KR102536503B1 - Apparatus for monitoring power facilities - Google Patents

Abstract

The present invention relates to a power facility monitoring device, comprising: a sensor unit including a plurality of sensors for detecting or checking a power facility, a remote tag, an obstacle, a flooded section, an exit, and a charger when the power facility monitoring device is running; a charging unit that wirelessly charges an internal battery when the power facility monitoring device moves to a charger; a wheel and boom driving unit independently driving a wheel and a boom for moving the power facility monitoring device so that the device can travel on a flat surface or overcome obstacles; a communication unit that transmits the information detected through the sensor unit to a higher-order device by communicating with a communication unit during charging in the charger; and a control unit that automatically sets a route toward a destination based on the remote tag information detected through the sensor unit and drives, and performs designated tasks including inspection of electric power facilities upon reaching the destination through obstacles encountered during driving or flooded sections. includes;

Description

Power facility monitoring device {APPARATUS FOR MONITORING POWER FACILITIES}

The present invention relates to an apparatus and method for monitoring power facilities, and more particularly, to monitoring power facilities using an unmanned ground mobile device moving on wheels, recognizing a location using a remote tag, and detecting obstacles and submerged sections. It relates to an apparatus and method for monitoring power facilities that enable inspection of power outlets while moving across.

In general, since the interior space for inspecting power facilities such as substations and power outlets exposed outdoors is narrow, it is inconvenient for workers to move and it is difficult for workers wearing safety equipment to work by being put in with facility diagnostic equipment.

Conventionally, there are cases where equipment is inspected using flying drones, but substations exposed outdoors have a high risk of accidents due to interference with incoming and outgoing lines, and in the case of underground power outlets, GPS signal reception is difficult and it is difficult to secure flight space. There was a limit to inspection with a flying drone.

Accordingly, a ground (or underground) type unmanned mobile device has recently been attempted, but it is difficult to move the unmanned mobile device due to various obstacles installed on the ground (or underground) or flooded sections. There was a problem of installing a separate monitoring road (or rail).

Therefore, there is no need to install a separate road (or rail) for monitoring, and even if there is an obstacle or flooded section, it can move freely across obstacles and find a designated location without receiving a GPS signal, and check power facilities while driving in the correct direction. There is a need for a ground-based unmanned power facility monitoring device.

The background art of the present invention is disclosed in Republic of Korea Patent Publication No. 10-2010-0111263 (published on October 14, 2010, title of the invention: Power facility inspection device using an unmanned aerial vehicle).

According to one aspect of the present invention, the present invention was created to solve the above problems, and is for monitoring power facilities using an unmanned ground mobile device moving on wheels, and a remote tag (eg, power outlet RFID, QR code, NFC, etc.) to recognize the location, move across obstacles and flooded sections, find a designated location without receiving a GPS signal, drive in the correct direction, and check power facilities. Its purpose is to provide a method.

An apparatus for monitoring power facilities according to an aspect of the present invention includes a sensor unit including a plurality of sensors for detecting or inspecting power facilities, remote tags, obstacles, submerged sections, exits, and chargers while the apparatus is running. ; a charging unit that wirelessly charges an internal battery when the power facility monitoring device moves to a charger; a wheel and boom driving unit independently driving a wheel and a boom for moving the power facility monitoring device so that the device can travel on a flat surface or overcome obstacles; a communication unit that transmits the information detected through the sensor unit to a higher-order device by communicating with a communication unit during charging in the charger; and a control unit that automatically sets a route toward a destination based on the remote tag information detected through the sensor unit and drives, and performs designated tasks including inspection of electric power facilities upon reaching the destination through obstacles encountered during driving or flooded sections. It is characterized by including;

In the present invention, the information detected through the sensor unit is characterized in that it includes power facility inspection information, obstacle information, and submerged section information.

In the present invention, a storage unit for storing the information detected through the sensor unit; further included, wherein the storage unit is information about a ground or underground route for power facility inspection, the location of the power facility, and the shape of the power facility. , the type, form and meaning of the remote tag, the location of the charger, the location of the exit, map information, the number and inspection items of power facilities inspected, and at least one or more of tasks to be performed are further stored.

