CN206096939U - Can keep away transformer station inspection robot of barrier automatically - Google Patents
Can keep away transformer station inspection robot of barrier automatically Download PDFInfo
- Publication number
- CN206096939U CN206096939U CN201621194251.9U CN201621194251U CN206096939U CN 206096939 U CN206096939 U CN 206096939U CN 201621194251 U CN201621194251 U CN 201621194251U CN 206096939 U CN206096939 U CN 206096939U
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- infrared
- barrier
- transformer station
- inspection robot
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Abstract
The utility model relates to a can keep away transformer station inspection robot of barrier automatically, including automobile body platform, control module, tracking module, communication module, fault detection module and the automatic barrier module of keeping away. When keeping away the barrier, scan earlier the peripheral barrier information of transformer station inspection robot, judge the barrier classification again. If the barrier is behaved or the animal, transformer station inspection robot leaves or dispels the animal to people's signal, and need not avoid the barrier this moment. Otherwise transformer station inspection robot carries out and keeps away the barrier operation. The utility model discloses a laser radar for scanning patrols and examines the peripheral barrier information of robot, compares with sensors such as ultrasonic sensor and infrared sensor, is difficult for receiving temperature and interference of visible light, and distance and position information detection precision are higher.
Description
Technical field
This utility model is related to automatic obstacle-avoiding technology, more particularly, to it is a kind of can automatic obstacle-avoiding substation inspection machine
People.
Background technology
Mobile Robot for Substation Equipment Inspection in the way of autonomous or remote control, in unmanned or the transformer station pair of few man on duty
Outdoor high pressure equipment is patrolled and examined, and can in time find the unit exception phenomenons such as thermal defect, the foreign body suspension of power equipment.Can be with root
According to operator in the task operating or task set in advance of base station, the global path planning in transformer station is carried out automatically, lead to
Cross the various sensors for carrying, the image for completing substation equipment is patrolled and examined, the automatic identification of equipment instrument, primary equipment it is infrared
Detection etc., and recording equipment information, there is provided abnormal alarm.
In Intelligent Mobile Robot relation technological researching, avoidance technology belongs to its core technology, is to realize intellectuality
The key technology of autonomous.Avoidance mode common at present relies primarily on ultrasonic sensor or infrared sensor disturbance of perception
Thing is realizing avoidance.There is number of sensors few, avoidance scheme is single, the low problem of efficiency.While traditional fault avoidnig device is not
Consider impact of the ultrasound wave in ambient temperature to ultrasonic propagation velocity, single ultrasonic propagation velocity is set and there is error；
Infrared sensor is easily disturbed by visible ray, affects avoidance precision and reliability.
Utility model content
This utility model aims to solve the problem that drawbacks described above, there is provided a kind of Intelligent Mobile Robot for possessing high avoidance precision.
What above-mentioned technical problem of the present utility model was mainly addressed by following technical proposals：
It is a kind of can automatic obstacle-avoiding Intelligent Mobile Robot, it is characterised in that：Including car body platform；It is arranged on car body to put down
Control module on platform；And while be connected with control module tracking module, communication module, fault detection module and keep away automatically
Barrier module；
The control module being arranged on car body platform：The motion of the control module control robot and each sensor,
The control chip selects AT89C51 type single-chip microcomputers；
And while be connected with control module：
Tracking module, including infrared transmitting tube and infrared remote receiver；The infrared transmitting tube adopts red LED, infrared to connect
Receive device and adopt model HS0038 type infrared receiving terminal；The infrared transmitting tube earthward launches infrared ray, and Jing ground returns are red
Outer receptor receives infrared ray；Line absorption can be hacked when infrared ray is irradiated to the black line of ground red, by judging infrared connecing
The presence or absence of device signal is received, the relative position of robot and ground black line is determined, so as to realize that tracking is travelled；
Communication module, using GL-INET wireless routers data and control instruction transmission are carried out；
Fault detection module, including high-definition camera, infrared thermography and sulfur hexafluoride leak sensor；High-definition camera
, for observing apparatus registration and transformer station's situation, infrared thermography is overheated for testing equipment, and sulfur hexafluoride reveals sensing for head
Device has detected whether that insulating gas is revealed；
Automatic obstacle-avoiding module, including comprising bio-identification module and laser radar, the bio-identification module includes luxuriant and rich with fragrance alunite
That optical filter, D203S pyroelectricity elements, red LED and buzzer, the laser radar selects model LMS291-S05 type
SICK outdoor laser scanning radars.
