CN203422665U - Inspection robot for transformer station - Google Patents
Inspection robot for transformer station Download PDFInfo
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- CN203422665U CN203422665U CN201320316639.1U CN201320316639U CN203422665U CN 203422665 U CN203422665 U CN 203422665U CN 201320316639 U CN201320316639 U CN 201320316639U CN 203422665 U CN203422665 U CN 203422665U
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- car body
- mobile robot
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- visible light
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Abstract
An inspection robot for a transformer station overcomes problems of easy falling-off of a crawler belt of a crawler belt walking structure, smaller ranges of image acquisition and temperature value acquisition, insufficient indication of an alarm state with four alarm lamps, and narrow covering of an omnidirectional extension antenna in the prior art. The inspection robot is characterized in that, four rubber wheels are used as a walking mechanism, a pan-tilt is installed on the holder via a hollow pipe column and a rubber vibration damping flange, a sound collector is connected below a visible light camera, and a light supplement lamp is connected below an infrared thermal imager. The beneficial effects of the inspection robot are that walking is safe and stable, the acquisition ranges of images and temperature values are larger, the images are clearer, leak detection of the temperature is prevented, omnibearing sound collection is achieved via one sound collector, cost is saved, various alarm states can be well shown via a three-color alarm lamp, normal communication can be guaranteed via a double omnidirectional extension antenna, stability and safety of inspection can be guaranteed via the rubber vibration damping flange.
Description
Technical field
The utility model belongs to Robotics field, particularly a kind of Intelligent Mobile Robot.
Background technology
Power industry patrolling and examining for outside transformer substation equipment in the past, what adopt is manual inspection operating type, under the bad weather conditions such as high pressure, UHV (ultra-high voltage) and rain, snow, mist, not only endanger patrol officer's inherently safe, electric power netting safe running is also brought to certain hidden danger simultaneously, be often because of the fault that understanding equipment occurs in time, and lose the chance of maintenance in advance.In order to address the above problem, there is GPS navigation robot or vision guided navigation robot in prior art, but the precision of GPS navigation robot is lower, in patrolling and examining, easily depart from patrol route and cause unpredictalbe accident, so can not meet the demand of substation safety, vision guided navigation robot precision is slightly higher than GPS navigation robot, but precision is not high yet, there will be same problem, so can not meet the demand of substation safety.In order to improve navigation accuracy, guarantee the safe operation under multiple environment, it is CN201210083407.6 that the applicant has proposed application number, and name is called the patented claim of magnetic navigation routing inspection robot, and this application has obtained utility model patent.This robot is comprised of magnetic navigation, crawler travel structure, control and collection and wireless telecommunications four parts, realizes automatic cycle and detects.Actual motion ，Gai robot through nearly 1 year exposes following problems:
What adopt due to this robot is crawler travel structure, and owing to also not finding more suitably material and structure, there will be crawler belt to take off band problem, causes travel mechanism normally not complete and patrols and examines;
Due to being installed, the The Cloud Terrace of visible light camera and infrared thermography is directly installed on saddle, floor level is lower relatively, make that to complete the scope that the image acquisition of different angles differing heights equipment and temperature value gather less along with the movement of car body and the rotation of The Cloud Terrace, there will be the undetected problem of image blurring not cleer and peaceful temperature;
Owing to adopting 2 sound collectors that are arranged on respectively car body both sides in order to connect audio collection module, by wireless device, send the acoustic information of collection to control center, can only collect the sound of car body both sides, can not realize comprehensive sound collection;
Owing to being provided with left front warning lamp, right front warning lamp and left back warning lamp and right back warning lamp, when robot turns, the warning lamp of correspondence direction is lighted, warning the place ahead personnel withdraw, when robot fault, warning lamp is also glittering, near staff robot can judge that robot is in normal operation or fault by this, thereby make corresponding maintenance measures, but 4 warning lamps only have state bright or that do not work separately, that turning warning or failure warning are also hard to tell Chu, not only due to high with more warning lamp cost, can not represent well alert status,
In addition, the smoke detector whether burning for detection of circuit in car also substantially need not, this set has increased cost; Because omnidirectional's extended antenna only has one, cover deficiency, communication is easily interrupted, and causes communicating by letter normally; Because robot may produce vibration in the process of walking, cause loosened screw, there is the drop potential safety hazard of underground damage of visible light camera and infrared thermography 3.
