CN116316231A - Intelligent inspection vehicle for transformer substation - Google Patents
Intelligent inspection vehicle for transformer substation Download PDFInfo
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- CN116316231A CN116316231A CN202310345997.3A CN202310345997A CN116316231A CN 116316231 A CN116316231 A CN 116316231A CN 202310345997 A CN202310345997 A CN 202310345997A CN 116316231 A CN116316231 A CN 116316231A
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- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000001681 protective effect Effects 0.000 claims description 17
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The application discloses intelligent inspection vehicle of transformer substation includes: the system comprises a patrol car body, a detection unmanned aerial vehicle, a moving mechanism, a self-checking unit and an analysis control unit; the detection unmanned aerial vehicle is movably placed in a protection mechanism at the top of the inspection vehicle body, the protection mechanism is fixedly connected with the top of the inspection vehicle body, and the protection mechanism comprises a protection cover; the detection unmanned aerial vehicle is respectively in communication connection with the self-checking unit and the analysis control unit, the acquired information of the inspection vehicle is sent to the self-checking unit, and the acquired information of the aerial transformer substation is sent to the analysis control unit; the moving mechanism is movably connected with the bottom of the inspection vehicle body; the self-checking unit is used for analyzing the running state of the inspection vehicle according to the inspection vehicle information to obtain a self-checking result; the analysis control unit is used for analyzing and storing the information of the aerial transformer substation and controlling the inspection vehicle body and the detection unmanned aerial vehicle to act. The method and the device can solve the technical problems that the prior art cannot acquire clear and reliable long-distance image information, and the inspection vehicle fault cannot be perceived quickly, so that the actual inspection efficiency is poor.
Description
Technical Field
The application relates to the technical field of substation inspection, in particular to an intelligent inspection vehicle of a substation.
Background
The transformer substation is used for converting voltage and current in a power system, receiving electric energy and distributing the electric energy, the transformer substation in a power plant is used for boosting the electric energy generated by a generator and feeding the boosted electric energy into a high-voltage power grid, electric equipment in the transformer substation is divided into primary equipment and secondary equipment, the primary equipment is used for directly producing, conveying, distributing and using the electric energy, and the secondary equipment of the transformer substation is used for measuring, monitoring, controlling and protecting the operation conditions of the primary equipment and the system.
The primary equipment in the transformer substation is generally arranged outside, so that when the primary equipment is inspected, substation image acquisition can be carried out through a camera on the inspection vehicle, and then recognition is carried out, but when the inspection vehicle carries out image acquisition on the primary equipment, a power transformer in the primary equipment is arranged on the ground, the side surface of the primary equipment can be clearly detected through the inspection vehicle, the image above the power transformer cannot be acquired, a bus in the primary equipment is positioned in the air, the distance between the inspection vehicle and the bus is far, the image acquisition is carried out through the inspection vehicle on the ground, the bus image is required to be amplified, and the amplified bus image is too fuzzy, so that the accuracy of subsequent recognition can be influenced. In addition, when the inspection vehicle inspects external primary equipment, the self-failure problem of the inspection vehicle cannot be known quickly, and after a worker arrives at the site, the inspection vehicle is inspected manually and then maintained; the process wastes human resources and delays more inspection time, so that inspection efficiency is low.
Disclosure of Invention
The application provides an intelligent inspection vehicle of transformer substation for solve prior art and can't acquire clear reliable long-distance image information, and can not perceive inspection vehicle trouble fast, lead to actual inspection efficiency relatively poor technical problem.