It is above-mentioned it is a kind of can automatic obstacle-avoiding Intelligent Mobile Robot, crusing robot car body platform is by four direct currents
Motor drive, from rated power 36W, rated voltage 12V, the direct current generator of torque capacity 0.8NM；Power module selects voltage
24V, the lithium battery group of capacity 26400mAh；Direct current generator is driven by IBT-2 types motor driver, in AT89C51 single-chip microcomputer controls
The lower motion of system.
Therefore, this utility model has the advantage that：1. believed using Laser Radar Scanning crusing robot periphery barrier
Breath, compares with the sensor such as ultrasonic sensor and infrared sensor, is difficult to be disturbed by temperature and visible ray, distance and bearing letter
Breath detection accuracy is higher；2. first determine whether barrier classification, when barrier be humans and animals when, by light signal prompter from
Animal is opened or disperses, now crusing robot does not need avoidance, it is to avoid the interference to normal operation.
Description of the drawings
Fig. 1 is crusing robot constructed in hardware figure.
Fig. 2 is crusing robot bio-identification circuit diagram.
Fig. 3 is crusing robot automatic obstacle-avoiding schematic diagram.
Specific embodiment
Technical solutions of the utility model are specifically described below in conjunction with drawings and Examples.
Crusing robot mainly include car body platform, control module, tracking module, communication module, fault detection module and
Automatic obstacle-avoiding module.
By four DC motor Drivers, this utility model selects rated power 36W to crusing robot, rated voltage 12V, most
The direct current generator of big torque 0.8NM.Power module selects voltage 24V, the lithium battery group of capacity 26400mAh.Direct current generator by
IBT-2 types motor driver drives, and moves under AT89C51 Single-chip Controlling.
The motion of control module control robot and each sensor, the control chip selects AT89C51 type single-chip microcomputers.
Tracking module is made up of infrared transmitting tube and infrared remote receiver.The infrared transmitting tube adopts red LED, infrared to connect
Receive device and adopt model HS0038 type infrared receiving terminal.The connected mode of the infrared transmitting tube and infrared remote receiver is, infrared
Transmitting tube earthward launches infrared ray, and Jing ground returns, infrared remote receiver receives infrared ray.When infrared ray is irradiated to ground
Line absorption can be hacked during black line red, by judging the presence or absence of infrared remote receiver signal, determine that robot is relative with ground black line
Position, so as to realize that tracking is travelled.
Communication module carries out data and control instruction transmission using GL-INET wireless routers.
Fault detection module is by high-definition camera, infrared thermography and sulfur hexafluoride leak sensor.High-definition camera
For observing apparatus registration and transformer station's situation, infrared thermography is overheated for testing equipment, sulfur hexafluoride leak sensor
Detect whether that insulating gas is revealed.
