CN204515533U - A kind of robot used for intelligent substation patrol with wireless temperature measuring function - Google Patents
A kind of robot used for intelligent substation patrol with wireless temperature measuring function Download PDFInfo
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- CN204515533U CN204515533U CN201520250275.0U CN201520250275U CN204515533U CN 204515533 U CN204515533 U CN 204515533U CN 201520250275 U CN201520250275 U CN 201520250275U CN 204515533 U CN204515533 U CN 204515533U
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Abstract
The utility model relates to substation inspection technical field, more specifically, relate to a kind of robot used for intelligent substation patrol with wireless temperature measuring function, comprise robot, be provided with routing inspection circuit in robot, robot is outside equipped with at least one camera, at least one Magnetic Sensor; Described robot is made up of robot body and running gear; Described routing inspection circuit comprises power supply, industrial computer, data acquisition module, robotary monitoring modular, Robot remote's module, the signal output part of described camera, Magnetic Sensor and wireless temperature detecting device is connected to the input end of data acquisition module, the output terminal of described data acquisition module and the output terminal of robotary monitoring modular are all connected to the input end of described industrial computer, the input and output of described Robot remote's module are terminated at the input/output terminal of described industrial computer, and described power supply is that whole system is powered.The utility model is applied to the automation of transformation substations, and nobody patrols and examines, and realizes magnetic tracks navigation by Magnetic Sensor, can carry out autonomous or remote control inspection by optimum path planning to outdoor high-tension apparatus.
Description
Technical field
The utility model relates to substation inspection technical field, more specifically, relates to a kind of robot used for intelligent substation patrol with wireless temperature measuring function.
Background technology
Transformer station is the hinge of power transmission network, and inspecting substation equipment is operated in and ensures that transformer station normally produces, extremely important status is occupied in safe operation aspect.By the complicacy of the work of patrolling and examining and the restriction of technological means, Foreign & Domestic Substations generally adopts the work pattern of manual patrol, hand-kept when carrying out equipment routing inspection.Manual inspection pattern exists that labour intensity is large, the dispersion of inefficiency, Detection job, the high obvious deficiency of handling cost; And, the data of manual detection also cannot access-in management infosystem accurately and timely, make information system management can not arrive the first operation field, have impact on robotization and the intelligent level of transformer station, especially to the transformer station of remote districts, need manpower and the time of at substantial, labour intensity is large and efficiency is low; Secondly, because transformer station mostly is high pressure, high radiation device, manual inspection has very large danger; Meanwhile, for the transformer station of unmanned or few man on duty, the emergency command scheduling difficulty when substation fault is also very large.Therefore robot is used to replace to a certain extent manually carrying out to transformer station the development trend that automatic detecting becomes substation inspection.And in order to make robot have more function, current robot architecture large number quipments mostly bulky and used due to need of work is installed very chaotic, safeguard very difficult.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, provides a kind of structure simply to have the robot used for intelligent substation patrol of wireless temperature measuring function, to solve the deficiency of prior art.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is:
A kind of robot used for intelligent substation patrol with wireless temperature measuring function, comprise robot, routing inspection circuit is provided with in robot, robot is outside equipped with at least one camera, at least one Magnetic Sensor and at least one wireless temperature detecting device, and described wireless temperature detecting device is arranged on the surface of transformer station's equipment to be detected;
Described robot is made up of robot body and running gear; Described running gear comprises movable motor, electric machine support, road wheel support, transmission shaft and road wheel;
Described routing inspection circuit comprises power supply, industrial computer, data acquisition module, robotary monitoring modular, Robot remote's module, the signal output part of described camera, Magnetic Sensor and wireless temperature detecting device is connected to the input end of data acquisition module, the output terminal of described data acquisition module and the output terminal of robotary monitoring modular are all connected to the input end of described industrial computer, the input and output of described Robot remote's module are terminated at the input/output terminal of described industrial computer, described power supply is that whole system is powered, and described running gear is connected with industrial computer;
Described industrial computer is established a communications link by communication module and administrative center, and by this communication module, the data that industrial computer can be collected are sent to administrative center in time, so that monitor staff's real time inspection.
