CN104020768B - Infrared temperature measurement track inspection robot - Google Patents

Infrared temperature measurement track inspection robot Download PDF

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Publication number
CN104020768B
CN104020768B CN201410263740.4A CN201410263740A CN104020768B CN 104020768 B CN104020768 B CN 104020768B CN 201410263740 A CN201410263740 A CN 201410263740A CN 104020768 B CN104020768 B CN 104020768B
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China
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robot
infrared
track
robot control
control chamber
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CN201410263740.4A
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CN104020768A (en
Inventor
罗凤坚
梁睿
何艇
陈少华
周民
莫海燕
李志强
陈之裕
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GUANGXI XINBAINA ELECTRIC CO Ltd
Chongzuo Power Supply Bureau Guangxi Power Grid Co
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GUANGXI XINBAINA ELECTRIC CO Ltd
Chongzuo Power Supply Bureau Guangxi Power Grid Co
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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

A kind of infrared measurement of temperature rail polling robot
Technical field
The present invention relates to industrial robot FIELD OF THE INVENTIONThe, it is applied to substation inspection, especially relate to a kind of infrared survey Warm 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 conduct programming technology, robot vision technology, security and guard technology, stable Radio Transmission Technology answering in one Miscellaneous system, using entirely autonomous or remote control mode, replaces patrol officer that some projects of primary equipment outdoor in transformer station are entered Row is patrolled and examined, and image is analyzed and judges, finds the problem that power equipment exists in time, is pushing away of unattended substation Wide application provides innovative technology for detection means, improves the reliable and stable operation level of electrical network.
Traditional substation inspection mainly passes through manual type, integrated use sense organ and some supporting detecting instruments Converting equipment is carried out with the inspection based on simple qualitative judgement.Domestic at present with regard to substation inspection robot research mainly with Based on the inspecting robot of ground, ground crusing robot refers to that movement is driven by wheel, completes the machine maked an inspection tour in ground moving People, this kind of mode robot navigation relies primarily on embedded ground magnet-wire, laser ranging and coordinates rfid to carry out location recognition.Robot Relying primarily on self-contained accumulator provides power supply, needs timing to be charged.Which robot major defect is machine People's road pavement flatness requirement is higher;Robot need to charge and could run it is impossible to realize round-the-clock monitoring;Translational speed is relatively Slowly;Buried magnet-wire is relied on to be navigated, it is larger that early stage installs input;Moving range is unrestricted, easily touches charging equipment by mistake;Can Relatively low by property.The walking mechanism of current mobile robot has wheeled, crawler type or wheel to carry out the various ways such as convolution, and they move Dynamic flexibly obstacle climbing ability is strong, but walking and position error are big on definitive orbit, multiple target fixed point observation difficult to realize, and one As wheeled inspecting robot do not possess infrared temperature measuring function.
Content of the invention
It is an object of the invention to: for the deficiencies in the prior art, provide a kind of infrared measurement of temperature rail polling robot, solution Certainly in current power system, equipment relies primarily on manual patrol, and the existing inspecting robot positioning precision of market segment is low, mobile model Enclose unrestricted, the problems such as easily touch charging equipment by mistake, do not enable round-the-clock monitoring, realize accurately walking on definitive orbit With controls such as positioning, by infrared measurement of temperature to equipment routing inspection, unattended is done step-by-step.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
This infrared measurement of temperature rail polling robot, including robot control system, this system includes head, robot controls Case, track, slip, current collector, infrared photoelectric sensor and bogie, the longeron upper surface mounting robot control of described bogie Case processed, the upper surface of described robot control chamber is provided with head;Described track is in t type, and the side upper surface of wherein protrusion sets There is infrared detection scale, described bogie orbits, the one side of in rail is provided with the slip connecting external power supply, institute The one end stating current collector is slided on slip, and the other end is electrically connected with robot control chamber;Described infrared photoelectric sensor is in u Type, is arranged on the column inside robot control chamber side shield, horizontal and hanging on the track with infrared detection scale.
Due to adopting said structure, slip power taking is realized by slip and current collector, be that robot powers;Set in orbit Put infrared detection scale, robot drives infrared photoelectric sensor to move on scale, realizes to current caused hot type, voltage pyrogenicity The infrared measurement of temperature of type equipment is patrolled and examined.
Further, this robot also includes background monitoring system, and robot control system and background monitoring system are with no Line equipment is attached.Realize background monitoring system and can receive image information, and issue to robot and patrol and examine instruction.
