CN106892018A - Relay protection room inspection device - Google Patents
Relay protection room inspection device Download PDFInfo
- Publication number
- CN106892018A CN106892018A CN201710153085.0A CN201710153085A CN106892018A CN 106892018 A CN106892018 A CN 106892018A CN 201710153085 A CN201710153085 A CN 201710153085A CN 106892018 A CN106892018 A CN 106892018A
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- China
- Prior art keywords
- pressing plate
- module
- car body
- image
- communication module
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
Abstract
The present invention relates to relay protection room inspection device, including：Make an inspection tour dolly and image comparison module；Making an inspection tour dolly includes car body, motor, directional drive, driving wheel, camera, control module and first communication module；Camera is connected with first communication module, and control module is electrically connected with motor and directional drive；Image comparison module includes the second communication submodule and image procossing submodule, and the second communication submodule is connected with first communication module, and image procossing submodule is electrically connected with first communication module；The pressing plate on each protection screen in relay protection room is shot by making an inspection tour dolly; generation pressing plate image is sent to image comparison device; image comparison device parses pressing plate image; and contrasted with parameter preset picture; to detect that pressing plate moves back state with the presence or absence of miscarrying; workload is effectively reduced, False Rate or misdetection rate is effectively reduced, the probability of happening of production accident is effectively reduced.
Description
Technical field
Technical field is maked an inspection tour the present invention relates to power network, more particularly, to relay protection room inspection device.
Background technology
In order to safeguard power network, the stable operation of power network is ensured.According to the requirement of current transformer station's maintenance work, run people
Member will be monthly checked the pressing plate state in relay protection room.Pressing plate, is called protection pressing plate or protection in flakes, is protection device
Can the bridge and tie of contact external wiring, the function and action outlet for being related to protection normally play a role.Pressing plate is used for
The access or cut-out of functional circuit are provided for power transmission and transformation net, in general, pressing plate is arranged on protection screen, is provided with protection screen
Multiple pressing plates.Pressing plate includes input and exits two states, and pressing plate is thrown then functions circuit and accessed, and pressing plate moves back then functions
Circuitry cuts.
, it is necessary to be carried out carrying out pressing plate according to reasons such as business demand, running status and weather in the operation of power network
Throwing is moved back, and also needs to be patrolled and examined to pressing plate state in routine work, such as occur miscarrying move back or abnormal state, it is necessary to and
When pressing plate state is just corrected.
Due to being usually provided with substantial amounts of protection screen in relay protection room, multiple pressing plates are then provided with a protection screen, therefore,
The workload patrolled and examined to pressing plate state is huge, and because workload is huge, judging by accident or failing to judge easily occur in staff, and patrols and examines
Easily there is careless mistake in process, due to staff erroneous judgement or fail to judge and cause pressing plate mistake input and exit without in time more
Just, there is miscarrying and move back state, be easily caused production accident.
The content of the invention
Based on this, it is necessary to patrol and examine pressing plate state for Traditional Man and easily occur judging by accident or failing to judge, patrol and examine process easy
There is careless mistake, due to staff erroneous judgement or fail to judge and cause the miscarrying of pressing plate to be moved back and do not correct in time, be easily caused production
A kind of defect of accident, there is provided relay protection room inspection device.
A kind of relay protection room inspection device, including：Make an inspection tour dolly and image comparison module；
The tour dolly includes car body, motor, directional drive, driving wheel, camera, control module and first
Communication module；
Accommodating cavity is provided with the car body, the motor and the control module are arranged at the accommodating cavity
Interior, the driving wheel is connected with the car body, and the motor is connected with the drive wheel, the directional drive with
The driving wheel connection；
The camera is connected with the first communication module, and the camera is used to shoot pressing plate image and is transferred to institute
State first communication module；The control module is electrically connected with the motor and the directional drive respectively；
Described image contrast module includes the second communication submodule and image procossing submodule, the second communication submodule
It is connected with the first communication module, described image treatment submodule is electrically connected with the first communication module；
The first communication module is used to send the pressing plate image that the camera shoots to the second communication submodule；Institute
The second communication submodule is stated for receiving the pressing plate image that the first communication module sends, and is sent to image procossing
Module；Described image treatment submodule is used to obtain parameter preset, parses the pressing plate image and obtains pressing plate parameter, and contrast is described
Whether pressing plate parameter is consistent with the parameter preset.
Wherein in one embodiment, described image contrast module is arranged in the accommodating cavity.
Wherein in one embodiment, the first communication module is wireless communication module.
Wherein in one embodiment, the second communication submodule is wireless communication module.
Wherein in one embodiment, the second communication submodule and the first communication module wireless connection.
Wherein in one embodiment, the camera is connected by the control module with the first communication module,
The camera is used to shoot pressing plate image and be transferred to the first communication module by the control module.
Wherein in one embodiment, the control module is connected with the first communication module.
Wherein in one embodiment, the surface of the car body is provided with insulating barrier.
Wherein in one embodiment, the surface of the driving wheel is provided with insulation sleeve.
Wherein in one embodiment, the insulation sleeve is coated on the outer surface of the driving wheel.
Above-mentioned relay protection room inspection device, is clapped the pressing plate on each protection screen in relay protection room by making an inspection tour dolly
Take the photograph, generation pressing plate image is sent to image comparison device, image comparison device parsing pressing plate image, and is carried out with parameter preset picture
Contrast, to detect that pressing plate moves back state with the presence or absence of miscarrying, and then effectively reduces workload, effectively reduces False Rate or misdetection rate,
And then effectively reduce the probability of happening of production accident.
Brief description of the drawings
Fig. 1 is the modular structure schematic diagram of the relay protection room inspection device of an embodiment；
Fig. 2 is the dimensional structure diagram of the tour dolly of another embodiment；
Fig. 3 is the cross-sectional view of the tour dolly of an embodiment.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is implementation with certain large-scale provincial power network
Example, with reference to accompanying drawing, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to
The present invention is explained, is not intended to limit the present invention.
