CN112598813A - Intelligent inspection system and inspection method thereof - Google Patents
Intelligent inspection system and inspection method thereof Download PDFInfo
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- CN112598813A CN112598813A CN202011386162.5A CN202011386162A CN112598813A CN 112598813 A CN112598813 A CN 112598813A CN 202011386162 A CN202011386162 A CN 202011386162A CN 112598813 A CN112598813 A CN 112598813A
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- aerial vehicle
- unmanned aerial
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Abstract
An intelligent inspection system and an inspection method thereof are provided, the intelligent inspection system comprises: the unmanned aerial vehicle is used for polling the target at the first height; the inspection robot is used for inspecting a target at a second height, stopping the unmanned aerial vehicle, communicating with the unmanned aerial vehicle and supplying power to the unmanned aerial vehicle; wherein, unmanned aerial vehicle with communication connection between the robot patrols and examines works as unmanned aerial vehicle stop in when patrolling and examining preset position department on the robot, unmanned aerial vehicle with it is connected to patrol and examine to correspond the electricity between the robot. According to the intelligent inspection system and the inspection method thereof, the unmanned aerial vehicle is used as a supplement of the inspection robot, and the inspection robot carries the unmanned aerial vehicle, so that two-level inspection of a middle-high layer (using the unmanned aerial vehicle to perform inspection) and a middle-low layer (using the inspection robot to perform inspection) is realized; simultaneously, the robot that patrols and examines supplies power for unmanned aerial vehicle through self power, has solved unmanned aerial vehicle's the problem of charging.
Description
Technical Field
The invention belongs to the technical field of inspection systems, and particularly relates to an intelligent inspection system and an inspection method thereof.
Background
At present, the transformer substation is patrolled and examined generally and is divided into artifical and patrolled and examined and independently patrolled and examined with intelligent tour inspection robot, and wherein intelligent tour inspection robot divide into: wheeled robot, tracked robot and rail mounted robot, under general condition, the outdoor use is that wheeled intelligence patrols and examines the daily operation and maintenance that the robot carries out the transformer substation.
The wheel type intelligent inspection robot realizes remote control and monitoring through a 4G/5G network, the system also supports fixed-point or fixed-task inspection, inspection points which need to be inspected are selected only through a background system, a temporary inspection task is dispatched to the system, and the system can plan an optimal inspection scheme according to the selected task content to automatically complete the inspection task. The intelligent inspection robot can realize visible light and thermal imaging video image acquisition functions, can automatically plan that inspection equipment nearby automatically moves to a specified position, control the holder to rotate freely, shoot various meter and meter equipment photos in a machine room and various equipment infrared thermal imaging in the machine room, and transmit acquired information to a main control room in real time through a wireless local area network, automatically identify meter and meter reading according to image information, detect temperature of equipment in a station, automatically analyze and judge current and voltage heating type defects or faults, early warn and record the defects in a database, and perform sound and light alarm when meter and meter data are found to exceed a preset alarm value.
However, the outdoor inspection robot has the following two disadvantages:
first point, the outdoor robot that patrols and examines is mostly driven by the mode of wheelset or track to volume and weight are great, and the robot patrols and examines the passageway not reserved at the beginning of the design of partial transformer substation, and simultaneously, local distribution equipment receives the interior condition restriction of scene, and the locating position is difficult for being close to, thereby leads to the robot can't arrive.
The second point, two optical equipment (infrared and visible light) that patrol and examine the robot are mostly in the lifter top, and when the robot reachd the point of sight of patrolling after, two optical equipment shoot with certain height and cloud platform angle, 360 no dead angles are hardly carried out to this kind of mode to, shoot the high limit that the angle received the lifter, lead to the distribution equipment of part high-rise to obtain the accuracy and shoot.
Disclosure of Invention
In view of the above, the present invention provides a smart inspection system and an inspection method thereof that overcomes or at least partially solves the above problems.
In order to solve the technical problem, the invention provides an intelligent inspection system, which comprises:
the unmanned aerial vehicle is used for polling the target at the first height;
the inspection robot is used for inspecting a target at a second height, stopping the unmanned aerial vehicle, communicating with the unmanned aerial vehicle and supplying power to the unmanned aerial vehicle;
wherein, unmanned aerial vehicle with communication connection between the robot patrols and examines works as unmanned aerial vehicle stop in when patrolling and examining preset position department on the robot, unmanned aerial vehicle with it is connected to patrol and examine to correspond the electricity between the robot.
Preferably, be provided with two optical equipment of fixed on the robot patrolling and examining, two optical equipment of fixed are used for patrolling and examining the target.
Preferably, the unmanned aerial vehicle with wireless communication is connected between the robot patrols and examines.
Preferably, the unmanned aerial vehicle with through the wired connection of cable between the robot patrols and examines.
