CN106892018B - Relay protection room inspection device - Google Patents
Relay protection room inspection device Download PDFInfo
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- CN106892018B CN106892018B CN201710153085.0A CN201710153085A CN106892018B CN 106892018 B CN106892018 B CN 106892018B CN 201710153085 A CN201710153085 A CN 201710153085A CN 106892018 B CN106892018 B CN 106892018B
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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
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- 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
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- Multimedia (AREA)
- Signal Processing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The present invention relates to relay protection room inspection devices, including：Make an inspection tour trolley and image comparison module；It includes car body, driving motor, directional drive, driving wheel, camera, control module and first communication module to make an inspection tour trolley；Camera is connect with first communication module, and control module is electrically connected with driving motor and directional drive；Image comparison module includes communication submodule and image procossing submodule, and communication submodule is connect with first communication module, and image procossing submodule is electrically connected with first communication module；It is shot by making an inspection tour the pressing plate on trolley each protection screen indoor to relay protection; it generates pressing plate image and is sent to image comparison device; image comparison device parses pressing plate image; and it is compared with parameter preset picture; to detect pressing plate state is moved back with the presence or absence of miscarrying; workload is effectively reduced, False Rate or misdetection rate is effectively reduced, effectively reduces the probability of happening of production accident.
Description
Technical field
The present invention relates to power grids to make an inspection tour technical field, more particularly, to relay protection room inspection device.
Background technology
In order to safeguard power grid, the stable operation of power grid is ensured.According to the requirement of current substation's maintenance work, run people
Member will monthly check the indoor pressing plate state of relay protection.Pressing plate is called protection pressing plate or protection in flakes, is protective 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 on 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.
In the operation of power grid, need according to reasons such as business demand, operating status and weather carry out pressing plate
Throwing is moved back, and also need to routine work to pressing plate state carry out inspection, as occur miscarry move back or abnormal state, need and
When pressing plate state is just corrected.
Due to being usually provided with a large amount of protection screen in relay protection room, multiple pressing plates are then provided on a protection screen, therefore,
It is huge to the workload of the inspection of pressing plate state, and since workload is huge, staff is susceptible to erroneous judgement or fails to judge, inspection
Process is susceptible to careless mistake, due to staff erroneous judgement or fail to judge and cause pressing plate mistake input and exit in time more
Just, there are miscarryings to move back state, is easy to cause production accident.
Invention content
Based on this, it is necessary to be susceptible to erroneous judgement for traditional artificial inspection pressing plate state or fail to judge, inspection process is 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 not and correct in time, be easy to cause production
The defect of accident provides a kind of relay protection room inspection device.
A kind of relay protection room inspection device, including：Make an inspection tour trolley and image comparison module；
The tour trolley includes car body, driving motor, directional drive, driving wheel, camera, control module and first
Communication module；
Accommodating cavity is provided in the car body, the driving motor and the control module are set to the accommodating cavity
Interior, the driving wheel is connect with the car body, and the driving motor is connect with the drive wheel, the directional drive with
The driving wheel connection；
The camera is connect with the first communication module, and the camera is for shooting pressing plate image and being transferred to institute
State first communication module；The control module is electrically connected with the driving motor and the directional drive respectively；
Described image contrast module includes communication submodule and image procossing submodule, the communication submodule and described the
One communication module connects, and described image processing submodule is electrically connected with the first communication module；
The first communication module is used to the pressing plate image that the camera is shot being sent to communication submodule；It is described logical
Letter submodule is used to receive the pressing plate image that the first communication module is sent, and is sent to image procossing submodule；Institute
Image procossing submodule is stated for obtaining parameter preset, the pressing plate image is parsed and obtains pressing plate parameter, compare the pressing plate ginseng
Whether number is consistent with the parameter preset；
Wherein, described image processing submodule is for parsing pressing plate image, obtain the pressing plate image in predeterminable area
Pixel value, whether the pixel value pixel value corresponding with parameter preset for detecting predeterminable area consistent；
The car body is extended detection item to both sides, and the detection item includes detecting conductor and is coated on outside detecting conductor
The insulator of side, the detecting conductor are formed into a loop in insulator, and the detecting conductor is connect with control module, the control
Module is used to control directional drive work according to the resistance variations of detecting conductor.
Described image contrast module is set in the accommodating cavity in one of the embodiments,.
The first communication module is wireless communication module in one of the embodiments,.
The communication submodule is wireless communication module in one of the embodiments,.
The communication submodule is wirelessly connected with the first communication module in one of the embodiments,.
The camera is connect by the control module with the first communication module in one of the embodiments,
The camera is for shooting pressing plate image and being transferred to the first communication module by the control module.
The control module is connect with the first communication module in one of the embodiments,.
The surface of the car body is provided with insulating layer in one of the embodiments,.
The surface of the driving wheel is provided with insulation sleeve in one of the embodiments,.
The insulation sleeve is coated on the outer surface of the driving wheel in one of the embodiments,.
Above-mentioned relay protection room inspection device is clapped by making an inspection tour the pressing plate on trolley each protection screen indoor to relay protection
It takes the photograph, generates pressing plate image and be sent to image comparison device, image comparison device parses pressing plate image, and is carried out with parameter preset picture
Comparison moves back state with the presence or absence of miscarrying to detect pressing plate, and then effectively reduces workload, effectively reduces False Rate or misdetection rate,
And then effectively reduce the probability of happening of production accident.
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 trolley of another embodiment；
Fig. 3 is the cross-sectional view of the tour trolley of an embodiment.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is to implement with certain large-scale provincial power network
Example, in conjunction with attached drawing, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to
It explains the present invention, is not intended to limit the present invention.
