CN106229616A - Can positioning intelligent electric power networks crusing robot - Google Patents
Can positioning intelligent electric power networks crusing robot Download PDFInfo
- Publication number
- CN106229616A CN106229616A CN201610637674.1A CN201610637674A CN106229616A CN 106229616 A CN106229616 A CN 106229616A CN 201610637674 A CN201610637674 A CN 201610637674A CN 106229616 A CN106229616 A CN 106229616A
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- CN
- China
- Prior art keywords
- limit
- electric power
- arm
- power networks
- intelligent electric
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
- H01Q1/24—Supports; Mounting means by structural association with other equipment or articles with receiving set
- H01Q1/241—Supports; Mounting means by structural association with other equipment or articles with receiving set used in mobile communications, e.g. GSM
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
- H01Q1/38—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith formed by a conductive layer on an insulating support
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q13/00—Waveguide horns or mouths; Slot antennas; Leaky-waveguide antennas; Equivalent structures causing radiation along the transmission path of a guided wave
- H01Q13/08—Radiating ends of two-conductor microwave transmission lines, e.g. of coaxial lines, of microstrip lines
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses one can positioning intelligent electric power networks crusing robot, include vehicular platform, be provided with below described vehicular platform traveling wheel；Described vehicular platform is provided with detection tower, is provided with routing inspection circuit in described detection tower；It is provided with in described vehicular platform to drive and travels the servomotor that wheel rotates；Described routing inspection circuit includes central processing controller and the camera head being connected with central processing controller signal, and detection tower top end is located at by described camera head；Described servomotor is connected with central processing controller signal, and routing inspection circuit also includes the communicator being connected with central processing controller signal, and described communication covering device includes communication antenna and communication chip；By the setting of vehicular platform, personnel can be patrolled and examined and become intelligentized robot and patrol and examine, convenient and simple, low cost, safe and reliable.
Description
Technical field
The present invention relates to one can positioning intelligent electric power networks crusing robot.
Background technology
At present, electric power networks is sufficiently complex, has its electric power networks in transformer station, intricate, need personnel long-term,
Go frequently to patrol and examine to guarantee safety；But people has patrolled and examined following drawback: routing inspection cost is big, it is big, when running into not to patrol and examine difficulty
Patrol and examine the when of good weather that efficiency is low and poor reliability, it is most important that personnel are had the biggest harm, including electric field spoke
Penetrate, high-voltage electrical discharges etc.；If therefore there being a robot that personnel can be replaced to patrol and examine, that will be significantly thing.
Summary of the invention
It is an object of the invention to overcome disadvantages described above, it is provided that one can positioning intelligent electric power networks inspection machine
People.
For achieving the above object, the concrete scheme of the present invention is as follows: one can positioning intelligent electric power networks crusing robot,
Include vehicular platform, below described vehicular platform, be provided with traveling wheel；Described vehicular platform is provided with detection tower, described detection tower
Inside it is provided with routing inspection circuit；It is provided with in described vehicular platform to drive and travels the servomotor that wheel rotates；Described routing inspection circuit includes
Central processing controller and the camera head being connected with central processing controller signal, detection tower top is located at by described camera head
End；Described servomotor is connected with central processing controller signal, and routing inspection circuit also includes and central processing controller signal
The communicator connected, described communication covering device includes communication antenna and communication chip.
