CN205220844U - Transformer substation independently gets over barrier and patrols and examines robot - Google Patents
Transformer substation independently gets over barrier and patrols and examines robot Download PDFInfo
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- CN205220844U CN205220844U CN201520865439.0U CN201520865439U CN205220844U CN 205220844 U CN205220844 U CN 205220844U CN 201520865439 U CN201520865439 U CN 201520865439U CN 205220844 U CN205220844 U CN 205220844U
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- 230000004888 barrier function Effects 0.000 title abstract description 3
- 238000007689 inspection Methods 0.000 claims abstract description 17
- 230000007613 environmental effect Effects 0.000 claims abstract description 14
- 229910052751 metal Inorganic materials 0.000 claims abstract description 8
- 239000002184 metal Substances 0.000 claims abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 230000001953 sensory effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000004411 aluminium Substances 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 230000008447 perception Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000003909 pattern recognition Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000005457 optimization Methods 0.000 description 1
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Abstract
The utility model discloses a transformer substation independently gets over barrier and patrols and examines robot, including four support arm crawler -type mobile robot chassis, install environmental information perception system and motion control system at the top on chassis, the motion on chassis is controlled to motion control system, motion control system to environmental information perception system input signal, four support arm crawler -type mobile robot chassis, by a pair of perpendicular to the ground, parallel relatively metal sheet is as support chassis, a athey wheel is respectively installed to every metal sheet outside front and back end, one of them be the drive wheel, the another one is for from the driving wheel, the drive wheel with from taking I to be connected through main covering between the driving wheel, every drive wheel and follow the driving wheel outside all install a support arm, and the drive wheel passes through drive mechanism and links to each other with the motor. The utility model discloses a robot of transformer substation is at the full section equipment inspection of transformer substation to stability is good, is difficult for overturning, can satisfy the demand that the field device of transformer substation detected.
Description
Technical field
The utility model relates to crusing robot, particularly a kind of substation Autonomous Obstacle Negotiating Inspection Robot.
Background technology
Substation is the core hinge of electrical network at different levels, and it is the gordian technique means ensureing electric power netting safe running that station equipment routine is patrolled and examined.Existing manual inspection pattern labour intensity is large, Detection job disperses, subregion is difficult to carry out to be patrolled and examined, patrol and examine range limited under severe weather conditions, particularly manually cannot patrol and examine in time as during the extreme weather generations such as strong wind, greasy weather, ice and snow, hail, thunderstorm at the Special Geographic conditioned disjunction such as plateau, Gobi desert, now substation is once the accident that meets accident, because field data intuitively cannot be obtained in time, often affect the opportunity of optimization process accident adversely, cause the unnecessary economic loss accident that even personal casualty etc. is great.
Robot is utilized to carry out inspecting substation equipment, independently can complete the work such as equipment state inspection before and after the daily tour of substation equipment, infrared measurement of temperature, operation, thus the work efficiency greatly improved substation equipment patrol and quality, reduce personnel labor intensity and work risk, promote intelligent substation level, for substation's unmanned provides powerful technical support.Transformer station intelligent robot has become the important supplementary means of inspecting substation equipment.
Intelligent Mobile Robot has started to apply at home at present, and achieves certain effect, improves the intelligent level of substation operation and management.But outside transformer substation scope is large, it is complicated to patrol and examine route condition of road surface, stronger restriction is created to the application of crusing robot, especially when electrical equipment is relatively concentrated, because equipment blocks mutually, cause the robot along outside transformer substation road driving cannot normal inspection device.
The patent No. be 200910016781 utility model patent disclose a kind of robot used for intelligent substation patrol, wheeled structure cannot cross in traveling process the obstacle with certain altitude, also independently cannot cross the cable channel cover plate of substation, access arrangement district carries out data acquisition.
Utility model content
For overcoming above defect, the utility model provides a kind of Intelligent Mobile Robot possessing active obstacle function, it adopts the chassis of four support arm track structures, rely on laser sensor and binocular vision sensor perception ambient condition information, pass through multi-sensor fusion technology, pattern-recognition, navigator fix technology and technology of Internet of things etc., independently can cross substation's Road curb, the obstacles such as cable channel cover plate, achieve the region-wide equipment routing inspection of Intelligent Mobile Robot in substation, and good stability, not easily overturn, the demand that electrical substation field devices detects can be met.
