CN208043128U - A kind of substation's indoor equipment intelligent inspection robot - Google Patents
A kind of substation's indoor equipment intelligent inspection robot Download PDFInfo
- Publication number
- CN208043128U CN208043128U CN201820629702.XU CN201820629702U CN208043128U CN 208043128 U CN208043128 U CN 208043128U CN 201820629702 U CN201820629702 U CN 201820629702U CN 208043128 U CN208043128 U CN 208043128U
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- substation
- fuselage
- module
- elevating lever
- indoor equipment
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of substation's indoor equipment intelligent inspection robot, it includes fuselage, elevating lever is equipped on fuselage, it is equipped at the top of elevating lever and makes an inspection tour camera, it is equipped with front camera in fore-body, it is equipped with sound ranging obstacle avoidance module in front fuselage, it is equipped with driving mechanism in fuselage bottom, wireless communication module is equipped on fuselage, including master controller, the delivery outlet of master controller respectively with elevating lever drive module, driving motor connects, the serial ports of master controller is connect with wireless communication module, wireless communication module respectively with front camera, make an inspection tour camera, host computer connects.A kind of substation's indoor equipment intelligent inspection robot provided by the utility model, it can solve switchgear and be possible under there is failure or discharge scenario, there is technical issues that conventional manual's inspection of switchgear larger, long-range tour equipment provided by the utility model can solve the problems, such as existing tour inefficiency to a certain extent.
Description
Technical field
The utility model belongs to supervisory control of substation apparatus field, and in particular to a kind of substation's indoor equipment Intelligent inspection machine
Device people.
Background technology
Substation's indoor equipment includes mainly the high-voltage chamber switch cabinet equipment of the protective device and substation of substation.Power transformation
High-voltage chamber switch cabinet equipment of standing is substation's inalienable part, and then cubicle switch room is a dangerous place.Closely
Often cubicle switch cabinet explosive incident is just had been reported that over year, therefore it is also a dangerous work to make an inspection tour cubicle switch cabinet equipment, especially
It is in switchgear there is under failure or discharge scenario, and tour work at this time will become more dangerous, and logical at the first time
Crossing the equipment situation at long-range inspection device acquisition scene will become very significant.The monitoring pipe of the indoor protective device of substation
Can the function and operation that reason is related to protective device normally play a role.When power system operation mode changes, often relate to
And the operations to protective device will have a direct impact on the realization of relay protection function if any misoperation, can be influenced when serious
Electric power netting safe running.
And grid company 220kV and following substation all have been realized in Centralized Monitoring, unattended pattern, to electricity now
The monitoring of net power equipment depends on complex automatic system and manual patrol, especially in conventional substation, transforming plant protecting dress
The pressing plate state set does not have the function of on-line monitoring also, relies primarily on manual patrol to complete the core of protective device pressing plate state
To work, which inefficiency.
Existing Chinese patent 201721149816.6《Transformer station's master control room long-distance intelligent inspecting robot》,
201721334233.0《A kind of transformer substation switch room long-distance intelligent inspecting robot》The two patents are proposed one kind can be with
Have the intelligent patrol robot of remote control function for indoor protection room and switch gear room, inspecting robot can be utilized long-range
The pressing plate of indoor protective device is maked an inspection tour, and with the function of carrying out state-detection to switch gear room's equipment.However this two
A patent is that using holder steering engine or have the cameras of comprehensive 360 ° of rotation functions, due to indoor equipment protective device or
Switch cabinet equipment is higher, single to rely on common holder and rotating camera, can not complete to set entire protective device and switchgear
Standby tour.Therefore the present invention considers to increase elevating lever, to realize that the tour to higher device is taken pictures.
Invention content
Purpose of the utility model is to overcome the above-mentioned shortcomings and provide a kind of substation's indoor equipment intelligent inspection machines
People, it can solve switchgear and be possible under there is failure or discharge scenario, the conventional manual of switchgear is checked exist compared with
The technical issues of big security risk.
The purpose of this utility model is implemented by following scheme：
A kind of substation's indoor equipment intelligent inspection robot, it includes fuselage, and elevating lever is equipped on fuselage, is being lifted
It is equipped at the top of bar and makes an inspection tour camera, front camera is equipped in fore-body, sound ranging obstacle avoidance module is equipped in front fuselage,
It is equipped with driving mechanism in fuselage bottom, wireless communication module, including master controller, the delivery outlet of master controller are equipped on fuselage
It is connect respectively with elevating lever drive module, driving motor, the serial ports of master controller is connect with wireless communication module, radio communication mold
Block is connect with front camera, tour camera, host computer respectively.
