to the multiple pressing plates on protection screen completely and clearly, for example, location sense should
Device is used to detect the framing signal of the location transmitters transmitting of protection screen, and location information is obtained according to framing signal, for example, this is fixed
Position inductor is infrared inductor, for example, each protection screen sets an infrared transmitter, for example, the default position of each protection screen
One infrared transmitter of setting is put, for example, the infrared transmitter on each protection screen is used for along perpendicular to the direction of the protection screen
Transmitting infrared ray, so, because the sense of the infrared transmitter transmitting on each protection screen is unique and fixes, this
Sample, when on body movement a to protection screen, detecting and receive the infrared emission signal on protection screen according to infrared inductor, and then
The elevation information and angle information of protection screen are got, elevation information and angle that control module is obtained according to infrared inductor
Information control image mechanism work, and then cause that camera is aligned in the pressing plate on protection screen, and pressing plate can be carried out accurately
Clearly take pictures.
For example, the lifting assembly includes lifting motor and elevating lever, for example, the lifting motor drives with the elevating lever
Dynamic connection, the elevating lever is connected with the camera, for example, the lifting motor is electrically connected with the control module, for example,
Control module is used for the elevation information detected according to positioning inductor, control lifting motor work, for example, the lifting motor
It is linear electric motors, the elevating lever is connected with the linear electric motors, the elevating lever is used under the driving of the linear electric motors
In the vertical direction moves along a straight line, and so, the height for detecting the height of pressing plate and current camera when positioning inductor is not
Control module controls linear electric motors work according to the elevation information of the pressing plate for detecting during to correspondence, and linear electric motors drive elevating lever
Motion so that the height of camera is adjusted so that camera is aligned in the pressing plate on protection screen in the horizontal direction.
In order that the motion for obtaining camera in the vertical direction is more steady, for example, the elevating lever is including interior bar and outward
Bar, the outer bar is vertically arranged at the top of the car body, and the outer bar middle part has hollow-core construction, and the interior bar is arranged at institute
State in outer bar, the lifting motor is connected with the interior bar drive connection, the camera with the interior bar, for example, described outer
Rod set is located at the outside of the interior bar, for example, the interior bar has circular cross-section, for example, the interior bar is cylinder, for example,
The outer bar has ring section, for example, the outer bar is the hollow cylinder in middle part, for example, the diameter of the interior bar and institute
The internal diameter for stating outer bar is equal, for example, so, when lifting motor drives interior bar to be moved in outer bar, outer bar can be internal well
Bar is limited, it is to avoid interior bar produces skew in the horizontal direction, and then causes that the motion of interior bar in the vertical direction is more flat
Surely so that the motion of camera in the vertical direction is more steady.
In order to drive the motion of camera in the vertical direction, in a further embodiment, the lifting assembly includes silk
Bar, fixed seat and guide rail, the guide rail are vertically arranged at the top of the car body, and the fixed seat is slideably positioned in the guide rail
On, the camera is arranged in the fixed seat, and the screw mandrel is spirally connected with the fixed seat, the lifting motor and the silk
Bar drive connection, so, lifting drive screw is rotated, and screw mandrel is rotated and drives fixed seat to be moved along guide rail in the vertical direction,
And then cause the motion of camera in the vertical direction.
For example, the image mechanism also includes runner assembly, the lifting assembly is connected with the runner assembly, for example,
The runner assembly includes rotating shaft, rotating disk and rotary electric machine, and the rotary electric machine is electrically connected with the control module, described turn
Dynamic motor and the rotating shaft drive connection, the rotating shaft are connected with the rotating disk, and the rotating disk is connected with the lifting assembly, example
Such as, the rotary electric machine is electrically connected with the control module, for example, the control module is used to be examined according to the positioning inductor
The angle information for measuring controls the rotary electric machine work, for example, the lifting motor is arranged on the rotating disk, so, rises
Drop motor and lifting assembly will together be rotated with rotating disk.The rotation of lifting assembly drives camera to rotate so that camera
Proper angle can be adjusted to, protection screen is aligned in.
In order to accurately obtain the signal of the infrared transmitter on protection screen, for example, the car body is provided with fix bar, it is described
Infrared inductor is arranged at the one end of the fix bar away from the car body, so, the height being located at due to infrared inductor compared with
Car body is high, it is easy to receives the signal of the infrared transmitter transmitting on protection screen, can avoid being blocked, causes infrared inductor to be examined
The result of survey is inaccurate.
For example, camera can be used for shooting dynamic picture for shooting static images, for example, the dynamic picture is
Video.
