CN204913887U - Unattended substation indoor tour of protection and reconnaissance robot - Google Patents

Unattended substation indoor tour of protection and reconnaissance robot Download PDF

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Publication number
CN204913887U
CN204913887U CN201520709451.2U CN201520709451U CN204913887U CN 204913887 U CN204913887 U CN 204913887U CN 201520709451 U CN201520709451 U CN 201520709451U CN 204913887 U CN204913887 U CN 204913887U
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China
Prior art keywords
joint
robot
module
tour
flexible
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CN201520709451.2U
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Chinese (zh)
Inventor
张莉莉
王非
王义永
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State Grid Corp of China SGCC
Overhaul Branch of State Grid Anhui Electric Power Co Ltd
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State Grid Corp of China SGCC
Maintenace Co of State Grid Anhui Electric Power Co Ltd
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Priority to CN201520709451.2U priority Critical patent/CN204913887U/en
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Abstract

Unattended substation indoor tour of protection and reconnaissance robot, including the on -vehicle body of robot, the on -vehicle body on be equipped with flexible robotic arm module, its characterized in that, flexible robotic arm module includes the flexible robotic arm of multidimension degree, lockaid gun, high definition digtal camera, shot -light and switchboard cabinet couple, the flexible robotic arm of multidimension degree includes fixed baseplate and flexible joint, fixed baseplate and the horizontal slide rail sliding connection who sets up of the on -vehicle body, flexible joint includes 360 swivelling joint's first joint and second joint, first joint lower extreme and 360 swivelling joint of base, upper end 360 a swivelling joint function unit of second joint, lockaid gun, high definition digtal camera, shot -light and switchboard cabinet couple set firmly on function unit. The utility model discloses it is enough in protecting indoor secondary equipment to tour and reconnoitre, tour fastly, work efficiency is high, can in time discover the trouble display condition and inference accident production reason, can adapt to the requirement of unmanned transformer substation.

