CN117984349A - Body-equipped intelligent inspection robot for transformer substation and use method - Google Patents
Body-equipped intelligent inspection robot for transformer substation and use method Download PDFInfo
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- CN117984349A CN117984349A CN202410404572.XA CN202410404572A CN117984349A CN 117984349 A CN117984349 A CN 117984349A CN 202410404572 A CN202410404572 A CN 202410404572A CN 117984349 A CN117984349 A CN 117984349A
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- 238000007689 inspection Methods 0.000 title claims abstract description 100
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- 238000003384 imaging method Methods 0.000 claims abstract description 42
- 238000001931 thermography Methods 0.000 claims abstract description 40
- 238000009826 distribution Methods 0.000 claims abstract description 39
- 238000004891 communication Methods 0.000 claims abstract description 35
- 238000009529 body temperature measurement Methods 0.000 claims description 27
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention relates to the technical field of power detection, in particular to an intelligent body inspection robot for a transformer substation and a using method. The personification task platform comprises a high-sensitivity voiceprint imaging device and a high-precision thermal imaging device; the unmanned vehicle driving part comprises a lighting module, a mobile platform module, a power distribution module and a communication module; the remote control platform part comprises a handheld remote controller and a remote monitoring station. According to the invention, the unmanned robot for inspection by utilizing voiceprint and infrared imaging in the transformer substation can intuitively, multidirectional and rapidly acquire the working condition of electrical equipment in the transformer substation, so that the working efficiency is improved, and the labor cost is reduced; fault detection in the transformer substation is performed by utilizing the voiceprint image, so that the detection accuracy is improved, and the safety level in the transformer substation is improved; the personification task platform is attractive and elegant, and is easy to accept and popularize on site; excellent expansibility and strong interactivity.
Description
Technical Field
The invention relates to the technical field of power detection, in particular to an intelligent body inspection robot for a transformer substation and a using method.
Background
The transformer substation is used as a power system hub, and the transformer substation has the functions of boosting the electric energy generated by the generator and feeding the electric energy back to the high-voltage power grid, so that the safe and normal operation of equipment in the transformer substation is an important link of power supply, and has important significance for guaranteeing long-distance high-voltage transmission and reliable supply of production and living electricity. The temperature of the power equipment in operation and the sound and vibration generated by the power equipment contain a large amount of state information, and when the parts of the power equipment fail, the local temperature and the sound signal of the power equipment also change correspondingly, so that partial discharge, abnormal sound and the like are generated. Therefore, it is necessary to collect local temperature information and voiceprint signals of the detected power devices to effectively diagnose the health status of the devices.
At present, the state detection of the on-site power equipment of a transformer substation mainly comprises two modes of on-line monitoring and live detection, wherein the on-line monitoring mainly comprises the steps of deploying a sensing terminal near the equipment to perform on-line sensing monitoring on physical quantities such as sound, local temperature and the like; live detection mainly relies on equipment such as a handheld sound level instrument, a sound source locator, an infrared thermal imager and the like of a patrol staff to go to the scene, or a patrol robot is sent out to carry out patrol inspection on power equipment, so that normal operation of a transformer substation is ensured.
Disclosure of Invention
The invention aims to solve the technical problems that: overcomes the defects of the prior art and provides a body intelligent inspection robot for a transformer substation and a use method thereof.
The technical scheme adopted by the invention is as follows:
A have body intelligence inspection robot for transformer substation includes following part:
The personification task platform comprises a high-sensitivity voiceprint imaging device and a high-precision thermal imaging device, wherein:
The high-sensitivity voiceprint imaging device is used for capturing sound signals and identifying abnormal vibration of equipment through voiceprint analysis so as to locate fault points; the angle is adjusted through the pitching motor so as to adapt to different inspection environments; the recorded sound imaging video stream is used for background analysis to help to establish a fault knowledge base;
The high-precision thermal imaging device is used for finding potential fault points through temperature distribution of the infrared thermal imaging capturing equipment; the highest temperature and the lowest temperature of the area are displayed in real time in the remote monitoring system through the double-shaft cradle head, so that the inspection personnel can be helped to quickly locate the abnormality;
the mechanical arm device is used for executing finer inspection tasks and comprises an equipment cabinet door opening and an operation switch;
Unmanned aerial vehicle drive part, including lighting module, mobile platform module, distribution module and communication module, wherein:
The lighting module is used for providing necessary lighting for night or inspection of environments with insufficient light;
The driving module is used for autonomously or remotely controlling movement in various terrains and environments, and comprises a chassis, vehicle electricity and sensors, wherein the sensors are used for collecting environment information and providing data support for autonomous navigation of the robot;
the power distribution module is used for distributing and protecting power;
the communication module is used for carrying out information transmission with the handheld remote controller and the remote monitoring station;
the control module is used for controlling tasks, battery relays and lamplight;
A remote control platform section comprising a handheld remote control and a remote monitoring station, wherein:
The hand-held remote controller is used for remote control operation in a short distance and is communicated with the communication module through wireless;
And the remote monitoring station is used for sending instructions and receiving data, and checking the working state of the inspection robot and the inspection data in real time through the monitoring screen.