Wherein, described routing inspection circuit also comprises rfid interrogator, and rfid interrogator is established a communications link by RS232 or RS485 and industrial computer.Like this, rfid interrogator and Magnetic Sensor can carry out real-time data acquisition according to the RFID label tag be arranged in advance on substation inspection route and magnetic stripe, ensure track route.
Wherein, be also provided with thermal infrared imager outside robot, the output terminal of thermal infrared imager is connected to the input end of data acquisition module, and preferably, this thermal infrared imager can select model to be the thermal infrared imager of M7500.
Wherein, described camera is visible ray or infrared pick-up head.
Wherein, described Robot remote's module can be the wireless remote control module such as infrared remote control module, Bluetooth remote control module.
Wherein, in order to good heat radiation, in described robot, be also provided with ventilating heat dissipating hole and radiator fan.
Wherein, the robot body of described robot adopts the robot body of steel construction.
In addition, system also comprises communication module, and this communication module and industrial computer establish a communications link, and by this communication module, the data that industrial computer can be collected are sent to administrative center in time, so that monitor staff's real time inspection.
Compared with prior art, the beneficial effects of the utility model are:
The utility model adopts said structure, by the first-class equipment of thermal infrared imager, visible ray or infrared pick-up, can replace that staff is round-the-clock to patrol and examine indoor and outdoor high-tension transformation equipment.In addition, industrial computer is also provided with on-line analysis software, can the internal heat defect of Timeliness coverage power equipment, exterior mechanical or electrical problems by this software, as: heating, foreign matter, damage and leakage of oil etc.Meanwhile, the utility model realizes magnetic tracks navigation by Magnetic Sensor, can carry out autonomous or remote control inspection by optimum path planning to outdoor high-tension apparatus.
Accompanying drawing explanation
Fig. 1 is the robot schematic diagram of embodiment of the present utility model.
Fig. 2 is the routing inspection circuit block diagram of embodiment of the present utility model.
Fig. 3 is the running gear schematic diagram of embodiment of the present utility model.
Embodiment
Below in conjunction with embodiment, the utility model is further described.Wherein, accompanying drawing only for exemplary illustration, expression be only schematic diagram, but not pictorial diagram, can not be interpreted as the restriction to this patent; In order to embodiment of the present utility model is described better, some parts of accompanying drawing have omission, zoom in or out, and do not represent the size of actual product; Concerning art technology maintainer, in accompanying drawing, some known features and explanation thereof may be omitted is understandable.
The corresponding same or analogous parts of same or analogous label in the accompanying drawing of the utility model embodiment, in description of the present utility model, it will be appreciated that, if have term " on ", D score, " left side ", orientation or the position relationship of the instruction such as " right side " are based on orientation shown in the drawings or position relationship, only the utility model and simplified characterization for convenience of description, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore the term of position relationship is described only for exemplary illustration in accompanying drawing, the restriction to this patent can not be interpreted as, for the ordinary skill maintainer of this area, the concrete meaning of above-mentioned term can be understood as the case may be.
Intelligent Mobile Robot is mainly used in the walkaround inspection work of indoor and outdoor transformer station, the thermal defect of converting equipment, machinery or electrical problems can be found, simultaneously, the robot used for intelligent substation patrol with wireless temperature measuring function also can be the relevant data that patrol officer provides the operating accident potential of power equipment and fault tendency, find that potential safety hazard is reported to the police immediately, guarantee the normal operation of electric system.According to incompletely statistics, at the end of 2003, the one-end substation of national below 110KV, more than 35KV has more than 18000 seats, wherein the nearly unrealized robotization of half, and all kinds of distribution substation One's name is legions of below 35KV, its percent of automatization is also lower.As can be seen here, the market space of Intelligent Mobile Robot is huge.Therefore the utility model arises at the historic moment, and improves the present situation of the crusing robot of existing heaviness, provides a kind of structure simple, the Intelligent Mobile Robot of complete function.
Now with embodiment, the utility model is further illustrated by reference to the accompanying drawings.
