CN113251255A - Transformer substation inspection device - Google Patents
Transformer substation inspection device Download PDFInfo
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- CN113251255A CN113251255A CN202110509265.4A CN202110509265A CN113251255A CN 113251255 A CN113251255 A CN 113251255A CN 202110509265 A CN202110509265 A CN 202110509265A CN 113251255 A CN113251255 A CN 113251255A
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- 238000007689 inspection Methods 0.000 title claims abstract description 111
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 5
- 230000008447 perception Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 5
- 238000013508 migration Methods 0.000 description 4
- 230000005012 migration Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/045—Allowing translations adapted to left-right translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to a transformer substation inspection device which comprises a shell, a walking assembly, a lifting assembly, a horizontal moving assembly and an image acquisition assembly. The shell comprises a top part and a bottom part which are distributed along the height direction of the shell; the walking assembly is arranged at the bottom of the shell and used for walking of the transformer substation inspection device; the lifting assembly is arranged at the top of the shell and comprises a first support extending along a first direction; the horizontal moving assembly is connected to the first support and can move back and forth along the first direction, the horizontal moving assembly comprises a second support extending along a second direction, and the second direction is perpendicular to the first direction; the image acquisition assembly is connected in the second support and can follow second direction reciprocating motion, the image acquisition assembly include the cloud platform unit with connect in the image acquisition unit of cloud platform unit. The invention can increase the routing inspection area of the routing inspection device and avoid routing inspection blind areas.
Description
Technical Field
The invention relates to the technical field of power equipment, in particular to a substation inspection device.
Background
The electric power plays an extremely important role in the development of national economy, and along with the rapid development of the power industry towards large units, large capacity and high-voltage power supply, the electric power management system ensures the safe operation of the power supply system and ensures that the power equipment is always in a stable and good state, thereby forming a prominent problem of power management. And the transformer substation is the core of the whole power grid and plays an important role in dispatching power supply. Therefore, it is important to ensure the normal operation of the substation equipment. In addition, along with the improvement of the automation level of the transformer substation and the popularization of unattended operation, the safety of equipment operation is tested more strictly, and the routing inspection of the transformer substation is paid more attention.
The inspection equipment is the main equipment for inspecting the transformer substation at present. However, the monitoring range of the conventional inspection equipment is narrow, and certain blind areas can appear when information is acquired in a small space.
Therefore, a new substation inspection device is needed.
Disclosure of Invention
The invention aims to provide a substation inspection device to eliminate inspection blind areas and improve inspection efficiency.
On one hand, the embodiment of the invention provides a transformer substation inspection device, which comprises: the shell comprises a top part and a bottom part which are distributed along the height direction of the shell; the walking assembly is arranged at the bottom of the shell and used for walking of the transformer substation inspection device; the lifting assembly is arranged at the top of the shell and comprises a first support extending along a first direction; the horizontal moving assembly is connected to the first support and can move back and forth along the first direction, the horizontal moving assembly comprises a second support extending along a second direction, and the second direction is perpendicular to the first direction; the image acquisition assembly is connected with the second support and can follow the second direction reciprocating motion, the image acquisition assembly includes the cloud platform unit and connects in the image acquisition unit of cloud platform unit, just the cloud platform unit can drive the image acquisition unit is rotatory to realize all-round making a video recording.
According to an aspect of the embodiment of the present invention, the lifting assembly further includes a first driving member, a lead screw, a flange nut, and a first slider, wherein the first driving member is fixedly connected to one side of the first bracket, the lead screw is connected to a power end of the first driving member, the flange nut is sleeved on the lead screw and can reciprocate along the first direction, the first slider is slidably connected to the first bracket, one side of the flange nut is fixedly connected to the first slider and can drive the first slider to reciprocate along the first direction, and the second bracket is fixedly connected to the slider.
According to an aspect of the embodiment of the present invention, the horizontal moving assembly further includes a second driving member, a transmission belt, and a rotating shaft, the second driving member is fixedly connected to one end of the second bracket, the rotating shaft is connected to the other end of the second bracket, the rotating shaft is connected to a power end of the second driving member through the transmission belt, and the pan-tilt unit is fixedly connected to the belt.
