CN202994158U - Stopping precision detecting device for transformer substation patrol robot - Google Patents
Stopping precision detecting device for transformer substation patrol robot Download PDFInfo
- Publication number
- CN202994158U CN202994158U CN 201320006110 CN201320006110U CN202994158U CN 202994158 U CN202994158 U CN 202994158U CN 201320006110 CN201320006110 CN 201320006110 CN 201320006110 U CN201320006110 U CN 201320006110U CN 202994158 U CN202994158 U CN 202994158U
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- detecting device
- laser light
- robot
- bracket
- transformer substation
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- Expired - Lifetime
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- 238000009434 installation Methods 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 4
- 238000011158 quantitative evaluation Methods 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a stopping precision detecting device for a transformer substation patrol robot. The stopping precision detecting device comprises a detecting device main body, wherein the detecting device main body comprises a bracket, wherein a laser light source is arranged at the left side and the right side of the bracket, respectively; a power supply device and a wiring device are arranged on the bracket; and the power supply device is connected with the laser light sources by the wiring device; and the laser light sources are symmetrical with each other. A coordinate paper is arranged at a position corresponding to the ground of the detecting device main body; and an installation hole is formed in the bracket. The utility model provides a simple detecting device which can carry out quantitative evaluation of patrol robot stopping repeat accuracy. The stopping precision device has the advantages of simple structure, low cost and the like, and is applicable to the site operation of the transformer substation.
Description
Technical field
The utility model relates to a kind of pick-up unit, relates in particular to a kind of Intelligent Mobile Robot and stops accuracy detecting device.
Background technology
Intelligent Mobile Robot is a kind of outdoor wheeled mobile robot, and it can carry visible light, the checkout equipment such as infrared carries out all the period of time to power equipment in outdoor transformer station and independently patrols and examines.In order to complete patrol task, robot need to move to appointed area in the station and set under the control of navigational system anchor point stop, the The Cloud Terrace system drives device detection system and aims at power equipment to be checked afterwards, thereby completes the collection to the equipment running status data.In said process, can robot accurately stop in the anchor point repetition is that can The Cloud Terrace drive the prerequisite that checkout equipment is aimed at band detection power equipment, and then the quality that patrol task is completed is had vital impact.
When moving in transformer station due to crusing robot, it is generally far away with the distance that band detects power equipment, therefore for the high-quality patrol task of completing, the repeatable accuracy that robot stops in each anchor point needs to reach following requirement at least: in positional precision centimetre-sized, course precision 1 degree.Although crusing robot generally adopts the navigator fix mode of " magnetic tracks guiding+RFID location " and obtained good effect at present, what how the repeatable accuracy that robot stops always can't be quantitative is evaluated.
Cause the main cause of above problem: be that crusing robot works in the outside transformer substation environment on the one hand, some can be used as pick-up unit (as: differential GPS, laser three-D are swept instrument etc.) that the evaluation robot the stops repeatable accuracy interior such environmental effects of mostly can being stood, generally can't be in outdoor transformer station reliably working; Be on the other hand that the relevant outdoor pick-up unit cost of high precision is high, complicated operation and need the professional and technical personnel to operate, therefore also be not easy to substation field staff's use.
The utility model content
The purpose of this utility model is exactly in order to address the above problem, and provides a kind of Intelligent Mobile Robot to stop accuracy detecting device, it have advantages of solution at present can't quantitative assessment robot stop the problem of repeatable accuracy.
To achieve these goals, the utility model adopts following technical scheme:
A kind of Intelligent Mobile Robot is stopped accuracy detecting device, it comprises the pick-up unit body, the pick-up unit body comprises support, LASER Light Source is installed respectively in the left and right sides of support, electric supply installation and termination are installed on support, electric supply installation is connected with LASER Light Source by termination, and the ground correspondence position of described pick-up unit body is provided with coordinate paper.
Described LASER Light Source is symmetrical.
Described support is provided with mounting hole.
Before detecting crusing robot stop precision, at first by the mounting hole on support, whole pick-up unit is connected with robot body, then need to detect in robot the anchor point correct position of stopping repeatable accuracy and lay coordinate paper, at last at robot operation front opening installation's power source.
When needs detect crusing robot stop repeatable accuracy, robot first moves to anchor point and stops, two LASER Light Source will be throwed on coordinate paper and be swashed two laser positioning points, utilize afterwards recording pointer in the position of record location point on coordinate paper and do line between 2, position and the direction of this line on coordinate paper just represented when robot stops position and direction with respect to coordinate system on coordinate paper like this.When robot repeatedly passes through same anchor point, will be recorded to a series of line on the coordinate paper that this anchor point is laid, by measuring each line with respect to the position of coordinate system on coordinate paper and the numerical value of direction difference size afterwards, but just the quantitative assessment robot repeatable accuracy of stopping at this point is how.