In view of this, the first aspect of the present application provides an intelligent patrol car of a transformer substation, comprising: the system comprises a patrol car body, a detection unmanned aerial vehicle, a moving mechanism, a self-checking unit and an analysis control unit;
the detection unmanned aerial vehicle is movably placed in a protection mechanism at the top of the inspection vehicle body, the protection mechanism is fixedly connected with the top of the inspection vehicle body, and the protection mechanism comprises a protection cover;
the detection unmanned aerial vehicle is respectively in communication connection with the self-checking unit and the analysis control unit, and transmits the acquired inspection vehicle information to the self-checking unit or transmits the acquired aerial substation information to the analysis control unit;
the moving mechanism is movably connected with the bottom of the inspection vehicle body;
the self-checking unit is used for analyzing the running state of the inspection vehicle according to the inspection vehicle information to obtain a self-checking result;
the analysis control unit is used for analyzing and storing the aerial transformer substation information and controlling actions of the inspection vehicle body and the detection unmanned aerial vehicle.
Preferably, the method further comprises: an upper vehicle body;
the upper vehicle body is fixedly connected with the top of the inspection vehicle body;
the protection mechanism is contacted with one side surface of the upper vehicle body, and a limiting rod fixedly connected in the middle of the top of the inspection vehicle body is arranged between the protection mechanism and the upper vehicle body.
Preferably, the method further comprises: a ground collection component;
the ground acquisition component is arranged on the side surface of the upper vehicle body, which is far away from the protection mechanism;
the ground acquisition component is used for acquiring ground equipment information of the lower part of the ground primary equipment in the transformer substation and sending the ground equipment information to the analysis control unit.
Preferably, the method further comprises: a first motor and a second motor;
the first motor and the second motor are both arranged on the side surface of the upper vehicle body;
the first motor is fixedly connected with the camera through a connecting part, and the connecting part comprises a rotating shaft, a connecting ring, a supporting frame, a fixed shaft, a supporting plate and a connecting plate.
Preferably, the side surface of the second motor opposite to the first motor is provided with a threaded rod fixedly connected with the second motor, the top end of the threaded rod is movably connected with a gear, and the contact part of the gear and the threaded rod is meshed with each other;
the inside of the gear is fixedly connected with one side surface of the fixed shaft.
Preferably, the threaded rod is provided with a clearance hole matched with the rotating shaft;
and the connecting ring is provided with a position avoiding hole matched with the threaded rod.
Preferably, the method further comprises: a servo motor;
the servo motor is fixedly connected with a position avoidance groove formed in the inspection vehicle body through a fixed block, and the servo motor is positioned below the limiting rod;
one side of the servo motor is connected with an output shaft, a connecting rod, a rotating rod, a moving plate and the protective cover.
Preferably, an output shaft, a connecting rod, a rotating rod, a moving plate and the protective cover are connected to one side surface of the servo motor, and the servo motor specifically comprises:
one end of the output shaft, which is far away from the servo motor, is fixedly connected with a connecting rod;
one end of the connecting rod, which is far away from the servo motor, is fixedly connected with a rotating rod, and one end of the rotating rod, which is far away from the servo motor, is movably connected with a moving plate;
one end of the movable plate, which is far away from the servo motor, is fixedly connected with the protective cover.
Preferably, a limiting block is fixedly arranged on the side surface of one end, far away from the servo motor, of the rotating rod;
and a gap with a preset width is arranged between the limiting block and the moving plate.
Preferably, a sliding groove matched with the rotating rod is formed in the moving plate;
one end of the movable plate, which is far away from the protective cover, is provided with an arc-shaped groove matched with the limiting rod.
From the above technical solutions, the embodiments of the present application have the following advantages:
in this application, provide an intelligent inspection car of transformer substation, include: the system comprises a patrol car body, a detection unmanned aerial vehicle, a moving mechanism, a self-checking unit and an analysis control unit; the detection unmanned aerial vehicle is movably placed in a protection mechanism at the top of the inspection vehicle body, the protection mechanism is fixedly connected with the top of the inspection vehicle body, and the protection mechanism comprises a protection cover; the detection unmanned aerial vehicle is respectively in communication connection with the self-checking unit and the analysis control unit, and transmits the acquired information of the inspection vehicle to the self-checking unit or transmits the acquired information of the aerial transformer substation to the analysis control unit; the moving mechanism is movably connected with the bottom of the inspection vehicle body; the self-checking unit is used for analyzing the running state of the inspection vehicle according to the inspection vehicle information to obtain a self-checking result; the analysis control unit is used for analyzing and storing the information of the aerial transformer substation and controlling the actions of the inspection vehicle body and the inspection unmanned aerial vehicle.
