CN104020768A - Infrared temperature measurement track inspection robot - Google Patents
Infrared temperature measurement track inspection robot Download PDFInfo
- Publication number
- CN104020768A CN104020768A CN201410263740.4A CN201410263740A CN104020768A CN 104020768 A CN104020768 A CN 104020768A CN 201410263740 A CN201410263740 A CN 201410263740A CN 104020768 A CN104020768 A CN 104020768A
- Authority
- CN
- China
- Prior art keywords
- robot
- track
- infrared
- robot control
- control box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention belongs to the field of industrial robots, and particularly relates to an infrared temperature measurement track inspection robot. The infrared temperature measurement track inspection robot comprises a robot control system. The robot control system comprises a cradle head, a robot control cabinet, a track, a slide wire, a current collector, an infrared photoelectric sensor and a bogie. The robot control cabinet is installed on the upper surface of a longitudinal girder of the bogie. The cradle head is installed on the upper surface of the robot control cabinet. The track is of a T shape, wherein an infrared detection scale is arranged on the upper surface of the protruding side. The bogie is operated on the track. The slide wire connected with an external power source is arranged on one side face of the track. One end of the current collector slides on the slide wire and the other end of the current collector is electrically connected with the robot control cabinet. The infrared photoelectric sensor is of a U shape and is installed on an upright inside a side baffle of the robot control cabinet and transversely suspended above the track with the infrared detection scale. According to the infrared temperature measurement track inspection robot, control over accurate walking, localization and the like on the arranged track can be achieved, infrared temperature measurement and inspection are conducted, and the inspection quality is improved.
Description
Technical field
The present invention relates to field, industrial robot field, be applied to substation inspection, especially relate to a kind of infrared measurement of temperature rail polling robot.
Background technology
Transformer station's rail polling robot system is collection electromechanical integration technology, multi-sensor fusion technology, electromagnetic compatibility technology, navigation and behavior planning technology, robot vision technology, security and guard technology, stable Radio Transmission Technology is in the complication system of one, adopt completely autonomous or remote control mode, replace patrol officer to patrol and examine the some projects of outdoor primary equipment in transformer station, and image is analyzed and judged, find in time the problem that power equipment exists, for applying of unattended substation provides innovative technology for detection means, improved the reliable and stable operation level of electrical network.
Traditional substation inspection is mainly by manual type, and it is main inspection that integrated use sense organ and the detecting instrument that some are supporting carry out simply qualitatively judging to converting equipment.At present domestic about substation inspection robot research mainly take ground inspecting robot as main, ground crusing robot refers to move and is driven by wheel, at ground moving, complete the robot of tour, this kind of mode robot navigation mainly relies on and buries ground magnet-wire, laser ranging underground and coordinate RFID to carry out location recognition.Robot mainly relies on self-contained accumulator that power supply is provided, and need to regularly charge.Which robot major defect is that robot road pavement flatness has relatively high expectations; Robot need charge and could move, and can not realize round-the-clock monitoring; Translational speed is relatively slow; Rely on buried magnet-wire to navigate, early stage, installation dropped into larger; Moving range is unrestricted, easily touches charging equipment by mistake; Reliability is lower.That current mobile robot's travel mechanism has is wheeled, crawler type or wheel are carried out the various ways such as convolution, they move flexibly, obstacle climbing ability is strong, but walking and positioning error are large on definitive orbit, be difficult to realize multiple goal fixed point observation, and general wheeled inspecting robot do not possess infrared temperature measuring function.
Summary of the invention
The object of the invention is to: for the deficiencies in the prior art, a kind of infrared measurement of temperature rail polling robot is provided, the equipment in current electric system that solves mainly relies on manual patrol, the existing inspecting robot positioning precision in part market is low, moving range is unrestricted, easily touch charging equipment, can not realize the problems such as round-the-clock monitoring by mistake, realization is the accurately control such as walking and location on definitive orbit, by infrared measurement of temperature, to equipment routing inspection, progressively realize unattended.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
This infrared measurement of temperature rail polling robot, comprise robot control system, this system comprises The Cloud Terrace, robot control box, track, slip, current-collector, infrared photoelectric sensor and bogie, the longeron upper surface mounting robot control box of described bogie, the upper surface of described robot control box is provided with The Cloud Terrace; Described track is T-shaped, the side upper surface wherein protruding is provided with infrared detection scale, and described bogie orbits, and is provided with the slip that connects external power supply in a side of track, slide on slip one end of described current-collector, and the other end is electrically connected to robot control box; Described infrared photoelectric sensor is U-shaped, is arranged on the column of robot control box side shield inner side, and horizontal and unsettled have on the track of infrared detection scale.
Owing to adopting said structure, by slip and current-collector, realize slip power taking, be robot power supply; Infrared detection scale is set in orbit, and robot drives infrared photoelectric sensor to move on scale, realizes the infrared measurement of temperature of electric current pyrogenicity type, voltage pyrogenicity type equipment is patrolled and examined.
Further, this robot also comprises background monitoring system, and robot control system is connected with wireless device with background monitoring system.Realize background monitoring system and can receive image information, and issue and patrol and examine instruction to robot.