In the present invention, when there is a flooded section on the driving route, according to the control of the controller, in order to pass through the flooded section, air is injected into the buoyancy unit mounted on the main body of the power facility monitoring device to generate buoyancy It further includes a buoyancy generator, and when buoyancy is not required, according to the control of the control unit, the buoyancy generator sucks in and discharges the air injected into the buoyancy unit.

In the present invention, the boom is a wheel structure in which wheels are mounted at both ends of the boom and rotate the boom around a rotation axis to obtain a wheel effect of a larger diameter, and at both ends of the boom It is characterized in that the mounted wheel is independently rotatable, and the boom rod is also implemented to be independently rotatable.

In the present invention, the wheel mounted on the boom is characterized in that it comprises a mecanum wheel.

In the present invention, the control unit recognizes information indicated by the remote tag based on database information pre-stored in the storage unit when detecting a remote tag when the power facility monitoring device is in a route driving state, and It checks the current state of the power facility monitoring device and whether or not the task is completed, and based on the check result, the direction or destination to be driven in advance is determined, and in the state in which the direction or destination to be driven is previously determined, it is a kind of milestone in the current driving state. After a remote tag performing the role is detected, and then a remote tag indicating a point where the direction can be changed is detected, the power facility monitoring device is driven by changing the direction from the point where the direction can be changed to the predetermined direction, and moving in the changed direction. After driving a specified distance, when arriving at the destination, it is characterized in that the mission at the destination is performed.

In the present invention, the control unit, when an obstacle is detected on the path, changes from the wheel driving driving mode to the boom driving driving mode to pass the obstacle, and when a submerged section is detected on the path, buoyancy is generated through the buoyancy generating unit It is characterized by passing through a submerged section by driving in a boom driving driving mode in a state in which buoyancy is generated by injecting air into the unit.

In the present invention, the control unit, when the power facility monitoring device arrives at the location of the power facility, checks the power facility and stores power facility inspection information in the storage unit, and when the power facility monitoring device arrives at the location of the charger and the communicator In this case, charging is performed and the power facility inspection information stored in the storage unit is communicated with the communicator and transmitted to the upper device during charging, and when the power facility monitoring device completes the power facility inspection task and arrives at the exit, an exit arrival alarm It is characterized by outputting.

A power facility monitoring method according to another aspect of the present invention includes the steps of detecting or inspecting, by a control unit, power facilities, remote tags, obstacles, submerged sections, outlets, and chargers through a sensor unit while the power facility monitoring apparatus is running; performing, by the control unit, wireless charging of an internal battery through a charging unit when the power facility monitoring device moves to a charger; driving, by the control unit, a wheel and a boom for moving the power facility monitoring device independently through a wheel and boom driving unit to travel on a flat surface or to cross an obstacle; transmitting, by the control unit, the information detected through the sensor unit through the communication unit to a higher-order device by communicating with a communicator during charging in the charger; and the control unit automatically sets a route toward a destination based on the remote tag information detected through the sensor unit and drives, and when it arrives at a designated destination after passing through an obstacle encountered during driving or a flooded section, a designated task including power facility inspection It is characterized in that it includes; step of performing.

In the present invention, when there is a flooded section on the driving route, in order to pass through the flooded section, the control unit injects air into the buoyancy unit mounted on the main body of the power facility monitoring device through the buoyancy generating unit to generate buoyancy. doing; and when the buoyancy is not required, the controller sucking in and discharging the air injected into the buoyancy unit through the buoyancy generating unit.

In the present invention, the boom is a wheel structure in which wheels are mounted at both ends of the boom and rotate the boom around a rotation axis to obtain a wheel effect of a larger diameter, and at both ends of the boom It is characterized in that the mounted wheel is independently rotatable, and the boom rod is also implemented to be independently rotatable.

In the present invention, in order to perform the designated task, the control unit, when the power facility monitoring device is in a route driving state, detects a remote tag based on database information previously stored in the storage unit. Recognizes the information indicated by the power facility monitoring device, checks the current state of the power facility monitoring device and whether or not the mission is completed, and based on the check result, determines the direction or destination to be driven in advance, and determines the direction or destination to be driven in advance state, if a remote tag that serves as a kind of milestone in the current driving state is detected, and then a remote tag indicating a direction changeable point is detected, the power facility monitoring device is switched from the direction changeable point to the predetermined direction. driving, and when arriving at a corresponding destination after driving a designated distance in the switched direction, it is characterized in that it performs a mission at the corresponding destination.

