CN111482962A - Detection equipment for obstacle avoidance capability of transformer substation inspection robot - Google Patents
Detection equipment for obstacle avoidance capability of transformer substation inspection robot Download PDFInfo
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- CN111482962A CN111482962A CN202010262991.6A CN202010262991A CN111482962A CN 111482962 A CN111482962 A CN 111482962A CN 202010262991 A CN202010262991 A CN 202010262991A CN 111482962 A CN111482962 A CN 111482962A
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- detector
- inspection robot
- alarm
- substation inspection
- obstacle avoidance
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- 238000007689 inspection Methods 0.000 title claims abstract description 75
- 238000001514 detection method Methods 0.000 title claims abstract description 49
- 230000005236 sound signal Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000002349 favourable effect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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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
- B25J19/026—Acoustical sensing devices
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- Acoustics & Sound (AREA)
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Abstract
The invention discloses detection equipment for obstacle avoidance capability of a transformer substation inspection robot, which comprises a detection device, a controller and an alarm, wherein the detection device comprises a detection unit, a detection unit and a detection unit; the detection device comprises a first detector and a second detector, wherein the second detector is arranged on the first detector through a telescopic rotatable connecting piece; the first detector is used for measuring a first relative distance between the first detector and a preset transformer substation inspection robot; the second detector is used for measuring a second relative distance between the second detector and the substation inspection robot; the controller is used for judging whether the alarm needs to be started or not according to a preset alarm distance, the first relative distance and the second relative distance; the alarm is used for sending out an alarm signal; according to the technical scheme, the position of the inspection robot is detected by adopting at least two detectors according to the environment of the transformer substation, so that the detection precision of the obstacle avoidance capability of the inspection robot is improved, and the obstacle avoidance function of the inspection robot is favorably improved.
Description
Technical Field
The invention relates to the technical field of operation and maintenance of transformer substations, in particular to detection equipment for obstacle avoidance capacity of a transformer substation inspection robot.
Background
At present, the mode of manual inspection is usually adopted to detect substation equipment so as to find abnormal conditions appearing in the substation in time, thereby ensuring that the substation operates safely and stably, however, manual inspection consumes a large amount of manpower and material resources, and the arrival rate of personnel can not be ensured under the influence of weather.
Among the prior art, replace artifical the patrolling and examining through the mode of patrolling and examining the robot, its principle is: the transformer substation inspection robot detects the transformer substation by carrying detection equipment such as visible light task equipment and a thermal infrared imager, and therefore manual inspection is replaced. In order to enable the inspection mode of the inspection robot to better replace the manual inspection mode, the obstacle avoidance capability of the inspection robot needs to be detected before the inspection robot is put into use, the obstacle avoidance capability of the existing substation inspection robot is detected by judging the obstacle avoidance function of the substation inspection robot in a mode of detecting whether the substation inspection robot touches an obstacle, however, the probability of damage of the inspection robot is increased due to collision of the inspection robot and the obstacle in the mode, besides, the obstacle avoidance capability detection of the existing substation inspection robot is not combined with the environment of a substation, for example, a transformer substation support column is provided with high-voltage equipment, a certain safety distance needs to exist between a high-voltage equipment live part and a robot, and the current detection cannot detect the capability of the transformer substation inspection robot for avoiding the equipment live part.
Disclosure of Invention
The invention provides detection equipment for the obstacle avoidance capability of a transformer substation inspection robot, and aims to solve the technical problem that the existing inspection robot is poor in obstacle avoidance capability detection effect.
In order to solve the technical problem, an embodiment of the present invention provides a detection apparatus for an obstacle avoidance capability of a substation inspection robot, including:
the device comprises a detection device, a controller and an alarm; the detection device comprises a first detector and a second detector, wherein the second detector is arranged on the first detector through a telescopic rotatable connecting piece;
the first detector is used for measuring a first relative distance between the first detector and a preset substation inspection robot;
the second detector is used for measuring a second relative distance between the second detector and the substation inspection robot;
the controller is used for judging whether an alarm needs to be started or not according to a preset alarm distance, the first relative distance and the second relative distance;
the alarm is used for sending out an alarm signal.
As a preferred scheme, the connecting piece is a telescopic sleeve;
one end of the telescopic pipe is connected with the first detector through a fixed hinge;
the other end of the telescopic sleeve is connected with the second detector through a fastener.