Further, described robot control box inside is provided with robot controller and Video Decoder, all be connected with power supply, when robot controller receives background monitoring system instruction, and after completing mobile and location, robot location and status information are transferred to background monitoring system by Video Decoder and wireless device successively.
Further, described The Cloud Terrace is provided with infrared light compensating lamp, visible image capturing head and infrared camera, wherein infrared light compensating lamp has two, be arranged on the left and right sides of The Cloud Terrace pitch control subsystem frame, centre is provided with a protective cover, and this protective cover is respectively equipped with visible image capturing head and infrared camera, after locating by robot controller, by the pitching of cradle head control camera with turn to collection image information, by wireless device by the image transmission gathering to background monitoring system.
Robot carries out polling path planning by background monitoring system, the instruction of patrolling and examining that robot issues according to background monitoring system moves to the preset point setting in advance and rotates to presetting angle, by the infrared thermoviewer that carries by the infrared image delivery collecting to background monitoring system, supervisory system is also stored to historical data base by measurement result event and infrared image through infrared recognizer computation and measurement temperature; Or the image transmitting collecting by visible image capturing head is to background monitoring system, supervisory system through image recognition algorithm judgment device state and by result store to historical data base.
As preferred version of the present invention, described robot control box inside is provided with drive motor, described bogie comprises bearing seat, rotation axis, driving gear, follower gear, driving wheel and road wheel, described bogie longeron lower surface lateral arrangement has two rotation axiss, each rotary axle box has two bearing seats, and the corresponding lower surface that is fixed on bogie two longerons, the output shaft of described drive motor connects driving gear, driving gear and follower gear engagement, described follower gear connects an outer end of one of them rotation axis, there are two driving wheels to be connected to the left and right sides of this rotation axis, the left and right sides of another rotation axis connects two road wheels, described driving wheel all rolls and contacts with track with road wheel.
After drive motor energising, its output shaft driven gear rotates, thereby drives driving wheel to rotate, and then drives road wheel to rotate, and realizes the movement of robot.The setting of bogie is not only played and is realized the function that robot moves, and the robot control box on bogie and The Cloud Terrace are played to the fixing effect of supporting.
As preferred version of the present invention, described robot control box has two side shields, and the inner side lower surface of each side shield respectively front and back is provided with two steady wheels, and described steady wheel rolls and contacts with track, and is across seat form and orbits with bogie.Guarantee the stability that robot moves, prevent robot offset track.
Further, described slip is fixed on a side of track by slip erecting frame, and described slip is comprised of copper core and insulating sheath, and one end of described current-collector contacts with copper core, and the other end is electrically connected to robot control box.Be embodied as robot power supply.
Further, at robot control box rear side, have a fan back door, two radiator fans are installed on the crossbeam at back door.The inner heat producing of robot control box is dispelled the heat, and the components and parts that prevent robot control box inside are overheated and cause damaging.
Further, described track lower surface is provided with several track columns.According to the needs of transformer station, by track length, determine and adopt how many track columns, play the effect of fixed support track.
In sum, owing to having adopted technique scheme, the invention has the beneficial effects as follows:
1, adopt high precision infrared photoelectric sensor to carry out Intelligent Mobile Robot location, on track, be provided at a certain distance the mark of infrared electro induction, it is infrared detection scale, when passing through this, robot can identify the current present position of robot, positioning precision can reach 2 millimeters, realize robot and accurately walk and location on definitive orbit, can realize multiobject continuous fixed point observation.
2, robot carries out polling path planning by background monitoring system.The instruction of patrolling and examining that robot issues according to background monitoring system moves to the preset point setting in advance and rotates to presetting angle, by the infrared thermoviewer that carries by the infrared image delivery collecting to background monitoring system, supervisory system is also stored to historical data base by measurement result event and infrared image through infrared recognizer computation and measurement temperature.Realization is maked an inspection tour the infrared thermometry of electric current heating type, voltage heating type equipment.
3, the present invention adopts slip way to take power, can make mobile robot work long hours continuously, be not subject to the restriction of time factor, without the life problems of considering battery charging and battery, the source that has solved mobile robot's energy, stream time is any, reliable and stable, and then realize and uninterruptedly patrolling and examining for 24 hours, realize unattended.
4, robot of the present invention adopts single rail mounted mode, and travel mechanism adopts across seat mode, and system can adapt to multiple severe weather conditions, has that translational speed is fast, an accurate positioning, good stability, reliability high simultaneously.Bogie of the present invention is by the steady wheel on driving wheel, road wheel and robot control box, travel mechanism's steadily of centre of gravity of composition, operating steadily in orbit.
5, the present invention utilizes high precision The Cloud Terrace to carry out image capturing system angle orientation control; high precision The Cloud Terrace is mainly used in rotation and the luffing angle of camera and controls; The Cloud Terrace can be realized 360 ° of continuous rotations of level; luffing angle+60 °～-60 ° of rotations, to guarantee to obtain accurate positional information.
