CN109142935A - Crusing robot - Google Patents
Crusing robot Download PDFInfo
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- CN109142935A CN109142935A CN201811197014.1A CN201811197014A CN109142935A CN 109142935 A CN109142935 A CN 109142935A CN 201811197014 A CN201811197014 A CN 201811197014A CN 109142935 A CN109142935 A CN 109142935A
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- crusing robot
- diagnostic device
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- 238000012545 processing Methods 0.000 claims abstract description 44
- 238000001931 thermography Methods 0.000 claims abstract description 30
- 230000004927 fusion Effects 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 238000003745 diagnosis Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 8
- 238000010438 heat treatment Methods 0.000 description 7
- 206010037660 Pyrexia Diseases 0.000 description 4
- 241001424688 Enceliopsis Species 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 239000000654 additive Substances 0.000 description 2
- 230000000996 additive effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241001062009 Indigofera Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1209—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using acoustic measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1218—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using optical methods; using charged particle, e.g. electron, beams or X-rays
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
- Alarm Systems (AREA)
Abstract
The present invention provides a kind of crusing robot, the crusing robot is used to diagnose the failure of substation equipment, it include: image collection module, image collection module is used to obtain visible images, UV image and the infrared thermal imaging image of substation equipment to be diagnosed；Image processing module, image processing module and image collection module communicate to connect, and for receiving visible images, UV image and infrared thermal imaging image from image collection module and carrying out fusion treatment, generate three-channel state image；Fault determination module, fault determination module and image processing module communicate to connect, for receiving three-channel state image, and according to the fault zone of the determining substation equipment to be diagnosed of three-channel state image and fault type.Crusing robot of the invention can use ultraviolet imagery and the determining failure to diagnostic device of infrared thermal imagery in three-channel state image, and the region of failure is determined by visible images, effectively improve the efficiency of equipment fault diagnosis.
Description
Technical field
The present invention relates to robot fields, in particular to a kind of crusing robot.
Background technique
With the continuous development of power grid, the various power equipments in power grid are also being continuously increased, and various power equipments
Need to carry out deagnostic test, debugging, to guarantee the safe operation of power equipment at the appointed time.
The method that existing electrical equipment fault excludes, needs Electric Power Patrol personnel and shows in advance to each power equipment
The deagnostic test of field, and carry out the record of failure.But there are high voltage electric equipments in scene, once the high-voltage electrical apparatus exists
Failure, and corona discharge is generated, it will seriously affect the personal safety of staff.If also, the high voltage electric equipment is in electricity
The early stage of corona failure, staff are difficult with naked eyes and diagnose, and will substantially reduce the efficiency of fault diagnosis.
Summary of the invention
In view of the above problems, the present invention provides a kind of crusing robots, to effectively improve the efficiency of equipment fault diagnosis,
Safeguard work personnel's personal safety.
To achieve the goals above, the present invention adopts the following technical scheme that:
A kind of crusing robot, for diagnosing the failure of substation equipment, comprising:
Image collection module, described image obtain module be used for obtain substation equipment to be diagnosed visible images,
UV image and infrared thermal imaging image；
Image processing module, described image processing module and described image obtain module communication connection, are used for from the figure
As obtaining the module reception visible images, the UV image and the infrared thermal imaging image and carrying out at fusion
Reason generates three-channel state image；
Fault determination module, the fault determination module and described image processing module communicate to connect, described for receiving
Three-channel state image, and according to the three-channel state image determine the substation equipment to be diagnosed fault zone and
Fault type.
Preferably, the fault type includes at least one of equipment physical damage, inner heat and corona discharge.
Preferably, described image obtains module, comprising:
Visible image capturing unit, for obtaining the visible images to diagnostic device, by the visible light figure
As being transmitted to described image processing module, and driving signal is sent to infrared thermal imaging unit and ultraviolet imagery unit；
The infrared thermal imaging unit is electrically connected with the visible image capturing unit, receives the driving signal, and obtain
The infrared thermal imaging image to diagnostic device is taken, the infrared thermal imaging image transmitting to described image is handled into mould
Block；
The ultraviolet imagery unit is electrically connected with the visible image capturing unit, receives the driving signal, and according to
Default ultraviolet range obtains the UV image to diagnostic device, and the UV image is transmitted to institute
State image processing module.
