CN214025696U - Wheeled intelligent inspection robot for building distribution room - Google Patents
Wheeled intelligent inspection robot for building distribution room Download PDFInfo
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- CN214025696U CN214025696U CN202023185702.1U CN202023185702U CN214025696U CN 214025696 U CN214025696 U CN 214025696U CN 202023185702 U CN202023185702 U CN 202023185702U CN 214025696 U CN214025696 U CN 214025696U
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Abstract
The utility model discloses a wheeled intelligent inspection robot of building electricity distribution room, which comprises an upper computer, a lower computer, a camera module, a power module, a motor driving module, a wireless communication module, an alarm module and a sensor module, wherein the camera module is connected with the upper computer through an I/O interface; the camera module comprises two cameras with different resolutions, and the upper computer and the lower computer are in communication connection through serial ports; the alarm module buzzer is connected with the output end of the lower computer; the sensor module is connected with the input end of the lower computer, the motor driving module comprises two direct current motors with encoders and a motor driving unit, the motor driving unit is connected with the output end of the lower computer, the output of the motor driving unit is connected with the direct current motors, and the encoders are connected with the input end of the lower computer; the 5V voltage output end of the lower computer supplies power for the encoder; the automatic inspection device is beneficial to realizing automatic inspection of a power distribution room, can monitor the temperature and the state of the workbench in real time and feed back the temperature and the state, and saves manpower.
Description
Technical Field
The utility model belongs to the technical field of the robot, especially, relate to a wheeled intelligence of building electricity distribution room patrols and examines robot.
Background
With the rapid development and wide application of smart grid technology, it is becoming more important to perform security monitoring on each subsystem thereof so as to ensure the stable operation of the whole system. The distribution room is used as an important link which is directly connected with electric equipment in an urban power grid system and distributes electric energy, and plays an important role in the reliability and stability of power supply and distribution. The intelligent monitoring system has the advantages that faults of distribution equipment and cables in the distribution room are timely discovered and reported, and the operation safety of a power grid is directly related, so that the intelligent monitoring system has great significance for the intelligent monitoring of the distribution room. Main equipment in the distribution room comprises an incoming line cabinet, a metering cabinet, a PT cabinet, an outgoing line cabinet, a contact cabinet, an isolation cabinet and the like, and the traditional mode adopts manual inspection. However, the data of manual inspection cannot be accurately and timely accessed to the management information system, and certain potential safety hazards exist. In addition, another common mode monitors distribution room equipment through a plurality of fixed point installation surveillance cameras in the distribution room, but this kind of mode has great detection blind area, and installation wiring work load is big, the fault rate is higher, the maintenance degree of difficulty is great.
With the fusion application of the robot technology and the information technology, the robot plays a more important role in various works of the power system by virtue of the remarkable advantages of the robot in the aspects of visual processing, distance measurement, data record storage, output transmission and the like, and can gradually replace manpower to complete a large amount of works by virtue of the technical characteristics of the robot, so that the defect of manual inspection can be overcome by replacing the manpower with the robot to perform power inspection operation, and a better monitoring effect can be obtained.
The robot has various moving modes, including wheel type, foot type, crawler type, jumping type, snake type, etc. each moving mode has its own advantages and disadvantages. For example, although the foot type mobile robot has strong adaptability, the mechanical structure and the control algorithm are complex, and the failure rate and the susceptibility to damage are high; although the crawler-type mobile robot moves stably, the platform is slow in moving speed, and the damage degree to the ground is large when the crawler-type mobile robot turns; although the jumping type and snake-shaped type mobile robots have unique advantages in complex environment, maneuverability and the like, the motion stability and the bearing capacity are obviously inferior to those of other mobile robots.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a robot is patrolled and examined to wheeled intelligence of building electricity distribution room improves the degree of automation that the electricity distribution room patrolled and examined, adopts simple steady wheeled mobile robot, need not to install too much monitoring facilities at the electricity distribution room.
