CN106444588A - Inspection system and inspection method of valve hall robot based on video monitoring linkage system - Google Patents

Inspection system and inspection method of valve hall robot based on video monitoring linkage system Download PDF

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Publication number
CN106444588A
CN106444588A CN201611084436.9A CN201611084436A CN106444588A CN 106444588 A CN106444588 A CN 106444588A CN 201611084436 A CN201611084436 A CN 201611084436A CN 106444588 A CN106444588 A CN 106444588A
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CN
China
Prior art keywords
robot
linkage
equipment
video
inspection
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Application number
CN201611084436.9A
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Chinese (zh)
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CN106444588B (en
Inventor
张辉
苏煜
白桢
李小刚
李小军
马新宇
王瑜娟
韦征
李红霞
刘红苗
魏庆
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MAINTENANCE Co OF STATE GRID SHAANXI ELECTRIC POWER Co
State Grid Corp of China SGCC
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MAINTENANCE Co OF STATE GRID SHAANXI ELECTRIC POWER Co
State Grid Corp of China SGCC
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Publication of CN106444588A publication Critical patent/CN106444588A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/048Monitoring; Safety

Abstract

The invention provides an inspection system and an inspection method of a valve hall robot based on a video monitoring linkage system. The inspection system comprises a linkage analysis control host, a communication server and an auxiliary fixed point monitoring subsystem; an inspection robot comprises a robot terminal system; the robot terminal system comprised a track; a moving mechanism, a motion driving mechanism and a detection mechanism are arranged on the track; the inspection system and the inspection method have the advantage that real-time unmanned detection requirement of valve hall equipment is met; by coordinating inspection of the robot with a fixed point camera, the problems that the monitoring range is limited and the geographic position of substation equipment is not convenient for arrangement of monitoring points are solved; the problems that the abnormality cannot be autonomously identified as well as intelligent linkage security and protection, firefighting and online equipment management system are solved; fires are monitored by using a mixing mode of a visible light video and a thermal infrared imager, so the fires can be reduced; according to the inspection system and the inspection method provided by the invention, by adopting double detection of the visible light video and an infrared thermal video, the false alarm rate of fire alarms is reduced, and the processing efficiency of the fire alarms is improved.

Description

Valve Room robot inspection system and method for inspecting based on video monitor linkage system
【Technical field】
The invention belongs to intelligent power transmission and transformation field, the valve Room robot inspection system being related to based on video monitor linkage system And method for inspecting.
【Background technology】
The valve Room is current conversion station important component part, it is ensured that in the valve Room, the normally operation of equipment is most important.Valve Room equipment is such as On the one hand valve tower needs enough reliabilities, is on the other hand also required in time detection to find and overhaul there is potential risk Equipment, it is ensured that current conversion station system is normally run.The real-time detection of valve Room equipment has important meaning to ensureing its reliable and secure operation Justice.Real-time detection easily and flexibly can be carried out using track machine people to equipment in the valve Room, understand the running status of equipment.
In the valve Room, capital equipment is valve tower, and valve tower divides row hierarchal arrangement, according to the different total height differences per string of specification. The converter valve of valve tower is topmost heater members, needs to carry out real-time monitoring to the temperature of per layer of converter valve.Except temperature monitoring Outward, in addition it is also necessary to which equipment appearance, breakage, noise and instrumented data are monitored.
Main electric power equipment in the valve Room, including:Converter valve, tube type bus, spark gap, earthing, DC current mutual inductance Many equipment such as device, DC voltage divider, wherein converter valve are the nucleus equipments of DC transmission engineering, by successively by three-phase Alternating voltage is connected to DC terminal and obtains the control of desired DC voltage and realization to power.
Mobile robot currently used for facility information in the detection valve Room has the drawback that:
1st, converter valve by successively by three-phase alternating voltage be connected to DC terminal obtain desired DC voltage and realize right The control of power, operationally produces substantial amounts of electromagnetic interference, causes for there is strong electromagnetic in the valve Room, existing movement Robot cannot complete the job requirement for setting, and operating accuracy is low;
2nd, on communication modes, the generally wireless telecommunications of existing mobile robot can not meet can be steady in the valve Room The fixed requirement for reliably transmitting data;
3rd, the space in the valve Room is relatively narrow and small, in addition, the equipment in the valve Room is general in maintenance requiring just enter for 1 year Once, this requires that the robot in the valve Room is needed to have using flexible, safe feature, and existing robot can not meet The needs in the valve Room;
4th, by valve tower and other monitored equipment placement constraint, detection function omnibearing to equipment to be realized, needs machine Device people can be in movement in vertical direction.Existing Conventional drum drives or crawler type type of drive is realized needing during movement in vertical direction Self gravitation to be overcome, needs larger frictional force and is relatively difficult to, and because valve Room closing space cannot change battery at any time, no Method is using the power supply mode for carrying battery.
In addition, detection of the video monitor linkage system in current transformer substation to equipment state, only resides within to equipment Outward appearance, device physical status are (for example:The division state of disconnecting link) detection, equipment operation when temperature, instrument the number of degrees mostly Be by the tour personnel of transformer station carried out by hand-held thermal infrared imager and visible light camera device temperature collection and The reading of instrument, while can send sound during equipment operation work, often sends sound and is just different from when equipment operation irregularity The sound for sending when often working, this work is also to be listened to by manual type, then according to manual analyses are carried out, finally draws Unit exception result, then unit exception record and triggering unit exception alarm is carried out, realized to equipment by manual type Detect and complete some unit exception combined operations, all than relatively low, real-time and accuracy are unfavorable for that unit exception finds and different Normal solution.
Fire detection is in the topmost detection of transformer station's fire-fighting system now, and the method for detection is roughly the same, and China is special Propose in the open intelligent substation fire-fighting tele-control system of sharp Application No. 201320181625.3 using in transformer station's peace Multiple hygrosensors are filled, when there is fire, the temperature value of hygrosensor constantly will rise, and more than alarming threshold value, just recognize For being fire occur, then linkage video system transmission abnormality live video data to remote monitoring end by distal end monitoring personnel It is confirmed whether fire by video data, the alarm of fire-fighting system is then triggered, carries out fire attack work.The patent Come with some shortcomings part, and first, temperature sensor needs deployment to reach certain amount, and deployment has been lacked and effectively can not have been supervised Control, has disposed and has necessarily led to cost raising.Secondly, there is fire in too high being also not necessarily of temperature, then passes through video messenger Work confirmation, inevitable labor intensive and energy.Again, once there is fire transmission of video there is certain network delay, impact fire Feelings are implemented to grasp.Finally, the confirmation of fire, analysis and the linkage that puts out a fire to save life and property of fire are all completed by manually, it is clear that Work efficiency is than relatively low.
In a word, the shortcoming that existing technology is present is as follows:
1st, existing video monitoring and linked system can only monitor a certain panel region, and monitored area has limitation, it is impossible to Realize the seamless monitoring of whole station.
2nd, the detection of existing video monitoring and linked system to equipment state, only resides within to equipment appearance, equipment The detection of physical state, the detection such as temperature when equipment is run, meter reading and sound abnormality detection be mostly by people Work participates in detection, and real-time and accuracy are all than relatively low;
3rd, the detection of existing video monitoring and linked system to transformer station's fire-fighting system, the real-time of detection and accuracy All not high, manually participate in more, work efficiency is low and needs to dispose a considerable amount of temperature sensors.
Therefore, a kind of current conversion station based on video monitor linkage system of the problem that can solve the problem that prior art presence is needed badly Valve Room intelligent inspection robot.
【Content of the invention】
It is an object of the invention to overcoming prior art defect, a kind of valve Room machine based on video monitor linkage system is provided Device people cruising inspection system and method for inspecting, by the tour of robot and the cooperation of fixing point video camera, solve monitoring model It is with the problem that limit, converting equipment geographical position are not easy to arrange control point;Solving cannot autonomous classification exception and intelligent linkage The problem of security protection, fire-fighting and on-line equipment management system;Fire is monitored using visible light video and thermal infrared imager hybrid mode, Reduce fire wrong report.
