CN217880078U - Transformer substation inspection device capable of automatically planning path and dynamically avoiding obstacles - Google Patents
Transformer substation inspection device capable of automatically planning path and dynamically avoiding obstacles Download PDFInfo
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- CN217880078U CN217880078U CN202221776273.1U CN202221776273U CN217880078U CN 217880078 U CN217880078 U CN 217880078U CN 202221776273 U CN202221776273 U CN 202221776273U CN 217880078 U CN217880078 U CN 217880078U
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- vehicle body
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- substation inspection
- transformer substation
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Abstract
The utility model discloses a transformer substation inspection device capable of planning paths autonomously and avoiding obstacles dynamically, which comprises a vehicle body, wherein a support table is arranged at the top of the vehicle body; a battery pack is arranged on one side of the vehicle body, and a four-wheel omnidirectional driving device is arranged at the bottom of the vehicle body; the top center of brace table is equipped with cloud platform camera, the front end of brace table is equipped with laser radar and control module, the side of brace table is equipped with inertia measurement module and communication module. The utility model discloses a can independently plan the transformer substation inspection device that route and developments kept away the barrier, solved and patrolled and examined the scene at open, semi-open transformer substation daily regular, personnel occupy in large quantity, the dependence is strong, patrol and examine the inefficiency scheduling problem, have realized the effect that subtracts the operator and increase to operating personnel's working strength has been reduced by a wide margin.
Description
Technical Field
The utility model relates to a power equipment technical field particularly, relates to a transformer substation inspection device that barrier was kept away to autonomous planning route and developments.
Background
The transformer substation is used as a power grid junction, the operation quality of the transformer substation is closely related to the safe and stable operation of the whole power grid, and therefore regular inspection must be carried out to ensure the safe and stable operation of equipment of the transformer substation. Along with the gradual implementation of the operation and maintenance integrated production management mode of the transformer substation, the professional quality and the working requirements of transformer substation operators are continuously improved. Due to the fact that the operating personnel are lack for a long time, the labor cost is continuously improved, and other objective conditions are obvious, in actual work, the conditions that equipment inspection is not in place and safety management work is not in place easily occur. Therefore, an inspection robot capable of automatically planning a path and dynamically avoiding obstacles is urgently needed to complete high-repeatability work such as routine inspection of the transformer substation, so that the purposes of improving the manpower utilization value and improving the operation maintenance quality and efficiency of the transformer substation are achieved.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned technical problem among the correlation technique, the utility model provides a can independently plan the transformer substation inspection device that the barrier was kept away to route and developments can overcome the above-mentioned not enough of prior art.
In order to achieve the technical purpose, the technical scheme of the utility model is that:
a transformer substation inspection device capable of automatically planning a path and dynamically avoiding obstacles comprises a vehicle body, wherein a support table is arranged at the top of the vehicle body; a battery pack is arranged on one side of the vehicle body, and a four-wheel omnidirectional driving device is arranged at the bottom of the vehicle body; a pan-tilt camera is arranged in the center of the top of the support platform, a laser radar and a control module are arranged at the front end of the support platform, and an inertia measurement module and a communication module are arranged on the side surface of the support platform; laser radar, cloud platform camera, inertia measurement module all pass through communication module and motion control center communication connection, motion control center passes through communication module with control module communication connection, the group battery with the control module electricity is connected, control module with laser radar, cloud platform camera, inertia measurement module, four-wheel omnidirectional drive device electricity are connected.
Furthermore, a lighting device is arranged at the lower part of the front end of the support platform.
Further, the control module is electrically connected with the lighting device.
Further, the support platform is fixedly connected with the front end of the vehicle body.
Further, the lidar is located below the control module.
Further, the inertia measurement module is located below the communication module.
The utility model has the advantages that: the utility model discloses a but transformer substation inspection device of autonomous planning route and developments obstacle avoidance receives the data that laser radar and cloud platform camera transmitted through the motion control center, constructs three-dimensional electronic map and utilizes the vision to fuse SLAM algorithm and realizes the accurate location of inspection device, calculates the optimal action route according to electronic map and utilization path planning algorithm; the method comprises the steps of receiving data transmitted by an inertia measurement module, outputting data information such as a target position, a safe speed and a motion instruction to a control module by combining an optimal action path, and dynamically adjusting motion by using a visual obstacle avoidance algorithm, so that the problems of large occupied quantity of personnel, strong dependence, low inspection efficiency and the like in the daily regular inspection scene of an open type or semi-open type transformer substation are solved, the effect of reducing and increasing personnel and the efficiency are realized, and the working intensity of operators is greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a substation inspection device according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a data acquisition and control process of the substation inspection device according to the embodiment of the present invention;
in the figure: 1. laser radar, 2, cloud platform camera, 3, inertia measurement module, 4, communication module, 5, control module, 6, four-wheel omnidirectional drive device, 7, lighting device, 8, group battery, 9, brace table, 10, automobile body.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.
