CN106444588B - Valve hall robot method for inspecting based on video monitor linkage system - Google Patents
Valve hall robot method for inspecting based on video monitor linkage system Download PDFInfo
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- CN106444588B CN106444588B CN201611084436.9A CN201611084436A CN106444588B CN 106444588 B CN106444588 B CN 106444588B CN 201611084436 A CN201611084436 A CN 201611084436A CN 106444588 B CN106444588 B CN 106444588B
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
Abstract
The present invention provides a kind of valve hall robot inspection system and method for inspecting based on video monitor linkage system, cruising inspection system includes linkage analysis control host, the communication server, a watchdog subsystem is auxiliarily fixed, crusing robot includes robot terminal system, the robot terminal system includes track, movement mechanism is installed on the track, motion driving mechanism and testing agency, have the advantages that meet valve hall equipment unmanned testing requirements in real time, pass through the tour of robot and the cooperation of fixed point video camera, it is limited to solve monitoring range, transformer equipment geographical location is not easy to the problem of arrangement monitoring point；Solving the problems, such as can not autonomous classification exception and intelligent linkage security protection, fire-fighting and on-line equipment management system；Fire is monitored using visible light video and thermal infrared imager hybrid mode, the double check that the fire present invention uses visible light video and infrared thermovision frequency is reduced, reduces the rate of false alarm of fire alarm, improve fire alarm treatment effeciency.
Description
[technical field]
The invention belongs to intelligent power transmission and transformation field, it is related to the valve hall robot inspection system based on video monitor linkage system
And method for inspecting.
[background technique]
Valve hall is converter station important component, guarantees that the normal operation of equipment in valve hall is most important.Valve hall equipment is such as
On the one hand valve tower needs enough reliabilities, being on the other hand also required to detection in time, there are potential risks to find and to overhaul
Equipment, it is ensured that converter station system operate normally.To guarantee, its reliable and secure operation has important meaning to the real-time detection of valve hall equipment
Justice.Easily and flexibly equipment in valve hall can be measured in real time using track machine people, understand the operating status of equipment.
Capital equipment is valve tower in valve hall, and valve tower divides column hierarchal arrangement, and the total height according to the different each column of specification is different.
The converter valve of valve tower is most important heating device, needs to carry out real-time monitoring to the temperature of every layer of converter valve.Except temperature monitoring
Outside, it is also necessary to which equipment appearance, breakage, noise and instrumented data are monitored.
Main electric power equipment in valve hall, comprising: converter valve, tube type bus, arrester, earthing, DC current mutual inductance
Many equipment such as device, DC voltage divider, wherein converter valve is the core equipment of DC transmission engineering, by successively by three-phase
Alternating voltage is connected to DC terminal and obtains desired DC voltage and realize the control to power.
Mobile robot currently used for facility information in detection valve hall has the drawback that:
1, converter valve obtains desired DC voltage and realization pair by the way that three-phase alternating voltage is successively connected to DC terminal
The control of power generates a large amount of electromagnetic interference at runtime, causes in valve hall for there is strong electromagnetic, existing movements
Robot is unable to complete the job requirement of setting, and operating accuracy is low；
2, on communication modes, existing mobile robot is generally that wireless telecommunications can not meet can be steady in valve hall
The fixed requirement for reliably transmitting data；
3, the space of valve hall is relatively narrow, in addition, the equipment in valve hall generally requires to be that a Nian Caineng enters in maintenance
Once, this requires the robots of valve hall to need to have using flexible, highly-safe feature, and existing robot is not able to satisfy
The needs of valve hall；
4, it by valve tower and other monitored equipment placement constraints, to realize the detection function comprehensive to equipment, need machine
Device people can be in movement in vertical direction.Existing Conventional drum driving or crawler type driving method need when realizing movement in vertical direction
Overcome self gravity, needs larger frictional force and be relatively difficult to realize, and because valve hall enclosure space can not replace at any time battery, nothing
Method is using the power supply mode for carrying battery.
In addition, detection of the video monitor linkage system to equipment state in current transformer substation, only resides within to equipment
The detection of appearance, device physical status (such as: the division state of disconnecting link), the degree of temperature, instrument when equipment is run is mostly
Be carried out by the tour personnel of substation by holding thermal infrared imager and visible light camera device temperature acquisition and
The reading of instrument, while can be made a sound when equipment operation work, it often makes a sound and is different from just when equipment operation irregularity
The sound often issued when work, this work are also to be listened to by manual type, then according to manual analysis is carried out, are finally obtained
Unit exception as a result, carry out again unit exception record and triggering unit exception alarm, realized by manual type to equipment
Detect and complete some unit exception combined operations, real-time and accuracy are all relatively low, be unfavorable for unit exception discovery and it is different
Normal solution.
For present fire detection in the most important detection of substation's fire-fighting system, the method for detection is roughly the same, and China is specially
Application No. is propose to pacify using in substation in 201320181625.3 open intelligent substation fire-fighting tele-control system for benefit
Multiple hygrosensors are filled, when there is fire, the temperature value of hygrosensor will constantly rise, and be more than alarming threshold value, just recognize
To be fire occur, the video system transmission abnormality live video data that then links is to remote monitoring end by the monitoring personnel of distal end
It is confirmed whether that fire occurs by video data, then triggers the alarm of fire-fighting system, carries out fire attack work.The patent
Come with some shortcomings place, firstly, temperature sensor, which needs to dispose, reaches certain amount, deployment has been lacked and cannot effectively have been supervised
Control has been disposed and has necessarily led to cost raising.Secondly, fire occurs in excessively high be also not necessarily of temperature, then pass through video messenger
Work confirmation, inevitable labor intensive and energy.Again, once there is fire transmission of video there are certain network delay, fire is influenced
Feelings are implemented to grasp.Finally, the linkage of the confirmation of fire, analysis and the fighting of fire is completed by manually, it is clear that
Working efficiency is relatively low.
In short, existing technology there are the shortcomings that it is as follows:
1, existing video monitoring and linked system can only monitor a certain panel region, and monitoring region has limitation, can not
Realize the seamless monitoring of whole station.
2, the detection of existing video monitoring and linked system to equipment state is only resided within to equipment appearance, equipment
The detection of physical state, the detections such as temperature, meter reading and sound abnormality detection when running for equipment are mostly to pass through people
Work participates in detection, and real-time and accuracy are all relatively low；
3, the detection of existing video monitoring and linked system to substation's fire-fighting system, the real-time and accuracy of detection
It is not high, manually participate in more, working efficiency is low and needs to dispose a considerable amount of temperature sensors.
Therefore, a kind of converter station based on video monitor linkage system for being able to solve problem of the existing technology is needed
Valve hall intelligent inspection robot.