Description

Unattended operation transformer station protects indoor tour and prospecting robot
Technical field
The utility model relates to technical field of electric power, and specifically a kind of unattended operation transformer station protects indoor tour and prospecting robot.
Background technology
Unattended substation is by automatic technologies such as microcomputer telecontrols, and operator on duty obtains relevant information in the distance, and carries out control and management to the equipment operation of transformer station, and adopts intelligent robot to make an inspection tour equipment.Existing robot moving equipment cruising inspection system carries the sensors such as visible light camera, thermal infrared imager, sound pick-up, optimum path planning and bidirectional walking is realized based on magnetic tracks, with autonomous or remote control mode, primary equipment in station is patrolled and examined, Timeliness coverage equipment thermal defect and abnormal appearance; By image procossing and pattern-recognition, determine deciliter state of switch and disconnecting link, and when remote control or sequential control operation, coordinate with intelligent substation successive control system, replace the automatic Check manually realizing controlled device position.But can not protection indoor secondary equipment be maked an inspection tour and be reconnoitred, need maintainer to arrive scene when breaking down and could inquire about and find failure condition; Before carrying out operation, strict implement inspection of the scene of a crime system is answered according to the relevant construction of State Grid Corporation of China's " electric power safety working regulation ", upkeep operation project, and the requirement conscientiously made a record, service work personnel are needed to reconnoitre to scene secondary device before secondary device overhauls, tour speed is slow, inefficiency, be difficult to Timeliness coverage malfunction coefficient situation deduction accident producing cause, be difficult to stop accident from root and again occur, unmanned substation's requirement can not be adapted to.
Utility model content
The weak point that the utility model exists in order to avoid prior art, provides a kind of unattended operation transformer station to protect indoor tour and prospecting robot.
The utility model technical solution problem adopts following technical scheme:
Unattended operation transformer station protects indoor tour and prospecting robot, comprise robot car carrier, described vehicle-mounted body is provided with flexible mechanical arm module, its design feature is, described flexible mechanical arm module comprises various dimensions flexible mechanical arm, lockaid gun, high-definition camera, shot-light and switchboard cabinet hook; Described various dimensions flexible mechanical arm comprises fixed pedestal and flexible joint, the slide rail of described fixed pedestal and vehicle-mounted body horizontally set is slidably connected, described flexible joint comprises 360 ° of first joints and second joint of being rotatably connected, described first lower end, joint is rotatably connected with pedestal 360 °, 360 °, the upper end of described second joint is rotatably connected a function part, and described lockaid gun, high-definition camera, shot-light and switchboard cabinet hook is installed on function part.
The utility model design feature is also:
Described robot car carrier is also provided with multifunctional combination photographing module, and described multifunctional combination photographing module comprises infrared thermal imaging device and high definition screen device.
Described robot car carrier is also provided with many sensings navigation positioning module, described many sensings navigation positioning module comprises RFID reader, GPS unit, magnetic navigation unit, laser ranging unit, ultrasonic obstacle unit, described GPS unit accepts GPS locating information, RFID navigation information is read by RFID reader, read magnetic navigation mark by magnetic navigation unit, read target or obstacle distance information by laser ranging unit.
Described robot car carrier is also provided with power plant module and onboard wireless data transmission module, described power plant module is used for the walking of robot and turns to, and described onboard wireless data transmission module is for being sent to background server by the data of each module acquires on robot car carrier by base station.
Compared with the prior art, the utility model beneficial effect is embodied in:
The utility model is enough to be maked an inspection tour protection indoor secondary equipment and reconnoitres, and speed of making an inspection tour is fast, and operating efficiency is high, can Timeliness coverage malfunction coefficient situation infer accident producing cause, can adapt to unmanned substation's requirement.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation.
Fig. 2 is the utility model systematic schematic diagram.
Number in the figure: 1 robot car carrier, 11 slide rails, 2 various dimensions flexible mechanical arms, 21 fixed pedestals, 22 first joints, 23 second joints, 24 function parts, 3 lockaid guns, 4 high-definition cameras, 5 shot-lights, 6 switchboard cabinet hooks, 7 multifunctional combination photographing modules
By detailed description of the invention, explanation is further explained to technical solutions of the utility model below in conjunction with accompanying drawing.
Detailed description of the invention
See accompanying drawing, unattended operation transformer station protects indoor tour and prospecting robot, comprise robot car carrier 1, vehicle-mounted body is provided with flexible mechanical arm module, and this module comprises various dimensions flexible mechanical arm 2, lockaid gun 3, high-definition camera 4, shot-light 5 and switchboard cabinet hook 6; Wherein various dimensions flexible mechanical arm comprises fixed pedestal 21 and flexible joint, fixed pedestal 21 is slidably connected with the slide rail 11 of vehicle-mounted body horizontally set, flexible joint comprises 360 ° of first joints 22 and second joint 23 of being rotatably connected, first lower end, joint is rotatably connected with pedestal 360 °, 360 °, the upper end of second joint is rotatably connected a function part 24, and lockaid gun 3, high-definition camera 4, shot-light 5 and switchboard cabinet hook 6 is installed on function part 24.
