CN106655506A - Robot power station inspection system and method - Google Patents
Robot power station inspection system and method Download PDFInfo
- Publication number
- CN106655506A CN106655506A CN201611085909.7A CN201611085909A CN106655506A CN 106655506 A CN106655506 A CN 106655506A CN 201611085909 A CN201611085909 A CN 201611085909A CN 106655506 A CN106655506 A CN 106655506A
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- China
- Prior art keywords
- robot
- exchanger
- signal
- crusing robot
- magnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/16—Electric power substations
Abstract
The invention discloses a robot power station inspection system and method. The robot power station inspection system comprises a robot base station, a main control room, an inspection robot and an inspection point. According to the robot power station inspection system disclosed by the invention, the inspection robot can enter an inspection point region based on a satellite navigation positioning system; then signal exchange is performed by magnetic signal exchangers mounted on left and right soles of the inspection robot and an inspection point magnetic positioning signal exchanger pre-embedded on the ground, so as to guide the inspection robot to realize secondary positioning; through a mechanical guiding apparatus, positioning accuracy of the inspection robot can be ensured; a temperature detector, a decibel detector, a camera and the like which are mounted on the inspection robot are adopted to collect related data; next, the data is transmitted to a main control computer through a signal remote exchanger; and the data is analyzed and processed by the main control computer. According to the robot power station inspection system and method, through the mechanical guiding apparatus, the positioning accuracy of the inspection robot is ensured; and accuracy and consistency of the related data collected by the inspection robot are ensured, so that the robot power station inspection system and method are high in application prospect.
Description
Technical field
The present invention relates to a kind of service robot, and in particular to a kind of robot power station cruising inspection system and method, belong to
Electrically and field of electromechanical technology.
Background technology
At present, the work of patrolling and examining in power station is mainly completed by the patrol officer in power station, and the workload patrolled and examined due to power station is big,
Environment is complicated, and especially in the case of atrocious weather, such as, the weather condition such as strong wind and heavy rain, thunder and lightning, patrol officer also has one
Fixed danger, so, it is considered to it is an extraordinary idea to replace patrol officer to complete to patrol and examine using crusing robot.Patrol and examine
Robot replaces patrol officer to carry out patrolling and examining work, and the problem of most critical is how crusing robot is just determined patrolling and examining a realization
Position.
The content of the invention
Robot power station proposed by the present invention cruising inspection system, crusing robot can be entered according to satellite navigation and location system
Patrol and examine a region, then by the magnetic signal exchanger and pre-plugged installed in crusing robot or so foot bottom on the ground
Patrolling and examining a magnetic location signal exchange device carries out signal exchange, and guiding crusing robot realizes secondary positioning, and is led by machinery
Ensure the accuracy of crusing robot positioning to device, by the temperature sounder on crusing robot, decibel detection
Instrument and first-class collection related data is imaged, then main control computer is transferred to by signal remote switch device, have main control computer to carry out point
Analysis is processed.
The present invention installed in crusing robot or so foot bottom magnetic signal exchanger and pre-plugged on the ground
Patrolling and examining a magnetic location signal exchange device carries out signal exchange, and guiding crusing robot realizes secondary positioning, and is led by machinery
Ensure the accuracy of crusing robot positioning to device, ensure the accuracy of related data that crusing robot collects with it is consistent
Property, have a extensive future.
It is an object of the invention to provide a kind of robot power station cruising inspection system and method.