[summary of the invention]
It is an object of the invention to overcome prior art defect, a kind of valve hall machine based on video monitor linkage system is provided
Device people cruising inspection system and method for inspecting solve monitoring model by the tour of robot and the cooperation of fixed point video camera
It is with limit, transformer equipment geographical location is not easy to the problem of arranging monitoring point；Solution can not 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:
Valve hall robot inspection system based on video monitor linkage system, including linkage analysis control host, for connecing
It receives the video data of the video monitoring equipment acquisition on crusing robot and carries out Data Analysis Services, treated according to analysis
Data control the video equipment in robot or the dynamic of the video equipment progress dependent instruction of a watchdog subsystem are auxiliarily fixed
Make；
The communication server, the unusual condition for going out linkage analysis control host analysis are sent to external system and join
It is dynamic；It is otherwise responsible for receiving the linkage request of external system, forwards a request to linkage analysis control host and make corresponding linkage；
A watchdog subsystem is auxiliarily fixed, for fixed point search, video data and voice data acquisition and holder
Control, cooperation linkage analysis control host complete monitoring linkage work；
The crusing robot includes robot terminal system, and the robot terminal system includes track, the track
On movement mechanism, motion driving mechanism and testing agency are installed, be additionally provided with screening arrangement, machine in the robot terminal system
The input terminal of the power-supply system of device people's terminal system is provided with filter 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 power-up power carrier system using trolley mode
It is communicated with tele-control system, tele-control system controls movement mechanism by motion driving mechanism and moves along track, transports
Motivation structure is by driving testing agency to move up and down the operation conditions of equipment in then monitoring valve hall；
The testing agency includes the first control cabinet；First control cabinet realize to the communication control of detection components and holder and
Power supply；
Detection device controller, video server, the first interchanger, the first power carrier are installed in first control cabinet
Modem, the first power module, wherein the video server respectively with the infrared video camera and optics in detection components
Video camera communication, first interchanger are communicated with the video server, first interchanger and the detection device control
Device communication processed, the detection device controller are communicated with holder, thermal infrared imager and optical camera respectively；First power module
For each power supply for electrical equipment of first control cabinet.
Further, the above-mentioned valve hall robot inspection system based on video monitor linkage system further includes radio communication mold
Block, communication of the wireless communication module for linkage analysis control host and robot.
Further, the above-mentioned valve hall robot inspection system based on video monitor linkage system further includes data storage
Server, the data storage server are used to store video data and audio data.
Further, the unusual condition that the linkage analysis control host analysis goes out includes: that discovery mobile object is swarmed into, sent out
Existing fire, equipment thermal defect, equipment state are abnormal, and external system includes: security system, fire-fighting system, PMIS i.e. project management
Information system and integrated information platform.
According to the method for the above-mentioned valve hall robot inspection system based on video monitor linkage system, following step is specifically included
It is rapid:
Step 1: crusing robot terminates to charge, and leaves accumulator plant, starts tour task, according to preset tour
Route or detection route make an inspection tour each region in substation or detect all online equipments in substation, when inspection whole station
Online equipment situation when, be transferred to step 2；When the situation of inspecting fire-extinguishing system, it is transferred to step 3；When inspection security protection system
When the situation of system, it is transferred to step 4；
Step 2: crusing robot will test the detection of the equipment on route point data and be transmitted to linkage analysis control host,
Linkage analysis controls host intellectual analysis equipment operation condition, when discovering device itself is there are when unusual condition, linkage analysis control
The information of warping apparatus is sent to and a watchdog subsystem is auxiliarily fixed by host processed, and a watchdog subsystem cooperation linkage is auxiliarily fixed
Analysis and Control host completes monitoring linkage work until problem is eliminated extremely；
Step 3: crusing robot will make an inspection tour video in real time and be sent to linkage analysis control host, linkage analysis control
Host real-time perfoming intellectual analysis, when there are point of origin in battery limits, crusing robot movement carries out tracking and continues to monitor, and sends out simultaneously
Send position where instruction and mobile object to a watchdog subsystem is auxiliarily fixed；
Step 4: crusing robot will make an inspection tour video in real time and be sent to linkage analysis control host, linkage analysis control
Whether host is analyzed in real time in video has mobile object to swarm into, when linkage analysis control host analysis goes out to have mobile object to swarm into
When, a watchdog subsystem cooperation linkage analysis control host is auxiliarily fixed and is asked to security system transmission discovery mobile object linkage
It asks, security system carries out Inner link work after receiving linkage request.
Further, it in the step 1, when crusing robot detects all online equipments in substation, specifically holds
Capable step are as follows:
(2-1): crusing robot reaches the equipment test point on detection route, carries out equipment to the equipment around test point
Visible light picture and Infrared Thermography Data acquisition, equipment operation sound recording, by collected picture, voice data and in real time
Module transfer gives linkage analysis control host to video routing inspection data by wireless communication；It is next on robot motion to detection route
A test point repeats above-mentioned equipment routing inspection data collection task, until test point detection all on detection route finishes；
(2-2): after linkage analysis control host receives inspection data, equipment operation condition in intellectual analysis picture, specifically
, with the presence or absence of exception, work as hair with the presence or absence of hanger, operating sound for the division of analysis disconnecting link and switch, device temperature, equipment
There are unusual condition, linkage analysis controls host and sends the position of warping apparatus and lasting detection device request existing equipment itself
To a watchdog subsystem is auxiliarily fixed, inspection data to data storage server is stored；
(2-3): being auxiliarily fixed the fixed point that can observe the equipment around a watchdog subsystem search, after searching,
Make fixed point primary to warping apparatus acquisition inspection data at regular intervals, otherwise, after making an inspection tour to robot, to this
All warping apparatus found in tour make robot primary to warping apparatus acquisition inspection data, will patrol every the set time
Inspection data issue linkage analysis control host；
(2-4): linkage analysis control host according in advance with on-line equipment management system agreement equipment operation condition request,
It is requested by the communication server to on-line equipment management system sending device operation conditions；
(2-5): after on-line equipment management system receives linkage request, the operation shape of on-line equipment management system display device
Condition, while different type of alarms is generated according to unit exception situation.
When crusing robot detects all online equipments in substation, it is preferred that the 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 generates different type of alarms, while online management system sends review linkage request to linkage analysis by the communication server
Host is controlled, allows robot to reach designated equipment position and equipment state is checked.
Further, in the step 3, when the situation of inspecting fire-extinguishing system, specific the step of executing are as follows:
(3-1): during tour, crusing robot will make an inspection tour video in real time, and module is sent to connection by wireless communication
Dynamic analysis and Control host, linkage analysis, which controls in host real-time intelligent analysis visible light video, whether there is flame and infrared thermal imagery
Whether the dsc data temperature of instrument is more than fire alarm threshold temperature；Linkage analysis control host judgement when meeting above-mentioned two condition simultaneously
There is point of origin in the region；
(3-2): there is point of origin when linkage analysis control host analysis goes out equipment region, control crusing robot is mobile to carry out
Tracking continues to monitor, while sending the position where instruction and mobile object to a watchdog subsystem is auxiliarily fixed；
(3-3): a watchdog subsystem is auxiliarily fixed and receives after order and after moving object position information, search point of origin is attached
Close fixed point monitoring camera is monitored；
(3-4): linkage analysis controls host according to fire alarm linkage request is arranged with fire-fighting system in advance, passes through communication service
Device sends fire alarm linkage request to fire-fighting system；
(3-5): after fire-fighting system receives linkage request, audible alarm is carried out in fire-fighting system, alarm condition changes
A series of Inner link work；
(3-6): after object to be moved is eliminated, crusing robot, which returns on original patrol route, to be continued to make an inspection tour work
Make, repeats step (3-1) to step (3-5) when finding that mobile object occurs and patrolled until completing all areas on inspection route
Depending on.
Further, in the step 4, when the situation of inspection security system, specific the step of executing are as follows:
(4-1): during tour, crusing robot will make an inspection tour video in real time, and module is sent to connection by wireless communication
Dynamic analysis and Control host, linkage analysis control host analyze in video whether have mobile object to swarm into real time；
(4-2): when linkage analysis control host analysis goes out to have mobile object to swarm into, control crusing robot is mobile carry out with
Track monitoring, while the position where instruction and mobile object is sent to a watchdog subsystem is auxiliarily fixed；
(4-3): a watchdog subsystem is auxiliarily fixed and receives after order and after moving object position information, searches for mobile object
Neighbouring fixed point monitoring camera is monitored；
(4-4): linkage analysis controls host according to discovery mobile object linkage request is arranged with security system in advance, passes through
The communication server sends discovery mobile object linkage request to security system；
(4-5): after security system receives linkage request, audible alarm, alarm condition variation etc. are carried out in security system
A series of Inner link work；
(4-6): after object to be moved is eliminated, crusing robot, which returns on original patrol route, to be continued to make an inspection tour work
Make, repeat step (4-1) to step (4-5) when finding that mobile object occurs, until completing all areas on inspection route
It makes an inspection tour, returns to accumulator plant, charge.
