CN201812315U - Polling robot with navigation device - Google Patents
Polling robot with navigation device Download PDFInfo
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- CN201812315U CN201812315U CN2010205629799U CN201020562979U CN201812315U CN 201812315 U CN201812315 U CN 201812315U CN 2010205629799 U CN2010205629799 U CN 2010205629799U CN 201020562979 U CN201020562979 U CN 201020562979U CN 201812315 U CN201812315 U CN 201812315U
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- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 6
- 238000007689 inspection Methods 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000016507 interphase Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The utility model discloses a polling robot with a navigation device. The polling device comprises a robot body and a control unit; a walking device is arranged below the robot body; the robot body is also provided with the navigation device; the navigation device comprises multiple sensor units; and the robot body and can adjust the walking state in real time according to road data acquired by the sensor units. The polling robot can automatically accomplish polling of power equipment in a transformer substation according to a pre-set route through the navigation device, sends relevant data acquired in real time to a control centre through a wireless network and displays the data on relevant equipment; and a worker can conveniently realize remote monitoring of the field working conditions and the running conditions of the equipment; and meanwhile, the worker can implement remote control on the robot body and a photographic device so as to realize remote monitoring of remote areas and unattended stations, thereby saving time and labor and reducing the labor cost.
Description
Technical field
The utility model relates to automation field, particularly a kind of crusing robot that has guider that is used for inspecting substation equipment.
Background technology
Traditional substation inspection work is mainly finished by the staff, but for the transformer station of unmanned or few man on duty, the work of patrolling and examining is the very work of difficulty, especially to the transformer station of remote districts, need expend great amount of manpower and time; Secondly, because transformer station mostly is high pressure, high radiation device, manual inspection has very big danger; For the transformer station of unmanned or few man on duty, the emergency command scheduling difficulty when transformer station's fault is also very big simultaneously.Therefore introduce intelligent robot system and replace to a certain extent manually transformer station being carried out patrolling and examining automatically, will become the development trend of substation inspection, but also not have a robot device who has navigational system who is exclusively used in inspecting substation equipment at present.
Summary of the invention
In view of this, the purpose of this utility model provides a kind of crusing robot that has guider, by guider, can realize the data acquisition of automated path identification and power equipment, need not manual intervention, and the automaticity height uses reliable.
The purpose of this utility model is achieved through the following technical solutions:
The crusing robot that this has guider comprises robot body and control module, and the below of described robot body is provided with running gear, also is provided with guider on the described robot body.
Further, described guider comprises a plurality of sensor units, and described guider comprises a plurality of sensor units, and the road surface data in real time that described robot body is gathered according to sensor unit is adjusted walking states;
Further, described sensor unit comprises ultrasonic sensor, Magnetic Sensor and rfid interrogator, described rfid interrogator and Magnetic Sensor carry out real-time data acquisition according to the RFID label and the magnetic stripe that are arranged in advance on transformer station's tour route, ensure track route;
Further, also be provided with the field signal acquisition transmitting device on the described robot body;
Further, described field signal acquisition transmitting device comprises at least one visible image capturing head, infrared camera, adjustment The Cloud Terrace and video server, and the on-the-spot audio-video signal of described visible image capturing head and infrared camera collection transfers to wireless communication networks by video server.
Further, also be provided with the Remote receiver module on the described robot body, be used to accept steering order that control center sends and start corresponding operating according to steering order;
Further, also be provided with wireless communication module on the described robot body, the data that are used for gathering are sent to the upper monitoring main frame.
The beneficial effects of the utility model are:
Crusing robot of the present utility model passes through guider, can be according to predefined route, automatically finish patrolling and examining to the power equipment in the transformer station, and be sent to control center and on relevant device, show by the related data that wireless network will be gathered in real time, the staff is the working condition at telemonitoring scene and the ruuning situation of equipment easily, simultaneously, the staff can also implement the Remote operation to robot body and camera head, thereby realized telemonitoring to remote districts and unattended station, time saving and energy saving, saved human cost.