Preferably, be provided with the accurate platform of taking off and land of unmanned aerial vehicle on patrolling and examining the robot, the accurate platform of taking off and land of unmanned aerial vehicle is used for guiding unmanned aerial vehicle stop in it predetermines position department on patrolling and examining the robot.
Preferably, be provided with GPS positioning system on the accurate platform of taking off and landing of unmanned aerial vehicle, GPS positioning system is used for unmanned aerial vehicle's return voyage and for patrol and examine the robot and do equidistance relative motion.
Preferably, be provided with the telescopic link on the accurate platform of taking off and landing of unmanned aerial vehicle, unmanned aerial vehicle with patrol and examine the cable between the robot set up in the telescopic link.
Preferably, be provided with the infrared target of matrix on the accurate platform of taking off and land of unmanned aerial vehicle, the infrared target of matrix is used for working as unmanned aerial vehicle is located guide when the accurate platform top of taking off and land of unmanned aerial vehicle the accurate stop of unmanned aerial vehicle in on the accurate platform of taking off and land of unmanned aerial vehicle.
Preferably, be provided with the two-dimensional code on the accurate platform of taking off and landing of unmanned aerial vehicle, the two-dimensional code is used for working as unmanned aerial vehicle is located guide when the accurate platform of taking off and landing of unmanned aerial vehicle top unmanned aerial vehicle accurate stop in on the accurate platform of taking off and landing of unmanned aerial vehicle.
The invention also provides a polling method of the intelligent polling system, the intelligent polling system comprises the intelligent polling system, and the method comprises the following steps:
the method comprises the steps that an unmanned aerial vehicle is used for polling a target at a first height, and a first polling image is obtained;
the target is patrolled at a second height through the patrol robot, and a second patrol image is obtained;
the unmanned aerial vehicle sends the first inspection image to the inspection robot;
and the inspection robot sends the first inspection image and the second inspection image to a local management system.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages: according to the intelligent inspection system and the inspection method thereof, the unmanned aerial vehicle is used as a supplement of the inspection robot, and the inspection robot carries the unmanned aerial vehicle, so that two-level inspection of a middle-high layer (using the unmanned aerial vehicle to perform inspection) and a middle-low layer (using the inspection robot to perform inspection) is realized; simultaneously, the robot patrols and examines supplies power for unmanned aerial vehicle through self power, has solved unmanned aerial vehicle's the problem of charging, after the robot that patrols and examines executed the task, can return the point of charging automatically and charge.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic diagram of an intelligent inspection system according to an embodiment of the invention;
fig. 2 is a schematic diagram of an accurate take-off and landing platform of an unmanned aerial vehicle in an intelligent inspection system provided by an embodiment of the invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments and examples, and the advantages and various effects of the present invention will be more clearly apparent therefrom. It will be understood by those skilled in the art that these specific embodiments and examples are for the purpose of illustrating the invention and are not to be construed as limiting the invention.
Throughout the specification, unless otherwise specifically noted, terms used herein should be understood as having meanings as commonly used in the art. Accordingly, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. If there is a conflict, the present specification will control.
Unless otherwise specifically stated, various raw materials, reagents, instruments, equipment and the like used in the present invention are commercially available or can be prepared by existing methods.
As shown in fig. 1-2, in the embodiment of the present application, the present invention provides an intelligent inspection system, including:
the unmanned aerial vehicle 10 is used for inspecting a target at a first height;
the inspection robot 20 is used for inspecting the target at a second height, stopping the unmanned aerial vehicle 10, communicating with the unmanned aerial vehicle and supplying power to the unmanned aerial vehicle;
wherein, unmanned aerial vehicle 10 with communication connection between the robot 20 patrols and examines, works as unmanned aerial vehicle 10 stop in when patrolling and examining preset position department on the robot 20, unmanned aerial vehicle 10 with it is connected to patrol and examine to correspond between the robot 20 electricity.
In the embodiment of the application, when the target is inspected, the unmanned aerial vehicle 10 can be controlled to take off from the inspection robot 20 in the air, the target is inspected at a first height through the unmanned aerial vehicle 10, and a first inspection image is obtained; then, the target is patrolled at a second height through the patrol robot 20, and a second patrol image is obtained; then the unmanned aerial vehicle 10 sends the first inspection image to the inspection robot 20, and the inspection robot 20 sends the first inspection image and the second inspection image to a local management system.
Referring to fig. 1-2, in the embodiment of the present application, a fixed dual-optical device 21 is disposed on the inspection robot 20, and the fixed dual-optical device 21 is used for inspecting a target.
In the embodiment of the present application, the inspection of the target at the second height by the inspection robot 20 is performed by the fixed dual optical device 21 on the inspection robot 20. The fixed type dual-optical device 21 performs image shooting on the target and obtains a second inspection image, and then stores the second inspection image into the inspection robot 20.
