CN113799092A - Offshore wind power double-arm teleoperation intelligent operation and maintenance robot - Google Patents
Offshore wind power double-arm teleoperation intelligent operation and maintenance robot Download PDFInfo
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- CN113799092A CN113799092A CN202111153233.1A CN202111153233A CN113799092A CN 113799092 A CN113799092 A CN 113799092A CN 202111153233 A CN202111153233 A CN 202111153233A CN 113799092 A CN113799092 A CN 113799092A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 22
- 238000007689 inspection Methods 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 10
- 230000008447 perception Effects 0.000 claims description 8
- 239000000779 smoke Substances 0.000 claims description 8
- 238000001931 thermography Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 238000007726 management method Methods 0.000 description 7
- 239000007789 gas Substances 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000003238 somatosensory effect Effects 0.000 description 2
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- 229910018503 SF6 Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- SFZCNBIFKDRMGX-UHFFFAOYSA-N sulfur hexafluoride Chemical compound FS(F)(F)(F)(F)F SFZCNBIFKDRMGX-UHFFFAOYSA-N 0.000 description 1
- 229960000909 sulfur hexafluoride Drugs 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
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Abstract
The invention discloses an offshore wind power double-arm teleoperation intelligent operation and maintenance robot which comprises a motion system, an inspection system and an operation control system, wherein the inspection system and the operation control system are arranged on the motion system, the inspection system is connected with the operation control system, the motion system comprises a vehicle body and a navigation control system, the navigation control system is connected with the vehicle body, the operation control system comprises an operation sensing system, an operation control mechanism and a follow-up operation control system, the operation sensing system is connected with the follow-up operation control system, the follow-up operation control system is connected with the operation control mechanism, and the operation sensing system is arranged on the operation control mechanism. Can realize patrolling and examining, independently operate dangerous key equipment comprehensively high risk area, can avoid human error, reduce intensity of labour and safety risk.
Description
Technical Field
The invention belongs to the field of power station operation and maintenance robots, and relates to an intelligent operation and maintenance robot for double-arm teleoperation of offshore wind power.
Background
At the present stage, maintenance research on an offshore wind farm is mainly aimed at optimization of a single target, and reliability and availability of a wind turbine generator and economy of a full life cycle of the wind farm are researched. And to marine booster station part, equipment, pipeline, framework all arrange indoor and outdoor on the booster station platform, the mode of patrolling and examining of fan body can not duplicate. The current monitoring mostly covers the own monitoring system of each device, completes daily operation records and uploads the daily operation records to the onshore centralized control center to be used as the monitoring basis of operation and maintenance personnel. Meanwhile, casualty accidents frequently occur in switching operation in recent years, the equipment is in great potential safety hazards due to human errors, and when operators and guardians do not find the hidden hazards to operate the equipment, casualty accidents are inevitably caused. How to regard booster station as an integrated equipment, for its configuration indoor outer multi-scene patrol and examine regional multi-equipment daily patrol and examine, carry out unmanned operation to dangerous key equipment, become offshore wind power booster station unmanned operation and maintenance and need solve the problem urgently.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the offshore wind power double-arm teleoperation intelligent operation and maintenance robot, which can realize comprehensive inspection on high-risk areas and autonomous operation on dangerous key equipment, can avoid human errors and reduce the labor intensity and the safety risk.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
the utility model provides an offshore wind power both arms teleoperation intelligence fortune dimension robot, includes the motion system, patrols and examines system and control system, patrols and examines system, control system and locates on the motion system, patrols and examines the system and link to each other with control system, the motion system includes automobile body and navigation control system, and navigation control system and car connection, control system includes operation perception system, controls mechanism and follow-up operation control system, and operation perception system links to each other with follow-up operation control system, and follow-up operation control system links to each other with control mechanism, and operation perception system installs on controlling the mechanism.
Preferably, the navigation control system comprises a navigation sensor, an obstacle avoidance sensor and a navigation controller, and the navigation sensor and the obstacle avoidance sensor are respectively connected with the navigation controller.
