CN209118452U - A kind of substation's fire alarm crusing robot - Google Patents
A kind of substation's fire alarm crusing robot Download PDFInfo
- Publication number
- CN209118452U CN209118452U CN201822182692.2U CN201822182692U CN209118452U CN 209118452 U CN209118452 U CN 209118452U CN 201822182692 U CN201822182692 U CN 201822182692U CN 209118452 U CN209118452 U CN 209118452U
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- module
- substation
- robot body
- fire alarm
- control device
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Abstract
The utility model belongs to technical field of intelligent equipment, especially a kind of substation's fire alarm crusing robot, including robot body and the running gear being arranged on robot body, monitoring device, control device, communication device and navigation positional device, running gear includes two V-arrangement connecting levers and two angularly disposed brackets, the end of two V-arrangement connecting levers and two brackets is all provided with centrally-mounted driving, and the output shaft of driving motor is sequentially connected with idler wheel.The utility model has the function of stair activity, disengaging cable duct, it can be according to scheduled time, route, equipment and the environment such as autonomous the indoor, outdoor of inspection substation, cable duct, the fire hazards such as discovery heat generating spot, electric spark, flame point, cigarette sense point in time, it realizes the fire alarm and warning function of unmanned substation, has convenient for being generalized to the application prospect in other fields such as warehouse, oil depot.
Description
Technical field
The utility model belongs to technical field of intelligent equipment, especially a kind of substation's fire alarm crusing robot.
Background technique
With the continuous propulsion of information age, the various new opplications based on technology of Internet of things are also rapidly developed, along with
The rapid proliferation of high bandwidth, network-multimedia application is increasingly popular, the various communications applications based on IP technology, such as network remote
Monitoring is also come into being.
Power department is raised labour productivity, step by step input substation is unattended builds to increase economic efficiency
If intelligent patrol robot is effectively combined with Internet of Things remote monitoring system, and the comprehensive of power department network changes
It making, there are corresponding communication network in each substation, electric substation, monitoring center can also be established in power-management and communication centre,
Each substation, the related data of electric substation, parameter, image can be monitored and monitored, can in real time, directly understand and
The case where grasping each substation, institute, to there is a situation where make rapid reaction.
Since power transformation Divergent line and equipment are numerous, the situation of high-voltage arc, high load or short circuit can cause change
Power station fire, so fire prevention is the emphasis in work in substation.The patent document of Publication No. CN108694801A is public
Having opened a kind of fire alarm intelligent recognition plateform system includes video monitoring system, video image identification analysis process system, fire
Calamity warning system, bridge communications system and safe executive control system, video monitoring system and the video image identification are analyzed
Processing system connection, video image identification analysis process system connect with fire alarm system and safe executive control system respectively
It connects.The utility model carries out fire alarm identification using the original video monitoring equipment of power plant, at video image identification analysis
Two sets of image recognition analysis technologies of reason system, but fire alarm is only carried out by image recognition technology, it is suitable for fire and sends out
After life, warning function, and the limited coverage area of image recognition technology can not be fundamentally realized, it can not be in substation
All spaces are monitored.
The patent document of Publication No. CN107009366A discloses a kind of firefighting of warehouse safety automation inspecting robot, packet
It includes: sensing module: for realizing the perception to the firefighting of warehouse safety automation inspecting robot ambient enviroment；Control module:
For realizing the control to the firefighting of warehouse safety automation inspecting robot；Motor and drive module: for realizing to described
The driving of firefighting of warehouse safety automation inspecting robot；Photographing module: it is maked an inspection tour for realizing to the firefighting of warehouse safety automation
The object that robot periphery occurs is shot and is recorded a video；Power module: for making an inspection tour machine for the firefighting of warehouse safety automation
Device people provides power supply.Although the structure realizes the function of on-the-spot make an inspection tour, but when being applied in substation, due to interior
External environment is complicated and changeable, and the adaptability of the structure is not strong, the environment that especially can not be climbed needs such as cable ducts or cross over
It is maked an inspection tour.
Shown in sum up, fire disaster alarming device in the prior art in practical applications, is only able to achieve early warning after fire, and
Fire alarm function is weak, and handling capacity is poor, outdoors cannot in terms of the plurality of devices inspection such as equipment, cable duct, interior range
It takes into account.