For example, a kind of relay protection room inspection device, including：Make an inspection tour trolley and image comparison module；The tour trolley includes
Car body, driving motor, directional drive, driving wheel, camera, control module and first communication module；Setting in the car body
There are accommodating cavity, the driving motor and the control module to be set in the accommodating cavity, the driving wheel and the car body
Connection, the driving motor are connect with the drive wheel, and the directional drive is connect with the driving wheel；The camera shooting
Head is connect with the first communication module, and the control module is electrically connected with the driving motor and the directional drive；
Described image contrast module includes that communication submodule and image procossing submodule, the communication submodule communicate mould with described first
Block connects, and described image processing submodule is electrically connected with the first communication module；The first communication module is used for will be described
The pressing plate image of camera shooting is sent to communication submodule；The communication submodule is for receiving the first communication module hair
The pressing plate image sent, and it is sent to image procossing submodule；Described image processing submodule is solved for obtaining parameter preset
It analyses the pressing plate image and obtains pressing plate parameter, it is whether consistent with the parameter preset to compare the pressing plate parameter.
Above-mentioned relay protection room inspection device is clapped by making an inspection tour the pressing plate on trolley each protection screen indoor to relay protection
It takes the photograph, generates pressing plate image and be sent to image comparison device, image comparison device parses pressing plate image, and is carried out with parameter preset picture
Comparison moves back state with the presence or absence of miscarrying to detect pressing plate, 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 trolley 10 and image comparison
Module 40；The tour trolley 10 includes car body 100, driving motor, directional drive, driving wheel 110, camera shooting mechanism 120, control
Molding block 250 and first communication module 280.
As shown in Fig. 2, accommodating cavity (not shown) is provided in the car body 100, the driving motor and the control
Module is set in the accommodating cavity, and the driving wheel 110 is connected to the car body 100 close to the position of bottom, the driving
Motor is drivingly connected with the driving wheel 110, and the directional drive is connect with the driving wheel 110, the camera shooting 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
As head 230 is connect with the lifting assembly 121.
Referring again to Fig. 1, the camera 230 is connect with the first communication module 280, the control module 250
It is electrically connected with the driving motor and the directional drive；Described image contrast module 40 includes communication 420 He of submodule
Image procossing submodule 410, the communication submodule 420 are connect with the first communication module 280, and described image handles submodule
Block 410 is electrically connected with the first communication module 280；What the first communication module 280 was used to shoot the camera 230
Pressing plate image is sent to communication submodule 420；The communication submodule 420 is for receiving the transmission of the first communication module 280
The pressing plate image, and be sent to image procossing submodule 410；Described image processing submodule 410 is for obtaining default ginseng
Number parses the pressing plate image and obtains pressing plate parameter, it is whether consistent with the parameter preset to compare the pressing plate parameter.
Specifically, whether image procossing submodule 410 is consistent with pre-set image by comparing pressing plate image, and then detects and protect
Whether the pressing plate on shield screen there is miscarrying to move back state.For example, the parameter preset is the corresponding state of normal operation lower platen, packet
State is moved back in the throwing for including pressing plate, and the image that pressing plate image is the state that shooting obtains pressing plate, pressing plate parameter are parsing pressing plate image
Or the state information parameters of pressing plate are obtained, the virtual condition for reflecting pressing plate in the present embodiment, passes through the reality for comparing pressing plate
Whether state is moved back in the throwing of state and normal operation lower platen consistent, and then judges the case where pressing plate is moved back with the presence or absence of miscarrying.
For example, image procossing submodule 410 for parsing pressing plate image, obtain the pressing plate image in predeterminable area
Pixel value, whether the pixel value pixel value corresponding with parameter preset for detecting predeterminable area is consistent, specifically, shoots the figure of acquisition
As having multiple pixels, the position where predeterminable area, that is, pressing plate, pressing plate is thrown or pressing plate is moved back with different pixels, therefore, is obtained
It takes the practical throwing that the pixel value in the predeterminable area can get pressing plate to move back state, and then detects pressing plate with the presence or absence of miscarrying
It moves back.
It should be understood that the setting of image comparison module 40 communicates mould distally in this way, making an inspection tour trolley and can pass through first
Pressing plate image is sent to the image comparison module 40 of distal end by block 280 so that tour personnel be not necessarily into relay protection room and can be right
Pressing plate state carries out inspection.For example, the image comparison module 40 includes server, for example, being provided with communication submodule in server
Block 420 and image procossing submodule 410.
In order to be quickly detected to pressing plate state, in one embodiment, described image contrast module 40 is set to institute
It states in accommodating cavity.In the present embodiment, small car is being maked an inspection tour in the setting of image comparison module 40, is carried out to pressing plate in this way, making an inspection tour trolley
Shooting generates pressing plate image, moreover it is possible to directly carry out parsing and detecting state to pressing plate image, effectively increase 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
Module is believed, for example, the communication submodule 420 is wireless communication module, for example, the communication submodule 420 and described the
One communication module 280 is wirelessly connected, and makes an inspection tour trolley by wirelessly being connect with image comparison module 40, on the one hand, effectively increase
The efficiency of transmission of pressing plate image so that pressing plate image can see the image comparison module 40 for being rapidly transmitted to distal end, another, make
The movement that trolley must be maked an inspection tour is more flexible, is not limited by place, and tour efficiency is effectively increased.
In order to realize the transmission of pressing plate image, in one embodiment, the camera 230 passes through the control module
250 connect with the first communication module 280, it should be understood that camera 230 is communicated by control module 250 with first
Module 280 connects, 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, and therefore, it is necessary to the pressing plate images that control module 250 shoots camera 230
It is sent to first communication module 280, and controls first communication module 280 and is sent to communication submodule 420, to realize pressing plate figure
The transmission of picture.
