CN109990901A - The latent oil sniffing robot and latent oil detection system of for transformer detection - Google Patents
The latent oil sniffing robot and latent oil detection system of for transformer detection Download PDFInfo
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- CN109990901A CN109990901A CN201711489095.8A CN201711489095A CN109990901A CN 109990901 A CN109990901 A CN 109990901A CN 201711489095 A CN201711489095 A CN 201711489095A CN 109990901 A CN109990901 A CN 109990901A
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- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 230000006698 induction Effects 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims description 29
- 238000012545 processing Methods 0.000 claims description 19
- 239000000523 sample Substances 0.000 claims description 19
- 238000003384 imaging method Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000002828 fuel tank Substances 0.000 description 6
- 238000013021 overheating Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000002950 deficient Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000005672 electromagnetic field Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0037—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the heat emitted by liquids
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The present invention relates to the latent oil sniffing robots of for transformer detection, including sonde body, driving device, position induction device, temperature-detecting device and signal transmitting apparatus.Driving device can drive sonde body to move.Position induction device can detect the position of sonde body and issue real-time position signal.Temperature-detecting device can detect the temperature of sonde body ambient enviroment and issue real time temperature signal.Signal transmitting apparatus can receive the real-time position signal and the real time temperature signal, and it is sent to mobile terminal in a manner of wireless telecommunications.The robot is able to detect the Temperature Distribution inside oil tank of transformer.Furthermore the invention further relates to the latent oil detection systems using the latent oil sniffing robot.
Description
Technical field
The present invention relates to transformer detection, especially a kind of latent oil detection that can be checked inside oil tank of transformer
Robot.The invention further relates to the latent oil detection systems using the latent oil sniffing robot.
Background technique
In field transformer, to examine whether the design of transformer meets temperature increase requirement, after the immersion oil that needs to case body
It is powered, carries out temperature rise test, judge whether design is defective by detecting the presence of overheating value.It can only be to pass through hand at present
The outside of formula infrared radiation thermometer scan transformer fuel tank is held to obtain the Temperature Distribution of fuel tank tank wall, passes through the Temperature Distribution of tank wall
Situation judges the temperature rise of fuel tank internal, so speculate design whether the approximate region where defective and defect.Experiments have shown that
This method is not only difficult to realize the accurate positionin of fuel tank internal overheating point, but also finds that there are need to drain the oil after design defect
Cleaning, then defect specific location is searched by hand, expend a large amount of manpower and time.
Summary of the invention
The object of the present invention is to provide a kind of latent oil sniffing robots of for transformer detection, are able to detect transformer
The Temperature Distribution of fuel tank internal.
The present invention provides a kind of latent oil sniffing robots, can connect a mobile terminal by signal.The latent oil is visited
It surveys robot and includes a sonde body, a driving device, a position induction device, a temperature-detecting device and one
Signal transmitting apparatus.Driving device is assemblied in sonde body, to drive sonde body to move.Position induction device is assemblied in spy
Main body is surveyed, and one real-time position signal in the position for detecting sonde body and sending.Temperature-detecting device is assemblied in detection
Main body, and one real time temperature signal of temperature and sending for detecting sonde body ambient enviroment.Signal transmitting apparatus assembly
In sonde body, and for receiving the real-time position signal and the real time temperature signal, and by the real-time position signal and the reality
When temperature signal mobile terminal is sent in a manner of wireless telecommunications.
The latent oil sniffing robot is able to detect the Temperature Distribution inside oil tank of transformer, and more accurately determines transformation
The rejected region of device.
In another exemplary embodiment of latent oil sniffing robot, temperature-detecting device includes an infrared measurement of temperature
Contact unit and an infrared signal processing module.Infrared temperature probe unit can issue an infrared signal, infrared signal
Processing module can receive the infrared signal, and issue the real time temperature signal according to the infrared signal.
In another exemplary embodiment of latent oil sniffing robot, infrared signal processing module can be red according to this
External signal issues an infrared temperature distributed image signal as the real time temperature signal.