Preferably, the connecting piece comprises a first bracket and a second bracket;
one end of the first bracket is connected with the first detector through a fixed hinge;
the other end of the first bracket is connected with one end of the second bracket through a fastener;
the other end of the second support is connected with the second detector through a fastener.
As a preferred scheme, the alarm is a buzzer;
when the controller judges that the transformer substation inspection robot enters an alarm area, the buzzer sends out a sound signal;
and when the controller judges that the transformer substation inspection machine does not enter an alarm area, the buzzer does not send out a sound signal.
As a preferred scheme, the alarm is a vibrator;
when the controller judges that the transformer substation inspection robot enters an alarm area, the vibrator sends out a vibration signal;
and when the controller judges that the transformer substation inspection machine does not enter an alarm area, the vibrator does not send out a vibration signal.
Preferably, the first detector and the second detector are both ultrasonic range finders.
The embodiment of the invention has the following beneficial effects:
the detection equipment for the obstacle avoidance capability of the transformer substation inspection robot provided by the embodiment of the invention comprises a detection device, a controller and an alarm; the detection device comprises a first detector and a second detector, wherein the second detector is arranged on the first detector through a telescopic rotatable connecting piece; the first detector is used for measuring a first relative distance between the first detector and a preset transformer substation inspection robot; the second detector is used for measuring a second relative distance between the second detector and the substation inspection robot; the controller is used for judging whether the alarm needs to be started or not according to a preset alarm distance, the first relative distance and the second relative distance; the alarm is used for sending out an alarm signal; compared with the existing inspection robot obstacle avoidance capability detection method, the controller provided by the invention compares the first relative distance acquired by the first detector with the preset alarm distance to judge whether the alarm needs to be started or not, so that the damage of the inspection robot caused by collision between the inspection robot and an obstacle is reduced, and the cost is reduced. In addition, the second detector is arranged on the first detector, and the second detector simulates the electrified part of the high-voltage equipment of the transformer substation, so that the detection precision of the obstacle avoidance capability of the inspection robot is improved, and the obstacle avoidance function of the inspection robot is improved.
Drawings
Fig. 1 is a schematic structural diagram of a detection device for obstacle avoidance capability of a substation inspection robot according to a preferred embodiment of the present invention;
fig. 2 is a schematic structural diagram of another preferred embodiment of the detection device for the obstacle avoidance capability of the substation inspection robot provided by the invention;
fig. 3 is a schematic structural diagram of another preferred embodiment of the detection device for the obstacle avoidance capability of the substation inspection robot, provided by the invention;
wherein the reference numbers in the drawings of the specification are as follows:
1. a first detector; 2. a second detector; 3. an alarm; 4. a controller; 5. a connecting member; 6. the alarm distance of the first detector; 7. the alarm distance of the second detector; 8. and (5) inspecting the robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to fig. 3, the invention is a schematic structural diagram of a detection device for obstacle avoidance capability of a substation inspection robot. The apparatus comprises: the device comprises a detection device, a controller 4 and an alarm 3; the detection device comprises a first detector 1 and a second detector 2, wherein the second detector 2 is arranged on the first detector 1 through a telescopic rotatable connecting piece 5;
the first detector 1 is used for measuring a first relative distance between the first detector 1 and a preset substation inspection robot 8; the second detector 2 is used for measuring a second relative distance between the second detector 2 and the substation inspection robot 8; the controller 4 is used for judging whether the alarm 3 needs to be started or not according to a preset alarm distance, the first relative distance and the second relative distance; the alarm 3 is used for sending out an alarm signal.
In this embodiment, first detector 1 is used for simulating the support column of transformer substation, detects first detector 1 through first detector 1 and patrols and examines the relative distance between robot 8, is favorable to real time monitoring to patrol and examine the relative distance between robot 8 and the first detector 1, prevents the emergence of collision, reduces the cost of maintenance of robot.
In this embodiment, second detector 2 is used for simulating the electrified part of high-tension apparatus on the support column, detects second detector 2 and patrols and examines the relative distance between the robot 8 through second detector 2, is favorable to real time monitoring second detector 2 and patrols and examines the relative distance between the robot 8, improves the detection precision of patrolling and examining 8 the obstacle avoidance ability of robot, promotes the obstacle avoidance function of patrolling and examining robot 8, prevents high-tension apparatus and patrols and examines robot 8 and take place the electric shock accident.
