KR20220147333A - Apparatus for monitoring power facilities and method thereof - Google Patents

Abstract

The present invention relates to a power facility monitoring apparatus and method to find a designated location and drive in the correct direction without receiving a GPS signal. According to the present invention, the power facility monitoring apparatus comprises: 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 apparatus is running; a charging unit wirelessly charges an internal battery when the power facility monitoring apparatus moves to a charger; a wheel and boom driving unit independently driving a wheel and boom for moving the power facility monitoring apparatus so that the power facility monitoring apparatus can travel on a flat surface or overcome obstacles; a communication unit communicating with a communication unit during charging in the charger to transmit information detected through the sensor unit to a higher-order apparatus; and a control unit automatically setting and driving a route toward a destination on the basis of the remote tag information detected through the sensor unit and performing designated tasks including inspecting power facilities when reaching the destination through the obstacles encountered while driving or navigating flooded sections.

Description

APPARATUS FOR MONITORING POWER FACILITIES AND METHOD THEREOF

The present invention relates to an apparatus and method for monitoring power facilities, and more particularly, for monitoring power facilities using an unmanned ground moving device that moves on wheels. It relates to an apparatus and method for monitoring a power facility, allowing to check an electric power outlet while moving across.

In general, since the internal 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 be put into operation with facility diagnostic equipment.

Conventionally, there are cases where facilities are checked using drones for flying, but substations exposed outdoors have a high risk of accidents due to interference with incoming and outgoing lines, etc. There was a limit to checking with a flying drone.

Recently, ground (or underground) type unmanned mobile devices are being attempted, but since it is difficult to move the unmanned mobile devices due to various obstacles installed on the ground (or underground) or submerged sections, it is There was a problem that a separate monitoring road (or rail) had to be installed.

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

The background technology of the present invention is disclosed in Korean Patent Application Laid-Open No. 10-2010-0111263 (published on October 14, 2010, title of invention: power facility inspection device using 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 moving device moving on wheels, and a remote tag (eg, power bulb RFID, A power facility monitoring device that recognizes the location using QR code, NFC, etc.) The purpose is to provide a method.

A power facility monitoring device according to an aspect of the present invention includes a sensor unit including a plurality of sensors for detecting or checking power facilities, remote tags, obstacles, submerged sections, exits, and chargers when the power facility monitoring device is driven ; a charging unit for wirelessly charging an internal battery when the power facility monitoring device moves to a charger; a wheel and boom driving unit for independently driving a wheel and a boom for moving the power facility monitoring device to travel on a flat surface or to travel over an obstacle; a communication unit communicating the information detected through the sensor unit with a communication unit during charging in the charger and transmitting the information to a higher level device; and a control unit that automatically sets a route to a destination based on the remote tag information detected through the sensor unit and drives, and performs a specified task including checking power facilities when it arrives at the destination after passing through obstacles or submerged sections encountered while driving It is characterized in that it contains;

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, further comprising; a storage unit for storing information detected through the sensor unit, wherein the storage unit is information on an above-ground or underground path for power facility inspection, the location of the power facility, the shape of the power facility , characterized in that it further stores at least one or more of the type, shape and meaning of the remote tag, the location of the charger, the location of the exit, map information, the number and check items of the checked power equipment, and the task to be performed.

In the present invention, when there is a submerged section on the driving route, according to the control of the controller, air is injected into the buoyancy unit mounted on the main body of the power facility monitoring device to pass the submerged section to generate buoyancy. Buoyancy generating unit; further comprising, when buoyancy is not required, under the control of the control unit, the buoyancy generating unit is characterized in that the suction and discharge the air injected into the buoyancy unit.

In the present invention, the boom is a wheel structure in which wheels are mounted on both ends of the boom, and a wheel effect of a larger diameter can be obtained by rotating the boom about a rotating shaft, and at both ends of the boom It is characterized in that the mounted wheel can rotate independently, and the boom stand is also independently rotatable.

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

In the present invention, the control unit, when detecting a remote tag when the power facility monitoring device is in a route driving state, recognizes information indicated by the remote tag based on database information pre-stored in the storage unit, Checks the current state of the power facility monitoring device and whether the task is completed, and based on the check result, the direction or destination to be driven is determined in advance, and a kind of milestone in the current driving state in the state where the driving direction or destination is determined in advance After the remote tag performing the role is detected, when a remote tag indicating a switchable point is detected, the power facility monitoring device is driven by switching from the switchable point to the predetermined direction, and in the switched direction When arriving at the destination after driving the specified distance, it is characterized in that the mission is performed at the destination.

