CN203950202U - Intelligent Mobile Robot - Google Patents
Intelligent Mobile Robot Download PDFInfo
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- CN203950202U CN203950202U CN201320833834.1U CN201320833834U CN203950202U CN 203950202 U CN203950202 U CN 203950202U CN 201320833834 U CN201320833834 U CN 201320833834U CN 203950202 U CN203950202 U CN 203950202U
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Abstract
The utility model belongs to industrial robot technical field, particularly a kind of Intelligent Mobile Robot.Intelligent Mobile Robot comprises carrier loader, motor drive module, computing machine, power station equipment detecting unit, human-computer interaction module, power module, navigation information transfer unit and The Cloud Terrace, power station equipment detecting unit comprises the Temperature Detector of electric equipment, equipment connection point and power circuit, the sound collector of the image acquisition device of electric equipment, instrument and meter and electrical equipment noise, Temperature Detector, image acquisition device and sound collector are connected with computing machine.The beneficial effects of the utility model are: can independently complete the work of patrolling and examining for all kinds of electrical equipments and circuit; Compact and reasonable mechanical structure, versatility is good, can be widely used in the automatic detecting of generating plant and substation equipment.
Description
Technical field
The utility model belongs to industrial robot technical field, particularly a kind of Intelligent Mobile Robot.
Background technology
At present, the running status quality of converting station electric power equipment directly determines electric power netting safe running situation, processes and probably develops into fault not in time if abnormal working position appears in equipment, causes device damage or personal injury.Although relay protection and aut.eq. can play instant protective effect, aspect predictability, also have gap with existing actual needs, for further improving the reliability of key equipment, on-line monitoring and live testing technology are the inevitable directions of industry development.
Fault high-tension apparatus in electric system, in operational process always because a variety of causes produces some hot stall points, i.e. hot sign before equipment failure.Infrared detection technology can be in remote, noncontact, in real time, fast, the equipment running status information of obtaining that do not have a power failure, do not sample, should serve as the conventional method that device Diagnostic is analyzed.
But use, traditional hand-held infrared thermometer labour intensity is large, inefficiency, unattended operation transformer station needs operations staff to drive up to scene regularly to detect, the every first quarter moon of 110kV transformer station detects once, once break down in interval, operations staff cannot learn, if break down in personnel's testing process, as porcelain vase bursts, equipment safety operation and personal safety will be on the hazard.If adopt video infrared supervisory system, owing to being subject to fixed point monitoring, there is very large monitoring blind area, be difficult to really meet the requirement of the comprehensive covering of video monitoring.Infrared camera quantity due to system complex, needs is many simultaneously, cost is also larger, and installation wiring workload is large, and therefore failure rate is higher, in addition camera is installed on framework, not, there is potential safety hazard in maintenance, deashing job safety distance, has a power failure difficult in maintenance.
Utility model content
The purpose of this utility model is exactly in order to address the above problem, and provides the one can be at outside work, and place, competitor operator on duty can complete power station equipment and patrol and examine the Intelligent Mobile Robot of work.
For achieving the above object, the utility model adopts following technical scheme: Intelligent Mobile Robot comprises carrier loader, motor drive module, computing machine, power station equipment detecting unit, human-computer interaction module, power module, navigation information transfer unit and The Cloud Terrace; Computing machine comprises CPU, storer, network interface card, serial ports and USB etc., power station equipment detecting unit comprises the Temperature Detector of electric equipment, equipment connection point and power circuit, the sound collector of the image acquisition device of electric equipment, instrument and meter and electrical equipment noise, Temperature Detector, image acquisition device and sound collector are connected with computing machine, and computing machine reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed; Human-computer interaction module is made up of keyboard, liquid crystal display and touch screen module, by human-computer interaction module can with the parameters of computer interactive; Motor drive module drives chip L298N and light occasionally to form by motor special.Motor drive module and computing machine are electrical connected, the instruction of motor drive module receiving computer, and the accumulator of power module is to equipment power supplies such as dolly, computing machine, liquid crystal display, visible light camera, thermal infrared imagers.Navigation information transfer unit comprises the global positioning system line walking sensor of unifying, navigation information transfer unit is installed on the front portion of carrier loader, the global positioning system line walking sensor of unifying is connected with computing machine by serial ports, GPS comprises GPS receiver, serial port gateway, broadband wireless bridge and switch, broadband wireless bridge adopts ICP/IP protocol, with the frequency transmission system data of 2.4-2.5 gigahertz (GHZ), avoid the strong electromagnetic of transformer station to the interference of communication, GPS is patrolled and examined Intelligent Mobile Robot after the information exchange obtaining is crossed computing machine processing and is beamed back command centre by wireless, and accept the instruction of Intelligent Mobile Robot command centre.