Wherein, described communication antenna includes is all rectangle and the first medium plate stacked and second medium
Plate；The end face of first medium plate is provided with microstrip antenna；The end face of second medium plate is provided with shading ring group；Shading ring group is positioned at second
Between end face and the bottom surface of first medium plate of dielectric-slab；Shading ring group includes two the first annulus and second being arranged concentrically
Annulus；
Described microstrip antenna includes Microstrip Disk；Setting first medium plate, two long limit is respectively the first limit and the second limit,
Two minor face is respectively the 3rd limit and the 4th limit；
Described Microstrip Disk is provided with feed groove near the side on the first limit, is provided with the circle arm of concave shape, encloses arm in feed groove
Being connected with interior the inside of feed groove, interior the inside of feed groove is also extended multiple T-bar；Described first medium plate is also
Include feed tab, be connected by fed microstrip arm between described feed tab with circle arm；
The described Microstrip Disk side near the second limit, the side near the 3rd limit and the side away from the 3rd limit are equipped with recessed
Slot type radiating element；Each described groove type radiating element includes rectangular radiation breach, from two sides of rectangular radiation breach
While the bracer extended to centre, the cross bar that each bracer extends to centre；Groove type radiating element also includes recessed
First radiation arm of font and the second radiation arm of rectangle, described second radiation arm is positioned at the indentation, there of the first radiation arm；Institute
State the first radiation arm and the second radiation arm is connected by feeder pillar with corresponding cross bar respectively；Interior the inside of rectangular radiation breach to
Microstrip Disk center is extended with the convex depression of convex shape, and interior the inside of described convex depression is extended with circle to Microstrip Disk center
Shape caves in.
Wherein, described Microstrip Disk center is provided with triangle aperture, angular alignment second limit of described triangle aperture,
Two other angle is respectively aligned to the 3rd limit and the 4th limit.
Wherein, the radius of the first annulus is 2 times of the second annular radii.
Wherein, the width of described fed microstrip arm is N, and the width of feed groove is K, and the quantity of T-bar is C, then K=
20C*N。
Wherein, the quantity of described T-bar is 2.
Wherein, described routing inspection circuit also includes the ultrasonic detector making robot obstacle-avoiding, described ultrasonic detector
Being connected with central processing controller signal, described ultrasonic detector is located on vehicular platform；
Wherein, described routing inspection circuit also include detection thermal source heat source temperature detector, described heat source temperature detector with in
Centre processing controller signal connects, and described heat source temperature detector is located at the side of detection tower；
Wherein, described routing inspection circuit also includes electric field intensity detector, described electric field intensity detector and central authorities' processing controls
Device signal connects, and described electric field intensity detector is located at the side of detection tower；
Wherein, described routing inspection circuit also includes GPS positioning unit, described GPS positioning unit and central processing controller signal
Connecting, described GPS positioning unit is for the position of sniffing robot；
Wherein, described routing inspection circuit also includes smoke detector, and described smoke detector is with central processing controller signal even
Connecing, described smoke detector is located on detection tower；
The invention have the benefit that the setting by vehicular platform, personnel can be patrolled and examined and become intelligentized robot and patrol
Inspection, convenient and simple, low cost, safe and reliable.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention
Fig. 2 is the schematic diagram of the routing inspection circuit of the present invention；
Fig. 3 is the sectional view of the communication antenna of the present invention；
Fig. 4 is the top view of the first medium plate plate of the present invention；
Fig. 5 is the partial enlarged drawing of Fig. 4；
Fig. 6 is the top view of the second medium plate of the present invention；
Fig. 7 is emulation and the test curve figure of the S11 parameter of communication antenna specific embodiment of the present invention.
Fig. 8 is gain emulation testing curve chart and the efficiency test curve chart of communication antenna specific embodiment of the present invention；
Fig. 9 is the communication antenna specific embodiment of the present invention normalization antenna pattern at 5GHz.
Description of reference numerals in Fig. 1 to Fig. 9:
1-vehicular platform；11-travels wheel；12-ultrasonic detector；2-detects tower；21-smoke detector；22-heat source temperature is visited
Survey device；23-electric field intensity detector；3-camera head；
V1-first medium plate；V2-second medium plate；V21-the first annulus；V22-the second annulus；
V3-isolates micro-strip；V4-parasitic radiation sheet；V5-feed tab；V6-isolated groove；V7-fed microstrip arm；V8-micro-strip circle
Dish；V81-feeds groove；V82-encloses arm；V83-T shape bar；V84-triangle aperture；V85-props up bracer；V86-cross bar；V87-presents
Electric pole；V88-the first radiation arm；V89-the second radiation arm；
V9-convex caves in；V91-circular depressed.
