CN203950202U - Intelligent Mobile Robot - Google Patents

Intelligent Mobile Robot Download PDF

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Publication number
CN203950202U
CN203950202U CN201320833834.1U CN201320833834U CN203950202U CN 203950202 U CN203950202 U CN 203950202U CN 201320833834 U CN201320833834 U CN 201320833834U CN 203950202 U CN203950202 U CN 203950202U
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CN
China
Prior art keywords
computing machine
mobile robot
intelligent mobile
equipment
module
Prior art date
Application number
CN201320833834.1U
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Chinese (zh)
Inventor
董沆
马向泽
唐茂林
支占宁
冯小斌
王虎
Original Assignee
国网宁夏电力公司宁东供电公司
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Priority to CN201320833834.1U priority Critical patent/CN203950202U/en
Application granted granted Critical
Publication of CN203950202U publication Critical patent/CN203950202U/en

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Abstract

The utility model belongs to industrial robot technical field, particularly a kind of Intelligent Mobile Robot.Intelligent Mobile Robot comprises carrier loader, motor drive module, computing machine, power station equipment detecting unit, human-computer interaction module, power module, navigation information transfer unit and The Cloud Terrace, power station equipment detecting unit comprises the Temperature Detector of electric equipment, equipment connection point and power circuit, the sound collector of the image acquisition device of electric equipment, instrument and meter and electrical equipment noise, Temperature Detector, image acquisition device and sound collector are connected with computing machine.The beneficial effects of the utility model are: can independently complete the work of patrolling and examining for all kinds of electrical equipments and circuit; Compact and reasonable mechanical structure, versatility is good, can be widely used in the automatic detecting of generating plant and substation equipment.

Description

Intelligent Mobile Robot

Technical field

The utility model belongs to industrial robot technical field, particularly a kind of Intelligent Mobile Robot.

Background technology

At present, the running status quality of converting station electric power equipment directly determines electric power netting safe running situation, processes and probably develops into fault not in time if abnormal working position appears in equipment, causes device damage or personal injury.Although relay protection and aut.eq. can play instant protective effect, aspect predictability, also have gap with existing actual needs, for further improving the reliability of key equipment, on-line monitoring and live testing technology are the inevitable directions of industry development.

Fault high-tension apparatus in electric system, in operational process always because a variety of causes produces some hot stall points, i.e. hot sign before equipment failure.Infrared detection technology can be in remote, noncontact, in real time, fast, the equipment running status information of obtaining that do not have a power failure, do not sample, should serve as the conventional method that device Diagnostic is analyzed.

But use, traditional hand-held infrared thermometer labour intensity is large, inefficiency, unattended operation transformer station needs operations staff to drive up to scene regularly to detect, the every first quarter moon of 110kV transformer station detects once, once break down in interval, operations staff cannot learn, if break down in personnel's testing process, as porcelain vase bursts, equipment safety operation and personal safety will be on the hazard.If adopt video infrared supervisory system, owing to being subject to fixed point monitoring, there is very large monitoring blind area, be difficult to really meet the requirement of the comprehensive covering of video monitoring.Infrared camera quantity due to system complex, needs is many simultaneously, cost is also larger, and installation wiring workload is large, and therefore failure rate is higher, in addition camera is installed on framework, not, there is potential safety hazard in maintenance, deashing job safety distance, has a power failure difficult in maintenance.

Utility model content

The purpose of this utility model is exactly in order to address the above problem, and provides the one can be at outside work, and place, competitor operator on duty can complete power station equipment and patrol and examine the Intelligent Mobile Robot of work.

For achieving the above object, the utility model adopts following technical scheme: Intelligent Mobile Robot comprises carrier loader, motor drive module, computing machine, power station equipment detecting unit, human-computer interaction module, power module, navigation information transfer unit and The Cloud Terrace; Computing machine comprises CPU, storer, network interface card, serial ports and USB etc., power station equipment detecting unit comprises the Temperature Detector of electric equipment, equipment connection point and power circuit, the sound collector of the image acquisition device of electric equipment, instrument and meter and electrical equipment noise, Temperature Detector, image acquisition device and sound collector are connected with computing machine, and computing machine reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed; Human-computer interaction module is made up of keyboard, liquid crystal display and touch screen module, by human-computer interaction module can with the parameters of computer interactive; Motor drive module drives chip L298N and light occasionally to form by motor special.Motor drive module and computing machine are electrical connected, the instruction of motor drive module receiving computer, and the accumulator of power module is to equipment power supplies such as dolly, computing machine, liquid crystal display, visible light camera, thermal infrared imagers.Navigation information transfer unit comprises the global positioning system line walking sensor of unifying, navigation information transfer unit is installed on the front portion of carrier loader, the global positioning system line walking sensor of unifying is connected with computing machine by serial ports, GPS comprises GPS receiver, serial port gateway, broadband wireless bridge and switch, broadband wireless bridge adopts ICP/IP protocol, with the frequency transmission system data of 2.4-2.5 gigahertz (GHZ), avoid the strong electromagnetic of transformer station to the interference of communication, GPS is patrolled and examined Intelligent Mobile Robot after the information exchange obtaining is crossed computing machine processing and is beamed back command centre by wireless, and accept the instruction of Intelligent Mobile Robot command centre.

