CN109725233A - A kind of intelligent substation inspection system and its method for inspecting - Google Patents
A kind of intelligent substation inspection system and its method for inspecting Download PDFInfo
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- CN109725233A CN109725233A CN201811520938.0A CN201811520938A CN109725233A CN 109725233 A CN109725233 A CN 109725233A CN 201811520938 A CN201811520938 A CN 201811520938A CN 109725233 A CN109725233 A CN 109725233A
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- 238000007689 inspection Methods 0.000 title claims abstract description 267
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000009194 climbing Effects 0.000 claims abstract description 135
- 238000012544 monitoring process Methods 0.000 claims abstract description 26
- 238000012545 processing Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 101
- 230000004888 barrier function Effects 0.000 claims description 98
- 230000007246 mechanism Effects 0.000 claims description 74
- 238000013135 deep learning Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 18
- 241000817702 Acetabula Species 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 11
- 230000007613 environmental effect Effects 0.000 claims description 6
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- 230000002457 bidirectional effect Effects 0.000 description 1
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- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
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Abstract
The invention discloses a kind of intelligent substation inspection system and its method for inspecting, the system includes monitoring background terminal, wireless telecom equipment and crusing robot, this method is by being divided into obstacle detouring intelligent inspection robot, climbing intelligent inspection robot, pole-climbing intelligent inspection robot and track trace navigation intelligent inspection robot for crusing robot, it is applied in different substations, it completes walking, obstacle detouring, avoidance, climbing, ladder, pole-climbing, climb line work, guarantee that crusing robot completes the inspection work of substation.The cruising inspection system handles data receiver, processing, display and the storage of entire cruising inspection system by setting monitoring background terminal, specifically inspection is completed by crusing robot to work, and by the way that different types of crusing robot to be matched to different region of patrolling and examining respectively, improve routing inspection efficiency, optimize routine inspection mode, allows to complete the inspection work in different substation region.
Description
Technical field
The present invention relates to substation's automatic detecting fields, and in particular to a kind of intelligent substation inspection system and its inspection
Method.
Background technique
With the progress of world power grid, especially after the concept of smart grid is suggested, in world wide on how to
Safety, efficiency and the stability for promoting power grid become the hot spot for falling over each other research.The concentration that substation uses as grid equipment
Point and key point, it is ensured that intelligence, the safe operation of substation are related to the production of enterprise and the normal life of the people.Mesh
Preceding substation's progress current check and maintenance mostly use greatly the mode of manual inspection, however this mode needs regular, timing inspection
Relevant device and record data are looked into, differentiation processing is then empirically carried out.This just needs staff to carry out repeated work
Make, be easy that employee is made to generate boredom, is unfavorable for the expansion of work, while the inspection of equipment is mostly by the letter on sense organ
It singly analyzes and qualitative, heating and Vibration Condition with tactilely-perceptible equipment have detected whether noise using the sense of hearing, examined with smell
Whether have peculiar smell, it is more accurate with the data of observation perhaps to record in normal weather if looking into, but such as rain, scrape under extreme weather
Under the weather conditions such as wind, severe snow, there is danger levels, and the events such as high, big, erroneous detection missing inspection of degree of difficulty frequently occur.
According to China's power department 2011 about the investigation of power grid and operation report in explicitly point out, in substation
Equipment because people work mistake and various fortuitous events influence, caused by economic direct losses every year up to 2,600,000,000 yuan.
It can be seen that detecting substation equipment in fashion described above, it is difficult to meet the requirement of numerous people and enterprise to power supply quality.In order to
It reduces the loss of equipment and ensures the normal operation of substation, the idea quilt of people's progress substation inspection is replaced using robot
It is contemplated].Intelligent inspection robot is divided into autonomous mode and remote control mode by routine inspection mode, carries high definition CCD camera, red
The equipment such as outer imager and sound pick-up are moved and are examined in this section according to the settlement of equipment in substation and route
It surveys, can shift to an earlier date and judge that route, can according to the reading of instrument and meter with the presence or absence of overpower or short-circuit conditions according to temperature
Judge equipment with the presence or absence of insufficient pressure or excessive and situations such as with the presence or absence of oil leak.Equipment potential risk is provided in time
Data are found the problem in advance by analysis, automatic alarm or some simple maintenances processing of progress.
The detection work of substation is substantially generally divided into the detection of the detection of equipment and workshop external equipment in workshop, without
Pipe is that the detection of equipment and the detection of workshop external equipment are intended to be related to ground detection and high-altitude detection, for equipment in workshop
The ground detection of ground detection and workshop external equipment, it is often necessary to be detected, be helped by obstacle detouring intelligent inspection robot
Crusing robot carries out obstacle detouring or avoidance, guarantees the progress of its work.And high-altitude detection and workshop for equipment in workshop
The high-altitude of external equipment is detected, and the requirement for crusing robot is higher, it is often necessary to be had climbing, ladder, pole-climbing, be climbed arm, climbs
The multiple functions such as line could complete the detection work of corresponding substation equipment.
In view of this, the present invention is detected for ground detection and high-altitude, propose a kind of intelligent substation inspection system and its
Method for inspecting guarantees to complete the detection work in substation.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of intelligent substation inspection system and its patrol
Detecting method.
In order to solve the above-mentioned technical problem, it adopts the following technical scheme that
A kind of intelligent substation inspection system, including monitoring background terminal, wireless telecom equipment and crusing robot,
The monitoring background terminal is data receiver, processing, display and the storage center of entire cruising inspection system, passes through nothing
Line communication equipment and crusing robot realize that long-range control and data are transmitted, automatic identification of the realization to substation equipment, inspection
And alarm.
The wireless telecommunications system is used to monitor the wireless transmission of background terminal and crusing robot information；
The crusing robot equipment and monitoring background terminal real time communication by wireless communication, realize inspection data
The remote control of teletransmission and monitoring background terminal order.
The crusing robot includes master control system, kinetic control system, information acquisition system and power-supply system, described
Kinetic control system, information acquisition system, power-supply system and wireless telecommunication system are connected with the master control system.
The master control system controls the kinetic control system for receiving remote control command, complete walking, obstacle detouring,
Avoidance climbing, ladder, pole-climbing, climbs line work, and in real time sends back to the position of crusing robot, pose, sensor information
To monitoring background terminal, to obtain the ambient condition information of crusing robot, guarantee that crusing robot completes the inspection of substation
Work.
The kinetic control system is used to control the normal work of driving equipment, guarantees being normally carried out for inspection work.
The information acquisition system is transmitted to by sensor, the current environmental information of acquisition crusing robot
Master control system completes the information collection work for needing the substation equipment of inspection.
The power-supply system: for the power supply for electrical equipment to crusing robot, guarantee the sustainable continuous of crusing robot
Boat work.
The crusing robot is divided into obstacle detouring intelligent inspection robot, climbing intelligent inspection robot, pole-climbing intelligent patrol detection
Robot and track trace navigation intelligent inspection robot.
The obstacle detouring intelligent inspection robot by barrier getting over mechanism set by ontology help crusing robot complete obstacle detouring and
Avoidance work carries out Daily Round Check convenient for needing to carry out the region of obstacle detouring to substation.
The climbing intelligent inspection robot by climbing mechanism set by ontology help crusing robot complete climbing and
Ladder work, the region convenient for carrying out climbing and ladder to substation carry out Daily Round Check.
The pole-climbing intelligent inspection robot by pole-climbing mechanism set by ontology help crusing robot complete pole-climbing and
Line work is climbed, the region convenient for carrying out climbing and ladder to substation carries out Daily Round Check.
The track trace navigation intelligent inspection robot is matched by RFID identification device set by ontology set by ontology
The track trace being laid on the substation level land for needing inspection and RFID label tag are closed, the plane walking of crusing robot is completed
Inspection work.
Further, the information acquisition system include trinocular vision sensor, radar obstacle avoidance sensor, attitude transducer,
Infrared distance sensor, Temperature Humidity Sensor and sensor acquisition module, the trinocular vision sensor, radar avoidance sensing
Device, attitude transducer, infrared distance sensor, Temperature Humidity Sensor are connected with the sensor acquisition module, the biography
Sensor acquisition module connects the master control system.
Further, alarm system is additionally provided on the crusing robot, the alarm system includes alarm lamp and alarm loudspeaker
?.
The alarm lamp: alarm lamp is flashed when encountering special circumstances for crusing robot, is served as a warning.
The alarming horn: whistle when encountering special circumstances for crusing robot serves as a warning.
The another aspect present invention provides a kind of intelligent substation patrol method, comprising the following steps:
(a) database for first passing through monitoring background terminal transfers the geographic map information of the substation；Then as needed
The substation equipment of detection divides detection zone, which includes ground detection region and high-altitude detection zone；Last root
According to needing detection zone to match corresponding crusing robot, in ground detection Region Matching obstacle detouring intelligent inspection robot and magnetic
Trace navigation intelligent inspection robot, in high-altitude, there is climbing intelligent inspection robot and pole-climbing intelligently to patrol for detection zone matching
Examine robot.
(b) crusing robot for needing to participate in inspection is subjected to deep learning, the content of deep learning includes the survey monitor
Region, the straight-line track trace of walking and the planning route of curved line track trace and walking length, need that device people needs to detect
The detection content for the substation equipment to be detected after the crusing robot deep learning wait need to participate in inspection, is put into
In the Daily Round Check of substation.
(c) according to the landform and landforms in detection ground detection region, more straight-line tracks are set on ground detection region
Trace and curved line track trace, and more straight-line track traces being arranged are labeled as A1 straight-line track trace, A2 straight-line track
Trace, A3 straight-line track trace ..., more curved line magnetic tracks wire tags of setting are B1 curved line track trace, B2 arc
Shape line track trace, B3 curved line track trace ...；In the intersection in ground detection region, deflecting RFID label tag is set,
And by deflecting RFID label tag be C1 deflecting RFID label tag, C2 deflecting RFID label tag, C3 deflecting RFID label tag ....
(d) the setting detection RFID label tag on the substation equipment for need inspection, and will test RFID label tag is D1
It detects RFID label tag, D2 detection RFID label tag, D3 and detects RFID label tag ....
(e) crusing robot carries out inspection work to ground detection zone: staff is by obstacle detouring intelligent inspection robot
Start to work with the start position of track part line navigation intelligent inspection robot to straight-line track trace.
(f) crusing robot carries out inspection work to high-altitude detection zone: staff will climb intelligent inspection robot
The start position for being placed into straight-line track trace with pole-climbing intelligent inspection robot starts to work.