Further, it is provided with robot controller and Video Decoder inside described robot control chamber, all with power supply even Connect, when robot controller receives background monitoring system instruction, and complete mobile and after positioning by robot location and state Information passes sequentially through Video Decoder and wireless device transmits to background monitoring system.
Further, described head is provided with infrared light compensating lamp, visible image capturing head and infrared camera, and its mid-infrared is mended Light lamp has two, is arranged on the left and right sides of head pitch control frame, and centre is provided with a protective cover, and this protective cover is respectively equipped with can See light video camera head and infrared camera, after being positioned by robot controller, adopted by the pitching and steering of cradle head control photographic head Collection image information, is transmitted the image information of collection to background monitoring system by wireless device.
Robot carries out polling path planning by background monitoring system, and robot is according to patrolling that background monitoring system issues Inspection instruction is moved to the preset point pre-setting and is rotated to presetting angle, and the infrared thermoviewer by carrying is red by collect , to background monitoring system, monitoring system is through infrared identification algorithm computation and measurement temperature and by measurement result event for outer image transmitting And infrared image stores to historical data base;Or the image transmitting being collected by visible image capturing head is to background monitoring system, Monitoring system judges equipment state through image recognition algorithm and stores result to historical data base.
As the preferred version of the present invention, it is provided with motor inside described robot control chamber, described bogie includes Bearing block, rotary shaft, driving gear, driven gear, driving wheel and road wheel, described bogie longeron lower surface lateral arrangement has Two rotary shafts, each rotary shaft is cased with two bearing blocks, and correspondence is fixed on the lower surface of bogie two longeron, described driving The output shaft of motor connects driving gear, and driving gear is engaged with driven gear, and described driven gear connects one of rotation One outer end of axle, has two driving wheels to be connected to the left and right sides of this rotary shaft, the left and right sides of another rotary shaft connects Two road wheels, described driving wheel and road wheel are all in rolling contact with track.
After motor energising, its output shaft drives pinion rotation, thus driving driving wheel to rotate, and then drives road wheel Rotate, realize the movement of robot.The setting of bogie not only acts as the function of realizing robot movement, and on bogie Robot control chamber and head play and support fixing effect.
As the preferred version of the present invention, described robot control chamber has two side shields, under the inner side of each side shield Surface is provided with two steady wheels respectively in front and back, and described steady wheel and track are in rolling contact, and is in that straddle seat form is in-orbit with bogie Run on road.Guarantee the stability of robot movement, prevent robot offset track.
Further, by the side of the fixing in rail of slip installing rack, described slip is by copper core and insulation for described slip Sheath forms, and one end of described current collector contacted with copper core, and the other end is electrically connected with robot control chamber.It is embodied as robot to supply Electricity.
Further, have a fan back door on rear side of robot control chamber, two radiatings are provided with the crossbeam at back door Fan.The heat producing inside robot control chamber is radiated, prevent the components and parts within robot control chamber overheated and Lead to damage.
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 fixing supporting track.
In sum, due to employing technique scheme, the invention has the beneficial effects as follows:
1st, Intelligent Mobile Robot positioning is carried out using high accuracy infrared photoelectric sensor, track sets at a certain distance Put for infrared electro sensing labelling, i.e. infrared detection scale, when robot through this when may recognize that robot work as Front present position, positioning precision, up to 2 millimeters, is realized robot and is accurately walked on definitive orbit and position, be capable of many The continuous fixed point observation of target.
2nd, robot carries out polling path planning by background monitoring system.Robot issues according to background monitoring system Patrol and examine instruction mobile to the preset point pre-setting and rotate to presetting angle, will be collected by the infrared thermoviewer that carries , to background monitoring system, monitoring system is through infrared identification algorithm computation and measurement temperature and by measurement result thing for infrared image delivery Part and infrared image store to historical data base.Realize the infrared thermometry to electric current heating type, voltage heating type equipment to make an inspection tour.
3rd, the present invention adopts slip way to take power, mobile robot can be made continuously to work long hours, be not subject to time factor Restriction, need not consider battery charging and the life problems of battery, solve the source of mobile robot energy, running hours Between arbitrarily, reliable and stable, and then realize 24 hours uninterruptedly patrolling and examining, realize unattended.
