CN111345277A - Transformer substation intelligent inspection robot with bird repelling function - Google Patents
Transformer substation intelligent inspection robot with bird repelling function Download PDFInfo
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- CN111345277A CN111345277A CN202010337761.1A CN202010337761A CN111345277A CN 111345277 A CN111345277 A CN 111345277A CN 202010337761 A CN202010337761 A CN 202010337761A CN 111345277 A CN111345277 A CN 111345277A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/06—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like
- A01M29/10—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like using light sources, e.g. lasers or flashing lights
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
- A01M29/18—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves using ultrasonic signals
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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
- 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
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Abstract
The invention relates to a transformer substation intelligent inspection robot with a bird repelling function, which comprises a motion module, a target confirming module, a shooting module, a bird repelling module and a main control module, wherein the motion module is connected with the target confirming module; the motion module is used for driving the robot to move; the target confirming module is used for confirming the position of the patrol point, and the shooting module is used for shooting the position after the target confirming module confirms the patrol point position; the bird repelling module comprises identification equipment for identifying birds or bird nests, ultrasonic equipment, lighting equipment or sound equipment for repelling the birds; the shooting module comprises a visible light camera and a thermal infrared imager, images shot by the visible light camera are transmitted to the identification equipment in real time, when the identification equipment identifies birds or bird nests in the images, the main control module controls the movement module to stop moving and controls the ultrasonic equipment, the lighting equipment or the sound equipment to start to disperse the birds.
Description
Technical Field
The invention relates to the field of power equipment, in particular to an intelligent inspection robot for a transformer substation with a bird repelling function.
Background
Birds can directly influence the stable operation of a power grid by excreting or nesting on power equipment, and because bird nests have high randomness, in the prior art, the bird nest is generally found and cleared in an artificial mode, namely, a maintainer inspects a power supply line by naked eyes, and once the bird nest is found, manual clearing is immediately carried out, however, a large amount of manpower and material resources are consumed in the mode, and the bird nest clearing efficiency is not high; on the other hand, the area of the transformer substation is large, manual detection equipment in the transformer substation wastes time and labor, and especially at night, the condition of detection leakage also exists due to manual detection. The intelligent inspection robot is used for inspection, which is a better inspection method for the transformer substation, but the camera device of the current inspection robot has a single function, and when light is dim, the camera device is difficult to meet the requirement of video acquisition of a visible light camera of the robot.
Disclosure of Invention
In order to solve the technical problem, the invention provides the intelligent substation inspection robot with the bird repelling function.
The technical scheme adopted by the invention is as follows: the utility model provides a transformer substation intelligence inspection robot with drive bird function, intelligence inspection robot includes host system, and is controlled by host system: the intelligent inspection robot comprises a motion module, a target confirmation module, a shooting module and a bird repelling module, wherein the motion module is used for driving the intelligent inspection robot of the transformer substation to move, the target confirmation module is used for confirming the position of an inspection point, the shooting module is used for shooting the position after the target confirmation module confirms the position of the inspection point, and the bird repelling module is used for repelling birds; the shooting module comprises a visible light camera and a thermal infrared imager, when the main control module receives a confirmation signal of the target confirmation module, the shooting module is started, images shot by the visible light camera are transmitted to the identification equipment in real time, when the identification equipment identifies birds or bird nests in image data, the main control module controls the motion module to stop moving, controls the ultrasonic equipment, the lighting equipment or the sound equipment in the bird repelling module to be started to dispel the birds, and the bird repelling module selects one or more modes to repel the birds according to the types and the number of the birds identified by the identification equipment.
