CN109676597A - A kind of interior Gua Gui robot operating system - Google Patents
A kind of interior Gua Gui robot operating system Download PDFInfo
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- CN109676597A CN109676597A CN201811298032.9A CN201811298032A CN109676597A CN 109676597 A CN109676597 A CN 109676597A CN 201811298032 A CN201811298032 A CN 201811298032A CN 109676597 A CN109676597 A CN 109676597A
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- interior
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The invention discloses a kind of interior Gua Gui robot operating systems, belong to robot operating system technical field, comprising: indoor Gua Gui robot, power supply platform, communications platform, background monitoring platform, orbital platform.Beneficial effects of the present invention: the present invention can have found the unit exceptions phenomenon such as thermal fault, open defect of power equipment in time, improve the working efficiency and quality of operation, really play the role of personnel reduction and enlargement；The present invention has intelligence, clustering, the resistance to high and cold advantage with high temperature, operation duration；The present invention can substitute in unattended environment and manually perform patrol task；Indoor Gua Gui robot of the invention executes platform as moveable perceive, and can carry multiple sensors, is used for the customizations services such as particular device state is monitored and operated, profession is handled.
Description
Technical field
The present invention relates to robot operating system technical fields, and in particular to a kind of interior Gua Gui robot operating system.
Background technique
Substation's indoor environment (such as switch gear room, the room GIS, protection room) and distribution substation need Attended mode, duty personnel
It completes to carry out high-tension apparatus the tasks such as the image recognition of infrared temperature monitoring and instrumentation.Power equipment is found in time
The unit exceptions phenomenon such as thermal fault, open defect guarantees working efficiency and quality.But this arrangement, it needs a large amount of on duty
Personnel complete, and so as to cause the heavy workload of this work, longevity of service, low efficiency, problem at high cost occurs.
Summary of the invention
For the comprehensively solve above problem, in particular for deficiency of the prior art, the present invention provides a kind of rooms
Nei Gua rail robot operating system being capable of the comprehensively solve above problem.
To achieve the above object, the present invention uses following technological means:
A kind of interior Gua Gui robot operating system, comprising: indoor Gua Gui robot, power supply platform, communications platform, background monitoring
Platform, orbital platform, the communications platform are set in indoor Gua Gui robot extension trailer device in drive chamber and manually make, the confession
Level platform gives indoor Gua Gui robot and communications platform to power respectively, and the communications platform is flat by power supply platform and background monitoring
Platform electrical connection, the background monitoring platform are moved on orbital platform by communications platform control room Nei Gua rail robot；
The interior Gua Gui robot include movement chassis, flexible module, testing agency, holder module, current-collector, warning lamp,
Power switch, safe stopping hinder sensor, partial discharge sensor, photoelectric sensor, and the movement chassis is set to flexible module and fixes
End is connect with flexible module, and the telescopic end that the testing agency is set to flexible module is connect with flexible module, the holder mould
Block includes connecting rod, visible camera, thermal infrared imager, and the connecting rod is set to bottom end and the testing agency of testing agency
Connection, the visible camera are set to connecting rod side and connect with connecting rod, and the thermal infrared imager is set to connecting rod
The other side is connect with connecting rod, and the current-collector is set to movement chassis top and connect with movement chassis, the warning lamp setting
It is connect in movement chassis lower end side with movement chassis, the power switch is set to movement chassis side and movement chassis and connects
It connects, the safe stopping barrier sensor is set to testing agency side and connect with testing agency, and the partial discharge sensor is set to inspection
It surveys the mechanism other side to connect with testing agency, photoelectric sensor is set in movement chassis and connect with movement chassis, the power supply
Switch hinders sensor, office with movement chassis, flexible module, testing agency, holder module, current-collector, warning lamp, safe stopping respectively
Put sensor, photoelectric sensor electrical connection；
The power supply platform uses slide wire power supply, and the trolley is using DC36V as power input, the wiping line length
It can be customized according to project demands；
Carrier communication module, the movement chassis, flexible module, testing agency, visible image capturing are equipped in the communications platform
Instrument, thermal infrared imager, current-collector, warning lamp, safe stopping barrier sensor, partial discharge sensor, photoelectric sensor pass through ether respectively
Net access carrier communication module, the carrier communication module load on electric current by Ethernet high-frequency signal, pass through platform of powering
Interior trolley is transmitted；
The background monitoring platform is WebService monitor supervision platform, when the WebService monitor supervision platform has offer inspection
Acquisition, the function of storing visible light and infrared video, the WebService monitor supervision platform support the broadcasting of video, stop, grabbing
The function of figure, video recording, full screen display；
The orbital platform is high-strength aluminum alloy track, and the aluminum alloy rail supports 90 ° of bendings, and sliceable is U-shaped curved and S
Type is curved, can be designed depending on the site environment.