4th, robot of the present invention adopts single rail mounted mode, and travel mechanism adopts straddle seat mode, and system can adapt to many Kind of severe weather conditions, have that translational speed is fast, the features such as accurate positioning, good stability, reliability are high simultaneously.The present invention turns To frame by the steady wheel on driving wheel, road wheel and robot control chamber, travel mechanism's steadily of centre of gravity of composition, in orbit Operate steadily.
5th, the present invention carries out image capturing system angle orientation using high accuracy head and controls robot, high accuracy head master The rotation of photographic head to be used for and luffing angle control, and head can achieve that horizontal 360 ° continuously rotate, and+60 ° of luffing angle~- 60 ° of rotations, to guarantee to obtain accurate positional information.
6th, robot carries out visual examination according to periodical inspection plan to substation equipment, the visible ray that robot is shot Image is compared with the master drawing pre-setting, and after the equipment finding abnormal appearance stores result and image to historical data base Produce early warning event simultaneously.
7th, between background monitoring system and robot, a WLAN is set up by wireless bridge.By backstage industry control Machine, staff can easily realize remote management and the maintenance of robot, can obtain the data of robot transmission simultaneously. Monitoring system can complete to show analysis robot position, speed, and display visible images become image, Meter recognition with infrared heat Situation, equipment fault situation;Realize motion, the state of machine user tripod head of Non-follow control machine people;Patrol task is planned and is appointed Business is assigned;The functions such as storage image, alert data.
8th, the present invention provides innovative technology for detection means for the popularization and application of unattended substation, improves electricity The reliable and stable operation level of net.
Brief description
Fig. 1 is the perspective view of infrared measurement of temperature rail polling robot of the present invention;
Fig. 2 is the front view of Fig. 1;
Fig. 3 is the partial rear view of Fig. 1;
Fig. 4 is the top view (after removing head and robot control chamber top cover) of Fig. 1.
In figure: 1 infrared light compensating lamp, 2 visible image capturing heads, 3 infrared cameras, 4 heads, the control of 5 robots Case processed, 6 infrared detection scales, 7 tracks, 8 rail supports, 9 slips, 10 steady wheels, 11 road wheels, 12 collection Electrical equipment, 13 infrared photoelectric sensors, 14 bogies, 15 rotary shafts, 16 motors, 17 driving gears, 18 Driven gear, 19 driving wheels, 20 bearing blocks, 21 robot controllers, 22 power supplys, 23 Video Decoders.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described in further detail, identical in wherein all accompanying drawings Label represent same or similar part, the accompanying drawing in description is reduced form, only for understanding the concrete structure of the present invention. Following examples are only used for clearly technical scheme being described, and can not limit the scope of the invention.
As shown in Figures 1 to 4, infrared measurement of temperature rail polling robot, including robot control system, this system includes cloud Platform 4, robot control chamber 5, track 7, slip 9, current collector 12, infrared photoelectric sensor 13 and bogie 14, bogie 14 Longeron upper surface mounting robot control chamber 5, the upper surface of robot control chamber 5 is provided with head 4;Track 7 is in t type, wherein The side upper surface protruding is provided with infrared detection scale 6, and bogie 14 in rail 7 is run, and the one side of in rail 7 is provided with even Connect the slip 9 of external power supply, by the side of the fixing in rail 7 of slip installing rack, one end of current collector 12 is in slip 9 for slip 9 On slide, slip 9 is made up of copper core and insulating sheath, and one end of current collector 12 is contacted with copper core, and the other end and robot control Case 5 electrically connects;Infrared photoelectric sensor 13 be in u-shaped, be arranged on the column inside robot control chamber 5 side shield, horizontal simultaneously Vacantly on the track 7 with infrared detection scale 6.
Intelligent Mobile Robot positioning is carried out using high accuracy infrared photoelectric sensor 13, track sets at a certain distance Put for infrared electro sensing labelling, i.e. infrared detection scale 6, when robot through this when may recognize that robot work as Front present position, positioning precision, up to 2 millimeters, is realized robot and is accurately walked on definitive orbit 7 and position, be capable of many The continuous fixed point observation of target.Using slip way to take power, mobile robot can be made continuously to work long hours, be not subject to time factor Restriction, need not consider battery charge and battery life problems, solve the source of mobile robot energy, continuous work Time is arbitrarily, reliable and stable, and then realizes 24 hours uninterruptedly patrolling and examining, and realizes unattended.
This infrared measurement of temperature rail polling robot also includes background monitoring system, robot control system and background monitoring system System is attached with wireless device.Monitoring system can complete show analysis robot position, speed, display visible images and Infrared heat becomes image, Meter recognition situation, equipment fault situation;Realize the motion of Non-follow control machine people, machine user tripod head State;Patrol task planning and task are assigned;The functions such as storage image, alert data.