Other advantages of the present utility model, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on being conspicuous to those skilled in the art, perhaps can from practice of the present utility model, obtain instruction to investigating hereinafter.Target of the present utility model and other advantages can realize and obtain by following instructions and claims.
Description of drawings
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing the utility model is described in further detail, wherein:
Fig. 1 is the utility model structural representation;
Fig. 2 is RFID label and magnetic strip arrangements synoptic diagram.
Embodiment
Hereinafter with reference to accompanying drawing, preferred embodiment of the present utility model is described in detail.Should be appreciated that preferred embodiment only for the utility model is described, rather than in order to limit protection domain of the present utility model.
As shown in Figure 1, the crusing robot that has guider of the present utility model comprises robot body 1 and control module, is provided with running gear 2 below robot body 1, also is provided with to visit the barrier guider on robot body 1.
In the present embodiment, guider comprises ultrasonic sensor 3, Magnetic Sensor 4 and rfid interrogator 5,
1) ultrasonic sensor 3 is the sensors that utilize hyperacoustic characteristic to develop.Have that frequency height, wavelength are short, the diffraction phenomenon is little, good directionality, can become ray and characteristics such as direction propagation.Ultrasound wave is good to the penetrability of liquid, solid, ultrasound wave is run into impurity or interphase and can be produced significantly to reflect to form and be reflected into echo, runs into the live animal physical efficiency and produces Doppler effect, therefore, ultrasonic sensor among the present invention is used to detect the place ahead obstacle, for crusing robot provides information;
2) rfid interrogator 4 and Magnetic Sensor 5 carry out real-time data acquisition according to the RFID label and the magnetic stripe that are arranged in advance on transformer station's tour route respectively, ensure track route.Fig. 2 is RFID and magnetic stripe scheme of installation, as shown in the figure, by the RFID label being installed so that range information to be provided patrolling and examining on the circuit every a segment distance, place the RFID label so that turning information to be provided in the place of turning, the RFID label is set before equipment to be checked setpoint information is provided, when robot reading tag information when the RFID label, thereby judge the mileage of walking and the direction of advancing; Lay magnetic stripe on the route at regular intervals patrolling and examining of transformer station's appointment, Magnetic Sensor is installed in respectively on the front-end and back-end of crusing robot, the certain distance in interval between the Magnetic Sensor, when robot walks on magnetic stripe, Magnetic Sensor detects the magnetic field of magnetic stripe, go out the deviation of car body according to the position calculation of the Magnetic Sensor of sensing magnetic field, control program calls correcting algorithm the car body position is proofreaied and correct.
On robot body, also be provided with the field signal acquisition transmitting device, the field signal acquisition transmitting device comprises visible image capturing 6, infrared camera 7, adjusts The Cloud Terrace 8 and video server, and the on-the-spot audio-video signal that visible image capturing 6 and infrared camera 7 are gathered is uploaded by video server.
Also be provided with Remote receiver module and wireless communication module on robot body, wherein, the Remote receiver module is used to accept steering order that control center sends and starts corresponding operating according to steering order; The electrical equipment-data that wireless communication module is used for gathering is sent to the upper monitoring main frame.
Explanation is at last, above embodiment is only unrestricted in order to the explanation the technical solution of the utility model, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not breaking away from the aim and the scope of the technical program, it all should be encompassed in the middle of the claim scope of the present utility model.
Claims (7)
1. the crusing robot that has guider comprises robot body and control module, and the below of described robot body is provided with running gear, it is characterized in that: also be provided with guider on the described robot body.
2. the crusing robot that has guider according to claim 1 is characterized in that: described guider comprises a plurality of sensor units, and the road surface data in real time that described robot body is gathered according to sensor unit is adjusted walking states.
3. the crusing robot that has guider according to claim 2, it is characterized in that: described sensor unit comprises ultrasonic sensor, Magnetic Sensor and rfid interrogator, described rfid interrogator and Magnetic Sensor carry out real-time data acquisition according to the RFID label and the magnetic stripe that are arranged in advance on transformer station's tour route, guarantee track route.