Preferably, the ultraviolet imagery unit is blind type ultraviolet imagery unit, described to diagnostic device production for obtaining
Raw ultraviolet light beam, and the solar ultraviolet in the ultraviolet light beam is filtered, generate the UV image.
Preferably, the fault determination module, comprising:
Judging unit is damaged, the three-channel state image of described image processing module transmission is received, according to described three
The judgement of channel status image is described to whether there is physical damage to diagnostic device, and to diagnostic device, there are physical damages when described
When, it determines described to diagnostic device physical damage position；
Generate heat judging unit, receives the three-channel state image of described image processing module transmission, judges described three
With the presence or absence of the heat generating spot more than preset temperature value in channel status image, when there is the heat generating spot more than preset temperature value,
It determines described to the heat generating spot position of diagnostic device and relevant temperature；
Discharge judging unit, receives the three-channel state image of described image processing module transmission, judges described three
It is more than putting for default UV intensity value when existing with the presence or absence of the point of discharge for being more than default UV intensity value in channel status image
When electricity point, the spark location to diagnostic device and corresponding strength of discharge are determined.
Preferably, the crusing robot, further includes:
Mobile base, for carrying the crusing robot and being moved.
Preferably, the mobile base includes:
Two motor, are set on the horizontal plane of mobile base front end two sides, two transmission shafts and the mobile bottom
The two sides of seat are vertical, contrary and outwardly；
Two front-wheels, are respectively set on the transmission shaft of described two motor, by described two motor carry out driving and
Differential steering；
Universal rear-wheel is set in the horizontal bottom of the mobile base rear end.
Preferably, the mobile base is provided with the control movement of PC104 mainboard.
Preferably, the crusing robot, further includes:
Pickup module, the pickup module and the fault determination module communicate to connect, and described set wait diagnose for acquiring
The standby sound generated, and the sound is transmitted to the fault determination module, judge whether the sound is abnormal.
Preferably, the crusing robot, further includes:
Alarm modules, the alarm modules and the fault determination module communicate to connect, for determining mould when the failure
When block determines fault zone and the fault type of the substation equipment wait diagnose, corresponding alarm is generated.
The present invention provides a kind of crusing robot, for diagnosing the failure of substation equipment, comprising: image collection module,
Described image obtain module be used to obtain the visible images of substation equipment to be diagnosed, UV image and infrared heat at
As image；Image processing module, described image processing module and described image obtain module communication connection, are used for from described image
Module is obtained to receive the visible images, the UV image and the infrared thermal imaging image and carry out at fusion
Reason generates three-channel state image；Fault determination module, the fault determination module and described image processing module communication link
It connects, determines the substation to be diagnosed for receiving the three-channel state image, and according to the three-channel state image
The fault zone of equipment and fault type.Crusing robot of the invention can use ultraviolet imagery in three-channel state image
And infrared thermal imagery determines the failure to diagnostic device, and the region of failure is determined by visible images, effectively improves equipment
The efficiency of fault diagnosis, safeguard work personnel's personal safety.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of the scope of the invention.
Fig. 1 is a kind of structural schematic diagram for crusing robot that the embodiment of the present invention 1 provides；
Fig. 2 is a kind of structural schematic diagram of the image collection module for crusing robot that the embodiment of the present invention 2 provides；
Fig. 3 is a kind of structural schematic diagram of the fault determination module for crusing robot that the embodiment of the present invention 3 provides；
Fig. 4 is a kind of structural schematic diagram for crusing robot that the embodiment of the present invention 4 provides.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Embodiment 1
Fig. 1 is a kind of structural schematic diagram for crusing robot that the embodiment of the present invention 1 provides, and the crusing robot is for examining
The failure of disconnected substation equipment.
