CN205097177U - Indoor robot that patrols and examines of transformer substation based on laser radar - Google Patents
Indoor robot that patrols and examines of transformer substation based on laser radar Download PDFInfo
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- CN205097177U CN205097177U CN201520905070.1U CN201520905070U CN205097177U CN 205097177 U CN205097177 U CN 205097177U CN 201520905070 U CN201520905070 U CN 201520905070U CN 205097177 U CN205097177 U CN 205097177U
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- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000007689 inspection Methods 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Abstract
The utility model discloses an indoor robot that patrols and examines of transformer substation based on laser radar, a serial communication port, include: the robot, with the robot fixed connection's between tracks connection device, wireless communication module, positioner, with the robot fixed connection's laser radar, wherein, the robot includes the body shell, laser radar with body shell fixed connection, wireless communication module with positioner set up in in the body shell, furthermore, laser radar with positioner all with wireless communication module connects. Should patrol and examine the robot can the accurate scanning and takes notes position, the state information of indoor each equipment of transformer substation to in provide accurate reference data to indoor the the patrolling and examining of transformer substation.
Description
Technical field
The utility model relates to Automatic Measurement Technique field, particularly relates to the indoor crusing robot of a kind of transformer station based on laser radar.
Background technology
Substation equipment both comprised outdoor equipment, also contemplated the indoor equipment such as relay protection chamber, switch gear room, was the key equipment in power transmission and transformation process, for ensureing its reliability service, needed regular visit.Such as, but existing inspection device can not to the situation of transformer station indoor, and whether equipment is complete, whether overhaul of the equipments door closes, whether device location changes, whether transformer station indoor exist that abnormal object etc. is abnormal cannot judgement accurately and timely.This mainly due to do not have can effectively, the method for recording equipment position exactly.
Therefore, a kind of positional information equipment that can record transformer station's indoor equipment is exactly needed.
Utility model content
For the deficiencies in the prior art, propose the indoor crusing robot of a kind of transformer station based on laser radar, solve the problem that cannot detect multiple transformer station indoor equipment exception in prior art.
The utility model provides the indoor crusing robot of a kind of transformer station based on laser radar, and described crusing robot comprises: robot body, the orbit connection device be fixedly connected with described robot body, the laser radar be fixedly connected with described robot body; Described orbit connection device comprises connector for being dynamically connected with track sliding and for the connecting rod fixing with robot body, wherein, described connecting rod is connected with described connector;
The measuring surface of described laser radar is parallel with described connecting rod; Described crusing robot also comprises wireless communication module, positioner; Wherein, described robot body comprises body housing, and described laser radar is fixedly connected with described body housing, and described wireless communication module and described positioner are arranged in described body housing; Further, described laser radar is all connected with described wireless communication module with described positioner.
Wherein, described connecting rod and described connector are rotatably connected.
Wherein, the anglec of rotation of described connecting rod is 30 degree ~ 120 degree.
Wherein, positioner is GPS positioner, draw wire encoder or RFID Card Reader locator.
In scheme of the present utility model, crusing robot arranges laser radar, the information such as position, state of laser radar to transformer station's indoor equipment is utilized to carry out accurately record, whether exception is there is for detection transformer station indoor equipment, especially whether whether complete, the overhaul of the equipments door of equipment closes, the exceptions such as whether device location changes, whether transformer station indoor exist abnormal object, effectively improve efficiency and the precision of equipment routing inspection.
Accompanying drawing explanation
Fig. 1 is the structure chart of the indoor crusing robot of a kind of transformer station based on laser radar.
Specific embodiment
For making the object of the utility model embodiment, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the utility model embodiment, technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can be combined mutually.
The specific implementation of the indoor crusing robot of the transformer station based on laser radar in the utility model is as follows.
Fig. 1 is the structure chart of the indoor crusing robot of transformer station based on laser radar.The indoor crusing robot of this transformer station comprises: robot body 1, the orbit connection device 2 be fixedly connected with robot body, the laser radar 3 be fixedly connected with robot body; Orbit connection device 2 comprises connector 22 for being dynamically connected with track sliding and for the connecting rod 21 fixing with robot body.Wherein, for being connected with slide rail with the connector 22 that track sliding is dynamically connected, any connected mode can be adopted, such as, the connector 22 for being dynamically connected with track sliding arranging pulley, pulley is slidably connected in orbit.For the connecting rod 21 fixed with robot body with for being connected with the connector 22 that track sliding is dynamically connected.
The measuring surface 31 of laser radar is parallel with described connecting rod 21; Crusing robot also comprises wireless communication module 105, positioner 103.Wherein, inspection machine human body comprises body housing 101, and laser radar 3 is fixedly connected with body housing 101, and wireless communication module 105 and positioner 103 are arranged in body housing 101; Further, laser radar 3 is all connected with wireless communication module 105 with positioner 103.
As shown in Figure 1, connecting rod 21 and connector 22 are rotatably connected.Like this, along with the rotation of connecting rod, laser radar 3 can rotate along with the rotation of connecting rod, and the anglec of rotation can be determined according to actual conditions, such as, can be 30 degree ~ 120 degree, such as, and 45 degree, 60 degree, 90 degree or 110 degree.So that laser radar 3 can measure more wide in range scope.