For example, a kind of relay protection room inspection device, including：Make an inspection tour dolly and image comparison module；The tour dolly includes
Car body, motor, directional drive, driving wheel, camera, control module and first communication module；Set in the car body
There is accommodating cavity, the motor and the control module are arranged in the accommodating cavity, the driving wheel and the car body
Connection, the motor is connected with the drive wheel, and the directional drive is connected with the driving wheel；The shooting
Head is connected with the first communication module, and the control module is electrically connected with the motor and the directional drive；
Described image contrast module includes the second communication submodule and image procossing submodule, the second communication submodule and described the
One communication module is connected, and described image treatment submodule is electrically connected with the first communication module；The first communication module is used
Sent to the second communication submodule in by the pressing plate image that the camera shoots；The second communication submodule is used to receive institute
The pressing plate image of first communication module transmission is stated, and is sent to image procossing submodule；Described image treatment submodule is used
In parameter preset is obtained, parse the pressing plate image and obtain pressing plate parameter, contrasting the pressing plate parameter and the parameter preset is
It is no consistent.
Above-mentioned relay protection room inspection device, is clapped the pressing plate on each protection screen in relay protection room by making an inspection tour dolly
Take the photograph, generation pressing plate image is sent to image comparison device, image comparison device parsing pressing plate image, and is carried out with parameter preset picture
Contrast, to detect that pressing plate moves back state with the presence or absence of miscarrying, and then effectively reduces workload, effectively reduces False Rate or misdetection rate,
And then effectively reduce the probability of happening of production accident.
In one embodiment, as depicted in figs. 1 and 2, relay protection room inspection device includes：Make an inspection tour dolly 10 and image comparison
Module 40；The tour dolly 10 includes car body 100, motor, directional drive, driving wheel 110, image mechanism 120, control
Molding block 250 and first communication module 280.
As shown in Fig. 2 being provided with accommodating cavity (not shown), the motor and the control in the car body 100
Module is arranged in the accommodating cavity, and the driving wheel 110 is connected to position of the car body 100 near bottom, the driving
Motor is connected with the drive connection of the driving wheel 110, the directional drive with the driving wheel 110, the image mechanism 120
Including camera 230 and lifting assembly 121, the lifting assembly 121 is movably set in the top of the car body 100, described to take the photograph
It is connected with the lifting assembly 121 as first 230.
Referring again to Fig. 1, the camera 230 is connected with the first communication module 280, the control module 250
Electrically connected with the motor and the directional drive；Described image contrast module 40 includes the second communication submodule
420 and image procossing submodule 410, the second communication submodule 420 is connected with the first communication module 280, the figure
As treatment submodule 410 is electrically connected with the first communication module 280；The first communication module 280 is used for the shooting
The first 230 pressing plate images for shooting are sent to the second communication submodule 420；The second communication submodule 420 is used to receive described
The pressing plate image that first communication module 280 sends, and send to image procossing submodule 410；Described image processes submodule
Block 410 is used to obtain parameter preset, parses the pressing plate image and obtains pressing plate parameter, contrasts the pressing plate parameter and described default
Whether parameter is consistent.
Specifically, whether image procossing submodule 410 is consistent with pre-set image by contrasting pressing plate image, and then detects guarantor
Whether the pressing plate on shield screen moves back state with miscarrying.For example, the parameter preset is the corresponding state of normal operation lower platen, its bag
State is moved back in the throwing for including pressing plate, and pressing plate image is the image for shooting the state for obtaining pressing plate, and pressing plate parameter is parsing pressing plate image
Or the state information parameters of acquirement pressing plate, the virtual condition for reflecting pressing plate, in the present embodiment, by the reality for contrasting pressing plate
State moves back whether state is consistent with the throwing of normal operation lower platen, and then judges the situation that pressing plate is moved back with the presence or absence of miscarrying.
For example, image procossing submodule 410 is used to parse pressing plate image, obtain the pressing plate image in predeterminable area
Pixel value, detects whether the pixel value pixel value corresponding with parameter preset of predeterminable area is consistent, specifically, shoots the figure for obtaining
As having multiple pixels, predeterminable area is the position where pressing plate, and pressing plate is thrown or pressing plate is moved back with different pixels, therefore, obtain
State is moved back in the actual throwing that pressing plate is got by taking the pixel value in the predeterminable area, and then detects pressing plate with the presence or absence of miscarrying
Move back.
It should be understood that image comparison module 40 is arranged on distal end, so, making an inspection tour dolly can be by the first communication mould
Block 280 sends pressing plate image to the image comparison module 40 of distal end so that tour personnel need not enter relay protection room and can be right
Pressing plate state is patrolled and examined.For example, the image comparison module 40 includes server, for example, being provided with the second communication in server
Submodule 420 and image procossing submodule 410.
In order to quickly be detected to pressing plate state, in one embodiment, described image contrast module 40 is arranged at institute
State in accommodating cavity.In the present embodiment, image comparison module 40 is arranged on the small in-car of tour, and so, make an inspection tour dolly is carried out to pressing plate
Shoot generation pressing plate image, moreover it is possible to directly pressing plate image is parsed and detection state, effectively increased to pressing plate state
Detection efficiency.
In order to realize the remote transmission of pressing plate image, in one embodiment, the first communication module 280 is channel radio
Letter module, for example, the second communication submodule 420 is wireless communication module, for example, the second communication submodule 420
With the wireless connection of the first communication module 280, dolly is maked an inspection tour by being wirelessly connected with image comparison module 40, on the one hand, have
Effect improves the efficiency of transmission of pressing plate image so that pressing plate image can see the image comparison module 40 rapidly transmitted to distal end,
Another so that the motion for making an inspection tour dolly is more flexible, is not limited by place, effectively increases tour efficiency.
In order to realize the transmission of pressing plate image, in one embodiment, the camera 230 is by the control module
250 are connected with the first communication module 280, it should be understood that camera 230 is communicated by control module 250 with first
Module 280 is connected, and can be considered as the connection of camera 230 and first communication module 280, namely be indirectly connected with, it should be appreciated that
It is that camera 230 does not have active sending function, accordingly, it would be desirable to the pressing plate image that control module 250 shoots camera 230
Send to first communication module 280, and control first communication module 280 to send to the second communication submodule 420, so as to realize pressure
The transmission of plate image.
In order that obtaining dolly in one embodiment, the control module 250 is connected with the first communication module 280.
In the present embodiment, first communication module 280 is used to receive control instruction, and control module 250 is used for according to first communication module 280
The control instruction of reception controls the work of motor, directional drive and image mechanism, and specifically, camera 230 will shoot
Image sent to distal end by first communication module 280, patrol officer being capable of real time inspection pressing plate state, and patrol officer's energy
Control instruction, the motion of control routing inspection trolley, steering or shooting are sent to first communication module 280, and then causes to patrol and examine more
Efficiently.For example, relay protection room inspection device includes operation module and third communication module, operation module connects with third communication module
Connect, third communication module and the wireless connection of first communication module 280, so, it is right that patrol officer can be realized by operation module
The control of routing inspection trolley.