In the intelligent inspection robot, the identification equipment comprises storage equipment, Daubechies wavelet filtering sub-equipment, median filtering sub-equipment, scale transformation enhancer equipment, target segmentation sub-equipment and target identification sub-equipment; the storage device stores a gray scale range of birds or bird nests in advance, the gray scale range of the birds or bird nests is used for separating the birds or bird nests from a background in an image, and also stores various grayed bird or bird nest templates in advance, each grayed bird or bird nest template corresponds to a bird nest built by the birds or the birds, and each grayed bird or bird nest template is obtained by performing graying processing on an image obtained by shooting a reference bird nest of the corresponding birds or birds; the Daubechies wavelet filtering sub-equipment is connected with the visible light camera and used for filtering Gaussian noise in the image by adopting 2-order Daubechies wavelet base-based wavelet filtering processing on the image to obtain a wavelet filtering image; the median filtering sub-equipment is connected with the Daubechies wavelet filtering sub-equipment and is used for performing median filtering processing on the wavelet filtering image so as to filter scattering components in the wavelet filtering image and obtain a median filtering image; the scale transformation enhancement device is connected with the median filtering sub-device and is used for performing scale transformation enhancement processing on the median filtering image so as to enhance the contrast ratio of the target and the background in the image and obtain an enhanced image; the target segmentation sub-device is respectively connected with the scale transformation enhancement sub-device and the storage device, all pixels of the pixel gray value in the enhanced image within the gray range of birds or bird nests form a bird or bird nest sub-image, and the bird or bird nest sub-image is obtained by separating from the background of the enhanced image; the target identification sub-device is respectively connected with the target segmentation sub-device and the storage device, the bird or bird nest sub-images are matched with the grayed birds or bird nest templates, and the bird type corresponding to the grayed bird or bird nest template with the highest matching degree is output as the target bird or bird nest type.
In the intelligent inspection robot, the shooting module comprises a camera bin and a wiper mechanism arranged outside the camera bin, the visible light camera and the thermal infrared imager are arranged in the camera bin, the front side wall of the camera bin is provided with a visible light hole and an infrared hole, the visible light hole and the infrared hole are both provided with transparent glass, a lens of the visible light camera is right opposite to the visible light hole, an infrared head of the thermal infrared imager is right opposite to the infrared hole, a wiper of the wiper mechanism is pressed on the transparent glass of the visible light hole and can swing in a reciprocating mode, a wiper driving part of the wiper mechanism is arranged in the camera bin, and a torque output end of the wiper driving part penetrates out of the camera bin and is connected with the wiper.
In the intelligent inspection robot, the front side wall of the camera bin is provided with a light supplementing hole, the light supplementing hole is provided with transparent glass, a light supplementing lamp is arranged in the camera bin, and the light emitting end of the light supplementing lamp is right opposite to the light supplementing hole.
In the intelligent inspection robot, the target confirmation module comprises a rotating holder arranged on the walking chassis and a laser receiver arranged on the rotating holder, the shooting directions of the visible light camera and the thermal infrared imager are consistent with the receiving direction of the laser receiver, and the rotating holder and the laser receiver are both connected with the main control module; the inspection point is provided with a laser transmitter for guiding the intelligent inspection robot to shoot and position; and after the inspection point is reached, the main control module controls the rotating holder to rotate in an omnibearing way until the laser receiver receives a signal transmitted by the laser transmitter, and the rotating holder is controlled to stop acting.
The intelligent inspection robot provided by the invention can detect birds or bird nests in the whole transformer substation in the moving process, and can judge whether to start corresponding bird repelling equipment according to the detection result, so that excessive manual participation is avoided, the operation cost of a power supply management department is reduced, and the working efficiency of the power supply management department is improved; the wiper has the function of a wiper, and can well clean water stains and dust in the working area of the visible light camera; adopt laser guide to shoot, the position guide is rapider, shoots the position more accurately.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic view of a wire attachment configuration according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a wire connection structure of a bird repelling module in the embodiment of the invention;
fig. 3 is a schematic structural diagram of the intelligent inspection robot in the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 2, an embodiment of the present invention provides a substation intelligent inspection robot with a bird repelling function, which includes a motion module 11, a target confirmation module 12, a shooting module 13, a bird repelling module 16, and a main control module 14 respectively controlling the connection between the motion module 11, the target confirmation module 12, the shooting module 13, and the bird repelling module 16. The management terminal 15 may obtain operation information of the intelligent robot or send a control command to control the operation of the intelligent robot through the main control module 14. The target confirming module 12 is configured to confirm a position of the patrol point, and the shooting module 13 is configured to shoot the position after the target confirming module 12 confirms the patrol point position; the bird repelling module 16 comprises a recognition device 17 for recognizing birds or bird nests and an ultrasonic device, a lighting device or a sound device 18 for repelling the birds; the shooting module 13 comprises a visible light camera 19 and a thermal infrared imager, images shot by the visible light camera 19 are transmitted to the recognition device 17 in real time, and when the recognition device 17 recognizes birds or bird nests in the images, the main control module 14 controls the motion module 11 to stop moving and controls the ultrasonic device, the lighting device or the sound device 18 to start to disperse the birds.