Further, the movement chassis includes chassis module and chassis drive module, and the chassis module is by chassis shell
Body, driving wheel, mileage wheel and guide wheel group are at the driving wheel is set to chassis housing top and connect with chassis housing, described
Mileage wheel is set to the left and right sides inside chassis housing and connect with chassis housing, before the directive wheel is set to chassis housing inside
Side is connect with chassis housing, and the driving wheel and mileage wheel are sequentially connected, the external driving motor of driving wheel, the driving electricity
Machine is electrically connected with chassis drive module, and the chassis drive module setting in chassis housing with chassis housing in connecting, the bottom
Dish driving module has itself high pressure, low pressure, overcurrent, short circuit, open circuit, excess temperature, communication real time monitoring function, when being abnormal certainly
It is dynamic to stop and error condition be reported.
Further, the flexible module is made of motor and transmission device, and it is flexible that the motor drives transmission device to do
Movement, the transmission device have the flexible stroke of 2m.
Further, the top of the visible camera is provided with light compensating lamp, and the light compensating lamp is electrically connected with communications platform
It connects.
Further, the camera shooting end of the visible camera is provided with rain brush, and the rain brush is electrically connected with communications platform.
Further, the thermal infrared imager has the creation separate unit or more based on standard ethernet hardware and software agreement
All feature and function needed for platform thermal infrared imager distribution solution.
Further, the side of the power switch is provided with emergency stop drawstring, the emergency stop drawstring respectively with movement chassis
It is electrically connected with flexible module.
Beneficial effects of the present invention: indoor extension rail robot system of the invention is in a manner of autonomous or remote control, at nobody
Substation's indoor environment (such as switch gear room, the room GIS, protection room) on duty and distribution substation, complete to carry out high-tension apparatus infrared
The tasks such as the image recognition of temperature monitoring and instrumentation.The equipment such as thermal fault, the open defect of power equipment can be found in time
Abnormal phenomenon improves the working efficiency and quality of operation, really plays the role of personnel reduction and enlargement；The present invention has intelligent, collection
Groupization, the resistance to high and cold advantage with high temperature, operation duration；The present invention can substitute in unattended environment and manually perform inspection
Task；Indoor Gua Gui robot of the invention executes platform as moveable perception, can carry multiple sensors, for specific
The customizations service such as equipment condition monitoring and operation, profession processing.
Detailed description of the invention
Fig. 1 is system block diagram of the invention；
Fig. 2 is part system block diagram of the invention；
Fig. 3 is the structural schematic diagram one of interior Gua Gui robot of the invention；
Fig. 4 is the structural schematic diagram two of interior Gua Gui robot of the invention；
Fig. 5 is the structural schematic diagram three of interior Gua Gui robot of the invention；
Fig. 6 is the structural schematic diagram four of interior Gua Gui robot of the invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
As shown in Figures 1 to 6, the present invention provides a kind of interior Gua Gui robot operating system, comprising: indoor extension trailer device
People 10, power supply platform 20, communications platform 30, background monitoring platform 40, orbital platform 50, the communications platform 30 are set to interior
Nei Gua rail robot, drive chamber 10 works in Gua Gui robot 10, and the power supply platform 20 gives 10 He of interior Gua Gui robot respectively
Communications platform power supply 30, the communications platform 30 are electrically connected by platform 20 of powering with background monitoring platform 40, the backstage prison
Control platform 40 is moved on orbital platform 50 by 30 control room Nei Gua rail robot 10 of communications platform；The interior extension trailer device
People 10 opens including movement chassis 11, flexible module 12, testing agency 13, holder module 14, current-collector 15, warning lamp 16, power supply