In the present invention, in order to pass through the obstacle or flooded section, the control unit, when an obstacle is detected on the path, changes from the wheel driving driving mode to the boom driving driving mode to pass the obstacle, and the flooded section on the path When this is detected, air is injected into the buoyancy unit through the buoyancy generator to generate buoyancy, and the vehicle travels in a boom driving driving mode to pass through a submerged section.

In the present invention, when the power facility monitoring device arrives at a designated destination, the controller checks the power facility and stores power facility inspection information in a storage unit when the power facility monitoring device arrives at the location of the power facility, When the power facility monitoring device arrives at the location of the charger and the communicator, it performs charging and transmits the power facility inspection information stored in the storage unit during charging to the upper device by communicating with the communicator, and the power facility monitoring device checks the power facility. When the mission is completed and the exit is reached, an exit arrival alarm is output.

According to one aspect of the present invention, the present invention is for monitoring power facilities using an unmanned ground mobile device that moves on wheels, and recognizes the location using a remote tag (eg, power outlet RFID, QR code, NFC, etc.) While moving across obstacles and flooded sections, it finds a designated location without receiving a GPS signal, travels in the correct direction, and checks power facilities.

1 is an exemplary view showing a schematic configuration of a power facility monitoring apparatus according to an embodiment of the present invention.
2 is an exemplary view showing a schematic side cross-sectional shape of a wheel and a boom in FIG. 1;
3 is an exemplary view sequentially showing the operation of a wheel and a boom when crossing an obstacle in FIG. 2;
4 is an exemplary view showing an example of a wheel mounted on a boom in FIG. 2;
5 is an exemplary view showing the shape of the buoyancy unit in which air is injected by the buoyancy generating unit in FIG. 1;
6 is a flowchart illustrating a power facility monitoring method according to a first embodiment of the present invention.
FIG. 7 is a flowchart for explaining a method of setting a travel path of the power facility monitoring apparatus in FIG. 6;
8 is a flowchart illustrating a power facility monitoring method according to a second embodiment of the present invention.
9 is a flowchart illustrating a power facility monitoring method according to a third embodiment of the present invention.

Hereinafter, an embodiment of a power facility monitoring apparatus and method according to the present invention will be described with reference to the accompanying drawings.

In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, definitions of these terms will have to be made based on the content throughout this specification.

1 is an exemplary view showing a schematic configuration of a power facility monitoring apparatus according to an embodiment of the present invention.

As shown in FIG. 1, the power equipment monitoring apparatus 100 according to the present embodiment includes a sensor unit 110, a control unit 120, a charging unit 130, a wheel and boom driving unit 140, and a communication unit 150. , a storage unit 160 (eg, DB), and a buoyancy generating unit 170.

The control unit 120 of the power facility monitoring device 100, through the sensor unit 110, the power facility 210, the remote tag 220 (eg power outlet RFID, QR code, NFC, etc.), obstacle 230 ), the flooded section 240, the outlet 250, and the charger 260 can be detected.

Accordingly, the sensor unit 110 may include a plurality of sensors such as an optical scanner, a camera, a thermal imaging camera, lidar (radar), and an RFID (or QR code) reader. Also, the sensor unit 110 may include an ultrasonic sensor, an infrared sensor, a distance sensor, a humidity sensor, and an illuminance sensor.

The charging unit 130 may wirelessly charge an internal battery (not shown) when the power facility monitoring device 100 moves to the charger 260 .

The wheel and boom driving unit 140 are attached to the body of the power facility monitoring device 100 and move the wheels (141, 142, 143 in FIG. 2) and the boom (ie, the boom stand (see 144 in FIG. 2) ) Wheels are mounted at both ends of the wheel structure, and a wheel structure in the form of obtaining a larger diameter wheel effect by rotating the boom around the rotation axis 145) to drive on flat ground or to drive over obstacles do.