Detailed description of the invention
The present invention is further detailed explanation with specific embodiment below in conjunction with the accompanying drawings, is not the reality of the present invention
The scope of executing is confined to this.
As shown in Figures 1 to 9, the one described in the present embodiment can positioning intelligent electric power networks crusing robot, include
Vehicular platform 1, is provided with traveling wheel 11 below described vehicular platform 1；Described vehicular platform 1 is provided with detection tower 2, described detection tower
Routing inspection circuit it is provided with in 2；It is provided with in described vehicular platform 1 and drives the servomotor travelling wheel 11 rotation；Described routing inspection circuit bag
Including central processing controller and the camera head 3 being connected with central processing controller signal, spy is located at by described camera head 3
Survey tower 2 top；Described servomotor is connected with central processing controller signal, and routing inspection circuit also includes and central authorities' processing controls
The communicator that device signal connects, described communication covering device includes communication antenna and communication chip；By setting of vehicular platform 1
Put, personnel can be patrolled and examined and become intelligentized robot and patrol and examine, convenient and simple, low cost, safe and reliable.
One described in the present embodiment can positioning intelligent electric power networks crusing robot, described communication antenna includes and is all
Rectangle and the first medium plate v1 stacked and second medium plate v2；The end face of first medium plate v1 is provided with micro-strip sky
Line；The end face of second medium plate v2 is provided with shading ring group；Shading ring group is positioned at end face and the first medium plate of second medium plate v2
Between the bottom surface of v1；Shading ring group includes two the first annulus v21 being arranged concentrically and the second annulus v22；Described micro-strip sky
Line includes Microstrip Disk v8；Setting first medium plate v1, two long limit is respectively the first limit and the second limit, two minor face
It is respectively the 3rd limit and the 4th limit；Described Microstrip Disk v8 is provided with feed groove v81 near the side on the first limit, feeds groove
Being provided with the circle arm v82 of concave shape, circle arm v82 in v81 to be connected with interior the inside of feed groove v81, feed groove v81 is inside
Limit is also extended multiple T-bar V83；Described first medium plate v1 also includes feed tab v5, described feed tab v5 and circle arm
It is connected by fed microstrip arm v7 between v82；Described Microstrip Disk v8 near the second limit side, near the 3rd limit side with
And the side away from the 3rd limit is equipped with groove type radiating element；Each described groove type radiating element includes rectangular radiation and lacks
Mouthful, the bracer v85, each bracer v85 that extend to centre from two sides of rectangular radiation breach extend to centre
Cross bar v86；Groove type radiating element also includes the first radiation arm v88 of concave shape and the second radiation arm v89 of rectangle,
Described second radiation arm v89 is positioned at the indentation, there of the first radiation arm v88；Described first radiation arm v88 and the second radiation arm v89 divides
It is not connected by feeder pillar v87 with corresponding cross bar v86；Interior the inside of rectangular radiation breach is extended with to Microstrip Disk v8 center
The convex depression v9 of convex shape, interior the inside of described convex depression v9 is extended with circular depressed v91 to Microstrip Disk v8 center；The
When one medium superposes with second medium plate v2, i.e., during the mutual coupling of shading ring group and microstrip antenna, avoiding coupling as far as possible
After closing interference, it can reach the antenna performance of excellence, and with reference to Fig. 7, the embodiment of the present invention emulates | S11 | the parameter with test more
Coincideing, the 10dB impedance bandwidth of test is 28.4%, and stopband | S11 | is close to 0.With reference to Fig. 8, embodiment of the present invention emulation and survey
The gain curve of examination is more identical, average gain 8.2dBi in test passband, and has the highest degree of roll-offing at passband edges,
In the widest stopband, Out-of-band rejection is more than 20dBi, has preferable filter effect in the range of 0～10GHz；The band of the embodiment of the present invention
Internal efficiency is up to 95%.Refering to Fig. 9, the normalized radiation pattern of mid frequency 5GHz；Greatest irradiation direction just going up at radiant body
Side, main polarization bigger more than 25dBi than cross polarization.In passband, the directional diagram of other frequencies is similar with the directional diagram of 5GHz, whole
In passband, directional diagram is stable.