The present invention is to be achieved through the following technical solutions:
Based on the valve Room robot inspection system of video monitor linkage system, including linkage analysis control main frame, for connecing Receive the video data of the collection of the video monitoring equipment on crusing robot and Data Analysis Services are carried out, after analyzing and processing The video equipment of the video equipment in Data Control robot or auxiliary fixing point watchdog subsystem carries out the dynamic of dependent instruction Make;
The communication server, the unusual condition for analyzing linkage analysis control main frame is sent to external system and is joined Dynamic;It is otherwise responsible for the linkage request of external system is received, forwards a request to linkage analysis control main frame and make corresponding linkage;
Auxiliary fixing point watchdog subsystem, for the search of fixing point, video data and sound data acquisition and head Control, coordinates linkage analysis control main frame to complete to monitor linkage work;
The crusing robot includes robot terminal system, and the robot terminal system includes track, the track On motion, motion driving mechanism and testing agency are installed, be additionally provided with screening arrangement, machine in the robot terminal system The input of the power-supply system of device people's terminal system is provided with filtration module, lightning-protection module and over-voltage over-current protection module, described Robot terminal system is powered communication using towing cable mode, or is powered powering up power carrier system using trolley mode Communicated with tele-control system, tele-control system controls motion to move along track by motion driving mechanism, fortune Motivation structure moves up and down the operation conditions of equipment in the monitoring valve Room then by driving testing agency;
The testing agency includes the first control chamber;First control chamber realize the Control on Communication to detection components and head and Power supply;
Testing equipment controller, video server, the first switch, the first power carrier are installed in first control chamber Modem, the first power module, wherein, the video server respectively with detection components in infrared video camera and optics Video camera communicates, and first switch communicated with the video server, first switch and the testing equipment control Device communication processed, the testing equipment controller is communicated with head, thermal infrared imager and optical camera respectively;First power module Power for each electrical equipment of first control chamber.
Further, the above-mentioned valve Room robot inspection system based on video monitor linkage system also includes radio communication mold Block, the wireless communication module is used for the communication of linkage analysis control main frame and robot.
Further, the above-mentioned valve Room robot inspection system based on video monitor linkage system, also includes data storage Server, the data storage server is used for storing video data and voice data.
Further, the unusual condition that the linkage analysis control main frame is analyzed includes:It is found that mobile object is swarmed into, sent out Existing fire, equipment thermal defect, equipment state exception, external system includes:Safety-protection system, fire-fighting system, PMIS are project management Information system and integrated information platform.
According to the method for the above-mentioned valve Room robot inspection system based on video monitor linkage system, following step is specifically included Suddenly:
Step one:Crusing robot complete charge, leaves accumulator plant, starts tour task, according to tour set in advance Route or detection route, make an inspection tour in transformer station all online equipments in each region or detection transformer station, when patrolling and examining whole station Online equipment situation constantly, proceed to step 2;When the situation of inspecting fire-extinguishing system, step 3 is proceeded to;When patrolling and examining security protection During the situation of system, step 4 is proceeded to;
Step 2:Crusing robot by detect route on equipment test point data transfer to linkage analysis control main frame, Linkage analysis control main frame intellectual analysis equipment operation condition, when there is unusual condition in itself in discovering device, linkage analysis control The information of warping apparatus is sent to auxiliary fixing point watchdog subsystem by main frame processed, and auxiliary fixing point watchdog subsystem coordinates linkage Analysis and Control main frame completes to monitor linkage work until problem is eliminated extremely;
Step 3:Crusing robot will be maked an inspection tour video in real time and be sent to linkage analysis control main frame, and linkage analysis control Main frame carries out intellectual analysis in real time, and when there is point of origin battery limits, crusing robot movement is tracked continuing to monitor, while sending out The position for sending instruction and mobile object to be located is to auxiliary fixing point watchdog subsystem;
Step 4:Crusing robot will be maked an inspection tour video in real time and be sent to linkage analysis control main frame, and linkage analysis control Whether there is mobile object to swarm in the real-time analysis video of main frame, swarm into when linkage analysis control main frame has analyzed mobile object When, auxiliary fixing point watchdog subsystem coordinates linkage analysis control main frame to send discovery mobile object linkage to safety-protection system please Ask, safety-protection system carries out Inner link work after receiving linkage request.
Further, in the step 2, in crusing robot detection transformer station during all online equipments, specifically hold Row step be:
(2-1):Crusing robot reaches the equipment test point on detection route, carries out equipment to the equipment around test point Visible ray picture and Infrared Thermography Data collection, the recording of equipment operation sound, by the picture for collecting, voice data and in real time Video data is patrolled and examined data and is transferred to linkage analysis control main frame by wireless communication module;Robot motion is on detection route Next test point, repeats above-mentioned equipment routing inspection data collection task, until all of test point has been detected on detection route Finish;
(2-2):Linkage analysis control main frame is received after patrolling and examining data, equipment operation condition in intellectual analysis picture, specifically For analyzing the division of disconnecting link and switch, device temperature, equipment with the presence or absence of hanger, operating sound with the presence or absence of abnormal, when sending out There is unusual condition in existing equipment, linkage analysis control main frame by the position of warping apparatus and continues testing equipment request transmission in itself To auxiliary fixing point watchdog subsystem, data to data storage server is patrolled and examined in storage;
(2-3):The fixing point that can observe the equipment around the watchdog subsystem search of auxiliary fixing point, after searching, Fixing point is allowed to patrol and examine data once to warping apparatus collection at set intervals, otherwise, after robot is maked an inspection tour and finished, to this The all warping apparatus for finding in tour, allow robot patrol and examine number to warping apparatus collection at set intervals every the set time Linkage analysis control main frame is issued according to data once, will be patrolled and examined;
(2-4):Linkage analysis control main frame according in advance with on-line equipment management system agreement equipment operation condition request, Equipment operation condition request is sent to on-line equipment management system by the communication server;
(2-5):After on-line equipment management system receives linkage request, the operation shape of on-line equipment management system display device Condition, while produce different type of alarms according to unit exception situation.
In crusing robot detection transformer station during all online equipments, it is preferred that step (2-5), online equipment After management system receives linkage request, the operation conditions of on-line equipment management system display device, while according to unit exception feelings Condition produces different type of alarms, while online management system is sent by the communication server checks linkage request to linkage analysis Control main frame, allows robot reach designated equipment position and equipment state is checked.
Further, in the step 3, when the situation of inspecting fire-extinguishing system, the step of execution it is specifically:
(3-1):During tour, crusing robot will be maked an inspection tour video in real time and be sent to connection by wireless communication module Dynamic analysis and Control main frame, with the presence or absence of flame and infrared thermal imagery in linkage analysis control main frame real-time intelligent analysis visible light video Whether the dsc data temperature of instrument exceedes fire alarm threshold temperature;While linkage analysis control main frame judges when meeting above-mentioned two condition There is point of origin in the region;
(3-2):There is point of origin when linkage analysis control main frame analyzes equipment region, control crusing robot movement is carried out Tracking is continued to monitor, while sending the position at instruction and mobile object place to auxiliary fixing point watchdog subsystem;
(3-3):After auxiliary fixing point watchdog subsystem receives order and after moving object position information, search point of origin is attached Near fixing point monitoring camera is monitored;
(3-4):Linkage analysis control main frame according in advance with fire-fighting system arrange fire alarm linkage request, by communication service Device sends fire alarm linkage request to fire-fighting system;
(3-5):After fire-fighting system receives linkage request, audible alarm, alarm condition is carried out in fire-fighting system and is changed A series of Inner link work;
(3-6):After object to be moved is eliminated, crusing robot returns to and proceeds on original patrol route to make an inspection tour work Make, when finding that mobile object occurs, repeat step (3-1) to step (3-5) until complete patrols and examines patrolling for all regions on route Depending on.
Further, in the step 4, when the situation of safety-protection system is patrolled and examined, the step of execution it is specifically:
(4-1):During tour, crusing robot will be maked an inspection tour video in real time and be sent to connection by wireless communication module Whether dynamic analysis and Control main frame, have mobile object to swarm in the real-time analysis video of linkage analysis control main frame;
(4-2):Swarm into when linkage analysis control main frame has analyzed mobile object, control crusing robot movement carry out with Track is monitored, while sending the position at instruction and mobile object place to auxiliary fixing point watchdog subsystem;
(4-3):After auxiliary fixing point watchdog subsystem receives order and after moving object position information, mobile object is searched for Neighbouring fixing point monitoring camera is monitored;
(4-4):Linkage analysis control main frame passes through according to arranging to find mobile object linkage request with safety-protection system in advance The communication server sends to safety-protection system and finds mobile object linkage request;
(4-5):After safety-protection system receives linkage request, audible alarm, alarm condition change etc. is carried out in safety-protection system A series of Inner link work;
(4-6):After object to be moved is eliminated, crusing robot returns to and proceeds on original patrol route to make an inspection tour work Make, when finding that mobile object occurs repeat step (4-1) to step (4-5), until complete to patrol and examine all regions on route Make an inspection tour, accumulator plant is returned to, is charged.
