CN109623839A - Power distribution station indoor equipment air-ground coordination inspection device and its method for inspecting - Google Patents
Power distribution station indoor equipment air-ground coordination inspection device and its method for inspecting Download PDFInfo
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- CN109623839A CN109623839A CN201811580332.6A CN201811580332A CN109623839A CN 109623839 A CN109623839 A CN 109623839A CN 201811580332 A CN201811580332 A CN 201811580332A CN 109623839 A CN109623839 A CN 109623839A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/34—In-flight charging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of power distribution station indoor equipment air-ground coordination inspection device and its method for inspecting; four-wheel walking robot bodies top is equipped with the airplane parking area stopped for the unmanned plane landing; the witness marker that position is determined for unmanned plane is provided on the airplane parking area, robot body front is equipped with ultrasonic sensor and laser sensor；Rotor protective shell is mounted on four rotors of quadrotor drone, top is provided with UWB positioning label, and its underpart is provided with undercarriage；Inspection device is mounted on unmanned plane；Robot is connect with unmanned plane by scalable cable, and the folding and unfolding of scalable cable is controlled by the electric coil winder being mounted in robot, which is made of the unmanned plane power supply line powered for unmanned plane and communication line between the two.The present invention realizes that high accuracy positioning, unmanned plane realize the detection of power distribution station large size frame machine vertical direction using robot, has inspection without dead angle, detection accuracy height and the high feature of detection efficiency.
Description
Technical field
The present invention relates to the automatic inspection device of power distribution station indoor equipment and methods, especially with robot and unmanned plane
Combine the device and method to realize instrument and meter inspection in power distribution station room.
Background technique
With the development of the city, the quantity of the raising of cable rate, the distribution such as subway, high-speed rail and urban rail station and equipment is fast
Speed increases.The normal operation of indoor equipment is most important.On the one hand indoor equipment needs enough reliabilities, on the other hand
It needs to detect in time to find and overhaul the equipment there are potential risk, it is ensured that system operates normally.Indoor equipment it is real-time
To guarantee, its reliable and secure operation is significant for detection.Robot can easily and flexibly be measured in real time indoor equipment,
Understand the operating status of equipment.But indoor equipment often divides column hierarchal arrangement, not according to the total height of the different each column of specification
Together, cabinet height in part can reach 2 meters.The equipment appearance to indoor equipment, breakage, instrumented data is needed to carry out under normal conditions
Monitoring.
Mobile robot currently used for inspection indoor equipment information has by the way of wheeled, crawler belt or composite drive
With indoor rail mounted routine inspection mode.The patrol mode of wheeled, crawler belt or composite drive is set by the interior space and other be monitored
Standby placement constraint, will realize the detection function comprehensive to equipment, need robot can be in movement in vertical direction.Conventional drum
Driving or crawler type driving method need to overcome self gravity when realizing movement in vertical direction, need larger frictional force and are relatively difficult to
It realizes, and because indoor small space can not replace battery at any time, it can not be using the power supply mode for carrying battery.Indoor rail mounted patrols
Procuratorial organ's formula motion profile is limited to track, simultaneously because indoor equipment divides column hierarchal arrangement, needs sufficient movement in vertical direction
Space, the laying of track will affect existing building structure, and the construction of part distribution station is not able to satisfy transformation demand, so that rail
Road formula routine inspection mode is limited.
Chinese patent literature discloses a kind of " crusing robot network and its patrol method " (ZL201710799772.X),
Including control centre, more patrol robots, at least one charging base station and an at least UAV system.Patrol machine
People is equipped with the docking unit stopped for UAV system, and patrol robot and UAV system are communicated with control centre.
Vision element and locating module are equipped on patrol robot and unmanned plane.The program has the following defects, first, not can solve
The requirement of power distribution station indoor equipment inspection: 1, indoor equipment often divides column hierarchal arrangement, according to total height of the different each column of specification
Degree is different, and cabinet height in part can reach 2 meters, and detection device (i.e. inspection device) is unable to reach specific height.2, due to light
The reflective reason of line, detection device can not carry out the identification of instrument and meter under certain elevation angle.3, the cabinet of current design has
A part is embedded in cabinet, goes detecting instrument instrument that can have certain blind area in the angle of robot.Second, not solving
The powerup issue of unmanned plane carries battery in drone body, increases unmanned plane during flying weight, limits flying for unmanned plane
The row time.
