CN206544183U - A kind of crusing robot system communicated based on wide area Internet - Google Patents
A kind of crusing robot system communicated based on wide area Internet Download PDFInfo
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- CN206544183U CN206544183U CN201720181710.8U CN201720181710U CN206544183U CN 206544183 U CN206544183 U CN 206544183U CN 201720181710 U CN201720181710 U CN 201720181710U CN 206544183 U CN206544183 U CN 206544183U
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- crusing robot
- wide area
- chip microcomputer
- robot system
- monitoring client
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Abstract
The utility model discloses a kind of crusing robot system communicated based on wide area Internet, including crusing robot and monitoring client, mutually communicated by 4G networks between crusing robot and monitoring client, the track walked for crusing robot is provided with transformer station and the 4G routers that 4G networks are mutually communicated with internet are realized；The crusing robot, which includes being provided with servomotor, body below body, body, is provided with cradle head of two degrees of freedom, and high-definition camera and infrared thermoviewer are provided with cradle head of two degrees of freedom；It is provided with control unit in the body, control unit is connected by the data signal end of USB interface high-definition camera and infrared thermoviewer, the controlled end of the output end of control unit respectively with servomotor and horizontal stage electric machine is connected.The utility model can replace operator on duty in station to perform the scattered customary patrol task in daily position, improve operating efficiency, reduce labor intensity, reliable guarantee is provided for the safe operation of substation equipment.
Description
Technical field
The utility model is related to crusing robot device, particularly a kind of crusing robot communicated based on wide area Internet
System.
Background technology
500kV and the large-scale substation of the above, its crusing robot and monitoring client are applied to Intelligent Mobile Robot more
It is all located in transformer station, major function is that instead of the daily customary patrol task of interior operator on duty's execution of standing.And 35kV transformer stations
Scale is smaller, and manual inspection labor intensity is simultaneously little, but its position is scattered, thus operator on duty needs to drive or walking is longer
Distance rushes for multiple substation fields and carries out inspection.Therefore 35kV transformer stations in the urgent need to it is a kind of based on wide area Internet communicate
Crusing robot system so that operator on duty can just be patrolled in electric company by remote control crusing robot to complete routine
Inspection.
The content of the invention
The utility model technical issues that need to address are to provide a kind of crusing robot communicated based on wide area Internet
System, the device instead of operator on duty in station and perform the scattered customary patrol task in daily position, improve operating efficiency, drop
Low labor intensity.
In order to solve the above technical problems, technical solution adopted in the utility model is as follows.
A kind of crusing robot system communicated based on wide area Internet, including crusing robot in transformer station and
Monitoring client in Control Room, is mutually communicated between the crusing robot and monitoring client by 4G networks, described to become
The track walked for crusing robot is provided with power station and the 4G routers that 4G networks are mutually communicated with internet are realized；It is described
Crusing robot, which includes being provided with below body, body, to be fitted on track and under monitoring client instruction along watching that track is walked
Take to be provided with cradle head of two degrees of freedom, cradle head of two degrees of freedom by horizontal stage electric machine on motor, body and be provided with to being set in transformer station
The standby high-definition camera and infrared thermoviewer for carrying out visible light shooting；Control unit is provided with the body, control unit is led to
The data signal end connection of USB interface high-definition camera and infrared thermoviewer is crossed, the output end of control unit is electric with servo respectively
The controlled end connection of machine and horizontal stage electric machine；Described control unit is mutually communicated by 4G networks and monitoring client.
A kind of above-mentioned crusing robot system communicated based on wide area Internet, described control unit includes industrial computer, list
Piece machine and wireless network card, the industrial computer are connected to 4G routers by wireless network card, and industrial computer passes through USB interface high-definition camera
The data signal end of head and infrared thermoviewer is connected, and is connected between industrial computer and single-chip microcomputer by 485 interfaces；The single-chip microcomputer
Controlled end of the output end respectively with servomotor and horizontal stage electric machine be connected.
