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

Abstract

An unattended substation protection indoor inspection and survey robot includes a robot vehicle carrier, and the vehicle carrier is provided with a flexible mechanical arm module, which is characterized in that the flexible mechanical arm module includes a multi-dimensional flexible mechanical arm Cameras, spotlights, and switch screen cabinet hooks; the multi-dimensional flexible robotic arm includes a fixed base and flexible joints, the fixed base is slidingly connected to the slide rails arranged laterally on the vehicle carrier, and the flexible joints include 360° rotating connections The first joint and the second joint, the lower end of the first joint is connected to the base in 360° rotation, and the upper end of the second joint is connected to a functional part in 360° rotation, the unlocker, high-definition camera, spotlight and switch The hook of the screen cabinet is fixed on the functional part. The utility model is capable of patrolling and surveying the secondary equipment in the protection room. The patrolling speed is fast and the work efficiency is high. The fault display situation can be found in time and the cause of the accident can be inferred, and it can meet the requirements of unmanned substations.

Description

Unattended substation protection indoor inspection and survey robot

technical field

The utility model relates to the technical field of electric power, in particular to an inspection and survey robot in a protection room of an unattended substation.

Background technique

The unattended substation uses automation technology such as microcomputer telecontrol, and the on-duty personnel obtain relevant information from a remote place, and control and manage the operation of the equipment in the substation, and use intelligent robots to patrol the equipment. The existing mobile robot equipment inspection system carries sensors such as visible light cameras, infrared thermal imaging cameras, and pickups, and realizes optimal path planning and two-way walking based on magnetic trajectories. Defects and abnormal appearance; through image processing and pattern recognition, the opening and closing states of switches and knife switches can be identified, and in the remote control or sequence control operation, cooperate with the intelligent substation sequence control system to replace manual automatic calibration of the position of the controlled equipment nuclear. However, it is not possible to inspect and inspect the secondary equipment in the protection room. When a fault occurs, maintenance personnel need to go to the scene to inquire and find the fault situation; The on-site survey system should be strictly implemented, and the requirements for records should be carefully made. Before the secondary equipment is overhauled, the maintenance staff needs to go to the site to survey the secondary equipment. The inspection speed is slow and the work efficiency is low. It is difficult to find out the fault display in time and infer the accident. It is difficult to prevent the recurrence of accidents from the root cause, and it cannot meet the requirements of unmanned substations.

Utility model content

In order to avoid the disadvantages of the prior art, the utility model provides an inspection and survey robot in the protection room of an unattended substation.

The utility model solves the technical problem and adopts the following technical solutions:

The inspection and survey robot in the protection room of unattended substation includes a robot vehicle carrier. The vehicle carrier is provided with a flexible mechanical arm module. High-definition camera, spotlights and switch screen cabinet hooks; the multi-dimensional flexible mechanical arm includes a fixed base and flexible joints, the fixed base is slidingly connected with the slide rails arranged laterally on the vehicle body, and the flexible joints include 360° rotation The first joint and the second joint are connected, the lower end of the first joint is connected to the base in 360° rotation, the upper end of the second joint is connected to a functional part in 360° rotation, the unlocker, high-definition camera, spotlight and The switch screen cabinet hook is fixed on the functional part.

The structural features of the utility model also lie in:

The robot vehicle carrier is also provided with a multifunctional combined camera module, which includes an infrared thermal imaging device and a high-definition video screen device.

The robot vehicle carrier is also provided with a multi-sensing navigation and positioning module, the multi-sensing navigation and positioning module includes an RFID reader, a GPS unit, a magnetic navigation unit, a laser ranging unit, and an ultrasonic obstacle unit, and the GPS unit accepts GPS positioning information, read RFID navigation information through RFID reader, read magnetic navigation mark through magnetic navigation unit, and read target or obstacle distance information through laser ranging unit.

The robot vehicle carrier is also provided with a power module and a vehicle-mounted wireless data transmission module, the power module is used for walking and turning of the robot, and the vehicle-mounted wireless data transmission module is used to transfer the data collected by each module on the robot vehicle carrier It is transmitted to the background server through the base station.