If individually carry out inspection to indoor equipment using unmanned plane causes traditional since GPS signal can not penetrate wall
Miniature drone flies do not receive outdoor GPS signal indoors, cannot achieve self poisoning, and then be unable to complete patrol worker
Make.But the patrol unmanned machine in interior based on UWB technology carries out indoor positioning dependent on UWB technology, there are problems that: 1, room
Interior equipment is different according to the total height of the different each column of specification, and cabinet height in part can reach 2 meters, unmanned plane during inspection
Inevitably enter blind area, cause positioning signal inaccurate, seriously affect patrol task, What is more can damage interior and set
It is standby.2, indoor patrol unmanned machine has the common problem in unmanned plane field: cruise duration.Determine unmanned plane work cruise duration
The efficiency of work, existing unmanned plane are not enough to support long-time patrol task after loading inspection device.3, indoor patrol unmanned machine
The damage that equipment in the distribution station such as cabinet is caused under conditions of unmanned plane is out of control is not can guarantee.
Summary of the invention
It is an object of the present invention to provide a kind of power distribution station indoor equipment air-ground coordination inspection devices, it is intended to utilize robot body
On battery be unmanned plane power supply, realize that high accuracy positioning, to meet using unmanned plane power distribution station indoor equipment big using robot
The particular requirement without dead angle inspection of type cabinet-type air conditioner.
The object of the present invention is achieved like this: a kind of power distribution room electrical equipment air-ground coordination inspection device, including machine
The artificial four-wheel walking robot of machine: people, unmanned plane are equipped at the top of its robot body and stop for the unmanned plane landing
The airplane parking area leaned on is provided with the witness marker that position is determined for unmanned plane on the airplane parking area, and robot body front is equipped with super
Sonic sensor and laser sensor；The unmanned plane is quadrotor drone: rotor guarantor is mounted on its four rotors
Protective case, top are provided with UWB positioning label, and its underpart is provided with undercarriage；Inspection device for power distribution room inspection is installed
On unmanned plane；It is connected between the robot and unmanned plane by scalable cable, scalable cable and is mounted on robot
Electric coil winder connection on ontology, the cable are the unmanned electromechanical source of unmanned plane power supply by battery in connection robot body
Realize that the communication line communicated forms by CAN between line and robot and unmanned plane.
The unmanned plane is miniature, super short range, extreme low-altitude unmanned plane；The airplane parking area is folding airplane parking area: being had thereon
A rectangle plate, and the length of rectangle plate and square side length phase are respectively hinged on four peripheries of witness marker
Deng.
It is yet another object of the invention to provide the method for inspecting of crusing robot.
A further object of the present invention is achieved in that the method for inspecting of crusing robot, follows the steps below:
Crusing robot carries out task deployment before inspection, and patrol task includes the angle of task point coordinate and holder, utilizes
Laser sensor and is stored in local in the built-in vertical laser point cloud map of distribution station of inspection, is set by reading map reference
Determine the three-dimensional coordinate information of patrol task point；
When background system, which is assigned, starts patrol task, mobile robot is positioned and is navigated by laser SLAM, laser
SLAM system by matching to different moments two panels point cloud with compare, calculate the distance and posture of laser sensor relative motion
Change, to complete positioning to robot itself, into after specific region of patrolling and examining, mobile robot opens airplane parking area,
Unmanned plane starts preparation of taking off；
Instruction unmanned plane takes off after mobile robot reaches inspection point, and unmanned plane positions label and unmanned plane itself by UWB
Sensor positioned in vertical direction, identified after flight certain height by predetermined posture, and recognition result is transmitted
Shown to background system, unmanned plane lands with reference to the witness marker of airplane parking area after detection, while mobile robot into
The next patrol task point of row；
After patrol task, mobile robot auto-returned charging house voluntarily charges, and waits patrol task next time
It assigns.