In order to achieve the above purpose, the utility model adopts the technical scheme that: a wheel type intelligent inspection robot for a building electricity distribution room comprises an upper computer, a single-chip microcomputer lower computer, a camera module, a power supply module, a motor driving module, a wireless communication module, an alarm module and a sensor module, wherein the upper computer is connected with a data processing center through the wireless communication module, and the camera module is connected with the upper computer through an I/O interface; the camera module comprises two cameras with different resolutions, the camera with lower resolution is used for collecting images of a travelling route, and the camera with higher resolution is used for collecting images of a monitored object;
the upper computer and the lower computer are in communication connection through a serial port;
the sensor module comprises an infrared temperature measuring sensor and a gas detection sensor, the infrared temperature measuring sensor and the gas detection sensor are connected with the input end of the lower computer, the motor driving module comprises two direct current motors with encoders and a motor driving unit, the data input end of the motor driving unit is connected with the output end of the lower computer, the output end of the motor driving unit is connected with the positive end and the negative end of the direct current motors, and an AB phase signal line of the encoder is directly connected with the input end of the lower computer; the 5V voltage output end of the lower computer is connected with the power supply connecting end of the encoder; a buzzer of the alarm module is connected with the output end of the lower computer;
the power module comprises a 5000mA mobile power supply and a 12V lithium battery, wherein the 5000mA mobile power supply provides 5V direct current for the upper computer and the lower computer, and the 12V lithium battery supplies power for the motor driving module.
The inspection robot is provided with two rear wheels and a front wheel, each rear wheel is connected with a direct current motor for a driving wheel, and the front wheel is a universal wheel.
The upper computer adopts Raspberry Pi 4Model B, the Model that the next computer stm32 adopted is stm32f103, the Model that the motor drive unit adopted is L298N driver chip, direct current motor adopts the permanent magnetism brush motor of direct current, and the encoder adopts AB phase increment formula hall encoder, and the Model that infrared temperature sensor adopted is MLX96014, and the Model that gas detection sensor adopted is MQ 135.
The camera with lower resolution adopts a CMOS camera, and the camera with higher resolution adopts a CCD camera.
The gas detection sensor can monitor CO and H2S、CH4、O2The sensor of (1).
Multiple sensors are adopted, and each sensor is used for correspondingly monitoring CO and H respectively2S、CH4、O2A gas of (1).
An elastic anti-collision ring is arranged on the outer side of the inspection robot body in a circle.
Compared with the prior art, the utility model discloses following beneficial effect has at least: the intelligent inspection robot is beneficial to fixed-point, timing and path inspection, and the efficiency and quality of inspection work are effectively improved; the camera can be adopted to obtain the image information of the operation table in real time and provide the image information for monitoring and analyzing personnel, the real-time monitoring and accurate temperature measurement can be carried out on the work table in the power distribution room, and the real-time feedback of the running state of the equipment is ensured; can be used for indoor CO and H2S、CH4、O2Monitoring the gas, and giving an alarm in time if the indoor gas concentration is abnormal; the speed measurement is carried out through the encoder, and the system is suitable for polling in various time limits.
Drawings
FIG. 1 is a schematic structural view of a wheel type intelligent inspection robot for a building electricity distribution room of the present invention;
fig. 2 is a first layer circuit diagram of the wheel type intelligent inspection robot of the utility model;
fig. 3 is a second layer circuit diagram of the wheel type intelligent inspection robot of the utility model;
fig. 4 is a third layer circuit diagram of the wheel type intelligent inspection robot of the utility model;
fig. 5 is the utility model discloses a camera 2 fixed point sampling picture of shooing.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The wheel type intelligent inspection mobile robot has the advantages of light self weight, simple structure, strong bearing capacity, high working efficiency and the like, has wide application prospect and unmovable status in various fields, and is used for inspection of a building power distribution room.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and by referring to preferred embodiments.