Further, the shooting module 13 in this embodiment includes a waterproof pickup, a camera cabin, a wiper mechanism installed outside the camera cabin, the visible light camera and the thermal infrared imager are installed in the camera cabin, a visible light hole and an infrared hole are opened on a front side wall of the camera cabin, the visible light hole, transparent glass is installed in the infrared hole, a lens of the visible light camera is right opposite to the visible light hole, an infrared head of the thermal infrared imager is right opposite to the infrared hole, a wiper of the wiper mechanism is pressed on the transparent glass of the visible light hole and can swing back and forth, a wiper driving part of the wiper mechanism is installed in the camera cabin, and a torque output end of the wiper driving part penetrates out of the camera cabin and is connected with the wiper. The light supplementing hole is formed in the front side wall of the camera bin, the light transmitting glass is installed in the light supplementing hole, a light supplementing lamp is arranged in the camera bin, and the light emitting end of the light supplementing lamp is aligned to the light supplementing hole. The embodiment is provided with the light supplement lamp, and when light is dim, light can be supplemented through the light supplement lamp so as to meet the video acquisition requirement of the robot visible light camera; the waterproof sound pickup is designed, so that the sound can be collected by using the holder while the target is observed; the wiper mechanism is designed, so that water stains and dust in a working area of the visible light camera can be well cleaned; the visible light camera, the thermal imager, the light supplementing lamp, the pickup and the driving part of the wiper mechanism are integrated in the same box body, and the thermal imager has the advantages of high integration level and convenience in operation.
Specifically, the identification device 17 includes a storage device, Daubechies wavelet filtering sub-device, median filtering sub-device, scale transformation enhancer device, target segmentation sub-device, and target identification sub-device; the storage device stores a gray scale range of birds or bird nests in advance, the gray scale range of the birds or bird nests is used for separating the birds or bird nests from a background in an image, and also stores various grayed bird or bird nest templates in advance, each grayed bird or bird nest template corresponds to a bird nest built by the birds or birds, and each grayed bird or bird nest template is obtained by performing graying processing on an image obtained by shooting a reference bird nest of the corresponding birds or birds; the Daubechies wavelet filtering sub-equipment is connected with the visible light camera and used for filtering Gaussian noise in the image by adopting 2-order Daubechies wavelet base-based wavelet filtering processing on the image to obtain a wavelet filtering image; the median filtering sub-equipment is connected with the Daubechies wavelet filtering sub-equipment and is used for performing median filtering processing on the wavelet filtering image so as to filter scattering components in the wavelet filtering image and obtain a median filtering image; the scale transformation enhancement device is connected with the median filtering sub-device and is used for performing scale transformation enhancement processing on the median filtering image so as to enhance the contrast ratio of the target and the background in the image and obtain an enhanced image; the target segmentation sub-device is respectively connected with the scale transformation enhancement sub-device and the storage device, all pixels of the pixel gray value in the enhanced image within the gray range of birds or bird nests form a bird or bird nest sub-image, and the bird or bird nest sub-image is obtained by separating from the background of the enhanced image; the target identification sub-device is respectively connected with the target segmentation sub-device and the storage device, the bird or bird nest sub-images are matched with the grayed birds or bird nest templates, and the bird type corresponding to the grayed bird or bird nest template with the highest matching degree is output as the target bird or bird nest type. After receiving the bird type output by the bird repelling module 16, the main control module 14 controls the ultrasonic equipment, the lighting equipment or the sound equipment to work, and the corresponding birds are dispelled in the modes of ultrasonic waves, red light or sound which can enable the corresponding birds to leave. Birds or bird nests in the transformer substation can be identified through the high-precision identification equipment 17, and whether corresponding bird repelling equipment is started or not can be judged according to a detection result, so that excessive manual participation is avoided, the operation cost of a power supply management department is reduced, and the working efficiency of the power supply management department is improved.
