CN114627570A - Application system of four-footed bionic robot in electric power inspection - Google Patents
Application system of four-footed bionic robot in electric power inspection Download PDFInfo
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- CN114627570A CN114627570A CN202210369194.7A CN202210369194A CN114627570A CN 114627570 A CN114627570 A CN 114627570A CN 202210369194 A CN202210369194 A CN 202210369194A CN 114627570 A CN114627570 A CN 114627570A
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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Abstract
The invention belongs to the technical field of power patrol, and particularly relates to an application system of a four-footed bionic robot in power patrol, which comprises a base station control system layer and a mobile system layer; the base station control system layer comprises a wireless bridge and an upper computer; the mobile system layer comprises a plurality of quadruped robots, and a power module, a navigation module, a detection module, a control module, a communication module and a motion module which are arranged in the quadruped robots, the base station control system layer is connected with the mobile system layer through a 5G wireless network, and the quadruped robots transmit video, sound and temperature measurement data of the detected equipment to an upper computer through the wireless network and realize automatic checking of the state of the controlled equipment. The invention selects the quadruped robot as the main unit of the power inspection, can be suitable for different terrains, namely realizes the ladder climbing of the robot, and replaces the traditional wheeled robot which can only inspect a plane track.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to an application system of a four-footed bionic robot in power inspection.
Background
The inspection of the substation equipment is a basic work for effectively ensuring the safe operation of the equipment in the substation and improving the power supply reliability, and is divided into routine inspection and special inspection. Wherein routine inspection is performed at least twice a day; the special inspection is generally carried out in high-temperature weather, heavy-load operation, before newly-invested equipment is operated, and in strong wind, foggy days, ice and snow, hailstones and thunderstorms.
China is wide in territory, the geographic environment of a plurality of transformer substations is very severe (such as high altitude, extremely hot, extremely cold, strong wind, sand dust, much rain and the like), most transformer substation inspection modes are mostly manual inspection, and infrared temperature measurement is mainly carried out on transformer substation equipment through a handheld thermal infrared imager. The long-time equipment inspection work outdoors only by manpower is very difficult, and meanwhile, the defects of high labor intensity, low working efficiency, dispersed detection quality and the like exist, so that the detection is assisted by a robot, but the conventional robot equipment usually adopts a wheeled robot, the walking route needs to be a flat road and is not suitable for various terrains, in addition, the conventional robot is difficult to switch instructions after obtaining the instructions, the instructions need to be completed, the practicability is reduced, and an interactive system is lacked between the robots.
Therefore, an application system of the four-footed bionic robot in power inspection is provided to solve the problems.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an application system of a four-footed bionic robot in power inspection.
In order to achieve the purpose, the invention adopts the following technical scheme:
an application system of a quadruped bionic robot in power inspection comprises a base station control system layer and a mobile system layer; the base station control system layer comprises a wireless network bridge and an upper computer; the mobile system layer comprises a plurality of quadruped robots, and a power module, a navigation module, a detection module, a control module, a communication module and a motion module which are arranged in the quadruped robots, the base station control system layer is connected with the mobile system layer through a 5G wireless network, and the quadruped robots transmit video, sound and temperature measurement data of the detected equipment to an upper computer through the wireless network and realize automatic checking of the state of the controlled equipment.
In the above application system of the four-foot bionic robot for power inspection, the upper computer is connected with a plurality of the four-foot robots through the communication module, the control module in the four-foot robots is used for receiving the inspection instruction sent by the upper computer, and the control module is respectively connected with the power module, the navigation module, the detection module, the communication module and the motion module.
In the application system of the quadruped bionic robot in power inspection, the power module is connected with a power supply of a transformer substation in a contact charging mode, and the quadruped bionic robot is automatically connected and charged after completing an inspection task.