In order to enable trolley is in one embodiment, the control module 250 is connect with the first communication module 280.
In the present embodiment, first communication module 280 is used for for receiving control instruction, control module 250 according to first communication module 280
Control instruction control driving motor, directional drive and the work of camera shooting mechanism of reception, specifically, camera 230 will be shot
Image distal end is sent to by first communication module 280, patrol officer can real time inspection pressing plate state, and patrol officer's energy
Control instruction is sent to first communication module 280, the movement of control routing inspection trolley is turned to or shot, so that inspection is more
Efficiently.For example, relay protection room inspection device includes operation module and third communication module, operation module connects with third communication module
It connects, third communication module and first communication module 280 are wirelessly connected, in this way, patrol officer can be realized pair by operation module
The control of routing inspection trolley.
It gets an electric shock to avoid making an inspection tour being easy to touch electrical equipment when trolley 10 works, the surface of the car body 100 is provided with
The surface of insulating layer (not shown), the driving wheel 110 is provided with insulation sleeve (not shown), for example, the insulating layer is rubber
Layer, for example, the material of the insulating layer 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, is also car body not only so that car body 100 and driving wheel 110 insulate
100 and driving wheel 110 provide buffering, for make an inspection tour trolley 10 shock-absorbing is provided so that make an inspection tour trolley 10 movement it is more steady.
By the way that insulating layer is arranged on car body 100 so that car body 100 can be with exterior insulation, in addition, on driving wheel 110
Insulation sleeve is set, and insulation sleeve fully coats driving wheel 110 so that driving wheel 110 and exterior insulation, so that making an inspection tour trolley 10
Effectively insulation effectively avoids tour trolley 10 from touching electric elements and get an electric shock, effectively avoids production accident.
In order to further increase 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 are fully coated on driving wheel 110, and driving wheel 110 is avoided to leak outside, effectively so that driving wheel
110 connect with external conductor, effectively avoid making an inspection tour the electric shock of trolley 10, for example, driving wheel 110 includes wheel body and drive shaft, drive
Dynamic motor is drivingly connected with drive shaft, and wheel body is connected to the both ends of drive shaft, and the insulation sleeve is coated on the wheel body
Outside, and the insulation sleeve coats the both ends of the drive shaft at least partly, since insulation sleeve is coated on the drive shaft of metal
Both ends so that the surface insulation of drive shaft, further improve make an inspection tour trolley 10 insulating properties.
In order to improve the frictional force of insulation sleeve, so that making an inspection tour trolley 10 can steadily move in relay protection room,
In one embodiment, the outer surface of the insulation sleeve is provided with striated structure (not shown), and striated structure makes insulation sleeve
The frictional force bigger of outer surface so that the frictional force bigger between insulation sleeve and ground is conducive to improve and makes an inspection tour trolley 10
Stability so that making an inspection tour trolley 10 can steadily 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 item 130, for example, the car body 100 is extended the detection item 130 to both sides, for example, the detection
Item 130 includes detecting conductor and the insulator being coated on the outside of detecting conductor, and the detecting conductor is formed into a loop in insulator,
Insulator is for coating insulated electric conductor so that the outside of insulated electric conductor is insulated, and the detecting conductor is connect with control module, works as spy
When survey item 130 touches object and is bent, cause resistance variations, control module that can detect car body 100 and touch 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 item on right side
130 touch object, cause the detecting conductor resistance variations on right side, then control module control directional drive turns left, vehicle
Body 100 moves downward, in such manner, it is possible to which so that tour trolley 10 can turn to when touching exterior object, avoid making an inspection tour in time
Trolley 10 touches electrical equipment and gets an electric shock.
In order to improve the crashworthiness for making an inspection tour trolley 10, tour trolley 10 is avoided to be hit and damage, in one embodiment
In, Fig. 2 is referred to, the both ends of the car body 100 are respectively arranged with anticollision strip 140, it should be understood that the both ends of car body 100
I.e. along the both ends of 100 direction of motion of car body, respectively front-end and back-end, for example, the material of the anticollision strip 140 is anti-for rubber
Item is hit, for example, the material of anticollision strip 140 is rubber, there are three anticollision strip 140, energy since the front and back end of car body 100 is respectively set
It is enough to improve the crashworthiness for making an inspection tour trolley 10, avoid tour trolley 10 from being hit and damage.
In order to further increase the crashworthiness for making an inspection tour trolley 10, for example, as shown in Fig. 2, the both ends of the car body 100 point
It is not provided at least three anticollision strips 140, for example, three anticollision strips 140 interval setting per one end.For example, per one end
Three anticollision strips 140 it is arranged in parallel, in this way, each section of three anticollision strips 140 can be car body 100 provide it is good
Good buffering further increases the crashworthiness for making an inspection tour trolley 10.
In order to further increase the crashworthiness for making an inspection tour trolley 10, for example, as shown in Fig. 2, the anticollision strip 140 has circle
Tee section, for example, the anticollision strip 140 is cylinder, since cylindrical anticollision strip 140 has the deformation of bigger in side
Amount therefore can be with the deformation quantity of bigger when being impacted, and then has preferably cushion performance, therefore, it is possible to further
Improve the crashworthiness for making an inspection tour trolley 10.