Further, in the step (e), the track part line navigation intelligent inspection robot specific works are as follows: logical
It crosses master control system and controls the kinetic control system, make crusing robot along straight-line track trace and curved line track trace row
It walks, according to digital PID position type control algolithm, learns the real time position and road conditions of current crusing robot, and confirm crusing robot
The departure in the moment position, be embodied as
C (j) is the position of target value and the crusing robot at current time and the difference of posture in formula, and c (j-1) is last moment
Value；When encountering intersection, the traffic information of current intersection is acquired by trinocular vision sensor, by traffic information
It is sent to master control system, and is identified by the directed navigation of track trace, after being combined by vision collecting and track trace, by
Master control system makes corresponding judgement, selects suitable route, and by the RFID identification device on crusing robot and accordingly
Deflecting RFID label tag fit through after, master control system controls kinetic control system, make crusing robot by intersection,
Carry out next inspection work；After trinocular vision sensor, which collects front, needs the substation equipment of inspection, by patrolling
The corresponding detection RFID label tag of RFID identification device identification in robot is examined, which is completed by crusing robot
Inspection work, judges whether the substation equipment is normal, if the substation equipment is normal, crusing robot carries out following
Inspection work；If power station equipment is abnormal, crusing robot overhauls the substation equipment, and Awaiting Overhaul is completed laggard
The next inspection work of row.
Further, in the step (e), the specific works of obstacle detouring intelligent inspection robot are as follows:
When encountering front obstacle, according to the deep learning of step (b), judge that can crusing robot surmount obstacles
Object is first passed through immediately ahead of pedrail mechanism walking to barrier, is then sensed according to trinocular vision if can clear the jumps
Device acquires size, volume and the height of barrier, when the height of barrier is less than the height of control system setting, control system
System drives the obstacle detouring outer arm on front side of crusing robot and telescopic arm work by two obstacle detouring arms on front side of crusing robot, and
By cooperating pedrail mechanism, clears the jumps, complete obstacle detouring work；When the height of barrier is greater than the height of control system setting
When spending, control system passes through two obstacle detouring arms on rear side of two obstacle detouring arms and crusing robot on front side of crusing robot simultaneously
Work, and by cooperation pedrail mechanism, it clears the jumps, completes obstacle detouring work；
If it cannot clear the jumps by radar obstacle avoidance sensor judge whether can cut-through object, if energy
Enough cut-through objects, then pass through radar obstacle avoidance sensor and trinocular vision sensor, size, volume and the width of disturbance in judgement object
Degree makes crusing robot avoiding obstacles, guarantees that crusing robot cut-through object carries out subsequent inspection work；
It is sounded an alarm if it can not bypass front obstacle by alarm system, staff is prompted to come to handle；
After breaking the barriers, crusing robot is connect according to original preset track trace and curved line track trace
The inspection work got off.
Further, in the step (f), the specific works for intelligent inspection robot of climbing are as follows:
Intelligent inspection robot of climbing first is walked along straight-line track trace, when encountering ramp shaped barrier, according to step
(b) deep learning, the information that master control system processing sensor acquisition module transmits, judges there is patrolling for climbing mechanism
Can inspection robot cross ramp shaped barrier in a manner of climbing or ladder, if ramp shaped barrier can be crossed, first pass through
Immediately ahead of pedrail mechanism walking to ramp shaped barrier, the whole slope of ramp shaped barrier is then acquired according to trinocular vision sensor
Degree, the extension elongation of adjustment front side climbing arm, while the Acetabula device to match with front side climbing arm is adjusted, guarantee electronic suction
Disk is adsorbed in the slope surface of barrier；Then according to identical mode, the extension elongation of adjustment rear side climbing arm adjusts simultaneously
The Acetabula device to match with rear side climbing arm, guarantees that electric sucking disc is adsorbed in the slope surface of ramp shaped barrier；When ramp shaped obstacle
When the gradient of object changes, extension elongation and direction by adjusting climbing arm are found and this section of ramp shaped barrier gradient
The length of the climbing arm to match and direction, and by Acetabula device, complete the climbing work of this section of barrier；
Pass through radar obstacle avoidance sensor if it cannot cross ramp shaped barrier to judge whether that ramp shaped obstacle can be bypassed
Object, if it is possible to ramp shaped barrier is bypassed, then passes through radar obstacle avoidance sensor and trinocular vision sensor, disturbance in judgement object
Size, volume and width make crusing robot smoothly bypass ramp shaped barrier, guarantee that crusing robot cut-through object carries out
Subsequent inspection work；
It is sounded an alarm if it can not bypass front obstacle by alarm system, staff is prompted to come to handle；
After ramp shaped barrier, crusing robot according to original preset track trace and curved line track trace into
The next inspection work of row.
Further, in the step (f), the specific works of pole-climbing intelligent inspection robot are as follows:
Pole-climbing intelligent inspection robot is first walked along straight-line track trace, is needed the pole for climbing period of the day from 11 p.m. to 1 a.m when encountering, is first passed through
Infrared distance sensor measures the relative distance of crusing robot and the pole for needing to climb, and is then passed by trinocular vision
Sensor acquires the image of pole, obtains the angle of the diameter of pole, the vertical height and pole and horizontal plane of pole, and
The information of acquisition is transferred to master control system by sensor acquisition module；
The information that the master control system processing sensor acquisition module transmits, judges that can crusing robot be climbed
By pole, if can climb through pole, pedrail mechanism walking is first passed through to the bottom of pole, is passed according to trinocular vision
The diameter of sensor acquisition pole, the vertical of pole are highly climbed with the angle of pole and horizontal plane, adjustment front side with rear side
Then the extension elongation of slope arm, the state that the pose adjustment of crusing robot and pole are matched pass through the climbing of control front side
The pole climbing device of arm clamps pole by three collets, and the pole-climbing arm of front side is made to climb up pole, then in a like fashion, control
The pole climbing device of rear side climbing arm, clamps pole by three collets, so that the pole-climbing arm of rear side is climbed up pole, finally repeat above-mentioned
Pole-climbing operation, complete entire pole-climbing process；
It is sounded an alarm if it cannot climb through pole by alarm system, staff is prompted to come to handle；
After pole, crusing robot is connect down according to original preset track trace and curved line track trace
The inspection work come.
As a result of the above technical solution, the following beneficial effects are obtained:
The present invention is a kind of intelligent substation inspection system and its method for inspecting, after the cruising inspection system is by setting monitoring
Data receiver, processing, display and the storage of the entire cruising inspection system of platform terminal processes complete specifically inspection by crusing robot
Work, and by the way that different types of crusing robot to be matched to different region of patrolling and examining respectively, routing inspection efficiency is improved, optimization is patrolled
Procuratorial organ's formula allows to complete the inspection work in different substation region.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is a kind of structural schematic diagram of intelligent substation inspection system in the embodiment of the present invention 1；
Fig. 2 is the control structure schematic diagram of crusing robot in the embodiment of the present invention 1；
Fig. 3 is the structural schematic diagram of information acquisition system in the embodiment of the present invention 1；
Fig. 4 is a kind of structural schematic diagram of track trace navigation intelligent inspection robot in the embodiment of the present invention 2；
Fig. 5 is to be interconnected to form inspection between straight-line track trace and curved line track trace in the embodiment of the present invention 2
The structural schematic diagram of the walking route of robot；
Fig. 6 is the track trace layout stracture schematic diagram at T-junction crossing in the embodiment of the present invention 2；
Fig. 7 is the track trace layout stracture schematic diagram at decussation crossing in the embodiment of the present invention 2；
Fig. 8 is the track trace layout stracture schematic diagram of arc intersection in the embodiment of the present invention 2；
Fig. 9 is the structural schematic diagram of obstacle detouring intelligent inspection robot in the embodiment of the present invention 3；
Figure 10 is that obstacle detouring arm rotation adjustment device and gravity center adjusting mechanism are set to obstacle detouring intelligence in the embodiment of the present invention 3
Structural schematic diagram in crusing robot base；
Figure 11 is the schematic diagram of internal structure of obstacle detouring arm in the embodiment of the present invention 3；
Figure 12 is the structural schematic diagram of climbing intelligent inspection robot in the embodiment of the present invention 4；
Figure 13 is that climbing arm rotation adjustment device and gravity center adjusting mechanism are set to climbing intelligence in the embodiment of the present invention 4
Structural schematic diagram in crusing robot base；
Figure 14 is the schematic diagram of internal structure of climbing arm in the embodiment of the present invention 4；
Figure 15 is the structural schematic diagram of pole-climbing intelligent inspection robot in the embodiment of the present invention 5；
Figure 16 is that pole-climbing arm rotation adjustment device is set to pole-climbing intelligent inspection robot base in the embodiment of the present invention 4
Interior structural schematic diagram；
Figure 17 is the schematic diagram of internal structure of pole-climbing arm in the embodiment of the present invention 4；
Figure 18 is the structural schematic diagram of pole-climbing clamp arm driving assembly in the embodiment of the present invention 4
Figure 19 is the side structure schematic diagram of pole-climbing clamp arm driving assembly in the embodiment of the present invention 4.
In figure: 1- robot body；2- straight-line track trace；3- curved line track trace；4-RFID identifier；5- becomes
To RFID label tag；6- detects RFID label tag；7- master control system；Magnetic sensing equipment before 8-；Magnetic sensing equipment after 9-；10- tri- is visual
Feel sensor；11- radar obstacle avoidance sensor；12- attitude transducer；13- infrared distance sensor；14- Temperature Humidity Sensor；
15- alarm lamp；16- alarming horn；17- pedrail mechanism；18- base；19- obstacle detouring arm；20- obstacle detouring outer arm；21- telescopic arm；
22- directive slide track；23- guide runner；24- drive lead screw；25- transmission nut；26- lead screw motor；27- adjusts motor；28-
Regulation output shaft；29- adjusts driving wheel；30- adjusts driven wheel；31- adjusts driven shaft；32- rotates adjustment seat；33- slows down
Machine；34- clump weight；35- adjusting slider；36- adjusts sliding rail；37- center of gravity adjusts screw rod mould group；38- climbing arm；39- climbing
Outer arm；41- sucker rotating electric machine；42- sucker rotating arm；43- sucker driving motor；44- electric sucking disc；45- nut seat；46-
Pole-climbing arm；47- pole-climbing outer arm；48- pole climbing device；49- pole-climbing attachment base；50- the first pole-climbing clamp arm；The second pole-climbing of 51- folder
Arm；52- arc-shaped guide rail；The left collet of 53-；The right collet of 54-；55- upper grip；56- pole-climbing clamp arm motor；57- pole-climbing clamp arm is actively
Shaft；58- pole-climbing clamp arm driven spindle；59- pole-climbing clamp arm driving gear；60- pole-climbing clamp arm driven gear；61- upper rack；
Rack gear under 62-；63- pole.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, right below by accompanying drawings and embodiments
The present invention is further elaborated.However, it should be understood that specific embodiment described herein is only used to explain this hair
Range that is bright, being not intended to restrict the invention.In addition, in the following description, descriptions of well-known structures and technologies are omitted,
So as not to unnecessarily obscure the concept of the present invention.
Embodiment 1
Referring to Fig. 1-3, a kind of intelligent substation inspection system, including monitoring background terminal, wireless telecom equipment and inspection
Robot,
Monitoring background terminal is data receiver, processing, display and the storage center of entire cruising inspection system, passes through channel radio
Believe that equipment and crusing robot realize that long-range control and data are transmitted, realizes to the automatic identification of substation equipment, inspection and report
It is alert.