According to the intelligent inspection vehicle for the transformer substation, the release detection unmanned aerial vehicle is used for carrying out flight detection on a transformer substation area to obtain transformer substation related information with different heights and distances, and then an analysis control unit is used for analyzing and storing the information, so that the technical problem that a clear image of a high-distance area cannot be obtained in the prior art can be solved; in addition, the self-checking unit is arranged to perform self-checking analysis on the running state of the inspection vehicle, so that the fault condition of the inspection vehicle is quickly known, and the time wasted by the fault of the inspection vehicle is reduced. Therefore, the method and the device can solve the technical problems that clear and reliable long-distance image information cannot be acquired in the prior art, the fault of the inspection vehicle cannot be perceived quickly, and the actual inspection efficiency is poor.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent patrol car of a transformer substation according to an embodiment of the present application;
fig. 2 is a schematic view of an internal structure of a patrol car body according to an embodiment of the present application;
fig. 3 is a schematic view of an upper vehicle body structure according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a ground collection component according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an internal power transmission component of the acquisition mechanism according to an embodiment of the present application;
FIG. 6 is a schematic diagram of an explosion structure of a protection mechanism according to an embodiment of the present disclosure;
reference numerals:
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
For easy understanding, please refer to fig. 1, an embodiment of an intelligent patrol car of a transformer substation provided in the present application includes: the inspection vehicle comprises an inspection vehicle body 1, an inspection unmanned aerial vehicle 6, a moving mechanism 5, a self-inspection unit and an analysis control unit.
The detection unmanned aerial vehicle 6 is movably arranged in a protection mechanism 3 at the top of the inspection vehicle body 1, the protection mechanism 3 is fixedly connected with the top of the inspection vehicle body 1, and the protection mechanism 3 comprises a protection cover 307;
the detection unmanned aerial vehicle 6 is respectively in communication connection with the self-checking unit and the analysis control unit, and transmits the acquired information of the inspection vehicle to the self-checking unit or transmits the acquired information of the aerial transformer substation to the analysis control unit;
the moving mechanism 5 is movably connected with the bottom of the inspection vehicle body 1;
the self-checking unit is used for analyzing the running state of the inspection vehicle according to the inspection vehicle information to obtain a self-checking result;
the analysis control unit is used for analyzing and storing the information of the aerial transformer substation and controlling the actions of the inspection vehicle body 1 and the detection unmanned aerial vehicle 6.
It should be noted that, the detection unmanned aerial vehicle 6 of this embodiment can be stored in the protection mechanism 3 at the top of the inspection vehicle body 1, so that the detection unmanned aerial vehicle 6 can be controlled to be released at any time to inspect the target transformer substation, and the overhead images of primary devices in the transformer substations at different heights and distances and the images of the inspection vehicle are collected to obtain the information of the aerial transformer substation and the information of the inspection vehicle; the method not only can analyze the detection information of the transformer substation, but also can be used for self-checking analysis of the inspection vehicle, and can determine a fault source as soon as possible under the condition that the inspection vehicle breaks down, so as to obtain a self-checking result and shorten the time wasted by the fault of the inspection vehicle.