Utility model content
In view of this, the purpose of this utility model is in view of the deficiencies of the prior art, to provide a kind of substation's fire alarm
Crusing robot has the function of stair activity, disengaging cable duct, can be according to scheduled time, route, autonomous inspection power transformation
The equipment such as indoor, the outdoor, cable duct stood and environment find that the fire such as heat generating spot, electric spark, flame point, cigarette sense point are hidden in time
Suffer from, realize the fire alarm and warning function of unmanned substation, has convenient for being generalized to the application in other fields such as warehouse, oil depot
Prospect.
In order to achieve the above objectives, the utility model uses following technical scheme:
A kind of substation's fire alarm crusing robot, including robot body and the row being arranged on robot body
Walking apparatus, monitoring device, control device, communication device and navigation positional device, the running gear include being located at robot sheet
The preceding driving assembly and rear driving assembly of body lower end, the preceding driving assembly include being arranged by shaft in robot body two sides
Two V-arrangement connecting levers, it is described after driving assembly include two angularly disposed brackets for being fixed at robot body two sides,
The end of two V-arrangement connecting levers and two brackets is all provided with centrally-mounted driving, and the output shaft of driving motor is sequentially connected with idler wheel；
The monitoring device includes that heat releases infrared induction module, ultraviolet light induction module and smoke sensing module, the prison
The output end of control device is connected with the input terminal of control device.
Further, further include charging pile, charging interface, setting on the outside of the robot body are set on the charging pile
The charging connector to match with charging interface, the charging connector pass through cable and the chargeable electricity being arranged in robot body
Source is connected；The rechargable power supplies are that driving motor, monitoring device, control device, communication device and navigation positional device supply
Electricity.
Further, the monitoring device further includes the video acquisition mould being arranged on robot body by cloud platform rotation
Block.
Further, the video acquisition device includes left side visible light lens, right side visible light lens and is located at left
Infrared light camera lens, ultraviolet lens between side visible light lens and right side visible light lens, the left side visible light lens, the right side
The rear of side visible light lens is respectively provided with image capture module, the input of the output end and control device of described image acquisition module
End is connected, and the heat releases the rear side that infrared induction module is located at infrared light camera lens, and the ultraviolet light induction module is located at ultraviolet
The rear side of light microscopic head.
Further, the navigation positional device includes ultrasonic sensing module, laser induced module, GPS positioning module
With path setting module, the output end of the navigation positional device is electrically connected with the input terminal of control device, the control device
Output end be connected with the input terminal of driving motor.
Further, the navigation positional device further includes the RFID reading code module being arranged on robot body, described
The electronic tag installed in RFID reading code module and substation equipment matches, the output end of the RFID reading code module and control
The input terminal of device is electrically connected, and the output end of the control device module and remotely monitors indoor server by wireless communication
Terminal is communicated.
Further, air duct is set in the robot body, and smoke sensing module is located at the air inlet in air duct, air duct
Blower is arranged in air outlet.
The beneficial effects of the utility model are:
1. the utility model improves the running gear on robot body, the preceding driving assembly of running gear includes
Two V-arrangement connecting levers of robot body two sides are set by shaft, and V-arrangement connecting lever is inverted arrangement, which, which designs, can be achieved V
Shape connecting lever being freely rotated centered on shaft, rear driving assembly include two branch for being fixed at robot body two sides
Frame, arrangement after bracket is oblique, structure design tilt forward thrust convenient for providing for robot body；
When specific assembling, driving motor is fixedly mounted in the end of two V-arrangement connecting levers and two brackets, driving motor
Output shaft is sequentially connected with idler wheel, and four driving motors positioned at front side provide power for the idler wheel on V-arrangement connecting lever, after being located at
Two driving motors of side provide power for the idler wheel on bracket, in conjunction with the construction and arrangement position of V-arrangement connecting lever, bracket, when need
When wanting across obstacle, the idler wheel on front side of two V-arrangement connecting levers drives entire V-arrangement connecting lever to do the rotation of certain angle centered on shaft
Transhipment is dynamic, which is less than or equal to 90 °, and two idler wheels, the idler wheel climbing of front side, rear side are arranged on each V-arrangement connecting lever
Idler wheel for remaining stable and continuing forward motive force, especially during climbing step or getting out of a predicament or an embarrassing situation, robot
When ontology front end is in tilting or tiltedly climbs state, V-arrangement connecting lever and bracket provide stable climbing posture for robot body；Separately
Outside, the different rotating speeds that the running gear in the utility model passes through two side wheels of control realize turning, guarantee its installation fixation
Patrol route is advanced.The structure designs the patrol ability for effectively improving robot, according to scheduled time, route, autonomous inspection
The equipment such as the indoor, outdoor of substation, cable duct and environment.