In another exemplary embodiment of latent oil sniffing robot, position induction device includes a displacement sensing
Device and a displacement signal processing module.A situational map is stored in displacement signal processing module；Displacement sensor can
It detects the displacement of sonde body and issues a displacement signal；Displacement signal processing module can receive the displacement signal, and root
The real-time position signal is issued according to the displacement signal and the situational map.Position detection can be made more accurate whereby.
In another exemplary embodiment of latent oil sniffing robot, sonde body includes in one cylindrical
Portion, a hemispheric head and a hemispheric tail portion.One end in the axial direction at the circular edge connection middle part on head.Tail
The other end in the axial direction at the circular edge connection middle part in portion.Several empennages are provided on tail portion.Transformer can be reduced whereby
Influence of the complicated electromagnetic field environment to latent oil sniffing robot in fuel tank.
In another exemplary embodiment of latent oil sniffing robot, latent oil sniffing robot further includes a camera shooting
Head is set to head, and is able to detect the visible light of sonde body ambient enviroment and issues a real-time imaging signal；Signal
Transmitting device can receive the real-time imaging signal, and the real-time imaging signal is sent to movement in a manner of wireless telecommunications
End.By real-time imaging, the visual defects near overheating point can be further searched for.
In another exemplary embodiment of latent oil sniffing robot, latent oil sniffing robot further includes one group of illumination
Lamp is set to head.The picture quality of camera shooting is improved whereby.
In another exemplary embodiment of latent oil sniffing robot, infrared temperature probe unit includes three infrared
Temperature probe, three infrared temperature probes are set to head and distribution is in equilateral triangle.It can make infrared temperature probe list whereby
Member has biggish investigative range.
In another exemplary embodiment of latent oil sniffing robot, the mode of the wireless telecommunications of signal transmitting apparatus
For WiFi or bluetooth.So that signal transmitting apparatus effectiveness with higher.
In another exemplary embodiment of latent oil sniffing robot, latent oil sniffing robot, which further includes one, to be filled
Battery, can be to driving device, position induction device, temperature-detecting device and signal transmitting apparatus power supply.It whereby can be with
Better simply structure realizes the power supply of latent oil sniffing robot.
In another exemplary embodiment of latent oil sniffing robot, latent oil sniffing robot further includes a machinery
Hand is assemblied in sonde body；Signal transmitting apparatus can receive the action signal from mobile terminal, and the movement is believed
Number it is sent to manipulator；Manipulator can receive the action signal, and be acted according to the action signal implementation.It may make whereby latent
Oily sniffing robot has the function of manipulator operation.
The present invention also provides a kind of latent oil detection systems comprising an above-mentioned latent oil sniffing robot and a shifting
Moved end.Mobile terminal signal connection signal transmitting device by way of wireless telecommunications, and signal transmitting apparatus transmission can be received
The real-time position signal and the real time temperature signal, and according to the real-time position signal present sonde body real time position
Figure, and the temperature profile according to real time temperature signal presentation sonde body ambient enviroment.The latent oil detection system can be examined
The Temperature Distribution inside oil tank of transformer is surveyed, and more accurately determines the rejected region of transformer.
Detailed description of the invention
Only illustratively description and explain the present invention for the following drawings, not delimit the scope of the invention.
Fig. 1 is a kind of structural schematic diagram of exemplary embodiment of latent oil sniffing robot.
Fig. 2 is used to illustrate the signal transmission relationship of latent oil sniffing robot shown in FIG. 1.
Label declaration
100 latent oil sniffing robots
10 sonde bodies
11 heads
12 middle parts
13 tail portions
14 empennages
20 driving devices
21 propeller drives
30 position induction devices
31 displacement sensors
32 displacement signal processing modules
40 temperature-detecting devices
41 infrared temperature probe units
42 infrared temperature probes
43 infrared signal processing modules
50 signal transmitting apparatus
60 rechargeable batteries
70 cameras
80 headlamps
90 manipulators
200 mobile terminals.
Specific embodiment
In order to which the technical features, objects and effects of invention are more clearly understood, the Detailed description of the invention present invention is now compareed
Specific embodiment, identical label indicates that structure is identical or structure is similar but the identical component of function in the various figures.