The beneficial effects of the utility model: the utility model provides a kind of simple pick-up unit, can carry out quantitative evaluation to the repeatable accuracy that crusing robot is stopped, that whole device has is simple in structure, with low cost, be applicable to the advantage such as substation field operation.
Description of drawings
Fig. 1 is composition structural representation of the present utility model;
Fig. 2 is work schematic diagram of the present utility model.
Wherein, 1. LASER Light Source, 2. mounting hole, 3. support, 4. electric supply installation, 5. termination, 6. coordinate paper, 7. pick-up unit body, 8. robot body, 9. anchor point.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and embodiment.
As shown in Figure 1, a kind of Intelligent Mobile Robot is stopped accuracy detecting device, it comprises pick-up unit body 7, pick-up unit body 7 comprises support 3, LASER Light Source 1 is installed respectively in the left and right sides of support 3, electric supply installation 4 and termination 5 are installed on support 3, and electric supply installation 4 is connected with LASER Light Source 1 by termination 5.
Described LASER Light Source 1 is symmetrical.
The ground correspondence position of described pick-up unit body 7 is provided with coordinate paper 6.
Described support 3 is provided with mounting hole 2, is used for pick-up unit body 7 is installed on robot body 8.
As shown in Figure 2, when needs detect crusing robot stop precision, robot body 8 first moves to anchor point 9 and stops, be installed on LASER Light Source 1 in the pick-up unit body 7 on robot body 8 will be on coordinate paper 6 projecting laser and form two laser positioning points, utilize afterwards recording pointer in the position of record location point on coordinate paper 6 and do line between 2, position and the direction of this line on coordinate paper 6 just represented when robot stops position and direction with respect to coordinate system on coordinate paper 6 like this.When robot repeatedly passes through same anchor point 9, will be recorded to a series of line on the coordinate paper 6 that this anchor point 9 is laid, by measuring each line with respect to the position of coordinate system on coordinate paper 6 and the numerical value of direction difference size afterwards, but just the quantitative assessment robot repeatable accuracy of stopping at this point is how.
Although above-mentionedly by reference to the accompanying drawings embodiment of the present utility model is described; but be not the restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection domain of the present utility model.
Claims (3)
1. an Intelligent Mobile Robot is stopped accuracy detecting device, it is characterized in that, it comprises support, LASER Light Source is installed respectively in the left and right sides of support, electric supply installation and termination are installed on support, electric supply installation is connected with LASER Light Source by termination, and the ground correspondence position of described pick-up unit body is provided with coordinate paper.
2. Intelligent Mobile Robot is stopped the accuracy detection pick-up unit as claimed in claim 1, it is characterized in that, described LASER Light Source is symmetrical.
3. Intelligent Mobile Robot is stopped the accuracy detection pick-up unit as claimed in claim 1, it is characterized in that, described support is provided with mounting hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320006110 CN202994158U (en) | 2013-01-07 | 2013-01-07 | Stopping precision detecting device for transformer substation patrol robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320006110 CN202994158U (en) | 2013-01-07 | 2013-01-07 | Stopping precision detecting device for transformer substation patrol robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202994158U true CN202994158U (en) | 2013-06-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320006110 Expired - Lifetime CN202994158U (en) | 2013-01-07 | 2013-01-07 | Stopping precision detecting device for transformer substation patrol robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202994158U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106556826A (en) * | 2016-11-24 | 2017-04-05 | 国网山东省电力公司电力科学研究院 | Intelligent Mobile Robot location navigation two-dimensional laser Radar Calibration device and method |
| CN107065858A (en) * | 2017-02-13 | 2017-08-18 | 四川超影科技有限公司 | Crusing robot air navigation aid based on ultra wide band |
-
2013
- 2013-01-07 CN CN 201320006110 patent/CN202994158U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106556826A (en) * | 2016-11-24 | 2017-04-05 | 国网山东省电力公司电力科学研究院 | Intelligent Mobile Robot location navigation two-dimensional laser Radar Calibration device and method |
| CN106556826B (en) * | 2016-11-24 | 2018-12-04 | 国网山东省电力公司电力科学研究院 | Intelligent Mobile Robot location navigation two-dimensional laser Radar Calibration device and method |
| CN107065858A (en) * | 2017-02-13 | 2017-08-18 | 四川超影科技有限公司 | Crusing robot air navigation aid based on ultra wide band |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee after: STATE GRID CORPORATION OF CHINA Patentee after: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee before: State Grid Corporation of China Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF SHANDONG ELECTRIC POWER Corp. |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Denomination of utility model: Stopping precision detecting device for transformer substation patrol robot Granted publication date: 20130612 License type: Exclusive License Record date: 20191014 |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201103 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: STATE GRID CORPORATION OF CHINA |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Date of cancellation: 20210324 |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130612 |