6, robot carries out visual examination according to periodical inspection plan to substation equipment, the visible images that robot is taken is compared with the master drawing setting in advance, and finds after the equipment of abnormal appearance that result and image are stored to historical data base produces early warning event simultaneously.
7, between background monitoring system and robot, by wireless bridge, set up a WLAN (wireless local area network).By backstage industrial computer, staff can realize telemanagement and the maintenance of robot easily, can obtain the data that robot sends simultaneously.Supervisory system can complete display analysis robot location, speed, shows that visible images becomes image, instrument identification situation, equipment failure situation with infra-red heat; Realize manual control machine device people's motion, the state of robot The Cloud Terrace; Patrol task planning and task are assigned; The function such as memory image, alert data.
8, the present invention is unattended substation applies the technology for detection means that provide innovative, has improved the reliable and stable operation level of electrical network.
Accompanying drawing explanation
Fig. 1 is the perspective view of infrared measurement of temperature rail polling of the present invention robot;
Fig. 2 is the front view of Fig. 1;
Fig. 3 is the partial rear view of Fig. 1;
Fig. 4 is the vertical view (removing after The Cloud Terrace and robot control box top cover) of Fig. 1.
In figure: 1-infrared light compensating lamp, 2-visible image capturing head, 3-infrared camera, 4-The Cloud Terrace, 5-robot control box, 6-infrared detection scale, 7-track, 8-track pillar, 9-slip, 10-steady wheel, 11-road wheel, 12-current-collector, 13-infrared photoelectric sensor, 14-bogie, 15-rotation axis, 16-drive motor, 17-driving gear, 18-follower gear, 19-driving wheel, 20-bearing seat, 21-robot controller, 22-power supply, 23-Video Decoder.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail, wherein in institute's drawings attached, identical label represents same or similar parts, and the accompanying drawing in instructions is reduced form, only for understanding concrete structure of the present invention.Following examples are only for technical scheme of the present invention is more clearly described, and can not limit the scope of the invention.
As shown in Figures 1 to 4, infrared measurement of temperature rail polling robot, comprise robot control system, this system comprises The Cloud Terrace 4, robot control box 5, track 7, slip 9, current-collector 12, infrared photoelectric sensor 13 and bogie 14, the longeron upper surface mounting robot control box 5 of bogie 14, the upper surface of robot control box 5 is provided with The Cloud Terrace 4; Track 7 is T-shaped, the side upper surface wherein protruding is provided with infrared detection scale 6, bogie 14 moves on track 7, in a side of track 7, be provided with the slip 9 that connects external power supply, slip 9 is fixed on a side of track 7 by slip erecting frame, slide on slip 9 one end of current-collector 12, and slip 9 is comprised of copper core and insulating sheath, one end of current-collector 12 contacts with copper core, and the other end is electrically connected to robot control box 5; Infrared photoelectric sensor 13 is U-shaped, is arranged on the column of robot control box 5 side shield inner sides, and horizontal and unsettled have on the track 7 of infrared detection scale 6.
Adopt high precision infrared photoelectric sensor 13 to carry out Intelligent Mobile Robot location, on track, be provided at a certain distance the mark of infrared electro induction, it is infrared detection scale 6, when passing through this, robot can identify the current present position of robot, positioning precision can reach 2 millimeters, realize robot and accurately walk and location on definitive orbit 7, can realize multiobject continuous fixed point observation.Adopt slip way to take power, can make mobile robot work long hours continuously, be not subject to the restriction of time factor, without the life problems of considering battery charging and battery, the source that has solved mobile robot's energy, stream time is any, reliable and stable, and then realize and uninterruptedly patrolling and examining for 24 hours, realize unattended.
This infrared measurement of temperature rail polling robot also comprises background monitoring system, and robot control system is connected with wireless device with background monitoring system.Supervisory system can complete display analysis robot location, speed, shows that visible images becomes image, instrument identification situation, equipment failure situation with infra-red heat; Realize manual control machine device people's motion, the state of robot The Cloud Terrace; Patrol task planning and task are assigned; The function such as memory image, alert data.
In robot control box 5 inside, be provided with robot controller 21 and Video Decoder 23, all be connected with power supply 22, when robot controller 21 receives background monitoring system instruction, and after completing mobile and location, robot location and status information are transferred to background monitoring system by Video Decoder 23 and wireless device successively.The main locating information of being responsible for gathering robot of robot controller 21, according to Background control order, control motion, and report robot location and status information by ICP/IP protocol.
The Cloud Terrace 4 is provided with infrared light compensating lamp 1, visible image capturing 2 and infrared camera 3, wherein infrared light compensating lamp 1 has two, be arranged on the left and right sides of The Cloud Terrace pitch control subsystem frame, centre is provided with a protective cover, this protective cover is respectively equipped with visible image capturing 2 and infrared camera 3, behind robot controller 21 location, by The Cloud Terrace 4, control the pitching of camera and turn to collection image information, information after the image information gathering is processed under the effect of Video Decoder, by wireless device by the communication of processing to background monitoring system, so that view data is stored to historical data base.