The movement mechanism includes synchronous pulley component and synchronous belt, the synchronous pulley component include synchronous wheeled box and
Synchronous pulley, the track are profiled rail, and the synchronous wheeled box is mounted on the upper and lower ends of profiled rail, the synchronous belt
Wheel is mounted on inside synchronous wheeled box, and the synchronous belt tightly wraps on synchronous pulley.
Tele-control system includes the second photoelectric converter and host computer, and signal of communication is carried out light by the second photoelectric converter
Electricity conversion, realizes the communication of tele-control system and robot terminal system.
The motion driving mechanism includes AC servo motor and retarder, the AC servo motor by retarder with
Synchronous pulley is installed together；The retarder is fixed on the synchronous wheeled box of profiled rail bottom by flange assembly.
First control cabinet is mounted on slide, and the slide and synchronous belt are connected, and the slide passes through sliding contact
Mode be mounted on profiled rail, the synchronous belt drives the slide to move up and down along profiled rail, first control
Holder is installed, so the first control cabinet also functions to the effect of bracket on case；Detection components are installed on the holder.
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, it is mounted on holder module top, when smoke alarm module number is multiple, is mounted on surrounding and the top of holder module
Portion.
The robot terminal system further includes the second control cabinet being mounted near track, second control cabinet and
The communication of one control cabinet, and power supply is provided for the first control cabinet, the signal that the first control cabinet detects is transferred to long-range control system
System；Second control cabinet also plays control action to the movement of AC servo motor.
The bottom end of the profiled rail is equipped with Zero-point switch, the origin as robot operation.It is each in crusing robot
Before powering on, then the first automatic Aligning control of robot executes the patrol task of distribution.
Second control cabinet is realized to the power supply of entire robot system terminal and communication relay and AC servo electricity
The motion control function of machine, and by the conversion of communications control signal realization photosignal, to realize telecommunication.
The robot terminal system further includes position-limit mechanism, and the position-limit mechanism includes limit switch, and the limit is opened
The both ends for being mounted on profiled rail are closed, the rear surface of the control cabinet contacted with profiled rail is equipped with limit switch block, institute
Stating limit switch block and limit switch, abnormal power-down is brought to collide with the use of preventing.
The encoder of the AC servo motor is connect with servo-driver, controls the cunning on track by several pulse modes
Seat drives detection components to reach designated position and is detected.
The AC servo motor has electromagnetic brake, can be realized braking in the event of a power failure.
The synchronous belt and synchronous pulley cooperation are in the slot of profiled rail.
The inside of first control cabinet and the second control cabinet is equipped 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
Covering cover board includes metal plate, flexible liner and the metal foil that ecto-entad is sequentially overlapped, and the tray interior is cavity, box body
Inner arm is equipped with step；Mounting hole is provided on the shielding cover board, step is equipped with and opens threaded hole, and standard fasteners passes through mounting hole
Box body and shielding cover board are fixedly connected with threaded hole.
Dust control by ventilation electromagnetic shielding window is provided on the cabinet of second control cabinet.
The dust control by ventilation electromagnetic shielding window, the dust control by ventilation electromagnetic shielding window includes frame, and the frame includes the
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 successively arranged by step, the rectangular channel of annular, rectangle are also provided on second frame
Slot is embedded in conductive rubber strip.
The cabinet of second control cabinet is grounded by safety ground column.
The safety ground column, including grounding screw, the middle section mounting flange of the grounding screw, both ends part
It is screw thread, 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；Hex nut one, plain washer one and hand nutting are successively screwed in one end that the grounding screw is equipped with centre bore.
The robot terminal system further includes developing Of Remote Control Power system, the input terminal of the developing Of Remote Control Power system
It is provided with filter module, lightning-protection module machine over-voltage over-current protection module.
The robot terminal system is powered communication according to different requirements, using towing cable mode, or uses wiping
Line mode is powered power-up power carrier system and is communicated.
When robot uses drag chain mode powered communication, installation detection device controller, view in first control cabinet
Frequency server, the first interchanger and the first power module；Wherein, the video server is taken the photograph with infrared video camera and optics respectively
Camera communication, first interchanger are communicated with the video server, and first interchanger and the detection device control
Device communication, the detection device controller are communicated with holder, thermal infrared imager and optical camera respectively；First power module is
Each power supply for electrical equipment of first control cabinet.
The motion controller of installation AC servo motor in second control cabinet, servo-driver, second power supply module,
Second switch and the first photoelectric converter, the photoelectric converter are communicated with second switch, the second switch and fortune
Movement controller communication, the motion controller are communicated with servo-driver, first photoelectric converter and tele-control system
Communication, the motion controller are communicated with Zero-point switch and the first, second limit switch, the servo-driver and AC servo
Communications, the second power supply module gives each electricity consumption module for power supply of second control cabinet, and mentions for the first control cabinet
Power supply source.
When system uses drag chain power supply mode, the first control cabinet power supply and communication are independent cable respectively, supply
Electric wire cable is drawn from the second control cabinet；The communications cable is then connect with the interchanger in the second control cabinet；Pacify on the profiled rail
Dress drag chain plate washer and drag chain, the drag chain baffle are fixed on profiled rail by drag chain baffle installation part, the power cable
With the communications cable in drag chain, drag chain plays a protective role to cable.
When robot is powered using trolley mode, and is communicated using power carrier mode,
The motion controller of installation AC servo motor in second control cabinet, servo-driver, second power supply module,
Second switch, the first photoelectric converter and the second power carrier modem, the photoelectric converter and second switch
Communication, the second switch are communicated with motion controller, and the controller is communicated with servo-driver, the photoelectric converter
It is communicated with tele-control system, the motion controller is communicated with Zero-point switch and the first, second limit switch, and the servo is driven
Dynamic device is communicated with AC servo motor, and the second power supply module gives each electricity consumption module for power supply, and powers for the first control cabinet；
One end of first power carrier modem is connect with the first interchanger, the first power carrier modulation
The other end of demodulator is connect with one end of the second power carrier modem, second power carrier modem
Other end connect with second switch.
When system uses slide wire power supply mode, communication mode used by the control of testing agency is power carrier side
Formula；Current-collector is installed by current-collector fixed plate on first control cabinet, trolley fixing seat is installed on the profiled rail,
The trolley is mounted in trolley fixing seat.Two contacts of the current-collector are contacted with trolley.The current-collector
The two poles of the earth are connected to the both ends of the first power carrier modem of the first control cabinet, and the two poles of the earth of the current-collector are also coupled to the first control
First power module both ends of case processed.
The two poles of the earth of the trolley are connected on the power carrier modem in the second control cabinet, and the two of the trolley
Pole is also coupled to the second power supply module both ends of the second control cabinet.
The trolley is made of copper conductor and insulating sheath, and copper conductor is made into sleeve-shaped, have on the current-collector with
The conducting wire sliding contact of the same conducting wire of trolley radical and trolley connects.