Further, the navigation sensor comprises a monocular camera, a three-dimensional laser radar and a binocular fisheye camera, and the monocular camera, the three-dimensional laser radar and the binocular fisheye camera are mounted on the vehicle body; keep away barrier sensor and keep away barrier camera and ultrasonic ranging appearance including two mesh structure light, two mesh structure light cameras and ultrasonic ranging appearance are installed on the automobile body.
Preferably, the inspection system comprises an inspection management system and an inspection sensing system, and the inspection sensing system is connected with the inspection management system.
Furthermore, the inspection sensing system comprises a thermal infrared imager, a gas detection sensor, a temperature and humidity sensor, a smoke sensor and a directionality pickup sensor, wherein the thermal infrared imager, the gas detection sensor, the temperature and humidity sensor, the smoke sensor and the directionality pickup sensor are respectively connected with the inspection management system.
And furthermore, the thermal infrared imager selects an infrared thermal imaging binocular tripod head camera.
Preferably, the operation sensing system comprises a long-baseline binocular structured light camera and a mechanical arm positioning binocular structured light camera, and the control mechanism is a six-degree-of-freedom double mechanical arm.
Further, the six-degree-of-freedom double-mechanical arm comprises a left mechanical arm and a right mechanical arm, wherein a left clamping jaw is arranged at the tail end of the left mechanical arm, and a right clamping jaw is arranged at the tail end of the right mechanical arm; the mechanical arm positioning binocular structure light camera comprises a left binocular structure light camera and a right binocular structure light camera, the left binocular structure light camera is arranged at the tail end of the left mechanical arm, and the right binocular structure light camera is arranged at the tail end of the right mechanical arm.
Still further, be equipped with the mount pad on the automobile body, be equipped with the erection column on the mount pad, be equipped with the fuselage on the erection column, left arm is installed in the fuselage left side, and right arm is installed in the fuselage right side, and long-base line binocular structure light camera is installed on the fuselage.
Preferably, the follow-up operation control system comprises a double-arm follow-up teleoperation body sensing device, and the double-arm follow-up teleoperation body sensing device comprises an MR head display and a data glove.
Compared with the prior art, the invention has the following beneficial effects:
according to the robot control system, the follow-up operation control system is controlled to output signals, so that the robot is controlled by the control system, comprehensive inspection of a high-risk area is realized, and dangerous key equipment is remotely operated. The intelligent offshore booster station has the flexibility and intelligence of manual inspection and operation, overcomes and makes up some defects and shortcomings of manual inspection and operation, is more suitable for the actual development requirements of the offshore booster station, and has huge advantages, wide development space and application prospects. The intelligent operation and maintenance robot can automatically inspect and operate a high-risk area, human errors can be avoided, labor intensity and safety risks are reduced, unsafe factors existing in the aspects of people, machines, rings and pipes of a power generation enterprise can be solved, the integration degree of modern information technology and safety production is improved, and the scientific level of safety production decision is improved.
Furthermore, the surrounding environment is monitored in an all-around mode through a plurality of cameras and sensors of the navigation control system.
Furthermore, through a plurality of sensors of the inspection sensing system, detection of various data is effectively completed, and remote detection is realized.
Furthermore, the follow-up operation control system realizes the cooperative completion of the operation task of man-machine linkage and interaction by wearing the double-arm follow-up teleoperation somatosensory equipment on a person, and improves the potential of remote operation of the robot by a person.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
In the figure, 1-left mechanical arm, 2-left binocular structured light camera, 3-right clamping jaw, 4-right binocular structured light camera, 5-right mechanical arm, 6-binocular pan-tilt camera, 7-fuselage, 8-binocular fisheye camera, 9-three-dimensional laser radar, 10-mounting column, 11-monocular camera, 12-mounting seat, 13-vehicle body and 14-ultrasonic range finder.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1, the offshore wind power dual-arm teleoperation intelligent operation and maintenance robot comprises a motion system, an inspection system and an operation system, wherein the inspection system and the operation system are arranged on the motion system, and the inspection system is connected with the operation system.