Existing autonomous crusing robot has good locating effect indoors, but the detections such as higher cabinet are set
Standby accurately to detect, technical solution of the present invention mainly solves the detection for the instrument and meter of different height in vertical direction.
When existing crusing robot carries out the inspection operation of elevation angle posture, since ambient is in the guarantor of cabinet instrument and meter
The data such as gauge pointer can not be clearly identified under protective case reflex, while the instrument and meter for being embedded in cabinet can not inspection.
Technical solution of the present invention mainly realizes accurate control to inspection angle by the flexible body of unmanned plane, eliminate extraneous factor and
The inspection of cabinet itself bring is difficult.
Indoor patrol unmanned machine position inaccurate or loss location information, technical solution of the present invention benefit under large-scale cabinet-type air conditioner
Reduce the position error of indoor patrol unmanned machine with autonomous crusing robot high accuracy positioning.
Indoor patrol unmanned machine cruise duration is insufficient, the large capacity electricity that technical solution of the present invention passes through autonomous crusing robot
Pond provides sufficient cruise duration for nobody.
The poor safety performance of indoor patrol unmanned machine, technical solution of the present invention provide energy by scalable cable for unmanned plane
The data interaction of amount and the two, while also having ensured the safety of indoor patrol unmanned machine.
Compared with prior art, the invention has the following advantages:
1, completely new to propose the combination of indoor crusing robot, the combination of unmanned plane and mobile robot is by the flexible of unmanned plane
With being precisely combined togather for mobile robot.
2, it is put forward for the first time unmanned electromechanical source to separate with body, which not only ask by effective solution unmanned plane continuation of the journey
Topic, unmanned plane can be with the more inspection devices of carry, while the safety of cruising inspection system is also ensured.
3, mobile robot is combined with unmanned plane can carry out inspection in three-dimensional space, high-precision fixed using mobile robot
The whole positioning of whole system is realized in position, and unmanned plane is realized to the detection of the vertical direction of large-scale cabinet-type air conditioner, and detection accuracy is improved
And detection efficiency.
4, the comprehensive flight of unmanned plane can be achieved to greatly reduce inspection device because shooting posture is drawn without dead angle inspection
The noise entered facilitates the reading of backstage identification instrument instrument.
5, positioning reference is provided for unmanned plane by the accurate positioning of mobile robot, largely ensures unmanned plane
The problem of positioning is inaccurate or positioning is lost.
6, mobile robot is combined with unmanned plane using novel power supply mode, passes through mobile machine using scalable cable
The battery of people provides power supply for unmanned plane, and which ensure that the continuation of the journey of unmanned plane abundance.
7, unmanned plane is established by scalable cable to be communicated with mobile robot, it is ensured that the integrality of signal,
The finite length of cable provides good guarantee for the flight of unmanned plane simultaneously.
The present invention is the dedicated unit suitable for the inspection of power distribution station indoor equipment.
Detailed description of the invention
Fig. 1 is unmanned plane indoor positioning schematic diagram.
Fig. 2, Fig. 3 are perspective view and side view of the invention respectively.
Fig. 4, Fig. 5 are the main view and perspective view of mobile robot structure shown in Fig. 2 respectively.
Fig. 6, Fig. 7 are the top view and side view of unmanned plane structure shown in Fig. 2 respectively.
Fig. 8 is that the airplane parking area of mobile robot shown in Fig. 5 is in the perspective view of collapsed state.
Fig. 9 is inspection working procedure flow chart of the invention.