Summary of the invention
Technical problem to be solved in the utility model is to overcome prior art Shortcomings and defect, provide and can guarantee that walking structure can normally complete and patrol and examine, with The Cloud Terrace, rotated the scope that the image acquisition of different angles differing heights equipment and temperature value gather larger, image is more clear, can realize comprehensive sound collection and reduce warning lamp quantity but can fine expression alert status and realize omnidirectional's extended antenna all standing to ensure a kind of transformer station magnetic navigation routing inspection robot of round-the-clock proper communication.
The technical scheme that the utility model adopts is to comprise car body, visible light camera, at The Cloud Terrace, infrared thermography, wireless receiver WCB, omnidirectional's extended antenna, saddle, emergency stop switch, sound intensifier, warning lamp, front collision prevention sensor and rear collision prevention sensor, at described car body front end, a pair of large rubber wheel as driving wheel is installed, the a pair of small rubber wheel as supporting roller is installed in car body rear end, on described saddle, by joint flange, hollow tube pillar is installed, in hollow tube pillar upper end, by rubber damping flange, The Cloud Terrace is installed, below visible light camera, with screw, connect 1 sound collector, below infrared thermography, with screw, connect 1 light compensating lamp.
Described warning lamp is three look warning lamps.
On described saddle, be also provided with and separate locking switch and hang up switch.
At described wireless receiver WCB, 1 omnidirectional's extended antenna is each side installed.
Described hollow tube Zhi Zhuchang 50-70mm.
The beneficial effects of the utility model are:
(1) owing to adopting 4 rubber wheels as travel mechanism, solved the problem of de-band in crawler travel process.Guaranteed that travel mechanism can normally complete and patrol and examine;
(2) owing to adopting the hollow tube pillar of long 50-70mm, raised the height of The Cloud Terrace, make the image acquisition of different angles that visible light camera and infrared thermography with The Cloud Terrace rotation complete and differing heights and scope that temperature value gathers larger, image is more clear, and undetected problem that can occurrence temperature;
(3) owing to connecting sound collector below visible light camera, with 1 sound collector, with planar 360o rotation of The Cloud Terrace, can realize comprehensive sound collection, saved cost, and collection effect is better;
(4) due to employing, there are three look warning lamps of red yellowish green trichromatism, can represent well various alert status: red expression normally moved, yellow expression manual operation, green expression is idle, reddish yellow dichromatism has the switching of frequency, represent that near staff fault ， robot can be shown and be made corresponding maintenance measures by this fault;
(5) owing to adopting left and right Liang Ge omnidirectional extended antenna, by enjoying a double blessing, to extended antenna, realize signal all standing, solved the problem that communication is easily interrupted, can ensure normal communication;
(6) owing to having adopted rubber damping flange, solved the problem of robot loosened screw that issuable vibration in the process of walking causes, guaranteed visible light camera, infrared thermography and sound collector and light compensating lamp stability and security, guaranteed stability and the security of patrolling and examining.。
Accompanying drawing explanation
Fig. 1 is stereographic map of the present utility model,
Fig. 2 is front view of the present utility model,
Fig. 3 is the right view of Fig. 2;
Fig. 4 is the rear view of Fig. 2;
Fig. 5 is the vertical view of Fig. 3.
In figure:
1. visible light camera, 2. The Cloud Terrace,
3. infrared thermography, 4. rubber damping flange,
5. hollow tube pillar, 6. wireless receiver WCB,
7. omnidirectional's extended antenna, 8. saddle,
9. emergency stop switch, 10. separates locking switch,
11. hang up switch, 12. small rubber wheels,
13. large rubber wheels, 14. front collision prevention sensors,
15. sound intensifiers .16. warning lamp.
17. sound collectors, 18. light compensating lamps,
19. rear collision prevention sensors,, 20. car bodies,
21. joint flanges.
Below in conjunction with embodiment and accompanying drawing, the utility model is described further.