A kind of above-mentioned crusing robot system communicated based on wide area Internet, the organism bottom of the crusing robot is also
The Magnetic Sensor for gathering crusing robot present position is provided with, the output end of Magnetic Sensor connects the input of single-chip microcomputer
End.
Correspondence substation equipment on a kind of above-mentioned crusing robot system communicated based on wide area Internet, the track
Position is provided with the RFID tag for including facility information, and the organism bottom of crusing robot is additionally provided with for reading RFID tag
RFID reader, the output end of RFID reader connects the input of single-chip microcomputer.
Set on a kind of above-mentioned crusing robot system communicated based on wide area Internet, the body of the crusing robot
There is the charging mechanism for charging, the controlled end of charging mechanism connects the output end of single-chip microcomputer.
Set on a kind of above-mentioned crusing robot system communicated based on wide area Internet, the body of the crusing robot
There is indicator lamp, the controlled end of indicator lamp connects the output end of single-chip microcomputer.
Set at the top of a kind of above-mentioned crusing robot system communicated based on wide area Internet, the body of the crusing robot
Raindrop sensor is equipped with, the output end of Raindrop sensor connects the input of single-chip microcomputer.
It is provided with a kind of above-mentioned crusing robot system communicated based on wide area Internet, the Control Room by monitoring client
Access the router of internet.
As a result of above technical scheme, technological progress acquired by the utility model is as follows.
Monitoring client of the present utility model can realize the motion control of crusing robot, can control crusing robot with magnetic
The mode of rail navigation completes inspection operation and realizes automatic charging function, and monitoring client can also in real time show and analyze its passback
Substation equipment image, correct diagnosis abnormal appearance and temperature anomaly are simultaneously alarmed.The utility model uses internet communication technology,
So that operator on duty just can remotely complete customary patrol task in electric company, the live inspection of operator on duty is greatly reduced
Number of times, significantly reduces its labor intensity, improves its operating efficiency, provides more reliable for the safe operation of substation equipment
Guarantee.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structured flowchart of crusing robot described in the utility model.
Embodiment
The utility model is further elaborated below in conjunction with specific embodiment.
A kind of crusing robot system communicated based on wide area Internet, its structure are as shown in figure 1, including positioned at transformer station
Interior crusing robot and the monitoring client in Control Room, are carried out mutually between crusing robot and monitoring client by 4G networks
Communication；The track walked for crusing robot is provided with transformer station and realizes that 4G networks are route with the 4G that internet is mutually communicated
Device；The router that monitoring client is accessed to internet is provided with Control Room.
In the utility model, crusing robot is connected to internet by 4G routers in station, and the computer of monitoring client is not
Intranet handles official business special purpose computer, but the computer of wide area Internet is connected to by router.Monitoring client and crusing robot it is mutual
Combined network communication uses client/server architecture, and the communication of the two uses WCF protocol frames；Wherein inspection machine is artificial
Server, it uses the dynamic domain name server and Intranet through-transmission technique of new peanut shell, so as to map out fixation in public network
Domain name；Monitoring client realizes the access to crusing robot as client by the fixation domain name.
Crusing robot, which includes being provided with below body, body, to be fitted on track and under monitoring client instruction along track
It is provided with cradle head of two degrees of freedom, cradle head of two degrees of freedom and is provided with to becoming by horizontal stage electric machine on the servomotor of walking, body
Electric station equipment carries out the high-definition camera and infrared thermoviewer of visible light shooting, and the setting of cradle head of two degrees of freedom can make high definition
Camera and infrared thermoviewer shoot the facility information of all angles；Control unit is provided with body, control unit passes through USB
The data signal end connection of interface high-definition camera and infrared thermoviewer, is shot with to gather high-definition camera and infrared thermoviewer
Data；Controlled end of the output end of control unit respectively with servomotor and horizontal stage electric machine is connected；Control unit passes through 4G networks
Mutually communicated with monitoring client, for the information of collection to be sent to monitoring client, and receive the action command that monitoring client is sent, and root
Corresponding actions are made according to instruction control servomotor and horizontal stage electric machine.