Specific embodiment
Fig. 2, Fig. 3 show this power distribution room electrical equipment air-ground coordination inspection device, and robot uses four-wheel walking robot:
The airplane parking area 104 stopped for the unmanned plane landing is installed at the top of its robot body 101, is provided on the airplane parking area 104
The witness marker 105 of position is determined for unmanned plane, 101 front of robot body is equipped with ultrasonic sensor 102 and laser
Sensor 103(, that is, laser radar)；Unmanned plane uses quadrotor drone: being mounted on rotor protective shell on its four rotors
204, top is provided with UWB positioning label 205, and its underpart is provided with undercarriage 202；Inspection device for power distribution room inspection
201(has camera thereon, to complete to take pictures) it is mounted on unmanned plane；Pass through scalable cable between the robot and unmanned plane
206 connections, scalable cable 206 are connect with the electric coil winder being mounted on robot body 101, and the cable is by connection machine
Battery in human body 101 and be unmanned plane power supply unmanned plane power supply line and robot and unmanned plane between by CAN realization
The communication line of communication forms.
Cable is connect with winder, and (referring to fig. 4~Fig. 7) is driven by motor in winder.Unmanned plane be miniature, super short range,
Extreme low-altitude unmanned plane.Referring to Fig. 8, airplane parking area 104 is folding airplane parking area: being had thereon each on four peripheries of witness marker 105
It is hinged with a rectangle plate, and the length of rectangle plate is equal with square side length.
Autonomous inspection mobile robot, autonomous inspection mobile robot is constituted as shown in Figure 1, robot includes robot sheet
Body, laser sensor, inspection device and robotary indicator light, robot interior have core industrial personal computer, Inertial Measurement Unit
Equal sensor devices.
Autonomous inspection mobile robot, by the way that various sensing datas are acquired and are calculated, generates in circumstances not known
Positioning and scene cartographic information to its own position and attitude carry out itself according to location estimation and map in moving process and determine
Position, while increment type map is built on the basis of self poisoning, realize the autonomous positioning and navigation of robot.It is robot autonomous
Positioning and navigation essential core technology are laser SLAM, laser SLAM system by matching to different moments two panels point cloud with than
It is right, the change of the distance and posture of laser sensor relative motion is calculated, the positioning to robot itself is also just completed.
Autonomous inspection mobile robot, in deployment phase, by laser sensor to circumstances not known with establishing laser point cloud
Figure, when task deployment, assign patrol task, and robot is according to the positioning and navigation of real-time laser point cloud information realization robot.
Patrol task includes the angle of task point coordinate and holder.Autonomous inspection mobile robot will reach task point according to patrol task
And it takes pictures to characteristic information.Robot backstage meeting synchronization process characteristic information, realizes inspection.
Positioning label is loaded on unmanned plane, unmanned plane is surveyed using the indoor locating system based on UWB technology
Away from being resolved using ranging information of the location algorithm to acquisition, obtain the current location information of unmanned plane.Using laser ranging
Coordinate of the instrument according to each corner in the respective coordinates calibration distribution station in the point indoors substation, i.e. building are indoor true
Three-dimensional space rectangular co-ordinate environment.UWB technology can provide the position coordinates of 10 centimetres or so precision, guarantee indoor unmanned plane
Accurate flying.
Fig. 1 is unmanned plane indoor positioning schematic diagram, and several base stations UWB is installed in distribution station, allows and positions base signal
The region of unmanned plane during flying is covered, the height of locating base station installation will be higher than the highest point of unmanned plane during flying as far as possible.Unmanned plane machine
Body itself installs UWB label, and label, which will be mounted on unmanned plane highest point, to be avoided unmanned plane itself and block, and utilizes the base station pair UWB
Unmanned plane carries out ranging, is resolved using ranging information of the location algorithm to acquisition, obtains the current location information of unmanned plane,
Label can be given to unmanned plane by output coordinate in real time.
Fig. 2, Fig. 3 are shown, and entire scheme is made of mobile robot and unmanned plane, are connected between the two by scalable cable
It connects, the communication line between the power supply line of unmanned plane and unmanned plane and mobile robot is contained in cable.
Mobile robot structure is as shown in Figure 4, Figure 5, includes robot body, laser sensor and ultrasonic sensor.
Mobile robot body interior has the sensor devices such as industrial personal computer, Inertial Measurement Unit, and industrial personal computer is the core of mobile robot
Control system.An airplane parking area is used as at the top of mobile robot, the predominantly landing of unmanned plane provides space, while in moving machine
Localization criteria is printed at the top of device people above airplane parking area, unmanned plane during flying is in the process using the mark as benchmark, in three dimensions
It is accurately positioned.