It is provided with robot controller 21 and Video Decoder 23 inside robot control chamber 5, be all connected with power supply 22, when Robot controller 21 receives background monitoring system instruction, and complete mobile and after positioning by robot location and status information Pass sequentially through Video Decoder 23 and wireless device transmits to background monitoring system.Robot controller 21 is mainly responsible for harvester The location information of device people, according to Background control order, controls robot motion, and reports robot location by tcp/ip agreement And status information.
Head 4 is provided with infrared light compensating lamp 1, visible image capturing 2 and infrared camera 3, and wherein infrared light compensating lamp 1 has two Individual, it is arranged on the left and right sides of head pitch control frame, centre is provided with a protective cover, this protective cover is respectively equipped with visible image capturing 2 and infrared camera 3, after robot controller 21 positions, the pitching of photographic head is controlled by head 4 and turns to collection figure As information, the image information of collection processed in the presence of Video Decoder after information, will be processed by wireless device Information transfer to background monitoring system so that view data stores to historical data base.
Be provided with motor 16 inside described robot control chamber, described bogie 14 include bearing block 20, rotary shaft 15, Driving gear 17, driven gear 18, driving wheel 19 and road wheel 11, described bogie 14 longeron lower surface lateral arrangement has two Rotary shaft 15, each rotary shaft 15 is cased with two bearing blocks 20, and correspondence is fixed on the lower surface of 15 liang of longerons of bogie, described The output shaft of motor 16 connects driving gear 17, and driving gear 17 is engaged with driven gear 18, and described driven gear 18 is even Connect an outer end of one of rotary shaft 15, have two driving wheels 19 to be connected to the left and right sides of this rotary shaft 15, another The left and right sides of rotary shaft 15 connects two road wheels 11, and described driving wheel 19 and road wheel 11 are all in rolling contact with track 7.Institute Stating robot control chamber 5 has two side shields, and the inside bottom surface of each side shield is provided with two steady wheels 10, institute respectively in front and back State steady wheel 10 to be in rolling contact with track 7, and be in run in straddle seat form in rail 7 with bogie 14.
The present invention adopts single rail mounted mode, and travel mechanism adopts straddle seat mode, and system can adapt to multiple severe skies Vaporous condition, has that translational speed is fast, the features such as accurate positioning, good stability, reliability are high simultaneously.The bogie of the present invention is by driving Steady wheel on driving wheel, road wheel and robot control chamber, travel mechanism's steadily of centre of gravity of composition, operation in orbit is put down Surely.
Have a fan back door on rear side of robot control chamber 5, two radiator fans are provided with the crossbeam at back door.To machine The internal heat producing of device people's control chamber 5 is radiated, and prevents the components and parts within robot control chamber 5 overheated and leads to damage Bad.
In rail 7 lower surface is provided with several track columns 8.According to the needs of transformer station, determined by track 7 length and adopt How many track columns 8, play the effect of fixing supporting track.
Operation principle maked an inspection tour automatically by robot of the present invention: robot background monitoring software issues control instruction to robot, Robot is moved forward or rearward according to command request to the position of command request, machine user tripod head according to command request rotate to Predetermined angular;After robot completes motor control and head angle adjustment, shoot an infrared picture and visible ray picture respectively, Picture passes through communication network transmission to background monitoring software, the temperature of object captured by monitoring software analysis infrared picture calculating, Visible ray picture is mainly used in reference pair ratio.
Robot hand controller principle: robot background monitoring software issues control instruction to robot, and robot is pressed It is moved forward or rearward according to command request, in robot moving process, head angle is adjusted by background monitoring software;Machine Real-time infrared image and visible images can be passed through communication network transmission to background monitoring software in moving process by people, now Can achieve that Non-follow control is maked an inspection tour.
The present invention carries out Intelligent Mobile Robot positioning using high accuracy infrared photoelectric sensor, and track is pressed a spacing From be provided for infrared electro sensing labelling, i.e. infrared detection scale, when robot through this when may recognize that machine People is presently in position, and positioning precision, up to 2 millimeters, is realized robot and accurately walked on definitive orbit and position, the present invention Using slip way to take power, mobile robot can be made continuously to work long hours, do not restricted by time factor, battery need not be considered Charging and the life problems of battery, solve the source of mobile robot energy, and stream time is arbitrarily, reliable and stable, And then realize 24 hours uninterruptedly patrolling and examining, realize unattended.This robot can coordinate converting station programming control, and it is right to complete Field equipment state checking work before and after the equipment operations such as switch, plug-in strip;By intelligent video system, automatically check switch, lock Knife scene physical location etc.;Visual examination can be carried out to live operation equipment.The present invention is the popularization of unattended substation Application provides innovative technology for detection means, improves the reliable and stable operation level of electrical network.