This robot car carrier is also provided with multifunctional combination photographing module, power plant module, many sensings navigation positioning module and onboard wireless data transmission module.
Wherein, multifunctional combination photographing module 7 comprises infrared thermal imaging device and high definition screen device, and this module is fixed on vehicle-mounted body by 360 ° of rotating mechanisms, Liftable type pedestal.
Power plant module comprises chassis, driving wheel, driven pulley, driving mechanism, steering mechanism, battery pack, for robot walking and turn to.
Many sensings navigation positioning module, comprise RFID reader, GPS unit, magnetic navigation unit, laser ranging unit, ultrasonic obstacle unit, GPS unit accepts GPS locating information, RFID navigation information is read by RFID reader, read magnetic navigation mark by magnetic navigation unit, read target or obstacle distance information by laser ranging unit.
The data of each module acquires on robot car carrier are sent to background server by base station by onboard wireless data transmission module; Background server comprises display unit and remote operation unit.
Above-mentioned each module carries out Based Intelligent Control by robot control module.
During concrete enforcement, the route of transforming plant protecting indoor tour prospecting robot ambulation lays magnetic stripe and corresponding RF ID anchor point, and screen eyebrow before and after each protection screen cabinet sticks protection screen title.
Relay protection working site is reconnoitred, and whether after needing to switch handle, on-the-spot pressing plate state, device to protective device model, protective device, the situation such as terminal block and cable number is checked, check, be consistent with actual with drawing.
Robot ambulation to required for check or locate before the protection screen cabinet reconnoitred, by adjustment with control multifunctional combination photographing module, is aimed at the screen eyebrow of protection screen, reads and whether shield protective device name confirmation on eyebrow at correct interval; Carry by mechanical arm the mechanical lock position that high-definition camera and multifunctional combination photographing module compounding practice flexible mechanical arm move to protection cabinet, protection screen cabinet door is opened by lockaid gun; Regulate switchboard cabinet hook and orientation arm on flexible mechanical arm, make hook hook protection screen cabinet door, under flexible mechanical arm motion, drive protection screen cabinet door to open; Located by multifunctional combination camera; operation flexible mechanical arm; lockaid gun head is used as button thimble and is used simulation finger to press button on protective device and regulate multifunctional combination camera height and direction to aim at protective device screen by adjustment lockaid gun direction, completes and checks protective device message, involution protective device signal, function such as test hf channel, switching protection definite value district etc.
To move to after protection screen cabinet according to above-mentioned control method control and open protection screen cabinet back door, adjustment multifunctional combination camera angle and height alignment protection screen cabinet terminal block, check whether terminal block has cable terminal to loosen (if cable terminal loosens by infrared thermal imaging and image processing techniques, will loose contact and generating heat, just find that a region heating is larger than other regions by infra-red thermal imaging), control mechanical arm moves to cable terminal and loosens region, concrete cable number is determined so that post-processed by high-definition camera on flexible mechanical arm, control flexible mechanical arm and move the terminal block position checked required for drive high-definition camera aligning, coordinate shot-light to complete relay protection work (protection annual test, protective device defect elimination, protective device replacing etc.) the front cable number inspection of the scene of a crime of maintenance.
Image before and after above-mentioned protective device screen cabinet is passed to background server in real time by base station; corresponding relay protection staff is checked with drawing actual terminal cable number mutually by operating unit, display unit, correctly writes text before the operations such as relay protection work safety ticket, work ticket, job instruction.
Above-mentioned check or reconnoitred rear operation flexible mechanical arm by protection screen cabinet door close and again lock.
The utility model unattended operation transformer station is protected indoor tour and prospecting robot to have and is automatically controlled and Non-follow control two kinds of patterns.
Under automatic control mode, first set patrol route and be solidificated in background server, say the word to robot according to the route that server settings is good during each tour, adjustment multifunctional combination camera aims at relevant position, determine to make an inspection tour corresponding protection screen cabinet, the image collected and history image compare, and have determined whether other abnormal informations such as alarm signal, fault-signal after image processing system process; After tour terminates, abnormal information is sent in display unit, and sends information.
Under MANUAL CONTROL mode, operated by remote operation unit, send instruction to robot, complete corresponding actions.
Be to be understood that example as herein described and embodiment only in order to illustrate, those skilled in the art can make various amendment or change according to it, when not departing from the utility model Spirit Essence, all belong to protection domain of the present utility model.