Unmanned plane structure is as shown in Figure 6, Figure 7, and unmanned plane is that traditional quadrotor drone installs anti-collision ring i.e. rotor guarantor additional
The security performance of unmanned plane can be improved in protective case.It installs UWB additional at the top of unmanned plane and positions label, pass through locating base station indoors
Carry out coarse positioning.Detection device is installed at uav bottom, and unmanned plane is connected with robot body by cable, is wrapped in cable
The power supply line of data line and unmanned plane that unmanned plane is interacted with mobile robot is contained.Spiral is installed inside robot body
Device can realize the control of length of cable by the motor of control reeler.It is logical by CAN between unmanned plane and mobile robot
Letter realizes data interaction, can achieve stable, efficient, real-time effect.
Referring to Fig. 9, a kind of method for inspecting of crusing robot as described in claim 1 is followed the steps below:
Crusing robot carries out task deployment before inspection, and patrol task includes the angle of task point coordinate and holder, utilizes
Laser sensor and is stored in local in the built-in vertical laser point cloud map of distribution station of inspection, is set by reading map reference
Determine the three-dimensional coordinate information of patrol task point；
When background system, which is assigned, starts patrol task, mobile robot is positioned and is navigated by laser SLAM, laser
SLAM system by matching to different moments two panels point cloud with compare, calculate the distance and posture of mobile robot relative motion
Change, to complete positioning to robot itself, into after specific region of patrolling and examining, mobile robot opens airplane parking area,
Unmanned plane starts preparation of taking off；
Instruction unmanned plane takes off after mobile robot reaches inspection point, and unmanned plane positions label and unmanned plane itself by UWB
Sensor positioned in vertical direction, identified after flight certain height by predetermined posture, and recognition result is transmitted
Shown to background system, unmanned plane lands with reference to the witness marker of airplane parking area after detection, while mobile robot into
The next patrol task point of row；
After patrol task, mobile robot auto-returned charging house voluntarily charges, and waits patrol task next time
It assigns.
The control of unmanned plane height and posture is realized by background system.The coordinate of robot is contained in patrol task
The angle of information, drone flying height and posture, holder camera.It, from the background will be under inspection information after reaching specified inspection point
It is sent to unmanned plane and robot, the two coordinated completes inspection.
Background system includes unmanned aerial vehicle control system.
Claims (3)
1. a kind of power distribution room electrical equipment air-ground coordination inspection device, comprising: robot, unmanned plane；It is characterized in that, the machine
The artificial four-wheel walking robot of device: the airplane parking area stopped for the unmanned plane landing is installed at the top of its robot body (101)
(104), the witness marker (105) that position is determined for unmanned plane is provided on the airplane parking area (104), before robot body (101)
Portion is equipped with ultrasonic sensor (102) and laser sensor (103)；The unmanned plane is quadrotor drone: its four
It is mounted on rotor rotor protective shell (204), top is provided with UWB positioning label (205), and its underpart is provided with undercarriage
(202)；Inspection device (201) for power distribution room inspection is mounted on unmanned plane；Pass through between the robot and unmanned plane
Scalable cable (206) connection, scalable cable (206) connect with the electric coil winder being mounted on robot body (101),
The cable by connection robot body (101) interior battery be unmanned plane power supply unmanned plane power supply line and robot and nobody
Realize that the communication line of communication forms by CAN between machine.
2. a kind of power distribution room electrical equipment air-ground coordination inspection device according to claim 1, which is characterized in that the nothing
Man-machine is miniature, super short range, extreme low-altitude unmanned plane；The airplane parking area (104) is folding airplane parking area: having witness marker thereon
(105) a rectangle plate is respectively hinged on four peripheries, and the length of rectangle plate is equal with square side length.