According to an aspect of the embodiment of the present invention, the pan/tilt unit includes a second slider, a support plate, a first rotating pan/tilt and a second rotating pan/tilt, the second slider is movably connected to the second support, the transmission belt can drive the slider to reciprocate along the second direction, the support plate is fixedly connected to the second slider, the first rotating pan/tilt is connected to the support plate, the second rotating pan/tilt is connected to the first rotating pan/tilt, the first rotating pan/tilt can drive the second rotating pan/tilt to rotate along the horizontal plane by a first preset angle, and the second rotating pan/tilt can drive the image capturing unit to rotate along the axis with the horizontal plane by a second preset angle.
According to an aspect of the embodiment of the present invention, the image capturing unit includes an image capturing portion, a connecting rod, and a third rotating pan/tilt, the third rotating pan/tilt is connected to the second rotating pan/tilt through the connecting rod, the image capturing device is connected to the third rotating pan/tilt, and the third rotating pan/tilt can drive the image capturing portion to rotate by a third preset angle.
According to an aspect of the embodiment of the present invention, the image capturing part includes a fixing base, a first image capturing device and a second image capturing device, the first image capturing device and the second image capturing device are respectively movably connected to two sides of the fixing base, and the fixing base is connected to the third rotating platform.
According to one aspect of the invention, the device further comprises a control assembly arranged in the shell, wherein the control assembly is electrically connected with the walking assembly, the lifting assembly, the horizontal moving assembly and the image acquisition assembly; the control assembly controls the transformer substation inspection device to perform self-obstacle-avoiding type walking according to the obstacle information detected by the image acquisition assembly; or the control assembly controls the transformer substation inspection device to walk in a traversing mode; or the control assembly controls the transformer substation inspection device to patrol according to a key area set by a user.
According to an aspect of the embodiment of the present invention, the mobile terminal further includes a communication module, the communication module is disposed in the housing and electrically connected to the controller, and the controller sends information to the outside through the communication module, wherein the communication module includes a wireless local area network module and/or a data traffic module.
According to an aspect of the embodiment of the present invention, the method further includes: the environment perception module, the environment perception module include infrared sensor and laser radar sensor and all with the controller electricity is connected, infrared sensor with the laser radar sensor all set up in the bottom of casing is used for detecting road surface information and obstacle positional information on the walking route respectively.
Another aspect of the present invention further provides a polling method, including: acquiring a polling area and a polling object; determining a routing inspection path based on the routing inspection area and the routing inspection object; detecting the inspection object based on the inspection path; and acquiring the inspection image of the inspection object.
According to the transformer substation inspection device provided by the embodiment of the invention, the walking component drives the transformer substation inspection device to walk along the preset route, the lifting component and the horizontal moving component can drive the image acquisition unit to move along the first direction and the second direction, the inspection area of the inspection device can be increased, the inspection blind area is avoided, in addition, the holder unit can drive the image acquisition unit to carry out multi-angle shooting in a small range, and the inspection blind area can be further eliminated.
Drawings
Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which the same or similar reference numerals denote the same or similar features.
Fig. 1 is a perspective view of a substation inspection device provided in an embodiment of the present invention;
fig. 2 is a left side view of the substation inspection device according to the embodiment of the invention;
fig. 3 is a schematic diagram of distribution of a routing inspection area, a routing inspection path and routing inspection objects of the substation routing inspection device provided by the embodiment of the invention.
Wherein:
100-a substation inspection device;
10-a housing;
20-walking component, 21-walking wheel;
30-a lifting assembly, 31-a first bracket, 32-a first driving piece, 33 a lead screw, 34 a flange nut and 35-a first sliding block;
40-horizontal moving component, 41-second bracket, 42-second driving component, 43-driving belt, 44-rotating shaft;
50-image acquisition component, 51-pan-tilt unit, 511-second slide block, 512-supporting plate, 513-first rotating pan-tilt, 514-second rotating pan-tilt, 52-image acquisition unit, 521-image acquisition part, 5211-fixed seat, 5212-first image acquisition device, 5213-second image acquisition device, 522-connecting rod, 523-third rotating platform,
Detailed Description
Features and exemplary embodiments of various aspects of the present application will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples thereof. In the drawings and the following description, at least some well-known structures and techniques have not been shown in detail in order to avoid unnecessarily obscuring the present application; also, the dimensions of some of the structures may be exaggerated for clarity. Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In the description of the present application, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," and the like, indicate an orientation or positional relationship that is merely for convenience in describing the application and to simplify the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The directional terms appearing in the following description are directions shown in the drawings and do not limit the specific structure of the embodiments of the present application. In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected. In the figure, the "X" direction is a first direction, the "Y" direction is a second direction, the "Z" direction is a third direction, and the first direction, the second direction and the third direction are perpendicular to each other. The specific meaning of the above terms in the present application can be understood as appropriate by one of ordinary skill in the art.