Monitoring background terminal mainly includes applying unit, function services unit, interface communication unit and database.,
Applying unit needs to provide various application operatings according to substation inspection business, and the concrete function of applying unit can
It configures as needed and voluntarily, main content to be applied includes: that inspection video is shown, substation's electronic map is shown, survey monitor
Device people remote control operation, patrol task are checked, inspection log is checked, the analysis of inspection data, monitoring data tendency chart, user's report
Deng.
Function services unit provides some basic function services mainly around substation inspection business, mentions for applying unit
For support, specifically include that patrol mode configuration selection, patrol task setting and scheduling, inspection data processing, inspection data are examined
Rope, the setting of alarm item, log services and substation's management map.
Interface communication unit: it is primarily referred to as realizing the friendship of crusing robot and control centre by Wireless Communication Equipment
Mutually, the remote control of crusing robot detection image, data, robot oneself state and control centre to robot is specifically included that
Instruction.
Database mainly includes model database, historical data base and real-time data base, the letter for including by database
Breath can not only assist crusing robot to complete deep learning, and be used for the storage of whole system data, after facilitating monitoring
Platform terminal is called at any time.
Wireless telecommunications system is used to monitor the wireless transmission of background terminal and crusing robot information.
Wireless telecommunications system includes the network switch and wireless network base station, and the network switch is provided with multiple, network
Interchanger has installation on monitoring background terminal and crusing robot.
Crusing robot by wireless communication equipment and monitoring background terminal real time communication, realize inspection data teletransmission
With the remote control of monitoring background terminal order.
Crusing robot includes master control system, kinetic control system, information acquisition system and power-supply system, motion control
System, information acquisition system, power-supply system and wireless telecommunication system are connected with master control system.
Master control system controls kinetic control system, completes walking, obstacle detouring, avoidance, climbs for receiving remote control command
Line work, pole-climbing, is climbed at ladder in slope, and after the position of crusing robot, pose, sensor information are sent back to monitoring in real time
Platform terminal guarantees that crusing robot completes the inspection work of substation to obtain the ambient condition information of crusing robot.
Kinetic control system is used to control the normal work of driving equipment, guarantees being normally carried out for inspection work.
Information acquisition system is transmitted to master control by sensor, the current environmental information of acquisition crusing robot
System completes the information collection work for needing the substation equipment of inspection.
Power-supply system: for the power supply for electrical equipment to crusing robot, guarantee the sustainable continuation of the journey work of crusing robot
Make.
Crusing robot is divided into obstacle detouring intelligent inspection robot, climbing intelligent inspection robot, pole-climbing intelligent inspection machine
People and track trace navigation intelligent inspection robot.
Obstacle detouring intelligent inspection robot helps crusing robot to complete obstacle detouring and avoidance by barrier getting over mechanism set by ontology
Work carries out Daily Round Check convenient for needing to carry out the region of obstacle detouring to substation.
Intelligent inspection robot of climbing passes through the help of climbing mechanism set by ontology crusing robot completion climbing and ladder
Work, the region convenient for carrying out climbing and ladder to substation carry out Daily Round Check.
Pole-climbing intelligent inspection robot helps crusing robot to complete pole-climbing and climbs line by pole-climbing mechanism set by ontology
Work, the region convenient for carrying out climbing and ladder to substation carry out Daily Round Check.
Track trace navigates intelligent inspection robot by RFID identification device set by ontology set by ontology, and cooperation exists
The track trace and RFID label tag for needing to be laid on the substation level land of inspection complete the plane walking inspection of crusing robot
Work.
Specifically, information acquisition system include trinocular vision sensor, it is radar obstacle avoidance sensor, attitude transducer, infrared
Distance measuring sensor, Temperature Humidity Sensor and sensor acquisition module, trinocular vision sensor, radar obstacle avoidance sensor, posture pass
Sensor, infrared distance sensor, Temperature Humidity Sensor are connected with sensor acquisition module, the connection of sensor acquisition module
Master control system.
Trinocular vision sensor is set to the top of master control system, and radar obstacle avoidance sensor is set to the side of base, appearance
State sensor, infrared distance sensor and Temperature Humidity Sensor are set on base.
The lower section of trinocular vision sensor is equipped with holder, for controlling the posture of trinocular vision sensor.Trinocular vision passes
Sensor is one high-definition camera of increase on the basis of original binocular vision sensor, absorbs the figure in front of crusing robot
Piece obtains three-dimensional information by image procossing, then constructs CAD model by surface fitting, obtains the letter in front of crusing robot
Breath.Due to increasing a video camera, the blind area of measurement is reduced, while avoided in binocular vision as far as possible due to feature
Point fuzziness and the error hiding phenomenon generated.
Specifically, it after trinocular vision sensor is by identifying target lead object, and is measured and is patrolled by infrared distance sensor
The relative position for examining robot and its, calculates the volume and size of object, sends its information to master control system, master control
Its data is transferred to kinetic control system by system, goes to object with advancing by kinetic control system control crusing robot
Row correlation inspection operation.
Radar obstacle avoidance sensor, which is used to work as, detects that the barrier in front cannot be more out-of-date, needs to pass by radar avoidance
Sensor helps avoiding obstacles.
Attitude transducer is used to measure the 3 d pose of current crusing robot.
Infrared distance sensor by obtain with substation's ambient enviroment object it is specific come determine crusing robot from
Body position.
Temperature Humidity Sensor is used to measure the temperature and humidity information of substation's ambient enviroment.
Sensor acquisition module is for acquiring trinocular vision sensor, radar obstacle avoidance sensor, attitude transducer, infrared
The information of distance measuring sensor, Temperature Humidity Sensor.
Specifically, alarm system is additionally provided on crusing robot, alarm system includes alarm lamp and alarming horn.Alarm
Lamp and alarming horn are set to the front side of master control system.
Alarm lamp: alarm lamp is flashed when encountering special circumstances for crusing robot, is served as a warning.
Alarming horn: whistle when encountering special circumstances for crusing robot serves as a warning.
System matches therewith, the present invention provides a kind of intelligent substation patrol method again, comprising the following steps:
(a) database for first passing through monitoring background terminal transfers the geographic map information of the substation；Then as needed
The substation equipment of detection divides detection zone, which includes ground detection region and high-altitude detection zone；Last root
According to needing detection zone to match corresponding crusing robot, in ground detection Region Matching obstacle detouring intelligent inspection robot and magnetic
Trace navigation intelligent inspection robot, in high-altitude, there is climbing intelligent inspection robot and pole-climbing intelligently to patrol for detection zone matching
Examine robot.
Here ground detection region is generally referred to as in substation's workshop outside first layer ground region and substation's workshop
Ground region, which is generally to facilitate to lay straight-line track trace and curved line track trace based on level land,
To facilitate design inspection programme path, it is convenient to carry out inspection Comparision that intelligent inspection robot is navigated by track part line
Fast.In addition on the one hand track trace not side is laid in some rugged region in the detection zone of ground here
Just, it is therefore desirable to individually be detected by obstacle detouring intelligent inspection robot, the refinement substation inspection division of labor, to improve
Detection efficiency.
Here high-altitude detection zone is generally referred to as in workshop the floor area more than second layer, the wall in workshop
With outside layer top region, workshop the detection of high-altitude power transmission line and the special position of some, for example the special position is relative to patrolling
Examining for robot itself is higher position, for example the special position needs to climb after line, pole-climbing etc. by climbing,
It can detect substation equipment.The detection of these positions is needed through climbing intelligent inspection robot and pole-climbing Intelligent inspection machine
The device talent can complete relevant detection work.
(b) crusing robot for needing to participate in inspection is subjected to deep learning, the content of deep learning includes the survey monitor
Region, the straight-line track trace of walking and the planning route of curved line track trace and walking length, need that device people needs to detect
The detection content for the substation equipment to be detected after the crusing robot deep learning wait need to participate in inspection, is put into
In the Daily Round Check of substation.
(c) more are arranged on ground detection region referring to Fig. 5 according to the landform and landforms in detection ground detection region
Straight-line track trace and curved line track trace, they are joined end to end, and form inspection route, and more straight line magnetic being arranged
Trajectory line is labeled as A1 straight-line track trace, A2 straight-line track trace, A3 straight-line track trace ..., more arcs of setting
Line magnetic tracks wire tag is B1 curved line track trace, B2 curved line track trace, B3 curved line track trace ...；On ground
Deflecting RFID label tag is arranged in the intersection of face detection zone, and is C1 deflecting RFID label tag, C2 by deflecting RFID label tag
Deflecting RFID label tag, C3 deflecting RFID label tag ... do corresponding early-stage preparations for the inspection work of substation.
(d) the setting detection RFID label tag on the substation equipment for need inspection, and will test RFID label tag is D1
It detects RFID label tag, D2 detection RFID label tag, D3 and detects RFID label tag ..., facilitate crusing robot intelligent recognition substation
Inspection device.
(e) crusing robot to ground detection zone carry out inspection work: according in step (a) to ground detection zone
Division, staff carries out corresponding position to obstacle detouring intelligent inspection robot and track part line navigation intelligent inspection robot
It lays, the start position for being placed into corresponding straight-line track trace starts to work.Such as obstacle detouring intelligent patrol detection
Robot, the ground region predominantly detected are the detection zone that ground is uneven, needs obstacle detouring and avoidance, rely on obstacle detouring and intelligently patrol
Inspection robot carries out detection work, proper.Such as ground level land region, track trace conveniently sets convenient for laying
Inspection programme path is counted, it is convenient and efficient to carry out inspection Comparision by track part line navigation intelligent inspection robot.
(f) crusing robot to high-altitude detection zone carry out inspection work: according in step (a) to high-altitude detection zone
Division, staff carries out corresponding position laying to climbing intelligent inspection robot and pole-climbing intelligent inspection robot, will
Its start position for being placed into corresponding straight-line track trace starts to work.Such as the ground for needing to climb with ladder
It is suitable to carry out detection Comparision using climbing intelligent inspection robot for area.For needing pole-climbing and climb line, such as to factory
When power transmission line outside room is detected, generally require to carry out detection work by climbing level robot.
Specifically, in step (e), track part line navigation intelligent inspection robot specific works it is as follows: pass through master control system
System control kinetic control system, makes crusing robot walk along straight-line track trace and curved line track trace, according to number
PID position type control algolithm, learns the real time position and road conditions of current crusing robot, and confirm crusing robot at this
The departure of moment position, is embodied asFormula
Middle c (j) is the position of target value and the crusing robot at current time and the difference of posture, and c (j-1) is the value of last moment；When
When encountering intersection, the traffic information of current intersection is acquired by trinocular vision sensor, traffic information is sent to
Master control system, and identified by the directed navigation of track trace, after being combined by vision collecting and track trace, by master control system
System makes corresponding judgement, selects suitable route, and passes through RFID identification device on crusing robot and corresponding deflecting
After RFID label tag fits through, master control system controls kinetic control system, makes crusing robot by intersection, is connect
The inspection work got off；After trinocular vision sensor, which collects front, needs the substation equipment of inspection, pass through inspection machine
The corresponding detection RFID label tag of RFID identification device identification on people, the patrol worker of the substation equipment is completed by crusing robot
Make, judge whether the substation equipment is normal, if the substation equipment is normal, crusing robot carries out next inspection
Work；If power station equipment is abnormal, crusing robot overhauls the substation equipment, is connect down after the completion of Awaiting Overhaul
The inspection work come.