The analysis control unit (not shown in the figure) can analyze the aerial substation information, store the related image information, and control the movements of the inspection vehicle, including the movements of the moving mechanism 5 under the inspection vehicle body 1, and detect the inspection movements of the unmanned aerial vehicle 6. The inspection vehicle information can comprise inspection vehicle image information and also can be related parameter information; the aerial substation information mainly refers to image information. The moving mechanism 5 may be designed as a wheel, movably mounted at the bottom of the inspection vehicle, and other moving components may be selected, which is not limited herein. Referring to fig. 2, the protection mechanism 3 protects the detection unmanned aerial vehicle 6 through the protection cover 307, so as to avoid damage to the unmanned aerial vehicle caused by collision; when the protective cover 307 rotates, the protective cover 307 can be retracted into the inspection vehicle body 1, and the unmanned aerial vehicle can fly out normally when exposed to the outside, and the protective cover 307 can be rotated out by reversing the servo motor 302, thereby protecting the unmanned aerial vehicle.
Further, the process of processing the image information by the analysis control unit may be: the unmanned aerial vehicle shoots a high-altitude image of primary equipment in a transformer substation and an image of a patrol car, so that aerial transformer substation information and patrol car information can be recorded as image information A, acquisition times are N, an image B can be obtained through weight processing, and the specific calculation process is expressed as follows:
wherein G is illumination intensity, the unit is Wanlex, t is acquisition time, and the unit is hours. It should be noted that, the light will have a larger influence on the image acquisition result, so the present application uses the light factor as the weight factor, and when the light irradiates the earth from the sun, the light takes eight minutes and twenty seconds, and after the light is converted into hours, the light is 0.14 hour, so when the time of the strongest daily light is 12.14, the weight is the largest at this time, and before or after this time, the weight gradually decreases, so the processed image B can more reflect the real situation.
Without discussing information of an aerial transformer station or information of a patrol car, the analysis control unit can uniformly process the image information, and three-channel image information collected by the detection unmanned aerial vehicle 6 is converted into single-channel image data by adopting a graying method, and the specific conversion process is expressed as follows: y=0.3 r+0.58g+0.12b, where R is red, G is green, B is blue, and Y is brightness of the image, and the image is identified after being subjected to a graying method. The three-channel to single-channel operation is performed by the graying method, so that the accuracy of the acquired image can be ensured, the time for image analysis can be reduced, and the efficiency can be further improved. The image identification can judge whether the primary equipment in the transformer substation is damaged in a high distance.
The image after the gradation processing may be divided into M x M lattices,and a single gaussian background model with age variable was built, the model formula expressed as v=max (μ t -I) 2 Where t is time, μ is the mean value of the grid at time t, and μ has the formula:
where α is an age variable, i.e. a continuous variable of the acquired image, M is the foreground image, I is the pixel of each pixel at time t.
After dividing the images into grids, the false judgment rate can be reduced by adopting a single Gaussian background model with age, after the age variable is introduced, the images in one end of the ground detection assembly in a motion state can be acquired after the images are acquired, so that the operation state of the ground detection assembly is detected, workers are not required to arrive at the site at any time to repair, and human resources are saved.
Further, on the basis of the embodiment of the intelligent patrol car of the transformer substation, the intelligent patrol car further comprises: an upper vehicle body 2;
the upper vehicle body 2 is fixedly connected with the top of the inspection vehicle body 1;
the protection mechanism 3 contacts with one side surface of the upper vehicle body 2, and a limiting rod 4 fixedly connected in the middle of the top of the inspection vehicle body 1 is arranged between the protection mechanism 3 and the upper vehicle body 2.
The upper car body 2 and the protection mechanism 3 are installed on the top of the inspection car body 1 in the same way, the position of the limiting rod 4 on the top of the inspection car body 1 is taken as a reference, the upper car body 2 and the protection mechanism 3 are respectively installed on two sides of the top of the inspection car, the upper car body 2 and the protection mechanism 3 are in mutual contact with each other in a side face, and the specific upper car body 2 structure is shown in fig. 3.
Further, on the basis of the embodiment of the intelligent patrol car of the transformer substation, the intelligent patrol car further comprises: a ground collection member 7;
the ground collection part 7 is mounted on the side of the upper vehicle body 2 away from the protection mechanism 3;
the ground acquisition component 7 is used for acquiring ground equipment information of the lower part of the ground primary equipment in the transformer substation and sending the ground equipment information to the analysis control unit.