For achieving the above object, the utility model is by the following technical solutions:
A kind of substation Autonomous Obstacle Negotiating Inspection Robot, comprises four support arm caterpillar mobile robot chassis, is provided with environmental information sensory perceptual system and kinetic control system at the top on chassis; Described environmental information sensory perceptual system incoming signal is connected to kinetic control system, and described kinetic control system controls the motion on chassis; Four described support arm caterpillar mobile robot chassis, by a pair perpendicular to ground, opposing parallel metal sheet is as support frame, outside each metal sheet, front and back end is respectively provided with an Athey wheel, one of them is drive wheel, another one is flower wheel, being connected, being provided with a support arm outside each drive wheel and flower wheel between drive wheel with flower wheel by covering band I; And drive wheel is connected with motor by transmission device.
Described support arm comprises one jib, auxiliary wheel and covers band II, and described auxiliary wheel is fixed on a jib by bearing, is connected, can rotates together with drive wheel by pin with drive wheel; A described jib is connected with turbine worm reducer by adapter shaft, and there is fixing steamboat a jib front end, is connected on crawler belt II together with auxiliary wheel.
Four support arms are by two drive and control of electric machines, a jib for front end two support arm is controlled by same motor I, a jib for rear end two support arm is controlled by same motor II, described motor I, II are connected with two jibs by two output shafts on worm-gear speed reducer, and two output shafts rely on bearing to be fixed on drive wheel or flower wheel.
In described band I both sides of covering, track tension device is installed, described track tension device comprises two pieces and is arranged at the side plate covering band both sides, connected by springing between biside plate, the interior outside of one block of side plate is wherein separately installed with guide groove and guide finger, and another block side plate is also provided with guide groove and guide finger; When mounted, the guide groove on two blocks of side plates is corresponding with guide finger to be installed, and guide finger is inserted in guide groove, and can horizontally slips in guide groove.
Described transmission device comprises a motor reducer, and each drive wheel is connected by the gear of chain with motor reducer mouth.
Described environmental information sensory perceptual system comprises attitude sensor, laser sensor and binocular vision pick up camera, and described attitude sensor is arranged in a housing, and laser sensor and binocular vision pick up camera are arranged on the top of housing; And binocular vision pick up camera is arranged on below laser sensor, and downward-sloping set angle; Described housing is arranged on top, chassis and is connected with the aluminium sheet on chassis.
Described laser sensor, can gather the distance between robot and the substation equipment around it, by the position residing for ICP-EKF laser navigation algorithm precognition robot, is mainly used in the navigation of robot;
Described attitude sensor mainly robot gathers the angle of inclination of robot at any time in obstacle detouring process, enables robot adjust self pose, prevents to overturn;
Described binocular vision pick up camera is arranged on below laser sensor, and downward-sloping certain angle, the road conditions image in robot front can be gathered, by backwards projection and three-dimensionalreconstruction algorithm, the obstacle information on robot direct of travel can be obtained, such as the parameters such as the height of kerb and cable channel cover plate, width.Above-mentioned laser navigation algorithm and image processing algorithm realize in industrial computer.
Also be provided with kinetic control system in described housing, described kinetic control system is connected with industrial computer, and mainly receive the sensor information after industrial computer process, control performs walking or obstacle detouring action.
Described kinetic control system comprises motion controller, motor driver, and wherein motion controller is connected with motor driver, motor driver drive motor, and driven by motor drive wheel rotates with a jib.
The beneficial effects of the utility model are as follows:
The utility model provides a kind of Intelligent Mobile Robot possessing active obstacle function, it adopts the chassis of four support arm track structures, rely on laser sensor and binocular vision sensor perception ambient condition information, pass through multi-sensor fusion technology, pattern-recognition, navigator fix technology and technology of Internet of things etc., can realize independently crossing substation's Road curb, the function of the obstacles such as cable channel cover plate, achieve the region-wide equipment routing inspection of transformer substation robot in substation, and good stability, not easily overturn, the demand that electrical substation field devices detects can be met.
Accompanying drawing explanation
Fig. 1 is four support arm caterpillar mobile robot chassis schematic diagrams of the present utility model;
Fig. 2 is four support arm crawler type Intelligent Mobile Robot schematic diagrams of the present utility model;
Fig. 3 (1)-(7) are four support arm mobile robot platform obstacle detouring schematic diagrams of the present utility model;
Fig. 4 is integral structure figure of the present utility model;
In figure: 1 movable motor, 2 driven wheels, 3 reducing gear, 4 crawler belt II, 5 crawler belt I, 6 support arms, 7 springs, 8 guide grooves, 9 guide fingers, 10 worm-gear speed reducers, 11 bar shaped supports, 12 support arm motor 13 drive wheels, 14 jibs; 15 laser sensors, 16 binocular vision pick up cameras, 17 attitude sensors, 18 industrial computers, 19 motion controllers, 20 motor drivers, 22 detecting devices, 23 environmental information sensory perceptual systems, 24 kinetic control systems, 25 The Cloud Terraces, 26 chassis, 27 housings.