The crusing robot 100 includes:
Image collection module 110, described image obtain the visible light figure that module is used to obtain substation equipment to be diagnosed
Picture, UV image and infrared thermal imaging image.
In the embodiment of the present invention, to the various equipment in diagnostic device namely substation, including transformer, high-voltage switch gear,
Trap and staff are difficult to the transformer equipment with the naked eye diagnosed, such as GIS (GIS, GAS insulated
SWITCHGEAR, Cubicle Gas-Insulated Switchgear) equipment etc..Highly sensitive light is provided in the image collection module 110
Sensing unit is learned, it is available to the visible images of diagnostic device, UV image and infrared thermal imaging image.Wherein should
Image collection module 110 can open after reaching specified position, open behind the position as where reaching after diagnostic device, with
Just the power supply of crusing robot 100 is saved.The image collection module 110 is opened in designated position in order to realize, it can be in inspection
GPS positioning module is set in robot 100, obtains the position of crusing robot in real time by the GPS positioning module, and is detected
Image collection module 110 is opened after up to designated position.The sensing unit for obtaining visible images can also be opened in real time, and is utilized
Image detection, which can be supervised, whether there is to diagnostic device, open other optical sensing units after diagnostic device detecting.
Above-mentioned GPS positioning module can also provide navigation information, the list being arranged in crusing robot 100 for crusing robot
Piece machine system can use the navigation information and be automatically finished in substation respectively to the fault detection of diagnostic device.Wherein, above-mentioned
Visible images, UV image and the infrared thermal imaging image that image collection module 110 obtains can also be uploaded to service
In device.It is provided with communication module in the crusing robot 100, which is integrated with WiFi unit, bluetooth unit and 4G
Communication unit etc. is that the crusing robot 100 can be by being wirelessly connected internet, and image collection module 110 is obtained
It is uploaded in server to the visible images of diagnostic device, UV image and infrared thermal imaging image, so as to substation
Staff's browsing.
In the embodiment of the present invention, which opens figure of the image collection module 110 acquisition to diagnostic device
When picture, three kinds of images can be obtained in same time and angle, can also obtain in order and obtain three kinds under same angle
Image, to carry out the fusion of three kinds of images.Also, the crusing robot 100 can also carry out mobile control and obtain image
Angle, to obtain to diagnostic device omnidirectional images.After obtaining three kinds of images, which can also will be obtained
The image transmitting taken is further processed to image processing module.
Image processing module 120, described image processing module and described image obtain module communication connection, are used for from described
Image collection module receives the visible images, the UV image and the infrared thermal imaging image and is merged
Processing generates three-channel state image.
In the embodiment of the present invention, it is provided with image processing module 120 in the crusing robot 100, the image processing module
120 can receive visible images, UV image and the infrared thermal imaging image that above-mentioned image collection module obtains, and go forward side by side
Row fusion treatment.The feature of thermal imaging and ultraviolet image is also added in visible images, so as to intuitive by the fusion treatment
Ground is shown to physical damnification, heating region and the region of discharge on diagnostic device.
In the embodiment of the present invention, which is obtaining visible images, thermograph to diagnostic device
After picture and UV image, graphic images and UV image are converted into size consistent with visible images first
Then image can use the heating region in image processing algorithm extraction graphic images, which can use red
Color shows, and can be according to the height of the depth scaling temp of color, finally by the heating region additive fusion of image to visible
In light image.Similarly, the region of discharge in the UV image also can use image processing algorithm extraction, and can use indigo plant
Color shows that shade identifies strength degree, and last additive fusion is into visible images.Wherein, the three of fusion are overlapped
The shooting angle of kind image should be consistent, should can have the three-channel state image of multiple directions, to diagnostic device so as to more preferable
Diagnostic device failure.
It, can be by the triple channel shape after fusion is superimposed three kinds of images generation three-channel state images in the embodiment of the present invention
State image is sent to fault determination module 130 and carries out the confirmation for carrying out fault zone and fault type to diagnostic device.This three
Channel status image can also be uploaded in server by communication module, so that staff inspects periodically, guarantee survey monitor
The accuracy that device people 100 diagnoses fault.