Got an electric shock easily to touch electrical equipment when avoiding and making an inspection tour the work of dolly 10, the surface of the car body 100 is provided with
Insulating barrier (not shown), the surface of the driving wheel 110 is provided with insulation sleeve (not shown), for example, the insulating barrier is rubber
Layer, for example, the material of the insulating barrier is rubber, for example, insulation sleeve is rubber sleeve, for example, the material of insulation sleeve is rubber, rubber
Glue has good insulating properties, and with preferably elasticity, not only causes that car body 100 and driving wheel 110 insulate, and is also car body
100 and driving wheel 110 provide buffering, be make an inspection tour dolly 10 provide shock-absorbing so that make an inspection tour dolly 10 move it is more steady.
Insulating barrier is set by car body 100 so that car body 100 can be with exterior insulation, additionally, on driving wheel 110
Insulation sleeve is set, and insulation sleeve fully coats driving wheel 110 so that driving wheel 110 and exterior insulation, and then causes to make an inspection tour dolly 10
Effectively insulation, is prevented effectively from tour dolly 10 and touches electric elements and get an electric shock, and is prevented effectively from production accident.
In order to further improve the insulating properties of driving wheel 110, in one embodiment, the insulation sleeve is coated on the drive
The outer surface of driving wheel 110, insulation sleeve is fully coated on driving wheel 110, it is to avoid driving wheel 110 leaks outside, and effectively causes driving wheel
110 are connected with outside conductor, are prevented effectively from tour dolly 10 and get an electric shock, for example, driving wheel 110 includes wheel body and drive shaft, drive
Dynamic motor and drive shaft drive connection, wheel body are connected to the two ends of drive shaft, and the insulation sleeve is coated on the wheel body
Outside, and the insulation sleeve coats the two ends of the drive shaft at least in part, and the drive shaft of metal is coated on due to insulation sleeve
Two ends so that the surface insulation of drive shaft, further increase make an inspection tour dolly 10 insulating properties.
In order to improve the frictional force of insulation sleeve, and then allow that make an inspection tour dolly 10 stably moves in relay protection room,
In one embodiment, the outer surface of the insulation sleeve is provided with striated structure (not shown), and striated structure causes insulation sleeve
The frictional force of outer surface is bigger so that the frictional force between insulation sleeve and ground is bigger, is conducive to improving and makes an inspection tour dolly 10
Stability so that making an inspection tour dolly 10 can stably move in relay protection room.
In order to avoid car body 100 touches electrical equipment, in one embodiment, as shown in Fig. 2 the car body 100 is outside
Being extended has detection bar 130, for example, the car body 100 is extended the detection bar 130 to both sides, for example, the detection
Bar 130 includes detecting conductor and the insulator being coated on the outside of detecting conductor, and the detecting conductor forms loop in insulator,
Insulator is used for coated insulation conductor so that the outside insulation of insulated electric conductor, the detecting conductor is connected with control module, works as spy
When survey bar 130 touches object and bends, resistance variations, control module are caused to detect that car body 100 touches foreign matter, example
Such as, control module is used to control directional drive work according to the resistance variations of detecting conductor, for example, when the detection bar on right side
130 touch object, cause the detecting conductor resistance on right side to be pleaded, then control module control directional drive turns left,
Car body 100 is to left movement, in such manner, it is possible to so that tour dolly 10 can be turned to, it is to avoid patrol in time when exterior object is touched
Electrical equipment is touched depending on dolly 10 and get an electric shock.
The crashworthiness of dolly 10 is maked an inspection tour to improve, it is to avoid make an inspection tour dolly 10 and be hit and damage, in one embodiment
In, Fig. 2 is referred to, the two ends of the car body 100 are respectively arranged with anticollision strip 140, it should be understood that the two ends of car body 100
I.e. along the two ends of the direction of motion of car body 100, respectively front-end and back-end, for example, the material of the anticollision strip 140 is anti-for rubber
Bar is hit, for example, the material of anticollision strip 140 is rubber, because the front and back end of car body 100 is respectively arranged with three anticollision strips 140, energy
It is enough to improve the crashworthiness for making an inspection tour dolly 10, it is to avoid to make an inspection tour dolly 10 and be hit and damage.
The crashworthiness of dolly 10 is maked an inspection tour to further improve, for example, as shown in Fig. 2 the two ends of the car body 100 point
At least three anticollision strips 140 are not provided with, for example, three interval settings of the anticollision strip 140 per one end.For example, per one end
Three anticollision strips 140 it is arranged in parallel, so, each section of three anticollision strips 140 can provide good for car body 100
Good buffering, further improves the crashworthiness for making an inspection tour dolly 10.
The crashworthiness of dolly 10 is maked an inspection tour to further improve, for example, as shown in Fig. 2 the anticollision strip 140 has circle
Tee section, for example, the anticollision strip 140 is cylinder, because the anticollision strip 140 of cylinder has bigger deformation in side
Amount, therefore, there can be bigger deformation quantity when being impacted, and then with preferably shock-absorbing capacity, therefore, it is possible to further
Improve the crashworthiness for making an inspection tour dolly 10.
In order that must make an inspection tour dolly can automatic running, improve make an inspection tour efficiency, in one embodiment, state tour dolly 10
Including tracing sensor and power supply module, as shown in Fig. 2 the tracing sensor 220 is arranged on the car body 100, please again
It is secondary referring to Fig. 1, the tracing sensor 220 and the camera 230 are electrically connected with the control module 250 respectively, the control
Molding block 250 is electrically connected with the motor 210 and the directional drive 240；The power supply module 260 respectively with institute
State motor 210, the directional drive 240, the camera 230, the tracing sensor 220 and the control mould
Block 250 is electrically connected.
For example, tracing sensor is used to obtain tracing signal, for example, tracing sensor is used to get the letter that tracks in detection
After number, tracing signal is sent to control module, for example, the control module is used for according to seeking that the tracing sensor is obtained
Mark signal controls the motor and directional drive work, for example, the motor is used to drive the drive
Wheel rotation, for example, the directional drive is used to control the driving wheel to turn to, for example, directional drive drives to turn to
Bridge, it should be understood that directional drive realizes the course changing control to driving wheel using prior art, not detailed in the present embodiment
Burden description.The camera is used to image protection screen, obtains pressing plate image, for example, camera is used to obtain pressing plate
Pressing plate image is sent to image comparison device by communication module after image.