Embodiment
As shown in drawings, the utility model comprises car body 20, at car body 20 front ends, a pair of large rubber wheel 13 as driving wheel is installed, the a pair of small rubber wheel 12 as supporting roller is installed in car body 20 rear ends, this small rubber wheel 12 can be turned arbitrarily, adopt 4 rubber wheels as travel mechanism, solved the problem of de-band in crawler travel process, at car body 20 tops, saddle 8 is installed, on saddle 8, by joint flange 21, hollow tube pillar 5 is installed, the long 50-70mm of described hollow tube pillar 5, in hollow tube pillar 5 upper ends, by rubber damping flange 4, The Cloud Terrace 2 is installed, in The Cloud Terrace 2 left sides, visible light camera 1 is installed, at The Cloud Terrace 2 right side installation infrared thermal imaging systems 3, described The Cloud Terrace 2 can rotate by 360o in horizontal plane, and can in vertical plane, rotate by 180o, along with the movement of car body 20 and the rotation of The Cloud Terrace 2, visible light camera 1 and infrared thermography 3 can complete image acquisition and the temperature value collection of different angles and differing heights, owing to adopting the hollow tube pillar 5 of long 50-70mm, raised the height of The Cloud Terrace 2, make the image acquisition of different angles that visible light camera 1 and infrared thermography 3 with The Cloud Terrace rotation complete and differing heights and scope that temperature value gathers larger, image is more clear, and undetected problem that can occurrence temperature, below visible light camera 1, with screw, connect 1 sound collector 17, with this 1 sound collector 17 with planar 360o rotation of The Cloud Terrace 2, realize comprehensive sound collection, below infrared thermography 3, with screw, connect 1 light compensating lamp 18, for assist visible light camera 1 to gather coloured image at night, owing to having adopted rubber damping flange, solved the problem of robot loosened screw that issuable vibration in the process of walking causes, guaranteed visible light camera 1, 18 stability and security of infrared thermography 3 and sound collector 17 and light compensating lamp, at car body (20) top saddle (8) installed in front sound intensifier (15), by wireless, the dialog context of control center is patrolled and examined to plant area in robot play, realize real-time intercommunication function, on car body (20), the warning lamp (16) of 1 three look is installed in sound intensifier (15) left side, this warning lamp (16) has red yellowish green trichromatism and failure warning state, this 1 three look warning lamps can represent various alert status well: red expression normally moved, yellow expression manual operation, green expression is idle, reddish yellow dichromatism has the switching of frequency, represents that near staff fault ， robot can be shown and be made corresponding maintenance measures by this fault, on car body (20), 1 emergency stop switch (9) is installed on sound intensifier (15) right side, the in the situation that running into emergency condition, car not stopping, press emergency stop switch (9), car is just at once out of service, avoid accidents, on saddle (8), be also provided with and separate locking switch (10) and hang up switch (11), separate locking switch (10) for removing wheel lock up, recover normal walking, hang up switch (11) and patrol and examine the hang-up of route Shi Jiang robot for take robot user temporarily, user leaves rear robot and continues to go to patrol and examine, at car body (20) top saddle (8) rear side, wireless receiver WCB (6) is installed, installation 1 omnidirectional's extended antenna (7) in wireless receiver WCB (6) left and right sides, by enjoying a double blessing to extended antenna to realize signal all standing, to ensure normal communication, collision prevention sensor (14) before car body (20) is installed on car body front bumper above, installs collision prevention sensor (19) afterwards on car body rear bumper below at car body (20).
Claims (5)
1. an Intelligent Mobile Robot, comprise car body (20), visible light camera (1), The Cloud Terrace (2), infrared thermography (3), wireless receiver WCB (6), omnidirectional's extended antenna (7), saddle (8), emergency stop switch (9), sound intensifier (15), warning lamp (16), front collision prevention sensor (14) and rear collision prevention sensor (19), it is characterized in that: at described car body (20) front end, a pair of large rubber wheel (13) as driving wheel is installed, the a pair of small rubber wheel (12) as supporting roller is installed in car body (20) rear end, on described saddle (8), by joint flange (21), hollow tube pillar (5) is installed, in hollow tube pillar (5) upper end, by rubber damping flange (4), The Cloud Terrace (2) is installed, below visible light camera (1), connect 1 sound collector (17), below infrared thermography (3), connect 1 light compensating lamp (18).
2. a kind of Intelligent Mobile Robot according to claim 1, is characterized in that, described warning lamp (16) is three look warning lamps.
3. a kind of Intelligent Mobile Robot according to claim 1, is characterized in that, is also provided with and separates locking switch (10) and hang-up switch (11) on described saddle (8).