It will be appreciated that the detection unmanned aerial vehicle 6 is used for substation space image information acquisition, and then the ground acquisition component 7 is mainly used for acquiring image information within a short distance, and can also look like a ground information acquisition unit. According to the embodiment, the ground equipment information of the lower part of the ground primary equipment in the transformer substation can be acquired through the specific acquisition device and then transmitted to the analysis control unit for analysis and storage.
The ground pickup 7 is mounted on one side of the upper vehicle body 2, and the ground pickup 7 is mounted on the side of the upper vehicle body 2 remote from the protection mechanism 3, based on the fact that the protection mechanism 3 has a contact surface with the upper vehicle body 2. See fig. 1 for a specific installation.
Further, on the basis of the embodiment of the intelligent patrol car of the transformer substation, the intelligent patrol car further comprises: a first motor 701 and a second motor 702;
the first motor 701 and the second motor 702 are both mounted on the side surface of the upper vehicle body 2;
the first motor 701 is fixedly connected with the camera 709 through a connecting part including a rotation shaft 711, a connection ring 703, a supporting frame 704, a fixing shaft 705, a supporting plate 707, and a connection plate 708.
Referring to fig. 4 and 5, two motors are fixedly connected to two ends of one side of the upper vehicle body 2, a rotating shaft 711 is fixedly connected to a side of the first motor 701, which is close to the second motor 702, the rotating shaft 711 is fixedly connected to the support frame 704 through the top end of a connecting ring 703 fixedly mounted on the side, the support frame 704 is fixedly connected to the support plate 707 through two sides of a fixing shaft 705 movably connected to the side, and the support plate 707 is fixedly connected to the camera 709 through the top end of a connecting plate 708 fixedly connected to the top end. All the connection devices between the side of the first motor 701 and the camera 709 are connection parts, and the camera 709 is a specific ground collection part 7 in this embodiment.
Further, based on the above embodiment of the intelligent patrol vehicle for the transformer substation, the second motor 702 is provided with a threaded rod 710 fixedly connected on the side surface opposite to the first motor 701, the top end of the threaded rod 710 is movably connected with a gear 706, and the contact parts of the gear 706 and the threaded rod 710 are mutually meshed;
the inside of the gear 706 is fixedly connected with one side of the fixed shaft 705.
Further, on the basis of the embodiment of the intelligent patrol car of the transformer substation, a clearance hole matched with the rotating shaft 711 is formed in the threaded rod 710;
the connecting ring 703 is provided with a clearance hole which is matched with the threaded rod 710.
The inner side of the threaded rod 710 is provided with a clearance hole matched with the rotating shaft 711 so as to avoid the mutual influence of the threaded rod 710 and the rotating shaft 711 during operation; similarly, the side of the connection ring 703 near the threaded rod 710 is provided with a clearance hole adapted to the threaded rod 710 to avoid the interaction between the threaded rod 710 and the rotation of the connection ring 703.
It can be seen from the above that, through the first motor 701, the second motor 702, the threaded rod 710 and the rotating shaft 711, the angle of the camera 709 in the vertical direction can be adjusted when the first motor 701 is started, and the second motor 702 drives the threaded rod 710 to rotate when being started, so that the angle of the camera 709 can be adjusted randomly, shooting of primary equipment in the transformer substation at different positions is ensured, the threaded rod 710 and the rotating shaft 711 are not affected when running, and the threaded rod 710 and the connecting ring 703 are not affected when rotating, so that the angle adjustment is more stable.