First photoelectric converter of second control cabinet turns all images and video detection signal and control signal
Be melted into optical signal, transferred signals in tele-control system by optical fiber, thus realize to the detection content of whole system into
Row processing simultaneously carries out remote control operation to detection and motion state.
The drag chain baffle is L-type aluminum profile, and the L-type aluminum profile and profiled rail form guide groove, realize to drag chain
Guiding fixed and to drag chain.
The present invention is based on the valve hall robot inspection system and method for inspecting of video monitor linkage system, it, which has, meets valve
Room equipment in real time unmanned testing requirements the advantages of, the present invention has pair in system using crusing robot motor-driven, flexible feature
Inspection data carry out the server of intellectual analysis, efficiently analyze video data, are imaged by the tour of robot and fixed point
The cooperation of machine solves the problems, such as that monitoring range is limited, transformer equipment geographical location is not easy to arrangement monitoring point；Solve nothing
Method autonomous classification exception and intelligent linkage security protection, fire-fighting and on-line equipment management system (PMIS and integrated information platform) are asked
Topic；Fire is monitored using visible light video and thermal infrared imager hybrid mode, it is of the invention using visible light video and red to reduce fire
The double check of outer thermovision frequency reduces the rate of false alarm of fire alarm, improves fire alarm treatment effeciency.
Beneficial effects of the present invention:
PLC technology or drag chain towing cable two ways is added to realize power supply and communication 1. trolley can be used in the present invention,
Overcome using because complex electromagnetic environment is interference caused by communication in valve hall, and transmission bandwidth is bigger, is able to achieve when wirelessly communicating
The reliable transmission of video and control signal, it is compact-sized.
2. the present invention takes electricity using wired, so that autonomous monitoring time is not limited by battery capacity, detection time is more flexible,
Continuous inspection work for a long time can be achieved.
3. detection components of the invention according to actual use demand can arrange in pairs or groups visible light, infrared and ultraviolet detector,
Sound pick-up, gas detecting instrument, electromagnetic field intensity detector etc. facilitate the different testing requirements realized in valve hall.
4. the present invention can also be used in the occasion that there are the mobile inspection demand of vertical direction in all interiors, to replace artificial make
Industry, range is up to tens meters.
5. the present invention expands the monitoring range of transformer substation security, by effectively utilizing the tour of robot, security protection prison
Control range covers whole station.
6. the present invention improves the detection efficiency of equipment deficiency, pass through mobile crusing robot and intelligent analysis master
Machine, perfect joint-action mechanism from the discovery of equipment deficiency, are confirmed with the intelligentized linkage of on-line equipment management without artificial ginseng
With the autonomy-oriented of realization video monitoring linkage and automation.
Further, track of the invention uses the drive system of profiled rail and transmission, and profile structure intensity is high, rigidity
Greatly, it runs smoothly reliable.And material is easy to get, and can faster realize system building.The synchronous belt drive system of use moves
Precision is high, can meet Any Fixed Point detection demand.By continued access, big stroke detection requirement may be implemented.
Further, the AC servo motor in the present invention has brake, can reliably lock braking when power is off.
Further, the first control cabinet of the invention can be used as bracket case and move together with slide, Remote Control System
Flexibly.
Further, when the present invention is powered using drag chain towing cable mode, used drag chain baffle is L-type aluminum profile, not only
Large scale installation may be implemented, and material obtains conveniently.L-type aluminum profile and track form guide groove, both may be implemented to drag chain
It is fixed, and the guiding to drag chain may be implemented.
[Detailed description of the invention]
Fig. 1 is system outline structural diagram when rail polling robot terminal is powered using slip；
Fig. 2 is the system outline structural diagram that rail polling robot terminal uses drag chain power supply mode；
Fig. 3 is rail polling robot terminal slip power supply 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 when drag chain power supply mode；
Fig. 9 is shroud module structural assembly diagram；
Figure 10 is box body structure figure；
Figure 11 is that safety ground column is grounded schematic diagram；
Figure 12 is dust control by ventilation electromagnetic shielding window structural schematic diagram；
Figure 13 video monitor linkage system structure chart；
The structure chart of Figure 14 linkage analysis control host；
A watchdog subsystem structure chart is auxiliarily fixed in Figure 15；
The flow chart of Figure 16 video monitoring system and security system linkage；
The flow chart of Figure 17 video monitoring system and on-line equipment management system；
The flow chart of the linkage of Figure 18 video monitoring system and fire-fighting system.
In figure, 101, linkage analysis control host, 102, data storage server, 103, the communication server, 104, inspection
Robot, 105, wireless communication module, 106, be auxiliarily fixed a watchdog subsystem, 201, analysis module, 202, control module,
301, fixed point searches plain module, 302, video data and sound data acquisition module, 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 fixing seats, 8 flange assemblies, 9 AC servo motors, 10 retarders, 11 Zero-point switches, 12 first controls
Case, 13 holders, 14 detection components, 15 profiled rails, 16 synchronous belts, 17 drag chains, 18 drag chain baffles, 19 limit switch blocks, 20
Current-collector fixed plate, 21 drag chain baffle installation parts, 22 first notches, 23 second notches, 24 third notches, 25 the 4th notches, 26
5th notch, 27 second limit switches, 28 second synchronous pulley components, 29 second control cabinets, 30 host computers, 31 first photoelectricity turn
Parallel operation, 32 second photoelectric converters, 33 first interchangers, 34 second switch, 35 second power supply modules, 36 motion controllers,
37 servo-drivers, 38 video servers, 39 thermal infrared imagers, 40 optical cameras, 41 tele-control systems, 42 robots
Terminal system, 43 optical fiber, 44 detection device controllers, 45 first power modules；
12-1 is shielding cover board, and 12-2 is box body, and 12-3 is standard fasteners, and 12-4 is connector, and 12-2-1 is box body
Outer wall, 12-2-2 are threaded hole, and 12-2-3 is step, and 12-2-4 is mounting 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, honeycomb ventilated plates, 2-4,2-3, Air Filter are led
Electric rubber strip.
[specific embodiment]
Present invention is further described in detail in the following with reference to the drawings and specific embodiments, but not as to limit of the invention
It is fixed.
As shown in Figure 1, the converter station valve hall intelligent inspection robot system based on video monitor linkage system, mainly includes
Linkage analysis controls host 101, data storage server 102, the communication server 103, the inspection machine interacted with external system
People 104 is responsible for wireless communication module 105 and monitoring is auxiliarily fixed that linkage analysis control host and crusing robot communicate
System 106,
Crusing robot includes robot terminal system 42, and the robot terminal system 42 and tele-control system 41 are logical
Letter, the robot terminal system 42 include profiled rail 15, and the profiled rail 15 is vertically installed on valve hall wall surface, described
Movement mechanism, motion driving mechanism and testing agency are installed on profiled rail 15.
The movement mechanism includes the first synchronous pulley component 1, the second synchronous pulley component 28 and synchronous belt 16, described same
Walking pulley assemblies includes synchronous wheeled box and synchronous pulley, and the synchronous wheeled box is mounted on the upper and lower ends of profiled rail 15,
The synchronous pulley is mounted on inside synchronous wheeled box, and the synchronous belt 16 tightly wraps 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 retarder 10, the AC servo motor 9 be installed together by retarder 10 with synchronous pulley；The retarder 10 is logical
Flange assembly 8 is crossed to be fixed on the second synchronous wheeled box of 15 bottom of profiled rail；
The testing agency includes the first control cabinet 12；First control cabinet 12 is realized to the logical of detection components 14 and holder 13
Letter control and power supply；First control cabinet 12 is mounted on slide 5, and the slide 5 is connected with synchronous belt 16, the slide 5
It being mounted on profiled rail 15 by sliding contact, the synchronous belt 16 drives the slide 5 to move up and down along profiled rail 15,
Holder 13 is installed, so the first control cabinet 12 also functions to the effect of bracket on first control cabinet 12；Pacify on the holder 13
Fill detection components 14；Detection components 14 are made of thermal infrared imager 39, optical camera 40 etc..