In order to enable make an inspection tour trolley can automatic running, improve make an inspection tour efficiency, in one embodiment, state make an inspection tour trolley 10
Including tracing sensor and power supply module, as shown in Fig. 2, the tracing sensor 220 is set on the car body 100, please again
It is secondary to be electrically connected respectively with the control module 250 referring to Fig. 1, the tracing sensor 220 and the camera 230, the control
Molding block 250 is electrically connected with the driving motor 210 and the directional drive 240；The power supply module 260 respectively with institute
State driving 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 according to what the tracing sensor obtained for seeking
Mark signal controls the driving motor and directional drive work, for example, the driving motor is for driving the drive
Wheel rotation, for example, the directional drive is turned to for controlling the driving wheel, for example, directional drive is to turn to drive
Bridge, it should be understood that directional drive realized using the prior art to the course changing control of driving wheel, in the present embodiment not in detail
Burden description.The camera obtains pressing plate image, for example, camera is for obtaining pressing plate for being imaged to protection screen
Pressing plate image is sent to by image comparison device by communication module after image.
For example, the power supply module is used for as the driving 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 driving 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 charge for the battery submodule.
For example, the charging submodule includes wireless charging submodule, the wireless charging submodule is for obtaining radio
Radio wave is converted to electric energy, electric energy is filled in battery submodule by wave.In this way, wireless charging can be passed through by making an inspection tour trolley
Electric mode charges, without manual intervention, for example, wireless charging module is arranged in the predeterminated position in relay protection room, for example, control
Molding block is used for after completing to be detected the protection screen of preset quantity, is controlled driving motor according to tracing signal and is turned
It works to driver, to drive body movement to wireless charging module.Camera shooting i.e. is passed through to the detection of protection screen in the present embodiment
Head take pictures to the pressing plate on protection screen, after the detection to protection screen so that make an inspection tour trolley can automatic charging, without
Manual intervention so that the electricity for making an inspection tour trolley is sufficient, and reduces manual intervention, further decreases cost of labor.
For example, car body, in operating status, driving wheel is used for the driving in driving motor for being connected to ground, driving wheel
Lower rotation, and then moved on the ground with motor vehicles bodies, the bottom of car body are car body close to the position on ground, and the top of car body is vehicle
Position of the body far from ground, and the both ends of car body are respectively the rear and front end of car body in a forward direction, for example, driving wheel is arranged
In the bottom of car body, is conducive to driving wheel and drives body movement, and the lifting assembly for imaging mechanism is set to the top of car body, has
It is adjusted conducive to the height to camera, so that camera is aligned in the pressing plate on protection screen.
In order to accurately obtain tracing signal, for example, the tracing sensor is set to the bottom of the car body, for example, institute
It states tracing sensor and is set to one side of the car body towards ground, for example, the tracing sensor is set to 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 item that tracks on relay protection room floor, the item that tracks is used for
The color different with environment is set, for example, the item that tracks is black, relay protection room floor is set as white, and specifically, track item
For providing movement locus so that car body is moved along the item that tracks, and the item that tracks is arranged 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
A infrared sensor is symmetrical arranged about the central axis of car body, and the central axis of car body is the linear motion side for being parallel to car body
To central axis, for example, infrared sensor for outward emit infrared signal, and receive reflection infrared signal so that obtain
Tracing signal, for example, two infrared sensors are used to emit infrared signal towards the same direction, for example, two infrared sensors
The direction of the launch be mutually parallel
Specifically, infrared sensor had both been used to emit infrared signal, was also used for receiving infrared signal.Infrared signal emit to
When white ground, infrared signal emits to infrared sensor, and the infrared signal of reflection is received by infrared sensor, and infrared letter
Number transmitting is to tracking on item, and since the item that tracks is black, the infrared signal item that tracked is absorbed without reflecting, at this time infrared sensing
Device can not receive the infrared signal of reflection, in this way, control module is by detecting the infrared signal judgement of the reflection received
It is no to deviate the item that tracks, if so, then being moved on along current track, if not, according to the output control directional drive of detection
Work.Specifically, two infrared sensors are located at the both sides of the central axis of car body, the central axis of car body and the item pair that tracks
Together, in this way, when car body is moved along the item that tracks, two direction transmittings for being respectively facing the central axis for being parallel to car body are infrared
Signal, when car body is moved along the item that tracks, the infrared signal of ground launch can be received by infrared sensor, in this way, control
Molding block then controls car body to be continued to move along current track, when car body deviates, one in two infrared sensors transmitting
The infrared signal item that will be tracked absorbs, in this way, control module is then according to the infrared biography for the infrared signal for being not received by reflection
Deviation angle is calculated in the feedback of sensor, and then controls directional drive work, changes the direction of driving wheel, controls car body
It turns to, and is aligned in the item that tracks so that car body continues on the item movement that tracks.When the item that tracks turns to, the infrared sensing of both sides
An infrared signal for receiving reflection in device, another then without receiving the infrared signal reflected, then shows not receive
To the side of the infrared signal of reflection there is the item that tracks, control module then to control car body and turn towards the side of not infrared signal
To, and then realize the Automatic Track Finding for making an inspection tour trolley and position control.
In order to enable addressing is more accurate, for example, the quantity of the infrared sensor is four, for example, four infrared biographies
Sensor is symmetrical arranged about the central axis of car body, for example, two infrared sensors in four infrared sensors
It is set to the side of the central axis of car body, infrared sensor is set to vehicle described in the another two in four infrared sensors
The other side of the central axis of body improves in this way, two infrared sensors per side can cover the area of detection of bigger
Detection to the item that tracks, so that addressing results are more accurate.