Compared with the prior art, the beneficial effects of the utility model are reflected in:

The utility model is capable of patrolling and surveying the secondary equipment in the protection room. The patrolling speed is fast and the work efficiency is high. The fault display situation can be found in time and the cause of the accident can be inferred, and it can meet the requirements of unmanned substations.

Description of drawings

Fig. 1 is the structural representation of the utility model.

Fig. 2 is a schematic diagram of the utility model system.

Labels in the figure: 1 robot car carrier, 11 slide rail, 2 multi-dimensional flexible mechanical arm, 21 fixed base, 22 first joint, 23 second joint, 24 functional part, 3 unlocker, 4 high-definition camera, 5 spotlight , 6 switch screen cabinet hooks, 7 multi-function combination camera module

The technical scheme of the utility model will be further explained and illustrated through specific embodiments below in conjunction with the accompanying drawings.

Detailed ways

Referring to the accompanying drawings, the unattended substation protection indoor inspection and survey robot includes a robot vehicle carrier 1, and a flexible mechanical arm module is installed on the vehicle carrier. The module includes a multi-dimensional flexible mechanical arm 2, a lock unlocker 3, a high-definition camera 4, Lamp 5 and switch screen cabinet hook 6; wherein the multi-dimensional flexible mechanical arm includes a fixed base 21 and a flexible joint, the fixed base 21 is slidably connected with the slide rail 11 arranged laterally on the vehicle carrier, and the flexible joint includes a first 360° rotating connection. The joint 22 and the second joint 23, the lower end of the first joint is connected to the base in 360° rotation, and the upper end of the second joint is connected to a functional part 24, the unlocker 3, the high-definition camera 4, the spotlight 5 and the switch screen cabinet hook 6 is fixed on the functional part 24.

The robot vehicle carrier is also equipped with a multifunctional combined camera module, a power module, a multi-sensor navigation and positioning module and a vehicle wireless data transmission module.

Wherein, the multi-functional combined camera module 7 includes an infrared thermal imaging device and a high-definition video screen device, and the module is fixed on the vehicle carrier through a 360° rotating mechanism and a liftable base.

The power module includes chassis, driving wheel, driven wheel, driving mechanism, steering mechanism, battery pack, and is used for walking and steering of the robot.

Multi-sensing navigation and positioning module, including RFID reader, GPS unit, magnetic navigation unit, laser ranging unit, ultrasonic obstacle unit, GPS unit receives GPS positioning information, reads RFID navigation information through RFID reader, and reads RFID navigation information through magnetic navigation unit Take the magnetic navigation mark, and read the distance information of the target or obstacle through the laser ranging unit.

The vehicle-mounted wireless data transmission module transmits the data collected by each module on the robot vehicle carrier to the background server through the base station; the background server includes a display device and a remote operation unit.

The above-mentioned modules are intelligently controlled through the robot control module.

During the specific implementation, lay magnetic strips and corresponding RFID positioning points on the route of the inspection and survey robot in the protection room of the substation, and paste the name of the protection screen on the eyebrows of the front and back of each protection screen cabinet.

On-site investigation of relay protection work requires checking the protection device model, protection device switching handle, on-site pressure plate status, terminal block and cable number at the back of the device, and checking with the drawings to see if it is consistent with the actual situation.

The robot walks to the front of the protection screen cabinet that needs to be viewed or surveyed, and aligns it with the screen eyebrow of the protection screen by adjusting and controlling the multi-function combined camera module, and reads the name of the protection device on the screen eyebrow to confirm whether it is at the correct interval; The high-definition camera and multi-functional combination camera module carried by the mechanical arm cooperate with the operation of the flexible mechanical arm to move to the mechanical lock position of the protection cabinet, and the unlocker will open the door of the protection screen cabinet; adjust the switch screen cabinet hook on the flexible robotic arm and the direction of the arm to make the hook Hook the door of the protective screen cabinet, and drive the door of the protective screen cabinet to open under the movement of the flexible mechanical arm; position through the multi-functional combined camera, operate the flexible mechanical arm, adjust the direction of the unlocker, use the head of the unlocker as a button thimble, and use the simulated finger to press Press the button on the protection device and adjust the height and direction of the multi-functional combination camera to align with the protection device screen, and complete functions such as viewing protection device messages, resetting protection device signals, testing high-frequency channels, and switching protection device fixed value areas.