Herein, " schematic " expression " serving as examplea, instances, or illustrations " should not will be described herein as " showing
Any diagram, the embodiment of meaning property " are construed to technical solution that is a kind of preferred or more having advantages.
Fig. 1 is a kind of structural schematic diagram of exemplary embodiment of latent oil sniffing robot, and Fig. 2 is for illustrating its signal
Transmission relationship.The latent oil sniffing robot can be connect with a mobile end signal.As shown, the latent oil sniffing robot
100 include 30,40 and of temperature-detecting device of a position induction device of driving device 20, one of sonde body 10, one
One signal transmitting apparatus 50.Driving device 20, position induction device 30, temperature-detecting device 40 and signal transmitting apparatus 50 are equal
It is assemblied in sonde body 10.
Driving device 20 is to drive sonde body 10 to move.In this exemplary embodiment, driving device 20 includes
Several propeller drives 21, to apply driving force to sonde body 10 from different directions, but not limited to this.Driving device 20
Movement, which for example can be, to manually control or automatic cruising.
Position induction device 30 is used to detect the position of sonde body 10 and issues a real-time position signal.Temperature detection
Device 40 is used to detect the temperature of 10 ambient enviroment of sonde body and issues a real time temperature signal.Temperature-detecting device 40 wraps
Include an infrared temperature probe unit 41 and an infrared signal processing module 43.Infrared temperature probe unit 41 can issue one
A infrared signal, infrared signal processing module 43 can receive the infrared signal, and issue one in real time according to the infrared signal
Temperature signal.Further, infrared signal processing module can also issue REAL TIME INFRARED THERMAL IMAGE temperature point according to the infrared signal
Cloth picture signal is as the real time temperature signal.Signal transmitting apparatus 50 can receive the real-time position signal and the real time temperature
Signal, and the real-time position signal and the real time temperature signal are sent to mobile terminal in a manner of wireless telecommunications.It mobile terminal can
The real time position figure of sonde body is presented according to the real-time position signal, and sonde body week is presented according to the real time temperature signal
The temperature profile in collarette border.
When being detected using the latent oil sniffing robot to transformer, oil tank of transformer need to be put it into and then run.
User observes the real time temperature distribution map of latent oil sniffing robot ambient enviroment by mobile terminal in operational process, is with determination
It is no to have overheating point.When there is overheating point, the real time position figure presented by mobile terminal can determine overheating
The corresponding concrete position of point.
The latent oil sniffing robot is able to detect the Temperature Distribution inside oil tank of transformer, and more accurately determines transformation
The rejected region of device.
In exemplary embodiment, position induction device 30 includes at a displacement sensor 31 and a displacement signal
Manage module 32.A situational map (such as inside transformer structure chart) is stored in displacement signal processing module 32；Displacement passes
Sensor 31 is able to detect the displacement of sonde body 10 and issues a displacement signal.Displacement signal processing module 32 can receive this
Displacement signal, and the real-time position signal is issued according to the displacement signal and the situational map.It can make position detection more whereby
Accurately.
In exemplary embodiment, sonde body 10 includes a cylindrical hemispheric head in 12, one, middle part
11 and a hemispheric tail portion 13.One end in the axial direction at the circular edge connection middle part 12 on head 11.The circle of tail portion 13
The other end in the axial direction at edge connection middle part 12.Several empennages 14 are provided on tail portion 13.Transformer oil can be reduced whereby
Influence of the complicated electromagnetic field environment to latent oil sniffing robot in case.
In exemplary embodiment, latent oil sniffing robot further includes a camera 70, is set to head 11, and
It is able to detect the visible light of 10 ambient enviroment of sonde body and issues a real-time imaging signal；Signal transmitting apparatus 50 can connect
The real-time imaging signal is received, and the real-time imaging signal is sent to mobile terminal in a manner of wireless telecommunications.It mobile terminal can basis
The real-time imaging of real-time imaging signal presentation 10 ambient enviroment of main body cover.By real-time imaging, exception can be further searched for
Visual defects near temperature rise point.