The technical solution used in the present invention is：A kind of robot power station cruising inspection system, including robot base station, master control room,
Crusing robot, patrol and examine a little；Base station cradle and base station magnetic location signal exchange device, institute are provided with the robot base station
Stating base station magnetic location signal exchange device includes the left exchanger of base station magnetic signal and the right exchanger of base station magnetic signal, base station magnetic
Property the left exchanger of signal and the right exchanger of base station magnetic signal top be respectively provided with the left exchanger of base station magnetic signal be oriented to it is convex
Platform and the right exchanger guide ledges of base station magnetic signal；Main control computer is provided with the master control room and master control room signal is remotely handed over
Parallel operation；The left foot bottom of the crusing robot is provided with robot left foot magnetic signal exchanger, robot left foot magnetic letter
Concave surface is oriented to left foot magnetic signal exchanger below number exchanger, the right left foot bottom of crusing robot is provided with machine
People's right crus of diaphragm magnetic signal exchanger, is oriented to below robot right crus of diaphragm magnetic signal exchanger with right crus of diaphragm magnetic signal exchanger
Concave surface, the middle part left side of crusing robot is provided with crusing robot charging head, and the left side of head of crusing robot is provided with and patrols
Inspection robot signal remote switch device, crusing robot signal remote switch device connects with the communication of master control room signal remote switch device
Connect；The right side of head of crusing robot is provided with crusing robot satellite navigation positioning device, the head front of crusing robot
Left part is provided with temperature sounder, and the head front right part of crusing robot is provided with a decibel survey meter, the head of crusing robot
The positive Middle face in portion is provided with camera；It is described to patrol and examine pre-plugged on a ground and patrol and examine a magnetic location signal exchange device, patrol
Cautious magnetic location signal exchange device includes patrolling and examining a left exchanger of magnetic location signal and patrols and examines a right friendship of magnetic location signal
Parallel operation, patrols and examines a left exchanger of magnetic location signal and patrols and examines a top of the right exchanger of magnetic location signal and be respectively provided with and patrol and examine
Put the left exchanger guide ledges of magnetic location signal and patrol and examine the left exchanger guide ledges of a magnetic location signal.
Many set base station cradles and base station magnetic location signal exchange device can be set in robot base station.
One main control computer can control multiple stage crusing robot.
A kind of robot power station method for inspecting, using said system, its step is as follows：
（1）, crusing robot reset condition in the robot base station, the left foot of crusing robot passes through robot left foot magnetic
Property signal exchange device and robot right crus of diaphragm magnetic signal exchanger believe with the left exchanger of base station magnetic signal and base station magnetic respectively
The signal exchange of number right exchanger, guiding crusing robot realizes secondary positioning, and is led by the left exchanger of base station magnetic signal
To boss and the right exchanger guide ledges of base station magnetic signal and crusing robot left foot magnetic signal exchanger be oriented to concave surface and
Right crus of diaphragm magnetic signal exchanger is oriented to concave surface and realizes mechanical guide, it is ensured that the accuracy of crusing robot positioning, realization just determines
Position, and the correct docking of crusing robot charging head and base station cradle is realized, it is charged.
（2）, crusing robot after charging complete, can automatically leave base station cradle, cut off the electricity supply, into base station task
Accreditation Waiting Area.
（3）, when needing crusing robot to be patrolled and examined, the main control computer of master control room passes through master control room signal remote switch
Device to crusing robot sends assignment instructions, and crusing robot receives task, presses by crusing robot signal remote switch device
According to mission requirements, crusing robot satellite navigation positioning device receives the navigator fix service of satellite navigation and location system, reaches
Region of patrolling and examining a little is patrolled and examined, the pre-plugged magnetic location of patrolling and examining for patrolling and examining a magnetic location signal exchange device on the ground is believed
Number left exchanger and patrol and examine a right exchanger of magnetic location signal and hand over the robot left foot magnetic signal of crusing robot respectively
Parallel operation and robot right crus of diaphragm magnetic signal exchanger carry out signal exchange, and guiding crusing robot is close to patrols and examines a little, carries out secondary
Positioning, and be oriented to by patrolling and examining the left exchanger guide ledges of a magnetic location signal and patrolling and examining the left exchanger of a magnetic location signal
Boss is oriented to concave surface with crusing robot left foot magnetic signal exchanger and right crus of diaphragm magnetic signal exchanger is oriented to concave surface and realizes machine
Tool is oriented to, it is ensured that the accuracy of crusing robot positioning, realizes being properly positioned.
（4）, following crusing robot begin to work, each work component surface temperature is gathered by temperature sounder
And associated connections post surface temperature, noise data is gathered by decibel survey meter, by camera acquisition instrument data, due to patrolling
Inspection robot can realize being properly positioned, and the accuracy of its related data for collecting and uniformity are greatly improved, inspection machine
The related data that people collects is transferred to master by crusing robot signal remote switch device, master control room signal remote switch device again
Control computer, by main control computer process is analyzed.