The robot terminal system 42 further includes the second control cabinet 29 being mounted near track, second control cabinet
29 communicate with the first control cabinet 12, and the signal that the first control cabinet 12 detects is transferred to tele-control system 41；Described second
Control cabinet 29 also acts as the motion control effect to track movement driving assembly；
The robot terminal system 42 is powered communication according to different requirements, using towing cable mode, or using cunning
Touching line mode is powered power-up power carrier system and is communicated.
When robot uses drag chain mode powered communication,
Detection device controller 44, video server 38, the first interchanger 33, first are installed in first control cabinet 12
The equipment such as power module 45；Wherein, the video server 38 is communicated with infrared video camera 39 and optical camera 40 respectively, institute
It states the first interchanger 33 to communicate with the video server 38, first interchanger 33 and the detection device controller 44
Communication, the detection device controller 44 are communicated with holder 13, thermal infrared imager 39 and optical camera 40 respectively；First power supply
Module 45 is each power supply for electrical equipment.
The motion controller 36 of installation AC servo motor 9, the 37, second electricity of servo-driver in second control cabinet 29
Source module 35, second switch 34 and the first photoelectric converter 31, second photoelectric converter 31 and second switch 34 are logical
Letter, the second switch 34 are communicated with motion controller 36, and the motion controller 36 is communicated with servo-driver 37, described
First photoelectric converter 31 is communicated with tele-control system 41, and the motion controller 36 is opened with the limit of Zero-point switch 11, first
Pass 2 and the second limit switch 27 communicate, and the servo-driver 37 is communicated with AC servo motor 9, the second power supply module
35 give each electricity consumption module for power supply.
When robot is powered using trolley mode, and is communicated using power carrier mode,
Detection device controller 44, video server 38, the first interchanger 33, first are installed in first control cabinet 12
Power carrier modem, the first power module 45, wherein the video server 38 respectively with it is red in detection components 8
Outer video camera 39 and optical camera 40 communicate, and first interchanger 33 is communicated with the video server 38, and described first
Interchanger 33 is communicated with the detection device controller 44, the detection device controller 44 respectively with holder 13, infrared thermal imagery
Instrument 39 and optical camera 40 communicate；First power module 45 is each power supply for electrical equipment.
The motion controller 36 of installation AC servo motor 9, the 37, second electricity of servo-driver in second control cabinet 29
Source module 35, second switch 34, the first photoelectric converter 31 and the second power carrier modem, first photoelectricity turn
Parallel operation 31 is communicated with second switch 34, and the second switch 34 is communicated with motion controller 36, the motion controller 36
It is communicated with servo-driver 37, first photoelectric converter 31 is communicated with tele-control system 41, the motion controller 36
It is communicated 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 power supply module 35 give each electricity consumption module for power supply；
One end of first power carrier modem is connect with the first interchanger 33, the first power carrier tune
The other end of modulator-demodulator is connect with one end of the second power carrier modem, the second power carrier modulation /demodulation
The other end of device is connect with second switch 34.
When system uses slide wire power supply mode, communication mode used by the control of testing agency is power carrier side
Formula；Current-collector 6 is installed by current-collector fixed plate 20 on first control cabinet 12, trolley is installed on the profiled rail 15
Fixing seat 7, the trolley 4 are mounted in trolley fixing 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 both ends of the first power carrier modem of the first control cabinet 12, the current-collector 6
The two poles of the earth are also coupled to 45 both ends of the first power module of the first control cabinet 12.The two poles of the earth of the trolley 4 are connected to the second control cabinet 29
On interior power carrier modem, the two poles of the earth of the trolley 4 are also coupled to the second power supply module 35 of the second control cabinet 29
Both ends.
The trolley 4 is made of copper conductor and insulating sheath, and copper conductor is made into sleeve-shaped, is had on the current-collector 6
The conducting wire sliding contact of conducting wire same as trolley radical and trolley is connect.
When system uses drag chain power supply mode, the power supply of the first control cabinet 12 and communication are independent cable respectively,
Power cable is provided by the second control cabinet 29；The communications cable is then connect with the interior interchanger of the second control cabinet 29；The profile
Drag chain plate washer 18 and drag chain 17 are installed, the drag chain baffle 18 is fixed on profile by drag chain baffle installation part 21 on track 15
On track 15, in drag chain 17, drag chain 17 plays a protective role to cable for the power cable and the communications cable.
The tele-control system 41 includes the second photoelectric converter 32 and host computer 30, and the second photoelectric converter 32 will be remote
After the signal of communication of process control system 41 and robot terminal system 42 carries out photoelectric conversion, it is transferred in host computer 30.
The robot terminal system 42 further includes position-limit mechanism, and the position-limit mechanism includes limit switch, the limit
Switch is mounted on the both ends of profiled rail 15, and the rear surface of the control cabinet contacted with profiled rail 15 is kept off equipped with limit switch
Block 19, with the use of preventing, abnormal power-down is brought to collide the limit switch block 19 with limit switch.
First photoelectric converter 31 of second control cabinet 29 believes all images and video detection signal and control
Number it is converted to optical signal, is transferred signals in tele-control system 41 by optical fiber 43, to realize the inspection to whole system
Content is surveyed to carry out processing and carry out remote control operation to detection and motion state.
The encoder of the AC servo motor 9 is connect with the servo-driver 37 in the second control cabinet 29, passes through rapid pulse
Rushing the slide 5 that mode accurately controls on track drives the arrival of detection components 14 designated position to be detected.
The AC servo motor 9 has electromagnetic brake, can be realized braking in the event of a power failure.
The profiled rail 15 is vertically installed on valve hall wall surface by installation structure of track part 3.
The synchronous belt 16 is with synchronous pulley cooperation in the slot of profiled rail 15.
The detection components 14 include thermal camera and visible light camera.
The drag chain baffle 18 is L-type aluminum profile, and the L-type aluminum profile and profiled rail 15 form guide groove, is realized to dragging
The fixation of chain and guiding to drag chain.
The bottom end of the profiled rail 15 is equipped with Zero-point switch 11, the origin as robot operation.In crusing robot
Before powering on every time, then the first automatic Aligning control of robot executes the patrol task of distribution.
Second control cabinet 29 is realized to the power supply of entire robot system terminal and communication relay and AC servo
The motion control function of motor, and by communications control signal realize photosignal conversion.
As shown in figure 4, installing drag chain plate washer 18 and drag chain 17 on the profiled rail 15, the drag chain baffle 18 is by dragging
Chain baffle installation part 21 is fixed on profiled rail 15.
The drag chain baffle 18 is L-type aluminum profile, and the L-type aluminum profile and profiled rail 15 form guide groove, is realized to dragging
The fixation of chain and guiding to drag chain 17.
The bottom end of the profiled rail 15 is equipped with Zero-point switch 11, the origin as robot operation.In crusing robot
Before powering on every time, then the first automatic Aligning control of robot executes the patrol task of distribution.
Signified rail system of the invention is by vertical section material guide rail 15, synchronous belt drive system (the first synchronous pulley component
1, the second synchronous pulley component 28, slide 5, AC servo motor 9, retarder 10 and flange assembly 8) etc. constitute.