For reference, FIG. 2 is an exemplary view showing a schematic side cross-sectional shape of the wheel and boom in FIG. 1. Although not shown in the drawing, wheels and booms of the same structure are mounted on both left and right sides of the body (BODY) note that

Here, the wheels 141 and 142 mounted on both ends of the boom (see 144 in FIG. 2) can rotate independently (forward rotation, reverse rotation), and the boom (see 144 in FIG. 2) also rotates independently (Forward rotation, reverse rotation) is possible, and the wheel 143 mounted on the rear end of the body can also rotate independently (forward rotation, reverse rotation).

3 is an exemplary view sequentially showing the operation of the wheel and the boom when crossing the obstacle in FIG. 2, and as shown therein, when there is an obstacle in the front of the main body (BODY) in the driving direction, the control unit ( 120) rotates the boom (see 144 in FIG. 2) forward through the wheel and boom driving unit 140 and climbs up the obstacle.

At this time, the wheels 141 and 142 mounted on the boom stand (see 144 in FIG. 2 ) and the wheel 143 mounted on the rear end of the main body are also forward rotated so that propulsive force can be added.

FIG. 4 is an exemplary view showing an example of a wheel mounted on a boom in FIG. 2, and is an exemplary view showing a Mecanum wheel suitable for riding over an obstacle. The Mecanum wheel is a special wheel capable of omnidirectional movement, and here, omnidirectional movement means that forward, backward, lateral, and rotational driving is possible only by the rotation of the wheel itself. Such a Mecanum wheel can meet the situation where there are many obstacles and the turning radius is narrow and the wheel must be moved in a narrow space.

The Mecanum wheel includes a wheel shaft 141a rotated by a wheel driving unit (eg, a motor) (not shown) installed on the boom, a pair of disc portions 141b connected to the wheel shaft 141a, and a pair of discs It includes a plurality of roller mounting portions 141c installed across the portion 141b and a plurality of roller portions 141d installed on the roller mounting portion 141c.

The plurality of roller parts 141d are wheels that perform rolling motion in contact with the ground g, and may be inclined in a diagonal direction between a pair of disc parts 141b. Unlike a general wheel having a velocity vector perpendicular to the wheel axis 141a, the Mecanum wheel includes a velocity vector in a diagonal direction. That is, the Mecanum wheel may simultaneously have straightness in the second direction and directionality in a diagonal direction, which is a direction inclined to the first and second directions.

Referring back to FIG. 1 , the communication unit 150 transmits information detected through the sensor unit 110 (eg, power facility inspection information, obstacle information, flooded section information, etc.) to the upper device through the communicator 270. (eg: server) (not shown).

The storage unit 160 is a kind of database (DB), and stores information detected through the sensor unit 110 (eg, power facility information, obstacle information, flooded section information, etc.), and also performs power facility inspection. Information on ground (or underground) route for the purpose (e.g. location of power facility, type of power facility, type, form and meaning of remote tag, location of charger, location of exit, map information, number of power facilities inspected and Inspection items, missions to be performed, etc.) are stored.

Based on the information stored in the storage unit 160, the control unit 120 automatically sets a destination (e.g., power facility, charger, exit) and travels, passes through obstacles or flooded sections encountered while driving, and reaches the destination. Upon arrival, it performs designated tasks (e.g. power facility inspection, charging, detection of the status of designated routes, exit movement, etc.).

When there is a flooded section on the driving route, the buoyancy generator 170 injects air into the buoyancy unit (see 162 in FIG. 5 ) (eg, a buoyancy bag) mounted on the main body to pass through the flooded section. generate In addition, in a state where buoyancy is not required, air injected into the buoyancy unit (see 162 in FIG. 5) (eg, buoyancy bag) is sucked in and discharged.

To this end, the buoyancy generator 170 may include an air injection and suction motor (or an air injection and suction pump) (not shown).

Of course, the buoyancy unit (see 162 in FIG. 5 ) may be fixedly mounted. That is, the fixed buoyancy unit may be formed as a buoyancy unit that is inflated like a sponge even if air is not injected. However, for the convenience of movement, a method of generating buoyancy by injecting air only when necessary is more preferable than the fixed buoyancy unit.

On the other hand, the buoyancy unit (see 162 in FIG. 5 ) can be coupled to the main body (BODY) of the power facility monitoring device 100 through the main body coupling unit 161, which is a path that does not cause a situation to pass through a flooded section. In this case, the user may detach from the main body by releasing the main body coupling part 161 .