For example, a kind of relay protection room inspection tour system, including relay protection room inspecting robot and image comparison device, for example, relay protection
Room inspecting robot also includes first communication module, for example, image comparison device includes second communication module, first communication
Module and the second communication module wireless connection, for example, the control module is used to shoot camera the pressing plate figure for obtaining
As being sent to image comparison device by the first communication module, image comparison device is used to be received by second communication module
The pressing plate image that first communication module sends, for example, described image contrast device is additionally operable to parse the pressing plate image, to detect
Whether pressing plate image is abnormal.Specifically, pressing plate is thrown and is moved back with different actions, and so, pressing plate image can reflect each pressing plate
Move back is thrown to make, image comparison device by the parsing to pressing plate image, detect each pressing plate throwing move back whether with default throwing move back
Make consistent, and then judge whether that miscarrying is moved back, and without operations staff's manual detection, so as to effectively reduce human cost with
And time cost, effectively improve tour efficiency, and excessive risk caused by reducing due to being related to pressing plate quantity larger.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of relay protection room inspecting robot, it is characterised in that including：Car body, motor, directional drive, driving wheel, take the photograph
Camera structure, tracing sensor, control module and power supply module；
Accommodating cavity is provided with the car body, the motor and the control module are arranged in the accommodating cavity, institute
State driving wheel and be connected to position of the car body near bottom, the motor is connected with the drive wheel, described turn
It is connected with the driving wheel to driver；
The image mechanism includes camera and lifting assembly, and the lifting assembly is movably set in the top of the car body, institute
Camera is stated to be connected with the lifting assembly；
The tracing sensor is arranged on the car body, the tracing sensor and the camera respectively with the control mould
Block is electrically connected, and the control module is electrically connected with the motor and the directional drive；
The power supply module respectively with the motor, the directional drive, the camera, the tracing sensor with
And the control module electrical connection.
2. relay protection room according to claim 1 inspecting robot, it is characterised in that the tracing sensor includes infrared biography
Sensor.
3. relay protection room according to claim 2 inspecting robot, it is characterised in that the quantity of the infrared sensor is four
It is individual.
4. relay protection room according to claim 3 inspecting robot, it is characterised in that two infrared sensors set side by side
Put.
5. relay protection room according to claim 1 inspecting robot, it is characterised in that the tracing sensor includes ultrasonic wave
Sensor.
6. relay protection room according to claim 1 inspecting robot, it is characterised in that the tracing sensor is arranged at described
The bottom of car body.
7. relay protection room according to claim 1 inspecting robot, it is characterised in that the tracing sensor is arranged at described
On the end face of one end of car body.
8. relay protection room according to claim 1 inspecting robot, it is characterised in that the quantity of the driving wheel is four.
9. relay protection room according to claim 8 inspecting robot, it is characterised in that before four driving wheels include two
Wheel and two trailing wheels, the motor is connected with two rear wheel drives, the directional drive and two front-wheels
Connection.
10. relay protection room according to claim 1 inspecting robot, it is characterised in that described fixed also including positioning inductor
Position inductor is electrically connected with the control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153307.9A CN106903667A (en) | 2017-03-15 | 2017-03-15 | Relay protection room inspecting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153307.9A CN106903667A (en) | 2017-03-15 | 2017-03-15 | Relay protection room inspecting robot |
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| CN106903667A true CN106903667A (en) | 2017-06-30 |
Family
ID=59187605
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| CN201710153307.9A Pending CN106903667A (en) | 2017-03-15 | 2017-03-15 | Relay protection room inspecting robot |
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| CN107390687A (en) * | 2017-07-17 | 2017-11-24 | 天津帕比特科技有限公司 | A kind of Automatic Track Finding dolly and autonomous tracing in intelligent vehicle |
| CN108828434A (en) * | 2018-06-22 | 2018-11-16 | 广东电网有限责任公司 | A kind of detection method realized by crusing robot |
| CN110143384A (en) * | 2019-06-19 | 2019-08-20 | 衡阳师范学院 | A kind of intelligent garbage bin based on infrared location technology |
| CN112730902A (en) * | 2020-12-09 | 2021-04-30 | 广东电网有限责任公司湛江供电局 | Relay protection automatic auxiliary robot |
| CN114422689A (en) * | 2021-12-03 | 2022-04-29 | 国网山西省电力公司超高压变电分公司 | Hard pressing plate state recognition device and method based on edge intelligence |
| CN115284249A (en) * | 2022-08-25 | 2022-11-04 | 湖北工业大学 | Intelligent inspection robot based on ultrasonic tracing and positioning navigation method thereof |
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Inventor after: Wang Tiezhu Inventor after: Zhang Daxing Inventor after: Zou Yili Inventor after: Fang Dai Inventor after: Cai Suxiong Inventor after: Zhong Zhihong Inventor after: Xie Quan Inventor after: Wen Aihui Inventor before: Wang Tiezhu Inventor before: Zhang Daxing Inventor before: Zou Yili Inventor before: Fang Dai Inventor before: Cai Suxiong Inventor before: Zhong Zhihong Inventor before: Xie Quan Inventor before: Wen Aihui |
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Application publication date: 20170630 |
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