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.
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.