Specifically, in step (e), the specific works of obstacle detouring intelligent inspection robot are as follows:
When encountering front obstacle, according to the deep learning of step (b), judge that can crusing robot surmount obstacles
Object is first passed through immediately ahead of pedrail mechanism walking to barrier, is then sensed according to trinocular vision if can clear the jumps
Device acquires size, volume and the height of barrier, when the height of barrier is less than the height of control system setting, control system
System drives the obstacle detouring outer arm on front side of crusing robot and telescopic arm work by two obstacle detouring arms on front side of crusing robot, and
By cooperating pedrail mechanism, clears the jumps, complete obstacle detouring work；When the height of barrier is greater than the height of control system setting
When spending, control system passes through two obstacle detouring arms on rear side of two obstacle detouring arms and crusing robot on front side of crusing robot simultaneously
Work, and by cooperation pedrail mechanism, it clears the jumps, completes obstacle detouring work；
If it cannot clear the jumps by radar obstacle avoidance sensor judge whether can cut-through object, if energy
Enough cut-through objects, then pass through radar obstacle avoidance sensor and trinocular vision sensor, size, volume and the width of disturbance in judgement object
Degree makes crusing robot avoiding obstacles, guarantees that crusing robot cut-through object carries out subsequent inspection work；
It is sounded an alarm if it can not bypass front obstacle by alarm system, staff is prompted to come to handle；
After breaking the barriers, crusing robot is connect according to original preset track trace and curved line track trace
The inspection work got off.
Specifically, in step (f), the specific works for intelligent inspection robot of climbing are as follows:
Intelligent inspection robot of climbing first is walked along straight-line track trace, when encountering ramp shaped barrier, according to step
(b) deep learning, the information that master control system processing sensor acquisition module transmits, judges there is patrolling for climbing mechanism
Can inspection robot cross ramp shaped barrier in a manner of climbing or ladder, if ramp shaped barrier can be crossed, first pass through
Immediately ahead of pedrail mechanism walking to ramp shaped barrier, the whole slope of ramp shaped barrier is then acquired according to trinocular vision sensor
Degree, the extension elongation of adjustment front side climbing arm, while the Acetabula device to match with front side climbing arm is adjusted, guarantee electronic suction
Disk is adsorbed in the slope surface of barrier；Then according to identical mode, the extension elongation of adjustment rear side climbing arm adjusts simultaneously
The Acetabula device to match with rear side climbing arm, guarantees that electric sucking disc is adsorbed in the slope surface of ramp shaped barrier；When ramp shaped obstacle
When the gradient of object changes, extension elongation and direction by adjusting climbing arm are found and this section of ramp shaped barrier gradient
The length of the climbing arm to match and direction, and by Acetabula device, complete the climbing work of this section of barrier；
Pass through radar obstacle avoidance sensor if it cannot cross ramp shaped barrier to judge whether that ramp shaped obstacle can be bypassed
Object, if it is possible to ramp shaped barrier is bypassed, then passes through radar obstacle avoidance sensor and trinocular vision sensor, disturbance in judgement object
Size, volume and width make crusing robot smoothly bypass ramp shaped barrier, guarantee that crusing robot cut-through object carries out
Subsequent inspection work；
It is sounded an alarm if it can not bypass front obstacle by alarm system, staff is prompted to come to handle；
After ramp shaped barrier, crusing robot according to original preset track trace and curved line track trace into
The next inspection work of row.
Specifically, in step (f), the specific works of pole-climbing intelligent inspection robot are as follows:
Pole-climbing intelligent inspection robot is first walked along straight-line track trace, is needed the pole for climbing period of the day from 11 p.m. to 1 a.m when encountering, is first passed through
Infrared distance sensor measures the relative distance of crusing robot and the pole for needing to climb, and is then passed by trinocular vision
Sensor acquires the image of pole, obtains the angle of the diameter of pole, the vertical height and pole and horizontal plane of pole, and
The information of acquisition is transferred to master control system by sensor acquisition module；
The information that master control system processing sensor acquisition module transmits, judges that can crusing robot be climbed and passes through
Pole first passes through pedrail mechanism walking to the bottom of pole, according to trinocular vision sensor if can climb through pole
Obtain the angle of the diameter of pole, the vertical height and pole and horizontal plane of pole, the climbing arm of adjustment front side and rear side
Extension elongation, then the state that the pose adjustment of crusing robot and pole are matched passes through control front side climbing arm
Pole climbing device clamps pole by three collets, and the pole-climbing arm of front side is made to climb up pole, then in a like fashion, control rear side
The pole climbing device of climbing arm, clamps pole by three collets, so that the pole-climbing arm of rear side is climbed up pole, finally repeats above-mentioned climb
Bar operation, completes entire pole-climbing process；
It is sounded an alarm if it cannot climb through pole by alarm system, staff is prompted to come to handle；
After pole, crusing robot is connect down according to original preset track trace and curved line track trace
The inspection work come.
Embodiment 2
It works for specifically floor, the present embodiment is provided with corresponding track trace navigation intelligent inspection machine
People and its air navigation aid.
Referring to Fig. 4 to Fig. 8, a kind of track part line navigation intelligent inspection robot, including robot body 1, more straight line magnetic
Trajectory line 2, more curved line track traces 3, RFID label tag and RFID identification device 4, straight-line track trace 2 connect curved line magnetic
Trajectory line 3 is interconnected to form the walking route of crusing robot between straight-line track trace 2 and curved line track trace 3.
By more straight-line track traces 2 of setting and Duo Gen curved line track trace 3, it is laid with inspection route, is ground level land region
Inspection work is prepared.
Robot body 1 is equipped with RFID identification device 4, and the side of straight-line track trace 2 and curved line track trace 3 is set
There is RFID label tag, RFID label tag and RFID identification device 4 match.Pass through setting RFID label tag and RFID identification device 4, RFID mark
Label are divided into deflecting RFID label tag 5 and detection RFID label tag 6, and deflecting RFID label 5 is arranged on curved line track trace 3, convenient
Crusing robot deflecting identification.It detects RFID label tag 6 to be arranged on detection device, the detection mark of RFID label tag 6 has tested power transformation
The information of station equipment facilitates RFID identifier 4 to read substation equipment information, improves the intelligent level of crusing robot.
Robot body 1 further include the master control system 7 being arranged on base, kinetic control system, information acquisition system and
Power-supply system, kinetic control system, information acquisition system, power-supply system are connected with master control system 7.
Master control system 7: for receiving remote control command, kinetic control system is controlled, makes crusing robot along straight line
Track trace 2 and curved line track trace 3 are walked, and in real time send out the position of crusing robot, pose, sensor information
Monitoring background terminal is returned to, to obtain substation's ambient condition information, guarantees that crusing robot completes the patrol worker of substation
Make.
Kinetic control system: for controlling the normal work of driving equipment, guarantee being normally carried out for inspection work.
Information acquisition system: by sensor, the relevant information around substation inspection point is acquired, and is transmitted to
Master control system 7 completes the information collection work around substation.
Power-supply system: for the power supply for electrical equipment to crusing robot, guarantee the sustainable continuation of the journey work of crusing robot
Make.
Specifically, referring to Fig. 4, the lower part of robot body 1 is equipped with magnetic sensing equipment, and magnetic sensing equipment includes that preceding magnetic passes
Feel equipment 8 and rear magnetic sensing equipment 9, front side of the preceding magnetic sensing equipment 8 for crusing robot is navigated, and rear magnetic sensing equipment 9 is used
It is positioned in the rear side of crusing robot.The magnetic sensing equipment is Magnetic Sensor, passes through the two groups of Magnetic Sensors in setting front and back, cooperation
Straight-line track trace 2 and curved line track trace 3 carry out location navigation to crusing robot, it are made during the motion will not
Deviate default route, reduce inspection failure, improves inspection quality.
Specifically, information acquisition system includes trinocular vision sensor 10, radar obstacle avoidance sensor 11, attitude transducer
12, infrared distance sensor 13, Temperature Humidity Sensor 14 and sensor acquisition module, trinocular vision sensor 10, radar avoidance
Sensor 11, attitude transducer 12, infrared distance sensor 13, Temperature Humidity Sensor 14 are connected with sensor acquisition module
It connects, sensor acquisition module connects master control system 7.
Robot body 1 further includes alarm system, and alarm system includes alarm lamp 15 and alarming horn 16；
Alarm lamp 15: alarm lamp 15 is flashed when encountering special circumstances for crusing robot, is served as a warning；
Alarming horn 16: whistle when encountering special circumstances for crusing robot serves as a warning.
The two sides of robot body 1 are equipped with pedrail mechanism 17.The pedrail mechanism 17 is the pedrail mechanism 17 of the prior art,
Here it is not unfolded to describe its specific structure.
Match with trajectory line navigation intelligent inspection robot, the present embodiment provides a kind of track part line navigation intelligence to patrol
Examine robot navigation method, comprising the following steps:
(a) database for first passing through monitoring background terminal transfers the geographic map information of the substation, according to detection ground
More straight-line track traces 2 and curved line magnetic is arranged referring to Fig. 5 in the landform and landforms of detection zone on ground detection region
Trajectory line 3, here ground detection region are primarily directed to level land ground, and the gradient rises and falls little region.By the more of setting
Root straight-line track trace 2 is labeled as A1 straight-line track trace, A2 straight-line track trace, A3 straight-line track trace ..., setting
More curved line track traces 3 are labeled as B1 curved line track trace, B2 curved line track trace, B3 curved line magnetic tracks
Line ...；Deflecting RFID label tag 5 is set in the intersection in ground detection region, and deflecting RFID label tag 5 is become labeled as C1
To RFID label tag, C2 deflecting RFID label tag, C3 deflecting RFID label tag ..., intersection is generally divided into T-junction road
Mouthful, decussation crossing and arc intersection specifically can be referring to Fig. 6, Fig. 7 and Fig. 8.
(b) crusing robot for needing to participate in inspection is subjected to deep learning, the content of deep learning includes the survey monitor
Region, the straight-line track trace of walking and the planning route of curved line track trace and walking length, need that device people needs to detect
The detection content for the substation equipment to be detected after the crusing robot deep learning wait need to participate in inspection, is put into
In the Daily Round Check of substation.
(c) the setting detection RFID label tag 6 on the substation equipment for need inspection, and will test RFID label tag 6 and be labeled as
D1 detects RFID label tag, D2 detection RFID label tag, D3 and detects RFID label tag ....