Carrier loader comprises vehicle frame, wheel, article carrying platform, The Cloud Terrace and shell, framework is set on article carrying platform, line walking installation of sensors is on article carrying platform, the position that the corresponding article carrying platform of shell is installed line walking sensor arranges downward opening for the accommodating chamber of navigation information transfer unit is installed, motor drive module, computing machine, human-computer interaction module and power module are installed on article carrying platform, and line walking sensor is contained in accommodating chamber.
Temperature Detector, image acquisition device and sound collector are arranged on carrying platform by The Cloud Terrace, and The Cloud Terrace is connected with computing machine with divider by demoder, and the drive motor of computer program commander The Cloud Terrace accurately controls that The Cloud Terrace horizontally rotates and pitching.
Image acquisition device is made up of CCD camera and video frequency collection card VC302, video frequency collection card converts the simulating signal of camera to digital signal, and computing machine reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed.
The beneficial effects of the utility model are: can independently complete the work of patrolling and examining for all kinds of electrical equipments and circuit; Compact and reasonable mechanical structure, versatility is good, can be widely used in the automatic detecting of generating plant and substation equipment.
Brief description of the drawings
Fig. 1 is the utility model Intelligent Mobile Robot structural framing figure.
Fig. 2 is the utility model Intelligent Mobile Robot perspective view.
Fig. 3 is the structural representation stereographic map that the utility model Intelligent Mobile Robot removes shell.
In figure: computing machine 1, carrier loader 2, motor drive module 3, power station equipment detecting unit 4, human-computer interaction module 5, power module 6, navigation information transfer unit 7, The Cloud Terrace 8, vehicle frame 21, wheel 22, article carrying platform 23, The Cloud Terrace 24, shell 25, framework 26, accommodating chamber 27.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further illustrated, in conjunction with Fig. 1 to Fig. 3, Intelligent Mobile Robot comprises computing machine 1, carrier loader 2, motor drive module 3, power station equipment detecting unit 4, human-computer interaction module 5, power module 6, navigation information transfer unit 7 and The Cloud Terrace 8; Computing machine 1 comprises CPU, storer, network interface card, serial ports and USB etc., power station equipment detecting unit 4 comprises the Temperature Detector of electric equipment, equipment connection point and power circuit, the sound collector of the image acquisition device of electric equipment, instrument and meter and electrical equipment noise, Temperature Detector, image acquisition device and sound collector are connected with computing machine 1, and computing machine 1 reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed; Human-computer interaction module 5 is made up of keyboard, liquid crystal display and touch screen module, parameters that can be mutual with computing machine 1 by human-computer interaction module 5; Motor drive module 3 is occasionally made up of motor drive ic L298N and light.Motor drive module 3 is connected for electrical number with computing machine 1, the instruction of motor drive module 3 receiving computers 1, and the accumulator of power module 6 is to equipment power supplies such as carrier loader 2, computing machine 1, power station equipment detecting units 4.Navigation information transfer unit 7 comprises GPS 71 and line walking sensor 72, navigation information transfer unit is installed on the front portion of carrier loader, the global positioning system line walking sensor of unifying is connected with computing machine 1 by serial ports, GPS comprises GPS receiver, serial port gateway, broadband wireless bridge and switch, broadband wireless bridge adopts ICP/IP protocol, with the frequency transmission system data of 2.4-2.5 gigahertz (GHZ), avoid the strong electromagnetic of transformer station to the interference of communication, GPS is patrolled and examined by Intelligent Mobile Robot the information exchange obtaining and is crossed after computing machine 1 is processed and beam back command centre by wireless, and accept the instruction of Intelligent Mobile Robot command centre.