2. conventional substation's fire residence prior-warning device rests on the controlling mechanism that alarm signal is issued after fiery residence occurs mostly,
It belongs to and mends the fold after the sheep is lost for the property preservation of Utilities Electric Co., user power utilization；The utility model changes traditional scheme, to fire
Ambient condition before residence occurs is monitored, and heat therein releases infrared induction module for detecting the surface temperature of substation equipment
Degree, the temperature design value are the ignition point temperature value below of corresponding equipment, such as less than 5-10 DEG C of its ignition point, ultraviolet light sense
Answer module for phenomena such as incuding electric spark, electric arc, smoke sensing module is for incuding cigarette sense point, thus to indoor, outdoor more
A variety of fire hazards in a environment carry out comprehensive early warning in advance, compared with the prior art in only by heat release infrared induction or
The mechanism of person's smoke sensing, the application carry out early warning to all kinds of fire hazards by multiple complementary induction modules in advance.
3. add charging pile in the utility model, charging pile and multiple power equipments are respectively positioned on the set point of walking path
On, robot body power source be consumed to preset value or make an inspection tour a cycle after, at automatic running to charging pile into
Row charging, sufficient electric energy is provided for driving motor, monitoring device, control device and navigation positional device, is continued to realize
Property it is unattended.
4. monitoring device further includes video acquisition module, wherein video acquisition device includes left side visible light lens, right side
Visible light lens and infrared light camera lens, ultraviolet lens between left side visible light lens and right side visible light lens；
This structure classifies to the camera lens of video acquisition module, in use, pyroelectric infrared induction module is mounted on
Ultraviolet light induction module is mounted on the rear side of ultraviolet light camera lens by the rear side of infrared ray camera lens, for improving induction module detection
As a result accuracy；In particular, the visible light lens being arranged using two sides, an image capture module of arranging in pairs or groups jointly, to power transformation
Indoor, outdoor image of standing is acquired, and control device establishes stereoscopic model after analyzing two group image informations, is machine
The traveling of human body provides accurate live image feedback, is especially having the large-scale repair apparatus that can not be crossed over to be placed on ground
When upper, it can be avoided.
3. the navigation positional device of the application includes ultrasonic sensing module, laser induced module, GPS positioning module and road
Diameter setting module, the output end of navigation positional device are electrically connected with the input terminal of control device, control device control and motor
The path that revolving speed sets robot body in the real time correction lower edge of GPS positioning module is maked an inspection tour, ultrasonic sensing mould
Block, laser induced module are avoided for pedestrian and barrier evacuation.
4. RFID reading code module is arranged on robot body, the electronics installed in RFID reading code module and substation equipment
Label matches, and the output end of RFID reading code module is electrically connected with the input terminal of control device, and the output end of control device passes through
Wireless communication module is communicated with indoor server terminal is remotely monitored；
Since GPS signal is influenced by the electric field in substation, indoor signal is also decayed, and only passes through GPS signal pair
It is poor that the position of fire carries out locating effect, this structure is when monitoring that certain equipment there are when fire hazard, passes through RFID reading code mould
Electronic tag on block and the equipment is matched, and facility information is sent to control device, and control device passes through channel radio
The position of the equipment is sent in monitoring room by letter agreement, and server terminal carries warning device, for prompting monitoring personnel to reach
The accuracy of fire hazard position can be effectively improved in conjunction with GPS positioning module to specified hidden danger region.
5. air duct is arranged in robot body, smoke sensing module is located at the air inlet in air duct, and the air outlet in air duct is set
Set blower, in actual use, the quantity of smoke sensing module be it is multiple, air inlet is also corresponding to be designed as multiple, passes through blower
Rotation, forms air-flow in air duct, to increase the air capacity for flowing through smoke sensing module, improves Smoke Detection efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model embodiment one；
Fig. 2 is the right view of Fig. 1；
Fig. 3 is the structural schematic diagram of two charging pile of the utility model embodiment；
Fig. 4 is the structural schematic diagram of the utility model embodiment three；
Fig. 5 is the right view of Fig. 4；
Fig. 6 is the structural schematic diagram of the utility model embodiment four.
Figure label: 1- robot body, 2- control device, 3- communication device, 4- shaft, 5-V shape connecting lever, 6- bracket,
7- driving motor, 8- idler wheel, 9- heat release infrared induction module, 10- ultraviolet light induction module, 11- smoke sensing module, 12- view
Frequency acquisition module, 13- electric platform, 14- ultrasonic sensing module, the laser induced module of 15-, 16-GPS locating module, the road 17-
Diameter setting module, 18- rechargable power supplies, 19- charging pile, the left side 20- visible light lens, the right side 21- visible light lens, 22- are red
Outer light microscopic head, 23- ultraviolet lens, 24- image capture module, 25-RFID reading code module, 26- charging interface, the air duct 27-,
28- blower.