In one of the preferred embodiments, the connecting member 5 is a telescopic tube; one end of the telescopic tube is connected with the first detector 1 through a fixed hinge; the other end of the telescopic tube is connected with the second detector 2 through a fastener.
In one of the preferred embodiments, the connector 5 comprises a first bracket, a second bracket; one end of the first bracket is connected with the first detector 1 through a fixed hinge; the other end of the first bracket is connected with one end of the second bracket through a fastener; the other end of the second bracket is connected with the second detector 2 through a fastener.
In this embodiment, adjust the relative distance between first detector 1 and the second detector 2 through scalable rotatable connecting piece 5, be favorable to the various environment of simulation transformer substation, for example, distance and inclination between each high-voltage apparatus electrified part and support column or the equipment base to improve the variety and the reuse nature of equipment, and then reduce and patrol and examine the detection cost that robot 8 kept away the barrier ability.
In one of the preferred embodiments, the alarm 3 is a buzzer; when the controller 4 judges that the transformer substation inspection robot 8 enters an alarm area, the buzzer sends out a sound signal; when the controller 4 judges that the substation inspection machine does not enter the alarm area, the buzzer does not send out sound signals.
In one of the preferred embodiments, the alarm 3 is a vibrator; when the controller 4 judges that the transformer substation inspection robot 8 enters an alarm area, the vibrator sends out a vibration signal; when the controller 4 judges that the substation inspection machine does not enter the alarm area, the vibrator does not send out a vibration signal.
In one of the preferred embodiments, the first probe 1 and the second probe 2 are both ultrasonic range finders.
The working principle of the detection device for the obstacle avoidance capability of the substation inspection robot provided by the invention is specifically described below with reference to the above embodiments and fig. 1, 2 and 3:
The second detection is arranged on the first detector 1 through the connecting piece 5, the relative distance between the first detector 1 and the second detector 2 can be adjusted through the connecting piece 5, the simulation of the relative distance between each high-voltage device and a support column or a device base in a transformer substation is facilitated, the reusability of the device is improved, the detection cost of the obstacle avoidance capability of the inspection robot 8 is reduced, the second relative distance between the second detector 2 and the inspection robot 8 is detected in real time through the second detector 2, the second relative distance is sent to the controller 4, the controller 4 compares the second relative distance with the preset alarm distance 7 of the second detector, if the second relative distance belongs to the alarm distance 7 of the second detector, the controller 4 controls the alarm 3 to send an alarm signal, and the alarm distance of the second detector 2 can be set according to the actual situation, the safety range of the voltage levels corresponding to different high-voltage equipment can be simulated, and the detection cost of the obstacle avoidance capability of the inspection robot 8 is further improved.
Therefore, the detection equipment for the obstacle avoidance capability of the transformer substation inspection robot provided by the embodiment of the invention comprises a detection device, a controller and an alarm; the detection device comprises a first detector and a second detector, wherein the second detector is arranged on the first detector through a telescopic rotatable connecting piece; the first detector is used for measuring a first relative distance between the first detector and a preset transformer substation inspection robot; the second detector is used for measuring a second relative distance between the second detector and the substation inspection robot; the controller is used for judging whether the alarm needs to be started or not according to a preset alarm distance, the first relative distance and the second relative distance; the alarm is used for sending out an alarm signal; compared with the existing inspection robot obstacle avoidance capability detection method, the controller provided by the invention compares the first relative distance acquired by the first detector with the preset alarm distance to judge whether the alarm needs to be started or not, so that the damage of the inspection robot caused by collision between the inspection robot and an obstacle is reduced, and the cost is reduced. In addition, the second detector is arranged on the first detector, and high-voltage equipment of the transformer substation is simulated through the second detector, so that the detection precision of the obstacle avoidance capability of the inspection robot is improved, and the obstacle avoidance function of the inspection robot is improved.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides a check out test set of barrier ability of robot for transformer substation, its characterized in that includes: the device comprises a detection device, a controller and an alarm; the detection device comprises a first detector and a second detector, wherein the second detector is arranged on the first detector through a telescopic rotatable connecting piece;
the first detector is used for measuring a first relative distance between the first detector and a preset substation inspection robot;
the second detector is used for measuring a second relative distance between the second detector and the substation inspection robot;
the controller is used for judging whether an alarm needs to be started or not according to a preset alarm distance, the first relative distance and the second relative distance;
the alarm is used for sending out an alarm signal.