It closes 17, safe stopping and hinders sensor 19, partial discharge sensor 110, photoelectric sensor 111, the movement chassis 11 is set to flexible mould
12 fixing end of block is connect with flexible module 12, the testing agency 13 be set to flexible module 12 telescopic end and flexible module 12
Connection, 14 module of holder includes connecting rod 1401, visible camera 1402, thermal infrared imager 1405, the connecting rod
1401 bottom ends for being set to testing agency 13 are connect with testing agency 13, and the visible camera 1402 is set to connecting rod
1401 sides are connect with connecting rod 1401, and the thermal infrared imager 1405 is set to 1401 other side of connecting rod and connecting rod 1401
Connection, the current-collector 15 are set to movement 11 top of chassis and connect with movement chassis 11, and the warning lamp 16 is set to movement
11 lower end side of chassis is connect with movement chassis 11, and the power switch 17 is set to movement 11 side of chassis and movement chassis 11
Connection, the safe stopping barrier sensor 19 are set to 13 side of testing agency and connect with testing agency 13, the partial discharge sensor
110 are set to 13 other side of testing agency connect with testing agency 13, and photoelectric sensor 111 is set in movement chassis 11 and fortune
Dynamic chassis 11 connects, the power switch 17 respectively with movement chassis 11, flexible module 12, testing agency 13, holder module 14,
Current-collector 15, warning lamp 16, safe stopping barrier sensor 19, partial discharge sensor 110, photoelectric sensor 111 are electrically connected；
The power supply platform 20 uses slide wire power supply, and the trolley is using DC36V as power input, the wiping wire length
Degree can be customized according to project demands；
Using DC36V, as power input, reliability service at the scene can be effectively ensured in trolley；
Gua Gui robot uses slide wire power supply, and robot interior no longer needs battery, and supply voltage meets safe voltage requirement,
No more than 36V；
Robot is without charging, it can be achieved that 7*24 hours continuous operations；
Wiping line length can be customized according to project demands；
When non-turn, robot operating current can be down to 1.5A；
Trolley design guarantees never to generate Mars from principle, to guarantee safety；
When a full set of power supply system works normally, general power is less than 1500W；
Be equipped with carrier communication module 31 in the communications platform 30, the movement chassis 11, module 12 of stretching, testing agency 13,
Visible camera 1402, thermal infrared imager 1405, current-collector 15, warning lamp 16, safe stopping hinder sensor 19, partial discharge sensor
110, for photoelectric sensor 111 respectively by Ethernet access carrier communication module 31, the carrier communication module 31 passes through ether
Net high-frequency signal loads on electric current, is transmitted by the trolley in power supply platform 20；
Meanwhile a carrier communication module 31 being also installed in background monitoring platform 40, Ethernet high-frequency signal is divided from electric current
It separates out and, and be transmitted to background monitoring platform 40, in this way, the equipment in entire mobile monitoring system may be implemented to access mutually；
It is communicated by the way of wired, while supporting that 128-AES data encrypts and key management technology, guarantee data are transmitted
Safety；
All control signals of Gua Gui robot, video data, audio data, spot sensor acquisition data and warning message are equal
Wire transmission is carried out by carrier communication；
No matter Gua Gui robot be in where, communication bandwidth is not less than 60Mbps, it is ensured that video, audio etc. are all kinds of
The real-time reliable transmission of data；
Maximum transmission distance can achieve 1Km；
Long-range monitoring backstage carries out bidirectional data interaction by private network and local monitor backstage using WebService；
The background monitoring platform 40 is WebService monitor supervision platform, and the WebService monitor supervision platform has offer inspection
When acquisition, storage visible light and infrared video function；
The concrete function of WebService monitor supervision platform:
System has the function of acquisition when providing inspection, storage visible light and infrared video, and support the broadcasting of video, stopping,
The functions such as grabgraf, video recording, full screen display；
Record in real time, pass down and show the working condition of interior Gua Gui robot 10, inspection route on local monitor backstage etc.