Claims (4)

1. unattended operation transformer station protects indoor tour and prospecting robot, comprise robot car carrier, described vehicle-mounted body is provided with flexible mechanical arm module, it is characterized in that, described flexible mechanical arm module comprises various dimensions flexible mechanical arm, lockaid gun, high-definition camera, shot-light and switchboard cabinet hook; Described various dimensions flexible mechanical arm comprises fixed pedestal and flexible joint, the slide rail of described fixed pedestal and vehicle-mounted body horizontally set is slidably connected, described flexible joint comprises 360 ° of first joints and second joint of being rotatably connected, described first lower end, joint is rotatably connected with pedestal 360 °, 360 °, the upper end of described second joint is rotatably connected a function part, and described lockaid gun, high-definition camera, shot-light and switchboard cabinet hook is installed on function part.
2. unattended operation transformer station according to claim 1 protects indoor tour and prospecting robot; it is characterized in that; described robot car carrier is also provided with multifunctional combination photographing module, and described multifunctional combination photographing module comprises infrared thermal imaging device and high definition screen device.
3. unattended operation transformer station according to claim 1 protects indoor tour and prospecting robot; it is characterized in that; described robot car carrier is also provided with many sensings navigation positioning module; described many sensings navigation positioning module comprises RFID reader, GPS unit, magnetic navigation unit, laser ranging unit, ultrasonic obstacle unit; described GPS unit accepts GPS locating information; RFID navigation information is read by RFID reader; read magnetic navigation mark by magnetic navigation unit, read target or obstacle distance information by laser ranging unit.
4. unattended operation transformer station according to claim 1 protects indoor tour and prospecting robot; it is characterized in that; described robot car carrier is also provided with power plant module and onboard wireless data transmission module; described power plant module is used for the walking of robot and turns to, and described onboard wireless data transmission module is for being sent to background server by the data of each module acquires on robot car carrier by base station.
CN201520709451.2U 2015-09-11 2015-09-11 Unattended substation indoor tour of protection and reconnaissance robot Active CN204913887U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520709451.2U CN204913887U (en) 2015-09-11 2015-09-11 Unattended substation indoor tour of protection and reconnaissance robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520709451.2U CN204913887U (en) 2015-09-11 2015-09-11 Unattended substation indoor tour of protection and reconnaissance robot

Publications (1)

Publication Number Publication Date
CN204913887U true CN204913887U (en) 2015-12-30

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107065852A (en) * 2016-12-20 2017-08-18 杭州华电双冠能源科技有限公司 A kind of photovoltaic plant inspection operational system and its method
CN107650110A (en) * 2017-08-30 2018-02-02 国网上海市电力公司 A kind of robot for indoor substation inspection
CN108628321A (en) * 2018-07-09 2018-10-09 国网福建省电力有限公司 Special feelings inspection machine people in a kind of unattended operation transformer station room
CN108714886A (en) * 2018-08-13 2018-10-30 四川桑瑞思环境技术工程有限公司 A kind of data center's crusing robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107065852A (en) * 2016-12-20 2017-08-18 杭州华电双冠能源科技有限公司 A kind of photovoltaic plant inspection operational system and its method
CN107650110A (en) * 2017-08-30 2018-02-02 国网上海市电力公司 A kind of robot for indoor substation inspection
CN108628321A (en) * 2018-07-09 2018-10-09 国网福建省电力有限公司 Special feelings inspection machine people in a kind of unattended operation transformer station room
CN108714886A (en) * 2018-08-13 2018-10-30 四川桑瑞思环境技术工程有限公司 A kind of data center's crusing robot

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GR01 Patent grant
CP03 Change of name, title or address
CP03 Change of name, title or address

Address after: No. 397, Tongcheng South Road, Baohe District, Hefei City, Anhui Province 230061

Patentee after: STATE GRID ANHUI POWER SUPPLY COMPANY OVERHAUL BRANCH

Patentee after: STATE GRID CORPORATION OF CHINA

Address before: Tongcheng Nan Lu, Baohe District of Hefei city of Anhui Province, No. 397 230022

Patentee before: State Grid Anhui Electric Power Company Maintenance Co.

Patentee before: State Grid Corporation of China