Above-mentioned driving mechanism includes driving motor, and driving motor is connect with idler wheel.
The input port of above-mentioned master controller respectively with electromagnetism group sensor, ozone sensor, Temperature Humidity Sensor, infrared seek
Mark sensor connects.
The bidirectional interface of above-mentioned master controller is connect with sound ranging obstacle avoidance module.
Above-mentioned wireless communication module is wifi module.
The controlled end of above-mentioned elevating lever drive module and elevating lever connects.
Above-mentioned rollers are McCrum wheel.
Using above-mentioned technical proposal, following technique effect is brought：
The utility model can realize accurate stopping in specified place, by controlling elevating lever movement and making an inspection tour camera
Angle, completes switchgear or the functions such as virtual condition monitoring are taken pictures and switched in the verification of protection screen pressing plate, protective device information, and will
Collected information and photo upload are to host computer, it can be achieved that the function of remotely making an inspection tour.
The utility model operation is flexible, can realize remote core to field equipment state, to improve power transformation with remote control
Stand make an inspection tour working efficiency and abnormal signal treatment effeciency.Elevating lever and all-around mobile camera are configured, is taken the photograph compared to fixation
As head and rail mounted camera, there is the photo angle of bigger and be not take up personnel's normal activity range so that make an inspection tour range more
Extensively.
Description of the drawings
The utility model is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the circuit structure block diagram of the utility model；
Fig. 3 is electromagnetism group sensor signal processing circuit figure in the utility model；
Fig. 4 is power circuit diagram in the utility model；
Fig. 5 is ozone sensor circuit diagram in the utility model；
Fig. 6 is ultrasonic ranging obstacle module circuit diagram in the utility model；
Fig. 7 is coding motor drive module circuit diagram in the utility model.
Specific implementation mode
A kind of substation's indoor equipment intelligent inspection robot as shown in Figure 1, it includes fuselage 8, is equipped with and rises on fuselage 8
Bar 3 is dropped, is equipped at 3 top of elevating lever and makes an inspection tour camera 5, front camera 6 is equipped in 8 front of fuselage, is equipped in 8 front end of fuselage
Sound ranging obstacle avoidance module 2 is equipped with driving mechanism in 8 bottom of fuselage, wireless communication module 7, including master control is equipped on fuselage
The delivery outlet of device 1 processed, master controller 1 is connect with elevating lever drive module 10, driving motor 9 respectively, the serial ports of master controller 1 with
Wireless communication module 7 connects, and wireless communication module 7 is connect with front camera 6, tour camera 5, host computer 11 respectively.
The driving mechanism includes driving motor 9, and driving motor is connect with idler wheel 4.
The input port of the master controller 1 respectively with electromagnetism group sensor 12, ozone sensor 13, Temperature Humidity Sensor
14, infrared following line sensors 15 connect.
The bidirectional interface of the master controller 1 is connect with sound ranging obstacle avoidance module 2.
The wireless communication module 7 is wifi module.
The elevating lever drive module 10 is connect with the controlled end of elevating lever 3.
Specifically, the utility model be by a kind of McCrum wheel vehicle mould with four-wheel drive carry one-chip computer module,
Electromagnetism group sensor assembly, ozone sensor module, temperature humidity sensor module, infrared sensor module, ultrasonic ranging are kept away
Barrier module, power module, elevating lever and drive module, coding motor drive module, dual camera module, WIFI module form.
In switch gear room or the automatic tour of realization and humiture on the scheduled track of room floor can be protected, ozone concentration collecting work, and
Accurate stopping is realized in specified place, by controlling elevating lever movement and making an inspection tour the angle of camera, completes switchgear or guarantor
The verification of shield screen pressing plate, protective device information are taken pictures and switchs virtual condition and the functions such as monitor, and by collected information and photo
Host computer is uploaded to, it can be achieved that the function of remotely making an inspection tour.
Robot architecture's figure is as shown in Figure 1.Each function module connection figure is as shown in Figure 2.
One-chip computer module is mounted on robot upper part, connection electromagnetism group sensor, ozone sensor, Temperature Humidity Sensor,
Infrared sensor, ultrasonic ranging avoidance, elevating lever drive module and makeblock development boards.