Information；System provide inspection point on acquisition, storage infrared chart function, and can from infrared chart Extracting temperature information；
System offer manually controls and automatically controls two kinds of control modes to robot, and can be any between two kinds of control models
Switching.Manually controlling function can realize to movement chassis 11, flexible module 12, visible light camera 1402 and thermal infrared imager
1405 control operation.When automatic control, system can under complete autonomous mode, according to preset task or by with
The task that family is temporarily specified realizes the detection function to equipment by the cooperation of each functional unit of robot；
System provides the function of display, 10 relevant information of Nei Guagui robot, locker room, specifically includes: robotically-driven module letter
Breath, power module information, self-test information etc.；
System provides item display function, and item should be shown according to classification such as alert levels, item sources, and simultaneity factor offer is gone through
Historical event item query function；
System can be by information such as visible images collected in patrol task, infrared image, meter reading, device location states
It is stored in the Patrol Inspection Database on local monitor backstage, it can be according to monitoring time, patrol task, device type, device name
Equal filter conditions inquire inspection data；
System offer automatically generates the functions such as equipment deficiency report, patrol task report, and provides history curve and show function, institute
There is report to have the function of inquiry etc., report can show all related inspection information according to device name；
Robot backstage to show inspection device and inspection according to manual patrol path as a result, every equipment routing inspection result multiple
Photo uniformly collects under every facility inventory；
The editable inspection point of mission planning function is no less than 8000；
The orbital platform 50 is high-strength aluminum alloy track, and the aluminum alloy rail supports 90 ° of bendings, and sliceable is U-shaped curved
It is curved with S type, it can be designed depending on the site environment；
Railway technology index:
Track specifications and models: high-strength aluminum alloy track；
Straight rail full-length: it is not less than 3 meters (random length needs to customize)；
Bending track road bending radius: R300, crooked radian: 90 degree；
Load capacity: 60KG；
Track fixes bracket: in straightway, filling one every 1.5 meter amperes, corner fills one every 0.5 meter；
Track antirust: aluminium alloy speciality profile is used, then oxidation processes, can improve resistance to corrosion and table
The hardness in face increases wear resistance.
Moving chassis 11 includes chassis drive module 1101 and chassis module 1103, and the chassis module 1102 is by chassis shell
Body 1104, driving wheel 1105, mileage wheel 1106 and directive wheel 1107 form, and the driving wheel 1105 is set to chassis housing 1104
Top is connect with chassis housing 1104, and the mileage wheel 1106 is set to the 1104 inside left and right sides of chassis housing and chassis housing
1104 connections, the directive wheel 1107 are set to 1104 inner front side of chassis housing and connect with chassis housing 1104, the driving
Wheel 1105 is sequentially connected with mileage wheel 1106, the external driving motor 1102 of the driving wheel 1104, the driving motor 1102 with
Chassis drive module 1101 is electrically connected, and the chassis drive module 1101 is set in chassis housing 1104 and chassis housing 1104
Connection, the chassis drive module 1101 have itself high pressure, low pressure, overcurrent, short circuit, open circuit, excess temperature, communication real-time monitoring function
Can, automatic stopping and error condition can be reported when being abnormal.
Flexible module 12 is made of motor 1201 and transmission device 1202, and it is flexible that motor 1201 drives transmission device 1202 to do
Movement, transmission device 1202 have the flexible stroke of 2m, so as to carry out all standing to the equipment on screen cabinet.Meanwhile flexible mould
Block 12 has itself high pressure, low pressure, overcurrent, short circuit, open circuit, excess temperature, communication real time monitoring function, automatic stopping when being abnormal
And error condition can be reported
Detection unit 13 is for carrying safe stopping barrier sensor 19 and partial discharge sensor 110.Meanwhile to meet particular device state
The customizations service such as monitoring and operation, profession processing, detection unit 13 are supported to carry multiple sensors, such as gas sensor
Deng.
Partial discharge sensor 110 has ultrasonic wave and ground two kinds of detection patterns of electric wave, and sensor is transmitted by motor, had
The flexible stroke of 250mm.
110 performance of partial discharge sensor:
Detection pattern: ultrasonic wave+ground electric wave
Detect frequency band: ultrasonic wave: 30~500KHz；Ground electric wave: 3~100MHz
Measurement range: ultrasonic wave: -90~80dB；Ground electric wave: -70~85dB
Measurement accuracy: ± 1dB
Measurement Resolution: 0.1dB
Serial port: TTL (0~3.3V).
Visible camera 1402 is the high-definition camera with 2,100,000 pixels, maximum resolution up to 1920 × 1080,
4 Zoom Lens focus quickly, accurately.
1402 equipment performance of visible camera:
Resolution ratio: 1080p；
Minimal illumination: 0.05Lux@1.6；
Focal length: 2.8~12mm, 4 Zoom Lens；
Horizontal field of view angle: 115-33.8 degree (wide-angle-is looked in the distance)；
Close-shot is away from 10mm~1500mm (wide-angle-is looked in the distance)；
Day and night translative mode: ICR filter disc type.