(d) crusing robot to ground detection zone carry out inspection work: staff by track part line navigate intelligent patrol detection
The start position of robot to straight-line track trace starts to work；Detailed process is as follows: being controlled and is transported by master control system 7
Autocontrol system makes crusing robot walk along straight-line track trace and curved line track trace, according to digital PID position
Type control algolithm, learns the real time position and road conditions of current crusing robot, and confirm crusing robot in the moment position
Departure, be embodied asC (j) is in formula
The position of the crusing robot at target value and current time and the difference of posture, c (j-1) are the value of last moment；Intersect when encountering
When crossing, the traffic information of current intersection is acquired by trinocular vision sensor 10, and traffic information is sent to master control system
System 7, and identified by the directed navigation of track trace, after being combined by vision collecting and track trace, done by master control system 7
Corresponding judgement out, selects suitable route, and pass through the RFID identification device 4 and corresponding deflecting RFID on crusing robot
After tag match passes through, master control system 7 controls kinetic control system, makes crusing robot by intersection, carries out following
Inspection work；After trinocular vision sensor 10, which collects front, needs the substation equipment of inspection, pass through crusing robot
On RFID identification device 4 identify corresponding detection RFID label tag, the patrol worker of the substation equipment is completed by crusing robot
Make, judge whether the substation equipment is normal, if the substation equipment is normal, crusing robot carries out next inspection
Work；If power station equipment is abnormal, crusing robot overhauls the substation equipment, is connect down after the completion of Awaiting Overhaul
The inspection work come.
Embodiment 3
It works for specifically ground obstacle detouring, the present embodiment is provided with corresponding barrier getting over mechanism, obstacle detouring intelligent inspection machine
People and its substation's obstacle-detouring method.
Referring to Fig. 9, Figure 10 and Figure 11, a kind of barrier getting over mechanism, including base 18 and obstacle detouring arm 19, obstacle detouring arm 19 are provided with
Four, obstacle detouring arm 19 is arranged on four corners of base 18, and obstacle detouring arm 19 includes obstacle detouring outer arm 20 and telescopic arm 21, obstacle detouring
The inner wall of outer arm 20 is equipped with directive slide track 22, and directive slide track 22 is connected with guide runner 23, and guide runner 23 is connected with screw rod
Mould group, screw rod mould group are connected with telescopic arm 21, and screw rod mould group can drive telescopic arm 21 to carry out stretching motion.
Specifically, screw rod mould group includes drive lead screw 24, transmission nut 25, nut seat 45 and lead screw motor 26, screw rod electricity
Machine 26 is set to the end of obstacle detouring outer arm 20, and lead screw motor 26 connects drive lead screw 24, and drive lead screw 24 is equipped with transmission nut
25, transmission nut 25 is connected with nut seat 45, and nut seat 45 connects telescopic arm 21.By the way that screw rod mould group is arranged, by lead screw motor
26 drive drive lead screw 24 to move, and drive lead screw 24 drives transmission nut 25 to move, so that telescopic arm 21 is driven to move, thus
The Telescopic for realizing obstacle detouring arm 19 facilitates the entire length for adjusting obstacle detouring arm 19, adapts it to different size of barrier.
Specifically, obstacle detouring outer arm 20 is connected with obstacle detouring arm rotation adjustment device, and obstacle detouring arm rotation adjustment device includes adjusting
Motor 27, regulation output shaft 28 adjust driving wheel 29, adjust driven wheel 30, adjusting driven shaft 31 and rotation adjustment seat 32, adjust
Section motor 27 is set in base 18, and the output end for adjusting motor 27 is equipped with speed reducer 33, and speed reducer 33 is connected with adjusting output
Axis 28, regulation output shaft 28, which is equipped with, adjusts driving wheel 29, adjusts driving wheel 29 and is connected with adjusting driven wheel 30, adjusts driven
Wheel 30, which is connected with, adjusts driven shaft 31, and the both ends for adjusting driven shaft 31 rotate adjustment seat 32, and rotation adjustment seat 32 connects outside obstacle detouring
Arm 20.Regulation output shaft 28 is driven to make rotating motion by adjusting motor 27 by setting obstacle detouring arm rotation adjustment device, thus
It drives and adjusts the movement of driving wheel 29, in the case where adjusting driving wheel 29 and adjusting the engagement of driven wheel 30, drive and rotate adjustment seat
32 are rotated, so that entire obstacle detouring arm 19 be driven to be rotated, to realize the rotation function of obstacle detouring arm 19, facilitate adjusting
The angle of obstacle detouring arm 19 adapts it to different size of barrier.
Another aspect provides a kind of obstacle detouring intelligent inspection robot comprising ontology, which is characterized in that ontology included
Barrier getting over mechanism.
Specifically, ontology further includes the pedrail mechanism 17 that 18 two sides of base are arranged in.The pedrail mechanism 17 is the prior art
Pedrail mechanism 17 exist, here be not unfolded to describe.
Specifically, ontology further includes gravity center adjusting mechanism, and gravity center adjusting mechanism includes clump weight 34, adjusting slider 35, adjusts
It saves sliding rail 36 and center of gravity adjusts screw rod mould group 37, center of gravity adjusts screw rod mould group 37 and is set in base 18, and center of gravity adjusts screw rod mould
37 connection clump weight 34 of group, the lower part of clump weight 34 are equipped with adjusting slider 35, and the connection of adjusting slider 35 adjusts sliding rail 36.
Specifically, ontology further includes the master control system 7 being arranged on base 18, kinetic control system, information acquisition system
And power-supply system, kinetic control system, information acquisition system and power-supply system are connected with master control system 7；
Master control system 7: for receiving remote control command, walking, obstacle detouring, avoidance function are completed in control associated motor driving
Can and the position of crusing robot, pose, sensor information be sent back to remote control terminal in real time, to obtain substation's week
Environmental information is enclosed, guarantees that crusing robot completes the inspection work of substation.
Kinetic control system is used for the driving for controlling lead screw motor 26, adjusting motor 27, crawler belt motor, guarantees obstacle detouring machine
The normal work of structure and barrier getting over mechanism；
Information acquisition system acquires the relevant information around substation inspection point by sensor, and is transmitted to master
Control system 7 completes the information collection work around substation；
Power-supply system is used to guarantee the sustainable continuation of the journey work of crusing robot to the power supply for electrical equipment of crusing robot
Make.
Specifically, information acquisition system includes trinocular vision sensor 10, radar obstacle avoidance sensor 11, attitude transducer
12, infrared distance sensor 13, Temperature Humidity Sensor 14 and sensor acquisition module, trinocular vision sensor 10, radar avoidance
Sensor 11, attitude transducer 12, infrared distance sensor 13, Temperature Humidity Sensor 14 are connected with sensor acquisition module
It connects, sensor acquisition module connects master control system 7.
Specifically, ontology further includes alarm system, and alarm system includes alarm lamp 15 and alarming horn 16；
Alarm lamp 15: alarm lamp 15 is flashed when encountering special circumstances for crusing robot, is served as a warning；
Alarming horn 16: whistle when encountering special circumstances for crusing robot serves as a warning.
Another aspect provides a kind of substation's obstacle-detouring method of intelligent inspection robot, it is characterised in that including following step
It is rapid:
(a) crusing robot is placed on progress inspection work in substation, finds out surrounding using information acquisition system
Environment determines survey monitor by finding out the GPS positioning module included with the range information of surrounding objects and master control system 7
The position of device people itself；
(b) relative distance that infrared distance sensor 13 measures crusing robot and barrier is first passed through, is then passed through
Trinocular vision sensor 10 acquires the image of barrier, obtains the size, volume and height of barrier, and by the information of acquisition
Master control system 7 is transferred to by sensor acquisition module；
(c) master control system 7 handles the information that sensor acquisition module transmits, and judges that can crusing robot be crossed
Barrier carries out step (d) if it can clear the jumps, and passes through radar obstacle avoidance sensor if it cannot clear the jumps
11 judge whether being capable of cut-through object, if it is possible to which cut-through object then carries out step (e), if front can not be bypassed
Barrier is then sounded an alarm by alarm system, and staff is prompted to come to handle；
(d) it first passes through immediately ahead of the walking to barrier of pedrail mechanism 17, is then acquired and hindered according to trinocular vision sensor 10
The size, volume and height for hindering object, when the height of barrier is less than the height of control system setting, control system is by patrolling
Two obstacle detouring arms 19 on front side of robot are examined, drive obstacle detouring outer arm 20 and telescopic arm 21 on front side of crusing robot to work, and lead to
Cooperation pedrail mechanism 17 is crossed, is cleared the jumps, obstacle detouring work is completed；When the height of barrier is greater than the height of control system setting
When spending, control system passes through two obstacle detouring arms 19 on rear side of the two obstacle detouring arms 19 and crusing robot on front side of crusing robot
It works at the same time, and by cooperation pedrail mechanism 17, clears the jumps, complete obstacle detouring work；
(e) pass through radar obstacle avoidance sensor 11 and trinocular vision sensor 10, size, volume and the width of disturbance in judgement object
Degree makes crusing robot avoiding obstacles, guarantees that crusing robot cut-through object carries out subsequent inspection work.
The obstacle detouring intelligent inspection robot match four obstacle detouring arms 19, before two, behind two, before two obstacle detourings
19 co-ordination of arm, behind two 19 co-ordinations of obstacle detouring arm, i.e. the work of the obstacle detouring arm 19 of front two and below two obstacle detourings
The work of arm 19 is independent.Inspection on normal ground completes plane by pedrail mechanism 17 in the case where not encountering barrier
Walking, meets the general walking needs of crusing robot.After encountering barrier, generally first passes through trinocular vision and collect barrier
After the image for hindering object, the size, volume and height of barrier are obtained, and the information of acquisition is passed by sensor acquisition module
It is defeated by master control system 7, judging this by master control system 7, which kind of posture clears the jumps with intelligent inspection robot.It specifically includes
Three kinds of modes clear the jumps and a kind of mode avoiding obstacles, and the three kinds of modes that clear the jumps are as follows: the first: barrier
Height be less than the wheel height of pedrail mechanism 17, four obstacle detouring arms 19 are needed not rely on, directly by 17 He of pedrail mechanism
The effect of gravity center adjusting mechanism can clear the jumps.Second: the height of barrier is less than the maximal tensility of obstacle detouring arm 19
When, not against pedrail mechanism 17, but the effect of front two obstacle detouring arms 19 and gravity center adjusting mechanism is relied on, barrier can be crossed
Hinder object.When the height of barrier is less than 1.5 times of maximal tensilities of obstacle detouring arm 19, not against pedrail mechanism 17, but rely on
The effect of front and back four obstacle detouring arms 19 and gravity center adjusting mechanism, can clear the jumps.When the height of barrier is greater than obstacle detouring arm
When 19 1.5 times of maximal tensilities, if the judgement of master control system 7 can be patrolled breaking the barriers in a manner of avoidance
Robot avoiding obstacles are examined, guarantee that crusing robot cut-through object carries out subsequent inspection work.If can not be around
It crosses front obstacle then to be sounded an alarm by alarm system, staff is prompted to come to handle.In this way, according to different barriers
Situation, the achievable active obstacle of obstacle detouring intelligent inspection robot, so that robot completely may be used in the case where unmanned intervene
It leans on, quickly and efficiently realize Complete autonomy.
