CN202904026U - Electric inspection robot - Google Patents
Electric inspection robot Download PDFInfo
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- CN202904026U CN202904026U CN2012205774927U CN201220577492U CN202904026U CN 202904026 U CN202904026 U CN 202904026U CN 2012205774927 U CN2012205774927 U CN 2012205774927U CN 201220577492 U CN201220577492 U CN 201220577492U CN 202904026 U CN202904026 U CN 202904026U
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- navigation device
- navigation
- electric inspection
- resolving circuit
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Abstract
The utility model relates to the field of electric safety, and provides an electric inspection robot. The electric inspection robot is driven by a driving motor, and comprises a GPS navigation device, an autonomous navigation device, and a combinational navigation calculation circuit for calculating navigation information of the GPS navigation device or the autonomous navigation device, wherein a first input terminal and a second input terminal of the combinational navigation calculation circuit are connected with the GPS navigation device and the autonomous navigation device respectively, an output terminal of the combinational navigation calculation circuit is connected with a control terminal of the driving motor, and a feedback output terminal of the combinational navigation calculation circuit is connected with a feedback input terminal of the autonomous navigation device. When the electric inspection robot is performing the inspection, one of the navigation devices or both the two navigation devices are used for navigation according to the actual conditions, so that the defects that, the inspection path is not easy to modify, the magnetic rail is easy to fail and the obstacle climbing ability is low by using the magnetic rail method, are overcome, and the electric inspection robot can accurately travel along a preset inspection path and complete the detection tasks.
Description
Technical field
The utility model relates to the electric power safety field, relates in particular to a kind of electric inspection process robot.
Background technology
In transformer station, generally adopt the electric inspection process robot that the outdoor high-tension apparatus of the transformer station of unmanned or few man on duty is patrolled and examined, by gathering the running state information of power equipment, whether there are the abnormal occurrencies such as thermal defect, foreign matter suspension thereby detect power equipment, to guarantee the safety of electrical production.
At present, the navigate mode of this electric inspection process robot generally adopts the track navigation, this track navigate mode is for to install track at the route of patrolling and examining of transformer station, the electric inspection process robot detects it with respect to the skew of track by being installed on its anterior magnetic sensor array (Magnetic Sensor), and controls it by the mode of two-wheeled differential and move along track.This electric inspection process robot adopts track navigate mode, has following shortcoming: 1. the electric inspection process robot patrol and examine the route that route is followed track, therefore patrol and examine route in case just be difficult for change after determining; Since long term exposure in outdoor, weakening even the problem such as the damage of ftractureing such as magnetic easily appears in track; 3. because the chassis of the detection close together of Magnetic Sensor so electric inspection process robot is lower, cause the obstacle climbing ability of electric inspection process robot low.
The importance of considering electrical production increases gradually, and therefore, can the electric inspection process robot accurately travel and become the key factor that ensures electrical production safety along the predetermined route of patrolling and examining in the process of patrolling and examining.
The utility model content
The purpose of this utility model is to provide a kind of electric inspection process robot, and it can accurately travel to finish Detection task along the predetermined route of patrolling and examining.
For this reason, the utility model is by the following technical solutions:
A kind of electric inspection process robot, it is driven by drive motor, and described electric inspection process robot comprises GPS navigation device, independent navigation device, resolves the integrated navigation resolving circuit of the navigation information of described GPS navigation device or described independent navigation device;
The first input end of described integrated navigation resolving circuit and the second input end connect respectively the control end of the described drive motor of output termination of described GPS navigation device and described independent navigation device, described integrated navigation resolving circuit, and the feedback output end of described integrated navigation resolving circuit connects the feedback input end of described independent navigation device.
The electric inspection process robot that the utility model provides, when patrolling and examining, can according to actual conditions adopt GPS navigation device or independent navigation device wherein a kind of guider navigate or two kinds of guiders navigate simultaneously.Therefore, this electric inspection process robot can overcome the shortcomings such as route is difficult for changing, track easily goes wrong, obstacle climbing ability is low of patrolling and examining that adopt the existence of track navigate mode, and it can accurately travel to finish Detection task along the predetermined route of patrolling and examining simultaneously.
Description of drawings
The circuit theory schematic diagram of the electric inspection process robot that Fig. 1 provides for the utility model embodiment;
The circuit theory schematic diagram of the electric inspection process robot that Fig. 2 provides for another specific embodiment of the utility model.