The top of visible camera 1402 is provided with light compensating lamp 1403, and light compensating lamp 1403 is electrically connected with communications platform, mends
Light lamp 1403 can support that visible camera 1402 is supported to carry out inspection under dark surrounds.
The camera shooting end of visible camera 1402 is provided with rain brush 1404, and rain brush 1404 is electrically connected with communications platform, rain brush
1404 can clear up the camera lens of visible camera 1402 in time, so that visible camera 1402 can continue to use always.
Thermal infrared imager 1405 has creation separate unit or more infrared heat based on standard ethernet hardware and software agreement
All feature and function as needed for instrument distribution solution；Economic and accurate thermometric solution can be provided；It can shift to an earlier date
It found the abnormal situation, avoid developing into catastrophe failure, prevent property loss or potential threat is constituted to personal safety.
1405 equipment performance of thermal infrared imager:
Infrared detection equipment imaging resolution: 384 × 288；
Thermal infrared imager temperature-measuring range: -20 DEG C~+550 DEG C；
Heat sensitivity is≤40mk；
Temperature measurement accuracy are as follows: ± the 2% of ± 2 DEG C of or reading；
Temperature measuring distance: 60m.
The side of power switch 17 is provided with emergency stop drawstring 18, emergency stop drawstring 18 respectively with movement chassis 11 and flexible module
12 electrical connections, this set enable emergency stop drawstring 18 that stop motion chassis 11 and flexible module 12 is forced to move.
Function is embodied in the present invention:
Autonomous inspection function
Indoor Gua Gui robot 10 supports complete autonomous inspection and remote control inspection both of which.
Complete autonomous patrol mode includes that customary and spy patrols two ways.Under customary routine inspection mode, system is according to presetting
Inspection content, time, period, the parameter informations such as route, independently start and complete tour task；Spy patrols mode by operator
Selected to make an inspection tour content and manually boot tour, indoor Gua Gui robot 10 can independently complete patrol task.
Patrol mode is remotely controlled by operator's remote manual control Shi Neigua rail robot 10, completes to make an inspection tour work.
Detection function
Indoor Gua Gui robot 10 is equipped with the detection such as visible light camera 1402, infrared thermal imager 1405, partial discharge sensor 110
Equipment, and can be by video harmony tone uploading collected to local monitor backstage and remote control backstage.Standard configuration visible image capturing
Machine 1402, infrared thermal imager 1405, partial discharge sensor 110.
Infrared temperature measuring function
Indoor Gua Gui robot 10 carries infrared thermal imager 1405, has automatic focusing function.Station equipment can be carried out
Temperature detection, and show thermal self-restraint stress position and temperature value in image.It can be as requested to current caused hot type and voltage pyrogenicity
Type defect or failure carry out automatic analysis and judgment, and provide alert.
Meter recognition function
Indoor Gua Gui robot 10 carries high definition visible light camera 1402, has automatic focusing function, supports remote control shooting, takes the photograph
Picture and timing, fixed point automatic camera, camera shooting.Reading data can be carried out to the meter for having reading, indicator light, pressing plate etc. are carried out
State recognition automatically records and judges, and proposes to alarm.The error of reading is less than 5%.
Video monitoring function
Indoor Gua Gui robot 10 has the function of that visible light and Infrared video image acquire, and staff can pass through upper computer software
Operation robot is moved to designated position, and control holder is freely rotated, it can be achieved that closely observe photographic subjects object, will supervise
Control range covers blind area.Robot can shoot outbound interior various equipment high-definition images and infrared thermal imaging, and will be collected
Information is real-time transmitted to master control room through WLAN, and various electric power can be judged according to image in the staff of master control room
Whether equipment is safe.When discovering device has abnormal conditions, staff can investigate thoroughly at the first time questions and prospect, and take corresponding
Measure.
During inspection, indoor Gua Gui robot 10, can be to surrounding by self-contained integrated holder module 14
Environment carries out the acquisition of video image, and needs to pass image information back master control room through wireless network according to staff, and
Shooting location and device name are automatically recorded, in case staff can inquire complete information in the future.