According to the technical scheme, through the accurate working principle of each part and the close cooperative coordination, the transformer substation is efficiently and accurately inspected, the intelligent inspection robot not only improves inspection efficiency and quality, but also reduces labor cost and safety risk, and powerful guarantee is provided for the stable operation of an electric power system. The personification task platform integrates a high-sensitivity voiceprint imaging device and a high-precision thermal imaging device; collecting environmental information through a sensor, and transmitting the data to a central processing unit of the robot for analysis; the processor processes the voiceprint and thermal imaging data according to a preset algorithm to identify abnormal vibrations and temperature anomalies of the device. Once abnormal vibration is identified, the device locks the fault point, and the angle is adjusted through the pitching motor, so that the optimal voiceprint imaging effect is ensured to be obtained. The recorded audio-visual video stream is then transmitted to the control module for further analysis and fault knowledge base creation in the background. When a potential fault point is found, the thermal imaging device sends relevant information to the control module so that the inspector can quickly locate the abnormality. The control module is a core control unit of the unmanned vehicle driving part, receives information from each module and sends out control instructions according to a preset program and strategy; the control module is also responsible for the management of the battery relay, so that the reasonable distribution and use of the electric power are ensured; the light brightness can be adjusted as required to adapt to different inspection environments. The patrol personnel can closely control the actions of the robot through the handheld remote controller and communicate with the communication module through wireless; the remote monitoring station realizes comprehensive monitoring and management of the inspection robot by sending instructions and receiving data; the monitoring screen can display the working state of the robot and the inspection data in real time, so that inspection personnel can comprehensively grasp the inspection condition.
In addition, the intelligent body inspection robot for the transformer substation and the application method thereof provided by the invention can also have the following additional technical characteristics:
According to one embodiment of the invention, the high-sensitivity voiceprint imaging device is arranged at the chest position of the personification task platform and matched with a pitching motor, and pitching adjustment of-5 degrees to 45 degrees is realized through the operation of a handheld remote controller or a remote console so as to adapt to different scenes.
According to the technical scheme, the high-sensitivity voiceprint imaging device realizes flexible pitching adjustment of-5 degrees to 45 degrees under the accurate control of the handheld remote controller or the remote control console, so that the morphological high-simulation of the robot is embodied, and the accurate and efficient voiceprint capturing and analyzing are realized functionally. For example, in a patrol task of a transformer substation, when a robot faces tall equipment or an obstacle, the voiceprint imaging apparatus can obtain a better capturing angle through adjustment of a pitching motor, so that comprehensive detection of abnormal vibration of the equipment is ensured. When the inspection is performed on shorter equipment or ground abnormal conditions, the robot can enable the sensing range of the voiceprint imaging device to be closer to the ground by reducing the pitching angle, so that accurate capturing of micro vibration is realized. The cooperation of the high-sensitivity voiceprint imaging device and the pitching motor is free when dealing with complex inspection environments.
According to the embodiment of the invention, the high-sensitivity voiceprint imaging device supports high-sensitivity sound recording in a wide frequency range, supports discrimination of large-range fine vibration anomalies, and simultaneously supports dynamic adjustment of the frequency range so as to realize accurate judgment of fault points.
According to the technical scheme, the high-sensitivity voiceprint imaging device can accurately identify abnormal changes in the vibration mode of equipment, and then locate the area possibly with faults, so that weak sounds which are difficult to perceive by human ears can be captured, and fine changes of the sounds can be accurately recorded in different frequency ranges. For example, when the robot detects abnormal vibration of a certain device, the robot focuses on specific sound characteristics of the device by adjusting the frequency range, so that the type and the position of the fault are judged more accurately; the device is used for recording sound and judging vibration of important equipment such as transformers, circuit breakers and the like. Through the analysis to sound data, the robot can in time discover the unusual vibration of equipment, and then the location fault point provides accurate fault information for maintenance personal. And the sound characteristics of different types of equipment are analyzed in a targeted manner, so that the pertinence and the effectiveness of inspection are improved.
According to one embodiment of the invention, the high-precision thermal imaging device is arranged at the head position of the personification task platform and is 1.7m away from the ground, and is provided with an optical sensor and illumination lights;
The angle adjustment of 180 DEG pitching-30 DEG to 60 DEG is realized by the operation of a high-precision self-grinding double-shaft cradle head, a handheld remote controller or a remote control console;
the resolution of the infrared camera is 640 multiplied by 480, the focal length of the lens is 25mm, and the electric focusing is supported;
The thermal sensitivity of the high-precision thermal imaging device is less than or equal to 50mK@25 ℃, the temperature measurement range is-20 ℃ -150 ℃, the temperature measurement range is 0 ℃ -300 ℃, the temperature measurement range is 60 ℃ -600 ℃, the temperature measurement precision reaches +/-2 ℃ or +/-2%, the highest temperature and the lowest temperature of a display area in a remote monitoring system are dynamically displayed in real time, and the dynamic temperature measurement of a mouse is supported.
In the technical scheme, the high-precision thermal imaging device has the ground clearance of 1.7m, so that the thermal imaging device can capture a wider visual field range and accords with the operation habit of human engineering; under the accurate control of a handheld remote controller or a remote control console, the horizontal angle of 180 degrees and the pitching angle of-30 degrees to 60 degrees are adjusted, various complex inspection environments can be easily dealt with, and comprehensive and fine thermal imaging detection can be realized no matter the top of tall and big equipment or the inside of a short space; the thermal sensitivity of the high-precision thermal imaging device is less than or equal to 50mK@25 ℃, and tiny temperature change can be captured, so that potential fault points are found; the temperature measurement range covers a plurality of intervals of-20 ℃ to 150 ℃,0 ℃ to 300 ℃, 60 ℃ to 600 ℃ and the like, and is suitable for the temperature measurement requirements of different equipment and environments; the temperature measurement precision reaches +/-2 ℃ or +/-2%, and the accuracy and reliability of the temperature measurement result are ensured.