In exemplary embodiment, latent oil sniffing robot further includes one group of headlamp 80, is set to head 11.By
This improves the picture quality of camera shooting.In this exemplary embodiment, the quantity of headlamp 80 is four, is shown at other
In meaning property embodiment, the quantity of headlamp can adjust as needed, such as only be arranged one.
In exemplary embodiment, infrared temperature probe unit 41 includes three infrared temperature probes 42.It is three infrared
Temperature probe 42 is set to head 11 and distribution is in equilateral triangle, i.e. line constitutes one between three infrared temperature probes 42
Equilateral triangle.It can make infrared temperature probe unit that there is biggish investigative range whereby.
In exemplary embodiment, the mode of the wireless telecommunications of signal transmitting apparatus 50 is WiFi or bluetooth.So that letter
Number transmitting device effectiveness with higher.
In exemplary embodiment, latent oil sniffing robot further includes a rechargeable battery 60, can be to driving
Device 20, position induction device 30, temperature-detecting device 40 and signal transmitting apparatus 50 are powered.It whereby can be with better simply structure
Realize the power supply of latent oil sniffing robot.
In exemplary embodiment, latent oil sniffing robot further includes a manipulator 90, is assemblied in sonde body
10.Signal transmitting apparatus 50 can receive the action signal from mobile terminal, and the action signal is sent to manipulator
90.Manipulator 90 can receive the action signal, and be acted according to the action signal implementation, such as grab.It may make whereby latent
Oily sniffing robot has the function of manipulator operation.For example, according to the image information that camera 70 acquires, if it find that visual
Defective mounting then starts the manipulator 90 and carries out corresponding operation debugging.
The present invention also provides a kind of latent oil detection system, in a kind of its exemplary embodiment, latent oil detection system
Including a latent oil sniffing robot 100 shown in FIG. 1 and a mobile terminal 200.Mobile terminal 200 is by way of wireless telecommunications
Signal connection signal transmitting device 50, and the real-time position signal and the real-time temperature of the transmission of signal transmitting apparatus 50 can be received
Signal is spent, and the real time position figure of sonde body 10 is presented according to the real-time position signal, and be according to the real time temperature signal
The temperature profile of existing sonde body 10.Its course of work can be found in above.The latent oil detection system is able to detect transformer oil
Temperature Distribution inside case, and more accurately determine the rejected region of transformer.
Although not each embodiment only includes one it should be appreciated that this specification describes according to various embodiments
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solutions in the various embodiments may also be suitably combined for bright book, and forming those skilled in the art can be with
The other embodiments of understanding.
The series of detailed descriptions listed above are illustrated only for possible embodiments of the invention,
The protection scope that they are not intended to limit the invention, it is all without departing from equivalent embodiments made by technical spirit of the present invention or change
More, it such as the combination of feature, segmentation or repetition, should all be included in the protection scope of the present invention.
Claims (12)
1. the latent oil sniffing robot of for transformer detection can connect a mobile terminal by signal, which is characterized in that
It include: a sonde body (10)；
One driving device (20), is assemblied in the sonde body (10), to drive the sonde body (10) to move；
One position induction device (30), is assemblied in the sonde body (10), and for detecting the sonde body (10)
Position and issue a real-time position signal；
One temperature-detecting device (40), is assemblied in the sonde body (10), and for detecting the sonde body (10)
The temperature of ambient enviroment simultaneously issues a real time temperature signal；And
One signal transmitting apparatus (50), is assemblied in the sonde body (10), and for receive the real-time position signal and
The real time temperature signal, and the real-time position signal and the real time temperature signal are sent to the shifting in a manner of wireless telecommunications
Moved end.
2. latent oil sniffing robot as described in claim 1, which is characterized in that the temperature-detecting device (40) includes one
Infrared temperature probe unit (41) and an infrared signal processing module (43), the infrared temperature probe unit (41) can be sent out
An infrared signal out, the infrared signal processing module (43) can receive the infrared signal, and be sent out according to the infrared signal
The real time temperature signal out.