4. a kind of Intelligent Mobile Robot according to claim 1, is characterized in that, at described wireless receiver WCB (6), 1 omnidirectional's extended antenna (7) is each side installed.
5. a kind of Intelligent Mobile Robot according to claim 1, is characterized in that the long 50-70mm of described hollow tube pillar (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320316639.1U CN203422665U (en) | 2013-06-04 | 2013-06-04 | Inspection robot for transformer station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320316639.1U CN203422665U (en) | 2013-06-04 | 2013-06-04 | Inspection robot for transformer station |
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| Publication Number | Publication Date |
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| CN203422665U true CN203422665U (en) | 2014-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320316639.1U Expired - Fee Related CN203422665U (en) | 2013-06-04 | 2013-06-04 | Inspection robot for transformer station |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104020768A (en) * | 2014-06-13 | 2014-09-03 | 广西电网公司崇左供电局 | Infrared temperature measurement track inspection robot |
| CN104390644A (en) * | 2014-11-25 | 2015-03-04 | 浙江理工大学 | Method for detecting field obstacle based on field navigation image collection equipment |
| CN105490385A (en) * | 2015-12-25 | 2016-04-13 | 天津梅迪亚科技有限公司 | Robot capable of improving data collection precision |
| CN105500337A (en) * | 2016-01-30 | 2016-04-20 | 大连理工大学 | Comprehensive pipe gallery inspection robot |
| CN105807765A (en) * | 2016-01-22 | 2016-07-27 | 国家电网公司 | Mobile robot apparatus used for anti-error operation of transformer station, and anti-error operation method |
| CN105922229A (en) * | 2016-05-18 | 2016-09-07 | 赵士立 | Self-propelled robot used in transformer substation for patrolling and power failure monitoring |
| EP3147636A1 (en) * | 2015-09-24 | 2017-03-29 | Siemens Aktiengesellschaft | Method for measuring the sound pressure level of a high voltage choke or of a high-voltage transformer |
| CN106933163A (en) * | 2017-04-28 | 2017-07-07 | 东北师范大学 | A kind of inspecting robot system of industry spot |
| CN106950965A (en) * | 2017-04-26 | 2017-07-14 | 华中农业大学 | A kind of field crop information gathering machine people |
| CN107520850A (en) * | 2017-08-11 | 2017-12-29 | 国家电网公司 | A kind of Intelligent Mobile Robot |
| CN108000480A (en) * | 2017-12-21 | 2018-05-08 | 广州众源网络科技有限公司 | Crusing robot |
| CN108803438A (en) * | 2018-07-18 | 2018-11-13 | 华南理工大学 | A kind of fully-automatic conversion power station inspection robot system based on Wifi communication protocols |
| CN109093653A (en) * | 2018-10-09 | 2018-12-28 | 华北电力大学（保定） | A kind of high pressure inspection mobile robot swinging arm device |
| CN109308747A (en) * | 2018-08-26 | 2019-02-05 | 国网新疆电力有限公司和田供电公司 | Substation's automatic inspection device |
| CN110196594A (en) * | 2019-05-24 | 2019-09-03 | 北京海益同展信息科技有限公司 | Computer room inspection control method, device, equipment and storage medium |
| CN110315498A (en) * | 2019-03-26 | 2019-10-11 | 特斯联（北京）科技有限公司 | A kind of autonomous of and MR glasses linkage patrols man-controlled mobile robot and its system |
| CN110796584A (en) * | 2019-10-28 | 2020-02-14 | 国网内蒙古东部电力有限公司电力科学研究院 | Motion blurred image modeling method and device, storage medium and inspection robot |
| CN111711111A (en) * | 2020-06-24 | 2020-09-25 | 广东电网有限责任公司 | Electric power inspection equipment |
| CN113043285A (en) * | 2021-04-26 | 2021-06-29 | 陕西中建建乐智能机器人股份有限公司 | Liftable mining inspection robot |
| CN113808364A (en) * | 2021-09-23 | 2021-12-17 | 深圳市智联云控科技有限公司 | Fire early warning method and device based on photoelectric smoke detector and electronic equipment |
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2013