Carrier loader comprises vehicle frame, wheel, article carrying platform, The Cloud Terrace and shell, framework is set on article carrying platform, line walking installation of sensors is on article carrying platform, the position that the corresponding article carrying platform of shell is installed line walking sensor arranges downward opening for the accommodating chamber of navigation information transfer unit is installed, motor drive module, computing machine, human-computer interaction module and power module are installed on article carrying platform, and line walking sensor is contained in accommodating chamber.

Temperature Detector, image acquisition device and sound collector are arranged on carrying platform by The Cloud Terrace, and The Cloud Terrace is connected with computing machine with divider by demoder, and the drive motor of computer program commander The Cloud Terrace accurately controls that The Cloud Terrace horizontally rotates and pitching.

Image acquisition device is made up of CCD camera and video frequency collection card VC302, video frequency collection card converts the simulating signal of camera to digital signal, and computing machine reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed.

The beneficial effects of the utility model are: can independently complete the work of patrolling and examining for all kinds of electrical equipments and circuit; Compact and reasonable mechanical structure, versatility is good, can be widely used in the automatic detecting of generating plant and substation equipment.

Brief description of the drawings

Fig. 1 is the utility model Intelligent Mobile Robot structural framing figure.

Fig. 2 is the utility model Intelligent Mobile Robot perspective view.

Fig. 3 is the structural representation stereographic map that the utility model Intelligent Mobile Robot removes shell.

In figure: computing machine 1, carrier loader 2, motor drive module 3, power station equipment detecting unit 4, human-computer interaction module 5, power module 6, navigation information transfer unit 7, The Cloud Terrace 8, vehicle frame 21, wheel 22, article carrying platform 23, The Cloud Terrace 24, shell 25, framework 26, accommodating chamber 27.

Embodiment

Below in conjunction with accompanying drawing, the utility model is further illustrated, in conjunction with Fig. 1 to Fig. 3, Intelligent Mobile Robot comprises computing machine 1, carrier loader 2, motor drive module 3, power station equipment detecting unit 4, human-computer interaction module 5, power module 6, navigation information transfer unit 7 and The Cloud Terrace 8; Computing machine 1 comprises CPU, storer, network interface card, serial ports and USB etc., power station equipment detecting unit 4 comprises the Temperature Detector of electric equipment, equipment connection point and power circuit, the sound collector of the image acquisition device of electric equipment, instrument and meter and electrical equipment noise, Temperature Detector, image acquisition device and sound collector are connected with computing machine 1, and computing machine 1 reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed; Human-computer interaction module 5 is made up of keyboard, liquid crystal display and touch screen module, parameters that can be mutual with computing machine 1 by human-computer interaction module 5; Motor drive module 3 is occasionally made up of motor drive ic L298N and light.Motor drive module 3 is connected for electrical number with computing machine 1, the instruction of motor drive module 3 receiving computers 1, and the accumulator of power module 6 is to equipment power supplies such as carrier loader 2, computing machine 1, power station equipment detecting units 4.Navigation information transfer unit 7 comprises GPS 71 and line walking sensor 72, navigation information transfer unit is installed on the front portion of carrier loader, the global positioning system line walking sensor of unifying is connected with computing machine 1 by serial ports, GPS comprises GPS receiver, serial port gateway, broadband wireless bridge and switch, broadband wireless bridge adopts ICP/IP protocol, with the frequency transmission system data of 2.4-2.5 gigahertz (GHZ), avoid the strong electromagnetic of transformer station to the interference of communication, GPS is patrolled and examined by Intelligent Mobile Robot the information exchange obtaining and is crossed after computing machine 1 is processed and beam back command centre by wireless, and accept the instruction of Intelligent Mobile Robot command centre.