As shown in FIG. 1, according to the utility model provides a wheeled intelligent inspection robot in building electricity distribution room, including host computer, next machine, camera module, power module, motor drive module and sensor module. A raspberry pi is used as an upper computer. The lower computer is an stm32 single chip microcomputer, the driving layer and the motion control layer are realized by stm32, and the real-time performance is very high. The raspberry sending upper computer is connected with the lower computer through a serial port to communicate, and data are transmitted to the notebook computer through wireless control; the camera module adopts two cameras with different resolutions to realize tracking and acquisition of a workbench image, and is connected with the raspberry host computer through a DuPont line; the power supply module comprises a 5000mA mobile power supply and a 12V lithium battery, wherein the 5000mA mobile power supply provides stable 5V direct current for the raspberry pie, and the 12V lithium battery supplies power for the motor driving module; the motor driving module comprises 2 direct current motors with encoders and a motor driving unit, the data input end of the motor driving unit is connected with the output end of the lower computer through a DuPont wire, the output end of the motor driving unit is connected with the positive end and the negative end of the direct current motor, an AB phase signal wire of the encoder is directly connected with the input end of the lower computer through the DuPont wire, and the power supply of the encoders provides 5V direct current through a power supply pin on stm 32; the sensor module comprises an infrared temperature measuring sensor and a gas detecting sensor, the infrared temperature measuring sensor and the gas detecting sensor are connected with the input end of the lower computer, and power supply of the sensor module is provided through pins on stm32 of the lower computer; and a buzzer of the alarm module is connected with the output end of the lower computer. The wheeled intelligent inspection robot comprises 2 rear wheels serving as driving wheels, two direct current motors providing power, and 1 front wheel serving as a universal wheel. The wheel type intelligent inspection robot is divided into three layers, wherein the first layer is a motor driving module and a power supply module as shown in fig. 2, and a 4-channel logic circuit driven by a motor can control the inspection robot to move forward and backward; the second layer is a lower computer stm32, a sensor module and an alarm module as shown in fig. 3, data are acquired in real time through detection of a sensor, and if abnormity occurs, an alarm is prompted through a buzzer; the third layer is a raspberry host computer and two cameras as shown in fig. 4, and the cameras are used for collecting tracking routes and data of the instrument of the workbench, and the cameras are used for calculating so as to send instructions to the lower computer.
As a preferred embodiment, the upper computer adopts a Raspberry Pi 4Model B, the lower computer stm32 adopts a stm32f103 Model, the motor driving unit adopts an L298N driving chip, the direct current motor adopts a direct current permanent magnet brush motor, the encoder adopts an AB phase incremental hall encoder, the infrared temperature measuring sensor adopts an MLX96014 Model, the gas detection sensor adopts an MQ135 Model, the camera 1 adopts a CMOS camera, and the camera 2 adopts a CCD camera.
Multiple sensors are adopted, and each sensor is used for correspondingly monitoring CO and H respectively2S、CH4、O2The reliability of gas monitoring can be effectively improved.
A week outside of the inspection robot body is provided with an elastic anti-collision ring, so that the robot or other equipment can be prevented from being damaged by collision under an accidental condition.
Examples
The power distribution room is provided with a warning line around equipment in order to remind personnel in a power distribution operation working place and avoid mistakenly touching, and the like of a power distribution cabinet (screen) in operation, so that the front of a workbench in the power distribution room is provided with the safety warning line, the width of the safety warning line is generally l00mm-150mm, and the standard color of the safety warning line is yellow-Y100M 20.
As shown in fig. 2 and 5, according to the wheel type intelligent inspection robot for the building power distribution room provided by the utility model, in the inspection process, the image of the route is acquired through the camera 1, and the image of the workbench is acquired at the specified position by utilizing the camera 2 with higher resolution; the camera module transmits the images of the route and the images of the workbench to the upper computer.