Electromagnetism group sensor assembly be mounted on robot motion immediately ahead of, for detect be set in advance in switch it is indoor by
The alternating magnetic field that electromagnetic path generates made of enameled wire is laid with, makes robot be travelled along scheduled electromagnetic path；Ozone passes
Sensor module is mounted on robot automobile body top, ozone content near switchgear can be measured in switch gear room, by comparing ozone
The variation of content judges whether there is electric discharge phenomena in switchgear；Temperature humidity sensor module is mounted on robot automobile body both ends, can
To measure temperature and humidity data in switch gear room, make to can display real-time the indoor humiture of switch on host computer；Infrared sensor
Module is mounted on the lower left and lower right of robot automobile body front end, and each switchgear in switch gear room is set in advance in for detecting
Preceding black parking lines, make robot rest on the specified parking site before each screen cabinet, carry out equipment on parking checking cabinet；
Ultrasonic ranging obstacle avoidance module is mounted on the vehicle body immediately ahead of robot, it can be determined that immediately ahead of robot whether there is or not switchgear or
The obstacles such as cabinet door avoid obstacle by adjusting coding motor drive direction；Power module is mounted on robot rear to all moulds
Block is powered, and robot is given to provide power, and power supply can charge uses repeatedly, and continuation of the journey is persistently；Dual camera module is divided into tour and takes the photograph
It as head and front camera, makes an inspection tour camera module and is mounted at the top of robot elevating lever, WIFI moulds are connected by RJ45 interfaces
Block can pass through host computer cradle head control camera direction, focal length and elevating lever so that make an inspection tour the tour of camera energy maximum magnitude and set
It is standby, switchgear top board can be thrown give up the throne set, the shooting of protective device signal lamp, protection screen information at video data by wireless
Host computer is passed to, convenient for equipment state in upper function real time inspection switch gear room in the distance；Front camera is mounted on machine
The front end of people connects WIFI module by USB interface, is mainly used to obtain ground rail information, is used for the road of auxiliary robot
Diameter amendment；WIFI module is mounted on robot rear end, and one-chip computer module is connected by serial ports, and host computer is connected by wireless network,
Realize the data exchange of host computer and microcontroller.
Using the above structure, when in use, the model ATMega2560 of the one-chip computer module.
The electromagnetism group sensor is made of 4 inductance coils and built-in acquisition amplified signal circuit, such as Fig. 3 institutes
Show.According to Maxwell's Theory of Electromagnetic Field, alternating current can generate the electromagnetic field of alternation around.Setting switch it is indoor by
Electromagnetic path made of enameled wire is laid with leads to the alternating current of 20kHZ, 100mA, and the magnetic field of alternation, magnetic are generated by the electric current of alternation
The variation of field can make inductance coil generate induced electromotive force.L1, C1, C2 are LC series parallel resonance circuits（Band-pass circuit）, can
Select 20kHz signals.R1, R2, T1 are single order cascode transistor amplifier, with 100 times or so of voltage gain（40db）,
The voltage signal that inductance coil incudes can be amplified, be accessed by transistor collector voltage.
The ports AD of ATMEGA2560 microcontrollers make the direct sampled voltage signal of microcontroller.Electromagnetism group sensor is detectable
The electromagnetic field intensity and direction that 20kHz alternating currents generate in enameled wire, are obtained with this apart from the spatial position of electromagnetic path, machine
Device people can prevent machine according to the motor speed of relative distance adjust automatically both sides drive module, the position of automatic calibration machine device people
Device people's offset track, makes robot be travelled along electromagnetic path.
Pass through 20kHz, the alternating current of 100mA, when signal power source is by NE555 in preset enameled wire on switch room floor
Base circuit (oscillating circuit), L298 output circuits (power output circuit), NPN constant-current transistor output circuits（Current constant control electricity
Road）And 7805 circuit（Power supply）Deng composition, as shown in Figure 4.NE555, C10, C11, R1, R2, R3, R4, T1, RV1, C10 are constituted
NE555 time base circuits can generate the symmetric block signal that centre frequency is 20kHz.Power amplification circuit is made of L298, makes electricity
The frequency response on road is more than 20kHz, and output power is more than 2W, enhances load capacity.RV2, R4, T2, which are constituted, utilizes NPN transistor
Constant current output circuit, can make output current 100mA or so stablize, do not fluctuated with the variation of power supply, work as laying
Track it is longer, when enameled wire used is longer, due to the electricresistance effect of enameled wire, can output current be reduced, at this time may be used
By adjusting RV2, output current is finely tuned, electric current is kept still to stablize in 100mA.7805, C12, C13, C14 constitute power supply electricity
12V voltages can be converted into 5V voltages by road, provide required regulated power supply in circuit, ensure signal oscillation circuit and constant current
The stability of control circuit.