Carrier loader 2 comprises vehicle frame 21, wheel 22, article carrying platform 23, The Cloud Terrace 24 and shell 25, framework 26 is set on article carrying platform 23, line walking sensor 72 is installed on article carrying platform 23, the position that the corresponding article carrying platform of shell 25 is installed line walking sensor 72 arranges downward opening for the accommodating chamber 27 of navigation information transfer unit is installed, motor drive module 3, computing machine 1, human-computer interaction module 5 and power module 6 are installed on article carrying platform 23, and line walking sensor is contained in accommodating chamber 27.

Temperature Detector, image acquisition device and sound collector are arranged on framework 26 by The Cloud Terrace 24, The Cloud Terrace 24 is connected with computing machine 1 with divider by demoder, the drive motor of computer program commander The Cloud Terrace 24, accurately controls The Cloud Terrace 24 and horizontally rotates and pitching.

Image acquisition device is made up of CCD camera and video frequency collection card VC302, video frequency collection card converts the simulating signal of camera to digital signal, and computing machine reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed.

Claims (4)

1. an Intelligent Mobile Robot, is characterized in that: Intelligent Mobile Robot comprises carrier loader, motor drive module, computing machine, power station equipment detecting unit, human-computer interaction module, power module, navigation information transfer unit and The Cloud Terrace; Computing machine comprises CPU, storer, network interface card, serial ports and USB etc., power station equipment detecting unit comprises the Temperature Detector of electric equipment, equipment connection point and power circuit, the sound collector of the image acquisition device of electric equipment, instrument and meter and electrical equipment noise, Temperature Detector, image acquisition device and sound collector are connected with computing machine, and computing machine reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed; Human-computer interaction module is made up of keyboard, liquid crystal display and touch screen module, by human-computer interaction module can with the parameters of computer interactive; Motor drive module drives chip L298N and light occasionally to form by motor special;
Motor drive module and computing machine are electrical connected, the instruction of motor drive module receiving computer, and the accumulator of power module is to equipment power supplies such as dolly, computing machine, liquid crystal display, visible light camera, thermal infrared imagers;
Navigation information transfer unit comprises the global positioning system line walking sensor of unifying, navigation information transfer unit is installed on the front portion of carrier loader, the global positioning system line walking sensor of unifying is connected with computing machine by serial ports, GPS comprises GPS receiver, serial port gateway, broadband wireless bridge and switch, broadband wireless bridge adopts ICP/IP protocol, with the frequency transmission system data of 2.4-2.5 gigahertz (GHZ), avoid the strong electromagnetic of transformer station to the interference of communication, GPS is patrolled and examined Intelligent Mobile Robot after the information exchange obtaining is crossed computing machine processing and is beamed back command centre by wireless, and accept the instruction of Intelligent Mobile Robot command centre.
2. Intelligent Mobile Robot according to claim 1, it is characterized in that: carrier loader comprises vehicle frame, wheel, article carrying platform, The Cloud Terrace and shell, framework is set on article carrying platform, line walking installation of sensors is on article carrying platform, the position that the corresponding article carrying platform of shell is installed line walking sensor arranges downward opening for the accommodating chamber of navigation information transfer unit is installed, motor drive module, computing machine, human-computer interaction module and power module are installed on article carrying platform, and line walking sensor is contained in accommodating chamber.
3. Intelligent Mobile Robot according to claim 1, it is characterized in that: Temperature Detector, image acquisition device and sound collector are arranged on carrying platform by The Cloud Terrace, The Cloud Terrace is connected with computing machine with divider by demoder, the drive motor of computer program commander The Cloud Terrace, accurately controls that The Cloud Terrace horizontally rotates and pitching.
4. Intelligent Mobile Robot according to claim 1, it is characterized in that: image acquisition device is made up of CCD camera and video frequency collection card VC302, video frequency collection card converts the simulating signal of camera to digital signal, and computing machine reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed.
CN201320833834.1U 2013-12-18 2013-12-18 Intelligent Mobile Robot CN203950202U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320833834.1U CN203950202U (en) 2013-12-18 2013-12-18 Intelligent Mobile Robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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CN203950202U true CN203950202U (en) 2014-11-19