According to one embodiment of the invention, the personification task platform and the unmanned vehicle driving part each comprise the following components:
The shell is manufactured by 3D printing of high-strength resin, and the surface layer is coated with waterproof paint;
The shell supporting piece is made of a sheet metal bending piece and is used for supporting and fixing the shell;
The sensor and the electric system fixing piece are subjected to waterproof and sealing treatment, so that the sensor and the electric system fixing piece are convenient to use in outdoor extreme environments.
In the technical scheme, the shell is made of high-strength resin through a 3D printing technology, so that the shell not only has excellent mechanical properties, but also can bear larger impact and extrusion, and the internal structure and components are effectively protected from external damage; the surface layer of the shell is coated with waterproof paint, so that the shell has excellent waterproof performance, and the drying and normal operation of an internal electrical system can be maintained even under severe weather conditions such as rain, snow and the like; the fixing pieces are subjected to strict waterproof and sealing treatment, can stably run for a long time in an outdoor extreme environment, and are not interfered by external factors such as rainwater, dust and the like; the high-precision thermal imaging device and the high-sensitivity voiceprint imaging device on the personification task platform can capture the temperature change and vibration abnormality of the equipment in real time, and potential faults can be found in time through data analysis; the unmanned vehicle driving part is responsible for the movement and positioning of the robot, so that the robot can accurately reach the designated position and complete the inspection task; meanwhile, the waterproof and dustproof design of the shell and the supporting piece ensures that the robot can work normally under severe weather conditions such as rain, snow, sand dust and the like, and the inspection efficiency and reliability are greatly improved.
According to one embodiment of the invention, the input of the power distribution module is 24V/10A chassis straight out and 12V/15A chassis straight out; the output is 24V straight out 1 path, 12V voltage stabilizing and overcurrent protection 10 paths, 5V voltage stabilizing and overcurrent protection 2 paths.
In the technical scheme, in terms of power output, the power distribution module meets the requirement that the robot needs to work for a long time and high intensity, and the 24V/10A and 12V/15A chassis are directly designed, so that the robot can be quickly connected into power supplies with different specifications, and the continuity and stability of power supply are ensured. Meanwhile, the multipath voltage stabilization and overcurrent protection output provides sufficient power guarantee for various working parts of the robot, and the inspection interruption or equipment damage caused by the power problem is effectively prevented.
According to one embodiment of the invention, the power distribution module is provided with an STM32 and a serial port, and is used for communicating with the instruction controller and executing power distribution related commands;
The communication module supports a router for 5G point-to-point communication; the FPV camera is a network camera and outputs RTSP video stream;
The task module outputs RTSP integrated stream comprising video and audio of the scene through a network;
the driving module is connected with the instruction controller by adopting a serial port or a USB port; the command controller and the running controller are communicated through a serial port; the running controller communicates and controls through a CAN port provided by the chassis.
In the technical scheme, the command controller can send various power distribution related commands to the power distribution module, such as starting or stopping specific power supply output, adjusting output voltage and the like. After receiving the commands, the power distribution module can quickly execute corresponding operations to ensure that the power supply and distribution of the robot meet the current working requirements. The communication module adopts a router supporting 5G point-to-point communication, so that the robot can realize high-speed and stable network communication in a wide inspection area. The FPV camera captures the scene in real time and outputs RTSP video stream; the driving module is connected with the instruction controller through a serial port or a USB port, receives an instruction from the controller and drives the robot to move and operate. For example, the robot may perform autonomous inspection tasks in a substation, a transmission line, or the like. Through the power distribution and management functions of the power distribution module, the robot can ensure that the power supply of each working part is stable and reliable; the robot can transmit real-time inspection data to a remote monitoring center through the 5G communication function of the communication module; the remote monitoring center can view the field picture in real time and make corresponding decisions through the video processing functions of the FPV camera and the task module; finally, through the accurate control function of the driving module, the robot can accurately move and operate according to the instruction to finish the inspection task.
In addition, in order to achieve the purpose of the invention, the invention also provides a use method of the intelligent body inspection robot for the transformer substation.
The application method of the intelligent body inspection robot for the transformer substation comprises the following steps:
S1, when inspection starts, an operator of a remote monitoring station sends out an instruction through a console, and an unmanned vehicle driving part receives the instruction and drives a personification task platform to go to an inspection area;
s2, in the inspection process, the high-sensitivity voiceprint imaging device and the high-precision thermal imaging device work simultaneously, collect sound and temperature data, and analyze and identify abnormality through an algorithm;
s3, if the inspection robot finds abnormality, the data are transmitted to a remote monitoring station in real time, an operator judges the type and the position of the fault according to the data, and the robot is precisely controlled by a handheld remote controller or the remote monitoring station so that the mechanical arm can execute further inspection or operation;
And S4, returning the robot to a starting point after the inspection is completed, and storing all inspection data in a database of a remote monitoring station for subsequent analysis and processing.
In the technical scheme, an operator sends out an instruction through a remote monitoring station to drive a robot to go to a patrol area; the robot collects voice and temperature data by using an advanced device and automatically analyzes and identifies abnormality; after the abnormality is found, transmitting data to a monitoring station in real time, and judging the fault condition by an operator according to the data and accurately controlling the robot to further operate; after the inspection is finished, the robot returns and stores the data to a database for subsequent analysis.