4. according to claim 1 or the 2 or 3 described crusing robots that have guider, it is characterized in that: also be provided with the field signal acquisition transmitting device on the described robot body.
5. the crusing robot that has guider according to claim 4, it is characterized in that: described field signal acquisition transmitting device comprises at least one visible image capturing head, infrared camera, adjustment The Cloud Terrace and video server, and the on-the-spot audio-video signal of described visible image capturing head and infrared camera collection transfers to wireless communication networks by video server.
6. the crusing robot that has guider according to claim 5 is characterized in that: also be provided with the Remote receiver module on the described robot body, be used to accept steering order that control center sends and start corresponding operating according to steering order.
7. the crusing robot that has guider according to claim 6 is characterized in that: also be provided with wireless communication module on the described robot body, the data that are used for gathering are sent to the upper monitoring main frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205629799U CN201812315U (en) | 2010-10-15 | 2010-10-15 | Polling robot with navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205629799U CN201812315U (en) | 2010-10-15 | 2010-10-15 | Polling robot with navigation device |
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| Publication Number | Publication Date |
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| CN201812315U true CN201812315U (en) | 2011-04-27 |
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| CN2010205629799U Expired - Fee Related CN201812315U (en) | 2010-10-15 | 2010-10-15 | Polling robot with navigation device |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102201865A (en) * | 2011-04-28 | 2011-09-28 | 福建省电力有限公司福州电业局 | Unmanned aerial vehicle power line inspection hybrid communication system |
| CN102241325A (en) * | 2011-06-30 | 2011-11-16 | 佛山市顺德区嘉腾电子有限公司 | Intelligent material conveying system based on automatic guided vehicle and use method thereof |
| CN102506891A (en) * | 2011-11-28 | 2012-06-20 | 重庆大学 | Mileage detection method for magnetic-navigation wheeled autonomous mobile robot |
| CN103388743A (en) * | 2012-05-08 | 2013-11-13 | 上海化学工业区公共管廊有限公司 | Touring monitoring robot |
| CN103550883A (en) * | 2013-11-04 | 2014-02-05 | 国家电网公司 | Fire-fighting robot for transformer substation |
| CN103676953A (en) * | 2013-12-19 | 2014-03-26 | 深圳市朗驰欣创科技有限公司 | Automatic recovery method for transformer substation robot magnetic navigation derailment |
| CN103995509A (en) * | 2014-05-13 | 2014-08-20 | 北京华科数能科技发展有限公司 | Robot for poultry house environment monitoring and monitoring method and system thereof |
| CN104089616A (en) * | 2014-07-31 | 2014-10-08 | 四川阿泰因机器人智能装备有限公司 | Mobile robot positioning system |
| CN104284151A (en) * | 2014-09-25 | 2015-01-14 | 国家电网公司 | Ground routing inspection method and system for transformer substation |
| CN105108728A (en) * | 2015-09-17 | 2015-12-02 | 国网山东省电力公司德州供电公司 | Inspection robot special for cable trenches of substations |
| CN105652870A (en) * | 2016-01-19 | 2016-06-08 | 中国人民解放军国防科学技术大学 | Autonomous patrol control system and method of intelligent security service robot |
| CN105807765A (en) * | 2016-01-22 | 2016-07-27 | 国家电网公司 | Mobile robot apparatus used for anti-error operation of transformer station, and anti-error operation method |