The ozone sensor uses MQ131 modules, as shown in Figure 5.Connect working power is+5V, and ozone concentration is surveyed
Ranging from 10PPB-2PPM is measured, which possesses simple two-way signal output function, including analog signal output and Transistor-Transistor Logic level signal are defeated
Go out.It is useful signal that TTL, which exports low level, and indicator light is bright.Analog output with concentration increase and increase, concentration more high voltage more
It is high.
The Temperature Humidity Sensor use DHT11 modules, connect working power+5V, moisture measurement ranging from 20% to
95%, error：± 5%, temperature measurement range is 0 DEG C to 50 DEG C, error：It ± 2 DEG C, is exported by digital signal mouth.
The infrared sensor is technical grade infrared sensor, and detectable black and white line is returned when sensor measures black line
It is 1 that telegram in reply, which is put down, and it is 0 that normal surface state sensor, which returns to level,.It is returned by the infrared following line sensors of robot front end four
Level state, it can be determined that surface state residing for robot, when robot touches the black line before being preset in each switchgear,
Robot will the short stay before switchgear, start the checking work to switchgear top board and protective device signal.
The ultrasonic ranging obstacle avoidance module is made of a cylindric sound wave module.The ultrasonic wave of generation encounters obstacle
Back reflection echo module can be calculated between sound wave module and barrier by calculating the time difference that sound wave sends and receives
Distance.Sound ranging obstacle avoidance module is as shown in Figure 6.
The power module is mainly by 10500mAh, 12V protection board lithium battery groups ,+5V（VCC）Circuit module ,+3.3V
Circuit module forms.The power input of intelligent patrol robot is powered using 12V protection board lithium battery groups, due to microcontroller, number
Word circuit needs+5V ,+3.3V power supplys, therefore be depressured using voltage-stablizer.
The elevating lever drive module uses L298N two-way heavy-duty motor driving chips, the elevating lever module to adopt
Voltage difference with direct current 12V electric pushrods, terminals is timing, and elevating lever motor rotates forward, and realizes that elevating lever rises, works as voltage difference
When being negative, motor reversal realizes that elevating lever declines, and when L298N is not enabled, voltage difference 0, elevating lever stops, and keeps existing shape
State.Lead limit switch built in elevating lever module, elevating lever move to bottom or to after pushing up, can be automatically stopped, disconnect inside motor
Wiring, ensure motor will not stall and burn.
Described makes an inspection tour the IP Camera that camera module is high definition, and inside controls chip, branch containing steering engine, camera
Hold RJ45 and WIFI access ways.In order to ensure the reliability of transmission, the present invention is to access WIFI by the wired modes of RJ45
Module.Camera supports 1080P image quality, can be and manually adjustable to focusing.It is first when remote adjustment makes an inspection tour camera angle
First upper machine head sends regulating command by WIFI module, after WIFI module receives instruction, is instructed by the wired packings of RJ45
To IP Camera, the angle adjustment of camera and action of taking pictures are completed.
The front camera is the USB camera of digital high-definition, and the present invention is to access WIFI moulds by USB modes
Block.
The WIFI module uses MTK7620N chipsets, supports serial ports, USB, RJ45, the plurality of access modes such as wireless,
Facilitate connection various kinds of equipment.Serial ports can be switched to the embedded module for meeting WIFI infinite network communication standards, built-in wireless network
Network protocol stack and ICP/IP protocol stack.It is the communication tie between host computer and robot.It is sent to host computer by microcontroller
The control information sended over by serial ports and the two-way video letter sended over by camera USB interface and RJ45 interfaces
Breath supports full-duplex communication mode, can receive the data information of host computer transmission simultaneously, and is transmitted to serial ports in real time, in realization
The two-way communication of position machine and robot.
The coding motor module can drive two-way direct current to encode motor simultaneously, and the present invention needs four coding electricity of driving
Machine, it is therefore desirable to two coding motor modules.Coding motor module includes MCU and motor drive ic, as shown in Figure 7.Input
Voltage 6-12V, communication interface are I2C interface, and the way of output is SPI interface, and makeblock exploitations can be connected by RJ25 modes
Plate.Four road direct current coding motors are communicated by two pieces of driving plates with the form of I2C with makeblock development boards.Direct current is compiled
Code motor is due to built-in magnetic encoder so that magnetic field signal is not easily susceptible to dust, moisture, high temperature and the influence of vibration.