For better understanding of the present invention, the substation inspection device 100 provided in the embodiment of the present invention is described in detail below with reference to fig. 1 to 3.
Referring to fig. 1 to 2, a substation inspection device 100 according to an embodiment of the present invention includes a housing 10, a walking assembly 20, a lifting assembly 30, a horizontal moving assembly 40, an image capturing assembly 50, and a control assembly.
Wherein, casing 10 includes top and bottom along self direction of height distribution, and casing 10 can set up rectangular structure, and each summit of casing 10 can set the arc form into, can avoid treating to patrol and examine equipment and cause the damage, in addition, can also increase the counter weight structure in casing 10 is inside, can increase the stability that transformer substation inspection device 100 marched.
The walking assembly 20 is arranged at the bottom of the shell 10 and used for walking the substation inspection device 100, the walking assembly 20 comprises a frame and gears, and the walking assembly 20 can comprise a driving motor (not shown in the figure) and walking wheels 21. The control component controls the driving motor to drive the traveling wheels 21 to travel along a preset path.
The lifting assembly 30 is arranged at the top of the shell 10, the lifting assembly 30 comprises a first support 31 extending along a first direction, the height of the first support 31 can be set according to equipment to be inspected, and a reinforcing structure can be arranged at the position where the shell 10 is connected with the first support 31 so as to improve the stability between the first support 31 and the shell 10.
Horizontal migration subassembly 40 connect in first support 31 and can follow first direction reciprocating motion, horizontal migration subassembly 40 includes the second support 41 that extends along the second direction, the second direction perpendicular to first direction, the length of second support 41 can be less than first support 31, can avoid second support 41 to remove to the top of first support 31, and inspection device takes place to empty, and in addition, first support 31 is "ten" font with second support 41, and second support 41 is central symmetry with first support 31, can further increase inspection device's stability.
According to the substation inspection device 100 provided by the embodiment of the invention, the walking component 20 drives the substation inspection device 100 to walk along the preset route, the lifting component 30 and the horizontal moving component 40 can drive the image acquisition unit 52 to move along the first direction and the second direction, the inspection area of the inspection device can be increased, the inspection blind area is avoided, in addition, the holder unit 51 can drive the image acquisition unit 52 to carry out multi-angle shooting in a small range, and the inspection blind area can be further eliminated.
In some optional embodiments, the lifting assembly 30 further includes a first driving element 32, a lead screw 33, a flange nut 34 and a first sliding block 35, wherein the first driving element 32 is fixedly connected to one side of the first bracket 31, the first driving element 32 may be a driving motor, the lead screw 33 is fixedly connected to a power end of the first driving element 32, the flange nut 34 is sleeved on the lead screw 33 and can move back and forth along the first direction, the first sliding block 35 is slidably connected to the first bracket 31, one side of the flange nut 34 is fixedly connected to the first sliding block 35 and can drive the first sliding block 35 to move back and forth along the first direction, that is, the driving motor is controlled by the control assembly, the lead screw 33 is driven to move back and forth along the first direction, and the second bracket 41 is fixedly connected to the sliding block. The lifting assembly 30 is lifted through the screw rod 33 nut mechanism, the structure is simple, the processing is convenient, the manufacturing cost is low, the self-locking function is realized, the second support 41 cannot slide down after the driving motor stops rotating, and the stability is good.