One described in the present embodiment can positioning intelligent electric power networks crusing robot, described Microstrip Disk v8 center is provided with
Triangle aperture v84, angular alignment second limit of described triangle aperture v84, two other angle be respectively aligned to the 3rd limit and
4th limit.Can effectively reduce coupled interference.
One described in the present embodiment can positioning intelligent electric power networks crusing robot, the radius of the first annulus v21 is
2 times of two annulus v22 radiuses.Isolation performance is optimal, improves isolation.
One described in the present embodiment can positioning intelligent electric power networks crusing robot, the width of described fed microstrip arm v7
For N, the width of feed groove v81 is K, and the quantity of T-bar V83 is C, then K=20C*N.The when of meeting this formula, test is logical
In band, average gain can reach the level of 9.15dBi.One described in the present embodiment can positioning intelligent electric power networks inspection machine
People, the quantity of described T-bar V83 is 2.The T-shaped of this quantity is to reach optimal matching performance with microstrip antenna, and standing-wave ratio can drop
To 1.15.
One described in the present embodiment can positioning intelligent electric power networks crusing robot, described routing inspection circuit also includes and makes
The ultrasonic detector 12 of robot obstacle-avoiding, described ultrasonic detector 12 is connected with central processing controller signal, described super
Acoustic detector 12 is located on vehicular platform 1.
One described in the present embodiment can positioning intelligent electric power networks crusing robot, described routing inspection circuit also includes spy
The heat source temperature detector 22 in calorimetric source, described heat source temperature detector 22 is connected with central processing controller signal, described heat
Source temperature detector 22 is located at the side of detection tower 2.
One described in the present embodiment can positioning intelligent electric power networks crusing robot, described routing inspection circuit also includes electricity
Field intensity detector 23, described electric field intensity detector 23 is connected with central processing controller signal, and described electric field intensity detects
The side of detection tower 2 is located at by device 23.
One described in the present embodiment can positioning intelligent electric power networks crusing robot, described routing inspection circuit also includes
GPS positioning unit, described GPS positioning unit is connected with central processing controller signal, and described GPS positioning unit is used for explorer
The position of device people.
One described in the present embodiment can positioning intelligent electric power networks crusing robot, described routing inspection circuit also includes cigarette
Fog detector 21, described smoke detector 21 is connected with central processing controller signal, and detection is located at by described smoke detector 21
On tower 2.
The above is only a preferred embodiment of the present invention, therefore all according to the structure described in present patent application scope
Make, equivalence change that feature and principle are done or modify, be included in the protection domain of present patent application.
Claims (6)
1. one kind can positioning intelligent electric power networks crusing robot, it is characterised in that: include vehicular platform (1), described vehicle-mounted
Platform (1) lower section is provided with traveling wheel (11)；Described vehicular platform (1) is provided with detection tower (2), is provided with in described detection tower (2)
Routing inspection circuit；It is provided with in described vehicular platform (1) to drive and travels the servomotor that wheel (11) rotates；Described routing inspection circuit includes
Central processing controller and the camera head (3) being connected with central processing controller signal, spy is located at by described camera head (3)
Survey tower (2) top；Described servomotor is connected with central processing controller signal, and routing inspection circuit also includes and processes control with central authorities
The communicator that device signal processed connects, described communication covering device includes communication antenna and communication chip；
Described routing inspection circuit also includes GPS positioning unit, and described GPS positioning unit is connected with central processing controller signal,
Described GPS positioning unit is for the position of sniffing robot.