Fault determination module 130, the fault determination module and described image processing module communicate to connect, for receiving
Three-channel state image is stated, and determines the fault zone of the substation equipment to be diagnosed according to the three-channel state image
And fault type.
In the embodiment of the present invention, which be can be set on the crusing robot 100, to set
Standby scene is quickly obtained equipment fault region and fault type, and maintenance work is unfolded in time.Meanwhile the fault determination module
130 can also be not arranged in the crusing robot 100, and be connect using wireless communication with crusing robot 100, receive threeway
Road status image carries out the diagnosis of equipment fault, the electricity consumption of crusing robot 100 is effectively reduced, increases cruise duration.And
And the fault determination module 130 can also provide remote control function, work of transformer substation personnel can determine mould by the failure
130 remote control crusing robot 100 of block carries out image acquisition and fault diagnosis work, in the environment that some equipment are discharged by force
In can protect the life security of staff.
Wireless bridge has also can be set in the crusing robot 100, passes through wireless bridge and 130 shape of fault determination module
At a local area network, wherein wireless bridge meets IEEE802.11a standard, and radio band is arranged in 5.8GHz, bandwidth
50Mbit/s, so as to effective and high transmission image to the fault determination module 130.
In the embodiment of the present invention, processing chip can be set in the fault determination module 130, and judge three using algorithm
Fault zone in channel status image judges that heating region whether there is according to the depth of color for example, can use algorithm
A color depth value can be set in failure here, when color is more than the value, can determine the corresponding battery limits of image-region
Domain is faulty, and similarly, which can also carry out the judgement of fault zone by shade.The fault determination module
Further include having the equipment image library pre-established in 130, the equipment picture of no physical damnification is stored in the equipment image library, uses
It is compared in three-channel state image, determines the specific location of equipment physical damnification.Fault type includes equipment physics damage
Bad, inner heat and corona discharge.
In the embodiment of the present invention, fault determination module 130 obtain equipment fault type and fault zone after can be with
Fault warning is generated, there are failures to prompt work of transformer substation personnel equipment, for example, the fault determination module 130 can be with
It is connected with audible and visible alarm module, starts the audible and visible alarm module using sound and light prompting work people by sending activation instruction
Member.Wherein, which can be set in crusing robot 100, to prompt field personnel, can also be arranged
At long-range fault determination module 130, to prompt background work personnel.The failure for the equipment that fault determination module 130 obtains
Type and fault zone can also be uploaded in server, so that the user terminal that staff can use server is checked
The fault type of equipment and fault zone, thus rapid deployment maintenance work.
Embodiment 2
Fig. 2 is a kind of structural schematic diagram of the image collection module for crusing robot that the embodiment of the present invention 2 provides.
The image collection module 200 includes:
Visible image capturing unit 210, for obtaining the visible images to diagnostic device, by the visible light
Image transmitting sends driving signal to infrared thermal imaging unit and ultraviolet imagery unit to described image processing module.
In the embodiment of the present invention, visible image capturing unit 210 is provided in image collection module 200, the visible image capturing
Unit 210 can be high-definition camera, for obtaining equipment image.The visible image capturing unit 210 is carried out in crusing robot
The image that starts, and will acquire can be kept to be sent to the control of robot by the communication module of crusing robot when work
In end or background processor, so as to staff's remote control crusing robot, and substation can intuitively be recognized by image
Transformer oil leak present in equipment, fire have situations such as mobile object is swarmed into.It can then obtain and set after reaching designated equipment
Standby visible images, and it is sent to image processing module.
Infrared thermal imaging unit 220 is electrically connected with the visible image capturing unit 210, receives the driving signal, and
The infrared thermal imaging image to diagnostic device is obtained, by the infrared thermal imaging image transmitting to described image processing
Module.
In the embodiment of the present invention, infrared thermal imaging unit 220 is additionally provided in image collection module 200, for obtain to
The graphic images of diagnostic device.Wherein, which can remain in crusing robot moving process
Closed state is then turned on after crusing robot reaches designated place.The graphic images that the infrared thermal imaging unit 220 obtains
In, heating region can be represented with red, and the height of temperature is represented according to the depth of color, color is deeper, and temperature is higher.