The motion includes synchronous pulley component and Timing Belt, the synchronous pulley component include synchronous wheeled box and Synchronous pulley, the track is upper and lower ends of profiled rail, the synchronous wheeled box installed in profiled rail, the Timing Belt Wheel is inside synchronous wheeled box, and the Timing Belt is tightly wrapped on synchronous pulley.
Tele-control system includes the second optical-electrical converter and host computer, and signal of communication is carried out light by the second optical-electrical converter Electricity conversion, realizes the communication of tele-control system and robot terminal system.
The motion driving mechanism includes AC servo motor and decelerator, the AC servo motor by decelerator with Synchronous pulley is installed together;The decelerator is fixed on by flange assembly on the synchronous wheeled box of profiled rail bottom.
First control chamber is on slide, and the slide is connected with Timing Belt, and the slide passes through sliding contact Mode on the profiled rail, the Timing Belt drives the slide to move up and down along profiled rail, first control On case, head is installed, so the first control chamber also functions to the effect of support;Detection components are installed on the head.
The detection components include thermal infrared imager and optical camera.
The detection components include at least one smoke alarm module, and the smoke alarm module number is one When, installed in head module top, when smoke alarm module number is multiple, installed in surrounding and the top of head module Portion.
The robot terminal system also includes to install the second control chamber near in rail, second control chamber and the One control chamber communicates, and provides power supply for the first control chamber, and the signal transmission that the first control chamber is detected is to remotely control system System;Second control chamber also plays control action to the motion of AC servo motor.
The bottom of the profiled rail is equipped with Zero-point switch, used as the initial point of robot operation.Each in crusing robot Before upper electricity, the first Aligning control automatically of robot, then execute the patrol task of distribution.
Second control chamber realizes power supply and the communication relay to whole robot system terminal, and AC servo electricity The motion control function of machine, and communications control signal is realized the conversion of photosignal, to realize telecommunication.
The robot terminal system also includes position-limit mechanism, and the position-limit mechanism includes limit switch, described spacing opens Close installed in the two ends of profiled rail, the rear surface of the control chamber for contacting with profiled rail is equipped with limit switch block, institute Limit switch block is stated with limit switch with the use of the collision for preventing abnormal power-down from being brought.
The encoder of the AC servo motor is connected with servo-driver, controls the cunning on track by several pulse modes Seat drives detection components to reach specified location and is detected.
The AC servo motor carries electromagnetic brake, can realize braking in the event of a power failure.
The Timing Belt is mounted in the groove of profiled rail with synchronous pulley cooperation.
The inside of first control chamber and the second control chamber is provided with the electromagnetic shield module box for placing controller.
The electromagnetic shield module box includes box body and shielding cover board, and the shielding cover board is arranged on box body, the screen Metallic plate, flexible liner and tinsel that cover plate includes that ecto-entad is sequentially overlapped is covered, the tray interior is cavity, box body Inner arm is provided with step;Installing hole is had on the shielding cover board, step is provided with out screwed hole, standard fasteners passes through installing hole With screwed hole, box body and shielding cover board are fixedly connected.
Dust control by ventilation electromagnetic shielding window is provided with the casing of second control chamber.
The dust control by ventilation electromagnetic shielding window, the dust control by ventilation electromagnetic shielding window includes frame, and the frame includes One frame and the second frame, are equipped with ring-shaped step on first frame and the second frame, the first frame and the second frame it Between ventilated plates and Air Filter are sequentially provided with by step, be further opened with second frame annular rectangular channel, rectangle Groove is embedded in conductive rubber strip.
The casing of second control chamber is grounded by safety ground post.
The safety ground post, including grounding screw, the mid portion mounting flange of the grounding screw, two end portions Screw thread is, wherein one end of the grounding screw is equipped with the centre bore for reaming jumping-up, and the other end is processed into oval type or D Type;The one end for centre bore being equipped with the grounding screw screws in hex nut one, plain washer one and handss nutting successively.
The robot terminal system also includes developing Of Remote Control Power system, the input of the developing Of Remote Control Power system It is provided with filtration module, lightning-protection module machine over-voltage over-current protection module.
The robot terminal system is powered communication using towing cable mode, or adopts wiping according to different requirements Line mode is powered power-up power carrier system and is communicated.
When robot is using drag chain mode powered communication, testing equipment controller is installed in first control chamber, is regarded Frequency server, the first switch and the first power module;Wherein, the video server is taken the photograph with infrared video camera and optics respectively Camera communicates, and first switch is communicated with the video server, and first switch is controlled with the testing equipment Device communicates, and the testing equipment controller is communicated with head, thermal infrared imager and optical camera respectively;First power module is Each electrical equipment of first control chamber is powered.
Install in second control chamber motion controller of AC servo motor, servo-driver, second source module, Second switch and the first optical-electrical converter, the optical-electrical converter is communicated with second switch, the second switch and fortune Movement controller communicates, and the motion controller communicated with servo-driver, first optical-electrical converter and tele-control system Communication, the motion controller communicated with Zero-point switch and first, second limit switch, the servo-driver and AC servo Its communications, the second source module is to each electricity consumption module for power supply of second control chamber, and carries for the first control chamber Power supply source.
When system is using drag chain power supply mode, first control chamber is powered and the respectively independent cable that communicates, and supplies Electric wire cable is drawn from the second control chamber;The communications cable is then connected with the switch in the second control chamber;Pacify on the profiled rail Dress drag chain plate washer and drag chain, the drag chain baffle plate is fixed on profiled rail by drag chain baffle plate installed part, the power cable It is mounted in drag chain with the communications cable, drag chain is played a protective role to cable.
When robot is powered using trolley mode, and when being communicated using power carrier mode,
Install in second control chamber motion controller of AC servo motor, servo-driver, second source module, Second switch, the first optical-electrical converter and the second power carrier modem, the optical-electrical converter and second switch Communication, the second switch is communicated with motion controller, and the controller is communicated with servo-driver, the optical-electrical converter Communicate with tele-control system, the motion controller is communicated with Zero-point switch and first, second limit switch, the servo is driven Dynamic device is communicated with AC servo motor, and the second source module gives each electricity consumption module for power supply, and powers for the first control chamber;
One end of first power carrier modem is connected with the first switch, the first power carrier modulation The other end of demodulator is connected with one end of the second power carrier modem, second power carrier modem Other end be connected with second switch.
When system is using slide wire power supply mode, the communication mode adopted by the control of testing agency is power carrier side Formula;On first control chamber, current collector is installed by current collector fixed plate, on the profiled rail, trolley fixed seat is installed, The trolley is in trolley fixed seat.Two contacts and the wiping linear contact lay of the current collector.The current collector The two poles of the earth are connected to the two ends of the first power carrier modem of the first control chamber, and the two poles of the earth of the current collector are also coupled to the first control First power module two ends of case processed.
The two poles of the earth of the trolley are connected on the power carrier modem in the second control chamber, and the two of the trolley Pole is also coupled to the second source module two ends of the second control chamber.
The trolley is made up of copper conductor and insulating sheath, and sleeve-shaped made by copper conductor, have on the current collector with The same wire of trolley radical is connected with the wire sliding contact of trolley.
First optical-electrical converter of second control chamber, all of image and Video Detection signal and control signal are turned Chemical conversion optical signal, is transferred signals in tele-control system by optical fiber, and the detection content so as to realize to whole system is entered Row is processed and carries out remote control operation to detection and kinestate.
The drag chain baffle plate is L-type aluminium section bar, and the L-type aluminium section bar constitutes guide groove with profiled rail, realizes to drag chain The fixing and guiding to drag chain.