In the application system of the four-footed bionic robot in power inspection, the navigation module automatically completes inspection tasks according to inspection routes preset by an upper computer and automatically positions at preset points, wherein the preset points comprise radio frequency identification points, inspection related equipment, instruments and joints.
In the application system of the four-footed bionic robot in power inspection, a light image acquisition unit, an infrared image acquisition unit, a temperature acquisition unit and a humidity acquisition unit are arranged in the detection module.
In the application system of the four-footed bionic robot in power inspection, a man-machine interaction system is arranged in the four-footed robot, the man-machine interaction system comprises a checking connection state, a manual inspection, a video recording and playback and a task timing issuing configuration, and the checking connection state is a prepositive requirement to determine the use state of the four-footed robot; the manual inspection mode is changed into a manual control mode by clicking a control platform button in the quadruped robot; the video recording and playback is realized by clicking 'start video recording' in the control platform and displaying a storage path after the recording is finished; the task timing issuing configuration selects timing by clicking 'start timing task' in the control platform, and the issuing configuration is confirmed again and executed according to the setting after the selection is completed.
In the application system of the quadruped bionic robot in power inspection, a photoelectric detection unit is arranged in the motion module and used for detecting obstacle information on a preset track, an alarm module is further arranged in the quadruped robot, and the quadruped robot automatically stops and gives an alarm when encountering an obstacle in the inspection process.
In the application system of the quadruped bionic robot in power inspection, a restarting module is arranged in the quadruped bionic robot, the restarting module is connected with the control module and used for switching tasks, terminating the previous task and executing the newly set task, and a built-in storage module is arranged in the quadruped bionic robot and used for offline storage of data.
Compared with the prior art, the application system of the four-footed bionic robot in power inspection has the advantages that:
1. the invention selects the quadruped robot as the main unit of the power inspection, can be suitable for different terrains, namely realizes the ladder climbing of the robot, and replaces the traditional wheeled robot which can only inspect a plane track.
2. The four-footed robot is internally provided with the restarting module which is connected with the control module and used for switching tasks to use, terminating the previous task and executing the newly set task, and the four-footed robot is internally provided with the built-in storage module and used for offline storage of data, so that the problem that the inspection robot cannot actively switch tasks immediately in use in the prior art is solved, and the detection data of the previous task can be stored offline, so that the data loss is avoided.
3. The man-machine interaction system is arranged in the four-footed robot, so that the interaction between the four-footed robot and an operator can be realized, the manual operation mode can be correspondingly switched, and the applicability is improved.
Drawings
FIG. 1 is a system structure diagram of an application system of a four-footed bionic robot in power inspection, which is provided by the invention;
FIG. 2 is a system block diagram of an application system of a quadruped bionic robot in power inspection, which is provided by the invention;
in the figure, 100 base station control system layers, 101 wireless bridges, 102 upper computers, 200 mobile system layers, 201 quadruped robots, 202 power supply modules, 203 navigation modules, 204 detection modules, 204a light image acquisition units, 204b infrared image acquisition units, 204c temperature acquisition units, 204d humidity acquisition units, 205 control modules, 206 communication modules, 207 motion modules, 207a photoelectric detection units, 207b alarm modules, 300 human-computer interaction systems, 301 connection state checking, 302 manual inspection, 303 video recording and playback, 304 task timing issuing configuration and 400 module restarting are adopted.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Examples
Referring to fig. 1-2, an application system of a quadruped bionic robot in power inspection comprises a base station control system layer 100 and a mobile system layer 200; the base station control system 100 layer comprises a wireless bridge 101 and an upper computer 102; the mobile system layer 200 comprises a plurality of quadruped robots 201 and a power module 202 arranged in the quadruped robots 201, a navigation module 203, a detection module 204, a control module 205, a communication module 206 and a motion module 207, the quadruped robots are selected as main units for power inspection, the robot ladder can be suitable for different terrains, namely, the robot ladder is realized, the traditional wheeled robot can only inspect a plane track, the upper computer 102 is connected with the quadruped robots 201 through the communication module 206, the control module 205 in the quadruped robots 201 is used for receiving inspection instructions sent by the upper computer 102, and the control module 205 is respectively connected with the power module 202, the navigation module 203, the detection module 204, the communication module 206 and the motion module 207.