In some alternative embodiments, the horizontal moving assembly 40 further includes a second driving member 42, a transmission belt 43, and a rotating shaft 44. The second driving member 42 is fixedly connected to one end of the second bracket 41, the rotating shaft 44 is connected to the other end of the second bracket 41, the rotating shaft 44 is connected to a power end of the second driving member 42 through the transmission belt 43, and the pan-tilt unit 51 is fixedly connected to the belt. The second driving member 42 includes a driving motor and a rotating shaft 44 (not shown in the figure) connected to an output end of the driving motor, the rotating shaft 44 is connected to the rotating shaft 44 through a belt, and the driving motor is controlled by the control assembly to drive the belt to rotate. Horizontal migration subassembly 40 realizes horizontal migration through belt mechanism, simple structure, and processing is convenient, low in manufacturing cost, and has self-locking function, and driving motor stall back, cloud platform unit 51 can not continue to move, and stability is good.
In some optional embodiments, the pan/tilt head unit 51 includes a second sliding block 511, a supporting plate 512, a first rotating pan/tilt head 513, and a second rotating pan/tilt head 514. In some examples, one of the second slider 511 and the second bracket 41 may be provided with a sliding groove, and the other one of the second slider 511 and the second bracket 41 may be provided with a protrusion, and the sliding groove is slidably connected to the protrusion and may reciprocate along the protrusion, so as to improve the stability of the connection between the second slider 511 and the second bracket 41. The supporting plate 512 is fixedly connected to the second sliding block 511, the first rotating platform 513 is connected to the supporting plate 512, the second rotating platform 514 is connected to the first rotating platform 513, the first rotating platform 513 can drive the second rotating platform 514 to rotate along the horizontal plane by a first preset angle, and the second rotating platform 514 can drive the image acquisition unit 52 to rotate along the plane perpendicular to the horizontal plane by a second preset angle. The first rotating holder 513 and the second rotating holder 514 can realize the all-round inspection of the image acquisition unit 52 in a small space, so as to eliminate the inspection blind area.
In some optional embodiments, the image capturing unit 52 includes an image capturing part 521, a connecting rod 522 and a third rotating platform 523, where the third rotating platform 523 is connected to the second rotating platform 514 through the connecting rod 522, the second rotating platform 514 can drive the third rotating platform 523 to rotate by a second preset angle through the connecting rod 522, the image capturing part is connected to the third rotating platform 523, and the third rotating platform 523 can drive the image capturing part 521 to axially rotate by a third preset angle. Through the arrangement, the camera shooting area of the image acquisition unit 52 can be further increased, and the patrol blind area is eliminated.
It should be noted that the theoretical values of the first preset angle, the second preset angle and the third preset angle are all 360 °, but the first preset angle may be set to 0 to 270 °, the second preset angle may be set to 0 to 180 °, and the third preset angle may be set to 0 to 270 ° due to the limitation of the image acquisition unit 52.
In some optional embodiments, the image capturing part 521 includes a fixing base 5211, a first image capturing unit 5212 and a second image capturing unit 5213, where the first image capturing unit and the second image capturing unit are respectively movably connected to two sides of the fixing base, and the fixing base is connected to the third rotating platform 523. Optionally, the fixing base includes a housing and a driving motor (not shown in the figure), the first image collector and the second image collector are respectively connected with the driving motor, and the driving motor can drive the first image collector and the second image collector to rotate, so as to further increase the shooting area of the image collecting unit 52 and eliminate the polling blind area. In some examples, the first image collector and the second image collector may be cameras.
In some optional embodiments, the substation inspection device 100 according to the embodiment of the present invention further includes a control component (not shown in the drawings), which is disposed in the housing 10, and is connected to the walking component 20, the lifting component 30, the horizontal moving component 40, and the image capturing component 50. In some examples, the control assembly may include a controller and a navigator, and the navigator is connected with the driving motor of the walking assembly 20 through the controller. The control component controls the substation inspection device 100 to perform self-obstacle avoidance type walking according to the obstacle information detected by the image acquisition component 50; or the control component controls the substation inspection device 100 to walk in a traversing manner; or the control component controls the substation inspection device 100 to patrol according to a key area set by a user.
In some optional embodiments, the substation inspection device 100 according to the embodiment of the present invention includes a communication module (not shown in the drawings), the communication module is disposed in the housing 10 and electrically connected to the controller, and the controller sends information to the outside through the communication module, where the communication module includes a wireless local area network module and/or a data traffic module.