Described robot control box inside is provided with drive motor 16, described bogie 14 comprises bearing seat 20, rotation axis 15, driving gear 17, follower gear 18, driving wheel 19 and road wheel 11, described bogie 14 longeron lower surface lateral arrangement have two rotation axiss 15, each rotation axis 15 cover has two bearing seats 20, and the corresponding lower surface that is fixed on 15 liang of longerons of bogie, the output shaft of described drive motor 16 connects driving gear 17, driving gear 17 and follower gear 18 engagements, described follower gear 18 connects an outer end of one of them rotation axis 15, there are two driving wheels 19 to be connected to the left and right sides of this rotation axis 15, the left and right sides of another rotation axis 15 connects two road wheels 11, described driving wheel 19 all rolls and contacts with track 7 with road wheel 11.Described robot control box 5 has two side shields, and the inner side lower surface of each side shield respectively front and back is provided with two steady wheels 10, and described steady wheel 10 rolls and contacts with track 7, and is across seat form and moves on track 7 with bogie 14.
The present invention adopts single rail mounted mode, and travel mechanism adopts across seat mode, and system can adapt to multiple severe weather conditions, has that translational speed is fast, an accurate positioning, good stability, reliability high simultaneously.Bogie of the present invention is by the steady wheel on driving wheel, road wheel and robot control box, travel mechanism's steadily of centre of gravity of composition, operating steadily in orbit.
At robot control box 5 rear sides, have a fan back door, two radiator fans are installed on the crossbeam at back door.The inner heat producing of robot control box 5 is dispelled the heat, and the components and parts that prevent robot control box 5 inside are overheated and cause damaging.
At track 7 lower surfaces, be provided with several track columns 8.According to the needs of transformer station, by track 7 length, determine and adopt how many track columns 8, play the effect of fixed support track.
Principle of work maked an inspection tour automatically by robot of the present invention: robot background monitoring software issues steering order to robot, and robot moves to the position of command request forward or backward according to command request, and robot The Cloud Terrace rotates to predetermined angular according to command request; Robot completes after motion control and The Cloud Terrace angular setting, take respectively an infrared picture and visible ray picture, picture transfers to background monitoring software by communication network, and monitoring software is analyzed the temperature that infrared picture calculates captured object, and visible ray picture is mainly used in reference to contrast.
Robot hand controller principle: robot background monitoring software issues steering order to robot, and robot moves forward or backward according to command request is adjusted The Cloud Terrace angle by background monitoring software in robot moving process; Robot can transfer to background monitoring software by communication network by real-time infrared image and visible images in moving process, now can realize manual control and make an inspection tour.
The present invention adopts high precision infrared photoelectric sensor to carry out Intelligent Mobile Robot location, on track, be provided at a certain distance the mark of infrared electro induction, it is infrared detection scale, when passing through this, robot can identify the current present position of robot, positioning precision can reach 2 millimeters, realize robot accurately walks and location on definitive orbit, the present invention adopts slip way to take power, can make mobile robot work long hours continuously, be not subject to the restriction of time factor, without the life problems of considering battery charging and battery, solved the source of mobile robot's energy, stream time is any, reliable and stable, and then realize and uninterruptedly patrolling and examining for 24 hours, realize unattended.This robot can coordinate converting station programming to control, and completes field equipment state checking work before and after the equipment operatings such as switch, plug-in strip; By intelligent video system, self-verifying switch, the on-the-spot physical location of plug-in strip etc.; Can carry out visual examination to on-the-spot operational outfit.The present invention is unattended substation applies the technology for detection means that provide innovative, has improved the reliable and stable operation level of electrical network.
Claims (9)
1. an infrared measurement of temperature rail polling robot, comprise robot control system, it is characterized in that: described robot control system comprises The Cloud Terrace (4), robot control box (5), track (7), slip (9), current-collector (12), infrared photoelectric sensor (13) and bogie (14), the longeron upper surface mounting robot control box (5) of described bogie (14), the upper surface of described robot control box (15) is provided with The Cloud Terrace (4); Described track (7) is T-shaped, the side upper surface wherein protruding is provided with infrared detection scale (6), described bogie (14) is in the upper operation of track (7), in a side of track (7), be provided with the slip (9) that connects external power supply, slide on slip (9) one end of described current-collector (12), and the other end is electrically connected to robot control box (5); Described infrared photoelectric sensor (13) is U-shaped, is arranged on the column of robot control box (5) side shield inner side, and horizontal and unsettled have on the track (7) of infrared detection scale (6).
2. a kind of infrared measurement of temperature rail polling as claimed in claim 1 robot, is characterized in that: also comprise background monitoring system, robot control system is connected with wireless device with background monitoring system.
3. a kind of infrared measurement of temperature rail polling as claimed in claim 1 robot, it is characterized in that: described robot control box (5) inside is provided with robot controller (21) and Video Decoder (23), all be connected with power supply (22), when robot controller (21) receives background monitoring system instruction, and after completing mobile and location, robot location and status information are transferred to background monitoring system by Video Decoder (23) and wireless device successively.