Claims (8)
1. a kind of substation's indoor equipment intelligent inspection robot, it is characterised in that：It includes fuselage（8）, in fuselage（8）On set
There is elevating lever（3）, in elevating lever（3）Top, which is equipped with, makes an inspection tour camera（5）, in fuselage（8）Front is equipped with front camera（6）,
In fuselage（8）Front end is equipped with sound ranging obstacle avoidance module（2）, in fuselage（8）Bottom is equipped with driving mechanism, and nothing is equipped on fuselage
Line communication module（7）, including master controller（1）, master controller（1）Delivery outlet respectively with elevating lever drive module（10）, drive
Dynamic motor（9）Connection, master controller（1）Serial ports and wireless communication module（7）Connection, wireless communication module（7）Respectively with it is preceding
Set camera（6）, make an inspection tour camera（5）, host computer（11）Connection.
2. substation's indoor equipment intelligent inspection robot according to claim 1, it is characterised in that：The driving mechanism
Including driving motor（9）, driving motor and idler wheel（4）Connection.
3. substation's indoor equipment intelligent inspection robot according to claim 1, it is characterised in that：The master controller
（1）Input port respectively with electromagnetism group sensor（12）, ozone sensor（13）, Temperature Humidity Sensor（14）, the infrared biography that tracks
Sensor（15）Connection.
4. substation's indoor equipment intelligent inspection robot according to one of claims 1 to 3, it is characterised in that：
The master controller（1）Bidirectional interface and sound ranging obstacle avoidance module（2）Connection.
5. substation's indoor equipment intelligent inspection robot according to claim 1, it is characterised in that：The wireless communication
Module（7）For wifi module.
6. substation's indoor equipment intelligent inspection robot according to claim 1, it is characterised in that：The elevating lever drives
Dynamic model block（10）With elevating lever（3）Controlled end connection.
7. substation's indoor equipment intelligent inspection robot according to claim 1, it is characterised in that：The host computer is
Industrial control computer.
8. substation's indoor equipment intelligent inspection robot according to claim 2, it is characterised in that：The idler wheel（4）
For McCrum wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820629702.XU CN208043128U (en) | 2018-04-28 | 2018-04-28 | A kind of substation's indoor equipment intelligent inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820629702.XU CN208043128U (en) | 2018-04-28 | 2018-04-28 | A kind of substation's indoor equipment intelligent inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208043128U true CN208043128U (en) | 2018-11-02 |
Family
ID=63928142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820629702.XU Expired - Fee Related CN208043128U (en) | 2018-04-28 | 2018-04-28 | A kind of substation's indoor equipment intelligent inspection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN208043128U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110319867A (en) * | 2019-07-18 | 2019-10-11 | 浙江大华机器人技术有限公司 | Inspection device and method for inspecting |
| CN111010542A (en) * | 2019-12-12 | 2020-04-14 | 河南恒宇工程管理有限公司 | Remote monitoring management system and method |
| CN112528742A (en) * | 2020-11-06 | 2021-03-19 | 广东电网有限责任公司中山供电局 | State checking method and device for transformer substation pressure plate |
| CN112730902A (en) * | 2020-12-09 | 2021-04-30 | 广东电网有限责任公司湛江供电局 | Relay protection automatic auxiliary robot |
-
2018
- 2018-04-28 CN CN201820629702.XU patent/CN208043128U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110319867A (en) * | 2019-07-18 | 2019-10-11 | 浙江大华机器人技术有限公司 | Inspection device and method for inspecting |
| CN111010542A (en) * | 2019-12-12 | 2020-04-14 | 河南恒宇工程管理有限公司 | Remote monitoring management system and method |
| CN112528742A (en) * | 2020-11-06 | 2021-03-19 | 广东电网有限责任公司中山供电局 | State checking method and device for transformer substation pressure plate |
| CN112730902A (en) * | 2020-12-09 | 2021-04-30 | 广东电网有限责任公司湛江供电局 | Relay protection automatic auxiliary robot |
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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: 20181102 Termination date: 20210428 |
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| CF01 | Termination of patent right due to non-payment of annual fee |