Meanwhile, the charger 260 enables contact or non-contact charging, and a communicator 270 may be additionally installed.

Hereinafter, the operation of the controller 120 will be described in more detail with reference to FIGS. 6 to 9 .

6 is a flowchart illustrating a power facility monitoring method according to a first embodiment of the present invention. FIG. 7 is a flowchart illustrating a method of setting a travel path of the power facility monitoring apparatus in FIG. 6 .

Referring to FIG. 6, the control unit 120 detects a remote tag (eg, power outlet RFID, QR code, NFC, etc.) when the power facility monitoring device 100 is in a path driving state (S101) (S102 Example), based on the database information previously stored in the storage unit 160, information indicated by the remote tag (eg, current location, location and direction of power facility, location and direction of charger, location and direction of outlet, etc.) Recognize (S103).

In addition, the control unit 120 checks the current state of the power facility monitoring device 100 (e.g., failure, remaining battery level, etc.) and task completion (e.g., whether or not all power facilities on the route have been inspected) ( S104).

Also, based on the check result, the controller 120 determines the driving direction thereafter and maintains the current driving state (S105).

For example, the control unit 120 based on the current state of the power facility monitoring device 100 (eg, failure, remaining battery level, etc.) and task completion (eg, whether or not all power facilities on the route have been inspected) , It is determined to maintain the destination in the direction of the next power facility, change the destination to the direction of the charger, or change the destination to the exit direction when the inspection of the power facility is completed.

As described above, in the state where the future driving direction (i.e., destination) is determined, the current driving state is maintained, and then the remote tags (TAG1, TAG2, TAG3 in FIG. 7) (i.e., remote tags serving as a kind of milestone) are detected. After the remote tags (TAG1, TAG2, TAG3 in FIG. 7) indicate information (e.g. current location, location and direction of power facilities, location and direction of charger, location and direction of outlet, etc.) When a switchable point (i.e., an origin point display point capable of changing the direction toward the destination) (TAG4 in FIG. ) to drive the power facility monitoring device 100 in the predetermined direction (eg, the direction of the next power facility, the direction of the charger, the exit direction, etc.) (eg, straight driving, direction change driving) (S107 ).

In addition, when the control unit 120 arrives at the destination after driving a designated distance (eg, straight driving, changing direction driving) from the point where the direction can be changed (ie, the point where the destination can be changed) (TAG4 in FIG. 7) ( That is, when arriving at the corresponding destination by the remote tag), a task (eg, power facility inspection, charging, exit arrival alarm, etc.) is performed at the corresponding destination (S108).

8 is a flowchart illustrating a power facility monitoring method according to a second embodiment of the present invention.

Referring to FIG. 8 , the control unit 120 determines when the power facility monitoring device 100 is in a path driving state (S201) and when an obstacle is detected on the path (Yes in S202), the boom driving driving in the wheel driving driving mode. mode to pass through obstacles (S203) (see FIG. 3).

For example, since the boom driving driving mode consumes more power and has a slower driving speed than the wheel driving driving mode, the vehicle travels in the wheel driving driving mode at normal times when there are no obstacles, and travels in the boom driving driving mode only when an obstacle is detected.

On the other hand, when a submerged section is detected on the route (Yes in S204), the controller 120 injects air into the buoyancy unit through the buoyancy generator 170 to generate buoyancy in the power facility monitoring device 100. It travels in the boom drive driving mode (S205) (see FIG. 3).

For example, a submerged section may occur due to water leakage in the basement, and since only the wheel can rotate or float depending on the submerged depth of the submerged section, the power facility monitoring device 100 is driven in a boom driving driving mode with buoyancy generated It is to drive the submerged section as if swimming.

9 is a flowchart illustrating a power facility monitoring method according to a third embodiment of the present invention.

Referring to FIG. 9 , when the power facility monitoring device 100 arrives at the location of the power facility (YES in S301), the controller 120 checks the power facility and stores the power facility inspection information in the storage unit 160. Do (S302).

In addition, when the power facility monitoring device 100 arrives at the location of the charger 260 and the communicator 270 (YES in S303), the controller 120 performs charging and also stores the data stored in the storage unit 160 during charging. The power facility inspection information is communicated with the communicator 270 and delivered (transmitted) to a higher level device (eg, server) (not shown) (S304).