Embodiment
For making the purpose of this utility model, technical scheme and advantage clearer, clear, the utility model is described in further detail below in conjunction with the drawings and the specific embodiments.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, not in order to limit the utility model.
With reference to Fig. 1 and Fig. 2, the circuit theory schematic diagram of the utility model embodiment and another electric inspection process robot that provides.
A kind of electric inspection process robot, it is driven by drive motor 1, and the electric inspection process robot comprises the integrated navigation resolving circuit 4 of the navigation information of GPS navigation device 2, independent navigation device 3, resolving GPS guider 2 or independent navigation device 3; The first input end of integrated navigation resolving circuit 4 and the second input end connect respectively the control end of the output termination drive motor 1 of GPS navigation device 2 and independent navigation device 3, integrated navigation resolving circuit 4, and the feedback output end of described integrated navigation resolving circuit 4 connects the feedback input end of described independent navigation device 3.
In another specific embodiment of the present utility model, this GPS navigation device 2 adopts differential GPS guider 21, and its first input end with integrated navigation resolving circuit 4 is connected.Adopt differential GPS guider 21, can realize the bearing accuracy of centimetre-sized.
Among the utility model embodiment, this independent navigation device 3 comprises optical fibre gyro 31, mileage gauge 32, independent navigation resolving circuit 33; The first input end of independent navigation resolving circuit 33 and the second input end connect respectively optical fibre gyro 31 and mileage gauge 32, the second input end of the output termination integrated navigation resolving circuit 4 of independent navigation resolving circuit 33, the feedback input end of independent navigation resolving circuit 33 is as the feedback output end of the described integrated navigation resolving circuit 4 of feed back input termination of independent navigation device 3.
Below the principle of work of electric inspection process robot that the utility model embodiment is provided be further described.
The system of this electric inspection process robot carries out self check after starting, if system is normal, facility is sought north with optical fibre gyro 31 and the mileage gauge 32 of independent navigation device 3, gives initial orientation of system, and the initialization autonomous navigation system; Simultaneously differential GPS guider 21 is the navigation information that GPS navigation device 2 receives the GPS navigation satellites, judges differential GPS guider 21 is whether the information of GPS navigation device 2 is effective.
Wherein, the feedback input end that the feedback output end of integrated navigation resolving circuit 4 connects independent navigation resolving circuit 33 is the feedback input end of independent navigation device 3, integrated navigation resolving circuit 4 detection differential GPS guiders 21 are whether the information of GPS navigation device 2 is effective, perhaps according to the situation of other actual uses, thereby be independent navigation device 3 output feedback signals to independent navigation resolving circuit 33, control independent navigation resolving circuit 33 is whether independent navigation device 3 enters duty.
If judgement differential GPS guider 21 is that the information of GPS navigation device 2 is effective, be the information of GPS navigation device 2 and independent navigation device 3 by integrated navigation resolving circuit 4 combination differential GPS guiders 21 then, calculate the drive motor 1 output control signal of backward electric inspection process robot, realize the accurate navigation of this electric inspection process robot, and the independent navigation resolving circuit is proofreaied and correct.
To cause differential GPS guider 21 be that the information of GPS navigation device 2 is when invalid to situation under being in barrier etc., the system of electric inspection process robot then switches to independent navigation device 3 and navigates, optical fibre gyro 31 and mileage gauge 32 direct output navigation information to independent navigation resolving circuits 33 by independent navigation device 3 resolve, independent navigation resolving circuit 33 with the navigation information that calculates by integrated navigation resolving circuit 4 to drive motor 1 output control signal, realizing that this electric inspection process robot is in GPS blind area etc. situation, to cause differential GPS guider 21 be the information of GPS navigation device 2 independent navigation when invalid.
In sum, this electric inspection process robot is in the process of patrolling and examining, differential GPS guider 21 is that GPS navigation device 2 can be simultaneously with independent navigation device 3 or be separately the electric inspection process robot navigation, thereby accurately travels and finish Detection task to guarantee the predetermined route of patrolling and examining of electric inspection process Robot for the electric inspection process robot provides accurate navigation information.Therefore, this electric inspection process robot has overcome the shortcomings such as route is difficult for changing, track easily goes wrong, obstacle climbing ability is low of patrolling and examining that adopt the existence of track navigate mode, and it can accurately travel to finish Detection task along the predetermined route of patrolling and examining simultaneously.