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104199453A (en) * 2014-09-27 2014-12-10 江苏华宏实业集团有限公司 Intelligent robot used for inspecting electric power meter
CN104410829A (en) * 2014-11-27 2015-03-11 无锡北斗星通信息科技有限公司 Method for automatically reading meter
CN104483969A (en) * 2014-12-05 2015-04-01 嘉兴市日新自动化科技有限公司 Automatic patrol robot
CN105069705A (en) * 2015-08-24 2015-11-18 厦门必万电气有限公司 Data assessment method and system based on inspection robot
CN105128031A (en) * 2015-05-29 2015-12-09 山东鲁能智能技术有限公司 Centralized dispatching system and method for inspection robots in transformer substation
CN105203315A (en) * 2015-10-20 2015-12-30 华北电力大学(保定) Air blower blade monitoring device arranged on inspection vehicle
CN105600323A (en) * 2016-01-28 2016-05-25 北京创世捷能机器人有限公司 Intelligent operation and maintenance system for photovoltaic power station
CN105835031A (en) * 2016-05-20 2016-08-10 苏州震旦科技有限公司 Inspection robot for distribution room
CN105922229A (en) * 2016-05-18 2016-09-07 赵士立 Self-propelled robot used in transformer substation for patrolling and power failure monitoring
CN106444778A (en) * 2016-11-08 2017-02-22 昆明理工大学 Automatic tracking vehicle system based on embedded image processing instrument cabinet lighting
EP3147636A1 (en) * 2015-09-24 2017-03-29 Siemens Aktiengesellschaft Method for measuring the sound pressure level of a high voltage choke or of a high-voltage transformer
CN106713714A (en) * 2017-01-06 2017-05-24 国网山东省电力公司冠县供电公司 Power production personnel information monitoring device
WO2017096989A1 (en) * 2015-12-10 2017-06-15 深圳市施罗德工业测控设备有限公司 Inspection robot travelling on rail
CN109610964A (en) * 2018-10-30 2019-04-12 深圳供电局有限公司 Crusing robot is entered the room system control method

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104199453A (en) * 2014-09-27 2014-12-10 江苏华宏实业集团有限公司 Intelligent robot used for inspecting electric power meter
CN104199453B (en) * 2014-09-27 2016-08-17 江苏华宏实业集团有限公司 For patrolling and examining the intelligent robot of electric instrument
CN104410829A (en) * 2014-11-27 2015-03-11 无锡北斗星通信息科技有限公司 Method for automatically reading meter
CN104410829B (en) * 2014-11-27 2015-12-30 国家电网公司 A kind of method of automatic meter reading
CN104483969A (en) * 2014-12-05 2015-04-01 嘉兴市日新自动化科技有限公司 Automatic patrol robot
CN104483969B (en) * 2014-12-05 2018-04-17 嘉兴市日新自动化科技有限公司 The automatic patrol robot of road
CN105128031A (en) * 2015-05-29 2015-12-09 山东鲁能智能技术有限公司 Centralized dispatching system and method for inspection robots in transformer substation
CN105069705B (en) * 2015-08-24 2019-07-16 厦门必万电气有限公司 Data wire examination method and system based on crusing robot
CN105069705A (en) * 2015-08-24 2015-11-18 厦门必万电气有限公司 Data assessment method and system based on inspection robot
WO2017050813A1 (en) * 2015-09-24 2017-03-30 Siemens Aktiengesellschaft Method for measuring the sound pressure level of a high-voltage choke or of a high-voltage transformer
EP3147636A1 (en) * 2015-09-24 2017-03-29 Siemens Aktiengesellschaft Method for measuring the sound pressure level of a high voltage choke or of a high-voltage transformer
CN108027275A (en) * 2015-09-24 2018-05-11 西门子公司 Method for the sound pressure level for measuring high pressure choke or high-tension transformer
CN105203315A (en) * 2015-10-20 2015-12-30 华北电力大学(保定) Air blower blade monitoring device arranged on inspection vehicle
WO2017096989A1 (en) * 2015-12-10 2017-06-15 深圳市施罗德工业测控设备有限公司 Inspection robot travelling on rail
CN105600323A (en) * 2016-01-28 2016-05-25 北京创世捷能机器人有限公司 Intelligent operation and maintenance system for photovoltaic power station
CN105922229A (en) * 2016-05-18 2016-09-07 赵士立 Self-propelled robot used in transformer substation for patrolling and power failure monitoring
CN105835031A (en) * 2016-05-20 2016-08-10 苏州震旦科技有限公司 Inspection robot for distribution room
CN106444778A (en) * 2016-11-08 2017-02-22 昆明理工大学 Automatic tracking vehicle system based on embedded image processing instrument cabinet lighting
CN106444778B (en) * 2016-11-08 2019-11-08 昆明理工大学 Automatic control tracking cart system based on embedded image processing instrument cabinet bright light
CN106713714A (en) * 2017-01-06 2017-05-24 国网山东省电力公司冠县供电公司 Power production personnel information monitoring device
CN106713714B (en) * 2017-01-06 2020-10-16 义乌市诠铈新材料有限公司 Electric power production personnel information monitoring devices
CN109610964A (en) * 2018-10-30 2019-04-12 深圳供电局有限公司 Crusing robot is entered the room system control method

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Granted publication date: 20141119

Termination date: 20151218