Ultraviolet imagery unit 230 is electrically connected with the visible image capturing unit 210, receives the driving signal, and root
The UV image to diagnostic device is obtained according to default ultraviolet range, the UV image is transmitted to
Described image processing module.
In the embodiment of the present invention, ultraviolet imagery unit 230 is additionally provided in image collection module 200, user obtains follow-up
The UV image of disconnected equipment.In substation, high-tension apparatus will cause equipment due to local tip, burr or filth etc.
Local field strength distortion increases, so that generating ionization to air forms corona or electric discharge, at this moment air ionization can outwardly emit greatly
Ultraviolet light is measured, the ultraviolet image to discharge by the available equipment localized corona of ultraviolet imagery unit 230, by observing image
The intensity of middle apparatus local discharge can speculate out of order degree.
In the embodiment of the present invention, which can also be obtained according to preset ultraviolet range
The work of UV image is taken, which includes 280nm~300nm.Wherein, the ultraviolet imagery unit
230 be blind type ultraviolet imagery unit, for obtaining the ultraviolet light beam generated to diagnostic device, and filters the ultraviolet light
Solar ultraviolet in beam generates the UV image.The wave-length coverage of ultraviolet light is 40nm~400nm, in sunray
Also a ultraviolet light is had, it is 300nm or more, referred to as day-old chick that sunray, which passes through the solar ultraviolet retained after atmosphere, therefore
In order to overcome the interference of sunray, the ultraviolet imagery unit 230 of crusing robot is allow to be normally carried out work on daytime, it can
Day-old chick ultraviolet light to be filtered using ultraviolet light beam separator.
Embodiment 3
Fig. 3 is a kind of structural schematic diagram of the fault determination module for crusing robot that the embodiment of the present invention 3 provides.
The fault determination module 300 includes:
Judging unit 310 is damaged, the three-channel state image of described image processing module transmission is received, according to described
The judgement of three-channel state image is described to whether there is physical damage to diagnostic device, and to diagnostic device, there are physical damages when described
When, it determines described to diagnostic device physical damage position.
In the embodiment of the present invention, damage judging unit 310 is provided in the fault determination module 300, for judging threeway
Equipment in road status image whether there is physical damage.For example, the damage judging unit 310 can transfer setting of pre-establishing
The image of relevant device compares, judge and determines damage position in standby image library.Wherein, the equipment drawing pre-established
As library can store in the fault determination module 300, also can store in the server being connect with the fault determination module 300
In, equipment image therein is called when judging physical damage.Image in the equipment image library pre-established can be by becoming
Power station staff input, such as staff can carry out the acquisition of image before equipment is gone into operation, and store pre- into this
In the equipment image library first established.
Generate heat judging unit 320, the three-channel state image of reception described image processing module transmission, described in judgement
With the presence or absence of the heat generating spot more than preset temperature value in three-channel state image, when in the presence of the heat generating spot for being more than preset temperature value
When, it determines described to the heat generating spot position of diagnostic device and relevant temperature.
In the embodiment of the present invention, fever judging unit 320, fever judgement are additionally provided in the fault determination module 300
Unit 320 can determine fever color position of failure point and temperature according to the color of heating region in three-channel state image.Example
Such as, algorithm can be utilized to analyze three-channel state image in the fever judging unit 320, search color depth is more than preset value
Region is failure heating region, and determine the specific location in equipment by visible images therein.
Discharge judging unit 330, the three-channel state image of reception described image processing module transmission, described in judgement
It is more than default UV intensity value when existing with the presence or absence of the point of discharge for being more than default UV intensity value in three-channel state image
When point of discharge, the spark location to diagnostic device and corresponding strength of discharge are determined.
