CN204190869U - A kind of intelligent substation video monitoring robot - Google Patents

Abstract

The utility model discloses a kind of intelligent substation video monitoring robot, it comprises camera system, robot base and power-supply system.The utility model integrates electromechanical integration technology, multi-sensor fusion technology, navigation and conduct programming technology, stable Radio Transmission Technology, adopt completely automatic or the semi-automatic remote control mode of washability, patrol officer is replaced to patrol and examine station equipment, to detected image, data analysis and judgement, the defect of Timeliness coverage power equipment, abnormal appearance problem, strengthen greatly electric power modernization, safe concentrate, largely saved the production cost of human and material resources and power transformation operation.

Description

A kind of intelligent substation video monitoring robot

Technical field

The utility model belongs to electricity field, particularly relates to a kind of intelligent substation video monitoring robot.

Background technology

The continuous leap of current China S&T business incubator and raising; under the prerequisite that power system reform continues to increase; for existing electric power system clear and definite start be tending towards Automated condtrol, the electric signal of the most substation equipments in present electrical network and ruuning situation have realized carrying out by special electrified monitoring control system module with to a series of apparatus systems such as corresponding data acquisition system module and corresponding detections, overload protections the function that comprehensive digitlization automation manipulates all.

The progress of technology brings metastable secure operating environment to few people of China overwhelming majority, unattended operation transformer station, also decreases the problem such as danger, careless mistake, efficiency that manual inspection carries to a certain extent.But the system that the routine inspection mode of existing majority uses fixed test and monitoring equipment and matches is comparatively single and not easily cover full station scope and easily occur dead angle; The mode of manual patrol can cause inefficiency again, and the irregular difference of peopleware can not ensure quality and the result of tour.

Utility model content

For these above-mentioned phenomenons, the purpose of this utility model is to provide a kind of intelligent substation video monitoring robot, it can abnormal, the defect pipelines of Timeliness coverage operational outfit, the corresponding situation of feedback timely, make corresponding process timely, ensure the security reliability of converting station electric power system cloud gray model.

To achieve these goals, the utility model adopts following technical scheme:

A kind of intelligent substation video monitoring robot, comprises camera system, robot base and power-supply system; Wherein,

Power-supply system is connected with camera system, robot base respectively, for providing DC power supply power;

Camera system comprises: man-machine system, data-interface, the machine memory module, hard-disc storage module, WIFI/3G communication module, a UART communication module, monitoring information acquisition module, thermal imaging radar stealthy materials, monitor video processing module, CCTV camera and rotary platform;

Rotary platform connects thermal imaging radar stealthy materials and CCTV camera, carries out 360 degree of Wide range monitoring controls; Thermal imaging radar stealthy materials, monitoring information acquisition module, hard-disc storage module are connected successively; CCTV camera, monitor video processing module, hard-disc storage module are connected successively; Man-machine system, data-interface, the machine memory module, WIFI/3G communication module, a UART communication module all with hard-disc storage model calling.

Robot base comprises: managing electric quantity module, processor, the 2nd UART communication module, motion planning module, GPS locating module, motion driver module, signal acquisition module, vision are followed line processing module, wheel train structure system, sensing system and follow line video camera;

Motion driver module fifth wheel architecture system, control walking and motion; Signal acquisition module connecting sensor system; Follow line video camera connection vision and follow line processing module; Managing electric quantity module, the 2nd UART communication, motion planning module, GPS locating module, motion driver module, signal acquisition module, vision are followed line processing module and are all connected with processor.

Described managing electric quantity module is connected with described power-supply system, for electric quantity monitoring and the low alarm of battery electric quantity.

Adopt after technique scheme, the beneficial effects of the utility model are: robot of the present utility model is mainly used in and replaces tour personnel to carry out walkaround inspection, and more accurately can patrol and examine out station equipment more comprehensively more timely and to exist and by produced problem.The utility model integrates electromechanical integration technology, multi-sensor fusion technology, navigation and conduct programming technology, stable Radio Transmission Technology, adopt completely automatic or the semi-automatic remote control mode of washability, patrol officer is replaced to patrol and examine station equipment, to detected image, data analysis and judgement, the defect of Timeliness coverage power equipment, abnormal appearance problem, strengthen greatly electric power modernization, safe concentrate, largely saved the production cost of human and material resources and power transformation operation.

Accompanying drawing explanation

Fig. 1 is schematic block circuit diagram of the present utility model.

Embodiment

The utility model is described in detail below in conjunction with accompanying drawing.

As shown in Figure 1, a kind of intelligent substation video monitoring robot of the utility model, is characterised in that, is made up of camera system 100, robot base 200 and power-supply system 300.

Wherein:

Described power-supply system 300 is connected with camera system 100, robot base 200 respectively, for providing DC power supply power.

Camera system 100 comprises: man-machine system 11, data-interface 12, the machine memory module 13, hard-disc storage module 14, WIFI/3G communication module 15, a UART communication module 16, monitoring information acquisition module 17, thermal imaging radar stealthy materials 18, monitor video processing module 19, CCTV camera 110 and rotary platform 111.