In the embodiment of the present application, the unmanned aerial vehicle 10 is connected with the inspection robot 20 through wireless communication. For example, the unmanned aerial vehicle 10 and the inspection robot 20 may be connected through a wireless communication network such as WiFi, 4G, 5G, and the like.
As shown in fig. 1-2, in the embodiment of the present application, the unmanned aerial vehicle 10 and the inspection robot 20 are connected by a wire 11. The first end of cable 11 is connected to on patrolling and examining robot 20 and the second end is connected to unmanned aerial vehicle 10, and the first image of patrolling and examining that unmanned aerial vehicle 10 shot transmits to patrolling and examining robot 20 on through cable 11.
As shown in fig. 1-2, in the embodiment of the present application, an unmanned aerial vehicle accurate take-off and landing platform 30 is provided on the inspection robot 20, and the unmanned aerial vehicle accurate take-off and landing platform 30 is used for guiding the unmanned aerial vehicle 10 to stop at a preset position on the inspection robot 20. When the unmanned aerial vehicle 10 stops at the inspection robot 20, the accurate take-off and landing platform 30 of the unmanned aerial vehicle is used for supporting the stop of the unmanned aerial vehicle 10.
As shown in fig. 1-2, in the embodiment of the present application, a GPS positioning system 31 is disposed on the precise take-off and landing platform 30 of the unmanned aerial vehicle, and the GPS positioning system 31 is used for the return journey of the unmanned aerial vehicle 10 and the equidistant relative movement with respect to the inspection robot 20.
In this embodiment of the application, when the unmanned aerial vehicle is in the working state, the distance between the inspection robot 20 and the unmanned aerial vehicle 10 needs to be equal to the set constant value, the inspection robot 20 is located on the ground, the unmanned aerial vehicle 10 is located in the air, the longitude and latitude coordinates of the inspection robot 20 may change due to the motion of the unmanned aerial vehicle, and at this time, the longitude and latitude coordinates of the unmanned aerial vehicle 10 also need to be changed correspondingly to keep the distance between the inspection robot 20 and the inspection robot constant. Specifically, the GPS positioning system 31 may transmit the longitude and latitude coordinates of the inspection robot 20 to the surrounding space, and the unmanned aerial vehicle 10 flying in the air may acquire the longitude and latitude coordinates of the inspection robot 20 in real time, and adjust the longitude and latitude coordinates thereof according to the set constant value. When navigating back, the inspection robot 20 can return to the position above the unmanned aerial vehicle precision take-off and landing platform 30 according to the longitude and latitude coordinates of the inspection robot 20 sent by the GPS positioning system 31.
As shown in fig. 1-2, in the embodiment of the present application, a telescopic rod 32 is disposed on the precise take-off and landing platform 30 of the unmanned aerial vehicle, and the cable 11 between the unmanned aerial vehicle 10 and the inspection robot 20 is disposed in the telescopic rod 32. The telescopic rod 32 can be an elastic rod, the cable 11 penetrates through the telescopic rod 32, when the unmanned aerial vehicle 10 takes off from the inspection robot 20, the distance between the two becomes large, the length of the cable 11 also becomes large, and therefore the telescopic rod 32 is dragged to deform, and the length of the cable 11 meets requirements; when unmanned aerial vehicle 10 berthed to patrolling and examining on the robot 20, the length of cable 11 need not very long, can accomodate cable 11 to self inside through the elasticity of telescopic link 32 self this moment.
As shown in fig. 1-2, in this embodiment of the present application, a matrix infrared target 33 is disposed on the precise take-off and landing platform 30 of the unmanned aerial vehicle, and the matrix infrared target 33 is used to guide the unmanned aerial vehicle 10 to precisely dock on the precise take-off and landing platform 30 of the unmanned aerial vehicle when the unmanned aerial vehicle 10 is located above the precise take-off and landing platform 30 of the unmanned aerial vehicle.
As shown in fig. 1-2, in this embodiment of the application, a two-dimensional code 34 is provided on the precise take-off and landing platform 30 of the unmanned aerial vehicle, and the two-dimensional code 34 is used for guiding the unmanned aerial vehicle 10 to accurately dock on the precise take-off and landing platform 30 of the unmanned aerial vehicle when the unmanned aerial vehicle 10 is located above the precise take-off and landing platform 30 of the unmanned aerial vehicle.