For example, the power supply module is used for as the motor, the directional drive, the camera, described seeks
Mark sensor and the control module provide electric energy, for example, the power supply module includes battery submodule, for example, the electricity
Pond module is used to be the motor, the directional drive, the camera, the tracing sensor and the control
Molding block provides electric energy, for example, the power supply module includes charging submodule, for example, the charging submodule and the battery
Submodule is electrically connected, for example, the charging submodule is used to be charged for the battery submodule.
For example, the charging submodule includes wireless charging submodule, the wireless charging submodule is used to obtain radio
Ripple, electric energy is converted to by radio wave, and electric energy is filled with battery submodule.So, making an inspection tour dolly can pass through wireless charging
Electrically charged, and without manual intervention, for example, the predeterminated position in relay protection room sets wireless charging module, for example, control
Molding block is used for after completing to detect the protection screen of predetermined number, controls motor according to tracing signal and turns
Worked to driver, to drive body movement to wireless charging module.Detection in the present embodiment to protection screen is by shooting
Head is taken pictures to the pressing plate on protection screen, after the detection to protection screen so that make an inspection tour dolly can automatic charging, and need not
Manual intervention so that the electricity for making an inspection tour dolly is sufficient, and reduces manual intervention, further reduces cost of labor.
For example, car body is in running status, driving wheel is used to be connected to ground, and driving wheel is used for the driving in motor
Lower rotation, and then band motor vehicles bodies move on the ground, the bottom of car body is car body near the position on ground, and the top of car body is car
Away from the position on ground, and the two ends of car body are respectively car body rear and front end in a forward direction to body, for example, driving wheel is set
In the bottom of car body, driving wheel is conducive to drive body movement, and the lifting assembly of image mechanism is arranged at the top of car body, has
It is adjusted beneficial to the height to camera, and then causes that camera is aligned in the pressing plate on protection screen.
In order to accurately obtain tracing signal, for example, the tracing sensor is arranged at the bottom of the car body, for example, institute
State tracing sensor and be arranged at one side of the car body towards ground, for example, the tracing sensor is arranged at the bottom surface of the car body,
The bottom surface of car body is one side of the car body towards ground, for example, being provided with the bar that tracks on relay protection room floor, the bar that tracks is used for
Set and the different color of environment, for example, the bar that tracks is for black, relay protection room floor is set to white, and specifically, track bar
For providing movement locus so that car body is moved along the bar that tracks, the bar that tracks is set along each protection screen so that car body can pass through
Each protection screen.
In the present embodiment, the tracing sensor includes infrared sensor, for example, tracing sensor is infrared sensing
Device, for example, tracing sensor includes two infrared sensors, for example, two infrared sensors are arranged side by side, for example, two
Central axis of the individual infrared sensor on car body is symmetrical arranged, and the central axis of car body is the linear motion side parallel to car body
To central axis, for example, infrared sensor is used for emission infrared signal, and receive infrared signal and then the acquisition of reflection
Tracing signal, for example, two infrared sensors are used to launch infrared signal towards equidirectional, for example, two infrared sensors
The direction of the launch be parallel to each other
Specifically, infrared sensor had both been used to launch infrared signal, was also used for receiving infrared signal.Infrared signal launch to
During white ground, infrared signal is launched to infrared sensor, and the infrared signal of reflection is received by infrared sensor, and infrared letter
To tracking on bar, because the bar that tracks is for black, the infrared signal bar that tracked is absorbed without reflection, now infrared sensing for number transmitting
Device cannot receive the infrared signal of reflection, and so, the infrared signal judgement of the reflection that control module is received by detection is
It is no to deviate the bar that tracks, in this way, then moved on along current track, if not, according to the output control directional drive of detection
Work.Specifically, two infrared sensors are positioned at the both sides of the central axis of car body, central axis and the bar pair that tracks of car body
Together, so, when car body is moved along the bar that tracks, two direction transmittings for being respectively facing the central axis parallel to car body are infrared
Signal, when car body is moved along the bar that tracks, the infrared signal of ground launch can be received by infrared sensor, so, control
Molding block then controls car body to continue to move along current track, when car body deviates, one in two infrared sensors transmitting
The infrared signal bar that will be tracked absorbs, and so, control module is then according to the infrared biography of the infrared signal for being not received by reflection
The feedback of sensor, calculates deviation angle, and then controls directional drive work, changes the direction of driving wheel, controls car body
Turn to, and be aligned in the bar that tracks so that car body continues on the bar motion that tracks.When the bar that tracks is turned to, the infrared sensing of both sides
An infrared signal for receiving reflection in device, another does not receive the infrared signal of reflection then, then show not receive
There is the bar that tracks to the side of the infrared signal of reflection, control module then controls car body to turn towards the side without infrared signal
To, and then realize the Automatic Track Finding and position control for making an inspection tour dolly.
In order that must address it is more accurate, for example, the quantity of the infrared sensor be four, for example, four infrared biographies
Central axis of the sensor on car body is symmetrical arranged, for example, two infrared sensors in four infrared sensors
The side of the central axis of car body is arranged at, infrared sensor described in the another two in four infrared sensors is arranged at car
The opposite side of the central axis of body, so, two infrared sensors per side can cover bigger area of detection, improve
Detection to the bar that tracks, and then cause that addressing results are more accurate.
For example, four infrared sensors are arranged side by side the position in the bottom surface of the car body near front end, it should say
Bright, the front end of car body is car body along the one end in the front of the direction of motion, and the rear end of car body is car body along the direction of motion
Rear one end, for example, four infrared sensors alignment are set, i.e., four infrared sensors are in same straight line
On, in the present embodiment, four central axis of the infrared sensor on the car body are symmetrical arranged, i.e., two infrared sensings
Device is arranged at the side of central axis, and two other infrared sensor is arranged at the opposite side of central axis, so, described in four
Two in infrared sensor are used to carry out the ground of central axis side transmitting infrared signal, and receive the reflection letter on ground
Number, two in four infrared sensors are used to carry out transmitting infrared signal to the ground of central axis opposite side, and connect
The reflected signal on ground is received, so, after infrared sensor therein does not receive reflection infrared signal, then according to the same side
Whether another infrared sensor receives reflection infrared signal and then judges whether car body produces skew, or front to track
Bar is turned to, and two infrared sensors of homonymy can effectively improve the detection precision to the bar that tracks, and then causes to make an inspection tour dolly
Track it is more accurate.