In the present invention, when an obstacle is detected on the path, the control unit passes through the obstacle by changing from the wheel driving driving mode to the boom driving driving mode, and when a submerged section is detected on the path, buoyancy through the buoyancy generating unit It is characterized in that it passes through the submerged section by driving in the boom driving driving mode in a state where air is injected into the buoyancy to generate buoyancy.

In the present invention, the control unit, when the power facility monitoring device arrives at the power facility location, checks the power facility and stores the power facility check information in the storage unit, and the power facility monitoring device arrives at the charger and the communicator location. In the case of charging, the power facility inspection information stored in the storage unit is communicated with the communicator to transmit 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 comprises the steps of: when the power facility monitoring device is driven, the control unit detects or checks the power facility, the remote tag, the obstacle, the submerged section, the exit, and the charger through the sensor unit; performing, by the control unit, wireless charging of the 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 through a wheel and a boom driving unit independently to drive on a flat surface or over an obstacle; transmitting, by the control unit, the information detected through the sensor unit through the communication unit to a higher level device by communicating with the communication unit during charging in the charger; and the control unit automatically sets a route to the destination based on the remote tag information detected through the sensor unit and drives, passes through obstacles or submerged sections encountered during driving and arrives at the designated destination, a designated task including power facility inspection It is characterized in that it comprises;

In the present invention, when there is a submerged section on the travel route, in order to pass the submerged 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. to do; and when buoyancy is not required, the control unit sucks and discharges 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 on both ends of the boom, and a wheel effect of a larger diameter can be obtained by rotating the boom about a rotating shaft, and at both ends of the boom It is characterized in that the mounted wheel can rotate independently, and the boom stand is also independently rotatable.

In the present invention, in order to perform the specified task, the control unit detects a remote tag when the power facility monitoring device is in a route driving state, based on the database information pre-stored in the storage unit. Recognizes the information indicated by , checks the current state of the power facility monitoring device and whether the task is completed, and based on the check result, determines the direction or destination to travel in advance, and determines the direction or destination to travel in advance In the current driving state, when a remote tag that serves as a kind of milestone is detected and then a remote tag indicating a changeable point is detected, the power facility monitoring device is switched from the changeable point to the predetermined direction. It is characterized in that, when arriving at the corresponding destination after driving the designated distance in the switched direction, the mission at the corresponding destination is performed.

In the present invention, in order to pass the obstacle or the submerged 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 submerged section on the path When this is detected, air is injected into the buoyancy unit through the buoyancy generating unit to generate buoyancy, and the vehicle travels in the boom driving driving mode and passes through the submerged section.

In the present invention, when the power facility monitoring device arrives at a designated destination, the control unit checks the power facility when the power facility monitoring device arrives at the power facility location and stores the power facility check information in the storage unit, When the power facility monitoring device arrives at the location of the charger and the communicator, charging is performed and the power facility inspection information stored in the storage unit is communicated with the communicator during charging and transmitted to a higher level device, and the power facility monitoring device checks the power facility When the mission is completed and the exit arrives, 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 moving device that moves on wheels, and uses a remote tag (eg, power bulb RFID, QR code, NFC, etc.) to recognize the location. And while moving across obstacles and submerged sections, it is possible to find a designated location without receiving a GPS signal, drive in the correct direction, and check power facilities.

1 is an exemplary diagram 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 the wheel and the boom when crossing the obstacle in FIG. 2 .
Figure 4 is an exemplary view showing an example of the wheel mounted on the boom in Figure 2;
5 is an exemplary view illustrating the form of the buoyancy unit into which air is injected by the buoyancy generating unit in FIG. 1 .
6 is a flowchart illustrating a method for monitoring power equipment according to a first embodiment of the present invention.
7 is a flowchart for explaining a method of setting a travel route of the power facility monitoring apparatus in FIG. 6 .
8 is a flowchart for explaining a power facility monitoring method according to a second embodiment of the present invention.
9 is a flowchart for explaining 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 the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is an exemplary diagram 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 facility 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, the power facility 210 through the sensor unit 110, the remote tag 220 (eg, power bulb RFID, QR code, NFC, etc.), the obstacle 230 ), a submerged section 240 , an outlet 250 , and a 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, a lidar (radar), an RFID (or QR code) reader. In addition, the sensor unit 110 may include an ultrasonic sensor, an infrared sensor, a distance sensor, a humidity sensor, an illuminance sensor, and the like.