In the embodiment of the present invention, the fault determination module electric discharge judging unit 330 can be according in three-channel state image
The luminous point of ultraviolet imagery determines equipment discharge fault region and strength of discharge.For example, can be in the electric discharge judging unit 330
Three-channel state image is analyzed using algorithm, search brightness is more than the luminous point of predetermined luminance, is fault discharge point, passes through its brightness
It determines strength of discharge, and determines specific location of the point of discharge in equipment by visible images therein.
Embodiment 4
Fig. 4 is a kind of structural schematic diagram for crusing robot that the embodiment of the present invention 4 provides, and the crusing robot is for examining
The failure of disconnected substation equipment.
The crusing robot 400 includes:
Image collection module 410, described image obtain the visible light figure that module is used to obtain substation equipment to be diagnosed
Picture, UV image and infrared thermal imaging image.
This module and above-mentioned module 110 are consistent, and details are not described herein.
Image processing module 420, described image processing module and described image obtain module communication connection, are used for from described
Image collection module receives the visible images, the UV image and the infrared thermal imaging image and is merged
Processing generates three-channel state image.
This module and above-mentioned module 120 are consistent, and details are not described herein.
Fault determination module 430, the fault determination module and described image processing module communicate to connect, for receiving
Three-channel state image is stated, and determines the fault zone of the substation equipment to be diagnosed according to the three-channel state image
And fault type.
This module and above-mentioned module 130 are consistent, and details are not described herein.
Further include:
Mobile base 440, for carrying the crusing robot and being moved.
In the embodiment of the present invention, which further includes the mobile base for having its movement of carrying, wherein the shifting
Dynamic pedestal includes two motor, is set on the horizontal plane of mobile base front end two sides, two transmission shafts and the movement
The two sides of pedestal are vertical, contrary and outwardly；Two front-wheels, are respectively set on the transmission shaft of described two motor, by
Described two motor carry out driving and differential steering；Universal rear-wheel is set in the horizontal bottom of the mobile base rear end,
The universal rear-wheel can be set one or multiple, it is only necessary to keep pedestal steady.Also, the mobile base is provided with PC104
Mainboard control movement, which can connect to the communication module of crusing robot 400, and with outside crusing robot
Communication interaction is carried out, to achieve the purpose that remote control crusing robot 400.For example, the PC104 mainboard can pass through communication
Module and long-range fault determination module 430 carry out communication interaction, and staff can also pass through fault determination module 430 and inspection
The PC104 mainboard of robot 400 is communicated, to control the mobile operation of crusing robot 400.In addition, the PC104 mainboard is also
Communication interaction can be carried out by communication module and server, staff can pass through the user terminal and PC104 of server
Mainboard is communicated, and realizes the remote control of crusing robot 400.
Pickup module 450, the pickup module and the fault determination module communicate to connect, described wait diagnose for acquiring
The sound that equipment generates, and the sound is transmitted to the fault determination module, judge whether the sound is abnormal.
In the embodiment of the present invention, it can also be provided with pickup module 450 in the crusing robot 400, it is existing for obtaining
The sound that equipment issues in, so that staff can judge failure existing for equipment inside by sound.Wherein, the pickup
The equipment sound that module 450 obtains can also be sent in server by the communication module of crusing robot 400, to work
Personnel obtain the sound by the user terminal of server and carry out the judgement of equipment fault.
Alarm modules 460, the alarm modules and the fault determination module communicate to connect, for determining when the failure
When module determines fault zone and the fault type of the substation equipment wait diagnose, corresponding alarm is generated.
In the embodiment of the present invention, alarm modules 460 can also be provided in crusing robot 400, in the inspection machine
People 400 determines when diagnostic device there are when failure, can sound an alarm.Wherein, buzzer can be set in the alarm modules
And flashing lamp, and different alarm tones can be played using buzzer according to the type of failure and grade etc., or flashing is not
The light of same frequency guarantees the personal safety of staff to prompt field personnel.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of crusing robot, for diagnosing the failure of substation equipment characterized by comprising
Image collection module, described image obtain the visible images, ultraviolet that module is used to obtain substation equipment to be diagnosed
Line image and infrared thermal imaging image；
Image processing module, described image processing module and described image obtain module communication connection, for obtaining from described image
Modulus block receives the visible images, the UV image and the infrared thermal imaging image and carries out fusion treatment,
Generate three-channel state image；
Fault determination module, the fault determination module and described image processing module communicate to connect, for receiving the threeway
Road status image, and according to the fault zone of the determining substation equipment to be diagnosed of the three-channel state image and failure
Type.