The specific working principle is as follows: when primary equipment in the transformer substation is patrolled and examined, the analysis control unit controls the moving mechanism 5 to move, and then the whole body 1 of the patrolling and examining is driven to move, when the ground is examined, at this moment, the analysis control unit controls the first motor 701 to start, drive the connecting ring 703 to rotate through the rotation shaft 711, the support frame 704, the fixed shaft 705, the support plate 707, the connecting plate 708 drive the camera 709 to rotate during rotation of the connecting ring 703, at this moment, the angle on the vertical direction of the camera 709 can be adjusted, and the second motor 702 drives the threaded rod 710 to rotate, at this moment, the threaded rod 710 can drive the gear 706 to rotate, and then the angle on the horizontal direction of the camera 709 can be adjusted, and then the angle of the camera 709 can be adjusted at will, so that shooting of different positions of primary equipment in the transformer substation is guaranteed, the threaded rod 710 and the rotation shaft 711 do not influence each other during operation, the threaded rod 710 and the connecting ring 703 do not influence each other during rotation, and therefore the angle adjustment is more stable.
Moreover, the analysis control unit can control the second motor 702 to start, when the second motor 702 starts, the threaded rod 710 is driven to rotate, when the threaded rod 710 rotates, the gear 706 is driven to rotate, when the gear 706 rotates, the supporting plate 707 is driven to rotate through the fixed shaft 705, when the supporting plate 707 rotates, the camera 709 is driven to rotate through the connecting plate 708, and at the moment, the horizontal angle of the camera 709 can be adjusted.
Further, on the basis of the embodiment of the intelligent patrol car of the transformer substation, the intelligent patrol car further comprises: a servo motor 302;
the servo motor 302 is fixedly connected with a clearance groove formed in the inspection vehicle body 1 through a fixed block 301, and the servo motor 302 is positioned below the limiting rod 4;
an output shaft 303, a connecting rod 304, a rotating rod 305, a moving plate 306, and a protective cover 307 are connected to one side surface of the servo motor 302.
Referring to fig. 6, a clearance groove is formed in the inspection vehicle body 1, a servo motor 302 is fixed in the clearance groove through a fixing block 301, and the servo motor 302 is installed below a limit rod 4 at the top of the inspection vehicle body 1. Further, a plurality of connection devices are connected to one side of the servo motor 302, specifically, one by one, or other connection relationships, which are not limited in particular. It should be understood that the protection cover 307 is a protection component on the protection mechanism 3 for protecting the monitoring unmanned aerial vehicle, and in this embodiment, the axis of rotation of the protection cover 307 is coincident with the axis of the stop lever 4.
Further, on the basis of the above embodiment of the intelligent patrol car of a transformer substation, an output shaft 303, a connecting rod 304, a rotating rod 305, a moving plate 306 and a protecting cover 307 are connected to one side surface of the servo motor 302, and specifically includes:
one end of the output shaft 303, which is far away from the servo motor 302, is fixedly connected with a connecting rod 304;
one end of the connecting rod 304, which is far away from the servo motor 302, is fixedly connected with a rotating rod 305, and one end of the rotating rod 305, which is far away from the servo motor 302, is movably connected with a moving plate 306;
one end of the moving plate 306, which is far away from the servo motor 302, is fixedly connected with a protective cover 307.
The present embodiment specifically defines the connection relationship between the servo motor 302 and each of the connection members, that is, the servo motor 302 and the protective cover 307 are connected by the connection members connected in sequence. It will be appreciated that the end remote from the servo motor 302 indicates that the connection devices are connected end to end, for example, one end of the connecting rod 304 is fixedly connected to one end of the output shaft 303, the other end of the connecting rod 304 is fixedly connected to one end of the rotating rod 305, and so on, until being connected to the protecting cover 307.
Further, on the basis of the embodiment of the intelligent patrol car of the transformer substation, a limiting block is fixedly arranged on the side surface of one end of the rotating rod 305, which is far away from the servo motor 302;
a gap with a preset width is arranged between the limiting block and the moving plate 306.
The preset width of the gap can be set according to practical conditions, and is consistent with the connection and operation of devices, and is not limited herein.
Further, on the basis of the embodiment of the intelligent patrol vehicle of the transformer substation, a chute adapted to the rotating rod 305 is formed in the moving plate 306;
the end of the moving plate 306, which is far away from the protective cover 307, is provided with an arc-shaped groove which is matched with the limit rod 4.