The motion system comprises a vehicle body 13 and a navigation control system, the navigation control system is connected with the vehicle body 13 and controls the vehicle body 13 to conduct autonomous navigation, the navigation control system comprises a navigation sensor, an obstacle avoidance sensor and a navigation controller, and the navigation sensor and the obstacle avoidance sensor are respectively connected with the navigation controller.
The navigation sensor comprises a monocular camera 11, a three-dimensional laser radar 9 and a binocular fisheye camera 8, and the monocular camera 11, the three-dimensional laser radar 9 and the binocular fisheye camera 8 are installed on the vehicle body 13. Obstacle avoidance sensor includes binocular structure light obstacle avoidance camera and ultrasonic ranging appearance 14, and binocular structure light camera and ultrasonic ranging appearance 14 install on automobile body 13.
The inspection system comprises an inspection management system and an inspection sensing system, and the inspection sensing system is connected with the inspection management system. The inspection sensing system comprises a thermal infrared imager, a gas detection sensor, a temperature and humidity sensor, a smoke sensor and a directionality pickup sensor, wherein the thermal infrared imager, the gas detection sensor, the temperature and humidity sensor, the smoke sensor and the directionality pickup sensor are respectively connected with the inspection management system. The infrared thermal imager selects an infrared thermal imaging binocular head camera 6.
The operation and control system comprises an operation sensing system, an operation and control mechanism and a follow-up operation control system, the operation sensing system is connected with the follow-up operation control system, the follow-up operation control system is connected with the operation and control mechanism, and the operation sensing system is installed on the operation and control mechanism. The operation perception system comprises a long-baseline binocular structured light camera and a mechanical arm positioning binocular structured light camera, and the control mechanism is a six-degree-of-freedom double mechanical arm. The six-degree-of-freedom double mechanical arm comprises a left mechanical arm 1 and a right mechanical arm 5, a left clamping jaw is arranged at the tail end of the left mechanical arm 1, a right clamping jaw 3 is arranged at the tail end of the right mechanical arm 5, the mechanical arm positioning binocular structure light camera comprises a left binocular structure light camera 2 and a right binocular structure light camera 4, the left binocular structure light camera 2 is arranged at the tail end of the left mechanical arm 1, and the right binocular structure light camera 4 is arranged at the tail end of the right mechanical arm 5. The vehicle body 13 is provided with a mounting seat 12, the mounting seat 12 is provided with a mounting column 10, the mounting column 10 is provided with a machine body 7, the left mechanical arm 1 is mounted on the left side of the machine body 7, the right mechanical arm 5 is mounted on the right side of the machine body 7, and the long-baseline binocular structured light camera is mounted on the machine body 7. The infrared thermal imaging binocular tripod head camera 6 is arranged at the top of the machine body 7.
The follow-up operation control system comprises a double-arm follow-up teleoperation body sensing device, and the double-arm follow-up teleoperation body sensing device comprises an MR head display and data gloves. The MR head display adopts a Microsoft Hololens 2 mixed reality head display.
The navigation controller of the invention controls the vehicle body 13 to walk according to the data collected by the navigation sensor and the obstacle avoidance sensor. The inspection sensing system collects inspection data, the thermal infrared imager detects the temperature of the power equipment, the gas detection sensor detects gases such as sulfur hexafluoride and hydrogen sulfide, the burning loss detection of a high-voltage circuit breaker and a cable insulation skin is realized, the temperature and humidity sensor detects the temperature and humidity of the field environment, the smoke sensor detects the concentration of smoke in the air, the inspection fire prevention of a power station is realized, the directionality pickup sensor detects the sound of the power equipment, the partial discharge monitoring is realized, the inspection management system analyzes and judges the data collected by the inspection sensing system, and the analysis result is sent to the follow-up operation control system.
The follow-up operation control system establishes remote communication with the six-degree-of-freedom double mechanical arms and the clamping jaws carried by the operation and maintenance robot by wearing the double-arm follow-up teleoperation somatosensory equipment on a land centralized control center personnel, so that man-machine linkage and interaction are realized to complete an operation task in a cooperative manner. Human-machine interaction uses immersive virtual reality techniques to transport an operator to a workspace, provide task information, and allow him to intuitively command the robot, improving the potential for human-to-robot remote operation.