And for example, four infrared sensors are arranged at the bottom surface of car body near four diagonal positions, for example, four institutes
The line between infrared sensor is stated to be square setting, for example, four infrared sensors include two front sensors and
Sensor after two, two central axis of the front sensor on car body are symmetrical arranged, and two front sensors set
It is placed in the position of the bottom surface near front end of car body；Two central axis of the rear sensor on car body are set, and two institutes
Position of the bottom surface near rear end that rear sensor is arranged at car body is stated, for example, sensor is two-by-two after two front sensors and two
It is mutually aligned, so, when car body is moved along the bar that tracks, control module is by two front sensor head in four sensors
First whether the detection direction of motion deviates, and whether the bar that tracks turns to, then by sensor after two then to two front sensors
Testing result verified, and movement locus to car body is corrected, and then causes to make an inspection tour tracking for dolly more accurate.
More precisely to obtain tracing signal, for example, the tracing sensor is arranged at the end of one end of the car body
On face, for example, the tracing sensor is arranged on the end face of the front end of the car body, in the present embodiment, tracing sensor is
Infrared sensor, for example, the quantity of infrared sensor is two, for example, two infrared sensors are arranged side by side in before car body
On end face, and two central axis of the infrared sensor on car body are symmetrical arranged, for example, the launch party of the tracing sensor
To the inclined downward of the direction of advance towards the car body, so, tracing sensor can detect seeking in front of car body
The position of mark bar, control module can shift to an earlier date the motion of anticipation car body, and then more precisely control body movement.
More precisely to obtain tracing signal, for example, the quantity of infrared sensor is four, for example, the infrared biography
Sensor is arranged on the end face at the two ends of the car body, for example, the infrared sensor is arranged at the end of the front end of the car body
On face, for example, two infrared sensors in four infrared sensors are arranged on the end face of the front end of car body, four infrared biographies
Two infrared sensors in sensor are arranged on the end face of the rear end of car body, and front end two infrared sensors on car body
Central axis be symmetrical arranged, two central axis of the infrared sensor on car body of rear end are symmetrical arranged, for example, rear end
The direction of the launch of two infrared sensors is to be directed downward inclination towards opposite with the direction of advance of the car body, so, control
The tracing signal that molding block can be detected according to the two of front end infrared sensors shift to an earlier date the direction of motion of anticipation car body, and rear end
Two infrared sensors the direction of motion can be then corrected, and then cause car body the direction of motion it is more accurate.
In order to obtain tracing signal, for example, the tracing sensor includes ultrasonic sensor.For example, being set in relay protection room
Some supersonic generators are equipped with, supersonic generator is used to launch ultrasonic signal, and the tracing sensor is obtained for detection
The ultrasonic signal of supersonic generator transmitting is taken, control module is used for the ultrasonic signal detected according to ultrasonic sensor
Control body movement.
It is noted that the bar that tracks can provide movement locus for car body, making an inspection tour dolly can move along the bar that tracks
To each protection screen, in order that must make an inspection tour before dolly can rest on protection screen shot, for example, make an inspection tour dolly also to include determining
Position module, for example, the locating module is electrically connected with control module, for example, the locating module is radio frequency reader, for example, this is fixed
Position module is radio frequency read head, for example, the radio frequency read head is that (Radio Frequency Identification, wirelessly penetrate RFID
Frequency is recognized) read head, for example, the radio frequency read head is used to detect radiofrequency signal, for example, the control module is used for according to the radio frequency
The radiofrequency signal control car body stop motion that read head is detected, for example, relay protection room is provided with some RF tags, each radio frequency mark
One protection screen of correspondence is signed, so, during body movement, after radio frequency read head detects the radiofrequency signal at RF tag bottom, control
Molding block then controls car body stop motion according to the radiofrequency signal, and then control camera is clapped the pressing plate on protection screen
Take the photograph.
It should be understood that being read to radiofrequency signal for radio frequency read head is in small distance, therefore so that each guarantor in relay protection room
Shield screen can be positioned according to radiofrequency signal, the effective reading due to the distance between each RF tag relative to radio frequency read head
Take in larger distance, radio frequency read head can't simultaneously read multiple RF tags, therefore, when radio frequency read head reads a radio frequency
During label, then a protection screen is positioned, in order to accurately obtain RF tag, it is to avoid radio frequency read head reads multiple radio frequency marks simultaneously
Sign, for example, the working frequency of the radio frequency read head is 125KHz, and for example, the working frequency of the radio frequency read head is 13.56MHz,
When the working frequency of radio frequency read head is 125KHz or 13.56MHz, effective reading distance of radio frequency read head is 50mm~100mm,
And generally the distance between protection screen is 300mm~500mm, so, the distance between protection screen is approximately equal between RF tag
Distance, effective reading distance of radio frequency read head is greater than due to the distance between RF tag, penetrated therefore, it is possible to be prevented effectively from
Frequency read head reads multiple RF tags simultaneously, and then enables that making an inspection tour dolly is accurately positioned each protection screen, to each guarantor
The pressing plate for protecting screen is shot.
In order that the radio frequency read head that must make an inspection tour dolly can accurately read RF tag, and then protection screen is positioned, for example, institute
RF tag is stated to be arranged on the protection screen, for example, the radio frequency read head is arranged at the side of the car body, for example, described
Radio frequency read head is arranged at the side of the car body, and so, radio frequency read head towards RF tag, and then can enable radio frequency read head
The RF tag on protection screen is enough read, and then position to protection screen is accurately positioned.
In order to further such that radio frequency read head can accurately read RF tag, for example, RF tag is arranged at the bar that tracks
On, for example, radio frequency read head is arranged at the bottom surface of the car body, for example, radio frequency read head is set towards ground, so, when car body edge
Track bar move when, radio frequency read head necessarily by RF tag, and can detect RF tag, and cause RF tag exist
In effective read range of radio frequency read head so that reading of the radio frequency read head to RF tag is more accurate, and due to radio frequency read head
Towards ground, the RF tag on the corresponding ground of car body can be only read, and cannot read the RF tag of other positions, because
This so that the radiofrequency signal that radio frequency read head reads is more accurate.