Specific embodiment
The utility model is further described with reference to the accompanying drawings and examples.
Embodiment one
As depicted in figs. 1 and 2, the utility model includes robot body 1 and the walking that is arranged on robot body 1
Device, monitoring device, control device 2, communication device 3 and navigation positional device.
Running gear includes the preceding driving assembly and rear driving assembly positioned at 1 lower end of robot body, preceding driving assembly packet
Include and show one by two V-arrangement connecting lever 5(Fig. 1 that 1 two sides of robot body are arranged in shaft 4), rear driving assembly includes logical
Cross bolt and be fixed on two angularly disposed bracket 6(Fig. 1 of 1 two sides of robot body and show one), two 5 Hes of V-arrangement connecting lever
The end of two brackets 6 is all provided with centrally-mounted driving 7, and the output shaft of driving motor 7 is sequentially connected with idler wheel 8.
Monitoring device includes that heat is released infrared induction module 9, ultraviolet light induction module 10, smoke sensing module 11, video and adopted
Collect module 12, heat is released infrared induction module 9, ultraviolet light induction module 10 and video acquisition module 12 and is arranged by electric platform 13
On the top of robot body 1, smoke sensing module 11 is four all around four for being separately positioned on robot body 1
The output end in face, monitoring device is connected with the input terminal of control device 2, and specifically when production, wind is arranged in robot body 1
Road 27, smoke sensing module 11 are located at the air inlet in air duct 27, and blower 28 is arranged in the air outlet in air duct 27, and air outlet is located at machine
The lower end surface of human body 1, after blower 28 is opened, to increase the air capacity for flowing through smoke sensing module 11, either in outdoor
Or when office operation, the detection efficiency of smoke sensing module 11 can be effectively improved.
Navigation positional device includes that ultrasonic sensing module 14, laser induced module 15, GPS positioning module 16 and path are set
Cover half block 17, ultrasonic sensing module 14, laser induced module 15 be it is multiple, be mounted on robot body 1 all around
On four faces, the output end of navigation positional device is electrically connected with the input terminal of control device 2, the output end of control device and driving
The input terminal of motor 7 is connected.
Rechargable power supplies 18 are installed in robot body 1；Rechargable power supplies 18 are driving motor 7, monitoring device, control dress
Set 2, communication device 3 and navigation positional device power supply.
When the utility model is used, robot body 1 is under the navigation function of navigation positional device, along the road set
Diameter is walked, and PLC controller is arranged in control device 2, for controlling the revolving speed of driving motor 7, realizes robot body 1 certainly
Turn is curved, a wide range of nobody advances, and during traveling, monitoring module is used to carry out Outdoor Trusses For Transformer Substation, indoor equipment real
When monitor, once discovery, there are fire hazard, for example equipment surface temperature is existing close to ignition point, electric arc, electric spark, smog etc.
As transmitting a signal to PLC controller, field conduct coordinate and realtime graphic are sent to by PLC controller by communication module 3
In long-range monitoring room, remotely monitors indoor alarm module and staff is warned.
The application by the improvement to running gear, realize it is outdoor it is accessible the functions such as cross over, pass through indoor and outdoor, greatly
The mobility for improving inspecting robot, it is ensured that unattended range, practicability are extremely strong.
Embodiment two
The present embodiment and the structure of embodiment one are essentially identical, unlike: as shown in figure 3, the utility model further includes
Charging interface 26, the charging that setting matches with charging interface on the outside of robot body are arranged on charging pile 19 for charging pile 19
Head, charging connector are connected by cable with rechargable power supplies.
Embodiment three
The present embodiment and the structure of embodiment one are essentially identical, unlike: as shown in Figure 4 and Figure 5, video acquisition device
Including left side visible light lens 20, right side visible light lens 21, infrared light camera lens 22, ultraviolet lens 23, the visible light microscopic in left side
First 20, the rear of right side visible light lens 21 is respectively provided with image capture module 24, the output end of image capture module 24 and control
The input terminal of device 2 is connected, and heat releases the rear side that infrared induction module 9 is located at infrared light camera lens 22, ultraviolet light induction module 10
Positioned at the rear side of ultraviolet lens 23.