The arc-shaped groove is provided on the side of the end of the protective cover 307 of the moving plate 306 for connection or fixation between the adapter pieces.
The working mechanism based on the device structure is as follows: when the servo motor 302 starts, drive output shaft 303 and rotate this moment, after carrying out the transmission through output shaft 303, connecting rod 304, dwang 305, drive movable plate 306 and rotate, when movable plate 306 rotates, one side and gag lever post 4 swing joint of movable plate 306, therefore the position of movable plate 306 can be restricted by gag lever post 4, the opposite side of movable plate 306 drives safety cover 307 and rotates, during safety cover 307 rotates, safety cover 307 can be received in the inside of inspection car body 1, inspection unmanned aerial vehicle 6 exposes in the external world this moment, it can normally fly out, and when safety cover 307 is rotated out and is contacted with last automobile body 2 from inspection car body 1, safety cover 307 can protect inspection unmanned aerial vehicle 6 this moment, can prevent that the external world from causing the damage to unmanned aerial vehicle 6 that the price is higher.
Specifically, when primary equipment eminence or top gather in the transformer substation is carried out, servo motor 302 starts this moment, drives output shaft 303 and rotates after servo motor 302 starts, drives movable plate 306 through connecting rod 304 and rotates when output shaft 303 rotates, drives safety cover 307 and rotates when movable plate 306 rotates, detects unmanned aerial vehicle 6 and can freely fly out this moment, and when unmanned aerial vehicle 6 falls on inspection automobile body 1 again, servo motor 302 drives output shaft 303 reversal this moment, and then makes safety cover 307 carry out the cage with unmanned aerial vehicle 6, protects it.
According to the intelligent inspection vehicle for the transformer substation, provided by the embodiment of the application, the release detection unmanned aerial vehicle 6 is used for carrying out flight detection on a transformer substation area to obtain transformer substation related information with different heights and distances, and then an analysis control unit is used for analyzing and storing the information, so that the technical problem that a clear image of a high-distance area cannot be obtained in the prior art can be solved; in addition, the self-checking unit is arranged to perform self-checking analysis on the running state of the inspection vehicle, so that the fault condition of the inspection vehicle is quickly known, and the time wasted by the fault of the inspection vehicle is reduced. Therefore, the embodiment of the application can solve the technical problems that clear and reliable long-distance image information cannot be obtained in the prior art, faults of the inspection vehicle cannot be perceived quickly, and actual inspection efficiency is poor.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to execute all or part of the steps of the methods described in the embodiments of the present application by a computer device (which may be a personal computer, a server, or a network device, etc.). And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The above embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. An intelligent patrol car of transformer substation, which is characterized by comprising: the system comprises a patrol car body, a detection unmanned aerial vehicle, a moving mechanism, a self-checking unit and an analysis control unit;
the detection unmanned aerial vehicle is movably placed in a protection mechanism at the top of the inspection vehicle body, the protection mechanism is fixedly connected with the top of the inspection vehicle body, and the protection mechanism comprises a protection cover;
the detection unmanned aerial vehicle is respectively in communication connection with the self-checking unit and the analysis control unit, and transmits the acquired inspection vehicle information to the self-checking unit or transmits the acquired aerial substation information to the analysis control unit;
the moving mechanism is movably connected with the bottom of the inspection vehicle body;
the self-checking unit is used for analyzing the running state of the inspection vehicle according to the inspection vehicle information to obtain a self-checking result;
the analysis control unit is used for analyzing and storing the aerial transformer substation information and controlling actions of the inspection vehicle body and the detection unmanned aerial vehicle.
2. The intelligent patrol car of a substation according to claim 1, further comprising: an upper vehicle body;
the upper vehicle body is fixedly connected with the top of the inspection vehicle body;
the protection mechanism is contacted with one side surface of the upper vehicle body, and a limiting rod fixedly connected in the middle of the top of the inspection vehicle body is arranged between the protection mechanism and the upper vehicle body.
