CN210100021U - Automatic obstacle-removing robot system for transformer substation - Google Patents
Automatic obstacle-removing robot system for transformer substation Download PDFInfo
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- CN210100021U CN210100021U CN201821986570.2U CN201821986570U CN210100021U CN 210100021 U CN210100021 U CN 210100021U CN 201821986570 U CN201821986570 U CN 201821986570U CN 210100021 U CN210100021 U CN 210100021U
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Abstract
The utility model relates to the field of intelligent robots, in particular to an automatic obstacle-removing robot system for a transformer substation, which comprises an AGV moving platform; the image acquisition module is arranged on the AGV moving platform and used for acquiring the image of the indicating lamp of the transformer substation; the indicating lamp identification module is arranged on the AGV moving platform, is connected with the image acquisition module and is used for identifying indicating lamps in the indicating lamp images of the transformer substation; the navigation module is arranged on the AGV moving platform and used for navigation; the obstacle avoidance module is arranged on the AGV moving platform and used for detecting obstacles; the communication module is arranged on the AGV moving platform, connected with the image acquisition module and the indicator light identification module and used for realizing communication with an upper computer; locate AGV moving platform, to AGV moving platform, image acquisition module, pilot lamp identification module, navigation module, keep away barrier module, communication module and carry out the control module who controls. Through using the utility model discloses, can realize at automatic tour and malfunction alerting of transformer substation, automatically, help the dispatcher to investigate equipment trouble.
Description
Technical Field
The utility model relates to an intelligent robot field especially relates to automatic barrier robot system of removing of transformer substation.
Background
The transformer substation monitoring system is an important system for guaranteeing safe and stable operation of a power grid, and whether the operation of the transformer substation monitoring system is normal or not is directly related to the monitoring capability of a dispatcher on the whole power grid. At present, when a dispatcher dispatches a power grid, the operation condition of a substation monitoring system is judged by depending on alarm information of a dispatching automation system, but when the power grid monitoring system breaks down or is abnormal, the dispatcher has no way to know whether the operation of substation monitoring equipment is good or bad. Similarly, in severe weather such as thunderstorm and typhoon, the dispatching automation system can generate strong interference signals, and the dispatcher can not judge the authenticity of the alarm signals.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides an automatic barrier robot system of removing of transformer substation.
Automatic barrier robot system of removing of transformer substation, including AGV moving platform, still include:
the image acquisition module is arranged on the AGV moving platform and used for acquiring the image of the indicating lamp of the transformer substation;
the indicating lamp identification module is arranged on the AGV moving platform, is connected with the image acquisition module and is used for identifying indicating lamps in the indicating lamp images of the transformer substation;
the navigation module is arranged on the AGV moving platform and used for navigation;
the obstacle avoidance module is arranged on the AGV moving platform and used for detecting obstacles;
the communication module is arranged on the AGV moving platform, connected with the image acquisition module and the indicator light identification module and used for realizing communication with an upper computer;
locate AGV moving platform, to AGV moving platform, image acquisition module, pilot lamp identification module, navigation module, keep away barrier module, communication module and carry out the control module who controls.
Preferably, the obstacle avoidance module comprises an ultrasonic measurement and control instrument and an infrared camera which are connected with the controller.
Preferably, the image acquisition module includes camera, rotating electrical machines and elevating gear, elevating gear locates the AGV moving platform top, the elevating gear top is located to the rotating electrical machines, the camera is articulated with the output of rotating electrical machines.
Preferably, the device further comprises an automatic charging module, wherein the automatic charging module comprises a voltage detection module and a current detection module which are connected with the control module.
Preferably, the system further comprises a face recognition module connected with the control module.
Through using the utility model discloses, can realize following effect:
1. the automatic inspection and fault alarm of the transformer substation are realized, and a dispatcher is automatically assisted to check equipment faults;
2. the angle and the height of the camera can be adjusted, so that the applicability is stronger;
3. the face identity recognition function is achieved, and people entering the transformer substation can be recognized and verified.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic diagram of module connection according to an embodiment of the present invention;
fig. 2 is a schematic diagram of module connection of an obstacle avoidance module according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an image capturing module according to an embodiment of the present invention;
fig. 4 is a schematic diagram of module connection of an automatic charging module according to an embodiment of the present invention;
fig. 5 is a schematic diagram of module connection of the face recognition module in the embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be further described below with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, the embodiment of the utility model provides an automatic barrier clearance robot system of transformer substation, including AGV moving platform, still include: the image acquisition module is arranged on the AGV moving platform and used for acquiring the image of the indicating lamp of the transformer substation; the indicating lamp identification module is arranged on the AGV moving platform, is connected with the image acquisition module and is used for identifying indicating lamps in the indicating lamp images of the transformer substation; the navigation module is arranged on the AGV moving platform and used for navigation; the obstacle avoidance module is arranged on the AGV moving platform and used for detecting obstacles; the communication module is arranged on the AGV moving platform, connected with the image acquisition module and the indicator light identification module and used for realizing communication with an upper computer; locate AGV moving platform, to AGV moving platform, image acquisition module, pilot lamp identification module, navigation module, keep away barrier module, communication module and carry out the control module who controls.