For example, four infrared sensors are arranged side by side leans on the position of front end in the bottom surface of the car body, it should say
Bright, the front end of car body is the one end of car body along 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 settings, i.e., four infrared sensors are in same straight line
On, in the present embodiment, four infrared sensors are symmetrical arranged about the central axis of the car body, i.e. two infrared sensings
Device is set to the side of central axis, other two infrared sensor is set to the other side of central axis, in this way, described in four
Two in infrared sensor are used to carry out transmitting infrared signal to the ground of central axis side, 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 the central axis other side, and connect
The reflection signal on ground is received, in this way, 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 generates offset or front tracks
Item turns to, and two infrared sensors of homonymy can effectively improve the detection precision to the item that tracks, so that making an inspection tour trolley
Track it is more accurate.
For another example, four infrared sensors are set to the bottom surface of car body close to 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 front sensors are symmetrical arranged about the central axis of car body, and two front sensors are set
The position of front end is leaned in the bottom surface for being placed in car body；Two rear sensors are arranged about the central axis of car body, and two institutes
Position of the bottom surface close to rear end that rear sensor is set to car body is stated, for example, sensor is two-by-two after two front sensors and two
It is mutually aligned, in this way, when car body is moved along the item that tracks, control module passes through two front sensor head in four sensors
First whether the detection direction of motion deviates, and whether the item that tracks turns to, then by sensor after two then to two front sensors
Testing result verified, and the movement locus of car body is corrected, so that it is more accurate to make an inspection tour tracking for trolley.
More precisely to obtain tracing signal, for example, the tracing sensor is set to the end of one end of the car body
On face, for example, the tracing sensor is set 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 before car body
On end face, and two infrared sensors are symmetrical arranged about the central axis of car body, for example, the launch party of the tracing sensor
To the inclined downward of the direction of advance towards the car body, in this way, tracing sensor can detect seeking in front of car body
The position of mark item, control module can prejudge the movement of car body in advance, 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 set on the end face at the both ends of the car body, for example, the infrared sensor is set to the end of the front end of the car body
On face, for example, on the end face for the front end that two infrared sensors in four infrared sensors are set to car body, four infrared biographies
On the end face for the rear end that two infrared sensors in sensor are set to car body, and two infrared sensors of front end are about car body
Central axis be symmetrical arranged, two infrared sensors of rear end are symmetrical arranged about the central axis of car body, 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, in this way, control
Molding block can prejudge the direction of motion of car body in advance according to the tracing signal that two infrared sensors of front end detect, and rear end
Two infrared sensors the direction of motion can be then corrected so that the direction of motion of car body 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
Several supersonic generators are equipped with, supersonic generator is obtained for emitting ultrasonic signal, the tracing sensor for detecting
The ultrasonic signal for taking supersonic generator to emit, the ultrasonic signal that control module is used to be detected according to ultrasonic sensor
Control body movement.
It is noted that the item that tracks can provide movement locus for car body, making an inspection tour trolley can move along the item that tracks
It to each protection screen, is shot in order to enable making an inspection tour before trolley can rest on protection screen, for example, it further includes fixed to make an inspection tour trolley
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, are wirelessly penetrated RFID
Frequency identifies) 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 that read head detects controls car body stop motion, for example, relay protection room is provided with several RF tags, each radio frequency mark
The corresponding protection screen of label, in this way, 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, then controls camera and claps the pressing plate on protection screen
It takes the photograph.
It should be understood that radio frequency read head is smaller to radiofrequency signal reading distance, therefore so that the indoor each guarantor of relay protection
Shield screen can be positioned according to radiofrequency signal, effective reading due to the distance between each RF tag relative to radio frequency read head
It takes apart from larger, radio frequency read head can't read multiple RF tags simultaneously, therefore, when radio frequency read head reads a radio frequency
When label, then positions a protection screen and avoid radio frequency read head in order to accurately obtain RF tag while reading multiple radio frequency marks
Label, for example, the working frequency of the radio frequency read head is 125KHz, for another 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 usually the distance between protection screen is 300mm~500mm, in this way, the distance between protection screen is approximately equal between RF tag
Distance, since the distance between RF tag is greater than effective reading distance of radio frequency read head, therefore, it is possible to effectively avoid penetrating
Frequency read head reads multiple RF tags simultaneously, so that each protection screen can be accurately positioned by making an inspection tour trolley, to each guarantor
The pressing plate of shield screen is shot.
In order to enable the radio frequency read head for making an inspection tour trolley can accurately read RF tag, and then protection screen is positioned, for example, institute
It states RF tag to be set on the protection screen, for example, the radio frequency read head is set to the side of the car body, for example, described
Radio frequency read head is set to the side of the car body, in this way, radio frequency read head can be towards RF tag, so that radio frequency read head energy
The RF tag on protection screen is enough read, and then the position of 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 set to the item that tracks
On, for example, radio frequency read head is set to the bottom surface of the car body, for example, radio frequency read head is arranged towards ground, in this way, working as car body edge
It when tracking item movement, radio frequency read head can necessarily pass through RF tag, and detect RF tag, and RF tag is existed
In effective read range of radio frequency read head so that radio frequency read head is more accurate to the reading of RF tag, and due to radio frequency read head
Towards ground, the RF tag on the corresponding ground of car body can be only read, and the RF tag of other positions can not be read, because
This so that the radiofrequency signal that radio frequency read head is read is more accurate.