In addition, differential GPS guider 21 is GPS navigation device 2 with independent navigation device 3 in operational process, differential GPS guider 21 is that GPS navigation device 2 can provide the dead reckoning initial value for independent navigation device 3, and real time correction independent navigation device 3, and independent navigation device 3 can be that GPS navigation device 2 information provide navigation information for the electric inspection process robot when invalid at differential GPS guider 21.
The above is preferred embodiment of the present utility model, not in order to limit the utility model.All any modifications of within the utility model principle, making, be equal to and replace and improvement etc., all should be included within the protection domain of the present utility model.
Claims (3)
1. electric inspection process robot, it is driven by drive motor (1), it is characterized in that, described electric inspection process robot comprises GPS navigation device (2), independent navigation device (3), resolves the integrated navigation resolving circuit (4) of the navigation information of described GPS navigation device (2) or described independent navigation device (3);
The first input end of described integrated navigation resolving circuit (4) and the second input end connect respectively described GPS navigation device (2) and described independent navigation device (3), the control end of the described drive motor of output termination (1) of described integrated navigation resolving circuit (4), the feedback output end of described integrated navigation resolving circuit (4) connects the feedback input end of described independent navigation device (3).
2. electric inspection process as claimed in claim 1 robot is characterized in that, described GPS navigation device (2) adopts differential GPS guider (21), and its first input end with integrated navigation resolving circuit (4) is connected.
3. electric inspection process as claimed in claim 1 robot is characterized in that, described independent navigation device (3) comprises optical fibre gyro (31), mileage gauge (32), independent navigation resolving circuit (33);
The first input end of described independent navigation resolving circuit (33) and the second input end connect respectively described optical fibre gyro (31) and described mileage gauge (32), the second input end of the described integrated navigation resolving circuit of the output termination of described independent navigation resolving circuit (33) (4), the feedback input end of described independent navigation resolving circuit (33) is as the feedback output end of the described integrated navigation resolving circuit of the feed back input termination of described independent navigation device (3) (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012205774927U CN202904026U (en) | 2012-11-05 | 2012-11-05 | Electric inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012205774927U CN202904026U (en) | 2012-11-05 | 2012-11-05 | Electric inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202904026U true CN202904026U (en) | 2013-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012205774927U Expired - Lifetime CN202904026U (en) | 2012-11-05 | 2012-11-05 | Electric inspection robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103761686A (en) * | 2014-01-26 | 2014-04-30 | 国家电网公司 | Intelligent patrol system of overhead transmission line |
| CN104848856A (en) * | 2015-05-29 | 2015-08-19 | 山东鲁能智能技术有限公司 | Transformer substation inspection robot track calculation method and device based on inter-wheel differential |
| CN105080014A (en) * | 2015-07-13 | 2015-11-25 | 李占平 | Firefighting robot positioning and navigation system and positioning and navigation method thereof |
| CN109031373A (en) * | 2018-06-08 | 2018-12-18 | 北京航天光华电子技术有限公司 | A kind of Intelligent Mobile Robot navigation system and method |
-
2012
- 2012-11-05 CN CN2012205774927U patent/CN202904026U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103761686A (en) * | 2014-01-26 | 2014-04-30 | 国家电网公司 | Intelligent patrol system of overhead transmission line |
| CN104848856A (en) * | 2015-05-29 | 2015-08-19 | 山东鲁能智能技术有限公司 | Transformer substation inspection robot track calculation method and device based on inter-wheel differential |
| CN104848856B (en) * | 2015-05-29 | 2017-09-22 | 山东鲁能智能技术有限公司 | A kind of Intelligent Mobile Robot reckoning method and apparatus based on differential between wheel |
| CN105080014A (en) * | 2015-07-13 | 2015-11-25 | 李占平 | Firefighting robot positioning and navigation system and positioning and navigation method thereof |
| CN109031373A (en) * | 2018-06-08 | 2018-12-18 | 北京航天光华电子技术有限公司 | A kind of Intelligent Mobile Robot navigation system and method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518055 Shenzhen, Nanshan District hi tech park, North West New West Road, building No. five galaxy on the third floor Patentee after: LAUNCH DIGITAL TECHNOLOGY Co.,Ltd. Address before: 518055 Shenzhen, Nanshan District hi tech park, North West New West Road, building No. five galaxy on the third floor Patentee before: SHENZHEN LAUNCH DIGITAL TECHNOLOGY Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130424 |