| CN105891454A (en) * | 2016-05-23 | 2016-08-24 | 桂仲成 | Hub-type robot and detecting method for system for autonomously detecting road surfaces |
| CN105926419A (en) * | 2016-05-23 | 2016-09-07 | 桂仲成 | Automatic detection robot system and detection method for road surface |
| CN105937199A (en) * | 2016-05-23 | 2016-09-14 | 桂仲成 | Intelligent hub pavement autonomous detection apparatus |
| CN105951569A (en) * | 2016-05-23 | 2016-09-21 | 桂仲成 | Caterpillar track type road surface autonomous detection robot system and detection method |
| CN106049243A (en) * | 2016-05-23 | 2016-10-26 | 桂仲成 | Intelligent road surface autonomous detection device |
| CN106584457A (en) * | 2016-11-23 | 2017-04-26 | 河池学院 | Robot detecting system |
| CN107679775A (en) * | 2017-10-31 | 2018-02-09 | 合肥天鹰高科技有限公司 | A kind of power networks risk control platform |
| CN108170141A (en) * | 2017-12-26 | 2018-06-15 | 国家电网公司 | The unmanned cruiser of substation |
| CN108613680A (en) * | 2018-03-19 | 2018-10-02 | 深圳供电局有限公司 | Intelligent inspection method and system |
| CN108839016A (en) * | 2018-06-11 | 2018-11-20 | 深圳市百创网络科技有限公司 | Robot method for inspecting, storage medium, computer equipment and crusing robot |
| CN108875857A (en) * | 2017-05-12 | 2018-11-23 | 杭州海康威视数字技术股份有限公司 | Method for inspecting, apparatus and system |
| CN109254298A (en) * | 2018-09-30 | 2019-01-22 | 中国安全生产科学研究院 | The positioning system of safety patrol inspection robot in subway tunnel |
| CN110009762A (en) * | 2019-04-25 | 2019-07-12 | 上海市政工程设计研究总院（集团）有限公司 | One kind being exclusively used in sewage treatment plant's biological reaction pool intelligent inspection system |
-
2010
- 2010-10-15 CN CN2010205629799U patent/CN201812315U/en not_active Expired - Fee Related
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102201865A (en) * | 2011-04-28 | 2011-09-28 | 福建省电力有限公司福州电业局 | Unmanned aerial vehicle power line inspection hybrid communication system |
| CN102241325A (en) * | 2011-06-30 | 2011-11-16 | 佛山市顺德区嘉腾电子有限公司 | Intelligent material conveying system based on automatic guided vehicle and use method thereof |
| CN102506891B (en) * | 2011-11-28 | 2014-10-15 | 重庆大学 | Mileage detection method for magnetic-navigation wheeled autonomous mobile robot |
| CN102506891A (en) * | 2011-11-28 | 2012-06-20 | 重庆大学 | Mileage detection method for magnetic-navigation wheeled autonomous mobile robot |
| CN103388743A (en) * | 2012-05-08 | 2013-11-13 | 上海化学工业区公共管廊有限公司 | Touring monitoring robot |
| CN103388743B (en) * | 2012-05-08 | 2015-09-30 | 上海化学工业区公共管廊有限公司 | Make an inspection tour supervisory-controlled robot |
| CN103550883A (en) * | 2013-11-04 | 2014-02-05 | 国家电网公司 | Fire-fighting robot for transformer substation |
| CN103676953A (en) * | 2013-12-19 | 2014-03-26 | 深圳市朗驰欣创科技有限公司 | Automatic recovery method for transformer substation robot magnetic navigation derailment |
| CN103676953B (en) * | 2013-12-19 | 2017-06-16 | 深圳市朗驰欣创科技有限公司 | Intelligent Mobile Robot magnetic navigation derailing automatic recovery method |
| CN103995509A (en) * | 2014-05-13 | 2014-08-20 | 北京华科数能科技发展有限公司 | Robot for poultry house environment monitoring and monitoring method and system thereof |
| CN104089616A (en) * | 2014-07-31 | 2014-10-08 | 四川阿泰因机器人智能装备有限公司 | Mobile robot positioning system |
| CN104284151A (en) * | 2014-09-25 | 2015-01-14 | 国家电网公司 | Ground routing inspection method and system for transformer substation |
| CN104284151B (en) * | 2014-09-25 | 2017-09-29 | 国家电网公司 | A kind of transformer station ground method for inspecting and cruising inspection system |