For example, the radiofrequency signal that the control module is used to be detected according to the radio frequency read head, obtains the knowledge of protection screen
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 has recorded the ID of the protection screen, control module
For according to the protection screen information that prestores, and the identification information that reads, detect whether current protection screen has been taken, example
Such as, control module is used for after getting identification information, control camera shooting, and by the pressing plate image and identification information of shooting
Association, and it is to have shot to record the identification information, for example, it includes memory module to make an inspection tour trolley, memory module has prestored protection screen
Information, specifically, the protection screen information to prestore are protection screen list, have recorded the ID of multiple protection screens in relay protection room, in this way,
When making an inspection tour trolley by a protection screen, the corresponding video tab of protection screen is read, the ID of the protection screen, control module are obtained
Control camera shoots protection screen, and it is to have shot to record the corresponding shooting states of protection screen ID, in this way, by having clapped
The ID and the ID in protection screen list for the multiple protection screens taken the photograph are compared, you can the ID for the protection screen that acquisition is not yet shot, one
Aspect can effectively avoid the repetition of protection screen from shooting, another, can effectively improve make an inspection tour trolley shooting efficiency, and by
It is associated with the identification information of protection screen in by the pressing plate image of shooting so that the pressing plate image got all has unique
Identification marking so that user or image comparison device being capable of the corresponding pressing plate figures of the different protection screen of Division identification
Picture.
Specifically, the control module of car body obtains the indoor press plate position of relay protection according to tracing sensor, and then passes through drive
Dynamic motor and directional drive control driving wheel movement so that car body is maked an inspection tour by desired guiding trajectory in relay protection room, and by taking the photograph
As head takes pictures to the pressing plate on protection screen, to obtain the state of pressing plate, and then human cost is effectively reduced with timely
Between cost, effectively improve tour efficiency, and reduce due to be related to pressing plate quantity it is larger caused by high risk.
In order to enable 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, so that body movement is more steady, for example, four driving wheel packets
Two front-wheels and two trailing wheels are included, the driving motor is connect with two rear wheel drives, the directional drive and two
The front-wheel connection.In the present embodiment, two front-wheels are for turning to, and two trailing wheels are for driving car body to advance, in such manner, it is possible to have
Effect improves drive efficiency, and makes the steering of car body more accurate.
In order to enable camera can accurate alignment in protection screen, and then to pressing plate progress clearly accurately take pictures, one
In a embodiment, it further includes positioning inductor to make an inspection tour trolley, and the positioning inductor is electrically connected with the control module, for example,
The location information control camera shooting mechanism work that the control module is used to be detected according to positioning inductor, for example, location information packet
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, the elevation information that control module is used to be detected according to positioning inductor, control camera shooting mechanism work, for example, control
The angle information that molding block is used to be detected according to positioning inductor, the work of control camera shooting mechanism, such as control camera shooting mechanism open
Begin or terminates camera shooting, for another example, the operating angle etc. of control camera shooting mechanism.
Specifically, which is used to detect the position of pressing plate, it should be understood that has multiple guarantors in relay protection room
Shield screen, the height of each protection screen is inconsistent, and the direction of protection screen is inconsistent, in this way, 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 needs face protection screen, and
Camera will be aligned in protection screen, not only be aligned in height, it is also necessary to be aligned in level orientation, so that camera energy
Enough face protection screens, camera can completely and clearly shoot multiple pressing plates on protection screen, for example, location sense is answered
Device is used to detect the positioning signal of the location transmitters transmitting of protection screen, and location information is obtained according to positioning signal, for example, this is fixed
Position inductor is infrared inductor, for example, an infrared transmitter is arranged in each protection screen, for example, the default position of each protection screen
One infrared transmitter of setting is set, for example, the infrared transmitter on each protection screen is used for along perpendicular to the direction of the protection screen
Emit infrared ray, in this way, due on each protection screen infrared transmitter transmitting sense be it is unique and fixed, this
Sample on body movement a to protection screen, detects according to infrared inductor and receives the infrared emission signal on protection screen, in turn
Get the elevation information and angle information of protection screen, the elevation information and angle that control module is obtained according to infrared inductor
The work of information control camera shooting mechanism, so that camera is aligned in the pressing plate on protection screen, and can carry out accurately pressing plate
Clearly take pictures.
In order to enable the movement of 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 set in the accommodating cavity 101, and the car body 100 pushes up
Portion offers lift span 102, and the lift span 102 is connected to the accommodating cavity 101, and the elevating lever 320 is actively located in institute
It states in lift span 102, and the lifting motor 310 is drivingly connected with the elevating lever 320, the elevating lever 320 is taken the photograph with described
As the connection of head 230, 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 detects, control lifting motor 310 works, for example, the lifting motor 310 is linear motor,
The elevating lever 320 is connect with the linear motor, and the elevating lever 320 is used under the driving of the linear motor vertical
It is moved in a straight line on direction, in this way, when positioning inductor detects that the height of pressing plate and the height when preceding camera 230 be not corresponding
When, control module controls linear motor according to the elevation information of the pressing plate detected and works, and linear motor drives 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 to enable the movement of camera 230 in the vertical direction 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
There is hollow-core construction, the middle part of the outer bar 322 to be connected to the lift span 102 at middle part, and the interior bar 321 is set to described outer
In bar 322, the lifting motor 310 is drivingly connected with the interior bar 321, and the camera 230 is connect 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 both ends, which is cylinder, for example, the interior bar 321
Diameter it is equal with the internal diameter of the outer bar 322, for example, in this way, due to state the diameter of interior bar 321 in the outer bar 322
Diameter is equal, and lifting motor 310 drives interior bar 321 in outer bar 322 when movement, and outer bar 322 can well carry out interior bar 321
Limitation, avoids interior bar 321 from generating offset in the horizontal direction, so that the movement of interior bar 321 in the vertical direction is more flat
Surely so that the movement of camera 230 in the vertical direction is more steady.