In some optional embodiments, the substation inspection device 100 according to the embodiment of the present invention further includes an environment sensing module (not shown in the figure), where the environment sensing module includes an infrared sensor and a laser radar sensor, and both of the infrared sensor and the laser radar sensor are electrically connected to the controller, and both of the infrared sensor and the laser radar sensor are disposed at the bottom of the housing 10 and are respectively used to detect road information and obstacle position information on a walking path. The substation inspection device 100 identifies a ground white track line through an infrared sensor, autonomously moves in a tracing mode, and is matched with a laser radar sensor to achieve an obstacle avoidance function.
In addition, referring to fig. 3, an embodiment of the present invention further provides a routing inspection method, which is applied to the substation routing inspection device 100, and includes: acquiring a routing inspection path and an inspection object of a preset area; detecting the inspection object in the preset area based on the inspection path; and acquiring the inspection image of the inspection object.
Specifically, the step of acquiring the inspection area and the inspection object includes: and mapping the spatial layout and the coordinate position of the electrical equipment, constructing a working environment map, and acquiring a mapping relation table of the marking points and the identity and position coordinates of each electrical cabinet. The data fusion of the infrared sensor and the laser radar is utilized to perform line patrol navigation and obstacle avoidance functions, and the RFID tags on each device are detected to perform target identification and positioning, so that the moving position of the substation inspection device 100 and the accuracy of target detection are ensured, and the reliability of image acquisition in a smaller space is improved.
The step of determining the routing inspection path based on the routing inspection area and the routing inspection object comprises the following steps: the substation inspection device 100 starts from a space coordinate origin along the X direction, sequentially runs to each black circular mark point along a tracing line, reads the identity information of the electrical cabinets on two sides through a sensing device of the substation inspection device 100, and calculates and records the coordinate values (X, Y) of the mark points by using parameters such as a vehicle body motor encoder and the running speed. After the substation inspection device 100 finishes all the paths, the recorded data is uploaded to an upper management machine, and a working environment map is drawn by the system.
The step of detecting the inspection object based on the inspection path includes: the inspection robot identifies a ground white track line through the infrared sensor, autonomously moves in a track finding mode, and is matched with the laser radar sensor to achieve an obstacle avoidance function. Meanwhile, the positioning device of the substation inspection device 100 can acquire the current spatial coordinate in real time and determine the current spatial position of the substation inspection device 100. Each electrical cabinet is attached with an RFID electronic tag, corresponding identity information is read through a sensing device of the substation inspection device 100, and the data structure is A-B, wherein A represents the A-th row, and B represents the B-th cabinet body.
Acquiring the inspection image of the inspection object includes: the working personnel can remotely control the robot to move through the vehicle body camera and carry out targeted inspection; or the identity information of the designated electric cabinet is input, the system automatically maps out the spatial position coordinates, and the robot automatically moves to the corresponding position to acquire the image. Further, the inspection robot sends the collected images or videos to the server through a wifi or 4G network, and the staff can check the inspection images through a computer end or a mobile phone end.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. The utility model provides a transformer substation inspection device which characterized in that includes:
the shell comprises a top part and a bottom part which are distributed along the height direction of the shell;
the traveling assembly is arranged at the bottom of the shell and used for traveling of the transformer substation inspection device;
the lifting assembly is arranged at the top of the shell and comprises a first support extending along a first direction;
the horizontal moving assembly is connected to the first support and can move back and forth along the first direction, the horizontal moving assembly comprises a second support extending along a second direction, and the second direction is perpendicular to the first direction;
the image acquisition assembly is connected with the second support and can follow the second direction reciprocating motion, the image acquisition assembly includes the cloud platform unit and connects in the image acquisition unit of cloud platform unit, just the cloud platform unit can drive the image acquisition unit is rotatory to realize all-round making a video recording.
2. The substation inspection device according to claim 1, wherein the lifting assembly further comprises a first driving member, a lead screw, a flange nut and a first sliding block, wherein the first driving member is fixedly connected to one side of the first support, the lead screw is connected with a power end of the first driving member, the flange nut is sleeved on the lead screw and can reciprocate along the first direction, the first sliding block is slidably connected to the first support, one side of the flange nut is fixedly connected with the first sliding block and can drive the first sliding block to reciprocate along the first direction, and the second support is fixedly connected to the sliding block.