Wherein, the length of section material guide rail 15, can by continued access longest depending on the requirement of the detection range of crusing robot
Up to tens meters.The first synchronous pulley component 1 and the second synchronous pulley component 28 are installed in section material guide rail both ends, and install synchronous belt 16
With slide 5.Slide 5 and synchronous belt 16 are connected.Fig. 5 is a section example that can be chosen of profiled rail 15, third notch
24 be T-slot mouth, can be carried out other equipment with track by T-nut connected；4th notch 25 is to can be used to install rectangle
The equal devices of Zero-point switch 11.Second notch 23, the installation space that the 5th notch 26 is synchronous belt, the first notch of the left and right sides
22 can be used to install the round optical axis of guiding, and the support of slide 5 is led in installation and the matched bearing of optical axis, formation on slide 5
To effect.In lower end of track by flange assembly 8, by the second synchronous pulley of AC servo motor 9 and retarder 10 and lower end
Component 28 is installed together.The rotation of AC servo motor 9 drives synchronous pulley rotation, and synchronous pulley drives synchronous belt 16 and slide
5 move up and down together, constitute the orbital drive system of crusing robot.
First control cabinet 12 is on slide 5, the control software and hardware of installation crusing robot in the first control cabinet 12,
It can simultaneously serve as the bracket of holder 13 and detection components 14.Under the drive of slide 5, detection components 14 are moved up and down, joint
The comprehensive testing requirements to equipment are realized in the horizontal revolving motion of holder 13 and pitching movement.
Track machine people of the invention signified can be by wired power supply and communication, and two ways can be used to realize,
One of which is by trolley 4 plus PLC technology, as shown in Figure 1.Another kind is the form of drag chain towing cable, such as Fig. 2 institute
Show.
The as shown in Figure 1 power supply of trolley 4 and communication, wherein trolley 4 is by two strands or multiply tongue shape or other abnormity
Cross section wire and trolley fixing seat 7 form.For trolley fixing seat 7 on vertical profiled rail 15, trolley 4 is pressed into plastics
In card slot in insulating trolley line fixing seat 7, the installation of trolley 4 is realized.Current-collector 6 is by current-collector fixed plate 20 mounted in the
On one control cabinet 12.First control cabinet 12 is provided with the first power module 45 and first power carrier modem etc., realizes
The wired power supply and communication of crusing robot.
Two strands or multiply can be used in trolley 4.When using two strands of trolleys, using the carrier communication skill of power line
Art is furnished with power carrier modem in the first control cabinet 12, realizes powering when movement without towing cable and reliable communication.It adopts
When with multiply, PLC technology can not be used, and signal wire and power supply line is directly separated.It specifically can using which kind of trolley
It determines according to actual needs.
As shown in Fig. 2, the power supply mode of drag chain towing cable can be used in system when the length of profiled rail 15 is smaller.Using
When this mode, as shown in fig. 7, L-type drag chain baffle 18 is by drag chain baffle installation part 21 on vertical rail 15.Drag chain 17
Fixing end on the drag chain baffle 18, movable end is mounted in the bottom of control cabinet 12 by L-type structure part.Cable is mounted in drag chain
In 17, when control cabinet 12 moves up and down, cable moves together with drag chain 17.
The driving motor used in system has incremental encoder, in the second control cabinet 29 for AC servo motor 9
Mobile telecommunication control system can accurately control detection components 14 in such a way that rapid pulse rushes and reach in desired stroke range
Any position.
Limit switch 2 is housed at the both ends of profiled rail 15, is equipped at the rear portion of the first control cabinet 12 and matches with limit switch 2
The limit switch block 19 of conjunction, as shown in figure 3, power supply can be disconnected by triggering limit switch when 5 sliding process of slide, exchange is watched
The band-type brake for taking motor is held tightly, prevents from causing to collide in motion process.
Zero-point switch 11 is housed in the bottom end of profiled rail 15, the origin as robot operation.It is every in crusing robot
It is secondary power on before, then the first automatic Aligning control of robot executes the patrol task of distribution.
Profiled rail 15 can easily be installed by L-type installation structure of track part 3 as shown in FIG. 6.
First control cabinet 12 is provided with software and hardware required for the control of crusing robot.It can pacify on the control cabinet simultaneously
Through-the-wall connector is filled, is communicated with the second control cabinet 29.
It the motion control apparatus of installation AC servo motor 9 and with the first control cabinet 12 and is remotely controlled in second control cabinet 29
The communication equipment of system 41 processed realizes the motion control to AC servo motor and the relay process to signal, and is the second control
Case 29 processed provides power supply.
Detection components 14 can install different equipment according to different testing requirements, 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.
Slip or drag chain two ways can be used in power supply and communication mode for system.When robot detects stroke
When larger, trolley can be used and add PLC technology to adopt to realize untethered power supply and communication.It can be used and drag when stroke is little
Chain mode, using have cable power and communication.According to trolley, trolley 4 is installed on profiled rail 15, on the first control cabinet 12
Installing current-collector 6 additional, wiping cooperates therewith.According to towing cable mode, then drag chain plate is installed directly on vertical rail and drag chain is
It 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 metal plate, flexible liner and the gold that ecto-entad is sequentially overlapped
Belong to paillon, be cavity inside the box body 2,2 inner arm of box body is equipped with step 2-3.
Mounting hole is provided on shielding cover board 12-1, step 12-2-3 is equipped with and opens threaded hole 12-2-2, standard fasteners 12-
3 are fixedly connected with box body 12-2 and shielding cover board 12-1 with threaded hole 12-2-2 by mounting hole.Metal plate be steel plate, aluminium sheet or
Person's copper sheet.The material of flexible liner is the soft foam material with gum.Metal foil is thickness 0.01mm to 0.1mm band
There are the aluminium foil or copper foil of gum.
The material of box body 12-2 is aluminium alloy or copper alloy.Metal plate, flexible liner and metal foil length and width
It is identical, it is rectangle, the box body 12-2 is cuboid.Box body 12-2 is integrally to be tied made of block of metal milling
Structure.Box body 12-2 includes box body outer wall 12-2-1.Metal cover board is that 12-1 is integrated component, before use, first by flexible liner
Pad, metal foil are pasted forms an entirety on a metal plate.Then shielding cover board 12-1 and cover board 12-2 is tight by standard
Firmware 12-3 is installed together, and is formed and is electromagnetically shielded good confined space.Electronic device is mounted in shielding cavity as needed.
The mounting hole 12-2-4 of external interface is opened on box body, installation Electro Magnetic Compatibility connector 12-4 realizes correspondence with foreign country.
Electromagnetic shield module box, because the presence of flexible liner makes the sealing effect of shielding cover board more preferable.On box body there are
Shielding cover board installation step.Box body can be used block of metal milling and form, and shield effectiveness is good.Using flexible liner and metal foil
Shielding cover board structure it is simple, the infrastructure cost than being shielded using conductive material is low.
As shown in figure 11, safety ground column is made of grounding screw 29-3 and standard component made of copper.Grounding screw 29-3 material
Matter is copper alloy, has good electric conductivity and corrosion resistance.Grounding screw 29-3 points are three sections, and middle section is mounting flange
Disk, both 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, plain washer one 29-2-1 and wing nut 29- of one end of centre bore
4.External ground line can be manually tightened into connection with wing nut 29-4.One 29-1-1 of hex nut can provide certain
External ground line can be tightened in one 29- of wing nut 29-4 and plain washer by wing nut 29-4 with hand by elevation plane
Between 2-1, external reliable ground is formed.