3. The intelligent patrol car of a substation according to claim 2, further comprising: a ground collection component;
the ground acquisition component is arranged on the side surface of the upper vehicle body, which is far away from the protection mechanism;
the ground acquisition component is used for acquiring ground equipment information of the lower part of the ground primary equipment in the transformer substation and sending the ground equipment information to the analysis control unit.
4. The intelligent patrol car of a substation according to claim 2, further comprising: a first motor and a second motor;
the first motor and the second motor are both arranged on the side surface of the upper vehicle body;
the first motor is fixedly connected with the camera through a connecting part, and the connecting part comprises a rotating shaft, a connecting ring, a supporting frame, a fixed shaft, a supporting plate and a connecting plate.
5. The intelligent patrol car of the transformer substation according to claim 4, wherein the second motor is provided with a threaded rod fixedly connected to the side surface opposite to the first motor, a gear is movably connected to the top end of the threaded rod, and the gear is meshed with the contact part of the threaded rod;
the inside of the gear is fixedly connected with one side surface of the fixed shaft.
6. The intelligent patrol car of the transformer substation according to claim 5, wherein a clearance hole adapted to the rotating shaft is arranged on the threaded rod;
and the connecting ring is provided with a position avoiding hole matched with the threaded rod.
7. The intelligent patrol car of a substation according to claim 2, further comprising: a servo motor;
the servo motor is fixedly connected with a position avoidance groove formed in the inspection vehicle body through a fixed block, and the servo motor is positioned below the limiting rod;
one side of the servo motor is connected with an output shaft, a connecting rod, a rotating rod, a moving plate and the protective cover.
8. The intelligent patrol car of the transformer substation according to claim 7, wherein one side of the servo motor is connected with an output shaft, a connecting rod, a rotating rod, a moving plate and the protective cover, and the intelligent patrol car specifically comprises:
one end of the output shaft, which is far away from the servo motor, is fixedly connected with a connecting rod;
one end of the connecting rod, which is far away from the servo motor, is fixedly connected with a rotating rod, and one end of the rotating rod, which is far away from the servo motor, is movably connected with a moving plate;
one end of the movable plate, which is far away from the servo motor, is fixedly connected with the protective cover.
9. The intelligent patrol car of the transformer substation according to claim 7, wherein a limiting block is fixedly arranged on the side surface of one end of the rotating rod, which is far away from the servo motor;
and a gap with a preset width is arranged between the limiting block and the moving plate.
10. The intelligent patrol car of the transformer substation according to claim 7, wherein a chute adapted to the rotating rod is formed in the movable plate;
one end of the movable plate, which is far away from the protective cover, is provided with an arc-shaped groove matched with the limiting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310345997.3A CN116316231A (en) | 2023-04-03 | 2023-04-03 | Intelligent inspection vehicle for transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310345997.3A CN116316231A (en) | 2023-04-03 | 2023-04-03 | Intelligent inspection vehicle for transformer substation |
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| Publication Number | Publication Date |
|---|---|
| CN116316231A true CN116316231A (en) | 2023-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310345997.3A Pending CN116316231A (en) | 2023-04-03 | 2023-04-03 | Intelligent inspection vehicle for transformer substation |
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| CN (1) | CN116316231A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117039725A (en) * | 2023-10-09 | 2023-11-10 | 广东立信电力服务有限公司 | Primary and secondary inspection robot for electric power inspection |
-
2023
- 2023-04-03 CN CN202310345997.3A patent/CN116316231A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117039725A (en) * | 2023-10-09 | 2023-11-10 | 广东立信电力服务有限公司 | Primary and secondary inspection robot for electric power inspection |
| CN117039725B (en) * | 2023-10-09 | 2024-01-16 | 广东立信电力服务有限公司 | Primary and secondary inspection robot for electric power inspection |
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