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 is attached to the body of the power facility monitoring device 100 to move wheels (141, 142, 143 in FIG. 2) and a boom (that is, a boom stand (see 144 in FIG. 2) ), the wheels are mounted on both ends, and the boom is rotated around the rotating shaft 145 to drive the wheel structure in which a larger diameter wheel effect can be obtained) to drive on flat ground or to drive over obstacles. do.

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

Here, the wheels 141 and 142 mounted on both ends of the boom stand (see 144 in FIG. 2) can rotate independently (forward rotation, reverse rotation), and the boom stand (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 wheels and the boom when crossing the obstacle in FIG. 2, and as shown in this figure, when there is an obstacle in front of the traveling direction of the main body (BODY), the control unit ( 120) rotates the boom stand (refer to 144 of FIG. 2) through the wheel and the boom driving unit 140 in a forward rotation and is able to climb on an obstacle.

At this time, the wheels 141 and 142 mounted on the boom stand (see 144 of FIG. 2 ) and the wheels 143 mounted on the rear end of the body are also rotated forward to add propulsion.

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 having a shape suitable for riding over an obstacle. The Mecanum wheel is a special wheel capable of omnidirectional movement, and the forward movement means that forward, backward, lateral, and rotational driving is possible only with the wheel's own rotation. These Mecanum wheels have a lot of obstacles, so they have a narrow turning radius and can fit into a situation where you have to move in a narrow space.

The Mecanum wheel includes a wheel shaft 141a rotating by a wheel driving part (eg, a motor) (not shown) installed on the boom, a pair of disk portions 141b connected to the wheel shaft 141a, and a pair of disks 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 portions 141c.

The plurality of roller parts 141d are wheels that roll in contact with the ground g, and may be installed to be inclined in a diagonal direction between a pair of disk parts 141b. Unlike a general wheel having a speed vector perpendicular to the wheel axis 141a, the Mecanum wheel includes a speed vector in a diagonal direction. That is, the Mecanum wheel can 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, submerged section information, etc.) to a higher-level device through the communication unit 270 . (eg, server) (not shown) can be transmitted.

The storage unit 160 is a kind of database (DB), and stores the information detected through the sensor unit 110 (eg, information of power facilities, obstacle information, submerged section information, etc.), and also performs power facility inspection. Information on the ground (or underground) route for Check items, tasks to be performed, etc.) are stored.

The control unit 120 automatically sets a destination (eg, power equipment, charger, exit) based on the information stored in the storage unit 160 to drive, and passes through obstacles or submerged sections encountered while driving to the destination. Upon arrival, the designated task (eg, power facility inspection, charging, state detection of a designated route, exit movement, etc.) is performed.

The buoyancy generating unit 170 injects air into the buoyancy unit (see 162 in FIG. 5) (eg, a buoyancy bag) mounted on the main body to pass the submerged section when there is a submerged section on the travel route to generate buoyancy. create In addition, in a state where buoyancy is not required, the air injected into the buoyancy unit (see 162 in FIG. 5) (eg, buoyancy bag) is sucked and discharged.

To this end, the buoyancy generating unit 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 of FIG. 5) may be fixedly mounted. That is, the fixed buoyancy part may be formed as a buoyancy part in a state of being inflated like a sponge even if air is not injected. However, for the convenience of movement, the method of generating buoyancy by injecting air only when necessary rather than the fixed buoyancy part is more preferable.

On the other hand, the buoyancy unit (see 162 of FIG. 5 ) may be coupled to the body of the power facility monitoring device 100 through the main body coupling unit 161 , and if the submerged section does not occur, it is a path that does not occur. In this case, the user may release the main body coupling portion 161 to detach it from the main body.

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

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

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

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

In addition, the control unit 120 checks the current state (eg, failure, battery level, etc.) of the power facility monitoring device 100 and whether the task is completed (eg, whether all power facilities on the route have been checked) ( S104).

In addition, the control unit 120 determines a subsequent driving direction based on the check result and continues to maintain the current driving state (S105).

For example, the control unit 120 is based on the current state (eg, failure, battery level, etc.) of the power facility monitoring device 100 and whether the task is completed (eg, whether all power facilities on the route have been checked) , it is decided to maintain the destination in the direction of the next power equipment, change the destination to the direction where the charger is, or change the destination to the exit direction when the inspection of the electric power equipment is completed.