Automatic obstacle-avoiding module includes bio-identification module and laser radar, and the bio-identification module filters comprising Fresnel
Piece, D203S pyroelectricity elements, red LED and buzzer, concrete connected mode is as shown in Figure 2.The laser radar selects model
For LMS291-S05 type SICK outdoor laser scanning radars.Automatic obstacle-avoiding is comprised the steps of：
The specific implementation of bio-identification module is：Mammal and birds thermostasiss, about at 37 DEG C
Left and right, can send the infrared ray of specific wavelength 10um or so.The infrared ray of the 10um of organism transmitting or so is filtered by Fresnel
Mating plate is gathered on infrared induction source after strengthening, and infrared induction source of the present utility model adopts D203S pyroelectricity elements, element to exist
Receiving when human infrared radiation temperature changes will lose charge balance, outwards discharge electric charge, be converted to voltage signal
Output.The number of converting to is connected by gate OR-gate with the P1.0 pins of AT89C51 single-chip microcomputers.When P1.0 pin levels are high electricity
At ordinary times, barrier is illustrated for biology.
Of the present utility model, there are the reception of OFF signal, process, judgement to be not model to be protected needed for this utility model
Enclose, this utility model is intended to protect hardware, hardware annexation, the model of foregoing description.
Specific embodiment described herein is only explanation for example to this utility model spirit.This utility model institute
Category those skilled in the art can make various modifications to described specific embodiment or supplement or using similar
Mode substitute, but without departing from spirit of the present utility model or surmount scope defined in appended claims.
Claims (2)
1. it is a kind of can automatic obstacle-avoiding Intelligent Mobile Robot, it is characterised in that：Including car body platform；It is arranged on car body platform
On control module；And while the tracking module, communication module, fault detection module and the automatic obstacle-avoiding that are connected with control module
Module；
The control module being arranged on car body platform：The motion of the control module control robot and each sensor, it is described
Control chip selects AT89C51 type single-chip microcomputers；
And while be connected with control module：
Tracking module, including infrared transmitting tube and infrared remote receiver；The infrared transmitting tube adopts red LED, infrared remote receiver
Using model HS0038 type infrared receiving terminal；The infrared transmitting tube earthward launches infrared ray, and Jing ground returns are infrared to connect
Receive device and receive infrared ray；Line absorption can be hacked when infrared ray is irradiated to the black line of ground red, by judging infrared remote receiver
The presence or absence of signal, determines the relative position of robot and ground black line, so as to realize that tracking is travelled；
Communication module, using GL-INET wireless routers data and control instruction transmission are carried out；
Fault detection module, including high-definition camera, infrared thermography and sulfur hexafluoride leak sensor；High-definition camera is used
In observing apparatus registration and transformer station's situation, infrared thermography is overheated for testing equipment, the inspection of sulfur hexafluoride leak sensor
Whether survey has insulating gas to reveal；
Automatic obstacle-avoiding module, including comprising bio-identification module and laser radar, the bio-identification module is filtered comprising Fresnel
Mating plate, D203S pyroelectricity elements, red LED and buzzer, the laser radar selects model LMS291-S05 type SICK room
Outer scanning laser radar.
2. it is according to claim 1 it is a kind of can automatic obstacle-avoiding Intelligent Mobile Robot, it is characterised in that：Inspection machine
People's car body platform by four DC motor Drivers, from rated power 36W, rated voltage 12V, the direct current of torque capacity 0.8NM
Motor；Power module selects voltage 24V, the lithium battery group of capacity 26400mAh；Direct current generator is driven by IBT-2 types motor driver
It is dynamic, move under AT89C51 Single-chip Controlling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621194251.9U CN206096939U (en) | 2016-10-28 | 2016-10-28 | Can keep away transformer station inspection robot of barrier automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621194251.9U CN206096939U (en) | 2016-10-28 | 2016-10-28 | Can keep away transformer station inspection robot of barrier automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206096939U true CN206096939U (en) | 2017-04-12 |