Example IV
The present embodiment and the structure of embodiment one are essentially identical, unlike: as shown in fig. 6, navigation positional device also wraps
Include the RFID reading code module 25 being arranged on robot body, the electronics mark installed in RFID reading code module 25 and substation equipment
Label match, and the output end of RFID reading code module 25 is electrically connected with the input terminal of control device 2, and the output end of control device 2 is logical
It crosses wireless communication module 3 and is communicated with indoor server terminal is remotely monitored.
Finally, it is stated that above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, this field
Other modifications or equivalent replacement that those of ordinary skill makes the technical solution of the utility model, it is practical without departing from this
The spirit and scope of new technique scheme should all cover in the scope of the claims of the utility model.
Claims (6)
1. a kind of substation's fire alarm crusing robot, including robot body and the walking being arranged on robot body
Device, monitoring device, control device, communication device and navigation positional device, it is characterised in that:
The running gear includes the preceding driving assembly and rear driving assembly positioned at robot body lower end, the preceding driving assembly
Two V-arrangement connecting levers including robot body two sides are arranged in by shaft, the rear driving assembly includes being fixed at machine
The end of two angularly disposed brackets of device human body two sides, two V-arrangement connecting levers and two brackets is all provided with centrally-mounted driving, drives
The output shaft of dynamic motor is sequentially connected with idler wheel；
The monitoring device includes that heat releases infrared induction module, ultraviolet light induction module and smoke sensing module, the monitoring dress
The output end set is connected with the input terminal of control device.
2. a kind of substation's fire alarm crusing robot according to claim 1, it is characterised in that: further include charging
, charging interface is set on the charging pile, the charging connector to match with charging interface is set on the outside of the robot body,
The charging connector is connected by cable with the rechargable power supplies being arranged in robot body；The rechargable power supplies are to drive
Dynamic motor, monitoring device, control device, communication device and navigation positional device power supply.
3. a kind of substation's fire alarm crusing robot according to claim 1, it is characterised in that: the monitoring device
It further include the video acquisition module being arranged on robot body by cloud platform rotation.
4. a kind of substation's fire alarm crusing robot according to claim 3, it is characterised in that: the video acquisition
Device include left side visible light lens, right side visible light lens and be located at left side visible light lens and right side visible light lens it
Between infrared light camera lens, ultraviolet lens, the left side visible light lens, right side visible light lens rear be respectively provided with image and adopt
Collect module, the output end of described image acquisition module is connected with the input terminal of control device, and the heat releases infrared induction module
Positioned at the rear side of infrared light camera lens, the ultraviolet light induction module is located at the rear side of ultraviolet lens.
5. a kind of substation's fire alarm crusing robot according to claim 1, it is characterised in that: the navigator fix
Device includes ultrasonic sensing module, laser induced module, GPS positioning module and path setting module, the navigator fix dress
The output end set is electrically connected with the input terminal of control device, and the output end of the control device is connected with the input terminal of driving motor
It connects.
6. a kind of substation's fire alarm crusing robot according to claim 5, it is characterised in that: the navigator fix
Device further includes the RFID reading code module being arranged on robot body, is installed on the RFID reading code module and substation equipment
Electronic tag match, the output end of the RFID reading code module is electrically connected with the input terminal of control device, control dress
Module is communicated the output end set with indoor server terminal is remotely monitored by wireless communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822182692.2U CN209118452U (en) | 2018-12-25 | 2018-12-25 | A kind of substation's fire alarm crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822182692.2U CN209118452U (en) | 2018-12-25 | 2018-12-25 | A kind of substation's fire alarm crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209118452U true CN209118452U (en) | 2019-07-16 |
Family
ID=67208614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822182692.2U Expired - Fee Related CN209118452U (en) | 2018-12-25 | 2018-12-25 | A kind of substation's fire alarm crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209118452U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109509320A (en) * | 2018-12-25 | 2019-03-22 | 国网河南省电力公司平顶山供电公司 | A kind of substation's fire alarm crusing robot |
| CN114734458A (en) * | 2022-04-01 | 2022-07-12 | 东北电力大学 | Intelligent building inspection robot |
-
2018
- 2018-12-25 CN CN201822182692.2U patent/CN209118452U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109509320A (en) * | 2018-12-25 | 2019-03-22 | 国网河南省电力公司平顶山供电公司 | A kind of substation's fire alarm crusing robot |
| CN114734458A (en) * | 2022-04-01 | 2022-07-12 | 东北电力大学 | Intelligent building inspection robot |
| CN114734458B (en) * | 2022-04-01 | 2022-12-06 | 东北电力大学 | Intelligent building inspection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190716 Termination date: 20211225 |