Further, the base station control system layer 100 is connected with the mobile system layer 200 through a 5G wireless network, the quadruped robot 201 transmits video, sound and temperature measurement data of the detected equipment to the upper computer 102 through the wireless network and realizes automatic checking of the state of the controlled equipment, and specifically, the upper computer can automatically acquire and store visible light images and infrared images and analyze and process the images; dynamically displaying a visible light image and an infrared image which are currently acquired by the robot; and displaying the current orientation, motion state and power state of the robot in real time and analyzing.
Wherein, power module 202 adopts contact charging mode and transformer substation's power connection, and four-footed robot 201 accomplishes and patrols and examines automatic connection after the task and charge, guarantees the stability that four-footed robot used, and the mode that adopts automatic connection to charge can improve degree of automation.
The navigation module 203 automatically completes the patrol task and automatically positions the patrol task at a preset point according to a preset patrol route of the host computer 102, wherein the preset point comprises a radio frequency identification point, patrol related equipment, instruments and joints, and specifically, reasonable patrol time, operation tasks and routes are arranged for the quadruped robot 201 according to field conditions, for example, visible light patrol with the duration of 1h and infrared imaging patrol with the duration of 2h are carried out on 220kV and 35kV equipment areas in a single day; and carrying out infrared imaging inspection with the duration of 2h visible light and the duration of 3h on the main transformer and a 500kV equipment area in two days, analyzing the temperature of the equipment by screening inspection time and equipment type after the inspection task is finished, and displaying the temperature of a mode identification area.
The detection module 204 is internally provided with a light image acquisition unit 204a, an infrared image acquisition unit 204b, a temperature acquisition unit 204c and a humidity acquisition unit 204d, and the light image acquisition unit 204a, the infrared image acquisition unit 204b, the temperature acquisition unit 204c and the humidity acquisition unit 204d can correspondingly acquire and detect the light image, the infrared image, the temperature and the humidity.
Further, a human-computer interaction system 300 is arranged in the quadruped robot 201, the human-computer interaction system 300 comprises a checking connection state 301, a manual inspection 302, a video recording and playback 303 and a task timing issuing configuration 304, and the checking connection state 301 is a preposed requirement to determine the use state of the quadruped robot 201; the manual patrol 302 changes to the "manual control mode" by clicking a control platform button in the quadruped robot 201 to enter a switchable mode; the video recording and playback 303 clicks the 'start video' in the control platform and displays a storage path after the recording is finished; the task timing issuing configuration 304 selects timing by clicking 'start timing task' in the control platform, the issuing configuration is confirmed again after the selection is completed and executed according to the setting, interaction between the quadruped robot and an operator can be realized by setting the human-computer interaction system 300, and the manual operation mode can be correspondingly switched, so that the applicability is improved.
The motion module 207 is internally provided with a photoelectric detection unit 207a for detecting obstacle information on a predetermined track, the quadruped robot 201 is internally provided with an alarm module 207b, and the quadruped robot 201 automatically stops and gives an alarm when encountering an obstacle in the patrol process, so that the damage of the quadruped robot 201 is avoided.