Compared with the prior art, the invention has the following beneficial effects:
(1) The unmanned robot in the transformer substation, which uses voiceprint and infrared imaging, can intuitively, multidirectional and rapidly acquire the working condition of electrical equipment in the transformer substation, so that the working efficiency is improved, and the labor cost is reduced;
(2) The fault detection in the transformer substation is carried out by utilizing the voiceprint image, so that the detection accuracy is improved, the possibility of misjudgment and missed judgment caused by insufficient manual experience is reduced, and the safety level in the transformer substation is improved;
(3) The personification task platform is attractive and elegant, and is easy to accept and popularize on site; the expansibility is excellent, and different devices can be replaced by the head to meet the requirements of different tasks; the interaction is strong, information can be acquired in real time and transmitted to the control console, and the mechanical arm can realize tasks such as taking, clicking and the like, so that the risk of manual operation is reduced.
Drawings
Fig. 1 is a block diagram of the structural connections of the present invention.
Fig. 2 is a flow chart of the process of the acquisition, transmission and processing of the present invention.
Fig. 3 is one of the structural schematic diagrams of the present invention.
FIG. 4 is a second schematic structural view of the present invention.
In the figure: 1. a personification task platform; 2. and an unmanned vehicle driving part.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, this embodiment provides a body-equipped intelligent inspection robot for a transformer substation, including the following parts:
The personification task platform comprises a high-sensitivity voiceprint imaging device and a high-precision thermal imaging device, wherein:
The high-sensitivity voiceprint imaging device is used for capturing sound signals and identifying abnormal vibration of equipment through voiceprint analysis so as to locate fault points; the angle is adjusted through the pitching motor so as to adapt to different inspection environments; the recorded sound imaging video stream is used for background analysis to help to establish a fault knowledge base;
The high-precision thermal imaging device is used for finding potential fault points through temperature distribution of the infrared thermal imaging capturing equipment; the highest temperature and the lowest temperature of the area are displayed in real time in the remote monitoring system through the double-shaft cradle head, so that the inspection personnel can be helped to quickly locate the abnormality;
the mechanical arm device is used for executing finer inspection tasks and comprises an equipment cabinet door opening and an operation switch;
Unmanned aerial vehicle drive part, including lighting module, mobile platform module, distribution module and communication module, wherein:
The lighting module is used for providing necessary lighting for night or inspection of environments with insufficient light;
The driving module is used for autonomously or remotely controlling movement in various terrains and environments, and comprises a chassis, vehicle electricity and sensors, wherein the sensors are used for collecting environment information and providing data support for autonomous navigation of the robot;
the power distribution module is used for distributing and protecting power;
the communication module is used for carrying out information transmission with the handheld remote controller and the remote monitoring station;
the control module is used for controlling tasks, battery relays and lamplight;
A remote control platform section comprising a handheld remote control and a remote monitoring station, wherein:
The hand-held remote controller is used for remote control operation in a short distance and is communicated with the communication module through wireless;
And the remote monitoring station is used for sending instructions and receiving data, and checking the working state of the inspection robot and the inspection data in real time through the monitoring screen.
According to the technical scheme, through the accurate working principle of each part and the close cooperative coordination, the transformer substation is efficiently and accurately inspected, the intelligent inspection robot not only improves inspection efficiency and quality, but also reduces labor cost and safety risk, and powerful guarantee is provided for the stable operation of an electric power system. The personification task platform integrates a high-sensitivity voiceprint imaging device and a high-precision thermal imaging device; collecting environmental information through a sensor, and transmitting the data to a central processing unit of the robot for analysis; the processor processes the voiceprint and thermal imaging data according to a preset algorithm to identify abnormal vibrations and temperature anomalies of the device. Once abnormal vibration is identified, the device locks the fault point, and the angle is adjusted through the pitching motor, so that the optimal voiceprint imaging effect is ensured to be obtained. The recorded audio-visual video stream is then transmitted to the control module for further analysis and fault knowledge base creation in the background. When a potential fault point is found, the thermal imaging device sends relevant information to the control module so that the inspector can quickly locate the abnormality. The control module is a core control unit of the unmanned vehicle driving part, receives information from each module and sends out control instructions according to a preset program and strategy; the control module is also responsible for the management of the battery relay, so that the reasonable distribution and use of the electric power are ensured; the light brightness can be adjusted as required to adapt to different inspection environments. The patrol personnel can closely control the actions of the robot through the handheld remote controller and communicate with the communication module through wireless; the remote monitoring station realizes comprehensive monitoring and management of the inspection robot by sending instructions and receiving data; the monitoring screen can display the working state of the robot and the inspection data in real time, so that inspection personnel can comprehensively grasp the inspection condition.
In addition, the intelligent body inspection robot for the transformer substation and the application method thereof provided by the invention can also have the following additional technical characteristics:
According to one embodiment of the invention, the high-sensitivity voiceprint imaging device is arranged at the chest position of the personification task platform and matched with a pitching motor, and pitching adjustment of-5 degrees to 45 degrees is realized through the operation of a handheld remote controller or a remote console so as to adapt to different scenes.
According to the technical scheme, the high-sensitivity voiceprint imaging device realizes flexible pitching adjustment of-5 degrees to 45 degrees under the accurate control of the handheld remote controller or the remote control console, so that the morphological high-simulation of the robot is embodied, and the accurate and efficient voiceprint capturing and analyzing are realized functionally. For example, in a patrol task of a transformer substation, when a robot faces tall equipment or an obstacle, the voiceprint imaging apparatus can obtain a better capturing angle through adjustment of a pitching motor, so that comprehensive detection of abnormal vibration of the equipment is ensured. When the inspection is performed on shorter equipment or ground abnormal conditions, the robot can enable the sensing range of the voiceprint imaging device to be closer to the ground by reducing the pitching angle, so that accurate capturing of micro vibration is realized. The cooperation of the high-sensitivity voiceprint imaging device and the pitching motor is free when dealing with complex inspection environments.