The follow-up operation control system controls the operation of the control mechanism according to the data collected by the operation sensing system. The left binocular structured light camera 2 and the right binocular structured light camera 4 which are arranged at the tail end of the mechanical arm provide a magnifying glass visual angle of a close-range detail picture of a target to be worked, so that fine operation becomes possible. The infrared thermal imaging binocular tripod head camera 6 installed at the head position of the robot provides a first-person visual angle, and the MR head display can capture the head posture information of the user in real time, so that the rotation and pitching angle of the tripod head can be controlled, and more vivid experience can be provided for the user. Left binocular structure light camera 2, right binocular structure light camera 4 and infrared thermal imaging binocular cloud platform camera 6's picture is passed back to the MR head in real time and is shown, for the user provides many machine positions, the operation observation visual angle at no dead angle, still can show virtual arm and clamping jaw and robot real-time status parameter simultaneously at the MR head shows, the user is according to the display screen at three visual angle, make specific gesture, the action of removal hand, realize the removal of arm and the opening and shutting of clamping jaw, thereby the realization is controlled marine booster station mobile robot arm.
The operation of the fault equipment is completed through a highly integrated six-degree-of-freedom double mechanical arm, a clamping jaw and an operation sensing system which are carried by the robot. The position and the attitude coordinate of fault equipment to be operated are judged by an operation perception system and are sent to a follow-up operation control system, the follow-up operation control system carries out motion planning according to the position and attitude coordinate and controls a two-degree-of-freedom mechanical arm to move to the front of the fault equipment, a clamping jaw automatically replaces a corresponding operation tool from a tool box according to an execution task to complete switching, screwing and opening of the box, if the switching operation task is executed, the position and the attitude coordinate of a switching hole are judged by a mechanical arm positioning binocular structure optical camera and are sent to the follow-up operation control system, the follow-up operation control system carries out motion planning according to the position and attitude coordinate and controls the mechanical arm to move to the front of the switching hole, and a tail end tool carries out the action of opening a knob hole and shaking in and out.
The invention collects data of main transformer protection cabinets, direct current charging cabinets, UPS power cabinets and other equipment cabinets of the relay protection indoor of the offshore booster station in real time, such as instruments, switches and pressing plates of the main transformer body oil temperature, oil level and breather of the main transformer chamber, sound monitoring of the main transformer body, instruments, switches of the switch cabinet chamber, instruments of the emergency distribution chamber and the like in real time, and realizes comprehensive inspection of high-risk areas and remote operation of dangerous key equipment. The intelligent offshore booster station has the flexibility and intelligence of manual inspection and operation, overcomes and makes up some defects and shortcomings of manual inspection and operation, is more suitable for the actual development requirements of the offshore booster station, and has huge advantages, wide development space and application prospects. The intelligent operation and maintenance robot can automatically patrol and operate a high-risk area, the user can move the mechanical arm and open and close the clamping jaws through different gestures and hand movements, human errors can be avoided, labor intensity and safety risks are reduced, unsafe factors existing in the aspects of people, machines, rings and pipes of a power generation enterprise can be solved, the integration degree of modern information technology and safety production is improved, and the decision scientific level of safety production is improved.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides an offshore wind power both arms teleoperation intelligence fortune dimension robot, a serial communication port, including the motion system, patrol and examine system and control system, patrol and examine system, control system locate on the motion system, patrol and examine the system and link to each other with control system, the motion system includes automobile body (13) and navigation control system, and navigation control system is connected with automobile body (13), control system includes operation perception system, controls mechanism and follow-up operation control system, and operation perception system links to each other with follow-up operation control system, and follow-up operation control system links to each other with control mechanism, and operation perception system installs on controlling the mechanism.
2. The offshore wind power double-arm teleoperation intelligent operation and maintenance robot as claimed in claim 1, wherein the navigation control system comprises a navigation sensor, an obstacle avoidance sensor and a navigation controller, and the navigation sensor and the obstacle avoidance sensor are respectively connected with the navigation controller.