Partial discharge detection function
Indoor Gua Gui robot 10 carries partial discharge sensor 110, has two kinds of detection patterns of ultrasonic wave and place wave, and point is supported to patrol
Inspection and two kinds of detection modes of linear inspection.The Partial Discharge Data of screen cabinet can be read out, automatically record and judge, and mention
It alarms out.The error of reading is less than ± 1dB.
Function of safety protection
1, stop barrier function.Indoor Gua Gui robot 10 stops hindering using infrared photoelectric sensor realization, and robot can detect week automatically
Collarette border, when recognizing on inspection route there are barrier and being unable to safety, can automatic stopping simultaneously alarm.Autonomous
During inspection, when stopping having barrier in front of barrier system discovery, indoor Gua Gui robot will be sounded an alarm and can be stopped in emergency,
Notice master control room removes barriers object, can assign return by master control room in the process, await orders or the patrol task of other no influences.
2, a key makes a return voyage function.No matter which kind of inspection state robot is in, as long as operator passes through after local monitor
The recharging button of platform, robot can stop current task, return by shortest path.
3, anti-electric jamming ability.Due to the particular surroundings in substation, indoor Gua Gui robot has pole in design
Strong anti-electric jamming ability can bear 5 grades of pulsed magnetic field interference and 5 grades of power frequency magnetic field interference.
Communications network functionality
1, interior Gua Gui robot 10 can carry out two-way information interaction with local monitor backstage, and local monitor backstage can be with long-range collection
Control backstage carries out two-way information interaction, and information exchange content includes detection data and robot body status data.
2, system has communication alarm function, when the message content exception that breaking and connecting are received in the communications, above send alarm
Information.
3, interior Gua Gui robot 10 can be properly received the control instruction on remote control backstage, realize body movement, automatic
The functions such as charging and equipment detection, and correct feedback status information；The correct all kinds of early warning for detecting indoor extension rail robot body
And warning information, and reliably report.
4, system can provide letter remote data access interface, the inspection data and letter for supporting remote browse system acquisition to arrive
Breath.
5, interior Gua Gui robot 10 have realtime graphic transporting function, it can be achieved that on the spot or long-distance video make an inspection tour and operation
Guidance.
Device status inquiries and historical data analysis function
Indoors during 10 execution task of Gua Gui robot, the image recorded or video information can be passed through wireless
Network passes master control room back, and automatically records the information such as shooting location and time.The indoor Gua Gui robot management of my company's exploitation
Software can support the report generation of various information, support log recording (being stored in database), staff can be as needed
Different types of report is generated according to different critical fielies, report can be led to diversified forms such as table, bar chart, histograms
Cross on year-on-year basis, the number of ways such as ring ratio analyzed, conducive to the operation conditions of each equipment in tunnel is judged from different perspectives, and
Predict equipment performance.
Inspection content mainly includes visible light video inspection, thermal infrared imager video routing inspection, the passback of equipment image fixed point, sets
Standby infrared chart passback, device temperature automatic identification (temperature over-range automatic alarm), device history temperature analysis.Analyze content packet
Analytical equipment historical temperature variation tendency is included, the temperature of same category of device, comparative apparatus load and device temperature relationship are compared, is associated with
Machine utilization and ambient temperature data provide decision support for overhaul of the equipments and status assessment, realize tunnel device operating status
The function of analyzing and diagnosing.
Examples made by the present invention, and do not limit the embodiments.Those of ordinary skill in the art are come
It says, other different forms of changes or modifications may be made based on the above description, there is no need and unable to all
Embodiment be exhaustive, and thus changes and variations that derived from are still in protection scope of the present invention
In.
