CN111531521A - A virtual reality inspection robot for transformer substation - Google Patents
A virtual reality inspection robot for transformer substation Download PDFInfo
- Publication number
- CN111531521A CN111531521A CN202010427051.8A CN202010427051A CN111531521A CN 111531521 A CN111531521 A CN 111531521A CN 202010427051 A CN202010427051 A CN 202010427051A CN 111531521 A CN111531521 A CN 111531521A
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- virtual reality
- mechanical arm
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- 238000007689 inspection Methods 0.000 title claims abstract description 26
- 238000004088 simulation Methods 0.000 claims abstract description 29
- 239000011521 glass Substances 0.000 claims abstract description 14
- 238000012790 confirmation Methods 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 238000013016 damping Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
-
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a virtual reality inspection robot for a transformer substation, which comprises a virtual reality module, a motion module, a target confirmation module, a shooting module and a main control module, wherein the main control module is connected with a management terminal in a wireless connection mode; the virtual reality module of the target confirmation module comprises a working mechanical arm connected with the main control module, and the management terminal comprises a control panel, video glasses and a simulation mechanical arm through a wireless module; the video signal that the shooting module will gather passes through host system real-time transmission extremely video glasses, the staff can be according to the signal that video glasses returned, the manual operation the action of simulation arm, the action information of simulation arm is gathered back through the control panel by wireless module sends to host system in real time, host system is according to the action information control of the simulation arm that receives work arm same action is made to the work arm.
Description
Technical Field
The invention relates to the field of power equipment, in particular to a virtual reality inspection robot for a transformer substation.
Background
The transformer substation area is great, and artifical check out test set in the transformer substation is very wasted time and energy, especially at night, because artifical the detection, also has the condition of lou examining simultaneously. At present, the inspection robot has been more and more used in the electric power field of patrolling, but the robot that patrols now only can realize the ordinary inspection of patrolling circuit equipment, still needs the staff to go to the scene in person and maintains when electric power line equipment breaks down, and intelligent degree is not high.
Disclosure of Invention
In order to solve the technical problem, the invention provides a virtual reality inspection robot for a transformer substation.
The technical scheme adopted by the invention is as follows: the intelligent patrol robot comprises a virtual reality module, a motion module, a target confirmation module, a shooting module and a main control module which is respectively in control connection with the virtual reality module, the motion module, the target confirmation module and the shooting module, wherein the main control module is connected with a management terminal in a wireless connection mode; 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 virtual reality module comprises a working mechanical arm connected with the main control module, and the management terminal comprises a control panel in communication connection with the main control module through a wireless module, and video glasses and a simulation mechanical arm which are respectively connected with the control panel; the video signal that the shooting module will gather passes through host system real-time transmission extremely video glasses, the staff can be according to the signal that video glasses returned, the manual operation the action of simulation arm, the action information of simulation arm is gathered back through the control panel by wireless module sends to host system in real time, host system is according to the action information control of the simulation arm that receives work arm same action is made to the work arm.
In the virtual reality inspection robot, the simulation mechanical arm is manufactured according to a certain proportion according to the shape and the size of the working mechanical arm, damping joints are adopted at all hinged parts of the simulation mechanical arm, and each damping joint comprises a cover plate, a screw rod and a sensor which are arranged at the hinged parts of two adjacent arms; the control board acquires the action information of the simulation mechanical arm by acquiring the numerical values of the sensors; and each hinged part of the working mechanical arm is provided with a driving device.
In the virtual reality inspection robot, the simulation mechanical arm comprises a first connecting rod hinged on a base, the tail end of the first connecting rod is hinged with a first upper arm, the tail end of the first upper arm is hinged with a first small arm, the tail end of the first small arm is hinged with a first manipulator, and sensors for measuring the rotation angle are arranged at the hinged parts of the base, the first connecting rod, the first upper arm, the first small arm and the first manipulator; the working mechanical arm comprises a second side link rod which is hinged to the intelligent patrol robot, a second upper arm is hinged to the tail end of the second side link rod, a second small arm is hinged to the tail end of the second upper arm, a second mechanical arm is hinged to the tail end of the second small arm, and driving devices are arranged at hinged positions of the frame, the second side link rod, the second upper arm, the second small arm and the second mechanical arm.
In the virtual reality inspection robot, the target confirmation module comprises a rotating holder installed on the walking chassis and a laser receiver installed on the rotating holder, and the rotating holder and the laser receiver are both connected with the main control module; the patrol viewpoint is provided with a laser transmitter for guiding the intelligent 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.
In the virtual reality inspection robot, the walking chassis further comprises a collision switch support, a collision switch is arranged in the collision switch support and connected with a contact edge mounting plate, a safe contact edge is mounted on the contact edge mounting plate, and the collision switch is connected with a main control module
In the virtual reality inspection robot, the shooting module comprises 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.
According to the virtual reality inspection robot, binocular vision of a person can be simulated through the virtual reality module, and ground workers can remotely control mechanical arms on the inspection robot through the simulated mechanical arms according to pictures transmitted by the inspection robot in real time, so that remote overhaul, cleaning and other work can be realized; the laser is adopted to guide the photographing, so that the position guidance is quicker, and the photographing position is more accurate; need not artifical guide walking and shoot the position, can realize full-automatic intelligent tour.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of a wire structure according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a frame line structure of a virtual reality module according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of a patrol robot in the embodiment of the present 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 fig. 3, an embodiment of the present invention provides a virtual reality inspection robot for a transformer substation, including a virtual reality module 21, a motion module 11, a target confirmation module 12, a shooting module 13, and a main control module 14 respectively controlling and connecting the motion module 11, the target confirmation module 12, and the shooting module 13; the main control module 14 is connected with the management terminal 15 by means of wireless connection. 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 23 confirms the patrol point. The virtual reality module 21 comprises a working mechanical arm 22 connected with the main control module 14, and the management terminal 15 comprises a control board 24 connected with the main control module 14 in a communication way through a wireless module 23, and video glasses 25 and a simulation mechanical arm 26 respectively connected with the control board 24; the shooting module 13 transmits the collected video signals to the video glasses 25 in real time through the main control module 14, a worker can operate the simulation mechanical arm 26 to act by hand according to the signals transmitted back by the video glasses 25, action information of the simulation mechanical arm 26 is collected through the control panel 24 and then is transmitted to the main control module 14 in real time through the wireless module 23, and the main control module 14 controls the working mechanical arm 22 to do the same action according to the received action information of the simulation mechanical arm 26. Specifically, the simulation mechanical arm 26 is manufactured according to a certain proportion according to the shape and size of the working mechanical arm 22, each hinged part of the simulation mechanical arm 26 adopts a damping joint, and the damping joint comprises a cover plate, a screw rod and a sensor which are arranged at the hinged parts of two adjacent arms; the control board 24 acquires the action information of the simulation mechanical arm 26 by acquiring the numerical values of the sensors; each hinge of the work arm 22 is provided with a drive. The simulation mechanical arm 26 comprises a first connecting rod hinged on a base, a first upper arm is hinged at the tail end of the first connecting rod, a first small arm is hinged at the tail end of the first upper arm, a first manipulator is hinged at the tail end of the first small arm, and sensors for measuring the rotating angle are arranged at the hinged positions of the base, the first connecting rod, the first upper arm, the first small arm and the first manipulator; the work mechanical arm 22 comprises a second side link rod which is hinged to the intelligent patrol robot, a second upper arm is hinged to the tail end of the second side link rod, a second small arm is hinged to the tail end of the second upper arm, a second mechanical arm is hinged to the tail end of the second small arm, and driving devices are arranged at the hinged positions of the frame, the second side link rod, the second upper arm, the second small arm and the second mechanical arm. In actual operation, a worker operates the simulation mechanical arm 26 with a hand through a signal of the video glasses 25, the control board 24 collects values of the sensors and sends the values to the main control module 14, the main control module 14 analyzes the received data of the sensors, and then sends corresponding pulses to driving devices at different positions of the working mechanical arm 22, and the driving devices rotate by corresponding angles. Meanwhile, the scene condition is collected and transmitted to the video glasses 25 by the shooting module 13, so that the binocular vision of a person is simulated, and the control process is more intuitive. Preferably, the control board 24 obtains the current value of the sensor five times in succession, and takes the median value as the value of the current sensor using the bubble algorithm. This reduces the fluctuation error of the acquired sensor values. The control board 24 sends the sensor value using the number + sensor data. This way, the values of multiple sets of sensors can be efficiently transmitted.
Further, the management terminal 15 may obtain operation information of the intelligent robot through the main control module or send a control command to control the operation of the intelligent robot. Specifically, the target confirmation module 12 includes a rotating platform 64 installed on the traveling chassis 65 and a laser receiver 63 installed on the rotating platform 64, and both the rotating platform 64 and the laser receiver 63 are connected to the main control module 15. The work robot 22 may be mounted on a rotating pan/tilt 64 and rotate along with the rotating pan/tilt 64 to enable it to perform maintenance in multiple directions. A laser transmitter for guiding the intelligent robot to shoot and position is arranged at the inspection point of the transformer substation; 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 walking chassis 65 further comprises a collision switch support 66, a collision switch is arranged in the collision switch support, the collision switch is connected with a contact edge mounting plate, a safe contact edge is mounted on the contact edge mounting plate, and the collision switch is connected with the main control module. When the safety touch edge touches other objects, the action force is fed back to the collision switch, the collision switch starts a touch signal to the main control module, and the main control module controls the walking chassis 65 to stop advancing after receiving the signal, so that better collision avoidance is provided.
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 (6)
1. A virtual reality inspection robot for a transformer substation is characterized by comprising a virtual reality module, a motion module, a target confirmation module, a shooting module and a main control module which is respectively in control connection with the virtual reality module, the motion module, the target confirmation module and the shooting module, wherein the main control module is connected with a management terminal in a wireless connection mode; 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 virtual reality module comprises a working mechanical arm connected with the main control module, and the management terminal comprises a control panel in communication connection with the main control module through a wireless module, and video glasses and a simulation mechanical arm which are respectively connected with the control panel; the video signal that the shooting module will gather passes through host system real-time transmission extremely video glasses, the staff can be according to the signal that video glasses returned, the manual operation the action of simulation arm, the action information of simulation arm is gathered back through the control panel by wireless module sends to host system in real time, host system is according to the action information control of the simulation arm that receives work arm same action is made to the work arm.
2. The virtual reality inspection robot according to claim 1, wherein the simulation mechanical arm is manufactured in a certain proportion according to the shape and size of the working mechanical arm, damping joints are adopted at each hinged part of the simulation mechanical arm, and each damping joint comprises a cover plate, a screw rod and a sensor which are arranged at the hinged parts of two adjacent arms; the control board acquires the action information of the simulation mechanical arm by acquiring the numerical values of the sensors; and each hinged part of the working mechanical arm is provided with a driving device.
3. The virtual reality patrol robot according to claim 2, wherein the simulation mechanical arm comprises a first link rod hinged on a base, a first upper arm is hinged at the end of the first link rod, a first small arm is hinged at the end of the first upper arm, a first manipulator is hinged at the end of the first small arm, and sensors for measuring the rotation angle are arranged at the hinged positions of the base, the first link rod, the first upper arm, the first small arm and the first manipulator; the working mechanical arm comprises a second side link rod which is hinged to the intelligent patrol robot, a second upper arm is hinged to the tail end of the second side link rod, a second small arm is hinged to the tail end of the second upper arm, a second mechanical arm is hinged to the tail end of the second small arm, and driving devices are arranged at hinged positions of the frame, the second side link rod, the second upper arm, the second small arm and the second mechanical arm.
4. The virtual reality inspection robot according to claim 1, wherein the target confirmation module comprises a rotating pan-tilt mounted on the walking chassis and a laser receiver mounted on the rotating pan-tilt, and both the rotating pan-tilt and the laser receiver are connected with the main control module; the patrol viewpoint is provided with a laser transmitter for guiding the intelligent 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.
5. The virtual reality inspection robot according to claim 1, wherein the traveling chassis further comprises a collision switch bracket, a collision switch is arranged in the collision switch bracket, the collision switch is connected with a contact edge mounting plate, a safe contact edge is mounted on the contact edge mounting plate, and the collision switch is connected with the main control module.
6. The virtual reality inspection robot according to claim 1, wherein the photographing module comprises a visible light camera and a thermal infrared imager, and the photographing direction of the visible light camera and the thermal infrared imager is consistent with the receiving direction of the laser receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010427051.8A CN111531521A (en) | 2020-05-19 | 2020-05-19 | A virtual reality inspection robot for transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010427051.8A CN111531521A (en) | 2020-05-19 | 2020-05-19 | A virtual reality inspection robot for transformer substation |
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| Publication Number | Publication Date |
|---|---|
| CN111531521A true CN111531521A (en) | 2020-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010427051.8A Pending CN111531521A (en) | 2020-05-19 | 2020-05-19 | A virtual reality inspection robot for transformer substation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112039212A (en) * | 2020-09-08 | 2020-12-04 | 国网山东省电力公司平邑县供电公司 | Intelligent maintenance system for electric equipment |
| CN113211434A (en) * | 2021-04-25 | 2021-08-06 | 南京邮电大学 | AR complex system equipment remote maintenance system based on Internet of things |
| CN114544250A (en) * | 2022-03-14 | 2022-05-27 | 重庆华辉涂料有限公司 | Multifunctional wet film pollutant sampling device |
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| CN109571513A (en) * | 2018-12-15 | 2019-04-05 | 华南理工大学 | A kind of mobile crawl service robot system of immersion |
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| RO201500033U1 (en) * | 2015-06-02 | 2016-08-30 | Pavel Constantinescu | Burglar-proof monitoring system to be mounted on a vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112039212A (en) * | 2020-09-08 | 2020-12-04 | 国网山东省电力公司平邑县供电公司 | Intelligent maintenance system for electric equipment |
| CN113211434A (en) * | 2021-04-25 | 2021-08-06 | 南京邮电大学 | AR complex system equipment remote maintenance system based on Internet of things |
| CN114544250A (en) * | 2022-03-14 | 2022-05-27 | 重庆华辉涂料有限公司 | Multifunctional wet film pollutant sampling device |
| CN114544250B (en) * | 2022-03-14 | 2024-04-02 | 重庆华辉涂料有限公司 | Multifunctional wet film pollutant sampling device |
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Application publication date: 20200814 |