Claims (7)

1. a kind of infrared measurement of temperature rail polling robot, including robot control system it is characterised in that: described robot controls System includes head (4), robot control chamber (5), track (7), slip (9), current collector (12), infrared photoelectric sensor (13) With bogie (14), longeron upper surface mounting robot control chamber (5) of described bogie (14), described robot control chamber (15) upper surface is provided with head (4);Described track (7) is in t type, and the side upper surface of wherein protrusion is provided with infrared detection and carves Degree (6), described bogie (14) in rail (7) is upper to be run, and the one side of in rail (7) is provided with the slip connecting external power supply (9), one end of described current collector (12) is slided on slip (9), and the other end is electrically connected with robot control chamber (5);Described red Outer photoelectric sensor (13) is in u-shaped, is arranged on the column inside robot control chamber (5) side shield, and horizontal and hanging having Have on the track (7) of infrared detection scale (6);
It is provided with motor (16), described bogie (14) includes bearing block (20), rotary shaft inside described robot control chamber (15), driving gear (17), driven gear (18), driving wheel (19) and road wheel (11), described bogie (14) longeron following table Face lateral arrangement has two rotary shafts (15), and each rotary shaft (15) is cased with two bearing blocks (20), and correspondence is fixed on steering The lower surface of frame (15) two longeron, the output shaft of described motor (16) connects driving gear (17), driving gear (17) with Driven gear (18) engages, and described driven gear (18) connects an outer end of one of rotary shaft (15), has two driving wheels (19) it is connected to the left and right sides of this rotary shaft (15), the left and right sides of another rotary shaft (15) connects two road wheels (11), described driving wheel (19) and road wheel (11) are all in rolling contact with track (7);
There are two side shields in described robot control chamber (5), and the inside bottom surface of each side shield is provided with two surely respectively in front and back Fixed wheel (10), described steady wheel (10) and track (7) are in rolling contact, and are in straddle seat form in rail (7) with bogie (14) Run.
2. as claimed in claim 1 a kind of infrared measurement of temperature rail polling robot it is characterised in that: also include background monitoring system System, robot control system is attached with wireless device with background monitoring system.
3. as claimed in claim 1 a kind of infrared measurement of temperature rail polling robot it is characterised in that: described robot control chamber (5) inside is provided with robot controller (21) and Video Decoder (23), is all connected with power supply (22), works as robot controller (21) receive background monitoring system instruction, and complete movement and after positioning pass sequentially through robot location and status information to regard Frequency decoder (23) and wireless device transmit to background monitoring system.
4. as claimed in claim 1 a kind of infrared measurement of temperature rail polling robot it is characterised in that: described head is provided with red Outer light compensating lamp (1), visible image capturing head (2) and infrared camera (3), wherein infrared light compensating lamp (1) have two, are arranged on head The left and right sides of pitch control frame, centre is provided with a protective cover, and this protective cover is respectively equipped with visible image capturing head (2) and infrared takes the photograph As head (3), after robot controller (21) positions, the pitching of photographic head is controlled by head (4) and turns to collection image letter Breath, is transmitted the image information of collection to background monitoring system by wireless device.
5. a kind of infrared measurement of temperature rail polling robot as described in one of Claims 1-4 it is characterised in that: described slip (9) by the side of the fixing in rail (7) of slip installing rack, described slip (9) is made up of copper core and insulating sheath, described current collection One end of device (12) is contacted with copper core, and the other end is electrically connected with robot control chamber (5).
6. as claimed in claim 5 a kind of infrared measurement of temperature rail polling robot it is characterised in that: in robot control chamber (5) have a fan back door on rear side of, two radiator fans are provided with the crossbeam at back door.
7. as claimed in claim 6 a kind of infrared measurement of temperature rail polling robot it is characterised in that: described track (7) following table Face is provided with several track columns (8).
CN201410263740.4A 2014-06-13 2014-06-13 Infrared temperature measurement track inspection robot Active CN104020768B (en)

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