According to the embodiment of the invention, the high-sensitivity voiceprint imaging device supports high-sensitivity sound recording in a wide frequency range, supports discrimination of large-range fine vibration anomalies, and simultaneously supports dynamic adjustment of the frequency range so as to realize accurate judgment of fault points.
According to the technical scheme, the high-sensitivity voiceprint imaging device can accurately identify abnormal changes in the vibration mode of equipment, and then locate the area possibly with faults, so that weak sounds which are difficult to perceive by human ears can be captured, and fine changes of the sounds can be accurately recorded in different frequency ranges. For example, when the robot detects abnormal vibration of a certain device, the robot focuses on specific sound characteristics of the device by adjusting the frequency range, so that the type and the position of the fault are judged more accurately; the device is used for recording sound and judging vibration of important equipment such as transformers, circuit breakers and the like. Through the analysis to sound data, the robot can in time discover the unusual vibration of equipment, and then the location fault point provides accurate fault information for maintenance personal. And the sound characteristics of different types of equipment are analyzed in a targeted manner, so that the pertinence and the effectiveness of inspection are improved.
According to one embodiment of the invention, the high-precision thermal imaging device is arranged at the head position of the personification task platform and is 1.7m away from the ground, and is provided with an optical sensor and illumination lights;
The angle adjustment of 180 DEG pitching-30 DEG to 60 DEG is realized by the operation of a high-precision self-grinding double-shaft cradle head, a handheld remote controller or a remote control console;
the resolution of the infrared camera is 640 multiplied by 480, the focal length of the lens is 25mm, and the electric focusing is supported;
The thermal sensitivity of the high-precision thermal imaging device is less than or equal to 50mK@25 ℃, the temperature measurement range is-20 ℃ -150 ℃, the temperature measurement range is 0 ℃ -300 ℃, the temperature measurement range is 60 ℃ -600 ℃, the temperature measurement precision reaches +/-2 ℃ or +/-2%, the highest temperature and the lowest temperature of a display area in a remote monitoring system are dynamically displayed in real time, and the dynamic temperature measurement of a mouse is supported.
In the technical scheme, the high-precision thermal imaging device has the ground clearance of 1.7m, so that the thermal imaging device can capture a wider visual field range and accords with the operation habit of human engineering; under the accurate control of a handheld remote controller or a remote control console, the horizontal angle of 180 degrees and the pitching angle of-30 degrees to 60 degrees are adjusted, various complex inspection environments can be easily dealt with, and comprehensive and fine thermal imaging detection can be realized no matter the top of tall and big equipment or the inside of a short space; the thermal sensitivity of the high-precision thermal imaging device is less than or equal to 50mK@25 ℃, and tiny temperature change can be captured, so that potential fault points are found; the temperature measurement range covers a plurality of intervals of-20 ℃ to 150 ℃,0 ℃ to 300 ℃, 60 ℃ to 600 ℃ and the like, and is suitable for the temperature measurement requirements of different equipment and environments; the temperature measurement precision reaches +/-2 ℃ or +/-2%, and the accuracy and reliability of the temperature measurement result are ensured.
According to one embodiment of the invention, the personification task platform and the unmanned vehicle driving part each comprise the following components:
The shell is manufactured by 3D printing of high-strength resin, and the surface layer is coated with waterproof paint;
The shell supporting piece is made of a sheet metal bending piece and is used for supporting and fixing the shell;
The sensor and the electric system fixing piece are subjected to waterproof and sealing treatment, so that the sensor and the electric system fixing piece are convenient to use in outdoor extreme environments.
In the technical scheme, the shell is made of high-strength resin through a 3D printing technology, so that the shell not only has excellent mechanical properties, but also can bear larger impact and extrusion, and the internal structure and components are effectively protected from external damage; the surface layer of the shell is coated with waterproof paint, so that the shell has excellent waterproof performance, and the drying and normal operation of an internal electrical system can be maintained even under severe weather conditions such as rain, snow and the like; the fixing pieces are subjected to strict waterproof and sealing treatment, can stably run for a long time in an outdoor extreme environment, and are not interfered by external factors such as rainwater, dust and the like; the high-precision thermal imaging device and the high-sensitivity voiceprint imaging device on the personification task platform can capture the temperature change and vibration abnormality of the equipment in real time, and potential faults can be found in time through data analysis; the unmanned vehicle driving part is responsible for the movement and positioning of the robot, so that the robot can accurately reach the designated position and complete the inspection task; meanwhile, the waterproof and dustproof design of the shell and the supporting piece ensures that the robot can work normally under severe weather conditions such as rain, snow, sand dust and the like, and the inspection efficiency and reliability are greatly improved.
According to one embodiment of the invention, the input of the power distribution module is 24V/10A chassis straight out and 12V/15A chassis straight out; the output is 24V straight out 1 path, 12V voltage stabilizing and overcurrent protection 10 paths, 5V voltage stabilizing and overcurrent protection 2 paths.
In the technical scheme, in terms of power output, the power distribution module meets the requirement that the robot needs to work for a long time and high intensity, and the 24V/10A and 12V/15A chassis are directly designed, so that the robot can be quickly connected into power supplies with different specifications, and the continuity and stability of power supply are ensured. Meanwhile, the multipath voltage stabilization and overcurrent protection output provides sufficient power guarantee for various working parts of the robot, and the inspection interruption or equipment damage caused by the power problem is effectively prevented.