3. a kind of method for inspecting of crusing robot as described in claim 1, which is characterized in that follow the steps below:
Crusing robot carries out task deployment before inspection, and patrol task includes task point coordinate, the angle of holder, unmanned plane
Height and posture information and are stored in local using laser sensor in the built-in vertical laser point cloud map of distribution station of inspection,
The three-dimensional coordinate information of patrol task point is set by reading map reference；
When background system, which is assigned, starts patrol task, mobile robot is positioned and is navigated by laser SLAM, laser
SLAM system by matching to different moments two panels point cloud with compare, calculate the distance and posture of mobile robot relative motion
Change, to complete positioning to robot itself, into after specific region of patrolling and examining, mobile robot opens airplane parking area,
Unmanned plane starts preparation of taking off；
Instruction unmanned plane takes off after mobile robot reaches inspection point, and unmanned plane positions label and unmanned plane itself by UWB
Sensor positioned in vertical direction, identified after flight certain height by predetermined posture, and recognition result is transmitted
Shown to background system, unmanned plane lands with reference to the witness marker of airplane parking area after detection, while mobile robot into
The next patrol task point of row；
After patrol task, mobile robot auto-returned charging house voluntarily charges, and waits patrol task next time
It assigns.
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| CN110412991A (en) * | 2019-08-28 | 2019-11-05 | 深圳科卫机器人服务有限公司 | A kind of mechanical structure of independent navigation peddrail mobile robot |
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| CN110888457A (en) * | 2019-12-13 | 2020-03-17 | 云南电网有限责任公司保山供电局 | System and method for carrying out three-dimensional inspection on power transformation equipment by using unmanned aerial vehicle and robot |
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| CN111673748B (en) * | 2020-06-06 | 2022-05-13 | 四川大学 | Human-computer interaction sensing system and method for gas insulated switch visual inspection robot |
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| CN111857168A (en) * | 2020-07-03 | 2020-10-30 | 北京二郎神科技有限公司 | Unmanned aerial vehicle positioning method and device and unmanned aerial vehicle parking attitude adjusting method and device |
| CN112510553A (en) * | 2020-11-16 | 2021-03-16 | 东北电力大学 | Intelligent system is patrolled and examined to robot and unmanned aerial vehicle combination formula transformer substation |
| CN112510553B (en) * | 2020-11-16 | 2022-06-28 | 东北电力大学 | Robot and unmanned aerial vehicle combination formula transformer substation patrol and examine intelligent system |
| CN112476461A (en) * | 2020-11-26 | 2021-03-12 | 云南电网有限责任公司昆明供电局 | Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method |
| CN112598813A (en) * | 2020-12-01 | 2021-04-02 | 易瓦特科技股份公司 | Intelligent inspection system and inspection method thereof |
| CN113178046A (en) * | 2021-03-25 | 2021-07-27 | 西安理工大学 | Indoor unmanned aerial vehicle fire-fighting inspection method and system based on radio positioning |
| CN113452139A (en) * | 2021-05-14 | 2021-09-28 | 贵州正航众联电力建设有限公司 | Power distribution room power operation and maintenance system using big data |
| CN113232573A (en) * | 2021-06-02 | 2021-08-10 | 国网冀北电力有限公司检修分公司 | Anti-interference automatic inspection device for converter station valve hall |
| CN113485414A (en) * | 2021-06-25 | 2021-10-08 | 国网山东省电力公司济宁市任城区供电公司 | Fault processing system and method for computer monitoring device of substation |
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| CN114838964A (en) * | 2022-03-29 | 2022-08-02 | 西南交通大学 | Subway bogie inspection robot |
| CN115273260A (en) * | 2022-05-09 | 2022-11-01 | 石家庄邮电职业技术学院 | Unmanned aerial vehicle balance wheel module inspection system based on laser and ultrasonic double positioning |
| CN114995507A (en) * | 2022-06-22 | 2022-09-02 | 中国人民公安大学 | Safety inspection method, device, equipment and storage medium |
| WO2024093420A1 (en) * | 2022-11-04 | 2024-05-10 | 新特能源股份有限公司 | Patrol method and apparatus for cooperative operation of unmanned aerial vehicle and ground patrol robot |
| CN117506966A (en) * | 2024-01-08 | 2024-02-06 | 清华四川能源互联网研究院 | Air-ground cooperative robot |
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