It is in one embodiment, described referring again to Fig. 3 in order to drive the movement of camera 230 in the vertical direction
Lifting assembly 121 further includes lead screw 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 one end of the interior bar 321 far from the fixed seat 332 is connect with the camera 230, the lead screw 331 with it is described solid
Reservation 332 connects, and the lifting motor 310 is drivingly connected with the lead screw 331, for example, in the present embodiment, lifting motor 310
For servo motor, in this way, lifting motor 310 drives lead screw 331 to rotate, the rotation of lead screw 331 drives fixed seat 332 along guide rail
333 move in the vertical direction, and fixed seat 332 drives the movement in outer bar 322 of interior bar 321, so that camera 230 is perpendicular
Histogram moves upwards.
In order to further such that interior bar 321 moves resistance smaller that is more steady, and making interior bar 321 move, for example, institute
The diameter for stating interior bar 321 is less than the internal diameter of the outer bar 322, and 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 be that interior bar 321 provide cunning
Dynamic support reduces the friction that interior bar 321 is subject to, effectively reduces resistance so that movement of the interior bar 321 in outer bar 322 is more flat
It is sliding, for example, several advance balls 340 are provided between the interior bar 321 and the outer bar 322, for example, multiple advance balls
340 are arranged uniformly around the interior bar 321, and multiple advance balls 340 can from multiple directions limit interior bar 321, be
Interior bar 321 provides sliding support, so that movement of the interior bar 321 in outer bar 322 is more steady, and resistance 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 to enable advance ball 340 can be moved with the movement of interior bar 321 in the vertical direction, to interior bar 321
It is preferably supported, in one embodiment, as shown in figure 3, the interior bar 321 is provided with supporting part 323, the sliding rolling
Pearl 340 is set on the supporting part 323, in the present embodiment, advance ball 340 respectively with the interior bar 321 and described outer
Bar 322 abuts.For example, supporting part 323 is arranged in the outer surface protrusion of the interior bar 321, for example, supporting part 323 has annular
Section, for example, circumference setting of the supporting part 323 around interior bar 321, for example, the one end of supporting part 323 far from interior bar 321 with it is outer
The setting of the interval of bar 322 namely supporting part 323 are not abutted with outer bar 322, and in the present embodiment, supporting part 323 is for carrying sliding rolling
Pearl 340, when the vertical and straight movement in outer bar 322 of interior bar 321, supporting part 323 drives 340 vertical and straight movement of advance ball, due to holding
Load portion 323 is not abutted with outer bar 322 so that between the two there is no mutual frictional force, in this way, advance ball 340 along
The axis of outer bar 322 is rotated up, and can be that interior bar 321 provides sliding support, advance ball 340 is not only that interior bar 321 provides diameter
To support, also the support that slides axially is provided for interior bar 321 so that 321 vertical and straight movement of interior bar is more steady, and can effectively reduce
The resistance that interior bar 321 is subject to so that the movement of interior bar 321 is more smooth, more laborsaving.
In order to limit the move distance in an axial direction of interior bar 321, and advance ball 340 is avoided to skid off, as shown in figure 3, institute
It states 322 inside of outer bar and is provided with stop section 324,340 activity of the advance ball is connected to the stop section 324.For example, described
Stop section 324 is arranged in the inner surface protrusion of outer bar 322, for example, the stop section 324 has ring section, the stop section
There is hollow-core construction, the interior bar 321 to be arranged in the hollow-core construction at the middle part of the stop section 324 at 324 middle part, and described interior
Bar 321 is arranged with the interval of the stop section 324, i.e., interior bar 321 is not abutted with stop section 324, for example, the advance ball 340
It is set between the supporting part 323 and the stop section 324, for example, 340 activity of the advance ball is connected to the block
Portion 324, stop section 324 be used for block advance ball 340, that is, 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 angle, in one embodiment, referring again to Fig. 3, the camera shooting mechanism 120 is also
Including runner assembly 350, the runner assembly 350 is set to the one end of the elevating lever 320 far from the lifting motor 310,
The camera 230 is connect with the runner assembly 350, for example, the runner assembly 350 include shaft 351, turntable 352 with
And rotary electric machine 353, the rotary electric machine 353 are arranged in the one end of the elevating lever 320 far from the lifting motor 310, institute
It states rotary electric machine 353 to be drivingly connected with the shaft 351, the shaft 351 is connect with the turntable 352, the camera 230
It is set on the turntable 352, for example, the rotary electric machine 353 is set to the interior bar 321 far from the lifting motor 310
First end, in order to enable rotary electric machine 353 is more steady, for example, the interior bar 321 far from the lifting motor 310
One end is provided with pallet 356, and the rotary electric machine 353 is set on the pallet 356.Pallet 356 being capable of effective support rotating
Motor 353 so that the work of rotary electric machine 353 is more steady, so that the rotation of camera 230 is more steady.
In order to realize the driving of countershaft 352, for example, one driving item 354 of the connection of the rotary electric machine 353, drives item 354
It is provided with sliding tooth, shaft 351 connects a gear 355, and shaft 351 is coaxially disposed with gear 355, gear 355 and driving item 354
Engagement, such rotary electric machine 353 drive the driving item 354 to move, and driving band moving gear 355 rotates, and then drive shaft
351 rotations, 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
It states the angle information that positioning inductor detects and controls the work of rotary electric machine 353, in this way, when rotary electric machine 353 works,
It is rotated by 351 driving disc 352 of shaft, so that camera 230 rotates so that camera 230 can be adjusted to suitable
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 fixed link,
The infrared inductor is set to the one end of the fixed link far from the car body 100, in this way, be located at due to infrared inductor
Height is high compared with car body 100, is easy to receive the signal of the infrared transmitter transmitting on protection screen, can avoid being blocked, cause red
The result of outer inductor detection is inaccurate.