For example, the control module is used for the radiofrequency signal detected according to the radio frequency read head, the knowledge of protection screen is obtained
Other information, for example, the identification information of protection screen is the identification marking of protection screen, for distinguishing different protection screens, for example, should
Identification information includes ID (identification) information, i.e., each identification information have recorded the ID of the protection screen, control module
For according to the protection screen information for prestoring, and the identification information for reading, detecting whether current protection screen has been taken, example
Such as, control module is used for after identification information is got, and control camera shoots, and the pressing plate image and identification information that will be shot
Association, and record the identification information to have shot, for example, making an inspection tour dolly includes memory module, memory module has prestored protection screen
Information, specifically, the protection screen information for prestoring is protection screen list, its ID that have recorded multiple protection screens in relay protection room, so,
When dolly is maked an inspection tour by a protection screen, the corresponding video tab of protection screen is read, obtain the ID of the protection screen, control module
Control camera shoots to protection screen, records the corresponding shooting states of protection screen ID to have shot, so, by having clapped
The ID and the ID in protection screen list of the multiple protection screens taken the photograph are contrasted, you can obtain the ID of the protection screen for not yet shooting, one
Aspect, can be prevented effectively from protection screen repetition shoot, another, can effectively improve make an inspection tour dolly shooting efficiency, and by
Associated with the identification information of protection screen in by the pressing plate image of shooting so that the pressing plate image for getting all has unique
Identification marking, and then enable user or the corresponding pressing plate figure of the different protection screen of image comparison device Division identification
Picture.
Specifically, the control module of car body obtains the press plate position in relay protection room according to tracing sensor, and then by driving
Dynamic motor and directional drive control driving wheel motion so that car body is pressed desired guiding trajectory and maked an inspection tour in relay protection room, and by taking the photograph
As head is taken pictures to the pressing plate on protection screen, so as to obtain the state of pressing plate, and then human cost is effectively reduced with timely
Between cost, effectively improve tour efficiency, and excessive risk caused by reducing due to being related to pressing plate quantity larger.
In order that obtaining, body movement is more steady, for example, the quantity of the driving wheel is four, four driving wheels can be very
Support car body well so that car body keeps balance, and then causes that body movement is more steady, for example, four driving wheel bags
Two front-wheels and two trailing wheels are included, the motor is connected with two rear wheel drives, the directional drive and two
The front-wheel connection.In the present embodiment, two front-wheels are used to turn to, and two trailing wheels are used to drive car body to advance, in such manner, it is possible to have
Effect improves drive efficiency, and causes that the steering of car body is more accurate.
In order that camera can accurate alignment in protection screen, and then pressing plate is carried out clearly to take pictures exactly, one
In individual embodiment, making an inspection tour dolly also includes positioning inductor, and the positioning inductor is electrically connected with the control module, for example,
The control module is used for the location information control image mechanism work detected according to positioning inductor, for example, location information bag
Elevation information and angle information are included, specifically, elevation information is the elevation information of protection screen, and angle information is the direction of protection screen
Information, for example, control module is used for the elevation information detected according to positioning inductor, control image mechanism work, for example, control
Molding block is used for the angle information detected according to positioning inductor, and control image mechanism work for example controls image mechanism to open
Begin or terminate shooting, and for example, control operating angle of image mechanism etc..
Specifically, the positioning inductor is used to detect the position of pressing plate, it should be understood that have multiple guarantor in relay protection room
Shield screen, each protection screen it is highly inconsistent, and the direction of protection screen is inconsistent, so, correspondingly, the pressing plate on different protection screens
Height also differ, and towards differing, when before body movement to a certain protection screen, car body is needed just to protection screen, and
Camera will be aligned in protection screen, not only align in height, in addition it is also necessary to alignd in level orientation, and then enable camera
Enough just to protection screen, camera can shoot to the multiple pressing plates on protection screen completely and clearly, for example, location sense should
Device is used to detect the framing signal of the location transmitters transmitting of protection screen, and location information is obtained according to framing signal, for example, this is fixed
Position inductor is infrared inductor, for example, each protection screen sets an infrared transmitter, for example, the default position of each protection screen
One infrared transmitter of setting is put, for example, the infrared transmitter on each protection screen is used for along perpendicular to the direction of the protection screen
Transmitting infrared ray, so, because the sense of the infrared transmitter transmitting on each protection screen is unique and fixes, this
Sample, when on body movement a to protection screen, detecting and receive the infrared emission signal on protection screen according to infrared inductor, and then
The elevation information and angle information of protection screen are got, elevation information and angle that control module is obtained according to infrared inductor
Information control image mechanism work, and then cause that camera is aligned in the pressing plate on protection screen, and pressing plate can be carried out accurately
Clearly take pictures.
In order that the motion for obtaining camera is more steady, in one embodiment, as shown in figure 3, the lifting assembly 121
Including lifting motor 310 and elevating lever 320, the lifting motor 310 is arranged in the accommodating cavity 101, and the car body 100 is pushed up
Portion offers lift span 102, and the lift span 102 is connected with the accommodating cavity 101, and the elevating lever 320 is actively located in institute
State in lift span 102, and the lifting motor 310 and the drive connection of the elevating lever 320, the elevating lever 320 is taken the photograph with described
As first 230 connections, for example, the lifting motor 310 is electrically connected with the control module, for example, control module is used for according to fixed
The elevation information that position inductor is detected, control lifting motor 310 works, for example, the lifting motor 310 is linear electric motors,
The elevating lever 320 is connected with the linear electric motors, and the elevating lever 320 is used under the driving of the linear electric motors vertical
Moved along a straight line on direction, so, when the height that positioning inductor detects pressing plate is not corresponding with the height of current camera 230
When, control module controls linear electric motors work according to the elevation information of the pressing plate for detecting, and linear electric motors drive elevating lever 320 to transport
It is dynamic so that the height of camera 230 is adjusted so that camera 230 is aligned in the pressing plate on protection screen in the horizontal direction.