A kind of robot used for intelligent substation patrol with wireless temperature measuring function of the present utility model, comprise robot, routing inspection circuit, ventilating heat dissipating hole and radiator fan is provided with in robot, robot is outside equipped with at least one camera, at least one Magnetic Sensor, at least one wireless temperature detecting device, and wireless temperature detecting device is arranged on the surface of transformer station's equipment to be detected.
As Figure 1-3, robot is made up of robot body and running gear, and its robot body adopts the robot body of steel construction; Running gear comprises movable motor 3, electric machine support 4, road wheel support 5, transmission shaft 2 and road wheel 1, and movable motor 3 can be walked and brake by control lines travelling wheel 1, also can manual control walking.
As shown in Figure 2, routing inspection circuit comprises power supply, industrial computer, data acquisition module, robotary monitoring modular, Robot remote's module, rfid interrogator, thermal infrared imager and communication module, the signal output part of camera, the signal output part of Magnetic Sensor, the signal output part of wireless temperature detecting device and the signal output part of thermal infrared imager are connected to the input end of data acquisition module, the output terminal of data acquisition module and the output terminal of robotary monitoring modular are all connected to the input end of industrial computer, the input and output of Robot remote's module are terminated at the input/output terminal of industrial computer, power supply is that whole system is powered.Rfid interrogator is established a communications link by RS232 or RS485 and industrial computer.Communication module and industrial computer establish a communications link.Running gear is connected with industrial computer, and industrial computer control lines walking apparatus works, thus the walking of control and stopping.
In said system, rfid interrogator and Magnetic Sensor can carry out real-time data acquisition according to the RFID label tag be arranged in advance on substation inspection route and magnetic stripe, ensure track route.Camera is visible ray or infrared pick-up head.Thermal infrared imager can select model to be the thermal infrared imager of M7500.Robot remote's module can be the wireless remote control module such as infrared remote control module, Bluetooth remote control module.Communication module can be the wireless telecommunications systems such as WIFI/Zigbee, also can be wired communication apparatus.
The robot used for intelligent substation patrol with wireless temperature measuring function of the present utility model carries thermal infrared imager, visible ray or infrared pick-up head and Magnetic Sensor, employing magnetic tracks is navigated, and can carry out autonomous or remote control inspection by optimum path planning to outdoor high-tension apparatus.By the method such as machine vision, infrared measurement of temperature, the robot used for intelligent substation patrol with wireless temperature measuring function can collect the information such as the infrared chart of equipment, image and audio frequency, and the position of the thermal defect of automatic identification equipment, abnormal appearance, switch or disconnecting link, meter reading, oil level indicator position etc., generate the alarm item of unified standard and patrol and examine report, send warning information to operations staff, and provide basic data for equipment state overhauling.At unmanned, few man on duty transformer station or intelligent substation, especially under plateau, hypoxemia, the geographical conditions such as high and cold or severe weather conditions, crusing robot can replace or indirect labor completes substation equipment patrols and examines operation.
Obviously, above-described embodiment of the present utility model is only for the utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For the ordinary skill maintainer in affiliated field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., within the protection domain that all should be included in the utility model claim.
Claims (7)
1. one kind has the robot used for intelligent substation patrol of wireless temperature measuring function, it is characterized in that: comprise robot, routing inspection circuit is provided with in robot, robot is outside equipped with at least one camera, at least one Magnetic Sensor and at least one wireless temperature detecting device, and described wireless temperature detecting device is arranged on the surface of transformer station's equipment to be detected;
Described robot is made up of robot body and running gear; Described running gear comprises movable motor, electric machine support, road wheel support, transmission shaft and road wheel;
Described routing inspection circuit comprises power supply, industrial computer, data acquisition module, robotary monitoring modular, Robot remote's module, the signal output part of described camera, Magnetic Sensor and wireless temperature detecting device is connected to the input end of data acquisition module, the output terminal of described data acquisition module and the output terminal of robotary monitoring modular are all connected to the input end of described industrial computer, the input and output of described Robot remote's module are terminated at the input/output terminal of described industrial computer, described power supply is that whole system is powered, and described running gear is connected with industrial computer;
Described industrial computer is established a communications link by communication module and administrative center, and by this communication module, the data that industrial computer can be collected are sent to administrative center in time, so that monitor staff's real time inspection.