（5）, after crusing robot completes the task that first is patrolled and examined a little, according to the work order of main control computer, enter
The next one is patrolled and examined a little, is all patrolled and examined after end-of-job, crusing robot auto-returned robot base station, carries out secondary fine determination
Position, realizes the correct docking of crusing robot charging head and base station cradle, is charged.
The invention has the beneficial effects as follows：
Robot power station proposed by the present invention cruising inspection system, crusing robot can be entered according to satellite navigation and location system and patrolled and examined
Point region, then the patrolling and examining on the ground by the magnetic signal exchanger and pre-plugged installed in crusing robot or so foot bottom
Point magnetic location signal exchange device carries out signal exchange, and guiding crusing robot realizes secondary positioning, and is filled by mechanical guide
Put the accuracy for ensureing crusing robot positioning, by the temperature sounder on the crusing robot, decibel survey meter and
First-class collection related data is imaged, then main control computer is transferred to by signal remote switch device, have main control computer to be analyzed place
Reason.
The present invention installed in crusing robot or so foot bottom magnetic signal exchanger and pre-plugged on the ground
Patrolling and examining a magnetic location signal exchange device carries out signal exchange, and guiding crusing robot realizes secondary positioning, and is led by machinery
Ensure the accuracy of crusing robot positioning to device, ensure the accuracy of related data that crusing robot collects with it is consistent
Property, have a extensive future.
Description of the drawings
The embodiment for being given below in conjunction with the accompanying drawings is described in more detail to the present invention.
Fig. 1 is the structural representation of the present invention.
Specific embodiment
As shown in figure 1, a kind of robot power station cruising inspection system, including robot base station 1, master control room 2, crusing robot 3,
Patrol and examine a little 4；Base station cradle 1-1 and base station magnetic location signal exchange device 1-4, base station magnetic are provided with robot base station 1
Framing signal exchanger 1-4 includes the left exchanger 1-2 of the base station magnetic signal and right exchanger 1-3 of base station magnetic signal, base station magnetic
The top of the property left exchanger 1-2 of the signal and right exchanger 1-3 of base station magnetic signal is respectively provided with the left exchanger of base station magnetic signal
Guide ledges 1-5 and right exchanger guide ledges 1-6 of base station magnetic signal；Main control computer 2-1 and master control are provided with master control room 2
Room signal remote switch device 2-2；The left foot bottom of crusing robot 3 is provided with robot left foot magnetic signal exchanger 3-1, machine
Concave surface 3-9, crusing robot 3 are oriented to below device people left foot magnetic signal exchanger 3-1 with left foot magnetic signal exchanger
Right left foot bottom be provided with robot right crus of diaphragm magnetic signal exchanger 3-2, under robot right crus of diaphragm magnetic signal exchanger 3-2
Face is oriented to concave surface 3-10 with right crus of diaphragm magnetic signal exchanger, and the middle part left side of crusing robot 3 is provided with crusing robot and fills
Dateline 3-3, the left side of head of crusing robot 3 is provided with crusing robot signal remote switch device 3-4, crusing robot signal
Remote switch device 3-4 is connected with master control room signal remote switch device 2-2 communications；The right side of head of crusing robot 3 is provided with and patrols
Inspection robot satellite navigation positioning device 3-5, the head front left part of crusing robot 3 is provided with temperature sounder 3-6, patrols and examines
The head front right part of robot 3 is provided with a decibel survey meter 3-7, and the head front middle part of crusing robot 3 is provided with shooting
Head 3-8；Patrol and examine pre-plugged on a little 4 ground and patrol and examine a magnetic location signal exchange device 4-1, patrol and examine a magnetic location signal
Exchanger 4-1 includes patrolling and examining the left exchanger 4-2 of a magnetic location signal and patrols and examines the right exchanger 4-3 of a magnetic location signal, patrols
The left exchanger 4-2 of cautious magnetic location signal and patrol and examine the top of the right exchanger 4-3 of a magnetic location signal and be respectively provided with and patrol and examine
Put left exchanger guide ledges 4-4 of magnetic location signal and patrol and examine left exchanger guide ledges 4-5 of a magnetic location signal.