The target confirming module 12 is configured to confirm a position of the patrol point, and the shooting module 13 is configured to shoot the position after the target confirming module 12 confirms the patrol point position. The target confirmation module 12 comprises a rotating tripod head 64 installed on the walking chassis 65 and a laser receiver 63 installed on the rotating tripod head 64, and both the rotating tripod head 64 and the laser receiver 63 are connected with the main control module 15; the inspection point is provided with a laser transmitter for guiding the intelligent inspection robot to shoot and position; after the patrol viewpoint is reached, the main control module 15 controls the rotating holder 64 to rotate in all directions until the laser receiver 63 receives the signal emitted by the laser emitter, and controls the rotating holder 64 to stop operating. The shooting module 13 includes a visible light camera and a thermal infrared imager, and the shooting directions of the visible light camera and the thermal infrared imager are consistent with the receiving direction of the laser receiver 63, so that the shooting module 13 can accurately shoot the inspection point after the target confirmation module 12 confirms the position of the inspection point. By rotating the holder 61 and the laser butt joint system, the robot can quickly find the position and the angle which need to be patrolled. The rotating pan/tilt head 61 includes a platform, and a vertical motor and a horizontal motor for controlling the movement of the platform, and the photographing module 13 is mounted on the platform.
The thermal infrared imager in the embodiment comprises a conditioning plate, a processing plate connected with the conditioning plate, a compression plate connected with the processing plate and interface boards respectively connected with the compression plate and a control plate, wherein the conditioning plate comprises a signal conditioning module, and the compression plate comprises a Hi3516 chip module; the processing board comprises an FPGA chip module and is used for executing preprocessing operation on the digital video signal transmitted to the processing board by the signal conditioning module; the processing board further comprises an image output module which is used for outputting the digital video signal preprocessed by the FPGA chip module according to a preset digital video signal format, wherein the preset digital video signal is one of an LVDS digital video signal, an HDMI high-definition video signal and a PAL analog video signal; and the Hi3516 chip module is used for compressing the digital video signals preprocessed by the FPGA chip module. The Hi3516 chip module comprises: the image denoising submodule is used for denoising the digital video signal preprocessed by the FPGA chip module; and the image enhancement processing submodule is used for carrying out image enhancement and/or edge enhancement processing on the digital video signal preprocessed by the FPGA chip module. The thermal infrared imager in the embodiment comprises a conditioning plate, a processing plate, a compression plate and an interface plate, wherein the conditioning plate comprises a signal conditioning module, and the compression plate comprises a Hi3516 chip module; because the Hi3516 chip has powerful functions and high integration level, the Hi3516 chip is used as a core processor of the thermal infrared imager core, the processing speed of images can be increased, the infrared imaging quality is optimized, and the power consumption of an infrared imaging system can be reduced.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. The utility model provides a robot is patrolled and examined to transformer substation's intelligence with drive bird function which characterized in that, the robot is patrolled and examined to intelligence includes host system (14), and is controlled by host system: the intelligent inspection robot comprises a motion module (11) for driving the intelligent inspection robot of the transformer substation to move, a target confirmation module (12) for confirming the position of the intelligent inspection robot at the current moment, a shooting module (13) for finding birds and shooting after the target confirmation module confirms the current moment and the position, and a bird repelling module (16) for dispelling the birds after the shooting module (13) finds the birds, wherein the main control module (14) is also connected with a management terminal (15) through a communication circuit network; the target confirmation module (12) comprises a GPS positioning device and an environment monitoring device; the shooting module (13) comprises a shooting device, a lifting device for adjusting the height of the shooting device and a steering device for steering the shooting device, wherein the shooting device comprises a visible light camera and a thermal infrared imager; the bird repelling module (16) comprises identification equipment for identifying birds or bird nests according to the data of the shooting module, and ultrasonic equipment, lighting equipment or sound equipment for repelling the birds; after the main control module (13) receives the bird repelling instruction from the management terminal (15), if the environment monitoring information provided by the environment monitoring device in the target confirmation module (12) is not suitable for repelling birds, the environment monitoring information is fed back to the management terminal, if the bird repelling instruction requires that the position information is not consistent with the position provided by the GPS positioning device in the target confirmation module (12), the motion module (11) is instructed to drive the intelligent inspection robot to walk to a position approved by the bird repelling instruction, the main control module (14) controls the shooting device in the shooting module (13) to ascend and descend or rotate to a preset height and direction according to the time appointed by the bird repelling instruction of the management terminal (15), shooting is carried out for appointed times, the image shot by the shooting device each time is transmitted to the identification equipment in the bird repelling module (16) in real time, and when the identification equipment identifies birds or bird nests in the image data, the main control module (14) controls the motion module (11) to stop moving, controls ultrasonic equipment, lighting equipment or sound equipment in the bird repelling module (16) to be started to dispel birds, and the bird repelling module (16) selects one or more modes to repel birds according to the types and the number of the birds identified by the identification equipment.