The camera shooting mechanism 120 further includes crash roll 360, and in one embodiment, the camera 230 passes through described anti-
Shake pad 360 is connect with the elevating lever 320, for example, the camera 230 is connected by the crash roll 360 and the interior bar 321
It connects, for example, the camera 230 is connect by the crash roll 360 with the turntable 352, for example, crash roll 360 is set to
The bottom of camera 230 can effectively be provided for camera 230 slow by the way that crash roll 360 is arranged in the bottom of camera 230
Punching and shock-absorbing so that the pressing plate image that camera 230 is shot is relatively sharp.
For example, the crash roll 360 is rubber pad, for example, the crash roll 360 is plastic pad.Rubber pad and plastic pad
All there is preferable elasticity, can be that camera 230 provide buffering and shock-absorbing very number, further such that camera 230 is shot
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 fixed link, it is described
Infrared inductor is set to the one end of the fixed link far from the car body, in this way, the height being located at due to infrared inductor compared with
Car body is high, is easy to receive the signal of the infrared transmitter transmitting on protection screen, can avoid being blocked, infrared inductor is caused 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.It by shooting video, and returns in real time, is conducive to the state that tour personnel detects pressing plate in real time.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies 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, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.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, which is characterized in that including：Make an inspection tour trolley and image comparison module；
The tour trolley includes car body, driving motor, directional drive, driving wheel, camera, control module and the first communication
Module；
Accommodating cavity is provided in the car body, the driving motor and the control module are set in the accommodating cavity, institute
Driving wheel is stated to connect with the car body, the driving motor is connect with the drive wheel, the directional drive with it is described
Driving wheel connects；
The camera is connect with the first communication module, and the camera is for shooting pressing plate image and being transferred to described the
One communication module；The control module is electrically connected with the driving motor and the directional drive respectively；
Described image contrast module includes communication submodule and image procossing submodule, and the communication submodule is logical with described first
Believe that module connection, described image processing submodule are electrically connected with the first communication module；
The first communication module is used to the pressing plate image that the camera is shot being sent to communication submodule；The communicator
Module is used to receive the pressing plate image that the first communication module is sent, and is sent to image procossing submodule；The figure
As processing submodule is for obtaining parameter preset, parses the pressing plate image and obtain pressing plate parameter, compare the pressing plate parameter and
Whether the parameter preset is consistent；
Wherein, described image processing submodule obtains the picture in predeterminable area of the pressing plate image for parsing pressing plate image
Whether element value, the pixel value pixel value corresponding with parameter preset for detecting predeterminable area are consistent；
The car body is extended detection item to both sides, and the detection item includes detecting conductor and is coated on the outside of detecting conductor
Insulator, the detecting conductor are formed into a loop in insulator, and the detecting conductor is connect with control module, the control module
For controlling directional drive work according to the resistance variations of detecting conductor.
2. relay protection room according to claim 1 inspection device, which is characterized in that described image contrast module is set to described
In accommodating cavity.
3. relay protection room according to claim 1 inspection device, which is characterized in that the first communication module is wireless communication
Module.
4. relay protection room according to claim 3 inspection device, which is characterized in that the communication submodule is radio communication mold
Block.
5. relay protection room according to claim 4 inspection device, which is characterized in that the communication submodule is logical with described first
Believe that module is wirelessly connected.
6. relay protection room according to claim 1 inspection device, which is characterized in that the camera passes through the control module
It is connect with the first communication module, the camera is for shooting pressing plate image and being transferred to by the control module described
First communication module.
7. relay protection room according to claim 1 inspection device, which is characterized in that the control module is communicated with described first
Module connects.
8. relay protection room according to claim 1 inspection device, which is characterized in that the surface of the car body is provided with insulation
Layer.
9. relay protection room according to claim 8 inspection device, which is characterized in that the surface of the driving wheel is provided with insulation
Set.
10. relay protection room according to claim 9 inspection device, which is characterized in that the insulation sleeve is coated on the driving
The outer surface of wheel.
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| CN201710153085.0A CN106892018B (en) | 2017-03-15 | 2017-03-15 | Relay protection room inspection device |
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| CN201710153085.0A CN106892018B (en) | 2017-03-15 | 2017-03-15 | Relay protection room inspection device |
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| CN106892018A CN106892018A (en) | 2017-06-27 |
| CN106892018B true CN106892018B (en) | 2018-08-21 |
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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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| CN201975857U (en) * | 2010-11-29 | 2011-09-14 | 广东峰杰科技有限公司 | Intelligent robot inspection system for security detection of transformer station |
| CN203398875U (en) * | 2013-07-28 | 2014-01-15 | 国家电网公司 | Remote patrol car for straps |
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| EP1386472A4 (en) * | 2001-02-27 | 2009-05-27 | Anthrotronix Inc | Robotic apparatus and wireless communication system |
| CN102082466A (en) * | 2010-10-15 | 2011-06-01 | 重庆市电力公司超高压局 | Intelligent inspection robot system for transformer substation equipment |
| CN102169602A (en) * | 2011-01-07 | 2011-08-31 | 东北电网有限公司沈阳超高压局 | Structural design of inspection robot of transformer substation |
| CN106451790B (en) * | 2016-11-21 | 2018-09-21 | 北京殷图网联科技股份有限公司 | A kind of substation's long-distance intelligent cruising inspection system and its implementation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201975857U (en) * | 2010-11-29 | 2011-09-14 | 广东峰杰科技有限公司 | Intelligent robot inspection system for security detection of transformer station |
| CN203398875U (en) * | 2013-07-28 | 2014-01-15 | 国家电网公司 | Remote patrol car for straps |
| CN205212291U (en) * | 2015-12-07 | 2016-05-04 | 国网福建省电力有限公司 | A robot for power equipment inspection of transformer substation |
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