In order that the motion for obtaining the in the vertical direction of camera 230 is more steady, for example, as shown in figure 3, the elevating lever
320 include interior bar 321 and outer bar 322, and the outer bar 322 is vertically arranged at the top of the car body 100, the outer bar 322
Middle part has hollow-core construction, and the middle part of the outer bar 322 connects with the lift span 102, and the interior bar 321 is arranged at described outer
In bar 322, the lifting motor 310 is connected with the drive connection of the interior bar 321, the camera 230 with the interior bar 321,
For example, the outer bar 322 is sheathed on the outside of the interior bar 321, for example, the interior bar 321 has circular cross-section, for example, institute
It is cylinder to state interior bar 321, for example, the outer bar 322 has ring section, for example, the outer bar 322 is the hollow circle in middle part
Cylindricality, for example, outer bar 322 has the hollow-core construction through its two ends, the hollow-core construction is cylinder, for example, the interior bar 321
Diameter it is equal with the internal diameter of the outer bar 322, for example, so, due to stating in the diameter of interior bar 321 and the outer bar 322
Footpath is equal, and lifting motor 310 drives interior bar 321 in outer bar 322 during motion, and outer bar 322 can be carried out to interior bar 321 well
Limitation, it is to avoid interior bar 321 produces skew in the horizontal direction, and then causes that the motion of the in the vertical direction of interior bar 321 is more flat
Surely so that the motion of the in the vertical direction of camera 230 is more steady.
It is in one embodiment, described referring again to Fig. 3 in order to drive the motion of the in the vertical direction of camera 230
Lifting assembly 121 also includes screw mandrel 331, fixed seat 332 and guide rail 333, and the guide rail 333 is vertically arranged at the accommodating cavity
In 101, the fixed seat 332 is slideably positioned on the guide rail 333, and one end of the interior bar 321 connects with the fixed seat 332
Connect, the interior bar 321 is connected away from one end of the fixed seat 332 with the camera 230, and the screw mandrel 331 is solid with described
Reservation 332 is connected, the lifting motor 310 and the drive connection of the screw mandrel 331, for example, in the present embodiment, lifting motor 310
It is servomotor, so, the drive screw 331 of lifting motor 310 is rotated, screw mandrel 331 is rotated and drives fixed seat 332 along guide rail
333 in the vertical directions are moved, and fixed seat 332 drives the motion in outer bar 322 of interior bar 321, and then causes camera 230 perpendicular
Nogata is moved upwards.
In order to further such that interior bar 321 move it is more steady, and cause interior bar 321 motion resistance it is smaller, for example, institute
The internal diameter of the diameter less than the outer bar 322 of interior bar 321 is stated, abrasionproof group is provided between the interior bar 321 and the outer bar 322
Part, for example, the abrasionproof component is advance ball 340.
In one embodiment, Fig. 3 is referred to, advance ball is provided between the interior bar 321 and the outer bar 322
340, for example, advance ball 340 has spheroidal structure, in the present embodiment, advance ball 340 can provide cunning for interior bar 321
Dynamic support, what reduction interior bar 321 was subject to rubs, and effectively reduces resistance so that motion of the interior bar 321 in outer bar 322 is more flat
It is sliding, for example, some advance balls 340 are provided between the interior bar 321 and the outer bar 322, for example, multiple advance balls
340 are set uniformly around the interior bar 321, and multiple advance balls 340 can be limited interior bar 321 from multiple directions, be
Interior bar 321 provides sliding support, and then causes that motion of the interior bar 321 in outer bar 322 is more steady, and resistance is smaller.
Specifically, advance ball 340 can be abutted with interior bar 321, or be abutted with outer bar 322, the advance ball
340 abut with the interior bar 321 and the outer bar 322 respectively.
In order that obtain advance ball 340 can be moved with the motion of the in the vertical direction of interior bar 321, to interior bar 321
Preferably supported, in one embodiment, as shown in figure 3, the interior bar 321 is provided with supporting part 323, it is described to slide rolling
Pearl 340 is arranged on the supporting part 323, in the present embodiment, advance ball 340 respectively with the interior bar 321 and described outer
Bar 322 is abutted.For example, the outer surface of the interior bar 321 is raised to set supporting part 323, for example, supporting part 323 has annular
Section, for example, supporting part 323 around interior bar 321 circumference set, for example, supporting part 323 away from interior bar 321 one end with it is outer
The interval setting of bar 322, namely supporting part 323 is not abutted with outer bar 322, and in the present embodiment, supporting part 323 is used to carry slip rolling
Pearl 340, when interior bar 321 is vertically movable in outer bar 322, supporting part 323 drives advance ball 340 vertically movable, due to holding
Load portion 323 does not abut with outer bar 322 so that do not have not mutual frictional force between the two, so, advance ball 340 along
The axle of outer bar 322 is rotated up, and can provide sliding support for interior bar 321, and advance ball 340 is not only that interior bar 321 provides footpath
To support, also for interior bar 321 provides the support that slides axially so that the vertical motion of interior bar 321 is more steady, and can effectively reduce
The resistance that interior bar 321 is subject to so that interior bar 321 move it is more smooth, it is more laborsaving.
In order to limit the move distance vertically of interior bar 321, and advance ball 340 is avoided to skid off, as shown in figure 3, institute
State the inner side of outer bar 322 and be provided with stop section 324, the activity of the advance ball 340 is connected to the stop section 324.For example, described
The inner surface of outer bar 322 is raised to set stop section 324, for example, the stop section 324 has ring section, the stop section
324 middle part has hollow-core construction, and the interior bar 321 is arranged in the hollow-core construction at the middle part of the stop section 324, and described interior
Bar 321 is not abutted with the interval setting of the stop section 324, i.e. interior bar 321 with stop section 324, for example, the advance ball 340
It is arranged between the supporting part 323 and the stop section 324, for example, the activity of the advance ball 340 is connected to the block
Portion 324, stop section 324 be used for block advance ball 340, i.e. advance ball 340 between stop section 324 and supporting part 323,
Coordinated by the stop section 324 and supporting part 323, advance ball 340 can be avoided to skid off, and in stop section 324 can limit
The move distance of bar 321.
In order to realize the shooting of different angles, in one embodiment, referring again to Fig. 3, the image mechanism 120 is also
Including runner assembly 350, the runner assembly 350 is arranged at the one end of the elevating lever 320 away from the lifting motor 310,
The camera 230 is connected with the runner assembly 350, for example, the runner assembly 350 include rotating shaft 351, rotating disk 352 with
And rotary electric machine 353, the rotary electric machine 353 is arranged on the one end of the elevating lever 320 away from the lifting motor 310, institute
Rotary electric machine 353 is stated with the drive connection of the rotating shaft 351, the rotating shaft 351 is connected with the rotating disk 352, the camera 230
It is arranged on the rotating disk 352, for example, the rotary electric machine 353 is arranged at the interior bar 321 away from the lifting motor 310
First end, in order that rotary electric machine 353 is more steady, for example, the interior bar 321 is away from the of the lifting motor 310
One end is provided with pallet 356, and the rotary electric machine 353 is arranged on the pallet 356.Pallet 356 being capable of effective support rotating
Motor 353 so that rotary electric machine 353 works more steady, and then cause that camera 230 rotates more steady.