According to one embodiment of the invention, the power distribution module is provided with an STM32 and a serial port, and is used for communicating with the instruction controller and executing power distribution related commands;
The communication module supports a router for 5G point-to-point communication; the FPV camera is a network camera and outputs RTSP video stream;
The task module outputs RTSP integrated stream comprising video and audio of the scene through a network;
the driving module is connected with the instruction controller by adopting a serial port or a USB port; the command controller and the running controller are communicated through a serial port; the running controller communicates and controls through a CAN port provided by the chassis.
In the technical scheme, the command controller can send various power distribution related commands to the power distribution module, such as starting or stopping specific power supply output, adjusting output voltage and the like. After receiving the commands, the power distribution module can quickly execute corresponding operations to ensure that the power supply and distribution of the robot meet the current working requirements. The communication module adopts a router supporting 5G point-to-point communication, so that the robot can realize high-speed and stable network communication in a wide inspection area. The FPV camera captures the scene in real time and outputs RTSP video stream; the driving module is connected with the instruction controller through a serial port or a USB port, receives an instruction from the controller and drives the robot to move and operate. For example, the robot may perform autonomous inspection tasks in a substation, a transmission line, or the like. Through the power distribution and management functions of the power distribution module, the robot can ensure that the power supply of each working part is stable and reliable; the robot can transmit real-time inspection data to a remote monitoring center through the 5G communication function of the communication module; the remote monitoring center can view the field picture in real time and make corresponding decisions through the video processing functions of the FPV camera and the task module; finally, through the accurate control function of the driving module, the robot can accurately move and operate according to the instruction to finish the inspection task.
In the case of example 2,
On the basis of embodiment 1, as shown in fig. 2, the embodiment provides a use method of an intelligent body inspection robot for a transformer substation, which comprises the following steps:
S1, when inspection starts, an operator of a remote monitoring station sends out an instruction through a console, and an unmanned vehicle driving part receives the instruction and drives a personification task platform to go to an inspection area;
s2, in the inspection process, the high-sensitivity voiceprint imaging device and the high-precision thermal imaging device work simultaneously, collect sound and temperature data, and analyze and identify abnormality through an algorithm;
s3, if the inspection robot finds abnormality, the data are transmitted to a remote monitoring station in real time, an operator judges the type and the position of the fault according to the data, and the robot is precisely controlled by a handheld remote controller or the remote monitoring station so that the mechanical arm can execute further inspection or operation;
And S4, returning the robot to a starting point after the inspection is completed, and storing all inspection data in a database of a remote monitoring station for subsequent analysis and processing.
In the technical scheme, an operator sends out an instruction through a remote monitoring station to drive a robot to go to a patrol area; the robot collects voice and temperature data by using an advanced device and automatically analyzes and identifies abnormality; after the abnormality is found, transmitting data to a monitoring station in real time, and judging the fault condition by an operator according to the data and accurately controlling the robot to further operate; after the inspection is finished, the robot returns and stores the data to a database for subsequent analysis.
Example 3
On the basis of the embodiment, the embodiment is used for describing various aspects of the intelligent tour inspection robot in detail.
As shown in fig. 3 and 4, the intelligent patrol robot with body is composed of an anthropomorphic task platform, an unmanned vehicle driving part, a hand-held remote controller and a remote monitoring station. The personification task platform comprises a high-sensitivity voiceprint imaging device, a high-precision thermal imaging device, an illumination module and a mechanical arm; the unmanned vehicle driving part consists of a chassis, vehicle electricity, a sensor, a power distribution module, a controller and a communication module; the hand-held remote controller is a touch screen remote control device and can be used for remotely controlling the vehicle to go out of warehouse, transport and emergency rescue when the vehicle fails in a near-distance (WIFI) mode; the remote monitoring station is used for remotely controlling the in-out and in-storage of the vehicle, charging and executing tasks indoors, and consists of a monitoring screen, an unmanned vehicle control console, a control host and peripheral equipment.
As shown in fig. 3 and 4, the personification task platform and the unmanned vehicle driving part are composed of a shell, a shell supporting frame, a sensor fixing piece and an electrical system fixing piece, and can be disassembled and assembled in a split mode. The shell is made of high-strength resin through 3D printing, waterproof paint is coated on the surface layer, the shell supporting piece is made of sheet metal bending pieces, and the shell supporting piece is light and thin in structure, high in strength and used for supporting and fixing the shell; all the sensors and the electric system fixing parts are subjected to waterproof and sealing treatment, so that the sensor and the electric system fixing parts are convenient to use in outdoor extreme environments. The unmanned vehicle end architecture part comprises three parts of an electric system, a communication system and a control system. The anthropomorphic task platform framework comprises three parts, namely a voiceprint imaging device, a high-precision thermal imaging device and a mechanical arm.
In the aspect of an electrical system architecture, the design input of the power distribution module is 24V10A chassis straight out, 12V15A chassis straight out, and the output is 24V straight out 1 path, 12V voltage stabilizing and overcurrent protection 10 paths and 5V voltage stabilizing and overcurrent protection 2 paths; the task, the battery relay switch and the light control switch are designed in the control module.