| CN105108728A (en) * | 2015-09-17 | 2015-12-02 | 国网山东省电力公司德州供电公司 | Inspection robot special for cable trenches of substations |
| CN105652870A (en) * | 2016-01-19 | 2016-06-08 | 中国人民解放军国防科学技术大学 | Autonomous patrol control system and method of intelligent security service robot |
| CN105807765A (en) * | 2016-01-22 | 2016-07-27 | 国家电网公司 | Mobile robot apparatus used for anti-error operation of transformer station, and anti-error operation method |
| CN105937199A (en) * | 2016-05-23 | 2016-09-14 | 桂仲成 | Intelligent hub pavement autonomous detection apparatus |
| CN105951569A (en) * | 2016-05-23 | 2016-09-21 | 桂仲成 | Caterpillar track type road surface autonomous detection robot system and detection method |
| CN106049243A (en) * | 2016-05-23 | 2016-10-26 | 桂仲成 | Intelligent road surface autonomous detection device |
| CN105926419A (en) * | 2016-05-23 | 2016-09-07 | 桂仲成 | Automatic detection robot system and detection method for road surface |
| CN105891454A (en) * | 2016-05-23 | 2016-08-24 | 桂仲成 | Hub-type robot and detecting method for system for autonomously detecting road surfaces |
| CN106049243B (en) * | 2016-05-23 | 2019-02-15 | 桂仲成 | Independently detect intelligent apparatus in road face |
| CN105937199B (en) * | 2016-05-23 | 2019-01-08 | 桂仲成 | Independently detect intelligent apparatus in hub-type road face |
| CN106584457A (en) * | 2016-11-23 | 2017-04-26 | 河池学院 | Robot detecting system |
| CN108875857A (en) * | 2017-05-12 | 2018-11-23 | 杭州海康威视数字技术股份有限公司 | Method for inspecting, apparatus and system |
| CN108875857B (en) * | 2017-05-12 | 2021-10-22 | 杭州海康威视数字技术股份有限公司 | Inspection method, device and system |
| CN107679775A (en) * | 2017-10-31 | 2018-02-09 | 合肥天鹰高科技有限公司 | A kind of power networks risk control platform |
| CN108170141A (en) * | 2017-12-26 | 2018-06-15 | 国家电网公司 | The unmanned cruiser of substation |
| CN108613680A (en) * | 2018-03-19 | 2018-10-02 | 深圳供电局有限公司 | Intelligent inspection method and system |
| CN108839016A (en) * | 2018-06-11 | 2018-11-20 | 深圳市百创网络科技有限公司 | Robot method for inspecting, storage medium, computer equipment and crusing robot |
| CN109254298A (en) * | 2018-09-30 | 2019-01-22 | 中国安全生产科学研究院 | The positioning system of safety patrol inspection robot in subway tunnel |
| CN110009762A (en) * | 2019-04-25 | 2019-07-12 | 上海市政工程设计研究总院（集团）有限公司 | One kind being exclusively used in sewage treatment plant's biological reaction pool intelligent inspection system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: MAINTENANCE BRANCH COMPANY OF CHONGQING ELECTRIC P Free format text: FORMER OWNER: CHONGQING POWER COMPANY EXTRA HIGH VOLTAGE BUREAU Effective date: 20120919 Owner name: STATE ELECTRIC NET CROP. Effective date: 20120919 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 400039 JIULONGPO, CHONGQING TO: 400039 DADUKOU, CHONGQING |
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| TR01 | Transfer of patent right |
Effective date of registration: 20120919 Address after: 400039 No. 92 Torch Road, Erlang hi tech Zone, Chongqing hi tech Development Zone Patentee after: Chongqing Electric Power Corporation Maintenance Branch Patentee after: State Grid Corporation of China Address before: 92 No. 400039 Chongqing Jiulongpo Erlang science and Technology Park torch Avenue Patentee before: Chongqing Power Company Extra High Voltage Bureau |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110427 Termination date: 20181015 |
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| CF01 | Termination of patent right due to non-payment of annual fee |