Detailed description of the invention
Further illustrate below in conjunction with accompanying drawing:
As shown in Figure 1 and Figure 4, be four support arm caterpillar mobile robot platform schematic diagrams, comprise four support arm caterpillar mobile robot chassis, chassis is installed by environmental information sensory perceptual system and kinetic control system; Environmental information sensory perceptual system 23 incoming signal is to kinetic control system 24, and kinetic control system controls the motion on chassis; Environmental information sensory perceptual system comprises attitude sensor, laser sensor and binocular vision pick up camera, and attitude sensor is arranged in an ABS housing 27, and laser sensor and binocular vision pick up camera are arranged on the top of ABS housing 27; And binocular vision pick up camera is arranged on below laser sensor, and downward-sloping set angle; ABS housing 27 is arranged on top, chassis and is connected with the aluminium sheet on chassis.
Four support arm caterpillar mobile robot chassis, by a pair perpendicular to ground, opposing parallel metal sheet is as support frame, outside each metal sheet, front and back end is respectively provided with two Athey wheels, one of them is drive wheel, another one is flower wheel, being connected, being provided with a support arm 6 outside each drive wheel and flower wheel between drive wheel with flower wheel by covering band I5; And drive wheel is connected with drive motor 21 by transmission device.
Support arm 6 comprises one jib 14, auxiliary wheel and covers band II4, and auxiliary wheel is fixed on a jib 14 by bearing, is connected, can rotates together with drive wheel 13 by pin with drive wheel 13; Prop up jib 14 to be connected with turbine worm reducer by adapter shaft, there is fixing steamboat jib 14 front end, is connected on crawler belt II4 together with auxiliary wheel.
Four auxiliary wheels are by two support arm motor 12 drived control, the auxiliary wheel of front end two support arm is controlled by same motor I, the auxiliary wheel of rear end two support arm is controlled by same motor II, motor I, II are connected with two auxiliary wheels by two output shafts on worm-gear speed reducer, and wherein output shaft adopts the structure through drive wheel or flower wheel to realize being connected with support arm.
Wherein driver train comprises two movable motors, 1, two support arm motors, 12, two worm-gear speed reducers 10 and bar shaped support 11.Movable motor 1 mouth is with driven wheel 2, and driven wheel 2 and reducing gear 3 closely cooperate, and drives drive wheel 13 to rotate, and bar shaped support 11 is used for supporting worm-gear speed reducer 10;
In crawler belt I5 both sides, track tension device is installed, track tension device comprises two pieces and is arranged at the side plate covering band I5 both sides, connected by springing between biside plate, the interior outside of one block of side plate is wherein separately installed with guide groove 8 and guide finger 9, another block side plate is also provided with guide groove 8 and guide finger 9; When mounted, the guide groove 8 on two blocks of side plates is corresponding with guide finger 9 to be installed, and guide finger 9 can be inserted in guide groove, and can horizontally slip in guide groove 8.
As shown in Figure 2, be Intelligent Mobile Robot Control system architecture figure.
It comprises laser sensor 15, attitude sensor 17, binocular vision pick up camera 16 and industrial computer 18, and wherein laser sensor 15, attitude sensor 17, binocular vision pick up camera 16 connect respectively at industrial computer 18.When crusing robot performs patrol task, the navigationsystem be made up of laser sensor 15 and industrial computer 18 provides navigation information for robot, motion controller 19 reception environment information Perception system provides the environmental information of patrolling and examining route for robot, motion controller 19 is connected with motor driver 20, and motor driver 20 drives jib 14 and a drive wheel 13; Kinetic control system four support arm crawler type Intelligent Mobile Robot is in execution patrol task process, laser sensor and binocular vision navigation system provide position and the environmental information data of robot, robot is to after data processing, specify the direction of travel of oneself, follow the prescribed course and move towards destination, after arriving destination, be with motion detection device 22(visible light camera and infrared thermography by the The Cloud Terrace 25 in checking system) designated equipment is detected.
If in road traveling process, navigationsystem detects that course road surface exists obstacle, navigationsystem degree meeting disturbance of analysis thing size and height, if obstacle size meets the condition that robot is crossed, robot is by adjustment 6 support arm angle, patrol task can be proceeded by throwing over barrier, be illustrated in figure 3 robot moving platform obstacle detouring schematic diagram.