When in use, waist round hole or D type cabinet hole 29-5 are beaten according to the shape of grounding screw on cabinet wall 29-6, are grounded
Stud 29-3 is processed into the partial insertion cabinet inside of kidney ellipsoid or D type, then successively screws in copper hexagonal spiral shell in cabinet inside
Two 29-1-2 of mother, three 29-1-3 of two 29-2-2 of plain washer, three 29-2-3 of plain washer and hex nut, hex nut close to the inner portion
Two 29-1-2 play the role of fastening grounding screw 29-3, move freely by external three 29-1-3 of hex nut, can be by machine
The cable etc. for needing to be grounded inside case is connected on earthing rod and is tightened with nut.The one end grounding screw 29-3 is equipped with centre bore,
Centre bore is for the use of reaming jumping-up.By end jumping-up after wing nut 29-4 loading, permanently it can prevent wing nut from falling off.
Grounding screw 29-3 other end threaded portion cuts plane, can cut a plane in D type, can also symmetrically cut
Two planes are in kidney ellipsoid.The cabinet hole slightly larger than kidney ellipsoid or D molded dimension on stud is opened on its cabinet wall 29-6 installed
29-5。
The middle section grounding screw 29-3 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 use wing nut 29-4, can also be used to make using knurled nut
Use when being tightened for hand 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, plain washer three 29-2-3 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
It is composed, the two is formed by connecting by welding or bonding or screw.The rectangular channel of open loop shape on second frame 2-1-2,
Conductive rubber strip 2-4 is adhesive in the rectangular channel of the second frame 2-1-2 by conduction, honeycomb 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 that first ventilated plates 2-2 and Air Filter 2-3 are installed in the step of two frames.
Dust control by ventilation electromagnetic shielding window is applied inside shielding case body that is more demanding in electromagnetic sealing and requiring ventilation.
It is mounted on the position for needing aperture, because metallic honeycomb forms good electromagnetic wave shielding.Installation is led on second frame
Electric rubber strip 2-4, enhances the sealing effect between frame and cabinet, prevents from forming gap between shielding windows and cabinet, improves
Effectiveness.
Dust can greatly reduce the service life of equipment.Air Filter 3 can be effectively prevented causes case intracorporal because of ventilation
Dust accumulation, improves the service life of equipment.
As shown in figure 13, video monitor linkage system mainly includes that linkage analysis controls host 101, data storage service
Device 102, crusing robot 104, is responsible for linkage analysis control host and inspection at the communication server 103 interacted with external system
The wireless communication module 105 of robot communication and a watchdog subsystem 106 is auxiliarily fixed.
Linkage analysis control host 101 is connected with data storage 102, the communication server 103, wireless communication module 105
Linkage analysis control host 101 and crusing robot 104 are connected, 106 connection communication server of site monitoring system is auxiliarily fixed
103。
Data storage 102 is mainly responsible for video data and audio data storage.
The communication server 103, which is mainly responsible for, is sent to outside for the unusual condition that linkage analysis control host 101 analyzes
System links；It is otherwise responsible for receiving the linkage request of external system, forwards a request to linkage analysis control host 101
Make corresponding linkage.The communication mode of the communication server 103 uses network communication, and unusual condition includes: that discovery mobile object is rushed
Enter, find that fire, equipment thermal defect, equipment state are abnormal.External system includes: that security protection, fire-fighting, PMIS, integrated information are flat
Platform.
Wireless communication module 105 is responsible for the communication of linkage analysis control host and robot.
As shown in figure 14, linkage analysis controls host 101, is divided into analysis module 201 and control module 202, analysis module
201 are mainly responsible for analysis video data, obtain in current video data with the presence or absence of unusual condition.Control module 202 is mainly negative
Duty controls the video equipment in robot or the video equipment that a watchdog subsystem is auxiliarily fixed.
As shown in figure 15, a watchdog subsystem is auxiliarily fixed, including fixed point searches plain module 301, video data and sound
Data acquisition module 302 and cradle head control module 303.It is mainly responsible for the video acquisition and cradle head control of fixed point video camera, is matched
It closes linkage analysis control host and completes monitoring linkage work.
Video monitoring system and the flow chart that security system links are as shown in figure 16, and crusing robot 104 terminates charging, from
Accumulator plant is opened, tour task is started, starts the daily tour work for carrying out whole station, according to preset patrol route, is maked an inspection tour
Each region in substation.
During tour, crusing robot 104 will make an inspection tour video in real time, and module 105 is sent to connection by wireless communication
Dynamic analysis and Control host 101, linkage analysis control host 101 analyze in video whether have mobile object to swarm into real time.
When linkage analysis control host 101 has analyzed mobile object and has swarmed into, control crusing robot 104 is mobile carry out with
Track monitoring, while the position where instruction and mobile object is sent to a watchdog subsystem 106 is auxiliarily fixed.
A watchdog subsystem 106 is auxiliarily fixed to receive after order and after moving object position information, search mobile object is attached
Close fixed point monitoring camera is monitored.
Linkage analysis controls host 101 according to discovery mobile object linkage request is arranged with security system in advance, by logical
Telecommunications services device 103 sends discovery mobile object linkage request to security system.
After security system receives linkage request, it is a series of that audible alarm, alarm condition variation etc. are carried out in security system
Inner link work.
After object to be moved is eliminated, crusing robot 104, which returns on original patrol route, to be continued to make an inspection tour work, when
It was found that repeating the above steps when mobile object occurs, until completing the tour of all areas on inspection route, accumulator plant is returned to, into
Row charging.
The flow chart of video monitoring system and on-line equipment management system is as shown in figure 17, and the end of crusing robot 104 is filled
Electricity, starting device Detection task start to carry out routine testing work to the primary equipment of whole station, according to preset detection road
Line successively detects all primary equipments in substation.
Crusing robot 104 reaches detection road built-in unit test point, carries out visible light picture to test point surrounding devices
The recording of acquisition, equipment operation sound with infrared chart.Collected picture, voice data and real time video data etc. are patrolled
Module 105 is transferred to linkage analysis control host 101 to inspection data by wireless communication.Crusing robot 104 moves to detection road
Next test point on line repeats above-mentioned equipment routing inspection data collection task, until test point inspection all on detection route
Survey finishes, and crusing robot 104 returns to accumulator plant and charges.
After linkage analysis control host 101 receives inspection data, equipment operation condition in intellectual analysis picture (disconnecting link and is opened
The division of pass, device temperature, equipment whether there is hanger, operating sound with the presence or absence of abnormal).When discovering device itself exists
(temperature is excessively high, temperature rise is excessively high, disconnecting link or switch division are not in place, there are different there are hanger, operating sound for equipment for unusual condition
Normal situation).Linkage analysis controls host 101 and the position of warping apparatus and lasting detection device request is sent to and is auxiliarily fixed a little
Watchdog subsystem.Store inspection data to data storage server 102.
The fixed point that can observe the equipment of the search of a watchdog subsystem 106 around is auxiliarily fixed, and (fixed point has red
Outer thermal imaging system and visible light camera) search after, allow fixed point at regular intervals to warping apparatus acquire inspection data one
It is secondary.If suitable fixed point is not present in surrounding, after being maked an inspection tour to robot, all exceptions found in this tour are set
It is standby, it makes robot primary to warping apparatus acquisition inspection data at regular intervals every the set time, inspection data is issued
Analysis and Control host 101, until problem is eliminated extremely.
Linkage analysis controls host 101 according to equipment operation condition request is arranged with on-line equipment management system in advance, leads to
The communication server 103 is crossed to request to on-line equipment management system sending device operation conditions.
After on-line equipment management system receives linkage request, the operation conditions of on-line equipment management system display device, together
When different type of alarm is generated according to unit exception situation and maintenance personnel is notified to carry out field device failure exclusion.