Valve Room robot inspection system and method for inspecting of the present invention based on video monitor linkage system, it have meet valve The Room equipment advantage that unmanned detection is required in real time, the present invention utilizes motor-driven, the flexible feature of crusing robot, and it is right to possess in system Patrolling and examining data carries out the server of intellectual analysis, and efficient analysis video data, by tour and the fixing point shooting of robot The cooperation of machine, solves the problems, such as that monitoring range is limited, converting equipment geographical position is not easy to arrange control point;Solve no The abnormal and intelligent linkage security protection of method autonomous classification, the asking of fire-fighting and on-line equipment management system (PMIS and integrated information platform) Topic;Fire is monitored using visible light video and thermal infrared imager hybrid mode, reduce the fiery present invention using visible light video and red The double check of exterior-heat video, reduces the rate of false alarm of fire alarm, improves fire alarm treatment effeciency.
Beneficial effects of the present invention:
1. the present invention can add PLC technology or drag chain towing cable two ways to realize power supply and communicate using trolley, Overcome using because in the valve Room, complex electromagnetic environment is to the interference that causes of communication during radio communication, and transmission bandwidth is bigger, can realize Video and the transmitting of control signal, compact conformation.
2. the present invention adopts wired power taking so that autonomous monitoring time is not limited by battery capacity, and detection time is more flexible, Achievable long-time continuously patrols and examines work.
3. the detection components of the present invention according to actually used demand can arrange in pairs or groups visible ray, infrared and ultraviolet detector, Pick up, gas detector, electromagnetic field intensity detector etc., the different detections that conveniently realizes in the valve Room are required.
4. the present invention can also have vertical direction movement to patrol and examine the occasion of demand used in all interiors, to replace people to work Industry, range is up to tens meters.
5. the present invention expands the monitoring range of transformer substation security, by effectively using the tour of robot, security protection is supervised Control scope covers whole station.
6. the present invention improves the detection efficiency of equipment deficiency, by mobile crusing robot and intelligent analysis master Machine, perfect joint-action mechanism, discovery from equipment deficiency, confirm with the intelligentized linkage of on-line equipment management without the need for manually join With, realize video monitoring linkage autonomy-oriented and automatization.
Further, the track of the present invention is using profiled rail and the drive system of transmission, profile structure intensity height, rigidity Greatly, operate steadily reliability.And material is readily available, system building can be faster realized.Using synchronous belt drive system motion High precision, can meet Any Fixed Point detection demand.By continued access, it is possible to achieve big stroke detection is required.
Further, the AC servo motor in the present invention carries brake, when power is off can reliably locked braking.
Further, first control chamber of the present invention can be moved with slide as support case, Remote Control System Flexibly.
Further, when the present invention is powered using drag chain towing cable mode, the drag chain baffle plate for being adopted is L-type aluminium section bar, not only Large scale installation can be realized, and material is obtained conveniently.L-type aluminium section bar constitutes guide groove with track, both can realize to drag chain Fixing, the guiding to drag chain can be realized again.
【Description of the drawings】
System contour structures schematic diagram when Fig. 1 is powered using slip for rail polling robot terminal;
Fig. 2 adopts the system contour structures schematic diagram of drag chain power supply mode for rail polling robot terminal;
Fig. 3 is rail polling robot terminal slip electric power-feeding structure schematic diagram;
Fig. 4 is drag chain plate and track installation corner fittings assembling schematic diagram;
Fig. 5 is the adoptable section form example of rail polling robot profiled rail;
Fig. 6 is installation structure of track part appearance schematic diagram;
Fig. 7 is drag chain plate schematic cross-section;
Fig. 8 is the control structure figure using robot terminal system during drag chain power supply mode;
Fig. 9 is shroud module Standard figure;
Figure 10 is box body structure figure;
Figure 11 is grounded schematic diagram for safety ground post;
Figure 12 is dust control by ventilation electromagnetic shielding window structural representation;
Figure 13 video monitor linkage system structure chart;
The structure chart of Figure 14 linkage analysis control main frame;
Figure 15 aids in fixing point watchdog subsystem structure chart;
The flow chart that Figure 16 video monitoring system is linked with safety-protection system;
The flow chart of Figure 17 video monitoring system and on-line equipment management system;
The flow chart of Figure 18 video monitoring system and the linkage of fire-fighting system.
In figure, 101, linkage analysis control main frame, 102, data storage server, 103, the communication server, 104, patrol and examine Robot, 105, wireless communication module, 106, auxiliary fixing point watchdog subsystem, 201, analysis module, 202, control module, 301st, fixing point searches plain module, 302, video data and sound data acquisition module, and 303, cradle head control module.
Wherein, 1 first synchronous pulley component, 2 first limit switches, 3 installation structure of track parts, 4 trolleys, 5 slides, 6 Current collector, 7 trolley fixed seats, 8 flange assemblies, 9 AC servo motors, 10 decelerators, 11 Zero-point switches, 12 first controls Case, 13 heads, 14 detection components, 15 profiled rails, 16 Timing Belts, 17 drag chains, 18 drag chain baffle plates, 19 limit switch blocks, 20 Current collector fixed plate, 21 drag chain baffle plate installed parts, 22 first notches, 23 second notches, 24 the 3rd notches, 25 the 4th notches, 26 5th notch, 27 second limit switches, 28 second synchronous pulley components, 29 second control chambers, 30 host computers, 31 first photoelectricity turn Parallel operation, 32 second optical-electrical converters, 33 first switches, 34 second switch, 35 second source modules, 36 motion controllers, 37 servo-drivers, 38 video servers, 39 thermal infrared imagers, 40 optical camera, 41 tele-control systems, 42 robot ends End system, 43 optical fiber, 44 testing equipment controllers, 45 first power modules;
12-1 is shielding cover board, and it is standard fasteners that 12-2 is box body, 12-3, and it is box body that 12-4 is connector, 12-2-1 Outer wall, it is step that 12-2-2 is screwed hole, 12-2-3, and 12-2-4 is installing hole;
29-1-1, hex nut one, 29-1-2, hex nut two, 29-1-3, hex nut three, 29-2-1, plain washer One, 29-2-2, plain washer two, 29-2-3, plain washer three, 29-3, grounding screw, 29-4, wing nut, 29-5. cabinet hole, 29-6, cabinet arm;
2-1-1, the first frame, 2-1-2, the second frame, 2-2, cellular ventilated plates, 2-3, Air Filter, 2-4, lead Electric rubber strip.
【Specific embodiment】
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings, but not as the limit to the present invention Fixed.
As shown in figure 1, the converter station valve hall intelligent inspection robot system based on video monitor linkage system, mainly includes The communication server 103, inspection machine that linkage analysis control main frame 101, data storage server 102 are interacted with external system People 104, the wireless communication module 105 of responsible linkage analysis control main frame and crusing robot communication and auxiliary fixing point monitor son System 106,
Crusing robot includes robot terminal system 42, and the robot terminal system 42 is led to tele-control system 41 Letter, the robot terminal system 42 includes profiled rail 15, and the profiled rail 15 is vertically installed on the wall of the valve Room, described Motion, motion driving mechanism and testing agency are installed on profiled rail 15.
The motion includes the first synchronous pulley component 1, the second synchronous pulley component 28 and Timing Belt 16, described same Step pulley assemblies include synchronous wheeled box and synchronous pulley, and the synchronous wheeled box is arranged on the upper and lower ends of profiled rail 15, The synchronous pulley is inside synchronous wheeled box, and the Timing Belt 16 is tightly wrapped on synchronous pulley;
The motion driving mechanism drives testing agency to move up and down, and the motion driving mechanism includes AC servo motor 9 and decelerator 10, the AC servo motor 9 is installed together by decelerator 10 and synchronous pulley;The decelerator 10 leads to Cross flange assembly 8 to be fixed on the second synchronous wheeled box of 15 bottom of profiled rail;
The testing agency includes the first control chamber 12;First control chamber 12 is realized to the logical of detection components 14 and head 13 Letter control and power supply;First control chamber 12 is on slide 5, and the slide 5 is connected with Timing Belt 16, the slide 5 By sliding contact on profiled rail 15, the Timing Belt 16 drives the slide 5 to move up and down along profiled rail 15, On first control chamber 12, head 13 is installed, so the first control chamber 12 also functions to the effect of support;Pacify on the head 13 Dress detection components 14;Detection components 14 are made up of thermal infrared imager 39, optical camera 40 etc..
The robot terminal system 42 also includes to install the second control chamber 29 near in rail, second control chamber 29 are communicated with the first control chamber 12, and the signal transmission that the first control chamber 12 is detected is to tele-control system 41;Described second Control chamber 29 also acts as the motor control to track motion drive component and acts on;
The robot terminal system 42 is powered communication according to different requirements using towing cable mode, or using cunning Tactile line mode is powered power-up power carrier system and is communicated.