Embodiment 4
For the climbing of specifically high-altitude, ladder work, the present embodiment is provided with corresponding climbing mechanism, climbing intelligence is patrolled
Examine robot and its substation's hill-climbing method.
A kind of climbing mechanism, including base 18 and climbing arm 38, climbing arm 38 are provided with four, and the climbing setting of arm 38 exists
On four corners of base 18, climbing arm 38 includes climbing outer arm 39 and telescopic arm 21, and the inner wall of climbing outer arm 39, which is equipped with, leads
To sliding rail 22, directive slide track 22 is connected with guide runner 23, and guide runner 23 is connected with screw rod mould group, and screw rod mould group is connected with
Telescopic arm 21, screw rod mould group can drive telescopic arm 21 to carry out stretching motion, and the end of climbing arm 38 is equipped with Acetabula device, sucker
Device includes sucker rotating electric machine 41, sucker rotating arm 42, sucker driving motor 43 and electric sucking disc 44, sucker rotating electric machine
41 are set to the end of telescopic arm 21,41 connecting sucker rotating arm 42 of sucker rotating electric machine, and 42 connecting sucker of sucker rotating arm drives
Dynamic motor 43, sucker driving motor 43 connect electric sucking disc 44.By the way that Acetabula device is arranged, driven by sucker rotating electric machine 41
Sucker rotating arm 42 is rotated, and suitable angle is rotated it to, and then sucker driving motor 43 drives electric sucking disc 44,
Electric sucking disc 44 is set to be adsorbed in ramp shaped object perhaps on ladder so that the arm 38 that makes to climb is adsorbed on ramp shaped object or ladder,
Realize its work of climbing.
Specifically, screw rod mould group includes drive lead screw 24, transmission nut 25, nut seat 45 and lead screw motor 26, screw rod electricity
Machine 26 is set to the end of climbing outer arm 39, and lead screw motor 26 connects drive lead screw 24, and drive lead screw 24 is equipped with transmission nut
25, transmission nut 25 is connected with nut seat 45, and nut seat 45 connects telescopic arm 21.By the way that screw rod mould group is arranged, by lead screw motor
26 drive drive lead screw 24 to move, and drive lead screw 24 drives transmission nut 25 to move, so that climbing arm 38 is driven to move, thus
The Telescopic for realizing climbing arm 38 facilitates the entire length for adjusting climbing arm 38, adapts it to different size of climbing work
Make.
Specifically, climbing outer arm 39 is connected with climbing arm rotation adjustment device, and climbing arm rotation adjustment device includes adjusting
Motor 27, regulation output shaft 28 adjust driving wheel 29, adjust driven wheel 30, adjusting driven shaft 31 and rotation adjustment seat 32, adjust
Section motor 27 is set in base 18, and the output end for adjusting motor 27 is equipped with speed reducer 33, and speed reducer 33 is connected with adjusting output
Axis 28, regulation output shaft 28, which is equipped with, adjusts driving wheel 29, adjusts driving wheel 29 and is connected with adjusting driven wheel 30, adjusts driven
Wheel 30, which is connected with, adjusts driven shaft 31, and the both ends for adjusting driven shaft 31 rotate adjustment seat 32, and the rotation connection climbing of adjustment seat 32 is outer
Arm 39.Regulation output shaft 28 is driven to make rotating motion by adjusting motor 27 by setting climbing arm rotation adjustment device, thus
It drives and adjusts the movement of driving wheel 29, in the case where adjusting driving wheel 29 and adjusting the engagement of driven wheel 30, drive and rotate adjustment seat
32 are rotated, so that entire climbing arm 38 be driven to be rotated, to realize the rotation function of climbing arm 38, facilitate adjusting
The angle of climbing arm 38, adapts it to different size of climbing work.
On the other hand, the present invention provides a kind of climbing intelligent inspection robot again comprising ontology, ontology include above-mentioned
Climbing mechanism.
Specifically, ontology further includes the pedrail mechanism 17 that 18 two sides of base are arranged in.The pedrail mechanism 17 is the prior art
Pedrail mechanism 17, be not unfolded here describe pedrail mechanism 17 specific structure.
Specifically, ontology further includes gravity center adjusting mechanism, and gravity center adjusting mechanism includes clump weight 34, adjusting slider 35, adjusts
It saves sliding rail 36 and center of gravity adjusts screw rod mould group 37, center of gravity adjusts screw rod mould group 37 and is set in base 18, and center of gravity adjusts screw rod mould
37 connection clump weight 34 of group, the lower part of clump weight 34 are equipped with adjusting slider 35, and the connection of adjusting slider 35 adjusts sliding rail 36.Pass through
Gravity center adjusting mechanism is set and facilitates the whole position of centre of gravity for adjusting crusing robot, crusing robot is facilitated preferably to complete to climb
Slope work.
Specifically, ontology further includes the master control system 7 being arranged on base 18, kinetic control system, information acquisition system
And power-supply system, kinetic control system, information acquisition system and power-supply system are connected with master control system 7.
Master control system 7: for receiving remote control command, walking, climbing, avoidance function are completed in control associated motor driving
Can and the position of crusing robot, pose, sensor information be sent back to remote control terminal in real time, to obtain substation's week
Environmental information is enclosed, guarantees that crusing robot completes the inspection work of substation.
Kinetic control system: the driving for controlling lead screw motor 26, adjusting motor 27, crawler belt motor guarantees slope-climbing machine
The normal work of structure and climbing mechanism.
Information acquisition system: by sensor, the relevant information around substation inspection point is acquired, and is transmitted to
Master control system 7, to complete related inspection work.
Power-supply system: for guaranteeing the sustainable continuation of the journey of crusing robot to the power supply for electrical equipment on crusing robot
Work.
Specifically, information acquisition system includes trinocular vision sensor 10, radar obstacle avoidance sensor 11, attitude transducer
12, infrared distance sensor 13, Temperature Humidity Sensor 14, control mass sensor and sensor acquisition module, trinocular vision pass
Sensor 10, radar obstacle avoidance sensor 11, attitude transducer 12, infrared distance sensor 13, Temperature Humidity Sensor 14, control matter
Quantity sensor is connected with sensor acquisition module, and sensor acquisition module connects master control system 7.
Specifically, ontology further includes alarm system, and alarm system includes alarm lamp 15 and alarming horn 16；
Alarm lamp 15: alarm lamp 15 is flashed when encountering special circumstances for crusing robot, is served as a warning；
Alarming horn 16: whistle when encountering special circumstances for crusing robot serves as a warning.
Match with climbing intelligent inspection robot, substation's climbing of another intelligent inspection robot of the invention
Method, comprising the following steps:
(a) crusing robot is placed on progress inspection work in substation, finds out surrounding using information acquisition system
Environment determines survey monitor by finding out the GPS positioning module included with the range information of surrounding objects and master control system 7
The position of device people itself.
(b) relative distance that infrared distance sensor 13 measures crusing robot and barrier is first passed through, is then passed through
Trinocular vision sensor 10 acquires the image of barrier, obtains the size, volume and height of barrier, obtains the whole of barrier
The local gradient size of body gradient size and barrier, and the information of acquisition is transferred to master control by sensor acquisition module
System 7.
(c) master control system 7 handles the information that sensor acquisition module transmits, and judges that can crusing robot to climb
The mode on slope clears the jumps, and step (d) is carried out if it can clear the jumps, and passes through thunder if it cannot clear the jumps
Judging whether up to obstacle avoidance sensor 11 being capable of cut-through object, if it is possible to which cut-through object then carries out step (e), if not
It can then be sounded an alarm by alarm system around front obstacle, staff is prompted to come to handle.
(d) it first passes through immediately ahead of the walking to barrier of pedrail mechanism 17, is then acquired and hindered according to trinocular vision sensor 10
Hinder the whole gradient of object, the extension elongation of adjustment front side climbing arm 38, while adjusting the sucker to match with front side climbing arm 38
Device guarantees that electric sucking disc 44 is adsorbed in the slope surface of barrier；Then according to identical mode, adjustment rear side climbing arm 38
Extension elongation, while adjust with the Acetabula device that matches of rear side climbing arm 38, guarantee that electric sucking disc 44 is adsorbed in barrier
Slope surface on；When the gradient of barrier changes, extension elongation and direction by adjusting climbing arm 38 find and are somebody's turn to do
The length for the climbing arm 38 that the section barrier gradient matches and direction, and by Acetabula device, complete the climbing of this section of barrier
Work.
(e) pass through radar obstacle avoidance sensor 11 and trinocular vision sensor 10, size, volume and the width of disturbance in judgement object
Degree makes crusing robot avoiding obstacles, guarantees that crusing robot cut-through object carries out subsequent inspection work.
For specifically high-altitude pole-climbing, line work is climbed, the present embodiment is provided with corresponding pole-climbing mechanism, pole-climbing is intelligently patrolled
Examine robot and its substation's pole-climbing method.
A kind of pole-climbing mechanism, including base 18 and pole-climbing arm 46, pole-climbing arm 46 are provided with four, and the setting of pole-climbing arm 46 exists
On four corners of base 18, pole-climbing arm 46 includes pole-climbing outer arm 47 and telescopic arm 21, and the inner wall of pole-climbing outer arm 47, which is equipped with, leads
To sliding rail 22, directive slide track 22 is connected with guide runner 23, and guide runner 23 is connected with screw rod mould group, and screw rod mould group is connected with
Telescopic arm 21, screw rod mould group can drive telescopic arm 21 to carry out stretching motion, and telescopic arm 21 is connected with pole climbing device 48, pole-climbing dress
Set 48 include pole-climbing attachment base 49, pole-climbing clamp arm, arc-shaped guide rail 52 and pole-climbing clamp arm driving assembly, pole-climbing attachment base 49 it is upper
Portion connects telescopic arm 21, and the middle part of pole-climbing attachment base 49 is fixed on arc-shaped guide rail 52, and the lower part of pole-climbing attachment base 49 is equipped with
Upper grip 55, pole-climbing clamp arm include the first pole-climbing clamp arm 50 and the second pole-climbing clamp arm 51, the first pole-climbing clamp arm 50 and the second pole-climbing
The structure of clamp arm 51 is identical, and the end of the first pole-climbing clamp arm 50 is equipped with left collet 53, and the end of the second pole-climbing clamp arm 51 is equipped with the right side
Collet 54, the first pole-climbing clamp arm 50 are set to the left side of arc-shaped guide rail 52, and the second pole-climbing clamp arm 51 is set to arc-shaped guide rail 52
Pole-climbing clamp arm driving assembly is equipped in right side, the first pole-climbing clamp arm 50 and the second pole-climbing clamp arm 51.The pole-climbing mechanism first passes through
Then pole-climbing outer arm 47 and telescopic arm 21 pass through the first pole-climbing clamp arm 50 and the second pole-climbing on the top to pole 63 of upper grip 55
Clamp arm 51, clamps the left and right two of pole 63 respectively, to realize that bikini clamps, it is ensured that the firmness of clamping, being allowed to can
To smoothly complete pole-climbing or climb line work.