Claims (7)
1. a kind of interior Gua Gui robot operating system characterized by comprising indoor Gua Gui robot, power supply platform, communication
Platform, background monitoring platform, orbital platform, the communications platform are set in indoor Gua Gui robot extension trailer device in drive chamber
Artificial to make, the power supply platform gives indoor Gua Gui robot and communications platform to power respectively, and the communications platform passes through for level
Platform is electrically connected with background monitoring platform, and the background monitoring platform is flat in track by communications platform control room Nei Gua rail robot
It is moved on platform；
The interior Gua Gui robot include movement chassis, flexible module, testing agency, holder module, current-collector, warning lamp,
Power switch, safe stopping hinder sensor, partial discharge sensor, photoelectric sensor, and the movement chassis is set to flexible module and fixes
End is connect with flexible module, and the telescopic end that the testing agency is set to flexible module is connect with flexible module, the holder mould
Block includes connecting rod, visible camera, thermal infrared imager, and the connecting rod is set to bottom end and the testing agency of testing agency
Connection, the visible camera are set to connecting rod side and connect with connecting rod, and the thermal infrared imager is set to connecting rod
The other side is connect with connecting rod, and the current-collector is set to movement chassis top and connect with movement chassis, the warning lamp setting
It is connect in movement chassis lower end side with movement chassis, the power switch is set to movement chassis side and movement chassis and connects
It connects, the safe stopping barrier sensor is set to testing agency side and connect with testing agency, and the partial discharge sensor is set to inspection
It surveys the mechanism other side to connect with testing agency, photoelectric sensor is set in movement chassis and connect with movement chassis, the power supply
Switch hinders sensor, office with movement chassis, flexible module, testing agency, holder module, current-collector, warning lamp, safe stopping respectively
Put sensor, photoelectric sensor electrical connection；
The power supply platform uses slide wire power supply, and the trolley is using DC36V as power input, the wiping line length
It can be customized according to project demands；
Carrier communication module, the movement chassis, flexible module, testing agency, visible image capturing are equipped in the communications platform
Instrument, thermal infrared imager, current-collector, warning lamp, safe stopping barrier sensor, partial discharge sensor, photoelectric sensor pass through ether respectively
Net access carrier communication module, the carrier communication module load on electric current by Ethernet high-frequency signal, pass through platform of powering
Interior trolley is transmitted；
The background monitoring platform is WebService monitor supervision platform, when the WebService monitor supervision platform has offer inspection
Acquisition, the function of storing visible light and infrared video, the WebService monitor supervision platform support the broadcasting of video, stop, grabbing
The function of figure, video recording, full screen display；
The orbital platform is high-strength aluminum alloy track, and the aluminum alloy rail supports 90 ° of bendings, and sliceable is U-shaped curved and S
Type is curved, can be designed depending on the site environment.
2. a kind of interior Gua Gui robot operating system according to claim 1, which is characterized in that the movement chassis packet
Chassis module and chassis drive module are included, the chassis module is by chassis housing, driving wheel, mileage wheel and guide wheel group at institute
It states driving wheel and is set to chassis housing top and connect with chassis housing, the mileage wheel is set to the left and right sides inside chassis housing
Connect with chassis housing, the directive wheel is set to chassis housing inner front side and connect with chassis housing, the driving wheel with it is inner
The transmission connection of journey wheel, the external driving motor of driving wheel, the driving motor are electrically connected with chassis drive module, the chassis
For drive module setting in connecting in chassis housing with chassis housing, the chassis drive module has itself high pressure, low pressure, mistake
Stream, short circuit, open circuit, excess temperature, communication real time monitoring function, automatic stopping and can report error condition when being abnormal.
3. a kind of interior Gua Gui robot operating system according to claim 1, which is characterized in that the flexible module by
Motor and transmission device composition, the motor drive transmission device to do stretching motion, and the transmission device has the flexible row of 2m
Journey.
4. a kind of interior Gua Gui robot operating system according to claim 1, which is characterized in that the visible image capturing
The top of instrument is provided with light compensating lamp, and the light compensating lamp is electrically connected with communications platform.
5. a kind of interior Gua Gui robot operating system according to claim 1, which is characterized in that the visible image capturing
The camera shooting end of instrument is provided with rain brush, and the rain brush is electrically connected with communications platform.
6. a kind of interior Gua Gui robot operating system according to claim 1, which is characterized in that the thermal infrared imager
With needed for creation separate unit or more thermal infrared imager distribution solutions based on standard ethernet hardware and software agreement
All feature and function.
7. a kind of interior Gua Gui robot operating system according to claim 1, which is characterized in that the power switch
Side is provided with emergency stop drawstring, and the emergency stop drawstring is electrically connected with movement chassis and flexible module respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811298032.9A CN109676597A (en) | 2018-11-01 | 2018-11-01 | A kind of interior Gua Gui robot operating system |
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| CN201811298032.9A CN109676597A (en) | 2018-11-01 | 2018-11-01 | A kind of interior Gua Gui robot operating system |
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Family
ID=66185692
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Application publication date: 20190426 |