Online management system sends review linkage request by the communication server and gives linkage analysis control host simultaneously, allows machine
Device people reaches designated equipment position and checks equipment state.Such as sequence operation, after equipment sequence operation, sequence
System can send sequence review request to video monitor linkage system, near the robot to equipment that links, check sequence operation
Performance.
When the linkage of video monitoring system and fire-fighting system, the flow chart specifically executed is as shown in figure 18, crusing robot
104 terminate charging, leave accumulator plant, start tour task, start the daily tour work for carrying out whole station, according to preset
Patrol route makes an inspection tour each region in substation.
During tour, crusing robot 104 will make an inspection tour video in real time, and module 105 is sent to connection by wireless communication
Dynamic analysis and Control host 101, linkage analysis control in 101 real-time intelligent of host analysis visible light video with the presence or absence of flame and red
Whether the heat map data temperature of outer thermal imaging system is more than fire alarm threshold temperature, while linkage analysis controls when meeting above-mentioned two condition
Host 101 judges that the region is on fire.
Have a point of origin when linkage analysis control host 101 analyzes battery limits, control crusing robot 104 is mobile carry out with
Track continues to monitor, while sending the position where instruction and mobile object to a watchdog subsystem 106 is auxiliarily fixed.
A watchdog subsystem 106 is auxiliarily fixed to receive after order and after moving object position information, searches near point of origin
Fixed point monitoring camera be monitored.
Linkage analysis controls host 101 according to fire alarm linkage request is arranged with fire-fighting system in advance, passes through the communication server
103 send fire alarm linkage request to fire-fighting system.
After fire-fighting system receives linkage request, audible alarm, alarm condition variation, notice maintenance are carried out in fire-fighting system
Personnel carry out fire alarm elimination.
After fire alarm elimination, crusing robot 104, which returns on original patrol route, to be continued to make an inspection tour work, works as discovery
It is repeated the above steps when point of origin occurs until completing the tour of all areas on inspection route.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (2)
1. the valve hall robot method for inspecting based on video monitor linkage system, which is characterized in that join using based on video monitoring
The valve hall robot inspection system of dynamic system, including linkage analysis control host (101), for receiving crusing robot (104)
On video monitoring equipment acquisition video data and carry out Data Analysis Services, control machine according to analysis treated data
Video equipment on people or the video equipment that a watchdog subsystem (106) is auxiliarily fixed carry out the movement of dependent instruction；
The communication server, the unusual condition for analyzing linkage analysis control host (101) are sent to external system and carry out
Linkage；It is otherwise responsible for receiving the linkage request of external system, forwards a request to linkage analysis control host (101) and make phase
It should link；
A watchdog subsystem (106) are auxiliarily fixed, for fixed point search, video data and voice data acquisition and holder
Monitoring linkage work is completed in control, cooperation linkage analysis control host (101)；
The crusing robot (104) includes robot terminal system (42), and the robot terminal system (42) includes track,
Movement mechanism, motion driving mechanism and testing agency are installed on the track, also set on the robot terminal system (42)
There is screening arrangement, the input terminal of the power-supply system of robot terminal system (42) is provided with filter module, lightning-protection module and over-voltage
Overcurrent protection module, the robot terminal system (42) is powered communication using towing cable mode, or uses 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
Movement mechanism is moved along track, and movement mechanism is by driving testing agency to move up and down the operation shape of equipment in then monitoring valve hall
Condition；
The testing agency includes the first control cabinet (12)；First control cabinet (12) realizes the communication control to detection components and holder
System and power supply；Installation detection device controller, video server, the first interchanger, the first electric power carry in first control cabinet
Wave modem, the first power module, wherein the video server respectively with the infrared video camera and light in detection components
Video camera communication is learned, first interchanger is communicated with the video server, first interchanger and the detection device
Controller communication, the detection device controller are communicated with holder, thermal infrared imager and optical camera respectively；First power supply mould
Block is each power supply for electrical equipment of first control cabinet；
Specifically includes the following steps:
Step 1: crusing robot (104) terminates charging, leaves accumulator plant, starts tour task, according to preset tour
Route or detection route make an inspection tour each region in substation or detect all online equipments in substation, when inspection whole station
Online equipment situation when, be transferred to step 2；When the situation of inspecting fire-extinguishing system, it is transferred to step 3；When inspection security protection system
When the situation of system, it is transferred to step 4；
Step 2: crusing robot (104) will test the detection of the equipment on route point data and be transmitted to linkage analysis control host
(101), linkage analysis controls host (101) intellectual analysis equipment operation condition, when discovering device itself is there are when unusual condition,
The information of warping apparatus is sent to by linkage analysis control host (101) is auxiliarily fixed a watchdog subsystem (106), is auxiliarily fixed
Monitoring linkage work is completed in point watchdog subsystem (106) cooperation linkage analysis control host (101) until problem is eliminated extremely；
Step 3: crusing robot (104) will make an inspection tour video in real time and be sent to linkage analysis control host (101), linkage point
Analysis control host (101) real-time perfoming intellectual analysis, when there are point of origin in battery limits, crusing robot (104) is mobile carry out with
Track continues to monitor, while sending the position where instruction and mobile object to a watchdog subsystem (106) are auxiliarily fixed；
Step 4: crusing robot (104) will make an inspection tour video in real time and be sent to linkage analysis control host (101), linkage point
Whether analysis control host (101) is analyzed in video in real time has mobile object to swarm into, when linkage analysis control host (101) analyzes
When having mobile object to swarm into, a watchdog subsystem (106) cooperation linkage analysis control host (101) is auxiliarily fixed to security system
Discovery mobile object linkage request is sent, security system carries out Inner link work after receiving linkage request.
2. the valve hall robot method for inspecting based on video monitor linkage system as described in claim 1, it is characterised in that: institute
It states in step 1, when crusing robot (104) detects all online equipments in substation, specific the step of executing are as follows:
(2-1): crusing robot (104) reaches the equipment test point on detection route, sets to the equipment around test point
Standby visible light picture and Infrared Thermography Data acquisition, the recording of equipment operation sound, by collected picture, voice data and reality
When video routing inspection data module (105) is transferred to linkage analysis control host (101) by wireless communication；Robot motion to inspection
Next test point on route is surveyed, above-mentioned equipment routing inspection data collection task is repeated, until detection all on detection route
Point detection finishes；
(2-2): after linkage analysis control host (101) receives inspection data, equipment operation condition in intellectual analysis picture, specifically
, with the presence or absence of exception, work as hair with the presence or absence of hanger, operating sound for the division of analysis disconnecting link and switch, device temperature, equipment
There are unusual condition, linkage analysis controls host (101) and asks the position of warping apparatus and lasting detection device existing equipment itself
It asks to be sent to and be auxiliarily fixed a watchdog subsystem (106), store inspection data to data storage server (102)；
(2-3): being auxiliarily fixed the fixed point that can observe the equipment around a watchdog subsystem (106) search, after searching,
Make fixed point primary to warping apparatus acquisition inspection data at regular intervals, otherwise, after making an inspection tour to robot, to this
All warping apparatus found in tour make robot primary to warping apparatus acquisition inspection data, will patrol every the set time
Inspection data issue linkage analysis control host (101)；
(2-4): linkage analysis control host (101) according in advance with on-line equipment management system agreement equipment operation condition ask
It asks, is requested by the communication server to on-line equipment management system sending device operation conditions；
(2-5): after on-line equipment management system receives linkage request, the operation conditions of on-line equipment management system display device,
Different type of alarms is generated according to unit exception situation simultaneously.
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