As shown in fig. 1-2, the substation inspection device capable of planning a path autonomously and avoiding obstacles dynamically according to the embodiment of the present invention includes a vehicle body 10, wherein a support platform 9 is arranged on the top of the vehicle body 10; a battery pack 8 is arranged on one side of the vehicle body 10 to provide power for the inspection device, and a four-wheel omnidirectional driving device 6 (namely a four-wheel driving device) is arranged at the bottom of the vehicle body 10 to move in all directions; the top center of brace table 9 is equipped with cloud platform camera 2 for gather the on-the-spot visual image data of transformer substation, the front end of brace table 9 is equipped with lidar 1 and control module 5, lidar 1 is used for gathering the on-the-spot three-dimensional point cloud data of transformer substation: an inertia measurement module 3 and a communication module 4 are arranged on the side surface of the support table 9, the inertia measurement module 3 is used for measuring the pose and the acceleration of the inspection device, and the communication module 4 is used for realizing data transmission and instruction receiving and sending; laser radar 1, cloud platform camera 2, inertia measurement module 3 all pass through communication module 4 and motion control center communication connection, the motion control center passes through communication module 4 with control module 5 communication connection, group battery 8 with control module 5 electricity is connected, control module 5 with laser radar 1, cloud platform camera 2, inertia measurement module 3, four-wheel omnidirectional drive 6 electricity are connected, control module 5 is used for realizing the control to laser radar 1, cloud platform camera 2, inertia measurement module 3, four-wheel omnidirectional drive 6 through the operating command, the motion control center is used for realizing the accurate location of inspection device, calculating the optimal path of action, and to control module 5 output data information such as target position, safe speed and motion instruction to combine the obstacle situation to realize dynamic motion adjustment.
In an embodiment of the present invention, a lighting device 7 is disposed at a lower portion of the front end of the supporting platform 9, and the control module 5 is electrically connected to the lighting device 7 for controlling the lighting device 7 through an operation command.
In an embodiment of the present invention, the supporting platform 9 is fixedly connected to the front end of the vehicle body 10.
In a specific embodiment of the present invention, the laser radar 1 is located below the control module 5.
In a specific embodiment of the present invention, the inertia measurement module 3 is located below the communication module 4.
When the device is used specifically, the laser radar 1 collects field three-dimensional point cloud data and transmits the data to the motion control center through the communication module 4; the pan-tilt camera 2 collects field image data and transmits the field image data to the motion control center through the communication module 4; the inertia measurement module 3 measures the pose and the acceleration of the inspection device and transmits the pose and the acceleration to the motion control center through the communication module 4; the motion control center respectively receives three-dimensional point cloud data transmitted by the laser radar 1 and visual image data transmitted by the holder camera 2, a three-dimensional electronic map is constructed, and the inspection device is accurately positioned by utilizing a built-in visual fusion SLAM algorithm; calculating an optimal action path by utilizing a built-in path planning algorithm according to the electronic map; and receiving pose and acceleration data transmitted by the inertia measurement module 3, outputting data information such as a target position, a safe speed and a motion instruction to the control module 5 by combining the optimal action path, and performing dynamic motion adjustment by using a visual obstacle avoidance algorithm. The control module 5 receives motion data information such as a motion instruction, a target position, a safe speed and the like, and controls the driving device to move.
In summary, with the aid of the technical solution of the present invention, the motion control center receives data transmitted by the laser radar and the pan-tilt camera, constructs a three-dimensional electronic map and utilizes the visual fusion SLAM algorithm to realize the accurate positioning of the inspection device, and calculates an optimal action path according to the electronic map and utilizing the path planning algorithm; the method comprises the steps of receiving data transmitted by an inertia measurement module, outputting data information such as a target position, a safe speed and a motion instruction to a control module by combining an optimal action path, and dynamically adjusting motion by using a visual obstacle avoidance algorithm, so that the problems of large occupied quantity of personnel, strong dependence, low inspection efficiency and the like in the daily regular inspection scene of an open type or semi-open type transformer substation are solved, the effect of reducing and increasing personnel and the efficiency are realized, and the working intensity of operators is greatly reduced.
The above description is only for the preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A transformer substation inspection device capable of automatically planning a path and dynamically avoiding obstacles is characterized by comprising a vehicle body (10), wherein a support table (9) is arranged at the top of the vehicle body (10); a battery pack (8) is arranged on one side of the vehicle body (10), and a four-wheel omnidirectional driving device (6) is arranged at the bottom of the vehicle body (10); a holder camera (2) is arranged in the center of the top of the support table (9), a laser radar (1) and a control module (5) are arranged at the front end of the support table (9), and an inertia measurement module (3) and a communication module (4) are arranged on the side surface of the support table (9); laser radar (1), cloud platform camera (2), inertia measurement module (3) all pass through communication module (4) and motion control center communication connection, motion control center passes through communication module (4) with control module (5) communication connection, group battery (8) with control module (5) electricity is connected, control module (5) with laser radar (1), cloud platform camera (2), inertia measurement module (3), four-wheel omnidirectional drive device (6) electricity are connected.
2. The substation inspection device capable of automatically planning paths and dynamically avoiding obstacles according to claim 1, wherein a lighting device (7) is arranged at the lower part of the front end of the support platform (9).
3. The substation inspection device with autonomous planned path and dynamic obstacle avoidance according to claim 2, characterized in that the control module (5) is electrically connected with the lighting device (7).
4. The substation inspection device capable of automatically planning paths and dynamically avoiding obstacles according to claim 1, wherein the support table (9) is fixedly connected with the front end of the vehicle body (10).
5. The substation inspection device with autonomous planned path and dynamic obstacle avoidance according to claim 1, characterized in that the lidar (1) is located below the control module (5).
6. The substation inspection device capable of automatically planning paths and dynamically avoiding obstacles according to claim 1, wherein the inertial measurement module (3) is located below the communication module (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221776273.1U CN217880078U (en) | 2022-07-11 | 2022-07-11 | Transformer substation inspection device capable of automatically planning path and dynamically avoiding obstacles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221776273.1U CN217880078U (en) | 2022-07-11 | 2022-07-11 | Transformer substation inspection device capable of automatically planning path and dynamically avoiding obstacles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217880078U true CN217880078U (en) | 2022-11-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221776273.1U Active CN217880078U (en) | 2022-07-11 | 2022-07-11 | Transformer substation inspection device capable of automatically planning path and dynamically avoiding obstacles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217880078U (en) |
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2022
- 2022-07-11 CN CN202221776273.1U patent/CN217880078U/en active Active
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