When robot is using drag chain mode powered communication,
Testing equipment controller 44, video server 38, the first switch 33, first are installed in first control chamber 12 45 grade equipment of power module;Wherein, the video server 38 is communicated with infrared video camera 39 and optical camera 40 respectively, institute State the first switch 33 to communicate with the video server 38, first switch 33 is logical with the testing equipment controller 44 Letter, the testing equipment controller 44 is communicated with head 13, thermal infrared imager 39 and optical camera 40 respectively;First power supply mould Block 45 is powered for each electrical equipment.
Motion controller 36,37, second electricity of servo-driver of AC servo motor 9 are installed in second control chamber 29 Source module 35, second switch 34 and the first optical-electrical converter 31, second optical-electrical converter 31 is led to second switch 34 Letter, the second switch 34 is communicated with motion controller 36, and the motion controller 36 is communicated with servo-driver 37, described First optical-electrical converter 31 is communicated with tele-control system 41, and the motion controller 36 is spacing with Zero-point switch 11, first to be opened Pass 2 and the second limit switch 27 communicate, and the servo-driver 37 is communicated with AC servo motor 9, the second source module 35 give each electricity consumption module for power supply.
When robot is powered using trolley mode, and when being communicated using power carrier mode,
Testing equipment controller 44, video server 38, the first switch 33, first are installed in first control chamber 12 Power carrier modem, the first power module 45, wherein, the video server 38 respectively with detection components 8 in red Outer video camera 39 and optical camera 40 communicate, and first switch 33 is communicated with the video server 38, and described first Switch 33 is communicated with the testing equipment controller 44, the testing equipment controller 44 respectively with head 13, infrared thermal imagery Instrument 39 and optical camera 40 communicate;First power module 45 is powered for each electrical equipment.
Motion controller 36,37, second electricity of servo-driver of AC servo motor 9 are installed in second control chamber 29 Source module 35, second switch 34, the first optical-electrical converter 31 and the second power carrier modem, first photoelectricity turns Parallel operation 31 is communicated with second switch 34, and the second switch 34 is communicated with motion controller 36, the motion controller 36 Communicate with servo-driver 37, first optical-electrical converter 31 is communicated with tele-control system 41, the motion controller 36 Communicate with Zero-point switch 11, the first limit switch 2 and the second limit switch 27, the servo-driver 37 and AC servo motor 9 communications, the second source module 35 gives each electricity consumption module for power supply;
One end of first power carrier modem is connected with the first switch 33, and first power carrier is adjusted The other end of modulator-demodulator is connected with one end of the second power carrier modem, the second power carrier modulation /demodulation The other end of device is connected with second switch 34.
When system is using slide wire power supply mode, the communication mode adopted by the control of testing agency is power carrier side Formula;On first control chamber 12, current collector 6 is installed by current collector fixed plate 20, trolley is installed on the profiled rail 15 Fixed seat 7, the trolley 4 is in trolley fixed seat 7.Two contacts of the current collector 6 are contacted with trolley 4. The two poles of the earth of the current collector 6 are connected to the two ends of the first power carrier modem of the first control chamber 12, the current collector 6 The two poles of the earth are also coupled to 45 two ends of the first power module of the first control chamber 12.The two poles of the earth of the trolley 4 are connected to the second control chamber 29 On interior power carrier modem, the two poles of the earth of the trolley 4 are also coupled to the second source module 35 of the second control chamber 29 Two ends.
The trolley 4 is made up of copper conductor and insulating sheath, and sleeve-shaped made by copper conductor, is had on the current collector 6 The wire sliding contact of wire with the trolley same with trolley radical is connected.
When system is using drag chain power supply mode, first control chamber 12 is powered and the respectively independent cable that communicates, Power cable is provided by the second control chamber 29;The communications cable is then connected with the switch in the second control chamber 29;The section bar Drag chain plate washer 18 and drag chain 17 are installed on track 15, the drag chain baffle plate 18 is fixed on profile rail by drag chain baffle plate installed part 21 On road 15, the power cable and the communications cable are mounted in drag chain 17, and drag chain 17 is played a protective role to cable.
The tele-control system 41 includes the second optical-electrical converter 32 and host computer 30, and the second optical-electrical converter 32 will be remote After the signal of communication of process control system 41 and robot terminal system 42 carries out opto-electronic conversion, it is transferred in host computer 30.
The robot terminal system 42 also includes position-limit mechanism, and the position-limit mechanism includes limit switch, described spacing Switch is installed in the two ends of profiled rail 15, and the rear surface of the control chamber for being contacted with profiled rail 15 is kept off equipped with limit switch Block 19, the limit switch block 19 is with limit switch with the use of the collision for preventing abnormal power-down from being brought.
First optical-electrical converter 31 of second control chamber 29, by all of image and Video Detection signal and control letter Number optical signal is changed into, transferred signals in tele-control system 41 by optical fiber 43, so as to realize the inspection to whole system Survey content to be processed and carry out remote control operation to detection and kinestate.
The encoder of the AC servo motor 9 is connected with the servo-driver 37 in the second control chamber 29, by rapid pulse The slide 5 for rushing on mode precise control track drives detection components 14 to reach specified location and is detected.
The AC servo motor 9 carries electromagnetic brake, can realize braking in the event of a power failure.
The profiled rail 15 is vertically installed on the wall of the valve Room by installation structure of track part 3.
The Timing Belt 16 is mounted in the groove of profiled rail 15 with synchronous pulley cooperation.
The detection components 14 include thermal camera and visible light camera.
The drag chain baffle plate 18 is L-type aluminium section bar, and the L-type aluminium section bar constitutes guide groove with profiled rail 15, realizes to dragging The fixation of chain and the guiding to drag chain.
The bottom of the profiled rail 15 is equipped with Zero-point switch 11, used as the initial point of robot operation.In crusing robot Every time before upper electricity, the first Aligning control automatically of robot, then execute the patrol task of distribution.
Second control chamber 29 realizes power supply and communication relay to whole robot system terminal, and AC servo The motion control function of motor, and communications control signal is realized the conversion of photosignal.
As shown in figure 4, installing drag chain plate washer 18 and drag chain 17 on the profiled rail 15, the drag chain baffle plate 18 is by dragging Chain baffle plate installed part 21 is fixed on profiled rail 15.
The drag chain baffle plate 18 is L-type aluminium section bar, and the L-type aluminium section bar constitutes guide groove with profiled rail 15, realizes to dragging The fixation of chain and the guiding to drag chain 17.
The bottom of the profiled rail 15 is equipped with Zero-point switch 11, used as the initial point of robot operation.In crusing robot Every time before upper electricity, the first Aligning control automatically of robot, then execute the patrol task of distribution.
The rail system of indication of the present invention is by vertical section material guide rail 15, synchronous belt drive system (the first synchronous pulley component 1st, the second synchronous pulley component 28, slide 5, AC servo motor 9, decelerator 10 and flange assembly 8) etc. constitute.
Wherein, the length of section material guide rail 15 according to the detection range of crusing robot requirement depending on, by continued access is most long can Reach tens meters.The first synchronous pulley component 1 and the second synchronous pulley component 28 are installed in section material guide rail two ends, and install Timing Belt 16 With slide 5.Slide 5 is connected with Timing Belt 16.Fig. 5 is a section example that can choose of profiled rail 15, the 3rd notch 24 is T-slot mouth, by T-nut, miscellaneous equipment can be connected with track;4th notch 25 is to can be used to install rectangle 11 grade device of Zero-point switch.Second notch 23, the 5th notch 26 are the installing space of Timing Belt, the first notch of the left and right sides 22 can be used to install the circular optical axis being oriented to, and install the bearing for mating with optical axis on slide 5, form the support to slide 5 and lead To effect.In rail lower end passes through flange assembly 8, by AC servo motor 9 and the second synchronous pulley of decelerator 10 and lower end Component 28 is installed together.AC servo motor 9 rotarily drives synchronous pulley rotation, and synchronous pulley drives Timing Belt 16 and slide 5 move up and down together, constitute the orbital drive system of crusing robot.