2. crusing robot according to claim 1, which is characterized in that the fault type include equipment physical damage,
At least one of inner heat and corona discharge.
3. crusing robot according to claim 1, which is characterized in that described image obtains module, comprising:
Visible image capturing unit passes the visible images for obtaining the visible images to diagnostic device
Described image processing module is transported to, and sends driving signal to infrared thermal imaging unit and ultraviolet imagery unit；
The infrared thermal imaging unit is electrically connected with the visible image capturing unit, receives the driving signal, and obtain institute
The infrared thermal imaging image to diagnostic device is stated, by the infrared thermal imaging image transmitting to described image processing module；
The ultraviolet imagery unit is electrically connected with the visible image capturing unit, receives the driving signal, and according to default
Ultraviolet range obtains the UV image to diagnostic device, and the UV image is transmitted to the figure
As processing module.
4. crusing robot according to claim 3, which is characterized in that the ultraviolet imagery unit be blind type it is ultraviolet at
As unit, for obtaining the ultraviolet light beam generated to diagnostic device, and the solar ultraviolet in the ultraviolet light beam is filtered,
Generate the UV image.
5. crusing robot according to claim 2, which is characterized in that the fault determination module, comprising:
Judging unit is damaged, the three-channel state image of described image processing module transmission is received, according to the triple channel
Status image judgement is described to whether there is physical damage to diagnostic device, when it is described when diagnostic device there are when physical damage, really
It is fixed described to diagnostic device physical damage position；
Generate heat judging unit, receives the three-channel state image of described image processing module transmission, judges the triple channel
With the presence or absence of the heat generating spot more than preset temperature value in status image, when there is the heat generating spot more than preset temperature value, determine
It is described to the heat generating spot position of diagnostic device and relevant temperature；
Discharge judging unit, receives the three-channel state image of described image processing module transmission, judges the triple channel
With the presence or absence of the point of discharge for being more than default UV intensity value in status image, when in the presence of the point of discharge for being more than default UV intensity value
When, determine the spark location to diagnostic device and corresponding strength of discharge.
6. crusing robot according to claim 1, which is characterized in that further include:
Mobile base, for carrying the crusing robot and being moved.
7. crusing robot according to claim 6, which is characterized in that the mobile base includes:
Two motor, are set on the horizontal plane of mobile base front end two sides, two transmission shafts and the mobile base
Two sides are vertical, contrary and outwardly；
Two front-wheels, are respectively set on the transmission shaft of described two motor, carry out driving and differential by described two motor
It turns to；
Universal rear-wheel is set in the horizontal bottom of the mobile base rear end.
8. crusing robot according to claim 6, which is characterized in that the mobile base is provided with PC104 mainboard control
System movement.
9. crusing robot according to claim 1, which is characterized in that further include:
Pickup module, the pickup module and the fault determination module communicate to connect, described to diagnostic device production for acquiring
Raw sound, and the sound is transmitted to the fault determination module, judge whether the sound is abnormal.
10. crusing robot according to any one of claims 1 to 9, which is characterized in that further include:
Alarm modules, the alarm modules and the fault determination module communicate to connect, true for working as the fault determination module
When the fault zone of the fixed substation equipment wait diagnose and fault type, corresponding alarm is generated.
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| CN201811197014.1A CN109142935A (en) | 2018-10-15 | 2018-10-15 | Crusing robot |
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| CN201811197014.1A CN109142935A (en) | 2018-10-15 | 2018-10-15 | Crusing robot |
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| CN114167183A (en) * | 2021-12-06 | 2022-03-11 | 国网山东省电力公司汶上县供电公司 | High-voltage cable early warning system and method |
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