2. The detection equipment for the obstacle avoidance capability of the substation inspection robot according to claim 1, wherein the connecting piece is a telescopic sleeve;
one end of the telescopic pipe is connected with the first detector through a fixed hinge;
the other end of the telescopic sleeve is connected with the second detector through a fastener.
3. The detection equipment for the obstacle avoidance capability of the substation inspection robot according to claim 1, wherein the connecting piece comprises a first bracket and a second bracket;
one end of the first bracket is connected with the first detector through a fixed hinge;
the other end of the first bracket is connected with one end of the second bracket through a fastener;
the other end of the second support is connected with the second detector through a fastener.
4. The detection equipment for the obstacle avoidance capability of the substation inspection robot according to claim 1, wherein the alarm is a buzzer;
when the controller judges that the transformer substation inspection robot enters an alarm area, the buzzer sends out a sound signal;
and when the controller judges that the transformer substation inspection machine does not enter an alarm area, the buzzer does not send out a sound signal.
5. The detection equipment for the obstacle avoidance capability of the substation inspection robot according to claim 1, wherein the alarm is a vibrator;
when the controller judges that the transformer substation inspection robot enters an alarm area, the vibrator sends out a vibration signal;
and when the controller judges that the transformer substation inspection machine does not enter an alarm area, the vibrator does not send out a vibration signal.
6. The detection equipment for the obstacle avoidance capability of the substation inspection robot according to claim 1, wherein the first detector and the second detector are both ultrasonic range finders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010262991.6A CN111482962B (en) | 2020-04-03 | 2020-04-03 | Detection equipment for obstacle avoidance capability of substation inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010262991.6A CN111482962B (en) | 2020-04-03 | 2020-04-03 | Detection equipment for obstacle avoidance capability of substation inspection robot |
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| CN111482962A true CN111482962A (en) | 2020-08-04 |
| CN111482962B CN111482962B (en) | 2024-09-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113066258A (en) * | 2021-04-02 | 2021-07-02 | 国家电网有限公司 | Warning structure applied to overhaul site in transformer substation and use method thereof |
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| KR101810151B1 (en) * | 2016-07-19 | 2017-12-19 | 재단법인대구경북과학기술원 | Robot mobility test system with collapse simulation |
| CN108198382A (en) * | 2018-01-12 | 2018-06-22 | 沈阳工程学院 | Ultra-high-tension power transmission line anticollision on-line monitoring system and monitoring method |
| CN110702100A (en) * | 2019-08-19 | 2020-01-17 | 同济大学 | Flexible detection platform suitable for narrow region |
| US20210088652A1 (en) * | 2017-03-31 | 2021-03-25 | A^3 By Airbus Llc | Vehicular monitoring systems and methods for sensing external objects |
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2020
- 2020-04-03 CN CN202010262991.6A patent/CN111482962B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105957298A (en) * | 2016-05-27 | 2016-09-21 | 国网吉林省电力有限公司白山供电公司 | Transmission line damage prevention early warning system based on multi-sensor fusion technology |
| KR101810151B1 (en) * | 2016-07-19 | 2017-12-19 | 재단법인대구경북과학기술원 | Robot mobility test system with collapse simulation |
| US20210088652A1 (en) * | 2017-03-31 | 2021-03-25 | A^3 By Airbus Llc | Vehicular monitoring systems and methods for sensing external objects |
| CN108198382A (en) * | 2018-01-12 | 2018-06-22 | 沈阳工程学院 | Ultra-high-tension power transmission line anticollision on-line monitoring system and monitoring method |
| CN110702100A (en) * | 2019-08-19 | 2020-01-17 | 同济大学 | Flexible detection platform suitable for narrow region |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113066258A (en) * | 2021-04-02 | 2021-07-02 | 国家电网有限公司 | Warning structure applied to overhaul site in transformer substation and use method thereof |
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| CN111482962B (en) | 2024-09-20 |
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