For example, when the power facility monitoring device 100 arrives at the location where the communicator 270 is installed, information pre-stored in the storage unit 160 (eg, power facility inspection information, obstacle information, flooded section information, etc.) By transferring (transmitting) the information to a higher-level device (eg, server) (not shown), information previously stored in the storage unit 160 (eg, power facility inspection information, obstacle information, flooded section information, etc.) may be lost due to a failure. Prepare for loss.

On the other hand, when the power facility monitoring device 100 completes a task (eg, a power facility inspection task) and arrives at the exit (Yes in S305), the control unit 120 outputs an exit arrival alarm, and the charger 260 at the exit. ) and communicator 270 are installed, charging while waiting until the user arrives at the exit, and information pre-stored in the storage unit 160 (eg, power facility inspection information, obstacle information, flooded section information, etc.) is delivered (transmitted) to a higher-level device (eg, server) (not shown) (S306).

As described above, this embodiment is for monitoring power facilities using an unmanned ground mobile device that moves on wheels. While moving across the flooded section, it has the effect of finding a designated location without receiving a GPS signal, driving in the correct direction, and checking power facilities.

The present invention has been described above with reference to the embodiments shown in the drawings, but this is only exemplary, and those skilled in the art can make various modifications and equivalent other embodiments. you will understand the point. Therefore, the technical protection scope of the present invention should be determined by the claims below. Implementations described herein may also be embodied in, for example, a method or process, an apparatus, a software program, a data stream, or a signal. Even if discussed only in the context of a single form of implementation (eg, discussed only as a method), the implementation of features discussed may also be implemented in other forms (eg, an apparatus or program). The device may be implemented in suitable hardware, software and firmware. The method may be implemented in an apparatus such as a processor, which is generally referred to as a processing device including, for example, a computer, microprocessor, integrated circuit, programmable logic device, or the like. Processors also include communication devices such as computers, cell phones, personal digital assistants ("PDAs") and other devices that facilitate communication of information between end-users.

100: power facility monitoring device 110: sensor unit
120: control unit 130: charging unit
140: wheel and boom driving unit 150: communication unit
160: storage unit 170: buoyancy generating unit

Claims (1)

A sensor unit including a plurality of sensors for detecting or inspecting power facilities, remote tags, obstacles, submerged sections, exits, and chargers while the power facility monitoring device is running;
a charging unit that wirelessly charges an internal battery when the power facility monitoring device moves to a charger;
a wheel and boom driving unit independently driving a wheel and a boom for moving the power facility monitoring device so that the device can travel on a flat surface or overcome obstacles;
a communication unit that transmits the information detected through the sensor unit to a higher-order device by communicating with a communication unit during charging in the charger; and
A control unit that automatically sets a route toward a destination based on the remote tag information detected through the sensor unit and drives, and performs designated tasks including inspecting power facilities when the destination is reached through obstacles encountered during driving or flooded sections; Including,
When there is a flooded section on the driving route, a buoyancy generating unit for generating buoyancy by injecting air into the buoyancy unit mounted on the main body of the power facility monitoring device to pass through the flooded section under the control of the control unit. contain more,
When buoyancy is not required, under the control of the control unit, the buoyancy generator sucks in and discharges the air injected into the buoyancy unit,
The control unit,
When a charger and communication device are installed at the exit, charging is performed while waiting until the user arrives at the exit, and power facility inspection information, obstacle information, and flooded section information, which are previously stored information in the storage unit, are transferred to the server, which is the upper device. deliver,
The information detected through the sensor unit,
Including power facility inspection information, obstacle information, and flooded section information,
The control unit,
When the power facility monitoring device detects a remote tag while in a route driving state, recognizing information indicated by the remote tag based on database information previously stored in a storage unit;
Checking the current status and task completion of the power facility monitoring device,
Based on the check result, the future driving direction or destination is determined in advance,
When a remote tag serving as a kind of guidepost in the current driving state is detected in a state in which the direction or destination to be driven is previously determined, and then a remote tag indicating a point at which a direction can be changed is detected, the predetermined point at the point at which the direction can be changed is detected. Turning in the direction to drive the power facility monitoring device,
A power facility monitoring device, characterized in that performing a mission at the destination when arriving at the destination after driving a designated distance in the switched direction.

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