In this application embodiment, when unmanned aerial vehicle 10 is located the accurate platform 30 top of taking off and landing of unmanned aerial vehicle, aim at the charging plug on the accurate platform 30 of taking off and landing of unmanned aerial vehicle in order to guarantee the mouth that charges of unmanned aerial vehicle 10, need guarantee this moment that unmanned aerial vehicle 10 docks the position on the accurate platform 30 of taking off and landing of unmanned aerial vehicle for predetermineeing the position. Specifically, matrix infrared target 33 can be to launching the infrared ray all around, and two-dimensional code 34 can provide the reference coordinate to unmanned aerial vehicle 10, unmanned aerial vehicle 10 can detect the infrared ray, and the two-dimensional code 34 of shooing, so can utilize any one signal or utilize two signals to come self to stop the preset position department on the accurate platform 30 of taking off and landing of unmanned aerial vehicle simultaneously, at this moment, the mouth that charges of unmanned aerial vehicle 10 just in time inserts the socket that charges on the accurate platform 30 of taking off and landing of unmanned aerial vehicle, unmanned aerial vehicle 10 can obtain charging.
According to the intelligent inspection system and the inspection method thereof, the unmanned aerial vehicle is used as a supplement of the inspection robot, and the inspection robot carries the unmanned aerial vehicle, so that two-level inspection of a middle-high layer (using the unmanned aerial vehicle to perform inspection) and a middle-low layer (using the inspection robot to perform inspection) is realized; simultaneously, the robot patrols and examines supplies power for unmanned aerial vehicle through self power, has solved unmanned aerial vehicle's the problem of charging, after the robot that patrols and examines executed the task, can return the point of charging automatically and charge.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
In short, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An intelligent inspection system, comprising:
the unmanned aerial vehicle is used for polling the target at the first height;
the inspection robot is used for inspecting a target at a second height, stopping the unmanned aerial vehicle, communicating with the unmanned aerial vehicle and supplying power to the unmanned aerial vehicle;
wherein, unmanned aerial vehicle with communication connection between the robot patrols and examines works as unmanned aerial vehicle stop in when patrolling and examining preset position department on the robot, unmanned aerial vehicle with it is connected to patrol and examine to correspond the electricity between the robot.
2. The intelligent inspection system according to claim 1, wherein the inspection robot is provided with a stationary dual-light device for inspecting the object.
3. The intelligent inspection system according to claim 1, wherein the unmanned aerial vehicle is in wireless communication with the inspection robot.
4. The intelligent inspection system according to claim 1, wherein the unmanned aerial vehicle is in wired connection with the inspection robot via a cable.
5. The intelligent inspection system according to claim 1, wherein the inspection robot is provided with an unmanned aerial vehicle precision take-off and landing platform for guiding the unmanned aerial vehicle to stop at a preset position on the inspection robot.
6. The intelligent inspection system according to claim 5, wherein the unmanned aerial vehicle precision take-off and landing platform is provided with a GPS positioning system, and the GPS positioning system is used for the return journey of the unmanned aerial vehicle and the equidistant relative movement of the inspection robot.
7. The intelligent inspection system according to claim 5, wherein a telescopic rod is arranged on the unmanned aerial vehicle precise take-off and landing platform, and a cable between the unmanned aerial vehicle and the inspection robot is arranged in the telescopic rod.
8. The intelligent inspection system according to claim 5, wherein matrix infrared targets are provided on the unmanned aerial vehicle precision take-off and landing platform for guiding the unmanned aerial vehicle to precisely dock on the unmanned aerial vehicle precision take-off and landing platform when the unmanned aerial vehicle is positioned above the unmanned aerial vehicle precision take-off and landing platform.
9. The intelligent inspection system according to claim 5, wherein two-dimensional codes are provided on the unmanned aerial vehicle precision take-off and landing platform for guiding the unmanned aerial vehicle to accurately dock on the unmanned aerial vehicle precision take-off and landing platform when the unmanned aerial vehicle is positioned above the unmanned aerial vehicle precision take-off and landing platform.
10. A method of routing inspection by a smart inspection system including the smart inspection system according to any one of claims 1-9, the method comprising the steps of:
the method comprises the steps that an unmanned aerial vehicle is used for polling a target at a first height, and a first polling image is obtained;
the target is patrolled at a second height through the patrol robot, and a second patrol image is obtained;
the unmanned aerial vehicle sends the first inspection image to the inspection robot;
and the inspection robot sends the first inspection image and the second inspection image to a local management system.
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| CN202011386162.5A CN112598813A (en) | 2020-12-01 | 2020-12-01 | Intelligent inspection system and inspection method thereof |
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| CN113500579A (en) * | 2021-07-13 | 2021-10-15 | 广东电网有限责任公司 | Inspection method and inspection device |
| CN114721405A (en) * | 2022-06-09 | 2022-07-08 | 东方电气风电股份有限公司 | Wind field unmanned on duty system based on robot independently patrols and examines |
| CN116300975A (en) * | 2023-05-19 | 2023-06-23 | 深圳市云帆自动化技术有限公司 | Robot inspection system between offshore platform distribution room |
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Application publication date: 20210402 |