3. latent oil sniffing robot as claimed in claim 2, which is characterized in that the infrared signal processing module (43) can
An infrared temperature distributed image signal is issued as the real time temperature signal according to the infrared signal.
4. latent oil sniffing robot as described in claim 1, which is characterized in that the position induction device (30) includes one
Displacement sensor (31) and a displacement signal processing module (32), the displacement signal processing module (32) is interior to store one
Situational map；Institute's displacement sensors (31) are able to detect the displacement of the sonde body (10) and issue a displacement signal；
The displacement signal processing module (32) can receive the displacement signal, and being issued according to the displacement signal and the situational map should
Real-time position signal.
5. latent oil sniffing robot as described in claim 1, which is characterized in that the sonde body (10) includes:
One cylindrical middle part (12)；
One hemispheric head (11), circular edge connect one end in the axial direction of the middle part (12)；And
One hemispheric tail portion (13), circular edge connect the other end in the axial direction of the middle part (12), the tail portion
(13) several empennages (14) are provided on.
6. latent oil sniffing robot as claimed in claim 5, which is characterized in that it further include a camera (70), setting
In the head (11), and it is able to detect the visible light of the sonde body (10) ambient enviroment and issues a real-time imaging letter
Number；The signal transmitting apparatus (50) can receive the real-time imaging signal, and by the real-time imaging signal with wireless telecommunications
Mode is sent to the mobile terminal.
7. latent oil sniffing robot as claimed in claim 6, which is characterized in that it further include one group of headlamp (80), setting
In the head (11).
8. latent oil sniffing robot as claimed in claim 5, which is characterized in that the infrared temperature probe unit (41) includes
Three infrared temperature probes (42), three infrared temperature probes (42) are set to the head (11) and distribution in equilateral three
It is angular.
9. latent oil sniffing robot as described in claim 1, which is characterized in that the nothing of the signal transmitting apparatus (50)
The mode of line communication is WiFi or bluetooth.
10. latent oil sniffing robot as described in claim 1, which is characterized in that it further include a rechargeable battery (60),
It can be passed to the driving device (20), the position induction device (30), the temperature-detecting device (40) and the signal
Defeated device (50) power supply.
11. latent oil sniffing robot as described in claim 1, which is characterized in that it further include a manipulator (90), assembly
In the sonde body (10)；The signal transmitting apparatus (50) can receive the action signal from the mobile terminal,
And the action signal is sent to the manipulator (90)；The manipulator (90) can receive the action signal, and according to this
Action signal implementation movement.
12. the latent oil detection system of for transformer detection characterized by comprising
One latent oil sniffing robot (100) as described in any one of claims 1 to 11；And
One mobile terminal (200), signal connects the signal transmitting apparatus (50) by way of wireless telecommunications, and can connect
The real-time position signal and the real time temperature signal of the signal transmitting apparatus (50) transmission are received, and is believed according to the real time position
Number the real time position figure of the sonde body (10) is presented, and sonde body (10) week is presented according to the real time temperature signal
The temperature profile in collarette border.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711489095.8A CN109990901A (en) | 2017-12-29 | 2017-12-29 | The latent oil sniffing robot and latent oil detection system of for transformer detection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711489095.8A CN109990901A (en) | 2017-12-29 | 2017-12-29 | The latent oil sniffing robot and latent oil detection system of for transformer detection |
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| CN109990901A true CN109990901A (en) | 2019-07-09 |
Family
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| CN201711489095.8A Pending CN109990901A (en) | 2017-12-29 | 2017-12-29 | The latent oil sniffing robot and latent oil detection system of for transformer detection |
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Cited By (2)
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| CN110927813A (en) * | 2019-12-10 | 2020-03-27 | 南京航空航天大学 | Automatic detection device and method for aircraft fuel tank |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110927813A (en) * | 2019-12-10 | 2020-03-27 | 南京航空航天大学 | Automatic detection device and method for aircraft fuel tank |
| CN111687825A (en) * | 2020-05-15 | 2020-09-22 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Rectangular submersible robot applied to internal inspection of large converter transformer |
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