4. a kind of infrared measurement of temperature rail polling as claimed in claim 1 robot, it is characterized in that: described The Cloud Terrace is provided with infrared light compensating lamp (1), visible image capturing head (2) and infrared camera (3), wherein infrared light compensating lamp (1) has two, be arranged on the left and right sides of The Cloud Terrace pitch control subsystem frame, centre is provided with a protective cover, this protective cover is respectively equipped with visible image capturing head (2) and infrared camera (3), behind robot controller (21) location, by The Cloud Terrace (4), control the pitching of camera and turn to collection image information, by wireless device by the image transmission gathering to background monitoring system.
5. a kind of infrared measurement of temperature rail polling as claimed in claim 1 robot, it is characterized in that: described robot control box inside is provided with drive motor (16), described bogie (14) comprises bearing seat (20), rotation axis (15), driving gear (17), follower gear (18), driving wheel (19) and road wheel (11), described bogie (14) longeron lower surface lateral arrangement has two rotation axiss (15), each rotation axis (15) cover has two bearing seats (20), and correspondence is fixed on the lower surface of bogie (15) two longerons, the output shaft of described drive motor (16) connects driving gear (17), driving gear (17) and follower gear (18) engagement, described follower gear (18) connects an outer end of one of them rotation axis (15), there are two driving wheels (19) to be connected to the left and right sides of this rotation axis (15), the left and right sides of another rotation axis (15) connects two road wheels (11), described driving wheel (19) all rolls and contacts with track (7) with road wheel (11).
6. a kind of infrared measurement of temperature rail polling as claimed in claim 1 robot, it is characterized in that: described robot control box (5) has two side shields, the inner side lower surface of each side shield respectively front and back is provided with two steady wheels (10), described steady wheel (10) rolls and contacts with track (7), and is across seat form in the upper operation of track (7) with bogie (14).
7. a kind of infrared measurement of temperature rail polling robot as described in one of claim 1 to 6, it is characterized in that: described slip (9) is fixed on a side of track (7) by slip erecting frame, described slip (9) is comprised of copper core and insulating sheath, one end of described current-collector (12) contacts with copper core, and the other end is electrically connected to robot control box (5).
8. a kind of infrared measurement of temperature rail polling as claimed in claim 7 robot, is characterized in that: at robot control box (5) rear side, have a fan back door, two radiator fans are installed on the crossbeam at back door.
9. a kind of infrared measurement of temperature rail polling as claimed in claim 8 robot, is characterized in that: described track (7) lower surface is provided with several track columns (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410263740.4A CN104020768B (en) | 2014-06-13 | 2014-06-13 | Infrared temperature measurement track inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410263740.4A CN104020768B (en) | 2014-06-13 | 2014-06-13 | Infrared temperature measurement track inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104020768A true CN104020768A (en) | 2014-09-03 |
| CN104020768B CN104020768B (en) | 2017-01-25 |
Family
ID=51437577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410263740.4A Active CN104020768B (en) | 2014-06-13 | 2014-06-13 | Infrared temperature measurement track inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104020768B (en) |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104267731A (en) * | 2014-10-21 | 2015-01-07 | 山东鲁能智能技术有限公司 | Indoor track type intelligent patrolling robot system based on combined track |
| CN104267730A (en) * | 2014-10-21 | 2015-01-07 | 山东鲁能智能技术有限公司 | Indoor rail-mounted intelligent inspection robot system |
| CN104267729A (en) * | 2014-10-21 | 2015-01-07 | 山东鲁能智能技术有限公司 | Indoor rail-type intelligent patrolling robot |
| CN104317199A (en) * | 2014-09-16 | 2015-01-28 | 江苏大学 | Mobile smart housekeeper |
| CN104317295A (en) * | 2014-10-21 | 2015-01-28 | 山东鲁能智能技术有限公司 | Intelligent inspection robot system of converter station valve hall based on combined track |
| CN104339372A (en) * | 2014-10-21 | 2015-02-11 | 国家电网公司 | Intelligent patrol robot for convertor station valve hall |
| CN104571103A (en) * | 2014-10-28 | 2015-04-29 | 国家电网公司 | Navigation positioning method for tour inspection robot of transformer substation |