After the photographing and uploading of one workbench is completed, the upper computer calculates and analyzes acquired data, if the data are abnormal, an instruction is transmitted to the lower computer to start an alarm module, if the data are normal, the inspection robot inspects the next workbench, and detects the temperature near the workbench and the CO and H in the environment through the infrared temperature measurement sensor and the gas detection sensor in real time2S、CH4、O2The concentration of the gas is used for judging whether the workbench breaks down or not, a detection signal is sent to the lower computer in real time, if the temperature and the gas concentration meet standard values, the inspection robot inspects the next workbench, if the temperature or the gas concentration are abnormal, the workbench is judged to break down, and an alarm device is started.
The above description is only the preferred embodiment of the present invention.
Claims (7)
1. A wheel type intelligent inspection robot for a building electricity distribution room is characterized by comprising an upper computer, a singlechip lower computer, a camera module, a power module, a motor driving module, a wireless communication module, an alarm module and a sensor module, wherein the upper computer is connected with a PC data processing center through the wireless communication module; the camera module comprises two cameras with different resolutions, the camera with lower resolution is used for collecting images of a travelling route, and the camera with higher resolution is used for collecting images of a monitored object;
the upper computer and the lower computer are in communication connection through a serial port;
the sensor module comprises an infrared temperature measuring sensor and a gas detection sensor, and the infrared temperature measuring sensor and the gas detection sensor are connected with the input end of the lower computer; the motor driving module comprises two direct current motors with encoders and a motor driving unit, the data input end of the motor driving unit is connected with the output end of the lower computer, the output end of the motor driving unit is connected with the positive end and the negative end of the direct current motors, and an AB phase signal line of the encoder is directly connected with the input end of the lower computer; the 5V voltage output end of the lower computer is connected with the power supply connecting end of the encoder; a buzzer of the alarm module is connected with the output end of the lower computer;
the power module comprises a 5000mA mobile power supply and a 12V lithium battery, wherein the 5000mA mobile power supply provides 5V direct current for the upper computer and the lower computer, and the 12V lithium battery supplies power for the motor driving module.
2. The wheel type intelligent inspection robot for the power distribution rooms of the buildings as claimed in claim 1, wherein the wheel type intelligent inspection robot is provided with two rear wheels and a front wheel, each rear wheel is connected with a direct current motor for a driving wheel, and the front wheel is a universal wheel.
3. The wheel type intelligent inspection robot for the building power distribution room according to claim 1, wherein the upper computer adopts a Raspberry Pi 4Model B, the lower computer stm32 adopts a stm32f103 Model, the motor driving unit adopts a L298N driving chip, the direct current motor adopts a direct current permanent magnetic brush motor, the encoder adopts an AB phase incremental Hall encoder, the infrared temperature measuring sensor adopts an MLX96014 Model, and the gas detection sensor adopts an MQ135 Model.
4. The wheeled intelligent inspection robot for building distribution rooms of claim 1, wherein the lower resolution camera is a CMOS camera and the higher resolution camera is a CCD camera.
5. A building electricity distribution room wheel as claimed in claim 1Formula intelligence patrols and examines robot, its characterized in that, gaseous detection sensor adopts and to monitor CO, H2S、CH4、O2The sensor of (1).
6. The wheeled intelligent inspection robot for building power distribution rooms of claim 5, wherein a plurality of sensors are adopted, and each sensor is used for monitoring CO and H correspondingly2S、CH4、O2A gas of (1).
7. The wheel type intelligent inspection robot for the power distribution room of the building according to claim 1, wherein an elastic anti-collision ring is arranged on the outer side of the inspection robot body in a circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023185702.1U CN214025696U (en) | 2020-12-25 | 2020-12-25 | Wheeled intelligent inspection robot for building distribution room |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023185702.1U CN214025696U (en) | 2020-12-25 | 2020-12-25 | Wheeled intelligent inspection robot for building distribution room |
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| Publication Number | Publication Date |
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| CN214025696U true CN214025696U (en) | 2021-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202023185702.1U Active CN214025696U (en) | 2020-12-25 | 2020-12-25 | Wheeled intelligent inspection robot for building distribution room |
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| CN (1) | CN214025696U (en) |
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- 2020-12-25 CN CN202023185702.1U patent/CN214025696U/en active Active
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