Carrier loader 2 comprises vehicle frame 21, wheel 22, article carrying platform 23, The Cloud Terrace 24 and shell 25, framework 26 is set on article carrying platform 23, line walking sensor 72 is installed on article carrying platform 23, the position that the corresponding article carrying platform of shell 25 is installed line walking sensor 72 arranges downward opening for the accommodating chamber 27 of navigation information transfer unit is installed, motor drive module 3, computing machine 1, human-computer interaction module 5 and power module 6 are installed on article carrying platform 23, and line walking sensor is contained in accommodating chamber 27.
Temperature Detector, image acquisition device and sound collector are arranged on framework 26 by The Cloud Terrace 24, The Cloud Terrace 24 is connected with computing machine 1 with divider by demoder, the drive motor of computer program commander The Cloud Terrace 24, accurately controls The Cloud Terrace 24 and horizontally rotates and pitching.
Image acquisition device is made up of CCD camera and video frequency collection card VC302, video frequency collection card converts the simulating signal of camera to digital signal, and computing machine reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed.
Claims (4)
1. an Intelligent Mobile Robot, is characterized in that: Intelligent Mobile Robot comprises carrier loader, motor drive module, computing machine, power station equipment detecting unit, human-computer interaction module, power module, navigation information transfer unit and The Cloud Terrace; Computing machine comprises CPU, storer, network interface card, serial ports and USB etc., power station equipment detecting unit comprises the Temperature Detector of electric equipment, equipment connection point and power circuit, the sound collector of the image acquisition device of electric equipment, instrument and meter and electrical equipment noise, Temperature Detector, image acquisition device and sound collector are connected with computing machine, and computing machine reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed; Human-computer interaction module is made up of keyboard, liquid crystal display and touch screen module, by human-computer interaction module can with the parameters of computer interactive; Motor drive module drives chip L298N and light occasionally to form by motor special;
Motor drive module and computing machine are electrical connected, the instruction of motor drive module receiving computer, and the accumulator of power module is to equipment power supplies such as dolly, computing machine, liquid crystal display, visible light camera, thermal infrared imagers;
Navigation information transfer unit comprises the global positioning system line walking sensor of unifying, navigation information transfer unit is installed on the front portion of carrier loader, the global positioning system line walking sensor of unifying is connected with computing machine by serial ports, GPS comprises GPS receiver, serial port gateway, broadband wireless bridge and switch, broadband wireless bridge adopts ICP/IP protocol, with the frequency transmission system data of 2.4-2.5 gigahertz (GHZ), avoid the strong electromagnetic of transformer station to the interference of communication, GPS is patrolled and examined Intelligent Mobile Robot after the information exchange obtaining is crossed computing machine processing and is beamed back command centre by wireless, and accept the instruction of Intelligent Mobile Robot command centre.
2. Intelligent Mobile Robot according to claim 1, it is characterized in that: carrier loader comprises vehicle frame, wheel, article carrying platform, The Cloud Terrace and shell, framework is set on article carrying platform, line walking installation of sensors is on article carrying platform, the position that the corresponding article carrying platform of shell is installed line walking sensor arranges downward opening for the accommodating chamber of navigation information transfer unit is installed, motor drive module, computing machine, human-computer interaction module and power module are installed on article carrying platform, and line walking sensor is contained in accommodating chamber.
3. Intelligent Mobile Robot according to claim 1, it is characterized in that: Temperature Detector, image acquisition device and sound collector are arranged on carrying platform by The Cloud Terrace, The Cloud Terrace is connected with computing machine with divider by demoder, the drive motor of computer program commander The Cloud Terrace, accurately controls that The Cloud Terrace horizontally rotates and pitching.