2. a kind of robot used for intelligent substation patrol with wireless temperature measuring function according to claim 1, it is characterized in that: described routing inspection circuit also comprises rfid interrogator, rfid interrogator is established a communications link by RS232 or RS485 and industrial computer.
3. a kind of robot used for intelligent substation patrol with wireless temperature measuring function according to claim 1, is characterized in that: be also provided with thermal infrared imager outside described robot, and the output terminal of thermal infrared imager is connected to the input end of data acquisition module.
4. a kind of robot used for intelligent substation patrol with wireless temperature measuring function according to claim 1, is characterized in that: described camera is visible ray or infrared pick-up head.
5. a kind of robot used for intelligent substation patrol with wireless temperature measuring function according to claim 1, is characterized in that: described Robot remote's module is infrared remote control module, Bluetooth remote control module wireless remote control module.
6. a kind of robot used for intelligent substation patrol with wireless temperature measuring function according to claim 1, is characterized in that: be also provided with ventilating heat dissipating hole and radiator fan in described robot.
7. a kind of robot used for intelligent substation patrol with wireless temperature measuring function according to claim 1, is characterized in that: the robot body of described robot adopts the robot body of steel construction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520250275.0U CN204515533U (en) | 2015-04-23 | 2015-04-23 | A kind of robot used for intelligent substation patrol with wireless temperature measuring function |
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| CN201520250275.0U CN204515533U (en) | 2015-04-23 | 2015-04-23 | A kind of robot used for intelligent substation patrol with wireless temperature measuring function |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105137995A (en) * | 2015-09-11 | 2015-12-09 | 云南电网有限责任公司电力科学研究院 | Transformer substation X ray detection object identification method based on RFID technology |
| CN105835031A (en) * | 2016-05-20 | 2016-08-10 | 苏州震旦科技有限公司 | Inspection robot for distribution room |
| CN105973308A (en) * | 2016-06-24 | 2016-09-28 | 国家电网公司 | Automatic closed chamber detection device based on real-time image acquisition technology and method |
| CN106123956A (en) * | 2016-06-24 | 2016-11-16 | 国家电网公司 | Room automatic detection device and method in a kind of closing based on image real-time acquisition and simulation comparison technology |
| CN106990784A (en) * | 2017-04-26 | 2017-07-28 | 大连理工大学 | A kind of system and method that unmanned vehicle is rescued for monitoring and controlling |
| WO2021087861A1 (en) * | 2019-11-07 | 2021-05-14 | 南京溧航仿生产业研究院有限公司 | Small bionic robot |
-
2015
- 2015-04-23 CN CN201520250275.0U patent/CN204515533U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105137995A (en) * | 2015-09-11 | 2015-12-09 | 云南电网有限责任公司电力科学研究院 | Transformer substation X ray detection object identification method based on RFID technology |
| CN105137995B (en) * | 2015-09-11 | 2017-09-22 | 云南电网有限责任公司电力科学研究院 | A kind of transformer station's X-ray detection target identification method based on RFID technique |
| CN105835031A (en) * | 2016-05-20 | 2016-08-10 | 苏州震旦科技有限公司 | Inspection robot for distribution room |
| CN105973308A (en) * | 2016-06-24 | 2016-09-28 | 国家电网公司 | Automatic closed chamber detection device based on real-time image acquisition technology and method |
| CN106123956A (en) * | 2016-06-24 | 2016-11-16 | 国家电网公司 | Room automatic detection device and method in a kind of closing based on image real-time acquisition and simulation comparison technology |
| CN106990784A (en) * | 2017-04-26 | 2017-07-28 | 大连理工大学 | A kind of system and method that unmanned vehicle is rescued for monitoring and controlling |
| CN106990784B (en) * | 2017-04-26 | 2020-01-14 | 大连理工大学 | System and method for monitoring and controlling rescue unmanned vehicle |
| WO2021087861A1 (en) * | 2019-11-07 | 2021-05-14 | 南京溧航仿生产业研究院有限公司 | Small bionic robot |
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| 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: 20150729 Termination date: 20160423 |
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| CF01 | Termination of patent right due to non-payment of annual fee |