In the aspect of communication system architecture, an STM32 and a serial port are arranged on a power distribution module and are used for communicating with an instruction controller and executing power distribution related commands; the communication module is a router supporting 5G point-to-point communication; the FPV camera is a network camera and outputs RTSP video stream; the task module outputs RTSP integrated stream including video and audio of the scene through a network; the sensor is connected with the instruction controller by adopting a serial port or a USB port; the command controller and the running controller are communicated through a serial port; the running controller communicates and controls through a CAN port provided by the chassis.
In terms of control system architecture, the core is an instruction controller (MiniPC) and a running controller (STM 32), wherein the instruction controller is configured into Inteli-1135G72.4GHz, 16GRAM,256 GHOD, mesalXe (TGLGT) GPU, ubuntu 2064-bit OS, and performs control and data interaction through an instruction protocol, a remote controller PAD and a remote console PC; wherein the ROS frame and the 360 DEG panoramic camera processing module run on the same MiniPC. The running controller is used for sending a running CAN instruction to the vehicle chassis controller, receiving the information sent by the chassis and controlling the switching of the vehicle lamp; the driving controller hardware adopts STM32 chip, and the interface has CAN, RJ45, light control relay, and the power supply adopts DC12V, and the size is not more than 110mmx130mm.
In the aspect of the high-sensitivity voiceprint imaging device, the device is arranged at the chest position of the personification task platform and matched with a pitching motor, and can realize pitching adjustment of-5 degrees to 45 degrees through the operation of a handheld remote controller or a remote control console so as to adapt to different scenes. The method supports high-sensitivity sound recording in a wide frequency range, has excellent distinguishing effect on large-range tiny vibration abnormality, and can dynamically adjust the frequency range to realize accurate judgment on fault points. The method has real-time performance, can dynamically display abnormal points of sound in a remote monitoring system, and is convenient for background experts to evaluate in real time. Meanwhile, recording and playback of the sound imaging video stream of the abnormal point are supported, subsequent analysis of the state and fault cause when faults occur is facilitated, a knowledge base is built, and subsequent inspection efficiency is greatly improved.
In the aspect of a high-precision thermal imaging device, the device is arranged at the head position of the personification task platform and is 1.7m away from the ground, is provided with an optical sensor and illumination light, and has excellent image vision and visual angle. The high-precision self-grinding double-shaft cradle head can realize the angle adjustment of 180 DEG pitching-30 DEG to 60 DEG by the operation of a hand-held remote controller or a remote control console, and has wide visual field and sensitive teleoperation response. The resolution of the infrared camera is 640 multiplied by 480, the focal length of the lens is 25mm, and the electric focusing is supported; the thermal sensitivity is less than or equal to 50mK@25 ℃, the temperature measurement range is-20 ℃ to 150 ℃, the temperature measurement range is 0 ℃ to 300 ℃, the temperature measurement accuracy is 60 ℃ to 600 ℃ and reaches +/-2 ℃ or +/-2%, the highest temperature and the lowest temperature of a display area in a remote monitoring system can be dynamically displayed in real time, and the dynamic temperature measurement of a mouse is supported. Meanwhile, the working temperature of all the equipment is-10 to +60 ℃, so that the equipment can still be normally used in an outdoor extreme environment.
The remote monitoring station consists of a monitoring screen, an unmanned vehicle control console, a control host and peripheral equipment. The upper surface of the control table is provided with a curved surface screen, the length of the curved surface is about 1.2 meters, and the height is about 0.4 meters, and the curved surface screen is divided into a left part, a middle part and a right part for display. The content of the monitoring screen is displayed by a local PC, and the content is directly obtained from the point-to-point communication of the vehicle-end controller and the camera. The control station software interface is displayed on a curved screen above the console. The table top of the rack is provided with a steering wheel and a baffle rod device, and a drawable table top is arranged below the table top and is used for placing a keyboard and a mouse. A brake and an accelerator pedal are arranged below the bench. The 5G communication of the control station can adopt a special router, and can also be directly accessed into the existing wired broadband environment in the room.
The remote monitoring system software interface is integrally composed of a left part, a middle part and a right part. The left area is used for displaying a map and 360-degree panoramic view angle, track display, system setting and vehicle state display (sensor state and electric state); the middle area is used for displaying the field of view of the FPV camera, the driving track indication and the instrument panel, and can perform light control; the right side area is used for displaying the view of the task module and task module data (such as voiceprint imaging results), and the function control of the task module can be performed.
For daily inspection tasks, the intelligent robot with the body can acquire and analyze thermodynamic diagrams of key parts of the transformer substation by using the infrared thermal imaging system, and is simple and efficient, and high in judgment accuracy. For regular large-scale inspection tasks, the robot can accurately position the fault position of the power equipment by using a carried high-sensitivity voiceprint imaging system, the carried adjustable-frequency-band high-sensitivity microphone array is used for collecting sound signals, and the high-precision thermal imaging device is matched with the visible light camera to collect infrared and visible light images. The computer receives the collected signals, matches the signals through time stamp data, packages the signals into data packets with 30Hz as one frame, and outputs an acoustic imaging image based on a beam forming algorithm. And fusing the data with the multispectral image to obtain a diagnosis result. And finally, synchronizing the audio and video and outputting the synchronized audio and video to a display screen.