In the utility model, control unit includes industrial computer, single-chip microcomputer and wireless network card, and the industrial computer passes through wireless network
Card is connected to 4G routers, and industrial computer is connected by the data signal end of USB interface high-definition camera and infrared thermoviewer, industry control
It is connected between machine and single-chip microcomputer by 485 interfaces；The output end of the single-chip microcomputer respectively with servomotor and horizontal stage electric machine
Controlled end is connected.
The organism bottom of crusing robot is additionally provided with Magnetic Sensor, and the output end of Magnetic Sensor connects the input of single-chip microcomputer
End, for gathering the positional information of track residing for crusing robot, and is transferred to single-chip microcomputer, single-chip microcomputer is further according to industrial computer
Instruction control servomotor follow track motion.
The position of correspondence substation equipment is provided with the RFID tag for including facility information, the machine of crusing robot on track
Body bottom is additionally provided with the RFID reader for reading RFID tag, and the output end of RFID reader connects the input of single-chip microcomputer
End.In crusing robot traveling way, if detecting RFID tag, industrial computer can send instruction to single-chip microcomputer, pass through control
Servomotor makes crusing robot halt and detects that particular device, detection are moved on after finishing.
Indicator lamp is provided with the body of crusing robot, the controlled end of indicator lamp connects the output end of single-chip microcomputer, is used for
Indicate the current working condition of crusing robot.Raindrop sensor, Raindrop sensor are provided with the top of the body of crusing robot
Output end connect the input of single-chip microcomputer, whether rained for detecting in transformer station, and sent out to control unit when rainy
Send rain alarm packet.
In the utility model, the electrical connection between each part on crusing robot is as shown in Figure 2.
During utility model works, monitoring client sends work order by network to crusing robot, and crusing robot exists
Advanced under instruction along track；When reaching device location to be detected, crusing robot stops advancing, high-definition camera and infrared imaging
Instrument starts to shoot equipment, and is uploaded to monitoring client, and then the video image of its passback of monitoring client real-time reception passes through figure
As matching technique and OCR character recognition technologies are diagnosed to be the abnormal appearance and temperature anomaly of substation equipment.
The charging mechanism for charging is additionally provided with crusing robot of the present utility model, the controlled end of charging mechanism connects
Connect the output end of single-chip microcomputer.When crusing robot needs charging, control unit control charging mechanism is stretched out outside body, passes through magnetic
Sensor improves the docking success rate that charges, realizes the automatic charging work(of crusing robot to be positioned to charge position
Energy.
Embodiment described above only expresses embodiment of the present utility model, and it describes more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model the scope of the claims.It should be pointed out that for the common of this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In envelop of function of the present utility model.
Claims (8)
1. a kind of crusing robot system communicated based on wide area Internet, including the crusing robot in transformer station and position
In the monitoring client in Control Room, it is characterised in that：Phase intercommunication is carried out by 4G networks between the crusing robot and monitoring client
The track walked for crusing robot is provided with news, the transformer station and the 4G roads that 4G networks are mutually communicated with internet are realized
By device；
The crusing robot, which includes being provided with below body, body, to be fitted on track and under monitoring client instruction along track
It is provided with cradle head of two degrees of freedom, cradle head of two degrees of freedom and is provided with to becoming by horizontal stage electric machine on the servomotor of walking, body
Electric station equipment carries out the high-definition camera and infrared thermoviewer of visible light shooting；Control unit is provided with the body, is controlled
Unit processed is connected by the data signal end of USB interface high-definition camera and infrared thermoviewer, the output end difference of control unit
It is connected with the controlled end of servomotor and horizontal stage electric machine；Described control unit is mutually communicated by 4G networks and monitoring client.