Many set base station cradle 1-1 and base station magnetic location signal exchange device 1-4 can be set in robot base station 1.
One main control computer 2-1 can control multiple stage crusing robot 3.
A kind of robot power station method for inspecting, using said system, its step is as follows：
1st, in robot base station 1, the left foot of crusing robot 3 passes through robot left foot to the reset condition of crusing robot 3
Magnetic signal exchanger 3-1 and robot right crus of diaphragm magnetic signal exchanger 3-2 respectively exchanger 1-2 left with base station magnetic signal and
The signal exchange of the right exchanger 1-3 of base station magnetic signal, guiding crusing robot 3 realizes secondary positioning, and by base station magnetic
Left exchanger guide ledges 1-5 of signal and right exchanger guide ledges 1-6 of base station magnetic signal and the left foot magnetic of crusing robot 3
Signal exchange device is oriented to concave surface 3-9 and right crus of diaphragm magnetic signal exchanger is oriented to concave surface 3-10 and realizes mechanical guide, it is ensured that survey monitor
The accuracy of device people positioning, realizes being properly positioned, and realizes that crusing robot charging head 3-3's and base station cradle 1-1 is correct
Docking, is charged.
2nd, crusing robot 3 can automatically leave base station cradle 1-1 after charging complete, cut off the electricity supply, and appoint into base station
Business Accreditation Waiting Area.
3rd, when needing crusing robot 3 to be patrolled and examined, the main control computer 2-1 of master control room 2 is long-range by master control room signal
Exchanger 2-2 to crusing robot 3 sends assignment instructions, and crusing robot 3 passes through crusing robot signal remote switch device 3-4
Reception task, according to mission requirements, crusing robot satellite navigation positioning device 3-5 receives the navigation of satellite navigation and location system
Positioning service, arrival patrol and examine a little 4 region of patrolling and examining, pre-plugged on the ground patrol and examine a magnetic location signal exchange device 4-1
Patrol and examine the left exchanger 4-2 of a magnetic location signal and patrol and examine the right exchanger 4-3 of a magnetic location signal respectively with inspection machine
The robot left foot magnetic signal exchanger 3-1 and robot right crus of diaphragm magnetic signal exchanger 3-2 of people 3 carries out signal exchange, draws
Lead crusing robot 3 and be close to and patrol and examine a little 4, carry out secondary positioning, and it is convex by patrolling and examining the left exchanger guiding of a magnetic location signal
Platform 4-4 and patrol and examine left exchanger guide ledges 4-5 of a magnetic location signal and lead with the left foot magnetic signal exchanger of crusing robot 3
Concave surface 3-10 is oriented to concave surface 3-9 and right crus of diaphragm magnetic signal exchanger and realizes mechanical guide, it is ensured that the essence of crusing robot positioning
Really property, realizes being properly positioned.
4th, following crusing robot 3 begins to work, and by temperature sounder 3-6 each work component surface temperature is gathered
Degree and associated connections post surface temperature, gather noise data, by camera 3-8 acquisition instrument numbers by decibel survey meter 3-7
According to because crusing robot 3 can be realized being properly positioned, the accuracy of its related data for collecting and uniformity are carried significantly
Height, the related data that crusing robot 3 is collected is remote by crusing robot signal remote switch device 3-4, master control room signal again
Journey exchanger 2-2 is transferred to main control computer 2-1, and by main control computer 2-1 process is analyzed.
5th, after crusing robot 3 completes the task that first is patrolled and examined a little, according to the work order of main control computer 2-1, enter
Enter the next one to patrol and examine a little, all patrol and examine after end-of-job, the auto-returned robot base station 1 of crusing robot 3 is carried out secondary accurate
Positioning, realizes the correct docking of crusing robot charging head 3-3 and base station cradle 1-1, is charged.