| CN105427601A (en) * | 2015-12-14 | 2016-03-23 | 北京中交华安科技有限公司 | Multiple-degree-of-freedom road condition observation apparatus |
| CN105719437A (en) * | 2016-02-29 | 2016-06-29 | 国网山东省电力公司高唐县供电公司 | Transformer substation equipment overheating real-time online detection system |
| CN106041896A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Mechanical-electrical integrated double-arm robot mounting base |
| CN106197681A (en) * | 2016-08-02 | 2016-12-07 | 北京殷图网联科技股份有限公司 | High-tension switch cabinet temperature measurement on-line device, method and system |
| CN106239474A (en) * | 2016-08-31 | 2016-12-21 | 中铁第四勘察设计院集团有限公司 | Low speed magnetic suspension rescue robot in one |
| CN106348219A (en) * | 2016-11-29 | 2017-01-25 | 湖南五新隧道智能装备股份有限公司 | Arm frame installing seat and high-altitude operation vehicle |
| CN106394934A (en) * | 2016-10-22 | 2017-02-15 | 徐洪恩 | Robot for placing temperature measuring modules on lunar surface |
| CN106393051A (en) * | 2016-10-13 | 2017-02-15 | 成都聚智工业设计有限公司 | Intelligent security robot based on Internet of Things |
| CN106568515A (en) * | 2016-11-16 | 2017-04-19 | 南昌大学 | Over-temperature alarming and monitoring system and control method |
| CN106737564A (en) * | 2016-12-20 | 2017-05-31 | 大唐河北发电有限公司马头热电分公司 | A kind of infrared double vision intelligent online inspection device |
| CN107175668A (en) * | 2017-06-15 | 2017-09-19 | 西安科技大学 | A kind of belt conveyer intelligent inspection robot |
| CN107398888A (en) * | 2016-05-20 | 2017-11-28 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN107433952A (en) * | 2017-05-12 | 2017-12-05 | 北京瑞途科技有限公司 | A kind of intelligent inspection robot |
| CN107507384A (en) * | 2017-09-30 | 2017-12-22 | 云南大红山管道有限公司 | Device for producing region patrol intelligent linkage |
| CN108082885A (en) * | 2017-12-15 | 2018-05-29 | 中国矿业大学 | A kind of coal mine leather belt machine automatic crusing robot |
| CN108942859A (en) * | 2016-05-18 | 2018-12-07 | 云和县鲁家班工艺品经营部 | The patrol monitoring self-propelled robot of power failure in a kind of substation |
| CN109190778A (en) * | 2018-09-28 | 2019-01-11 | 广西电网有限责任公司电力科学研究院 | It is a kind of to concentrate conveyer method towards the Intelligent Mobile Robot for patrolling fibrillar center |
| CN109242337A (en) * | 2018-09-28 | 2019-01-18 | 广西电网有限责任公司电力科学研究院 | A kind of Intelligent Mobile Robot resource allocation method towards provincial power network |
| CN109406962A (en) * | 2018-10-29 | 2019-03-01 | 国网浙江平湖市供电有限公司 | The mobile mechanism of shelf depreciation crusing robot and shelf depreciation crusing robot |
| CN110332435A (en) * | 2019-05-23 | 2019-10-15 | 贵州电网有限责任公司 | A kind of observation device for the inspection of electric power factory equipment blind area |
| CN110426141A (en) * | 2019-08-30 | 2019-11-08 | 江苏金恒信息科技股份有限公司 | A kind of temperature-measuring gun and ladle detection system |
| CN110524511A (en) * | 2019-08-08 | 2019-12-03 | 肇庆学院 | A kind of novel track robot general holder |
| CN110649706A (en) * | 2019-09-05 | 2020-01-03 | 北京国电光宇机电设备有限公司 | Intelligent inspection robot for power equipment |
| CN111351012A (en) * | 2020-03-13 | 2020-06-30 | 名匠智汇建设发展有限公司 | Lamp pole with infrared thermal imaging temperature detection function |
| CN111879018A (en) * | 2020-07-31 | 2020-11-03 | 国网山西省电力公司 | Distributed photovoltaic power generation and energy storage device |
| CN111911233A (en) * | 2020-07-07 | 2020-11-10 | 安徽理工大学 | Visual monitoring and early warning system for safety behaviors of non-coal mine personnel |
| CN112531732A (en) * | 2020-12-24 | 2021-03-19 | 山东汇智电力科技有限公司 | Transformer substation reactive power electrical equipment and intelligent robot linkage inspection system and method |
| CN112828903A (en) * | 2020-12-31 | 2021-05-25 | 武汉钢铁有限公司 | Hanging telescopic inspection robot |
| CN114029919A (en) * | 2021-11-15 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Hanging rail type inspection robot based on binocular vision |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202033665U (en) * | 2011-04-12 | 2011-11-09 | 中国科学院沈阳自动化研究所 | Rail type autonomous mobile 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 |
| CN102730010A (en) * | 2011-04-12 | 2012-10-17 | 中国科学院沈阳自动化研究所 | Straddle type monorail travelling mechanism |
| CN103092202A (en) * | 2012-12-31 | 2013-05-08 | 浙江国自机器人技术有限公司 | Robot track positioning method and robot track positioning system |
| CN203422665U (en) * | 2013-06-04 | 2014-02-05 | 沈阳易思达智能通讯有限公司 | Inspection robot for transformer station |
| CN203490535U (en) * | 2013-10-25 | 2014-03-19 | 山东鲁能智能技术有限公司 | Weather adaptive system of substation tour inspection robot |
-
2014