One the most according to claim 1 can positioning intelligent electric power networks crusing robot, it is characterised in that: described communication
It is all rectangle and the first medium plate (v1) stacked and second medium plate (v2) that antenna includes；First medium plate
(v1) end face is provided with microstrip antenna；The end face of second medium plate (v2) is provided with shading ring group；Shading ring group is positioned at second medium
Between end face and the bottom surface of first medium plate (v1) of plate (v2)；Shading ring group includes two the first annulus being arranged concentrically
(v21) with the second annulus (v22)；
Described microstrip antenna includes Microstrip Disk (v8)；Setting first medium plate (v1), two long limit is respectively the first limit
And second limit, two minor face is respectively the 3rd limit and the 4th limit；
Described Microstrip Disk (v8) is provided with feed groove (v81) near the side on the first limit, is provided with character cut in bas-relief in feed groove (v81)
The circle arm (v82) of shape, circle arm (v82) is connected with interior the inside of feed groove (v81), and interior the inside of feed groove (v81) is also
Extend and have multiple T-bar (V83)；Described first medium plate (v1) also includes feed tab (v5), described feed tab (v5) with
It is connected by fed microstrip arm (v7) between circle arm (v82)；
The described Microstrip Disk (v8) side near the second limit, the side near the 3rd limit and the side away from the 3rd limit are all provided with
Fluted formula radiating element；Each described groove type radiating element includes rectangular radiation breach, from the two of rectangular radiation breach
The bracer (v85) that individual side extends to centre, the cross bar (v86) that each bracer (v85) is extended to centre；Groove type
Radiating element also includes first radiation arm (v88) of concave shape and second radiation arm (v89) of rectangle, described second radiation
Arm (v89) is positioned at the indentation, there of the first radiation arm (v88)；Described first radiation arm (v88) and the second radiation arm (v89) respectively with
Corresponding cross bar (v86) is connected by feeder pillar (v87)；Interior the inside of rectangular radiation breach extends to Microstrip Disk (v8) center
The convex having convex shape caves in (v9), and interior the inside of described convex depression (v9) is extended with circular recessed to Microstrip Disk (v8) center
Fall into (v91).
One the most according to claim 2 can positioning intelligent electric power networks crusing robot, it is characterised in that: described micro-strip
Disk (v8) center is provided with triangle aperture (v84), angular alignment second limit of described triangle aperture (v84), and other two
Individual angle is respectively aligned to the 3rd limit and the 4th limit.
One the most according to claim 2 can positioning intelligent electric power networks crusing robot, it is characterised in that: the first annulus
(v21) radius is 2 times of the second annulus (v22) radius.
One the most according to claim 2 can positioning intelligent electric power networks crusing robot, it is characterised in that: described feed
The width of micro-strip arm (v7) is N, and the width of feed groove (v81) is K, and the quantity of T-bar (V83) is C, then K=20C*N.
One the most according to claim 2 can positioning intelligent electric power networks crusing robot, it is characterised in that: described T-shaped
The quantity of bar (V83) is 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610637674.1A CN106229616A (en) | 2016-08-06 | 2016-08-06 | Can positioning intelligent electric power networks crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610637674.1A CN106229616A (en) | 2016-08-06 | 2016-08-06 | Can positioning intelligent electric power networks crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106229616A true CN106229616A (en) | 2016-12-14 |
Family
ID=57547897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610637674.1A Withdrawn CN106229616A (en) | 2016-08-06 | 2016-08-06 | Can positioning intelligent electric power networks crusing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106229616A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018014575A1 (en) * | 2016-07-21 | 2018-01-25 | 覃梅花 | Computer management system for multifunctional intelligent community management |
| WO2018014577A1 (en) * | 2016-07-21 | 2018-01-25 | 覃梅花 | Neighborhood management computer management system |
| CN113084824A (en) * | 2021-03-09 | 2021-07-09 | 丁晓 | Intelligent inspection robot for power failure of power grid |
-
2016
- 2016-08-06 CN CN201610637674.1A patent/CN106229616A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018014575A1 (en) * | 2016-07-21 | 2018-01-25 | 覃梅花 | Computer management system for multifunctional intelligent community management |
| WO2018014577A1 (en) * | 2016-07-21 | 2018-01-25 | 覃梅花 | Neighborhood management computer management system |
| CN113084824A (en) * | 2021-03-09 | 2021-07-09 | 丁晓 | Intelligent inspection robot for power failure of power grid |
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Application publication date: 20161214 |