Robot power station proposed by the present invention cruising inspection system, crusing robot can be entered according to satellite navigation and location system
Patrol and examine a region, then by the magnetic signal exchanger and pre-plugged installed in crusing robot or so foot bottom on the ground
Patrolling and examining a magnetic location signal exchange device carries out signal exchange, and guiding crusing robot realizes secondary positioning, and is led by machinery
Ensure the accuracy of crusing robot positioning to device, by the temperature sounder on crusing robot, decibel detection
Instrument and first-class collection related data is imaged, then main control computer is transferred to by signal remote switch device, have main control computer to carry out point
Analysis is processed.
The present invention installed in crusing robot or so foot bottom magnetic signal exchanger and pre-plugged on the ground
Patrolling and examining a magnetic location signal exchange device carries out signal exchange, and guiding crusing robot realizes secondary positioning, and is led by machinery
Ensure the accuracy of crusing robot positioning to device, ensure the accuracy of related data that crusing robot collects with it is consistent
Property, have a extensive future.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (4)
1. a kind of robot power station cruising inspection system, it is characterised in that：Including robot base station（1）, master control room（2）, inspection machine
People（3）, patrol and examine a little（4）；The robot base station（1）Inside it is provided with base station cradle（1-1）Hand over base station magnetic location signal
Parallel operation（1-4）, the base station magnetic location signal exchange device（1-4）Including the left exchanger of base station magnetic signal（1-2）And base station
The right exchanger of magnetic signal（1-3）, the left exchanger of base station magnetic signal（1-2）With the right exchanger of base station magnetic signal（1-3）'s
Top is respectively provided with the left exchanger guide ledges of base station magnetic signal（1-5）With the right exchanger guide ledges of base station magnetic signal
（1-6）；The master control room（2）Inside it is provided with main control computer（2-1）With master control room signal remote switch device（2-2）；It is described to patrol and examine
Robot（3）Left foot bottom be provided with robot left foot magnetic signal exchanger（3-1）, robot left foot magnetic signal exchange
Device（3-1）Below with left foot magnetic signal exchanger be oriented to concave surface（3-9）, crusing robot（3）Right left foot bottom set
It is equipped with robot right crus of diaphragm magnetic signal exchanger（3-2）, robot right crus of diaphragm magnetic signal exchanger（3-2）Below carry right crus of diaphragm
Magnetic signal exchanger is oriented to concave surface（3-10）, crusing robot（3）Middle part left side be provided with crusing robot charging head（3-
3）, crusing robot（3）Left side of head be provided with crusing robot signal remote switch device（3-4）, the crusing robot
Signal remote switch device（3-4）With master control room signal remote switch device（2-2）Communication connection；The crusing robot（3）Head
Portion right side is provided with crusing robot satellite navigation positioning device（3-5）, crusing robot（3）Head front left part be provided with
Temperature sounder（3-6）, crusing robot（3）Head front right part be provided with a decibel survey meter（3-7）, crusing robot
（3）Head front middle part be provided with camera（3-8）；It is described to patrol and examine a little（4）Ground on pre-plugged patrol and examine a magnetic
Framing signal exchanger（4-1）, patrol and examine a magnetic location signal exchange device（4-1）Including patrolling and examining a left exchange of magnetic location signal
Device（4-2）With patrol and examine a right exchanger of magnetic location signal（4-3）, patrol and examine a left exchanger of magnetic location signal（4-2）With patrol
The right exchanger of cautious magnetic location signal（4-3）Top be respectively provided with and patrol and examine the left exchanger guide ledges of a magnetic location signal
（4-4）With patrol and examine the left exchanger guide ledges of a magnetic location signal（4-5）.
2. a kind of robot power station cruising inspection system according to claim 1, it is characterised in that：The robot base station（1）
Base station cradle is covered interior setting more（1-1）With base station magnetic location signal exchange device（1-4）.
3. a kind of robot power station cruising inspection system according to claim 1, it is characterised in that：One main control computer（2-1）
Control multiple stage crusing robot（3）.