First control chamber 12 is mounted on slide 5, installs control software and the hardware of crusing robot in the first control chamber 12, Can simultaneously serve as the support of head 13 and detection components 14.Under the drive of slide 5, detection components 14 are moved up and down, joint The horizontal revolving motion of head 13 and elevating movement, realize the comprehensive detection to equipment and require.
The track machine people of indication of the present invention by wired power supply and communication, and can be realized using two ways, One of which is to add PLC technology by trolley 4, as shown in Figure 1.Another kind of form for drag chain towing cable, as Fig. 2 institute Show.
Trolley 4 as shown in Figure 1 is powered and is communicated, and wherein trolley 4 is by two strands or multiply tongue shape or other abnormity Cross section wire and trolley fixed seat 7 constitute.Trolley fixed seat 7 is mounted on vertical profiled rail 15, and trolley 4 is pressed into plastics In draw-in groove in insulating trolley line fixed seat 7, the installation of trolley 4 is realized.Current collector 6 is mounted in by current collector fixed plate 20 On one control chamber 12.First control chamber 12 is realized built with the first power module 45 and first power carrier modem etc. Wired power supply of crusing robot and communication.
Trolley 4 can adopt two strands or multiply.When using two strands of trolleys, using the carrier communication skill of electric lines of force Art, is furnished with power carrier modem in the first control chamber 12, and no towing cable when realizing motion is powered and reliable communication.Adopt When multiply is used, PLC technology can not be adopted, and holding wire and power line are directly separated.Specifically can using which kind of trolley Determine according to the actual requirements.
As shown in Fig. 2 when the length of profiled rail 15 is compared with hour, system can adopt the power supply mode of drag chain towing cable.Using During this mode, as shown in fig. 7, L-type drag chain baffle plate 18 is mounted on vertical rail 15 by drag chain baffle plate installed part 21.Drag chain 17 Fixing end be mounted on drag chain baffle plate 18, movable end is mounted in the bottom of control chamber 12 by L-type structure part.Cable is mounted in drag chain 17 Interior, when control chamber 12 is moved up and down, cable is moved together with drag chain 17.
The motor for adopting in system is AC servo motor 9, with incremental encoder, in the second control chamber 29 Mobile telecommunication control system precise control detection components 14 can be reached in the stroke range for requiring by way of rapid pulse is rushed Optional position.
At the two ends of profiled rail 15, limit switch 2 is housed, is equipped with the rear portion of the first control chamber 12 and joins with limit switch 2 The limit switch block 19 of conjunction, as shown in figure 3, trigger deenergization by limit switch when 5 sliding process of slide, exchange is watched The band-type brake for taking motor is held tightly, prevents from causing collision in motor process.
In the bottom of profiled rail 15, Zero-point switch 11 is housed, as the initial point of robot operation.Every in crusing robot Before secondary upper electricity, the first Aligning control automatically of robot, then execute the patrol task of distribution.
Profiled rail 15 can be easily installed by L-type installation structure of track part 3 as shown in Figure 6.
First control chamber 12 is built with the software and hardware required for the control of crusing robot.While can pacify on the control chamber Dress through-the-wall connector, is communicated with the second control chamber 29.
Install in second control chamber 29 AC servo motor 9 motion control apparatus and with the first control chamber 12 and long-range control The communication equipment of system processed 41, realizes the motor control to AC servo motor and the relay process to signal, and controls for second Case processed 29 provides power supply.
Detection components 14 can require to install different equipment according to different detections, such as thermal infrared imager 39, visible Light video camera, poisonous gas detecting instrument, ultraviolet detector, electromagnetic field intensity detector etc., realize different detection demands.
Power supply and communication mode for system, can adopt slip or drag chain two ways.When robot detects stroke When larger, PLC technology can be added to adopt using trolley and power and communicate realizing untethered.Can adopt when stroke is little and drag Chain mode, using having cable to power and communicate.According to trolley, on profiled rail 15, trolley 4 is installed, on the first control chamber 12 Wiping coordinates therewith to install current collector 6 additional.According to towing cable mode, then directly on vertical rail, drag chain plate is installed and drag chain is Can.
As shown in figs. 9-10, electromagnetic shield module box, including box body 12-2 and shielding cover board 12-1, the shielding cover board 12-1 is arranged on box body 12-2, and the shielding cover board 1 includes metallic plate, flexible liner and the metal that ecto-entad is sequentially overlapped Paillon foil, it is cavity that the box body 2 is internal, and 2 inner arm of box body is provided with step 2-3.
Installing hole is had on shielding cover board 12-1, and step 12-2-3 is provided with out screwed hole 12-2-2, standard fasteners 12- Box body 12-2 and shielding cover board 12-1 are fixedly connected with screwed hole 12-2-2 by 3 by installing hole.Metallic plate be steel plate, aluminium sheet or Person's copper coin.The material of flexible liner is the soft foam material with gum.Tinsel is carried for thickness 0.01mm to 0.1mm There are aluminium foil or the Copper Foil of gum.
The material of box body 12-2 is aluminium alloy or copper alloy.Metallic plate, flexible liner and tinsel length and width Identical, rectangle is, the box body 12-2 is cuboid.Box body 12-2 is to be tied using the one of block of metal milling Structure.Box body 12-2 includes box body outer wall 12-2-1.Metal cover board is integrated part for 12-1, using front, first by flexible liner, Tinsel is pasted on a metal plate and forms an entirety.Then shielding cover board 12-1 and cover plate 12-2 is passed through standard fasteners 12-3 is installed together, and forms the good confined space of electromagnetic shielding.Electronic device is mounted in shielding cavity as needed.Box body On open the installing hole 12-2-4 of external interface, Electro Magnetic Compatibility connector 12-4 is installed and realizes correspondence with foreign country.
Electromagnetic shield module box, because the presence of flexible liner causes the sealing effectiveness of shielding cover board more preferable.Leave on box body Shielding cover board installation step.Box body can be formed using block of metal milling, and shield effectiveness is good.Using flexible liner and tinsel Shielding cover board simple structure, the infrastructure cost than being shielded using conductive material is low.
As shown in figure 11, safety ground post is made up of grounding screw 29-3 and standard component made of copper.Grounding screw 29-3 material Matter is copper alloy, with good electric conductivity and corrosion resistance.Grounding screw 29-3 is divided into three sections, and mid portion is mounting flange Disk, two ends are stud.One end of grounding screw is equipped with centre bore, grounding screw by being machined to oval type or D type, the other end It is equipped with one one 29-1-1 of hex nut of screw-in respectively, one 29-2-1 of plain washer and wing nut 29- of one end of centre bore 4.Outside earth lead wing nut 29-4 can be tightened connection manually.One 29-1-1 of hex nut can provide certain Outside earth lead can be tightened in wing nut 29-4 and one 29- of plain washer by wing nut 29-4 with handss by elevation plane Reliable ground between 2-1, outside formation.
When using, on cabinet wall 29-6, waist round hole or D type cabinet hole 29-5 are beaten according to the shape of grounding screw, ground connection Stud 29-3 is processed into the partial insertion cabinet inside of kidney ellipsoid or D type, then screws in copper hexagonal spiral shell successively in cabinet inside Two 29-1-2 of mother, two 29-2-2 of plain washer, three 29-2-3 of plain washer and three 29-1-3 of hex nut, hex nut two close to the inner portion 29-1-2 plays a part of to fasten grounding screw 29-3, and three 29-1-3 of the hex nut freedom in outer portion is movable, can be by cabinet Inside needs cable being grounded etc. to be connected on earthing rod and use nut screwing clamping.Grounding screw 29-3 one end is equipped with centre bore, in Heart hole is used for reaming jumping-up.By end jumping-up after wing nut 29-4 loading, can forever prevent wing nut from coming off.Connect Ground stud 29-3 other end threaded portion cuts plane, can cut a plane in D type, it is also possible to symmetrically cut two Plane is in kidney ellipsoid.The cabinet hole 29-5 slightly larger than the kidney ellipsoid on stud or D molded dimension is opened on its cabinet wall 29-6 for installing.
Grounding screw 29-3 mid portion is the ring flange in oval type for cutting two planes, can be in making circular hole Cabinet on use when tightening.Grounding screw 29-3 can adopt wing nut 29-4, it would however also be possible to employ knurled nut is used for making Use when tightening for handss nutting.Grounding screw 29-3, one 29-1-1 of hex nut, two 29-1-2 of hex nut, hexagonal spiral shell Three 29-1-3 of mother, one 29-2-1 of plain washer, two 29-2-2 of plain washer, three 29-2-3 of plain washer and wing nut 29-4 are copper Standard component.