Specifically, pole-climbing clamp arm driving assembly includes pole-climbing clamp arm motor 56, pole-climbing clamp arm active rotating shaft 57, pole-climbing folder
Arm driven spindle 58, pole-climbing clamp arm driving gear 59, pole-climbing clamp arm driven gear 60, upper rack 61 and lower rack gear 62, upper rack
61 are set to the top of arc-shaped guide rail 52, and lower rack gear 62 is set to the lower part of arc-shaped guide rail 52, the fixed peace of pole-climbing clamp arm motor 56
On inner wall loaded on pole-climbing clamp arm, pole-climbing clamp arm motor 56 is connected with pole-climbing clamp arm active rotating shaft 57, pole-climbing clamp arm active rotating shaft
57 are equipped with pole-climbing clamp arm driving gear 59, and pole-climbing clamp arm driving gear 59 connects upper rack 61, pole-climbing clamp arm driven spindle 58
It is set to the lower section of arc-shaped guide rail 52, pole-climbing clamp arm driven spindle 58 is connected with pole-climbing clamp arm driven gear 60, pole-climbing clamp arm
Driven gear 60 connects lower rack gear 62.Pole-climbing clamp arm driving assembly drives pole-climbing clamp arm actively to turn by pole-climbing clamp arm motor 56
Axis 57 makes rotating motion, to drive pole-climbing clamp arm driving gear 59 to move, in pole-climbing clamp arm driving gear 59 and upper rack 61
Engagement under, and by the slaved operation of pole-climbing clamp arm driven gear 60 and lower rack gear 62, make entire pole-climbing clamp arm in arc
It is moved on shape guide rail 52, due to there are two the settings of pole-climbing clamp arm, i.e., pole-climbing clamp arm is divided into the first pole-climbing clamp arm 50 and the second pole-climbing
Clamp arm 51 makes left collet 53 and right collet 54 clamp the both ends of pole 63 respectively, and passes through the effect of upper grip 55, wants to realize
Clamping to pole 63.
Specifically, screw rod mould group includes drive lead screw 24, transmission nut 25, nut seat 45 and lead screw motor 26, screw rod electricity
Machine 26 is set to the end of pole-climbing outer arm 47, and lead screw motor 26 connects drive lead screw 24, and drive lead screw 24 is equipped with transmission nut
25, transmission nut 25 is connected with nut seat 45, and nut seat 45 connects telescopic arm 21.By the way that screw rod mould group is arranged, by lead screw motor
26 drive drive lead screw 24 to move, and drive lead screw 24 drives transmission nut 25 to move, so that telescopic arm 21 is driven to move, thus
The Telescopic for realizing telescopic arm 21 facilitates the entire length for adjusting pole-climbing arm 46, adapts it to different size of pole-climbing work
Make.
Specifically, pole-climbing outer arm 47 is connected with 46 rotation adjustment device of pole-climbing arm, and 46 rotation adjustment device of pole-climbing arm includes
Motor 27, regulation output shaft 28 are adjusted, driving wheel 29 is adjusted, adjusts driven wheel 30, adjusting driven shaft 31 and rotation adjustment seat
32, it adjusts motor 27 and is set in base 18, the output end of bidirectional modulation motor 27 is equipped with speed reducer 33, and speed reducer 33 connects
There is regulation output shaft 28, regulation output shaft 28, which is equipped with, adjusts driving wheel 29, adjusts driving wheel 29 and is connected with adjusting driven wheel
30, it adjusts driven wheel 30 and is connected with adjusting driven shaft 31, the both ends for adjusting driven shaft 31 rotate adjustment seat 32, rotate adjustment seat
32 connection pole-climbing outer arms 47.By the way that 46 rotation adjustment device of pole-climbing arm is arranged, regulation output shaft 28 is driven by adjusting motor 27
It makes rotating motion, is moved to drive and adjust driving wheel 29, adjusting driving wheel 29 and adjusting the engagement of driven wheel 30
Under, drive rotation adjustment seat 32 to be rotated, to drive entire pole-climbing arm 46 to be rotated, to realize pole-climbing arm 46
Rotation function facilitates the angle for adjusting pole-climbing arm 46, adapts it to different size of climbing work.
Another aspect, the present invention provide a kind of pole-climbing intelligent inspection robot comprising ontology, the pole-climbing that ontology includes
Mechanism.
Specifically, ontology further includes the pedrail mechanism 17 that 18 two sides of base are arranged in.The pedrail mechanism 17 is the prior art
Pedrail mechanism 17, be not unfolded here describe pedrail mechanism 17 specific structure.
Specifically, ontology further includes the master control system 7 being arranged on base 18, kinetic control system, information acquisition system
And power-supply system, kinetic control system, information acquisition system and power-supply system are connected with master control system 7；
Master control system 7: for receiving remote control command, walking, pole-climbing, avoidance function are completed in control associated motor driving
Can and the position of crusing robot, pose, sensor information be sent back to remote control terminal in real time, to obtain substation's week
Environmental information is enclosed, guarantees that crusing robot completes the inspection work of substation；
Kinetic control system: the driving for controlling lead screw motor 26, adjusting motor 27, crawler belt motor guarantees climbing pole machine
The normal work of structure and pole-climbing mechanism；
Information acquisition system: by sensor, the relevant information around substation inspection point is acquired, and is transmitted to
Master control system 7, to complete related inspection work；
Power-supply system: for guaranteeing the sustainable continuation of the journey of crusing robot to the power supply for electrical equipment on crusing robot
Work.
Specifically, information acquisition system includes trinocular vision sensor 10, radar obstacle avoidance sensor 11, attitude transducer
12, infrared distance sensor 13, Temperature Humidity Sensor 14, control mass sensor and sensor acquisition module, trinocular vision pass
Sensor 10, radar obstacle avoidance sensor 11, attitude transducer 12, infrared distance sensor 13, Temperature Humidity Sensor 14, control matter
Quantity sensor is connected with sensor acquisition module, and sensor acquisition module connects master control system 7.
Specifically, ontology further includes alarm system, and alarm system includes alarm lamp 15 and alarming horn 16；
Alarm lamp 15: alarm lamp 15 is flashed when encountering special circumstances for crusing robot, is served as a warning；
Alarming horn 16: whistle when encountering special circumstances for crusing robot serves as a warning.
A kind of substation's pole-climbing method of intelligent inspection robot, comprising the following steps:
(a) crusing robot is placed on progress inspection work in substation, finds out surrounding using information acquisition system
Environment determines survey monitor by finding out the GPS positioning module included with the range information of surrounding objects and master control system 7
The position of device people itself.
(b) it when crusing robot needs to carry out pole-climbing inspection work, first passes through infrared distance sensor 13 and measures tour of inspection
Then the relative distance of inspection robot and the pole 63 for needing to climb acquires the figure of pole 63 by trinocular vision sensor 10
Picture, obtains the angle of the diameter of pole 63, the vertical height and pole 63 and horizontal plane of pole 63, and by the letter of acquisition
Breath is transferred to master control system 7 by sensor acquisition module.
(c) master control system 7 handles the information that sensor acquisition module transmits, and judges that can crusing robot be climbed
By pole 63, step (d) is carried out if it can climb through pole 63, by alarming if it cannot climb through pole 63
System sounds an alarm, and staff is prompted to come to handle.
(d) bottom that pole 63 is arrived in the walking of pedrail mechanism 17 is first passed through, pole 63 is obtained according to trinocular vision sensor 10
Diameter, the vertical height and pole 63 and horizontal plane of pole 63 angle, the arm 38 of climbing of adjustment front side and rear side
Then extension elongation, the state that the pose adjustment of crusing robot and pole 63 are matched pass through control front side climbing arm 38
Pole climbing device 48, clamp pole 63 by three collets, make front side pole-climbing arm 46 climb up pole 63, then with identical side
Formula, the pole climbing device 48 of control rear side climbing arm 38, clamps pole 63 by three collets, the pole-climbing arm 46 of rear side is made to climb up bar
Son 63 finally repeats above-mentioned pole-climbing operation, completes entire pole-climbing process.
Embodiment 6
Specifically in substation inspection work, for inspection requirements of one's work, when carrying out inspection work to ground region,
Track trace navigation intelligent inspection robot and obstacle detouring intelligent inspection robot can be combined, be adapted to it not only
The region detection on plane ground is also adapted to ground injustice, the more ground region detection of barrier.
Embodiment 7
Specifically in substation inspection work, for inspection requirements of one's work, when carrying out inspection work to high empty region,
Obstacle detouring intelligent inspection robot and climbing intelligent inspection robot can be combined, allow to adapt to more complicated height
Empty region detection.
Embodiment 8
Specifically in substation inspection work, for inspection requirements of one's work, when carrying out inspection work to high empty region,
Obstacle detouring intelligent inspection robot and pole-climbing intelligent inspection robot can be combined, allow to adapt to more complicated height
Empty region detection.
Embodiment 9
Specifically in substation inspection work, for inspection requirements of one's work, when carrying out inspection work to high empty region,
Climbing intelligent inspection robot and pole-climbing intelligent inspection robot can be combined, allow to adapt to more complicated height
Empty region detection.
The above is only specific embodiments of the present invention, but technical characteristic of the invention is not limited thereto.It is any with this hair
Based on bright, to solve essentially identical technical problem, essentially identical technical effect is realized, made ground simple change, etc.
With replacement or modification etc., all it is covered by among protection scope of the present invention.
Claims (8)
1. a kind of intelligent substation inspection system, including monitoring background terminal, wireless telecom equipment and crusing robot, feature
It is:
The monitoring background terminal is data receiver, processing, display and the storage center of entire cruising inspection system, by wireless communication
Equipment and crusing robot realize that long-range control and data are transmitted, and realize to the automatic identification of substation equipment, inspection and alarm；
The wireless telecommunications system is used to monitor the wireless transmission of background terminal and crusing robot information；
The crusing robot by wireless communication equipment and monitoring background terminal real time communication, realize inspection data teletransmission and
Monitor the remote control of background terminal order；
The crusing robot includes master control system, kinetic control system, information acquisition system and power-supply system, the movement control
System, information acquisition system, power-supply system and wireless telecommunication system processed are connected with the master control system；
The master control system controls the kinetic control system for receiving remote control command, complete walking, obstacle detouring, avoidance,
Climbing ladder, pole-climbing, climbs line work, and the position of crusing robot, pose, sensor information is sent back to monitoring in real time
Background terminal guarantees that crusing robot completes the inspection work of substation to obtain the ambient condition information of crusing robot；
The kinetic control system is used to control the normal work of driving equipment, guarantees being normally carried out for inspection work；
The information acquisition system is transmitted to master control by sensor, the current environmental information of acquisition crusing robot
System completes the information collection work for needing the substation equipment of inspection；
The power-supply system: for the power supply for electrical equipment to crusing robot, guarantee the sustainable continuation of the journey work of crusing robot
Make；
The crusing robot is divided into obstacle detouring intelligent inspection robot, climbing intelligent inspection robot, pole-climbing intelligent inspection machine
People and track trace navigation intelligent inspection robot；
The obstacle detouring intelligent inspection robot helps crusing robot to complete obstacle detouring and avoidance by barrier getting over mechanism set by ontology
Work carries out Daily Round Check convenient for needing to carry out the region of obstacle detouring to substation；
The climbing intelligent inspection robot helps crusing robot to complete climbing and ladder by climbing mechanism set by ontology
Work, the region convenient for carrying out climbing and ladder to substation carry out Daily Round Check；
The pole-climbing intelligent inspection robot helps crusing robot to complete pole-climbing and climbs line by pole-climbing mechanism set by ontology
Work, the region convenient for carrying out climbing and ladder to substation carry out Daily Round Check；
The track trace navigation intelligent inspection robot is being needed by RFID identification device set by ontology set by ontology, cooperation
The track trace being laid on the substation level land of inspection and RFID label tag are wanted, the plane walking patrol worker of crusing robot is completed
Make.