3. Offshore wind power double-arm teleoperation intelligent operation and maintenance robot as claimed in claim 2, characterized in that the navigation sensors comprise a monocular camera (11), a three-dimensional lidar (9) and a binocular fisheye camera (8), the monocular camera (11), the three-dimensional lidar (9) and the binocular fisheye camera (8) are mounted on the vehicle body (13); keep away barrier sensor and include that binocular structure light keeps away barrier camera and ultrasonic ranging appearance (14), binocular structure light camera and ultrasonic ranging appearance (14) install on automobile body (13).
4. The offshore wind power double-arm teleoperation intelligent operation and maintenance robot as claimed in claim 1, wherein the inspection system comprises an inspection management system and an inspection sensing system, and the inspection sensing system is connected with the inspection management system.
5. The offshore wind power double-arm teleoperation intelligent operation and maintenance robot as claimed in claim 4, wherein the inspection sensing system comprises a thermal infrared imager, a gas detection sensor, a temperature and humidity sensor, a smoke sensor and a directionality pickup sensor, and the thermal infrared imager, the gas detection sensor, the temperature and humidity sensor, the smoke sensor and the directionality pickup sensor are respectively connected with the inspection management system.
6. Offshore wind power double-arm teleoperation intelligent operation and maintenance robot according to claim 5, characterized in that the thermal infrared imager is an infrared thermography binocular pan-tilt camera (6).
7. The offshore wind power double-arm teleoperation intelligent operation and maintenance robot as claimed in claim 1, wherein the operation sensing system comprises a long-baseline binocular structure optical camera and a mechanical arm positioning binocular structure optical camera, and the control mechanism is a six-degree-of-freedom double mechanical arm.
8. The offshore wind power double-arm teleoperation intelligent operation and maintenance robot as claimed in claim 7, wherein the six-degree-of-freedom double-mechanical arm comprises a left mechanical arm (1) and a right mechanical arm (5), a left clamping jaw is arranged at the tail end of the left mechanical arm (1), and a right clamping jaw (3) is arranged at the tail end of the right mechanical arm (5); the mechanical arm positioning binocular structure light camera comprises a left binocular structure light camera (2) and a right binocular structure light camera (4), the left binocular structure light camera (2) is arranged at the tail end of the left mechanical arm (1), and the right binocular structure light camera (4) is arranged at the tail end of the right mechanical arm (5).
9. The offshore wind power double-arm teleoperation intelligent operation and maintenance robot as claimed in claim 8, wherein a mounting seat (12) is arranged on the vehicle body (13), a mounting column (10) is arranged on the mounting seat (12), a machine body (7) is arranged on the mounting column (10), the left mechanical arm (1) is arranged on the left side of the machine body (7), the right mechanical arm (5) is arranged on the right side of the machine body (7), and the long-baseline binocular structured light camera is arranged on the machine body (7).
10. The offshore wind power double-arm teleoperation intelligent operation and maintenance robot as claimed in claim 1, wherein the follow-up operation control system comprises a double-arm follow-up teleoperation body sensing device, and the double-arm follow-up teleoperation body sensing device comprises an MR head display and a data glove.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111153233.1A CN113799092A (en) | 2021-09-29 | 2021-09-29 | Offshore wind power double-arm teleoperation intelligent operation and maintenance robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111153233.1A CN113799092A (en) | 2021-09-29 | 2021-09-29 | Offshore wind power double-arm teleoperation intelligent operation and maintenance robot |
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| CN113799092A true CN113799092A (en) | 2021-12-17 |
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| CN202111153233.1A Pending CN113799092A (en) | 2021-09-29 | 2021-09-29 | Offshore wind power double-arm teleoperation intelligent operation and maintenance robot |
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| CN116922418A (en) * | 2023-09-14 | 2023-10-24 | 国网天津市电力公司电力科学研究院 | Power equipment state detection robot under dangerous power scene |
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Application publication date: 20211217 |