As shown in figure 12, the frame 2-1 of dust control by ventilation electromagnetic shielding window is by the first frame 2-1-1 and the second frame 2-1-2 Combine, both are formed by welding or bonding or mode connects for screw.The rectangular channel of open loop shape on second frame 2-1-2, Conductive rubber strip 2-4 is adhesive in by conduction in the rectangular channel of the second frame 2-1-2, cellular ventilated plates 2-2 and dust-proof Net 3 is encapsulated in metal edge frame 2-1, forms complete ventilation electromagnetic shielding window.In the first frame 2-1-1 and the second frame 2-1- Before 2 combinations, need first ventilated plates 2-2 and Air Filter 2-3 to be installed in the step of two frames.
Dust control by ventilation electromagnetic shielding window is applied and is required inside shielding case body that is higher and requiring ventilation in electromagnetic sealing. Which is arranged on the position for needing perforate, because metallic honeycomb forms good electromagnetic wave shielding.Install on second frame and lead Electric rubber strip 2-4, enhances the sealing effectiveness between frame and casing, prevents from forming gap between shielding windows and casing, improves Effectiveness.
Dust can greatly reduce the service life of equipment.Air Filter 3 effectively can be prevented because of ventilation and be caused in casing Dust is accumulated, and improves the service life of equipment.
As shown in figure 13, video monitor linkage system, mainly includes linkage analysis control main frame 101, data storage service The communication server 103 that device 102 is interacted with external system, crusing robot 104, it is responsible for linkage analysis control main frame and patrols and examines The wireless communication module 105 of robot communication and auxiliary fixing point watchdog subsystem 106.
Linkage analysis control main frame 101 is connected with data storage 102, the communication server 103, wireless communication module 105 Connection linkage analysis control main frame 101 and crusing robot 104, the fixing 106 connection communication server of site monitoring system of auxiliary 103.
Data storage 102 is mainly responsible for video data and voice data storage.
The unusual condition that the communication server 103 is mainly responsible for analyzing linkage analysis control main frame 101 is sent to outside System is linked;It is otherwise responsible for the linkage request of external system is received, forwards a request to linkage analysis control main frame 101 Make corresponding linkage.The communication mode of the communication server 103 adopts network service, and unusual condition includes:It is found that mobile object is rushed Enter, find fire, equipment thermal defect, equipment state exception.External system includes:Security protection, fire-fighting, PMIS, integrated information are put down Platform.
Wireless communication module 105 is responsible for the communication of linkage analysis control main frame and robot.
As shown in figure 14, linkage analysis control main frame 101, is divided into analysis module 201 and control module 202, analysis module 201 are mainly responsible for analysis video data, draw with the presence or absence of unusual condition in current video data.Control module 202 is mainly born The video equipment of video equipment or auxiliary fixing point watchdog subsystem in duty control robot.
As shown in figure 15, fixing point watchdog subsystem being aided in, plain module 301, video data and sound is searched including fixing point Data acquisition module 302 and cradle head control module 303.The main video acquisition for being responsible for fixing point video camera and cradle head control, join Close linkage analysis control main frame to complete to monitor linkage work.
The flow chart that video monitoring system is linked with safety-protection system is as shown in figure 16,104 complete charge of crusing robot, from Accumulator plant is opened, is started tour task, the daily tour work of whole station is proceeded by, according to patrol route set in advance, make an inspection tour Each region in transformer station.
During tour, crusing robot 104 will be maked an inspection tour video in real time and be sent to connection by wireless communication module 105 Whether dynamic analysis and Control main frame 101, have mobile object to swarm in the real-time analysis video of linkage analysis control main frame 101.
Swarm into when linkage analysis control main frame 101 has analyzed mobile object, control crusing robot 104 movement carry out with Track is monitored, while sending the position at instruction and mobile object place to auxiliary fixing point watchdog subsystem 106.
After auxiliary fixing point watchdog subsystem 106 receives order and after moving object position information, search mobile object is attached Near fixing point monitoring camera is monitored.
Linkage analysis control main frame 101 according to arranging to find mobile object linkage request with safety-protection system in advance, by logical Telecommunications services device 103 sends to safety-protection system and finds mobile object linkage request.
After safety-protection system receives linkage request, audible alarm, alarm condition change etc. is carried out in safety-protection system a series of Inner link works.
After object to be moved is eliminated, crusing robot 104 returns to and proceeds on original patrol route to make an inspection tour work, when Repeat the above steps when it is found that mobile object occurs, until completing to patrol and examine the tour in all regions on route, returning to accumulator plant, entering Row charges.
Video monitoring system is as shown in figure 17 with the flow chart of on-line equipment management system, and crusing robot 104 terminates to fill Electricity, starting device Detection task, starting the primary equipment to whole station carries out routine testing work, according to detection road set in advance Line, detects all primary equipments in transformer station successively.
Crusing robot 104 reaches detection road built-in unit test point, carries out visible ray picture to test point surrounding devices Collection with infrared chart, the recording of equipment operation sound.The picture for collecting, voice data and real time video data etc. are patrolled Inspection data are transferred to linkage analysis control main frame 101 by wireless communication module 105.Crusing robot 104 moves to detection road On line, next test point, repeats above-mentioned equipment routing inspection data collection task, until all of test point inspection on detection route Survey is finished, and crusing robot 104 returns to accumulator plant and is charged.
Linkage analysis control main frame 101 is received after patrolling and examining data, and equipment operation condition in intellectual analysis picture (disconnecting link and is opened The division of pass, device temperature, equipment are with the presence or absence of hanger, operating sound with the presence or absence of abnormal).When discovering device itself is present Unusual condition (temperature is too high, temperature rise is too high, division is not in place for disconnecting link or switch, equipment exist hanger, operating sound exist different Normal situation).The position of warping apparatus and lasting testing equipment request are sent to auxiliary fixing point by linkage analysis control main frame 101 Watchdog subsystem.Data to data storage server 102 is patrolled and examined in storage.
(fixing point possesses red the fixing point that can observe the equipment around 106 search of auxiliary fixing point watchdog subsystem Outer thermal imaging system and visible light camera) search after, allow fixing point at set intervals to warping apparatus collection patrol and examine data one Secondary.If surrounding does not have suitable fixing point, after robot is maked an inspection tour and finished, all exceptions for finding in this tour are set Standby, allowing robot data be patrolled and examined once to warping apparatus collection at set intervals every the set time, will patrol and examine data and issue Analysis and Control main frame 101, until problem is eliminated extremely.
Linkage analysis control main frame 101 is led to according to being asked with on-line equipment management system agreement equipment operation condition in advance Crossing the communication server 103 equipment operation condition request is sent to on-line equipment management system.
After on-line equipment management system receives linkage request, the operation conditions of on-line equipment management system display device, with When different type of alarms are produced according to unit exception situation and notify attendant to carry out field device failure exclusion.
While online management system checks linkage request to linkage analysis control main frame by communication server transmission, machine is allowed Device people reaches designated equipment position and equipment state is checked.Such as sequence operation, after equipment sequence operation is finished, sequence System can send sequence and check request to video monitor linkage system, link robot near equipment, check sequence operation Performance.
During the linkage of video monitoring system and fire-fighting system, the concrete flow chart for executing is as shown in figure 18, crusing robot 104 complete charge, leave accumulator plant, start tour task, proceed by the daily tour work of whole station, according to set in advance Patrol route, makes an inspection tour each region in transformer station.
During tour, crusing robot 104 will be maked an inspection tour video in real time and be sent to connection by wireless communication module 105 Dynamic analysis and Control main frame 101, with the presence or absence of flame and red in 101 real-time intelligent of linkage analysis control main frame analysis visible light video Whether the heat map data temperature of outer thermal imaging system exceedes fire alarm threshold temperature, while linkage analysis control when meeting above-mentioned two condition Main frame 101 judges that the region is on fire.
Have a point of origin when linkage analysis control main frame 101 analyzes battery limits, the control movement of crusing robot 104 carry out with Track is continued to monitor, while sending the position at instruction and mobile object place to auxiliary fixing point watchdog subsystem 106.
After auxiliary fixing point watchdog subsystem 106 receives order and after moving object position information, near search point of origin Fixing point monitoring camera be monitored.