4. Intelligent Mobile Robot according to claim 1, it is characterized in that: image acquisition device is made up of CCD camera and video frequency collection card VC302, video frequency collection card converts the simulating signal of camera to digital signal, and computing machine reads via first in first out (FIFO) RAM of bus access video frequency collection card the view data that a frame has completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320833834.1U CN203950202U (en) | 2013-12-18 | 2013-12-18 | Intelligent Mobile Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320833834.1U CN203950202U (en) | 2013-12-18 | 2013-12-18 | Intelligent Mobile Robot |
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| Publication Number | Publication Date |
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| CN203950202U true CN203950202U (en) | 2014-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320833834.1U Expired - Fee Related CN203950202U (en) | 2013-12-18 | 2013-12-18 | Intelligent Mobile Robot |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199453A (en) * | 2014-09-27 | 2014-12-10 | 江苏华宏实业集团有限公司 | Intelligent robot used for inspecting electric power meter |
| CN104410829A (en) * | 2014-11-27 | 2015-03-11 | 无锡北斗星通信息科技有限公司 | Method for automatically reading meter |
| CN104483969A (en) * | 2014-12-05 | 2015-04-01 | 嘉兴市日新自动化科技有限公司 | Automatic patrol robot |
| CN105069705A (en) * | 2015-08-24 | 2015-11-18 | 厦门必万电气有限公司 | Data assessment method and system based on inspection robot |
| CN105128031A (en) * | 2015-05-29 | 2015-12-09 | 山东鲁能智能技术有限公司 | Centralized dispatching system and method for inspection robots in transformer substation |
| CN105203315A (en) * | 2015-10-20 | 2015-12-30 | 华北电力大学（保定） | Air blower blade monitoring device arranged on inspection vehicle |
| CN105600323A (en) * | 2016-01-28 | 2016-05-25 | 北京创世捷能机器人有限公司 | Intelligent operation and maintenance system for photovoltaic power station |
| CN105835031A (en) * | 2016-05-20 | 2016-08-10 | 苏州震旦科技有限公司 | Inspection robot for distribution room |
| CN105922229A (en) * | 2016-05-18 | 2016-09-07 | 赵士立 | Self-propelled robot used in transformer substation for patrolling and power failure monitoring |
| CN106444778A (en) * | 2016-11-08 | 2017-02-22 | 昆明理工大学 | Automatic tracking vehicle system based on embedded image processing instrument cabinet lighting |
| 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 |
| CN106713714A (en) * | 2017-01-06 | 2017-05-24 | 国网山东省电力公司冠县供电公司 | Power production personnel information monitoring device |
| WO2017096989A1 (en) * | 2015-12-10 | 2017-06-15 | 深圳市施罗德工业测控设备有限公司 | Inspection robot travelling on rail |
| CN106896829A (en) * | 2017-03-17 | 2017-06-27 | 中国南方电网有限责任公司超高压输电公司曲靖局 | A kind of cruising inspection system and method based on the meter all standing of crusing robot transformer station |
| CN106933163A (en) * | 2017-04-28 | 2017-07-07 | 东北师范大学 | A kind of inspecting robot system of industry spot |
| CN108770754A (en) * | 2018-08-21 | 2018-11-09 | 浙江大学城市学院 | A kind of intelligent device for feeding fish bait composite structure based on binocular stereo vision |
| CN109610964A (en) * | 2018-10-30 | 2019-04-12 | 深圳供电局有限公司 | Crusing robot is entered the room system control method |
| CN111037574A (en) * | 2019-12-07 | 2020-04-21 | 国网山东省电力公司日照供电公司 | Interactive robot system for communication station inspection and control method thereof |
| CN112414458A (en) * | 2018-12-12 | 2021-02-26 | 杭州申昊科技股份有限公司 | Automatic intelligent inspection method for transformer substation |
-
2013
- 2013-12-18 CN CN201320833834.1U patent/CN203950202U/en not_active Expired - Fee Related