- 2013-06-04 CN CN201320316639.1U patent/CN203422665U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104020768B (en) * | 2014-06-13 | 2017-01-25 | 广西电网公司崇左供电局 | Infrared temperature measurement track inspection robot |
| CN104020768A (en) * | 2014-06-13 | 2014-09-03 | 广西电网公司崇左供电局 | Infrared temperature measurement track inspection robot |
| CN104390644B (en) * | 2014-11-25 | 2017-05-24 | 浙江理工大学 | Method for detecting field obstacle based on field navigation image collection equipment |
| CN104390644A (en) * | 2014-11-25 | 2015-03-04 | 浙江理工大学 | Method for detecting field obstacle based on field navigation image collection equipment |
| EP3147636A1 (en) * | 2015-09-24 | 2017-03-29 | Siemens Aktiengesellschaft | Method for measuring the sound pressure level of a high voltage choke or of a high-voltage transformer |
| WO2017050813A1 (en) * | 2015-09-24 | 2017-03-30 | Siemens Aktiengesellschaft | Method for measuring the sound pressure level of a high-voltage choke or of a high-voltage transformer |
| CN108027275A (en) * | 2015-09-24 | 2018-05-11 | 西门子公司 | Method for the sound pressure level for measuring high pressure choke or high-tension transformer |
| CN105490385A (en) * | 2015-12-25 | 2016-04-13 | 天津梅迪亚科技有限公司 | Robot capable of improving data collection precision |
| CN105807765A (en) * | 2016-01-22 | 2016-07-27 | 国家电网公司 | Mobile robot apparatus used for anti-error operation of transformer station, and anti-error operation method |
| CN105500337A (en) * | 2016-01-30 | 2016-04-20 | 大连理工大学 | Comprehensive pipe gallery inspection robot |
| CN105922229A (en) * | 2016-05-18 | 2016-09-07 | 赵士立 | Self-propelled robot used in transformer substation for patrolling and power failure monitoring |
| CN108942859A (en) * | 2016-05-18 | 2018-12-07 | 云和县鲁家班工艺品经营部 | The patrol monitoring self-propelled robot of power failure in a kind of substation |
| CN106950965A (en) * | 2017-04-26 | 2017-07-14 | 华中农业大学 | A kind of field crop information gathering machine people |
| CN106933163A (en) * | 2017-04-28 | 2017-07-07 | 东北师范大学 | A kind of inspecting robot system of industry spot |
| CN107520850A (en) * | 2017-08-11 | 2017-12-29 | 国家电网公司 | A kind of Intelligent Mobile Robot |
| CN108000480A (en) * | 2017-12-21 | 2018-05-08 | 广州众源网络科技有限公司 | Crusing robot |
| CN108803438A (en) * | 2018-07-18 | 2018-11-13 | 华南理工大学 | A kind of fully-automatic conversion power station inspection robot system based on Wifi communication protocols |
| CN109308747A (en) * | 2018-08-26 | 2019-02-05 | 国网新疆电力有限公司和田供电公司 | Substation's automatic inspection device |
| CN109093653A (en) * | 2018-10-09 | 2018-12-28 | 华北电力大学（保定） | A kind of high pressure inspection mobile robot swinging arm device |
| CN110315498A (en) * | 2019-03-26 | 2019-10-11 | 特斯联（北京）科技有限公司 | A kind of autonomous of and MR glasses linkage patrols man-controlled mobile robot and its system |
| CN110196594A (en) * | 2019-05-24 | 2019-09-03 | 北京海益同展信息科技有限公司 | Computer room inspection control method, device, equipment and storage medium |
| CN110796584A (en) * | 2019-10-28 | 2020-02-14 | 国网内蒙古东部电力有限公司电力科学研究院 | Motion blurred image modeling method and device, storage medium and inspection robot |
| CN111711111A (en) * | 2020-06-24 | 2020-09-25 | 广东电网有限责任公司 | Electric power inspection equipment |
| CN113043285A (en) * | 2021-04-26 | 2021-06-29 | 陕西中建建乐智能机器人股份有限公司 | Liftable mining inspection robot |
| CN113808364A (en) * | 2021-09-23 | 2021-12-17 | 深圳市智联云控科技有限公司 | Fire early warning method and device based on photoelectric smoke detector and electronic equipment |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140205 Termination date: 20170604 |
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| CF01 | Termination of patent right due to non-payment of annual fee |