3. The substation inspection device according to claim 1, wherein the horizontal movement assembly further comprises a second driving member, a transmission belt and a rotating shaft, the second driving member is fixedly connected to one end of the second support, the rotating shaft is connected to the other end of the second support, the rotating shaft is connected to a power end of the second driving member through the transmission belt, and the holder unit is fixedly connected to the belt.
4. The substation inspection device according to claim 1, wherein the cloud platform unit includes a second slider, a support plate, a first rotating cloud platform and a second rotating cloud platform, the second slider is movably connected to the second support, the transmission belt can drive the slider to reciprocate along the second direction, the support plate is fixedly connected to the second slider, the first rotating cloud platform is connected to the support plate, the second rotating cloud platform is connected to the first rotating cloud platform, the first rotating cloud platform can drive the second rotating cloud platform to rotate along the horizontal plane by a first preset angle, and the second rotating cloud platform can drive the image acquisition unit to rotate along the axis of the horizontal plane by a second preset angle.
5. The substation inspection device according to claim 1, wherein the image acquisition unit includes an image acquisition portion, a connecting rod and a third rotating pan-tilt, the third rotating pan-tilt is connected with the second rotating pan-tilt through the connecting rod, the image acquirer is connected to the third rotating pan-tilt, and the third rotating pan-tilt can drive the image acquisition portion to rotate by a third preset angle.
6. The substation inspection device according to claim 5, wherein the image acquisition part comprises a fixed seat, a first image collector and a second image collector, the first image collector and the second image collector are respectively movably connected to two sides of the fixed seat, and the fixed seat is connected to the third rotating holder.
7. The substation inspection device according to claim 1, further comprising a control assembly disposed in the housing, the control assembly being electrically connected to the walking assembly, the lifting assembly, the horizontal movement assembly and the image acquisition assembly;
the control assembly controls the transformer substation inspection device to perform self-obstacle-avoiding type walking according to the obstacle information detected by the image acquisition assembly; or the control assembly controls the transformer substation inspection device to walk in a traversing mode; or the control assembly controls the transformer substation inspection device to patrol according to a key area set by a user.
8. The substation inspection device according to claim 1, further comprising:
the communication module is arranged in the shell and electrically connected with the controller, the controller sends information to the outside through the communication module, and the communication module comprises a wireless local area network module and/or a data flow module.
9. The substation inspection device according to claim 1, further comprising:
the environment perception module, the environment perception module include infrared sensor and laser radar sensor and all with the controller electricity is connected, infrared sensor with the laser radar sensor all set up in the bottom of casing is used for detecting road surface information and distance information on the walking route respectively.
10. An inspection method is applied to the substation inspection device according to any one of claims 1 to 9, and is characterized by comprising the following steps:
acquiring a polling area and a polling object;
determining a routing inspection path based on the routing inspection area and the routing inspection object;
detecting the inspection object based on the inspection path;
and acquiring the inspection image of the inspection object.
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| CN202110509265.4A CN113251255A (en) | 2021-05-11 | 2021-05-11 | Transformer substation inspection device |
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| CN202110509265.4A CN113251255A (en) | 2021-05-11 | 2021-05-11 | Transformer substation inspection device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115199880A (en) * | 2022-06-10 | 2022-10-18 | 长沙宏达威爱信息科技有限公司 | Industry inspection device based on VR technique |
| CN115278176A (en) * | 2022-07-29 | 2022-11-01 | 山东大学 | Target detection and identification device and method |
| CN116295663A (en) * | 2023-05-24 | 2023-06-23 | 北京市农林科学院信息技术研究中心 | Sensing platform for livestock and poultry health inspection and inspection robot |
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2021
- 2021-05-11 CN CN202110509265.4A patent/CN113251255A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115199880A (en) * | 2022-06-10 | 2022-10-18 | 长沙宏达威爱信息科技有限公司 | Industry inspection device based on VR technique |
| CN115278176A (en) * | 2022-07-29 | 2022-11-01 | 山东大学 | Target detection and identification device and method |
| CN116295663A (en) * | 2023-05-24 | 2023-06-23 | 北京市农林科学院信息技术研究中心 | Sensing platform for livestock and poultry health inspection and inspection robot |
| CN116295663B (en) * | 2023-05-24 | 2023-08-04 | 北京市农林科学院信息技术研究中心 | Sensing platform for livestock and poultry health inspection and inspection robot |
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