Although the present invention has been described in detail by way of preferred embodiments with reference to the accompanying drawings, the present invention is not limited thereto. Various equivalent modifications and substitutions may be made in the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and it is intended that all such modifications and substitutions be within the scope of the present invention/be within the scope of the present invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A utensil body intelligence inspection robot for transformer substation, its characterized in that includes following part:
the personification task platform (1) comprises a high-sensitivity voiceprint imaging device and a high-precision thermal imaging device, wherein:
The high-sensitivity voiceprint imaging device is used for capturing sound signals and identifying abnormal vibration of equipment through voiceprint analysis so as to locate fault points; the angle is adjusted through the pitching motor so as to adapt to different inspection environments; the recorded sound imaging video stream is used for background analysis to help to establish a fault knowledge base;
The high-precision thermal imaging device is used for finding potential fault points through temperature distribution of the infrared thermal imaging capturing equipment; the highest temperature and the lowest temperature of the area are displayed in real time in the remote monitoring system through the double-shaft cradle head, so that the inspection personnel can be helped to quickly locate the abnormality;
the mechanical arm device is used for executing finer inspection tasks and comprises an equipment cabinet door opening and an operation switch;
unmanned vehicle drive part (2), including lighting module, mobile platform module, distribution module and communication module, wherein:
The lighting module is used for providing necessary lighting for night or inspection of environments with insufficient light;
The driving module is used for autonomously or remotely controlling movement in various terrains and environments, and comprises a chassis, vehicle electricity and sensors, wherein the sensors are used for collecting environment information and providing data support for autonomous navigation of the robot;
the power distribution module is used for distributing and protecting power;
the communication module is used for carrying out information transmission with the handheld remote controller and the remote monitoring station;
the control module is used for controlling tasks, battery relays and lamplight;
A remote control platform section comprising a handheld remote control and a remote monitoring station, wherein:
The hand-held remote controller is used for remote control operation in a short distance and is communicated with the communication module through wireless;
And the remote monitoring station is used for sending instructions and receiving data, and checking the working state of the inspection robot and the inspection data in real time through the monitoring screen.
2. The intelligent body inspection robot for the transformer substation according to claim 1, wherein the high-sensitivity voiceprint imaging device is arranged at the chest position of the personification task platform (1), is matched with a pitching motor, and realizes pitching adjustment of-5 degrees to 45 degrees through the operation of a handheld remote controller or a remote control console so as to adapt to different scenes.
3. The intelligent patrol robot for the transformer substation according to claim 1 or 2, wherein the high-sensitivity voiceprint imaging device supports high-sensitivity sound recording in a wide frequency band, discrimination of large-range fine vibration anomalies, and dynamic adjustment of a frequency band range to realize accurate judgment of fault points.
4. The intelligent patrol robot for the transformer substation according to claim 1, characterized in that the high-precision thermal imaging device is arranged at the head position of the personification task platform (1), 1.7m from the ground, equipped with an optical sensor and illumination lights;
The angle adjustment of 180 DEG pitching-30 DEG to 60 DEG is realized by the operation of a high-precision self-grinding double-shaft cradle head, a handheld remote controller or a remote control console;
the resolution of the infrared camera is 640 multiplied by 480, the focal length of the lens is 25mm, and the electric focusing is supported;
The thermal sensitivity of the high-precision thermal imaging device is less than or equal to 50mK@25 ℃, the temperature measurement range is-20 ℃ -150 ℃, the temperature measurement range is 0 ℃ -300 ℃, the temperature measurement range is 60 ℃ -600 ℃, the temperature measurement precision reaches +/-2 ℃ or +/-2%, the highest temperature and the lowest temperature of a display area in a remote monitoring system are dynamically displayed in real time, and the dynamic temperature measurement of a mouse is supported.
5. The intelligent patrol robot for a transformer substation according to claim 1, wherein the personification task platform (1) and the drone driving part (2) each comprise the following components:
The shell is manufactured by 3D printing of high-strength resin, and the surface layer is coated with waterproof paint;
The shell supporting piece is made of a sheet metal bending piece and is used for supporting and fixing the shell;
The sensor and the electric system fixing piece are subjected to waterproof and sealing treatment, so that the sensor and the electric system fixing piece are convenient to use in outdoor extreme environments.
6. The intelligent self-contained inspection robot for a substation of claim 1, wherein the input to the power distribution module is 24V/10A chassis straight out, 12V/15A chassis straight out; the output is 24V straight out 1 path, 12V voltage stabilizing and overcurrent protection 10 paths, 5V voltage stabilizing and overcurrent protection 2 paths.
7. The intelligent self-contained inspection robot for a substation of claim 1, wherein the power distribution module is provided with an STM32 and a serial port for communicating with the command controller and executing power distribution related commands;
The communication module supports a router for 5G point-to-point communication; the FPV camera is a network camera and outputs RTSP video stream;
The task module outputs RTSP integrated stream comprising video and audio of the scene through a network;
the driving module is connected with the instruction controller by adopting a serial port or a USB port; the command controller and the running controller are communicated through a serial port; the running controller communicates and controls through a CAN port provided by the chassis.
8. A method for using the intelligent body inspection robot for a transformer substation, which is characterized by comprising the following steps:
s1, when inspection starts, an operator of a remote monitoring station sends out an instruction through a console, and an unmanned vehicle driving part (2) receives the instruction and drives a personification task platform (1) to go to an inspection area;
s2, in the inspection process, the high-sensitivity voiceprint imaging device and the high-precision thermal imaging device work simultaneously, collect sound and temperature data, and analyze and identify abnormality through an algorithm;
s3, if the inspection robot finds abnormality, the data are transmitted to a remote monitoring station in real time, an operator judges the type and the position of the fault according to the data, and the robot is precisely controlled by a handheld remote controller or the remote monitoring station so that the mechanical arm can execute further inspection or operation;
And S4, returning the robot to a starting point after the inspection is completed, and storing all inspection data in a database of a remote monitoring station for subsequent analysis and processing.
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