4. a kind of robot power station method for inspecting, it is characterised in that：Using the system described in claim 1, its step is as follows：
（1）, crusing robot（3）Reset condition be in robot base station（1）It is interior, crusing robot（3）Left foot pass through machine
Device people's left foot magnetic signal exchanger（3-1）With robot right crus of diaphragm magnetic signal exchanger（3-2）Respectively with base station magnetic signal
Left exchanger（1-2）With the right exchanger of base station magnetic signal（1-3）Signal exchange, guide crusing robot（3）Realize secondary
Positioning, and by the left exchanger guide ledges of base station magnetic signal（1-5）With the right exchanger guide ledges of base station magnetic signal（1-
6）With crusing robot（3）Left foot magnetic signal exchanger is oriented to concave surface（3-9）Concave surface is oriented to right crus of diaphragm magnetic signal exchanger
（3-10）Realize mechanical guide, it is ensured that the accuracy of crusing robot positioning, realize being properly positioned, and realize that crusing robot fills
Dateline（3-3）With base station cradle（1-1）Correct docking, be charged；
（2）, crusing robot（3）After charging complete, base station cradle can be automatically left（1-1）, cut off the electricity supply, into base station
Task Accreditation Waiting Area；
（3）, when needing crusing robot（3）When being patrolled and examined, master control room（2）Main control computer（2-1）By master control room signal
Remote switch device（2-2）To crusing robot（3）Send assignment instructions, crusing robot（3）It is remote by crusing robot signal
Journey exchanger（3-4）Reception task, according to mission requirements, crusing robot satellite navigation positioning device（3-5）Receive satellite to lead
The navigator fix service of boat alignment system, arrival is patrolled and examined a little（4）Region of patrolling and examining, pre-plugged on the ground patrol and examine a magnetic
Framing signal exchanger（4-1）Patrol and examine a left exchanger of magnetic location signal（4-2）With patrol and examine a right friendship of magnetic location signal
Parallel operation（4-3）Respectively with crusing robot（3）Robot left foot magnetic signal exchanger（3-1）With robot right crus of diaphragm magnetic letter
Number exchanger（3-2）Signal exchange is carried out, crusing robot is guided（3）It is close to and patrols and examines a little（4）, secondary positioning is carried out, and pass through
Patrol and examine the left exchanger guide ledges of a magnetic location signal（4-4）With patrol and examine the left exchanger guide ledges of a magnetic location signal
（4-5）With crusing robot（3）Left foot magnetic signal exchanger is oriented to concave surface（3-9）It is oriented to right crus of diaphragm magnetic signal exchanger recessed
Face（3-10）Realize mechanical guide, it is ensured that the accuracy of crusing robot positioning, realize being properly positioned；
（4）, following crusing robot（3）Work is begun to, by temperature sounder（3-6）Gather each work component surface
Temperature and associated connections post surface temperature, by decibel survey meter（3-7）Collection noise data, by camera（3-8）Collection
Instrumented data, due to crusing robot（3）Can realize being properly positioned, the accuracy of its related data for collecting and uniformity
Greatly improve, crusing robot（3）The related data for collecting passes through again crusing robot signal remote switch device（3-4）, it is main
Control room signal remote switch device（2-2）It is transferred to main control computer（2-1）, by main control computer（2-1）It is analyzed process；
（5）, work as crusing robot（3）After completing first patrolling and examining a little for task, according to main control computer（2-1）Work order,
Patrol and examine a little into the next one, all patrol and examine after end-of-job, crusing robot（3）Auto-returned robot base station（1）, carry out two
It is secondary to be accurately positioned, realize crusing robot charging head（3-3）With base station cradle（1-1）Correct docking, be charged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611085909.7A CN106655506A (en) | 2016-11-30 | 2016-11-30 | Robot power station inspection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611085909.7A CN106655506A (en) | 2016-11-30 | 2016-11-30 | Robot power station inspection system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106655506A true CN106655506A (en) | 2017-05-10 |
Family
ID=58813778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611085909.7A Pending CN106655506A (en) | 2016-11-30 | 2016-11-30 | Robot power station inspection system and method |
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Application publication date: 20170510 |