Connecting rod 21 is rotatably connected mode with connector 22, any one can be adopted to be rotatably connected mode, spheroid such as can be adopted to be rotatably connected mode, namely connection ball is set between connecting rod 21 and connector 22, connector 22 is arranged spherical in control draw-in groove, connecting ball is fastened in draw-in groove, connecting rod 21 be connected ball and be fixedly connected with.
Wherein, positioner can be GPS positioner, draw wire encoder or RFID Card Reader locator.
In practical operation, after crusing robot accepts data acquisition session, along rail running, laser radar 3 is made to carry out detecting the radar data of acquisition target substation indoor equipment as reference data, and obtain positional information when laser radar carries out exploration operation by positioner 103, be sent to the database of host computer with reference to data and positional information by wireless communication module 105.
Radar data refers to the distance that single laser light beam records, or radar data refers to the distance that multi-stripe laser light beam records.
In above-mentioned implementation, positioner is GPS positioner, draw wire encoder or RFID Card Reader locator.
In scheme of the present utility model, crusing robot arranges laser radar, the information such as position, state of laser radar to transformer station's indoor equipment is utilized to carry out accurately record, whether exception is there is for detection transformer station indoor equipment, especially whether whether complete, the overhaul of the equipments door of equipment closes, the exceptions such as whether device location changes, whether transformer station indoor exist abnormal object, effectively improve efficiency and the precision of equipment routing inspection.
In the utility model, crusing robot has wireless communication module, and is communicated with database by wireless communication module.Positioner is GPS positioner, draw wire encoder or RFID Card Reader locator.
Therefore, scheme of the present utility model can record position, the status information of transformer station's indoor equipment exactly by laser radar, thus effectively improves efficiency and the precision of equipment routing inspection.
In addition, it should be noted that, the specific embodiment described in this description, the shape, institute's title of being named etc. of its parts and components can be different, and the above content described in this description is only to the explanation of the utility model structure example.
Above-described content can combine enforcement individually or in every way, and these variant are all within protection domain of the present utility model.
In this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the article of a series of key element or equipment not only comprises those key elements, but also comprise other key elements clearly do not listed, or also comprise by this article or the intrinsic key element of equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within the article or equipment comprising described key element and also there is other identical element.
Above embodiment only in order to the technical solution of the utility model and unrestricted to be described, has only been described in detail the utility model with reference to preferred embodiment.Those of ordinary skill in the art should be appreciated that and can modify to the technical solution of the utility model or equivalent replacement, and does not depart from the spirit and scope of technical solutions of the utility model, all should be encompassed in the middle of right of the present utility model.
Claims (4)
1. the indoor crusing robot of the transformer station based on laser radar, it is characterized in that, described crusing robot comprises: robot body, the orbit connection device be fixedly connected with described robot body, the laser radar be fixedly connected with described robot body; Described orbit connection device comprises connector for being dynamically connected with track sliding and for the connecting rod fixing with robot body, wherein, described connecting rod is connected with described connector;
The measuring surface of described laser radar is parallel with described connecting rod; Described crusing robot also comprises wireless communication module, positioner; Wherein, described robot body comprises body housing, and described laser radar is fixedly connected with described body housing, and described wireless communication module and described positioner are arranged in described body housing; Further, described laser radar is all connected with described wireless communication module with described positioner.
2. crusing robot as claimed in claim 1, it is characterized in that, described connecting rod and described connector are rotatably connected.
3. crusing robot as claimed in claim 2, it is characterized in that, the anglec of rotation of described connecting rod is 30 degree ~ 120 degree.
4. the indoor crusing robot of a kind of transformer station based on laser radar as claimed in claim 2, it is characterized in that, positioner is GPS positioner, draw wire encoder or RFID Card Reader locator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520905070.1U CN205097177U (en) | 2015-11-13 | 2015-11-13 | Indoor robot that patrols and examines of transformer substation based on laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520905070.1U CN205097177U (en) | 2015-11-13 | 2015-11-13 | Indoor robot that patrols and examines of transformer substation based on laser radar |
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| Publication Number | Publication Date |
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| CN205097177U true CN205097177U (en) | 2016-03-23 |
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| CN201520905070.1U Active CN205097177U (en) | 2015-11-13 | 2015-11-13 | Indoor robot that patrols and examines of transformer substation based on laser radar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291063A (en) * | 2018-12-04 | 2019-02-01 | 四川阿泰因机器人智能装备有限公司 | A kind of electric operating site safety supervision machine people |
| CN109375628A (en) * | 2018-11-28 | 2019-02-22 | 南京工程学院 | A kind of Intelligent Mobile Robot air navigation aid positioned using laser orientation and radio frequency |
-
2015
- 2015-11-13 CN CN201520905070.1U patent/CN205097177U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109375628A (en) * | 2018-11-28 | 2019-02-22 | 南京工程学院 | A kind of Intelligent Mobile Robot air navigation aid positioned using laser orientation and radio frequency |
| CN109291063A (en) * | 2018-12-04 | 2019-02-01 | 四川阿泰因机器人智能装备有限公司 | A kind of electric operating site safety supervision machine people |
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