Claims (8)
1. substation's Autonomous Obstacle Negotiating Inspection Robot, is characterized in that: comprise four support arm caterpillar mobile robot chassis, be provided with environmental information sensory perceptual system and kinetic control system at the top on chassis; Described environmental information sensory perceptual system incoming signal is to kinetic control system, and described kinetic control system controls the motion on chassis; Four described support arm caterpillar mobile robot chassis, by a pair perpendicular to ground, opposing parallel metal sheet is as support frame, outside each metal sheet, front and back end is respectively provided with an Athey wheel, one of them is drive wheel, another one is flower wheel, being connected, being provided with a support arm outside each drive wheel and flower wheel between drive wheel with flower wheel by covering band I; And drive wheel is connected with motor by transmission device.
2. substation as claimed in claim 1 Autonomous Obstacle Negotiating Inspection Robot, it is characterized in that: described support arm comprises one jib, auxiliary wheel and covers band II, described auxiliary wheel is fixed on a jib by bearing, is connected, can rotates together with drive wheel by pin with drive wheel; A described jib is connected with turbine worm reducer by adapter shaft, and there is fixing steamboat a jib front end, is connected on crawler belt II together with auxiliary wheel.
3. substation as claimed in claim 1 Autonomous Obstacle Negotiating Inspection Robot, it is characterized in that: the support arm described in four is by two drive and control of electric machines, a jib for front end two support arm is controlled by same motor I, a jib for rear end two support arm is controlled by same motor II, described motor I, II are connected with two jibs by two output shafts on worm-gear speed reducer, and two output shafts rely on bearing to be fixed on drive wheel or flower wheel.
4. substation as claimed in claim 1 Autonomous Obstacle Negotiating Inspection Robot, it is characterized in that: in described band I both sides of covering, track tension device is installed, described track tension device comprises two pieces and is arranged at the side plate covering band I both sides, connected by springing between biside plate, the interior outside of one block of side plate is wherein separately installed with guide groove and guide finger, and another block side plate is also provided with guide groove and guide finger; When mounted, the guide groove on two blocks of side plates is corresponding with guide finger to be installed, and guide finger is inserted in guide groove, and can horizontally slips in guide groove.
5. substation as claimed in claim 1 Autonomous Obstacle Negotiating Inspection Robot, it is characterized in that: described transmission device comprises a motor reducer, each drive wheel is connected by the gear of chain with motor reducer mouth.
6. substation as claimed in claim 1 Autonomous Obstacle Negotiating Inspection Robot, it is characterized in that: described environmental information sensory perceptual system comprises attitude sensor, laser sensor and binocular vision pick up camera, described attitude sensor is arranged in a housing, and laser sensor and binocular vision pick up camera are arranged on the top of housing; And binocular vision pick up camera is arranged on below laser sensor, and downward-sloping set angle; Described housing is arranged on top, chassis and is connected with the aluminium sheet on chassis.
7. substation as claimed in claim 6 Autonomous Obstacle Negotiating Inspection Robot, it is characterized in that: be also provided with kinetic control system in described housing, described kinetic control system is connected with industrial computer.
8. substation as claimed in claim 6 Autonomous Obstacle Negotiating Inspection Robot, it is characterized in that: described kinetic control system comprises motion controller and motor driver, wherein motion controller is connected with motor driver, motor driver drive motor, driven by motor drive wheel rotates with a jib.