As described above, the remote tags (TAG1, TAG2, TAG3 in FIG. 7) (that is, a remote tag serving as a kind of milestone) are detected while continuing to maintain the current driving state while determining the direction (ie, destination) to be driven later. Then, the direction based on information (eg, current location, location and direction of power equipment, location and direction of charger, location and direction of exit, etc.) indicated by the remote tags (TAG1, TAG2, TAG3 in FIG. 7) When a switchable point (that is, an origin display point capable of changing the direction toward the destination) (TAG4 in FIG. 7) appears (example of S106), the control unit 120 controls the changeable point (TAG4 in FIG. 7) ) in the predetermined direction (eg, the direction of the next order of power equipment, the direction of the charger, the exit direction, etc.) to drive the power equipment monitoring device 100 (eg, straight driving, direction change driving) (S107) ).

In addition, the control unit 120 travels a specified distance from the changeable point (that is, a point where the destination can be changed) (TAG4 in FIG. 7) (eg, straight driving, direction change driving) and then arrives at the destination ( That is, when arriving at the corresponding destination by the remote tag), the task (eg, power facility check, charging, exit arrival alarm, etc.) at the corresponding destination is performed (S108).

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

Referring to FIG. 8 , when the power facility monitoring device 100 is in the path driving state (S201), when an obstacle is detected on the path (YES in S202), the control unit 120 drives boom driving in the wheel driving driving mode mode and passes through the obstacle (S203) (refer to FIG. 3).

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

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

For example, a submerged section may occur due to water leakage in the basement, and only idle wheels can rotate or float depending on the depth of submersion of the submerged section. It is to drive the submerged section as if it were swimming.

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

Referring to FIG. 9 , when the power facility monitoring device 100 arrives at the power facility location (Yes in S301 ), the control unit 120 checks the power facility and stores the power facility check 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 control unit 120 performs charging and also stores stored in the storage unit 160 during charging. The power facility inspection information is communicated with the communicator 270 and transmitted (transmitted) to a higher-level device (eg, a server) (not shown) (S304).

For example, when the power facility monitoring device 100 arrives at the location where the communicator 270 is installed as described above, information pre-stored in the storage unit 160 unconditionally (eg, power facility inspection information, obstacle information, submerged section information, etc.) information (eg, power facility inspection information, obstacle information, submerged section information, etc.) stored in the storage unit 160 due to possible 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 the communicator 270 are installed, charging while waiting until the user arrives at the exit, and information previously stored in the storage unit 160 during that time (eg, power facility inspection information, obstacle information, submerged section information, etc.) is transferred (transmitted) to a higher-level device (eg, a server) (not shown) (S306).

As described above, this embodiment is for monitoring power facilities using an unmanned ground moving device that moves on wheels, and uses a remote tag (eg, power bulb RFID, QR code, NFC, etc.) to recognize the location, and While moving across the submerged section, it has the effect of finding a designated location without receiving a GPS signal, driving in the correct direction, and checking power facilities.

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

100: power equipment 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 generation unit

Claims (15)