Linkage analysis control main frame 101 according in advance with fire-fighting system arrange fire alarm linkage request, by the communication server 103 send fire alarm linkage request to fire-fighting system.
After fire-fighting system receives linkage request, audible alarm, alarm condition change is carried out in fire-fighting system, notifies to safeguard Personnel carry out fire alarm elimination.
After fire alarm is eliminated, crusing robot 104 returns to and proceeds on original patrol route to make an inspection tour work, works as discovery Repeat the above steps when point of origin occurs are until complete to patrol and examine the tour in all regions on route.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention The restriction that encloses, one of ordinary skill in the art are should be understood that on the basis of technical scheme, and those skilled in the art are not The various modifications that makes by needing to pay creative work or deformation are still within protection scope of the present invention.

Claims (10)

1. the valve Room robot inspection system based on video monitor linkage system, it is characterised in that:Including linkage analysis control master Machine (101), for receiving the video data of the collection of the video monitoring equipment on crusing robot (104) and carrying out at data analysiss Reason, according to video equipment in the Data Control robot after analyzing and processing or auxiliary fixing point watchdog subsystem (106) Video equipment carries out the action of dependent instruction;
The communication server, the unusual condition for analyzing linkage analysis control main frame (101) is sent to external system and carries out Linkage;It is otherwise responsible for the linkage request of external system is received, forwards a request to linkage analysis control main frame (101) and make phase Should link;
Auxiliary fixing point watchdog subsystem (106), for the search of fixing point, video data and sound data acquisition and head Control, coordinates linkage analysis control main frame (101) to complete to monitor linkage work;
Described crusing robot (104) include robot terminal system (42), and described robot terminal system (42) include track, Motion, motion driving mechanism and testing agency are installed on the track, are also set on robot terminal system (42) The input for having screening arrangement, the power-supply system of robot terminal system (42) is provided with filtration module, lightning-protection module and overvoltage Overcurrent protection module, robot terminal system (42) are powered communication using towing cable mode, or adopt trolley mode It is powered power-up power carrier system to be communicated with tele-control system, tele-control system is controlled by motion driving mechanism Motion is moved along track, and motion moves up and down the operation shape of equipment in the monitoring valve Room then by driving testing agency Condition;
The testing agency includes the first control chamber (12);The communication control to detection components and head realized by first control chamber (12) System and power supply;Testing equipment controller, video server, the first switch, the first electric power load are installed in first control chamber Ripple modem, the first power module, wherein, the video server respectively with detection components in infrared video camera and light Video camera communication is learned, first switch communicated with the video server, first switch and the testing equipment Controller communicates, and the testing equipment controller is communicated with head, thermal infrared imager and optical camera respectively;First power supply mould Block is that each electrical equipment of first control chamber is powered.
2. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that:Also Including wireless communication module (105), described wireless communication module (105) are used for linkage analysis control main frame (101) and robot Communication.
3. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that:Also Including data storage server (102), described data storage server (102) are used for storing video data and voice data.
4. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that:Institute Stating the unusual condition that linkage analysis control main frame (101) analyzes includes:It is found that mobile object is swarmed into, finds fire, equipment heat Defect, equipment state exception, external system includes:Safety-protection system, fire-fighting system, PMIS are PMIS and one Change information platform.
5. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that:Institute Stating motion includes synchronous pulley component and Timing Belt, and the synchronous pulley component includes synchronous wheeled box and synchronous pulley, The track is profiled rail, and the synchronous wheeled box is arranged on installed in the upper and lower ends of profiled rail, the synchronous pulley Inside synchronous wheeled box, the Timing Belt is tightly wrapped on synchronous pulley.
6. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that:Institute Stating motion driving mechanism includes AC servo motor (9) and decelerator (10), and described AC servo motor (9) pass through decelerator (10) it is installed together with synchronous pulley;Decelerator (10) are fixed on the Timing Belt of profiled rail bottom by flange assembly On roller box.
7. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that:Institute The first control chamber (12) is stated on slide, the slide is connected with Timing Belt, and the slide is by way of sliding contact On profiled rail, the Timing Belt drives the slide to move up and down along profiled rail, the first control chamber (12) Upper installation head, so the first control chamber (12) also functions to the effect of support;Detection components are installed on the head.
8. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that:Institute State robot terminal system (42) also include install in rail near the second control chamber (29), the second control chamber (29) with First control chamber (12) communicates, and provides power supply for the first control chamber (12), and the signal that the first control chamber (12) is detected is passed It is defeated by tele-control system;Control action is played in the motion of second control chamber (29) also to AC servo motor (9).
9. the Fa Ting robot method for inspecting based on video monitor linkage system based on claim 1 cruising inspection system, its feature It is, specifically includes following steps:
Step one:Crusing robot (104) complete charge, leaves accumulator plant, starts tour task, according to tour set in advance Route or detection route, make an inspection tour in transformer station all online equipments in each region or detection transformer station, when patrolling and examining whole station Online equipment situation constantly, proceed to step 2;When the situation of inspecting fire-extinguishing system, step 3 is proceeded to;When patrolling and examining security protection During the situation of system, step 4 is proceeded to;
Step 2:Crusing robot (104) is by the equipment test point data transfer for detecting on route to linkage analysis control main frame (101), linkage analysis control main frame (101) intellectual analysis equipment operation condition, when there is unusual condition in itself in discovering device, The information of warping apparatus is sent to auxiliary fixing point watchdog subsystem (106) by linkage analysis control main frame (101), and auxiliary is fixed Point watchdog subsystem (106) coordinates linkage analysis control main frame (101) to complete to monitor linkage work until problem is eliminated extremely;
Step 3:Crusing robot (104) will be maked an inspection tour video in real time and be sent to linkage analysis control main frame (101), linkage point Analysis control main frame (101) carry out intellectual analysis in real time, when there is point of origin battery limits, crusing robot (104) movement carry out with Track is continued to monitor, while sending the position at instruction and mobile object place to auxiliary fixing point watchdog subsystem (106);
Step 4:Crusing robot (104) will be maked an inspection tour video in real time and be sent to linkage analysis control main frame (101), linkage point Mobile object whether is had to swarm in the real-time analysis video of analysis control main frame (101), when linkage analysis control main frame (101) is analyzed When having mobile object to swarm into, auxiliary fixing point watchdog subsystem (106) coordinates linkage analysis control main frame (101) to safety-protection system Send and mobile object linkage request is found, safety-protection system carries out Inner link work after receiving linkage request.
10. the Fa Ting robot method for inspecting based on video monitor linkage system as claimed in claim 9, it is characterised in that: In the step 2, in crusing robot (104) detection transformer station during all online equipments, the step of execution it is specifically:
(2-1):Crusing robot (104) reaches the equipment test point on detection route, and the equipment around test point is set Standby visible ray picture and Infrared Thermography Data collection, the recording of equipment operation sound, by the picture for collecting, voice data and reality When video data patrol and examine data linkage analysis control main frame (101) be transferred to by wireless communication module (105);Robot motion The next test point on detection route, repeats above-mentioned equipment routing inspection data collection task, until all of on detection route Test point detection is finished;
(2-2):Linkage analysis control main frame (101) is received after patrolling and examining data, equipment operation condition in intellectual analysis picture, specifically For analyzing the division of disconnecting link and switch, device temperature, equipment with the presence or absence of hanger, operating sound with the presence or absence of abnormal, when sending out There is unusual condition in existing equipment, linkage analysis control main frame (101) please by the position of warping apparatus and lasting testing equipment in itself Ask and auxiliary fixing point watchdog subsystem (106) is sent to, data to data storage server (102) is patrolled and examined in storage;
(2-3):The fixing point that can observe the equipment around auxiliary fixing point watchdog subsystem (106) search, after searching, Fixing point is allowed to patrol and examine data once to warping apparatus collection at set intervals, otherwise, after robot is maked an inspection tour and finished, to this The all warping apparatus for finding in tour, allow robot patrol and examine number to warping apparatus collection at set intervals every the set time Linkage analysis control main frame (101) is issued according to data once, will be patrolled and examined;
(2-4):Linkage analysis control main frame (101) according in advance with on-line equipment management system agreement equipment operation condition please Ask, equipment operation condition request is sent to on-line equipment management system by the communication server;
(2-5):After on-line equipment management system receives linkage request, the operation conditions of on-line equipment management system display device, While producing different type of alarms according to unit exception situation.
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