2. a kind of intelligent substation inspection system according to claim 1, it is characterised in that: the information acquisition system packet
Include trinocular vision sensor, radar obstacle avoidance sensor, attitude transducer, infrared distance sensor, Temperature Humidity Sensor and sensing
Device acquisition module, the trinocular vision sensor, radar obstacle avoidance sensor, attitude transducer, infrared distance sensor, temperature and humidity
Sensor is connected with the sensor acquisition module, and the sensor acquisition module connects the master control system.
3. a kind of intelligent substation inspection system according to claim 1, it is characterised in that: on the crusing robot also
Equipped with alarm system, the alarm system includes alarm lamp and alarming horn；
The alarm lamp: alarm lamp is flashed when encountering special circumstances for crusing robot, is served as a warning；
The alarming horn: whistle when encountering special circumstances for crusing robot serves as a warning.
4. a kind of intelligent substation patrol method, it is characterised in that the following steps are included:
(a) database for first passing through monitoring background terminal transfers the geographic map information of the substation；Then detection as needed
Substation equipment divide detection zone, which includes ground detection region and high-altitude detection zone；Finally according to need
It wants detection zone to match corresponding crusing robot, is led in ground detection Region Matching obstacle detouring intelligent inspection robot and track part line
Navigate intelligent inspection robot, and in high-altitude, detection zone matching has climbing intelligent inspection robot and pole-climbing intelligent inspection machine
People；
(b) crusing robot for needing to participate in inspection is subjected to deep learning, the content of deep learning includes the crusing robot
The straight-line track trace in the region, walking that need to detect and the planning route of curved line track trace and walking length need to examine
The detection content of the substation equipment of survey after the crusing robot deep learning wait need to participate in inspection, puts into power transformation
In the Daily Round Check stood；
(c) according to the landform and landforms in detection ground detection region, more straight-line track traces are set on ground detection region
With curved line track trace, and be arranged more straight-line track traces labeled as A1 straight-line track trace, A2 straight-line track trace,
A3 straight-line track trace ..., more curved line magnetic tracks wire tags of setting are B1 curved line track trace, B2 curved line magnetic
Trajectory line, B3 curved line track trace ...；Deflecting RFID label tag is set in the intersection in ground detection region, and by deflecting
RFID label tag is C1 deflecting RFID label tag, C2 deflecting RFID label tag, C3 deflecting RFID label tag ...；
(d) the setting detection RFID label tag on the substation equipment for need inspection, and will test RFID label tag as D1 detection
RFID label tag, D2 detection RFID label tag, D3 detect RFID label tag ...；
(e) crusing robot carries out inspection work to ground detection zone: staff is by obstacle detouring intelligent inspection robot and magnetic
The start position of trace navigation intelligent inspection robot to straight-line track trace starts to work；
(f) crusing robot carries out inspection work to high-altitude detection zone: staff, which will climb, intelligent inspection robot and to climb
The start position that bar intelligent inspection robot is placed into straight-line track trace starts to work.
5. a kind of intelligent substation patrol method according to claim 4, it is characterised in that: in the step (e), institute
The track part line navigation intelligent inspection robot specific works stated are as follows: controlling the kinetic control system by master control system, make
Crusing robot is walked along straight-line track trace and curved line track trace, according to digital PID position type control algolithm, is learnt
The real time position and road conditions of current crusing robot, and confirm the departure in the moment position of crusing robot, specific table
Up to for
C (j) is target value and current time in formula
Crusing robot position and posture difference, c (j-1) be last moment value；When encountering intersection, visually by three
Feel that sensor acquires the traffic information of current intersection, traffic information is sent to master control system, and pass through track trace
Directed navigation identification after being combined by vision collecting and track trace, makes corresponding judgement by master control system, selection is suitable
Route, and after being fitted through by RFID identification device on crusing robot and corresponding deflecting RFID label tag, master control system control
Kinetic control system processed makes crusing robot by intersection, carries out next inspection work；When trinocular vision sensor
After collecting the substation equipment that front needs inspection, pass through the corresponding detection of RFID identification device identification on crusing robot
RFID label tag is worked by the inspection that crusing robot completes the substation equipment, judges whether the substation equipment is normal, if
The substation equipment is normal, and crusing robot carries out next inspection work；If power station equipment is abnormal, crusing robot pair
The substation equipment is overhauled, and next inspection work is carried out after the completion of Awaiting Overhaul.
6. a kind of intelligent substation patrol method according to claim 4, it is characterised in that: in the step (e), more
The specific works for hindering intelligent inspection robot are as follows:
When encountering front obstacle, according to the deep learning of step (b), judge that can crusing robot clear the jumps, such as
Fruit can clear the jumps, then first pass through immediately ahead of pedrail mechanism walking to barrier, then acquired according to trinocular vision sensor
Size, volume and the height of barrier, when the height of barrier is less than the height of control system setting, control system is by patrolling
Two obstacle detouring arms on front side of robot are examined, drive the obstacle detouring outer arm on front side of crusing robot and telescopic arm work, and pass through cooperation
Pedrail mechanism clears the jumps, and completes obstacle detouring work；When the height of barrier is greater than the height of control system setting, control
System is worked at the same time by two obstacle detouring arms on front side of crusing robot and two obstacle detouring arms on rear side of crusing robot, and is passed through
Cooperate pedrail mechanism, clear the jumps, completes obstacle detouring work；
Being judged whether if it cannot clear the jumps by radar obstacle avoidance sensor being capable of cut-through object, if it is possible to bypass
Barrier, then by radar obstacle avoidance sensor and trinocular vision sensor, size, volume and the width of disturbance in judgement object make to patrol
Robot avoiding obstacles are examined, guarantee that crusing robot cut-through object carries out subsequent inspection work；
It is sounded an alarm if it can not bypass front obstacle by alarm system, staff is prompted to come to handle；
After breaking the barriers, crusing robot carries out next according to original preset track trace and curved line track trace
Inspection work.
7. a kind of intelligent substation patrol method according to claim 4, it is characterised in that: in the step (f), climb
The specific works of slope intelligent inspection robot are as follows:
Intelligent inspection robot of climbing first is walked along straight-line track trace, when encountering ramp shaped barrier, according to step (b)
Deep learning, the information that master control system processing sensor acquisition module transmits, judges the inspection machine with climbing mechanism
Can people cross ramp shaped barrier in a manner of climbing or ladder, if ramp shaped barrier can be crossed, first pass through tracked machine
Immediately ahead of structure walking to ramp shaped barrier, the whole gradient of ramp shaped barrier, adjustment are then acquired according to trinocular vision sensor
The extension elongation of front side climbing arm, while the Acetabula device to match with front side climbing arm is adjusted, guarantee that electric sucking disc is adsorbed in
In the slope surface of barrier；Then according to identical mode, the extension elongation of adjustment rear side climbing arm, while adjusting and climbing with rear side
The Acetabula device that arm matches guarantees that electric sucking disc is adsorbed in the slope surface of ramp shaped barrier；When the gradient of ramp shaped barrier is sent out
When changing, extension elongation and direction by adjusting climbing arm find the climbing to match with this section of ramp shaped barrier gradient
The length of arm and direction, and by Acetabula device, complete the climbing work of this section of barrier；
Pass through radar obstacle avoidance sensor if it cannot cross ramp shaped barrier to judge whether that ramp shaped barrier can be bypassed, if
Ramp shaped barrier can be bypassed, then passes through radar obstacle avoidance sensor and trinocular vision sensor, size, the volume of disturbance in judgement object
And width, so that crusing robot is smoothly bypassed ramp shaped barrier, guarantees that crusing robot cut-through object carries out subsequent inspection
Work；
It is sounded an alarm if it can not bypass front obstacle by alarm system, staff is prompted to come to handle；
After ramp shaped barrier, crusing robot is connect down according to original preset track trace and curved line track trace
The inspection work come.
8. a kind of intelligent substation patrol method according to claim 4, it is characterised in that: in the step (f), climb
The specific works of bar intelligent inspection robot are as follows:
Pole-climbing intelligent inspection robot is first walked along straight-line track trace, is needed the pole for climbing period of the day from 11 p.m. to 1 a.m when encountering, is first passed through infrared
Distance measuring sensor measures the relative distance of crusing robot and the pole for needing to climb, and is then adopted by trinocular vision sensor
The image for collecting pole, obtains the angle of the diameter of pole, the vertical height and pole and horizontal plane of pole, and by acquisition
Information is transferred to master control system by sensor acquisition module；
The information that the master control system processing sensor acquisition module transmits, judges that can crusing robot be climbed and passes through bar
Son first passes through pedrail mechanism walking to the bottom of pole, is obtained according to trinocular vision sensor if can climb through pole
The diameter of pole, the vertical of pole are highly stretched with the angle of pole and horizontal plane, adjustment front side with the climbing arm of rear side
Then length out, the state that the pose adjustment of crusing robot and pole are matched pass through the pole-climbing of control front side climbing arm
Device clamps pole by three collets, and the pole-climbing arm of front side is made to climb up pole, then in a like fashion, control rear side climbing
The pole climbing device of arm clamps pole by three collets, and the pole-climbing arm of rear side is made to climb up pole, finally repeats above-mentioned pole-climbing behaviour
Make, completes entire pole-climbing process；
It is sounded an alarm if it cannot climb through pole by alarm system, staff is prompted to come to handle；
After pole, crusing robot carries out next patrol according to original preset track trace and curved line track trace
Examine work.
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| CN202011248854.3A CN112414457B (en) | 2018-12-12 | 2018-12-12 | Automatic intelligent inspection method based on transformer substation work |
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Also Published As
| Publication number | Publication date |
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| CN112414457B (en) | 2023-06-09 |
| CN112414458A (en) | 2021-02-26 |
| CN112414458B (en) | 2023-06-09 |
| CN109725233B (en) | 2020-12-08 |
| CN112414457A (en) | 2021-02-26 |
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