2. The intelligent inspection robot according to claim 1, wherein the identification devices include a storage device, a Daubechies wavelet filtering sub-device, a median filtering sub-device, a scale transformation enhancer device, a target segmentation sub-device, and a target identification sub-device; the storage device stores a gray scale range of birds or bird nests in advance, the gray scale range of the birds or bird nests is used for separating the birds or bird nests from a background in an image, and also stores various grayed bird or bird nest templates in advance, each grayed bird or bird nest template corresponds to a bird nest built by the birds or the birds, and each grayed bird or bird nest template is obtained by performing graying processing on an image obtained by shooting a reference bird nest of the corresponding birds or birds; the Daubechies wavelet filtering sub-equipment is connected with the visible light camera and used for filtering Gaussian noise in the image by adopting 2-order Daubechies wavelet base-based wavelet filtering processing on the image to obtain a wavelet filtering image; the median filtering sub-equipment is connected with the Daubechies wavelet filtering sub-equipment and is used for performing median filtering processing on the wavelet filtering image so as to filter scattering components in the wavelet filtering image and obtain a median filtering image; the scale transformation enhancement device is connected with the median filtering sub-device and is used for performing scale transformation enhancement processing on the median filtering image so as to enhance the contrast ratio of the target and the background in the image and obtain an enhanced image; the target segmentation sub-device is respectively connected with the scale transformation enhancement sub-device and the storage device, all pixels of the pixel gray value in the enhanced image within the gray range of birds or bird nests form a bird or bird nest sub-image, and the bird or bird nest sub-image is obtained by separating from the background of the enhanced image; the target identification sub-device is respectively connected with the target segmentation sub-device and the storage device, the bird or bird nest sub-images are matched with the grayed birds or bird nest templates, and the bird type corresponding to the grayed bird or bird nest template with the highest matching degree is output as the target bird or bird nest type.
3. The intelligent inspection robot according to claim 1, wherein the camera module includes a camera chamber and a wiper mechanism mounted on a transparent glass outside the camera chamber, the visible light camera and the thermal infrared imager are mounted in the camera chamber, a visible light hole and an infrared hole are formed in a front side wall of the camera chamber, the visible light hole and the infrared hole are respectively provided with a transparent glass, a lens of the visible light camera is right aligned with the visible light hole, an infrared head of the thermal infrared imager is right aligned with the infrared hole, a wiper of the wiper mechanism is pressed on the transparent glass of the visible light hole and can swing back and forth, a wiper driving part of the wiper mechanism is mounted in the camera chamber, and a torque output end of the wiper driving part penetrates out of the camera chamber and is connected with the wiper.
4. The intelligent inspection robot according to claim 3, wherein a light supplementing hole is formed in a front side wall of the camera bin, light-transmitting glass is mounted in the light supplementing hole, a light supplementing lamp is arranged in the camera bin, and a light emitting end of the light supplementing lamp is aligned with the light supplementing hole.
5. The intelligent inspection robot according to claim 1, wherein the target confirmation module includes a rotating pan-tilt mounted on the traveling chassis and a laser receiver mounted on the rotating pan-tilt, the shooting directions of the visible light camera and the thermal infrared imager are consistent with the receiving direction of the laser receiver, and the rotating pan-tilt and the laser receiver are both connected to the main control module; the inspection point is provided with a laser transmitter for guiding the intelligent inspection robot to shoot and position; and after the inspection point is reached, the main control module controls the rotating holder to rotate in an omnibearing way until the laser receiver receives a signal transmitted by the laser transmitter, and the rotating holder is controlled to stop acting.
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| CN202010337761.1A CN111345277A (en) | 2020-04-26 | 2020-04-26 | Transformer substation intelligent inspection robot with bird repelling function |
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| CN202010337761.1A CN111345277A (en) | 2020-04-26 | 2020-04-26 | Transformer substation intelligent inspection robot with bird repelling function |
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