Family
ID=58485964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621194251.9U Expired - Fee Related CN206096939U (en) | 2016-10-28 | 2016-10-28 | Can keep away transformer station inspection robot of barrier automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206096939U (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018213954A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Driverless car obstacle avoidance apparatus and method |
| WO2018213963A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| WO2018213962A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| WO2018213959A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| CN109079740A (en) * | 2018-09-04 | 2018-12-25 | 南京理工大学 | A kind of Intelligent Mobile Robot |
| CN109719729A (en) * | 2019-01-25 | 2019-05-07 | 丽水学院 | A kind of rotating disc type Automatic Track Finding coding identification floor truck and its application method |
| CN109725233A (en) * | 2018-12-12 | 2019-05-07 | 杭州申昊科技股份有限公司 | A kind of intelligent substation inspection system and its method for inspecting |
| CN109904926A (en) * | 2019-02-27 | 2019-06-18 | 国网福建省电力有限公司漳州供电公司 | The intelligent robot and its control method maked an inspection tour suitable for unusual condition in substation room |
| CN110370282A (en) * | 2019-08-01 | 2019-10-25 | 南理工泰兴智能制造研究院有限公司 | A kind of avoidance structure and its system for service robot |
| CN111566580A (en) * | 2018-01-03 | 2020-08-21 | 高通股份有限公司 | Adjustable object avoidance proximity threshold based on context predictability |
| CN112179591A (en) * | 2020-09-16 | 2021-01-05 | 国网山东省电力公司济南市济阳区供电公司 | Intelligent detection vehicle for sulfur hexafluoride gas leakage of transformer substation |
| CN112461368A (en) * | 2020-11-03 | 2021-03-09 | 西安石油大学 | Intelligent inspection system for human body temperature of office area |
| CN113155290A (en) * | 2021-03-09 | 2021-07-23 | 广州大学 | Patrol temperature measurement robot and patrol temperature measurement method |
| CN116824729A (en) * | 2023-06-27 | 2023-09-29 | 国网青海省电力公司海北供电公司 | Ground inspection method, ground inspection device and inspection system |
-
2016
- 2016-10-28 CN CN201621194251.9U patent/CN206096939U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018213954A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Driverless car obstacle avoidance apparatus and method |
| WO2018213963A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| WO2018213962A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| WO2018213959A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| CN111566580A (en) * | 2018-01-03 | 2020-08-21 | 高通股份有限公司 | Adjustable object avoidance proximity threshold based on context predictability |
| CN109079740A (en) * | 2018-09-04 | 2018-12-25 | 南京理工大学 | A kind of Intelligent Mobile Robot |
| CN109725233A (en) * | 2018-12-12 | 2019-05-07 | 杭州申昊科技股份有限公司 | A kind of intelligent substation inspection system and its method for inspecting |
| CN109725233B (en) * | 2018-12-12 | 2020-12-08 | 杭州申昊科技股份有限公司 | Intelligent substation inspection system and inspection method thereof |
| CN109719729A (en) * | 2019-01-25 | 2019-05-07 | 丽水学院 | A kind of rotating disc type Automatic Track Finding coding identification floor truck and its application method |
| CN109904926A (en) * | 2019-02-27 | 2019-06-18 | 国网福建省电力有限公司漳州供电公司 | The intelligent robot and its control method maked an inspection tour suitable for unusual condition in substation room |
| CN110370282A (en) * | 2019-08-01 | 2019-10-25 | 南理工泰兴智能制造研究院有限公司 | A kind of avoidance structure and its system for service robot |
| CN112179591A (en) * | 2020-09-16 | 2021-01-05 | 国网山东省电力公司济南市济阳区供电公司 | Intelligent detection vehicle for sulfur hexafluoride gas leakage of transformer substation |
| CN112461368A (en) * | 2020-11-03 | 2021-03-09 | 西安石油大学 | Intelligent inspection system for human body temperature of office area |
| CN113155290A (en) * | 2021-03-09 | 2021-07-23 | 广州大学 | Patrol temperature measurement robot and patrol temperature measurement method |
| CN116824729A (en) * | 2023-06-27 | 2023-09-29 | 国网青海省电力公司海北供电公司 | Ground inspection method, ground inspection device and inspection system |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170412 Termination date: 20171028 |
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| CF01 | Termination of patent right due to non-payment of annual fee |