The specific working process is as follows: the navigation module stores a planned path, the AGV moving platform moves to a position corresponding to the transformer substation according to the planned path, and the image acquisition module acquires images of the indicating lamps of the transformer substation. And detecting the obstacles on the path of the obstacle avoidance module, and sending the detection result to the control module. The pilot lamp identification module judges whether the transformer substation breaks down through image color recognition algorithm and according to the colour of pilot lamp in the image of gathering, and image color recognition algorithm is prior art and not the utility model discloses a protection scope, consequently not described in detail. The control module controls the AGV moving platform to move according to the obstacle detection result, and meanwhile according to the identification result of the indicating lamps, when the red lamps are found to give an alarm, the indicating lamp identification module is controlled to send the identification result to the upper computer through the communication module, meanwhile, the controller controls the image acquisition module to upload related images to the upper computer through the communication module, and a dispatcher judges the fault condition of the monitoring equipment according to liquid crystal display numbers in the images.
As shown in fig. 2, in this embodiment, the obstacle avoidance module includes an ultrasonic measurement and control instrument and an infrared camera connected to the controller. The ultrasonic measurement and control instrument and the infrared camera detect the obstacle on the path through the distance measuring principle, and the top end of the AGV moving platform is prevented from colliding with the obstacle.
As shown in fig. 3, in this embodiment, the image capturing module includes a camera 1, a rotating electrical machine 2 and a lifting device 3, the lifting device is disposed on the top end 4 of the AGV, the rotating electrical machine is disposed on the top end of the lifting device, and the camera is hinged to the output end of the rotating electrical machine. To ensure that the captured image is clear, the image capture module requires a specific angle and height. The rotating motor controls the camera to be at a set angle through rotation, and the lifting device enables the camera to be at a set height through lifting adjustment.
As shown in fig. 4, as a preferred embodiment of the present invention, the present invention further includes an automatic charging module, and the automatic charging module includes a voltage detection module and a current detection module connected to the control module. The voltage detection module and the current detection module are used for detecting the voltage and the current of the battery of the AGV moving platform, and when the voltage or the current is smaller than a set threshold value, the AGV moving platform is charged according to a planned path, so that automatic charging is realized.
As shown in fig. 5, as a preferred embodiment, the mobile terminal further includes a face recognition module connected to the control module. The face recognition module is used for carrying out face recognition on personnel entering the transformer substation, and when the detected face is not a transformer substation worker, the control module uploads a detection result to the upper computer for alarming.
Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (5)
1. Automatic barrier robot system of removing of transformer substation, including AGV moving platform, its characterized in that still includes:
the image acquisition module is arranged on the AGV moving platform and used for acquiring the image of the indicating lamp of the transformer substation;
the indicating lamp identification module is arranged on the AGV moving platform, is connected with the image acquisition module and is used for identifying indicating lamps in the indicating lamp images of the transformer substation;
the navigation module is arranged on the AGV moving platform and used for navigation;
the obstacle avoidance module is arranged on the AGV moving platform and used for detecting obstacles;
the communication module is arranged on the AGV moving platform, connected with the image acquisition module and the indicator light identification module and used for realizing communication with an upper computer;
locate AGV moving platform, to AGV moving platform, image acquisition module, pilot lamp identification module, navigation module, keep away barrier module, communication module and carry out the control module who controls.
2. The substation automatic obstacle-removing robot system of claim 1, wherein the obstacle-avoiding module comprises an ultrasonic measurement and control instrument and an infrared camera connected with the controller.
3. The substation automatic obstacle-clearance robot system of claim 1, wherein the image acquisition module comprises a camera, a rotating motor and a lifting device, the lifting device is arranged at the top end of the AGV moving platform, the rotating motor is arranged at the top end of the lifting device, and the camera is hinged to the output end of the rotating motor.
4. The substation automatic obstacle-removal robot system of claim 1, further comprising an automatic charging module comprising a voltage detection module and a current detection module connected to the control module.
5. The substation automatic obstacle-removing robot system of claim 1, further comprising a face recognition module connected to the control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821986570.2U CN210100021U (en) | 2018-11-29 | 2018-11-29 | Automatic obstacle-removing robot system for transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821986570.2U CN210100021U (en) | 2018-11-29 | 2018-11-29 | Automatic obstacle-removing robot system for transformer substation |
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| CN210100021U true CN210100021U (en) | 2020-02-21 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111474942A (en) * | 2020-05-09 | 2020-07-31 | 烟台市地摩动力科技有限公司 | Fault self-checking method and system of intelligent transportation device |
| CN111604916A (en) * | 2020-04-30 | 2020-09-01 | 上海允登信息科技有限公司 | Machine room IT equipment fault cabinet U-position positioning system and method |
| CN111890375A (en) * | 2020-06-16 | 2020-11-06 | 广州铁路职业技术学院（广州铁路机械学校） | Intelligent searching robot and teaching system thereof |
| CN115981257A (en) * | 2022-12-21 | 2023-04-18 | 北京能科瑞元数字技术有限公司 | AGV cluster cooperative operation method and system for industrial intelligent manufacturing flexible production line |
-
2018
- 2018-11-29 CN CN201821986570.2U patent/CN210100021U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111604916A (en) * | 2020-04-30 | 2020-09-01 | 上海允登信息科技有限公司 | Machine room IT equipment fault cabinet U-position positioning system and method |
| CN111604916B (en) * | 2020-04-30 | 2024-04-02 | 杭州优云科技有限公司 | Machine room IT equipment fault cabinet U-position positioning system and method |
| CN111474942A (en) * | 2020-05-09 | 2020-07-31 | 烟台市地摩动力科技有限公司 | Fault self-checking method and system of intelligent transportation device |
| CN111890375A (en) * | 2020-06-16 | 2020-11-06 | 广州铁路职业技术学院（广州铁路机械学校） | Intelligent searching robot and teaching system thereof |
| CN115981257A (en) * | 2022-12-21 | 2023-04-18 | 北京能科瑞元数字技术有限公司 | AGV cluster cooperative operation method and system for industrial intelligent manufacturing flexible production line |
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