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| CN201520865439.0U CN205220844U (en) | 2015-11-02 | 2015-11-02 | Transformer substation independently gets over barrier and patrols and examines robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379436A (en) * | 2016-11-24 | 2017-02-08 | 国网山东省电力公司电力科学研究院 | Wheel type obstacle crossing mechanism of transformer substation, robot and method of obstacle crossing mechanism |
| CN107323554A (en) * | 2017-08-11 | 2017-11-07 | 广东奥讯智能设备技术有限公司 | Robot chassis and robot |
| CN108100060A (en) * | 2017-12-26 | 2018-06-01 | 中国科学院合肥物质科学研究院 | A kind of multi-mode wall-climbing device robot movement mechanism |
| CN108748180A (en) * | 2018-06-11 | 2018-11-06 | 黄红友 | A kind of Intelligent Mobile Robot |
| CN108860354A (en) * | 2018-03-30 | 2018-11-23 | 西南交通大学 | A kind of electric power tower climbing robot and its obstacle-detouring method |
| CN108908284A (en) * | 2018-07-27 | 2018-11-30 | 中国科学院自动化研究所 | Packaged type obstacle detouring hot line robot |
| CN109263738A (en) * | 2018-10-12 | 2019-01-25 | 广州国机智能电力科技有限公司 | A kind of substation inspection vehicle |
| CN109520519A (en) * | 2018-10-17 | 2019-03-26 | 安徽立卓智能电网科技有限公司 | A kind of substation's fire-fighting safety route planning method |
| CN109737951A (en) * | 2019-01-31 | 2019-05-10 | 中科院合肥技术创新工程院 | A kind of navigation system and its air navigation aid of cable duct crusing robot |
| CN109916457A (en) * | 2019-04-23 | 2019-06-21 | 国网安徽省电力有限公司电力科学研究院 | A kind of deformation method of the miniature crusing robot of cable duct of substation and its inspection cable duct |
| CN111220978A (en) * | 2020-01-10 | 2020-06-02 | 陕西师范大学 | Cordyceps sinensis detection vehicle |
| CN111290457A (en) * | 2020-02-21 | 2020-06-16 | 深圳供电局有限公司 | Robot inspection control method and device and robot inspection system |
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- 2015-11-02 CN CN201520865439.0U patent/CN205220844U/en active Active
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106379436B (en) * | 2016-11-24 | 2019-08-06 | 国网山东省电力公司电力科学研究院 | Wheel type barrier-crossing mechanism, substation, robot and its method |
| CN106379436A (en) * | 2016-11-24 | 2017-02-08 | 国网山东省电力公司电力科学研究院 | Wheel type obstacle crossing mechanism of transformer substation, robot and method of obstacle crossing mechanism |
| CN107323554A (en) * | 2017-08-11 | 2017-11-07 | 广东奥讯智能设备技术有限公司 | Robot chassis and robot |
| CN108100060A (en) * | 2017-12-26 | 2018-06-01 | 中国科学院合肥物质科学研究院 | A kind of multi-mode wall-climbing device robot movement mechanism |
| CN108860354A (en) * | 2018-03-30 | 2018-11-23 | 西南交通大学 | A kind of electric power tower climbing robot and its obstacle-detouring method |
| CN108748180A (en) * | 2018-06-11 | 2018-11-06 | 黄红友 | A kind of Intelligent Mobile Robot |
| CN108908284A (en) * | 2018-07-27 | 2018-11-30 | 中国科学院自动化研究所 | Packaged type obstacle detouring hot line robot |
| CN109263738A (en) * | 2018-10-12 | 2019-01-25 | 广州国机智能电力科技有限公司 | A kind of substation inspection vehicle |
| CN109520519A (en) * | 2018-10-17 | 2019-03-26 | 安徽立卓智能电网科技有限公司 | A kind of substation's fire-fighting safety route planning method |
| CN109737951A (en) * | 2019-01-31 | 2019-05-10 | 中科院合肥技术创新工程院 | A kind of navigation system and its air navigation aid of cable duct crusing robot |
| CN109916457A (en) * | 2019-04-23 | 2019-06-21 | 国网安徽省电力有限公司电力科学研究院 | A kind of deformation method of the miniature crusing robot of cable duct of substation and its inspection cable duct |
| CN109916457B (en) * | 2019-04-23 | 2023-08-22 | 国网安徽省电力有限公司电力科学研究院 | Miniature inspection robot for cable trench of transformer substation and deformation method for inspection cable trench |
| CN111220978A (en) * | 2020-01-10 | 2020-06-02 | 陕西师范大学 | Cordyceps sinensis detection vehicle |
| CN111220978B (en) * | 2020-01-10 | 2022-03-29 | 陕西师范大学 | Cordyceps sinensis detection vehicle |
| CN111290457A (en) * | 2020-02-21 | 2020-06-16 | 深圳供电局有限公司 | Robot inspection control method and device and robot inspection system |
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Inventor after: Wang Haipeng Inventor after: Xiao Peng Inventor after: Yang Shangwei Inventor after: Li Jianxiang Inventor after: Zhao Jinlong Inventor after: Hao Yongxin Inventor after: Lou Dianqiang Inventor after: Zhang Fangzheng Inventor after: Ren Zhigang Inventor after: Lv Juntao Inventor after: Mu Shiyou Inventor after: Fu Mengchao Inventor after: Luan Yiqing Inventor before: Wang Haipeng Inventor before: Xiao Peng Inventor before: Yang Shangwei Inventor before: Li Jianxiang Inventor before: Zhao Jinlong Inventor before: Hao Yongxin Inventor before: Lou Dianqiang Inventor before: Zhang Fangzheng Inventor before: Ren Zhigang Inventor before: Lv Juntao Inventor before: Mu Shiyou Inventor before: Fu Mengchao Inventor before: Luan Yiqing |
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Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Co., Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation |
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Effective date of registration: 20201027 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: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |
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