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199453B (en) * | 2014-09-27 | 2016-08-17 | 江苏华宏实业集团有限公司 | For patrolling and examining the intelligent robot of electric instrument |
| CN104199453A (en) * | 2014-09-27 | 2014-12-10 | 江苏华宏实业集团有限公司 | Intelligent robot used for inspecting electric power meter |
| CN104410829A (en) * | 2014-11-27 | 2015-03-11 | 无锡北斗星通信息科技有限公司 | Method for automatically reading meter |
| CN104410829B (en) * | 2014-11-27 | 2015-12-30 | 国家电网公司 | A kind of method of automatic meter reading |
| CN104483969A (en) * | 2014-12-05 | 2015-04-01 | 嘉兴市日新自动化科技有限公司 | Automatic patrol robot |
| CN104483969B (en) * | 2014-12-05 | 2018-04-17 | 嘉兴市日新自动化科技有限公司 | The automatic patrol robot of road |
| CN105128031A (en) * | 2015-05-29 | 2015-12-09 | 山东鲁能智能技术有限公司 | Centralized dispatching system and method for inspection robots in transformer substation |
| CN105069705A (en) * | 2015-08-24 | 2015-11-18 | 厦门必万电气有限公司 | Data assessment method and system based on inspection robot |
| CN105069705B (en) * | 2015-08-24 | 2019-07-16 | 厦门必万电气有限公司 | Data wire examination method and system based on crusing robot |
| 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 |
| 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 |
| 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 |
| CN105203315A (en) * | 2015-10-20 | 2015-12-30 | 华北电力大学（保定） | Air blower blade monitoring device arranged on inspection vehicle |
| WO2017096989A1 (en) * | 2015-12-10 | 2017-06-15 | 深圳市施罗德工业测控设备有限公司 | Inspection robot travelling on rail |
| CN105600323A (en) * | 2016-01-28 | 2016-05-25 | 北京创世捷能机器人有限公司 | Intelligent operation and maintenance system for photovoltaic power station |
| CN105922229A (en) * | 2016-05-18 | 2016-09-07 | 赵士立 | Self-propelled robot used in transformer substation for patrolling and power failure monitoring |
| CN105835031A (en) * | 2016-05-20 | 2016-08-10 | 苏州震旦科技有限公司 | Inspection robot for distribution room |
| CN106444778A (en) * | 2016-11-08 | 2017-02-22 | 昆明理工大学 | Automatic tracking vehicle system based on embedded image processing instrument cabinet lighting |
| CN106444778B (en) * | 2016-11-08 | 2019-11-08 | 昆明理工大学 | Automatic control tracking cart system based on embedded image processing instrument cabinet bright light |
| CN106713714A (en) * | 2017-01-06 | 2017-05-24 | 国网山东省电力公司冠县供电公司 | Power production personnel information monitoring device |
| CN106713714B (en) * | 2017-01-06 | 2020-10-16 | 义乌市诠铈新材料有限公司 | Electric power production personnel information monitoring devices |
| CN106896829A (en) * | 2017-03-17 | 2017-06-27 | 中国南方电网有限责任公司超高压输电公司曲靖局 | A kind of cruising inspection system and method based on the meter all standing of crusing robot transformer station |
| CN106933163A (en) * | 2017-04-28 | 2017-07-07 | 东北师范大学 | A kind of inspecting robot system of industry spot |
| CN108770754A (en) * | 2018-08-21 | 2018-11-09 | 浙江大学城市学院 | A kind of intelligent device for feeding fish bait composite structure based on binocular stereo vision |
| CN109610964A (en) * | 2018-10-30 | 2019-04-12 | 深圳供电局有限公司 | Crusing robot is entered the room system control method |
| CN112414458A (en) * | 2018-12-12 | 2021-02-26 | 杭州申昊科技股份有限公司 | Automatic intelligent inspection method for transformer substation |
| CN112414457A (en) * | 2018-12-12 | 2021-02-26 | 杭州申昊科技股份有限公司 | Automatic intelligent inspection method based on work of transformer substation |
| CN111037574A (en) * | 2019-12-07 | 2020-04-21 | 国网山东省电力公司日照供电公司 | Interactive robot system for communication station inspection and control method thereof |
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Legal Events
| 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: 20141119 Termination date: 20151218 |
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| EXPY | Termination of patent right or utility model |