- 2014-06-13 CN CN201410263740.4A patent/CN104020768B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202033665U (en) * | 2011-04-12 | 2011-11-09 | 中国科学院沈阳自动化研究所 | Rail type autonomous mobile 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 |
| CN102730010A (en) * | 2011-04-12 | 2012-10-17 | 中国科学院沈阳自动化研究所 | Straddle type monorail travelling mechanism |
| 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 |
| CN103092202A (en) * | 2012-12-31 | 2013-05-08 | 浙江国自机器人技术有限公司 | Robot track positioning method and robot track positioning system |
| CN203422665U (en) * | 2013-06-04 | 2014-02-05 | 沈阳易思达智能通讯有限公司 | Inspection robot for transformer station |
| CN203490535U (en) * | 2013-10-25 | 2014-03-19 | 山东鲁能智能技术有限公司 | Weather adaptive system of substation tour inspection robot |
Cited By (45)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104317199A (en) * | 2014-09-16 | 2015-01-28 | 江苏大学 | Mobile smart housekeeper |
| CN104267730B (en) * | 2014-10-21 | 2017-07-28 | 山东鲁能智能技术有限公司 | indoor track type intelligent inspection robot system |
| CN104267730A (en) * | 2014-10-21 | 2015-01-07 | 山东鲁能智能技术有限公司 | Indoor rail-mounted intelligent inspection robot system |
| CN104267729A (en) * | 2014-10-21 | 2015-01-07 | 山东鲁能智能技术有限公司 | Indoor rail-type intelligent patrolling robot |
| CN104317295A (en) * | 2014-10-21 | 2015-01-28 | 山东鲁能智能技术有限公司 | Intelligent inspection robot system of converter station valve hall based on combined track |
| CN104339372A (en) * | 2014-10-21 | 2015-02-11 | 国家电网公司 | Intelligent patrol robot for convertor station valve hall |
| RU2670548C1 (en) * | 2014-10-21 | 2018-10-23 | Шандун Луньэнг Интелидженс Текнолоджи Ко., Лтд | Intelligent inspection robotechnical system on a guidance guide, intended for indoor work |
| CN104267731A (en) * | 2014-10-21 | 2015-01-07 | 山东鲁能智能技术有限公司 | Indoor track type intelligent patrolling robot system based on combined track |
| CN104339372B (en) * | 2014-10-21 | 2016-05-11 | 国家电网公司 | Converter Station Valve Room intelligent inspection robot |
| CN104571103A (en) * | 2014-10-28 | 2015-04-29 | 国家电网公司 | Navigation positioning method for tour inspection robot of transformer substation |
| CN105427601A (en) * | 2015-12-14 | 2016-03-23 | 北京中交华安科技有限公司 | Multiple-degree-of-freedom road condition observation apparatus |
| CN105719437A (en) * | 2016-02-29 | 2016-06-29 | 国网山东省电力公司高唐县供电公司 | Transformer substation equipment overheating real-time online detection system |
| CN108942859A (en) * | 2016-05-18 | 2018-12-07 | 云和县鲁家班工艺品经营部 | The patrol monitoring self-propelled robot of power failure in a kind of substation |
| CN107398888A (en) * | 2016-05-20 | 2017-11-28 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN106041896A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Mechanical-electrical integrated double-arm robot mounting base |
| CN106197681A (en) * | 2016-08-02 | 2016-12-07 | 北京殷图网联科技股份有限公司 | High-tension switch cabinet temperature measurement on-line device, method and system |
| CN106239474B (en) * | 2016-08-31 | 2018-03-27 | 中铁第四勘察设计院集团有限公司 | A kind of middle low speed magnetic suspension rescue robot |
| CN106239474A (en) * | 2016-08-31 | 2016-12-21 | 中铁第四勘察设计院集团有限公司 | Low speed magnetic suspension rescue robot in one |
| CN106393051A (en) * | 2016-10-13 | 2017-02-15 | 成都聚智工业设计有限公司 | Intelligent security robot based on Internet of Things |
| CN106394934A (en) * | 2016-10-22 | 2017-02-15 | 徐洪恩 | Robot for placing temperature measuring modules on lunar surface |
| CN106568515A (en) * | 2016-11-16 | 2017-04-19 | 南昌大学 | Over-temperature alarming and monitoring system and control method |
| CN106348219A (en) * | 2016-11-29 | 2017-01-25 | 湖南五新隧道智能装备股份有限公司 | Arm frame installing seat and high-altitude operation vehicle |
| CN106737564A (en) * | 2016-12-20 | 2017-05-31 | 大唐河北发电有限公司马头热电分公司 | A kind of infrared double vision intelligent online inspection device |
| CN107433952A (en) * | 2017-05-12 | 2017-12-05 | 北京瑞途科技有限公司 | A kind of intelligent inspection robot |
| CN107433952B (en) * | 2017-05-12 | 2018-09-14 | 北京瑞途科技有限公司 | A kind of intelligent inspection robot |
| CN107175668A (en) * | 2017-06-15 | 2017-09-19 | 西安科技大学 | A kind of belt conveyer intelligent inspection robot |
| CN107507384A (en) * | 2017-09-30 | 2017-12-22 | 云南大红山管道有限公司 | Device for producing region patrol intelligent linkage |
| CN108082885A (en) * | 2017-12-15 | 2018-05-29 | 中国矿业大学 | A kind of coal mine leather belt machine automatic crusing robot |
| CN109242337B (en) * | 2018-09-28 | 2021-12-07 | 广西电网有限责任公司电力科学研究院 | Substation inspection robot resource allocation method for provincial power grid |
| CN109190778A (en) * | 2018-09-28 | 2019-01-11 | 广西电网有限责任公司电力科学研究院 | It is a kind of to concentrate conveyer method towards the Intelligent Mobile Robot for patrolling fibrillar center |