Specifically, the restart module 400 is arranged in the quadruped robot 201, the restart module 400 is connected with the control module 205 and used for switching tasks, a previous task is terminated and a newly set task is executed, a built-in storage module is arranged in the quadruped robot 201 and used for offline storage of data, the problem that the inspection robot cannot immediately and actively switch tasks in use is solved, the detection data of the previous task can be offline stored, and data loss is avoided.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. An application system of a quadruped bionic robot in power inspection is characterized by comprising a base station control system layer (100) and a mobile system layer (200);
the base station control system layer (100) comprises a wireless bridge (101) and an upper computer (102);
the mobile system layer (200) comprises a plurality of quadruped robots (201), and a power supply module (202), a navigation module (203), a detection module (204), a control module (205), a communication module (206) and a motion module (207) which are arranged in the quadruped robots (201), the base station control system layer (100) is connected with the mobile system layer (200) through a 5G wireless network, and the quadruped robots (201) transmit video, sound and temperature measurement data of detected equipment to an upper computer (102) through the wireless network and realize automatic checking of the states of the controlled equipment.
2. The application system of the quadruped bionic robot in power inspection according to claim 1, wherein the upper computer (102) is connected with a plurality of quadruped robots (201) through a communication module (206), a control module (205) in the quadruped robots (201) is used for receiving inspection instructions sent by the upper computer (102), and the control module (205) is respectively connected with a power supply module (202), a navigation module (203), a detection module (204), the communication module (206) and a motion module (207).
3. The application system of the quadruped bionic robot in power inspection according to claim 2, wherein the power module (202) is connected with a power supply of a transformer substation in a contact charging mode, and the quadruped robot (201) is automatically connected and charged after the inspection task is completed.
4. The application system of the quadruped bionic robot in power inspection according to claim 3, wherein the navigation module (203) automatically completes the inspection task according to the inspection route preset by the host computer (102) and automatically locates at the preset points, and the preset points comprise radio frequency identification points, inspection related equipment, instruments and joints.
5. The application system of the quadruped bionic robot in power inspection according to claim 1, wherein a light image acquisition unit (204a), an infrared image acquisition unit (204b), a temperature acquisition unit (204c) and a humidity acquisition unit (204d) are arranged in the detection module (204).
6. The application system of the quadruped bionic robot in power inspection according to claim 1, characterized in that a human-computer interaction system (300) is arranged in the quadruped robot (201), the human-computer interaction system (300) comprises a checking connection state (301), a manual inspection (302), a video recording and playback (303) and a task timing issuing configuration (304), and the checking connection state (301) is a preset requirement to determine the use state of the quadruped robot (201); the manual inspection tour (302) enters a switchable mode into a 'manual control mode' by clicking a control platform button in the quadruped robot (201); the video recording and playback (303) is realized by clicking 'start video recording' in the control platform and displaying a storage path after the recording is finished; and the task timing issuing configuration (304) selects timing by clicking 'start timing task' in the control platform, and confirms issuing configuration again and executes according to the setting after the selection is finished.
7. The application system of the quadruped bionic robot in power inspection according to claim 1, wherein a photoelectric detection unit (207a) is arranged in the motion module (207) and is used for detecting obstacle information on a predetermined track, an alarm module (207b) is further arranged in the quadruped robot (201), and the quadruped robot (201) automatically stops when meeting an obstacle and gives an alarm in the inspection process.
8. The application system of the quadruped bionic robot in power inspection according to claim 7, wherein a restarting module (400) is arranged in the quadruped robot (201), the restarting module (400) is connected with the control module (205) and is used for switching tasks, terminating a previous task and executing a newly set task, and a built-in storage module is arranged in the quadruped robot (201) and is used for offline storage of data.
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| CN202210369194.7A CN114627570B (en) | 2022-04-08 | 2022-04-08 | Application system of four-footed bionic robot in electric power inspection |
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| CN202210369194.7A CN114627570B (en) | 2022-04-08 | 2022-04-08 | Application system of four-footed bionic robot in electric power inspection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022037278A1 (en) * | 2020-08-19 | 2022-02-24 | 广西电网有限责任公司贺州供电局 | Substation inspection robot system based on artificial intelligence |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022037278A1 (en) * | 2020-08-19 | 2022-02-24 | 广西电网有限责任公司贺州供电局 | Substation inspection robot system based on artificial intelligence |
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