a sensor unit including a plurality of sensors for detecting or checking power equipment, remote tags, obstacles, submerged sections, exits, and chargers when the power equipment monitoring device is driven;
a charging unit for wirelessly charging an internal battery when the power facility monitoring device moves to a charger;
a wheel and boom driving unit for independently driving a wheel and a boom for moving the power facility monitoring device to travel on a flat surface or to travel over an obstacle;
a communication unit communicating the information detected through the sensor unit with a communication unit during charging in the charger and transmitting the information to a higher level device; and
a control unit that automatically sets a route to a destination based on the remote tag information detected through the sensor unit and drives, and performs a specified task including power facility inspection upon arriving at the destination after passing through obstacles or submerged sections encountered while driving; Power facility monitoring device comprising a.
According to claim 1, wherein the information detected through the sensor unit,
Power facility monitoring device, characterized in that it includes power facility inspection information, obstacle information, and submerged section information.
The method of claim 1,
Further comprising; a storage unit for storing information detected through the sensor unit;
The storage unit,
Information on the ground or underground route for power facility inspection, the location of the power facility, the type of power facility, the type and shape and meaning of the remote tag, the location of the charger, the location of the exit, map information, and the number of checked power facilities A power facility monitoring device, characterized in that it further stores at least one or more of a check item and a task to be performed.
The method of claim 1,
When there is a submerged section on the travel route, under the control of the control unit, 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 the submerged section; including more,
When buoyancy is not required, under the control of the control unit, the buoyancy generating unit is a power facility monitoring device, characterized in that the suction and discharge the air injected into the buoyancy unit.
According to claim 1, wherein the boom,
As a wheel structure in which wheels are mounted on both ends of the boom, and the effect of a wheel of a larger diameter can be obtained by rotating the boom about a rotating shaft,
A power facility monitoring device, characterized in that the wheels mounted on both ends of the boom can rotate independently, and the boom is also independently rotatable.
According to claim 5, wherein the wheel mounted on the boom,
Power facility monitoring device comprising a Mecanum wheel.
According to claim 1, wherein the control unit,
When the power facility monitoring device detects a remote tag while in a route driving state, it recognizes information indicated by the remote tag based on database information pre-stored in the storage unit,
Checking the current status and task completion of the power facility monitoring device,
Based on the check result, the direction or destination to be driven is determined in advance,
After a remote tag serving as a kind of milestone in the current driving state is detected in a state where the driving direction or destination is determined in advance, and then a remote tag indicating a changeable point is detected, the predetermined direction at the changeable point is detected. direction to drive the power facility monitoring device,
Power facility monitoring device, characterized in that when arriving at the destination after driving the designated distance in the switched direction, performing a task at the destination.
According to claim 1, wherein the control unit,
When an obstacle is detected on the path, it passes through the obstacle by changing from the wheel driving driving mode to the boom driving driving mode,
When a submerged section is detected on the route, air is injected into the buoyancy section through the buoyancy generating section to generate buoyancy, and the power facility monitoring device, characterized in that it passes through the submerged section by driving in the boom driving driving mode.
According to claim 1, wherein the control unit,
When the power facility monitoring device arrives at the power facility location, it checks the power facility and stores the power facility check information in the storage unit,
When the power facility monitoring device arrives at the location of the charger and the communicator, it performs charging and transmits the power facility check information stored in the storage unit during charging to the communicator and communicates with the communicator,
Power facility monitoring device, characterized in that outputting an exit arrival alarm when the power facility monitoring device completes the power facility inspection task and arrives at the exit.
detecting or checking, by the control unit, the power equipment, the remote tag, the obstacle, the submerged section, the exit, and the charger through the sensor unit when the power equipment monitoring device is driven;
performing, by the control unit, wireless charging of the 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 through a wheel and a boom driving unit independently to drive on a flat surface or over an obstacle;
transmitting, by the control unit, the information detected through the sensor unit through the communication unit to a higher level device by communicating with the communication unit during charging in the charger; and
The controller automatically sets a route to the destination based on the remote tag information detected through the sensor unit and drives, passes obstacles or submerged sections encountered during driving and arrives at the designated destination, performing a designated task including power facility inspection Power facility monitoring method comprising the;
11. The method of claim 10,
If there is a submerged section on the driving route, in order to pass the submerged section,
generating buoyancy by the control unit injecting air into the buoyancy unit mounted on the main body of the power facility monitoring device through the buoyancy generating unit; and
When buoyancy is not required, the control unit sucks the air injected into the buoyancy unit through the buoyancy generating unit and discharges the air.
11. The method of claim 10, wherein the boom,
As a wheel structure in which wheels are mounted on both ends of the boom, and the effect of a wheel of a larger diameter can be obtained by rotating the boom about a rotating shaft,
A power facility monitoring method, characterized in that the wheels mounted on both ends of the boom can rotate independently, and the boom is also independently rotatable.
11. The method of claim 10, wherein in order to perform the designated task,
The control unit is
When the power facility monitoring device detects a remote tag while in a route driving state, it recognizes information indicated by the remote tag based on database information pre-stored in the storage unit,
Checking the current status and task completion of the power facility monitoring device,
Based on the check result, the direction or destination to be driven is determined in advance,
After a remote tag serving as a kind of milestone in the current driving state is detected in a state where the driving direction or destination is determined in advance, and then a remote tag indicating a changeable point is detected, the predetermined direction at the changeable point is detected. direction to drive the power facility monitoring device,
Power facility monitoring method, characterized in that when arriving at the destination after driving the designated distance in the switched direction, performing a task at the destination.
The method of claim 10, wherein to pass through the obstacle or submerged section,
The control unit is
When an obstacle is detected on the path, it passes through the obstacle by changing from the wheel driving driving mode to the boom driving driving mode,
When a submerged section is detected on the path, air is injected into the buoyancy section through the buoyancy generator to generate buoyancy, and the vehicle is driven in the boom driving driving mode to pass the submerged section.
11. The method of claim 10,
When the power facility monitoring device arrives at the designated destination,
The control unit is
When the power facility monitoring device arrives at the power facility location, it checks the power facility and stores the power facility check information in the storage unit,
When the power facility monitoring device arrives at the location of the charger and the communicator, it performs charging and transmits the power facility check information stored in the storage unit during charging to the communicator and communicates with the communicator,
Power facility monitoring method, characterized in that when the power facility monitoring device completes the power facility inspection task and arrives at the exit, outputting an exit arrival alarm.

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