According to the above control method, control the robot to move to the back of the protective screen cabinet and open the back door of the protective screen cabinet, adjust the angle and height of the multi-function combined camera to align with the terminal block of the protective screen cabinet, and check whether there are cables on the terminal block through infrared thermal imaging and image processing technology The terminal is loose (if the cable terminal is loose, it will cause poor contact and heat. Through infrared thermal imaging, it is found that one area is hotter than other areas), control the mechanical arm to move to the loose area of the cable terminal, and determine the specific cable through the high-definition camera on the flexible mechanical arm. Numbering for post-processing; control the movement of the flexible robotic arm to drive the high-definition camera to align with the position of the terminal block to be viewed, and cooperate with spotlights to complete the relay protection work (protection annual inspection, protection device elimination, protection device replacement, etc.) cable numbering site before maintenance survey.

The front and rear images of the above-mentioned protective device screen cabinet are transmitted to the background server in real time through the base station, and the corresponding relay protection staff checks the actual terminal cable numbers with the drawings through the operation unit and display device, and correctly writes the safety measure tickets and work tickets for relay protection work , homework instructions and other pre-work texts.

After the above inspection or survey is completed, the flexible mechanical arm is operated to close and relock the protective screen cabinet door.

The utility model unattended substation protection indoor inspection and survey robot has two modes of automatic control and manual control.

In the automatic control mode, first set the patrol route and solidify it in the background server. During each tour, send commands to the robot according to the route set by the server, adjust the multi-functional combined camera to align with the corresponding position, and determine the corresponding protective screen cabinet for patrol , the collected image is compared with the historical image, after being processed by the image processing system, it is determined whether there are other abnormal information such as alarm signals and fault signals; after the inspection, the abnormal information is transmitted to the display device, and a prompt message is issued.

In the manual control mode, through the operation of the remote operation unit, instructions are sent to the robot to complete the corresponding actions.

It should be understood that the examples and implementations described herein are only for illustration, and those skilled in the art can make various modifications or changes based on them, all of which belong to the protection scope of the present utility model without departing from the spirit of the utility model.

Claims (4)

1. An inspection and survey robot in the protection room of an unattended substation, including a robot vehicle carrier. The vehicle carrier is provided with a flexible robot arm module, characterized in that the flexible robot arm module includes a multi-dimensional flexible robot arm and a lock unlocker. , a high-definition camera, a spotlight and a switch screen cabinet hook; the multi-dimensional flexible mechanical arm includes a fixed base and a flexible joint, and the fixed base is slidingly connected with a slide rail arranged laterally on the vehicle carrier, and the flexible joint includes a 360° The first joint and the second joint are connected by rotation, the lower end of the first joint is connected with the base in 360° rotation, the upper end of the second joint is connected with a functional part in 360° rotation, the unlocker, high-definition camera, spotlight And the hook of the switch screen cabinet is fixed on the functional part. 2. The inspection and survey robot in the protection room of unattended substation according to claim 1, characterized in that, the robot vehicle carrier is also provided with a multi-functional combined camera module, and the multi-functional combined camera module includes infrared thermal imaging devices and HD video devices. 3. The inspection and survey robot in the protection room of unattended substation according to claim 1, characterized in that, the robot vehicle carrier is also provided with a multi-sensor navigation and positioning module, and the multi-sensor navigation and positioning module includes RFID Reader, GPS unit, magnetic navigation unit, laser ranging unit, ultrasonic barrier unit, the GPS unit receives GPS positioning information, reads RFID navigation information through the RFID reader, reads the magnetic navigation mark through the magnetic navigation unit, and reads the magnetic navigation mark through the laser The ranging unit reads the target or obstacle distance information. 4. The inspection and survey robot in the protection room of unattended substation according to claim 1, characterized in that, the robot vehicle carrier is also provided with a power module and a vehicle-mounted wireless data transmission module, and the power module is used for robot Walking and turning, the vehicle-mounted wireless data transmission module is used to transmit the data collected by each module on the robot vehicle carrier to the background server through the base station.