In described camera system 100, rotary platform 111 connects thermal imaging radar stealthy materials 18 and CCTV camera 110, can carry out 360 degree of Wide range monitoring controls.Thermal imaging radar stealthy materials 18, monitoring information acquisition module 17, hard-disc storage module 14 are connected successively; CCTV camera 110, monitor video processing module 19, hard-disc storage module 14 are connected successively; Man-machine system 11, data-interface 12, the machine memory module 13, WIFI/3G communication module 15, a UART communication module 16 are all connected with hard-disc storage module 14.

Robot base 200 comprises: managing electric quantity module 21, processor 22, the 2nd UART communication module 23, motion planning module 24, GPS locating module 25, motion driver module 26, signal acquisition module 27, vision are followed line processing module 28, wheel train structure system 29, sensing system 210 and follow line video camera 211.

In described robot base 200, motion driver module 26 fifth wheel architecture system 29, control walking and motion; Signal acquisition module 27 connecting sensor system 210; Follow line video camera 211 to connect vision and follow line processing module 28; Managing electric quantity module 21, the 2nd UART communication 23, motion planning module 24, GPS locating module 25, motion driver module 26, signal acquisition module 27, vision are followed line processing module 28 and are all connected with processor 22.

Managing electric quantity module 21 is connected with power-supply system 300, for carrying out electric quantity monitoring to power-supply system 300, and carries out alarm when power-supply system 300 battery electric quantity is low.

Transformer station line walking mark navigation system 400 with follow line video camera 211 and be connected.

For ensureing practicality of the present utility model, the above-mentioned each module (parts) used in the utility model all can be bought in market at home.The utility model is only carry out comprehensive application to each module (parts), itself does not improve each module (parts).

In the utility model, be streaming media video file through monitor video processing module 19 compression coding after video image is gathered by CCTV camera 110, sensing system 210 adopts temperature and moisture sensors, air pressure and height above sea level transducer to the information of on-the-spot transformer station.After the audio-video document of above-mentioned collection gained and the treated device 22 of field data file packing boil down to multimedia file, the 2nd UART communication module 23 are transferred to a UART communication module 16, preserved by hard-disc storage module 14, and be transferred to substation server 500 through WIFI/3G communication module 15.

The direct current machine running of processor 22 and motion driver module 26 control wheel architecture system 29, drives body movement of the present utility model.GPS locating module 25, motion planning module 24, transformer station line walking mark navigation system 400, follow line video camera 211 and vision and follow line processing module 28 and form environmental positioning system of the present utility model, motion planning module 24 and vision are followed line processing module 28 etc. and are formed autonomous navigation system, keep away barrier and anti-patrol safety of falling guarantee the utility model self.

Power-supply system 300 provides the electric power supply of robot interior entire system, wherein also comprises the various normal voltages providing and export master system and lower computer system needs, and while described managing electric quantity module 21 monitoring system integral battery door electricity service condition.When the value that described power-supply system 300 electricity sets lower than described managing electric quantity module 21, system information meeting feedback notification robot, normally plans the homeward accumulator plant to transformer station by circuit.

The utility model is as movable carrier, realize the function such as the remote control of intelligent inspection robot, autonomous patrol, wireless location by carrier body, motion control, heat transfer agent process and the navigation of line walking mark etc., make itself and field layout realize seamless access simultaneously.The utility model according to presetting task, can carry task device and realizes carrying out independently patrolling and examining by point in monitoring site on time.Because the inner various equipment of transformer station possesses heat generation characteristic, just need configuration thermal imaging radar stealthy materials 18 for watch-dog operating temperature when research and design, and high definition visible light camera (CCTV camera 110) coordinate every display data of fetch equipment panel board.Then, carry out real-time data by the WIFI/3G communication module of described camera system 100 15 and substation server 500 and pass mutually and send mutually, thus realize long-range real time and on line monitoring.Substation server 500 can carry out control and monitor console operation, and the functions such as data, services, mobile communication, the webserver are shared, Terminal Server Client, realize personnel's remote monitoring and operation.

Claims (1)

1. an intelligent substation video monitoring robot, is characterized in that: comprise camera system, robot base and power-supply system; Wherein,

Power-supply system is connected with camera system, robot base respectively, for providing DC power supply power;

Camera system comprises: man-machine system, data-interface, the machine memory module, hard-disc storage module, WIFI/3G communication module, a UART communication module, monitoring information acquisition module, thermal imaging radar stealthy materials, monitor video processing module, CCTV camera and rotary platform;

Rotary platform connects thermal imaging radar stealthy materials and CCTV camera, carries out 360 degree of Wide range monitoring controls; Thermal imaging radar stealthy materials, monitoring information acquisition module, hard-disc storage module are connected successively; CCTV camera, monitor video processing module, hard-disc storage module are connected successively; Man-machine system, data-interface, the machine memory module, WIFI/3G communication module, a UART communication module all with hard-disc storage model calling;

Robot base comprises: managing electric quantity module, processor, the 2nd UART communication module, motion planning module, GPS locating module, motion driver module, signal acquisition module, vision are followed line processing module, wheel train structure system, sensing system and follow line video camera;

Motion driver module fifth wheel architecture system, control walking and motion; Signal acquisition module connecting sensor system; Follow line video camera connection vision and follow line processing module; Managing electric quantity module, the 2nd UART communication, motion planning module, GPS locating module, motion driver module, signal acquisition module, vision are followed line processing module and are all connected with processor;

Described managing electric quantity module is connected with described power-supply system, for electric quantity monitoring and the low alarm of battery electric quantity.