2. a kind of crusing robot system communicated based on wide area Internet according to claim 1, it is characterised in that：Institute
Stating control unit includes industrial computer, single-chip microcomputer and wireless network card, and the industrial computer is connected to 4G routers, work by wireless network card
Control machine is connected by the data signal end of USB interface high-definition camera and infrared thermoviewer, is passed through between industrial computer and single-chip microcomputer
485 interfaces are connected；Controlled end of the output end of the single-chip microcomputer respectively with servomotor and horizontal stage electric machine is connected.
3. a kind of crusing robot system communicated based on wide area Internet according to claim 2, it is characterised in that：Institute
The organism bottom for stating crusing robot is additionally provided with Magnetic Sensor for gathering crusing robot present position, Magnetic Sensor
Output end connects the input of single-chip microcomputer.
4. a kind of crusing robot system communicated based on wide area Internet according to claim 2, it is characterised in that：Institute
The position for stating correspondence substation equipment on track is provided with the RFID tag for including facility information, the organism bottom of crusing robot
The RFID reader for reading RFID tag is additionally provided with, the output end of RFID reader connects the input of single-chip microcomputer.
5. a kind of crusing robot system communicated based on wide area Internet according to claim 2, it is characterised in that：Institute
The charging mechanism being provided with the body of crusing robot for charging is stated, the controlled end of charging mechanism connects the output of single-chip microcomputer
End.
6. a kind of crusing robot system communicated based on wide area Internet according to claim 2, it is characterised in that：Institute
State and indicator lamp is provided with the body of crusing robot, the controlled end of indicator lamp connects the output end of single-chip microcomputer.
7. a kind of crusing robot system communicated based on wide area Internet according to claim 2, it is characterised in that：Institute
Raindrop sensor is provided with the top of the body for stating crusing robot, the output end of Raindrop sensor connects the input of single-chip microcomputer.
8. a kind of crusing robot system communicated based on wide area Internet according to any one of claim 1 to 7, it is special
Levy and be：The router that monitoring client is accessed to internet is provided with the Control Room.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720181710.8U CN206544183U (en) | 2017-02-28 | 2017-02-28 | A kind of crusing robot system communicated based on wide area Internet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720181710.8U CN206544183U (en) | 2017-02-28 | 2017-02-28 | A kind of crusing robot system communicated based on wide area Internet |
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| Publication Number | Publication Date |
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| CN206544183U true CN206544183U (en) | 2017-10-10 |
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| CN201720181710.8U Expired - Fee Related CN206544183U (en) | 2017-02-28 | 2017-02-28 | A kind of crusing robot system communicated based on wide area Internet |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110839127A (en) * | 2018-08-16 | 2020-02-25 | 深圳市优必选科技有限公司 | Inspection robot snapshot method, device and system and inspection robot |
| CN110957704A (en) * | 2019-12-13 | 2020-04-03 | 云南电网有限责任公司保山供电局 | Intelligent inspection method and system for protection action tripping of transformer substation |
| CN112000050A (en) * | 2020-09-09 | 2020-11-27 | 杭州安森智能信息技术有限公司 | Robot cluster intelligent state monitoring and alarming method |
| CN112476461A (en) * | 2020-11-26 | 2021-03-12 | 云南电网有限责任公司昆明供电局 | Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method |
-
2017
- 2017-02-28 CN CN201720181710.8U patent/CN206544183U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110839127A (en) * | 2018-08-16 | 2020-02-25 | 深圳市优必选科技有限公司 | Inspection robot snapshot method, device and system and inspection robot |
| CN110957704A (en) * | 2019-12-13 | 2020-04-03 | 云南电网有限责任公司保山供电局 | Intelligent inspection method and system for protection action tripping of transformer substation |
| CN110957704B (en) * | 2019-12-13 | 2021-11-02 | 云南电网有限责任公司保山供电局 | Intelligent inspection method and system for protection action tripping of transformer substation |
| CN112000050A (en) * | 2020-09-09 | 2020-11-27 | 杭州安森智能信息技术有限公司 | Robot cluster intelligent state monitoring and alarming method |
| CN112476461A (en) * | 2020-11-26 | 2021-03-12 | 云南电网有限责任公司昆明供电局 | Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171010 Termination date: 20180228 |