| CN109242337A (en) * | 2018-09-28 | 2019-01-18 | 广西电网有限责任公司电力科学研究院 | A kind of Intelligent Mobile Robot resource allocation method towards provincial power network |
| CN109190778B (en) * | 2018-09-28 | 2022-03-04 | 广西电网有限责任公司电力科学研究院 | Transformer substation inspection robot centralized transferring method for inspection center |
| CN109406962A (en) * | 2018-10-29 | 2019-03-01 | 国网浙江平湖市供电有限公司 | The mobile mechanism of shelf depreciation crusing robot and shelf depreciation crusing robot |
| CN110332435A (en) * | 2019-05-23 | 2019-10-15 | 贵州电网有限责任公司 | A kind of observation device for the inspection of electric power factory equipment blind area |
| CN110524511A (en) * | 2019-08-08 | 2019-12-03 | 肇庆学院 | A kind of novel track robot general holder |
| CN110426141A (en) * | 2019-08-30 | 2019-11-08 | 江苏金恒信息科技股份有限公司 | A kind of temperature-measuring gun and ladle detection system |
| CN110649706A (en) * | 2019-09-05 | 2020-01-03 | 北京国电光宇机电设备有限公司 | Intelligent inspection robot for power equipment |
| CN111351012A (en) * | 2020-03-13 | 2020-06-30 | 名匠智汇建设发展有限公司 | Lamp pole with infrared thermal imaging temperature detection function |
| CN111911233A (en) * | 2020-07-07 | 2020-11-10 | 安徽理工大学 | Visual monitoring and early warning system for safety behaviors of non-coal mine personnel |
| CN111911233B (en) * | 2020-07-07 | 2023-03-14 | 安徽理工大学 | Visual monitoring and early warning system for safety behaviors of non-coal mine personnel |
| CN111879018A (en) * | 2020-07-31 | 2020-11-03 | 国网山西省电力公司 | Distributed photovoltaic power generation and energy storage device |
| CN112531732A (en) * | 2020-12-24 | 2021-03-19 | 山东汇智电力科技有限公司 | Transformer substation reactive power electrical equipment and intelligent robot linkage inspection system and method |
| CN112531732B (en) * | 2020-12-24 | 2021-06-22 | 山东汇智电力科技有限公司 | Transformer substation reactive power electrical equipment and intelligent robot linkage inspection system and method |
| CN112828903A (en) * | 2020-12-31 | 2021-05-25 | 武汉钢铁有限公司 | Hanging telescopic inspection robot |
| CN114029919A (en) * | 2021-11-15 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Hanging rail type inspection robot based on binocular vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104020768B (en) | 2017-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104020768A (en) | Infrared temperature measurement track inspection robot | |
| CN203982191U (en) | A kind of rail polling robot mechanism | |
| CN103963043B (en) | A kind of intelligent robot of patrolling and examining for power station and keep in repair and control system thereof | |
| CN112414458B (en) | Automatic intelligent inspection method for transformer substation | |
| CN105730540B (en) | A kind of Intelligent Mobile Robot and its driving method with pole-climbing function | |
| CN102063746B (en) | Program-controlled patrol machine and program-controlled patrol method for transformer station | |
| CN111633660A (en) | Intelligent inspection robot | |
| CN109571403B (en) | Intelligent inspection robot for magnetic track trace navigation and navigation method thereof | |
| CN109412079B (en) | Unmanned aerial vehicle inspection system for power transmission line | |
| CN109571402B (en) | Climbing mechanism, intelligent climbing inspection robot and transformer substation climbing method thereof | |
| CN105242616A (en) | Track type inspection system applied to transformer substation | |
| CN109571404B (en) | Obstacle crossing mechanism, obstacle crossing intelligent inspection robot and obstacle crossing method of transformer substation | |
| CN201998168U (en) | Visual servo-based accurate tripod head positioning system for movable robot | |
| CN205469362U (en) | Transformer station inspection robot with pole -climbing function | |
| CN208000498U (en) | Indoor crusing robot trolley | |
| CN109324649A (en) | A kind of compound cruising inspection system of substation and method | |
| CN106774318B (en) | Multi-agent interactive environment perception and path planning motion system | |
| CN202025365U (en) | Structural design of patrol robot in transformer substation | |
| CN109572842B (en) | Pole-climbing mechanism, pole-climbing intelligent inspection robot and pole-climbing method of transformer substation | |
| CN207799462U (en) | Intelligent track platform | |
| CN107402214A (en) | A kind of dysnusia detecting system | |
| CN109040677A (en) | Garden security protection early warning system of defense | |
| CN102901644A (en) | Manual auxiliary monitoring system and method applied to brake cylinder state of railway column inspection wind operation | |
| CN107505332A (en) | One kind is based on the moveable defects detection structure of double track | |
| CN207379936U (en) | A kind of dysnusia detecting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |