CN112476461A - Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method - Google Patents
Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method Download PDFInfo
- Publication number
- CN112476461A CN112476461A CN202011343223.XA CN202011343223A CN112476461A CN 112476461 A CN112476461 A CN 112476461A CN 202011343223 A CN202011343223 A CN 202011343223A CN 112476461 A CN112476461 A CN 112476461A
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- robot
- aerial vehicle
- unmanned aerial
- transformer substation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a substation inspection robot carrying an unmanned aerial vehicle and an inspection method, wherein the substation inspection robot comprises a robot moving platform, the unmanned aerial vehicle, a robot body controller, a wireless router and a background monitoring system; the robot moving platform is connected with the robot body controller, the robot body controller is in information transmission with the background monitoring system through the wireless router, and controls the robot moving platform to walk and stop on a patrol inspection line preset in a transformer substation according to a control instruction of the background monitoring system, and the robot moving platform is provided with an unmanned aerial vehicle; unmanned aerial vehicle and the transmission of this body control ware wireless information of robot receive this body control ware control of robot to take off and descend, and shoot the equipment and the instrument of transformer substation through the subassembly of making a video recording on the unmanned aerial vehicle. The invention is not influenced by the walking inclination angle of the inspection robot, and can clearly shoot the equipment and the instrument of the transformer substation when being close to or far away from the equipment of the transformer substation, thereby safely and reliably finishing the inspection work of the transformer substation.
Description
Technical Field
The invention relates to the technical field of substation inspection, in particular to a substation inspection robot carrying an unmanned aerial vehicle and an inspection method.
Background
The transformer substation is one of power equipment, and particularly relates to a place for converting voltage and current, receiving electric energy and distributing electric energy in a power system. In order to ensure the safe use of the transformer substation, the transformer substation needs to be regularly patrolled and examined, manual patrol and examine is the traditional operation mode of transformer substation patrol and examine, and patrol and examine personnel sometimes cause missing examination, wrong examination very easily because of factors such as work fatigue and boring, according to the statistics of China's electric academy of sciences and shows that the direct economic loss that each year causes because missing examination and wrong examination all exceeds 26 hundred million yuan, and visible manual patrol and examine and be difficult to guarantee the safe and reliable of electric power system.
Along with the development of science and technology, use and patrol and examine the robot and accomplish the task of patrolling and examining, can improve the reliability of transformer substation's operation, become a development trend. However, the inspection task completed by the inspection robot has the following problems: when the inspection robot walks to the shooting position and stops, an inclination angle is generated under the influence of factors such as inertia and the like until a shooting target exceeds the shooting range of the camera shooting assembly. Secondly, a maximum upward elevation angle exists between a camera shooting assembly of the inspection robot and the inspection robot, if the inspection robot travels to a position close to the equipment of the transformer substation, the camera shooting assembly is limited by the maximum upward elevation angle, and the problem that a target cannot be shot when the camera shooting assembly rotates upward to the maximum elevation angle still exists; in addition, if the inspection robot travels far away from the equipment of the transformer substation, the shooting target deviates from the shooting range as long as the camera shooting assembly rotates by a small angle.
Disclosure of Invention
In order to solve the problems, the invention provides a transformer substation inspection robot carrying an unmanned aerial vehicle and an inspection method.
The technical scheme adopted by the invention is as follows:
a transformer substation inspection robot carrying an unmanned aerial vehicle comprises a robot moving platform, the unmanned aerial vehicle, a robot body controller, a wireless router and a background monitoring system; the robot moving platform is connected with the robot body controller, the robot body controller is in information transmission with the background monitoring system through the wireless router and controls the robot moving platform to walk and stop on a patrol line preset in the transformer substation according to a control instruction of the background monitoring system, and the robot moving platform is provided with an unmanned aerial vehicle; unmanned aerial vehicle and the transmission of this body control ware wireless information of robot, and controlled by this body control ware of robot take off and descend, and shoot the equipment and the instrument of transformer substation through the subassembly of making a video recording on the unmanned aerial vehicle.
Preferably, the robot mobile platform is further provided with a camera shooting cloud platform, the camera shooting cloud platform and the robot body controller are in wired information transmission and controlled by the robot body controller, and equipment, instruments and the environment of the transformer substation can be shot.
Preferably, the robot body controller and the unmanned aerial vehicle are in wired information transmission through power supply and data transmission cables; the power supply and data transmission cable is wound on the cable winch, one end of the cable winch is connected with the unmanned aerial vehicle, and the other end of the cable winch is connected with the robot body controller; the cable winch is arranged on the robot moving platform and can rotate forwards or backwards through an electric device on the robot moving platform to receive and release power supply and data transmission cables.
Preferably, the length of the retractable power supply and data transmission cable is 2.5 meters.
Preferably, unmanned aerial vehicle's the subassembly of making a video recording comprises infrared camera and visible light camera.
Preferably, the unmanned aerial vehicle is further provided with an unmanned aerial vehicle propeller protective cover.
Preferably, a laser positioning device is arranged in the robot body controller, and the robot moving platform walks on a routing inspection line specified in a transformer substation by means of the laser positioning device.
Preferably, the robot moving platform is further provided with a laser range finder and an ultrasonic radar which are connected with the robot body controller.
The method for inspecting the transformer substation by using the transformer substation inspection robot carrying the unmanned aerial vehicle comprises the following steps that the robot moves to a shooting position, a robot body controller receives a control instruction of a central control system and controls a robot moving platform to move to a device instrument shooting position of the transformer substation on an inspection line specified in the transformer substation according to the control instruction and stop; receiving a shooting instruction, receiving a control instruction of the background monitoring system by the robot body controller through the wireless router, controlling the unmanned aerial vehicle to take off, and shooting equipment and instruments of the transformer substation by the unmanned aerial vehicle through a camera assembly on the unmanned aerial vehicle; the unmanned aerial vehicle camera shooting assembly transmits the shot picture to the robot body controller, and the robot body controller transmits the shot picture to the background monitoring system; fourthly, a polling result is formed, and the background monitoring system carries out analysis processing according to the shooting picture of the equipment instrument of the transformer substation to form the polling result.
The invention has the beneficial effects that:
1. the invention is not influenced by the walking inclination angle of the inspection robot, and can clearly shoot the equipment and the instrument of the transformer substation when the inspection robot is close to or far away from the equipment of the transformer substation.
2. According to the invention, the robot body controller and the unmanned aerial vehicle are in wired information transmission, and the power supply and data transmission cable is wound on the cable winch, so that the effectiveness and reliability of information transmission between the unmanned aerial vehicle and the robot body controller can be ensured, meanwhile, the power supply and data transmission cable can also effectively limit the maximum flying distance of the unmanned aerial vehicle, and the transformer substation inspection work can be safely and reliably completed.
3. The unmanned aerial vehicle is also provided with the unmanned aerial vehicle propeller protective cover, so that unmanned aerial vehicle is further prevented from colliding with equipment in a transformer substation, and the unmanned aerial vehicle is further prevented from being damaged.
4. The robot moving platform is also provided with a laser range finder and an ultrasonic radar which are connected with the robot body controller, so that the robot moving platform can effectively avoid obstacles when walking on a routing inspection line specified in a transformer substation.
Drawings
FIG. 1 is a schematic view of the automated guided vehicle of the present invention during travel;
FIG. 2 is a schematic view of the unmanned aerial vehicle of the present invention during filming;
FIG. 3 is a schematic structural diagram of the unmanned aerial vehicle of the present invention;
FIG. 4 is a schematic view of the installation position of the laser range finder of the present invention;
fig. 5 is a working principle diagram of the robot body controller of the present invention.
In fig. 1-4, 1-robot moving platform, 2-unmanned aerial vehicle, 3-the cloud platform of making a video recording, 4-the subassembly of making a video recording, 5-power supplies, data transmission cable, 6-cable capstan winch, 7-infrared camera, 8-visible light make a video recording, 9-unmanned aerial vehicle screw safety cover, 10-the this controller of robot, 11-laser range finder, 12-ultrasonic radar, 13-the drive wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1-5, the invention relates to a substation inspection robot carrying an unmanned aerial vehicle, which comprises a robot moving platform 1, an unmanned aerial vehicle 2, a robot body controller 10, a wireless router and a background monitoring system. Robot moving platform 1 is connected with the robot body control ware 10, the robot body control ware 10 carries out information transmission through wireless router and backstage monitored control system, the robot body control ware 10 is located inside to wireless router, robot body control ware 10 is according to backstage monitored control system control instruction, walking and parking on the inspection line of control robot moving platform 1 predetermineeing in the transformer substation, robot moving platform 1 relies on the walking of rear side drive wheel 13 and stops, be equipped with unmanned aerial vehicle 2 on the control robot moving platform 1. Unmanned aerial vehicle 2 and the wireless information transmission of this body control ware 10 of robot, and controlled by this body control ware 10 of robot take off and descend, and shoot the equipment and the instrument of transformer substation through camera module 4 on the unmanned aerial vehicle 10.
It should be noted that there are various guiding manners of the robot moving platform 1. Metal wires can be buried in a driving path, low-frequency and low-voltage current is loaded, a magnetic field is generated around the wires, and the robot moving platform 1 identifies and tracks the strength of a navigation magnetic field through an internal induction coil to realize electromagnetic guidance; the magnetic strip can be pasted on the road surface of the driving path to replace a metal wire, and the magnetic strip guidance is realized through the magnetic strip sensing signal; the two-dimensional code can be pasted on the road surface of the driving path, and the robot moving platform 1 can realize the guidance of the two-dimensional code by visually recognizing the two-dimensional code. The robot body controller 10 is internally provided with a laser positioning device, laser reflecting plates with accurate positions are arranged around a running path, the laser positioning device emits laser beams, the laser beams reflected by the reflecting plates are collected at the same time, the current position and direction are determined, laser guidance is realized through continuous triangular geometric operation, and the robot body controller walks on a routing inspection line specified in a transformer substation. The laser guiding method has higher flexibility and precision than other methods.
In order to enable the robot moving platform 1 to effectively avoid obstacles when the robot moving platform walks on a routing inspection line specified in a transformer substation. The robot moving platform 1 can be additionally provided with a laser range finder 11 and an ultrasonic radar 12 which are connected with the robot body controller 10, the laser range finder 11 is arranged on the front end face and the rear end face of the robot moving platform 1, and the ultrasonic radar 12 is arranged on the end faces of two sides of the robot moving platform 1. When the robot moving platform 1 walks, the laser range finder 11 and the ultrasonic radar 12 can sense obstacles around the robot moving platform 1 at any time, and cooperate with a laser positioning device in the robot body controller 10 to avoid the obstacles, and plan a route again to drive to a patrol and examine the route.
The robot body controller 10 is connected with the unmanned aerial vehicle 2 in an information transmission mode, and the robot body controller 10 receives a control instruction of the background monitoring system and controls the unmanned aerial vehicle 2 to take off and land. The unmanned aerial vehicle 2 shoots the equipment instrument of the transformer substation through the camera module 4 on the unmanned aerial vehicle, and the shot picture is transmitted to the central control system through the robot body controller 10. The camera assembly 4 of the drone 2 is preferably: the device comprises an infrared camera 7 and a visible light camera 8. Simultaneously, the unmanned aerial vehicle 2 is not affected by light and sunlight and can be shot at daytime and at night by being provided with an infrared camera 7 and a visible light camera 8.
When the transformer substation inspection robot carrying the unmanned aerial vehicle is used for transformer substation inspection, firstly, the robot body controller 10 receives a control instruction of a background monitoring system and controls the robot moving platform 1 to move to the equipment instrument of the transformer substation to shoot and stop on an inspection line specified in the transformer substation according to the control instruction, wherein the shooting position is reached at first. Then receive and shoot the instruction, the control command of central control system is received to robot body controller 10, controls unmanned aerial vehicle 2 to take off, and unmanned aerial vehicle 2 shoots the equipment instrument of transformer substation through the subassembly 4 of making a video recording on it. Then, information transmission is carried out, the camera shooting assembly 4 of the unmanned aerial vehicle 2 transmits the shot pictures to the robot body controller 10, and the robot body controller 10 transmits the shot pictures to a background monitoring system; and finally, forming a polling result, and analyzing and processing the background monitoring system according to the equipment instrument shooting picture of the transformer substation to form the polling result.
In order to further reduce the navigation times of the unmanned aerial vehicle 10, the camera shooting platform 3 can be additionally arranged on the robot mobile platform 1 to match with the unmanned aerial vehicle 10 to shoot equipment and instruments of the transformer substation. The camera shooting platform 3 is in information transmission with the robot body controller 10 in a wired mode and is controlled by the robot body controller 10. But through addding the environment of making a video recording cloud platform 3 real-time observation transformer substation, when the equipment instrument of walking to the transformer substation of robot moving platform 1 shoots the position, shoot the target and satisfy the shooting condition of making a video recording cloud platform 3, robot body control ware 10 then need not to transmit control instruction to unmanned aerial vehicle 2. The robot body controller 10 directly transmits a control instruction to the camera pan-tilt 3 for shooting, and transmits a shooting picture to the robot body controller 10, and the robot body controller 10 transmits the shooting picture to a background monitoring system. In addition, add camera shooting cloud platform 3 and also can make backstage monitored control system increase for manual mode through the walking mode of this body controller 10 control robot moving platform 1 of robot for this unmanned aerial vehicle's of carrying on transformer substation patrols and examines robot more nimble.
In order to ensure the effectiveness and reliability of information transmission between the robot body controller 10 and the unmanned aerial vehicle 2. The robot body controller 10 of the invention and the unmanned aerial vehicle 2 transmit wired information through a power supply and data transmission cable 5. The power supply and data transmission cable 5 is wound on a cable winch 6, one end of the power supply and data transmission cable is connected with the unmanned aerial vehicle 2, and the other end of the power supply and data transmission cable is connected with the robot body controller 10; the cable winch 6 is arranged on the robot moving platform 1 and can rotate forwards or backwards through an electric device on the robot moving platform 1 to receive and release the power supply and data transmission cable 5. Power supply, data transmission cable 5 twine on cable capstan winch 6, when can guarantee information transmission's validity and reliability between unmanned aerial vehicle 2 and the this body controller 10 of robot, power supply, data transmission cable 5 also can effectively restrict unmanned aerial vehicle 2's the maximum distance of flight, guarantee safe and reliable's completion transformer substation and patrol and examine work. The length of the retractable power supply and data transmission cable 5 is preferably 2.5 meters. Furthermore, in order to avoid collision of nobody with equipment in the substation, resulting in nobody damage. Still be equipped with unmanned aerial vehicle screw safety cover 9 on unmanned aerial vehicle 2.
Claims (9)
1. The utility model provides a carry on unmanned aerial vehicle's transformer substation and patrol and examine robot which characterized in that: the transformer substation inspection robot carrying the unmanned aerial vehicle comprises a robot moving platform, the unmanned aerial vehicle, a robot body controller, a wireless router and a background monitoring system; the robot moving platform is connected with the robot body controller, the robot body controller is in information transmission with the background monitoring system through the wireless router, and controls the robot moving platform to walk and stop on a patrol line preset in a transformer substation according to a control instruction of the background monitoring system, and the robot moving platform is provided with an unmanned aerial vehicle; unmanned aerial vehicle and the transmission of this body control ware wireless information of robot receive this body control ware control of robot to take off and descend, and shoot the equipment and the instrument of transformer substation through the subassembly of making a video recording on the unmanned aerial vehicle.
2. The unmanned aerial vehicle-mounted substation inspection robot according to claim 1, wherein: the robot moving platform is further provided with a camera shooting cloud deck, the camera shooting cloud deck is in wired information transmission with the robot body controller and is controlled by the robot body controller, and equipment, instruments and the environment of a transformer substation can be shot.
3. The unmanned aerial vehicle-mounted substation inspection robot according to claim 1, wherein: the robot body controller and the unmanned aerial vehicle are in wired information transmission through power supply and data transmission cables; the power supply and data transmission cable is wound on the cable winch, one end of the cable winch is connected with the unmanned aerial vehicle, and the other end of the cable winch is connected with the robot body controller; the cable winch is arranged on the robot moving platform and can rotate forwards or backwards through an electric device on the robot moving platform to receive and release power supply and data transmission cables.
4. The unmanned aerial vehicle-mounted substation inspection robot according to claim 1, wherein: the length of the cable for receiving, releasing, supplying power and transmitting data is 2.5 meters.
5. The unmanned aerial vehicle-mounted substation inspection robot according to claim 1, wherein: unmanned aerial vehicle's the subassembly of making a video recording comprises infrared camera and visible light camera.
6. The unmanned aerial vehicle-mounted substation inspection robot according to claim 1, wherein: still be equipped with unmanned aerial vehicle screw safety cover on the unmanned aerial vehicle.
7. The unmanned aerial vehicle-mounted substation inspection robot according to claim 1, wherein: the robot body controller is internally provided with a laser positioning device, and the robot moving platform walks on a patrol inspection line specified in a transformer substation by the laser positioning device.
8. The unmanned aerial vehicle-mounted substation inspection robot according to claim 7, wherein: and the robot moving platform is also provided with a laser range finder and an ultrasonic radar which are connected with a robot body controller.
9. A method for substation inspection by using the unmanned aerial vehicle-mounted substation inspection robot of any one of claims 1 to 8, which is characterized in that: comprises the following steps of (a) carrying out,
when the robot moves to a shooting position, the robot body controller receives a control instruction of the central control system and controls the robot mobile platform to move to a shooting position of an equipment instrument of the transformer substation on a specified inspection line in the transformer substation according to the control instruction;
receiving a shooting instruction, receiving a control instruction of the background monitoring system by the robot body controller through the wireless router, controlling the unmanned aerial vehicle to take off, and shooting equipment and instruments of the transformer substation by the unmanned aerial vehicle through a camera assembly on the unmanned aerial vehicle;
the unmanned aerial vehicle camera shooting assembly transmits the shot picture to the robot body controller, and the robot body controller transmits the shot picture to the background monitoring system;
fourthly, a polling result is formed, and the background monitoring system carries out analysis processing according to the shooting picture of the equipment instrument of the transformer substation to form the polling result.
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| CN202011343223.XA CN112476461A (en) | 2020-11-26 | 2020-11-26 | Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method |
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| CN202011343223.XA CN112476461A (en) | 2020-11-26 | 2020-11-26 | Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113342061A (en) * | 2021-04-22 | 2021-09-03 | 云南电网有限责任公司昆明供电局 | Meter image identification dynamic correction method for transformer substation inspection robot |
| CN113485414A (en) * | 2021-06-25 | 2021-10-08 | 国网山东省电力公司济宁市任城区供电公司 | Fault processing system and method for computer monitoring device of substation |
| CN113753154A (en) * | 2021-09-14 | 2021-12-07 | 国网河南省电力公司洛阳供电公司 | Transformer substation intelligent inspection system based on 5G and artificial intelligence |
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