In order to realize the driving of countershaft 352, for example, the connection of the rotary electric machine 353 one drives bar 354, bar 354 is driven
It is provided with sliding tooth, rotating shaft 351 connects a gear 355, rotating shaft 351 is coaxially disposed with gear 355, gear 355 and driving bar 354
Engagement, such rotary electric machine 353 drives the driving bar 354 to move, and drives band moving gear 355 to rotate, and then drive shaft
351 rotate, for example, the rotary electric machine 353 is electrically connected with the control module, for example, the control module is used for according to institute
Stating the angle information that positioning inductor detects controls the rotary electric machine 353 to work, so, when rotary electric machine 353 works,
Rotated by the driving rotating disk 352 of rotating shaft 351, and then cause that camera 230 is rotated so that camera 230 can be adjusted to properly
Angle, is aligned in protection screen.
In order to accurately obtain the signal of the infrared transmitter on protection screen, for example, the car body 100 is provided with fix bar,
The infrared inductor is arranged at the one end of the fix bar away from the car body 100, so, is located at due to infrared inductor
Height is high compared with car body 100, it is easy to receives the signal of the infrared transmitter transmitting on protection screen, can avoid being blocked, causes red
The result of outer inductor detection is inaccurate.
The image mechanism 120 also includes crash roll 360, and in one embodiment, the camera 230 is by described anti-
Shake pad 360 is connected with the elevating lever 320, for example, the camera 230 is connected by the crash roll 360 with the interior bar 321
Connect, for example, the camera 230 is connected by the crash roll 360 with the rotating disk 352, for example, crash roll 360 is arranged at
The bottom of camera 230, crash roll 360 is set by the bottom of camera 230, can effectively for camera 230 provides slow
Punching and shock-absorbing so that the pressing plate image that camera 230 shoots is relatively sharp.
For example, the crash roll 360 is rubber blanket, for example, the crash roll 360 is plastic pad.Rubber blanket and plastic pad
All there is preferably elasticity, can be that camera 230 provides buffering and shock-absorbing very number, further such that camera 230 shoots
Pressing plate image it is relatively sharp.
In order to accurately obtain the signal of the infrared transmitter on protection screen, for example, the car body is provided with fix bar, it is described
Infrared inductor is arranged at the one end of the fix bar away from the car body, so, the height being located at due to infrared inductor compared with
Car body is high, it is easy to receives the signal of the infrared transmitter transmitting on protection screen, can avoid being blocked, causes infrared inductor to be examined
The result of survey is inaccurate.
For example, camera can be used for shooting dynamic picture for shooting static images, for example, the dynamic picture is
Video.By shooting video, and return in real time, be conducive to the state of tour personnel's real-time detection pressing plate.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of relay protection room inspection device, it is characterised in that including：Make an inspection tour dolly and image comparison module；
The tour dolly includes car body, motor, directional drive, driving wheel, camera, control module and the first communication
Module；
Accommodating cavity is provided with the car body, the motor and the control module are arranged in the accommodating cavity, institute
State driving wheel to be connected with the car body, the motor is connected with the drive wheel, the directional drive with it is described
Driving wheel is connected；
The camera is connected with the first communication module, and the camera is used to shooting pressing plate image and is transferred to described the
One communication module；The control module is electrically connected with the motor and the directional drive respectively；
Described image contrast module includes the second communication submodule and image procossing submodule, the second communication submodule and the institute
First communication module connection is stated, described image treatment submodule is electrically connected with the first communication module；
The first communication module is used to send the pressing plate image that the camera shoots to the second communication submodule；Described
Two communication submodules are used to receive the pressing plate image that the first communication module sends, and send to image procossing submodule
Block；Described image treatment submodule is used to obtain parameter preset, parses the pressing plate image and obtains pressing plate parameter, contrasts the pressure
Whether board parameter is consistent with the parameter preset.
2. relay protection room according to claim 1 inspection device, it is characterised in that described image contrast module is arranged at described
In accommodating cavity.
3. relay protection room according to claim 1 inspection device, it is characterised in that the first communication module is radio communication
Module.
4. relay protection room according to claim 3 inspection device, it is characterised in that the second communication submodule is channel radio
Letter module.
5. relay protection room according to claim 4 inspection device, it is characterised in that the second communication submodule and described the
One communication module wireless connection.
6. relay protection room according to claim 1 inspection device, it is characterised in that the camera is by the control module
It is connected with the first communication module, the camera is used to shoot pressing plate image and is transferred to by the control module described
First communication module.
7. relay protection room according to claim 1 inspection device, it is characterised in that the control module communicates with described first
Module is connected.
8. relay protection room according to claim 1 inspection device, it is characterised in that the surface of the car body is provided with insulation
Layer.
9. relay protection room according to claim 8 inspection device, it is characterised in that the surface of the driving wheel is provided with insulation
Set.
10. relay protection room according to claim 9 inspection device, it is characterised in that the insulation sleeve is coated on the driving
The outer surface of wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153085.0A CN106892018B (en) | 2017-03-15 | 2017-03-15 | Relay protection room inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153085.0A CN106892018B (en) | 2017-03-15 | 2017-03-15 | Relay protection room inspection device |
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| Publication Number | Publication Date |
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| CN106892018A true CN106892018A (en) | 2017-06-27 |
| CN106892018B CN106892018B (en) | 2018-08-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710153085.0A Active CN106892018B (en) | 2017-03-15 | 2017-03-15 | Relay protection room inspection device |
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| CN112549040A (en) * | 2020-11-17 | 2021-03-26 | 广东电网有限责任公司中山供电局 | Pressing plate state inspection robot |
| CN112730902A (en) * | 2020-12-09 | 2021-04-30 | 广东电网有限责任公司湛江供电局 | Relay protection automatic auxiliary robot |
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| Publication number | Publication date |
|---|---|
| CN106892018B (en) | 2018-08-21 |
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