CN208043128U - A kind of substation's indoor equipment intelligent inspection robot - Google Patents

Abstract

An intelligent inspection robot for substation indoor equipment, which includes a fuselage, a lifting rod is arranged on the fuselage, a patrol camera is arranged on the top of the lifting rod, a front camera is arranged at the front of the fuselage, and a The sound wave ranging and obstacle avoidance module has a driving mechanism at the bottom of the fuselage, and a wireless communication module on the fuselage, including a main controller. The serial port of the device is connected with the wireless communication module, and the wireless communication module is respectively connected with the front camera, the inspection camera, and the host computer. The utility model provides an intelligent inspection robot for substation indoor equipment, which can solve the technical problem that the conventional manual inspection of the switchgear may have a large safety hazard in the case of a fault or discharge of the switchgear. The provided remote inspection equipment can solve the problem of low efficiency of existing inspections to a certain extent.

Description

An intelligent inspection robot for substation indoor equipment

technical field

The utility model belongs to the field of substation monitoring equipment, in particular to an intelligent inspection robot for substation indoor equipment.

Background technique

The indoor equipment of the substation mainly includes the protection device of the substation and the switchgear equipment of the high voltage room of the substation. The switchgear equipment in the high-voltage room of the substation is an integral part of the substation, but the indoor switch room is a dangerous place. In recent years, there have been frequent reports of indoor switchgear explosions, so inspection of indoor switchgear equipment is also a dangerous job, especially when there is a fault or discharge in the switchgear, the inspection work at this time will become more dangerous, and the first It will become very meaningful to obtain on-site equipment conditions through remote inspection devices at any time. The monitoring and management of indoor protection devices in substations is related to whether the functions and operations of the protection devices can work normally. When the operation mode of the power system changes, it often involves various operations of the protection device. If there is any improper operation, it will directly affect the realization of the relay protection function, and in severe cases, it will affect the safe operation of the power grid.

Now the power grid company's 220kV and below substations have realized centralized monitoring and unattended mode. The monitoring of power grid power equipment relies on integrated automation systems and manual inspections. Especially in conventional substations, the pressure plate status of substation protection devices is not yet online. The monitoring function mainly relies on manual inspection to check the status of the pressure plate of the protection device, which is inefficient.

The existing Chinese patents 201721149816.6 "Remote Intelligent Inspection Robot for Substation Main Control Room" and 201721334233.0 "A Remote Intelligent Inspection Robot for Substation Switch Room" both propose a remote control function that can be used in indoor protection rooms and switch rooms. The intelligent patrol robot can use the patrol robot to remotely patrol the pressure plate of the indoor protection device, and has the function of status detection of the switch room equipment. However, these two patents use pan/tilt steering gear or a camera with a full range of 360° rotation functions. Due to the high protection device or switch cabinet equipment for indoor equipment, it is impossible to complete the entire protection device by relying solely on ordinary pan/tilt and rotating camera. And inspection of switchgear equipment. Therefore, the present invention considers adding a lifting rod to realize patrolling and taking pictures of higher equipment.

Contents of the invention

The purpose of this utility model is to overcome the above-mentioned deficiencies and provide an intelligent inspection robot for substation indoor equipment, which can solve the potential safety hazards in the conventional manual inspection of the switch cabinet when there is a fault or discharge in the switch cabinet technical issues.

The purpose of this utility model is implemented by the following scheme:

An intelligent inspection robot for substation indoor equipment, which includes a fuselage, a lifting rod is arranged on the fuselage, a patrol camera is arranged on the top of the lifting rod, a front camera is arranged at the front of the fuselage, and a The sound wave ranging and obstacle avoidance module has a driving mechanism at the bottom of the fuselage, and a wireless communication module on the fuselage, including a main controller. The serial port of the device is connected with the wireless communication module, and the wireless communication module is respectively connected with the front camera, the inspection camera, and the host computer.

The above-mentioned driving mechanism includes a driving motor, which is connected with the rollers.

The input port of the above-mentioned main controller is respectively connected with the electromagnetic group sensor, the ozone sensor, the temperature and humidity sensor, and the infrared tracking sensor.

The two-way port of the above-mentioned main controller is connected with the acoustic wave ranging and obstacle avoidance module.

The above wireless communication module is a wifi module.

The lifting rod driving module is connected with the controlled end of the lifting rod.

The above-mentioned rollers are Macram wheels.

Adopting the above-mentioned technical scheme has brought the following technical effects:

The utility model can realize accurate parking at a designated place, and complete functions such as switch cabinet or protective screen pressure plate check, protective device information photo taking, and switch actual state monitoring by controlling the movement of the lifting rod and the angle of the patrol camera, and the collected information And photos are uploaded to the host computer, which can realize the function of remote inspection.

The utility model has flexible operation, can be remotely controlled, and can remotely check the status of on-site equipment, thereby improving the working efficiency of substation inspection and abnormal signal processing efficiency. Equipped with a lifting pole and an all-round mobile camera, compared with fixed cameras and track-mounted cameras, it has a larger camera angle and does not occupy the normal range of activities of personnel, making the inspection range wider.

Description of drawings

Below in conjunction with accompanying drawing, the utility model is further described.

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is a circuit structure block diagram of the present utility model;

Fig. 3 is a signal processing circuit diagram of the electromagnetic group sensor in the utility model;

Fig. 4 is a power supply circuit diagram in the utility model;

Fig. 5 is the ozone sensor circuit diagram in the utility model;

Fig. 6 is the circuit diagram of the ultrasonic ranging barrier module in the utility model;

Fig. 7 is a circuit diagram of the encoding motor drive module in the present invention.

Detailed ways

As shown in Figure 1, a substation indoor equipment intelligent inspection robot, it includes a fuselage 8, a lifting rod 3 is arranged on the fuselage 8, a patrol camera 5 is arranged on the top of the lifting rod 3, and a inspection camera 5 is arranged on the front of the fuselage 8. There is a front camera 6, a sound wave ranging and obstacle avoidance module 2 is provided at the front end of the fuselage 8, a driving mechanism is provided at the bottom of the fuselage 8, and a wireless communication module 7 is provided on the fuselage, including a main controller 1, a main controller The output port of the device 1 is respectively connected with the lifting rod drive module 10 and the drive motor 9, the serial port of the main controller 1 is connected with the wireless communication module 7, and the wireless communication module 7 is respectively connected with the front camera 6, the patrol camera 5, and the host computer 11 .

Described driving mechanism comprises driving motor 9, and driving motor is connected with roller 4.

The input ports of the main controller 1 are respectively connected with an electromagnetic group sensor 12 , an ozone sensor 13 , a temperature and humidity sensor 14 , and an infrared tracking sensor 15 .

The two-way port of the main controller 1 is connected with the acoustic wave ranging and obstacle avoidance module 2 .

The wireless communication module 7 is a wifi module.

The lifting rod driving module 10 is connected to the controlled end of the lifting rod 3 .

Specifically, the utility model is composed of a Macram wheel car model with four-wheel drive equipped with a single-chip microcomputer module, an electromagnetic group sensor module, an ozone sensor module, a temperature and humidity sensor module, an infrared sensor module, an ultrasonic distance measurement and obstacle avoidance module, It is composed of power supply module, lifting rod and drive module, encoding motor drive module, dual camera module and WIFI module. It can realize automatic inspection, temperature and humidity, and ozone concentration collection work on the predetermined track on the ground of the switch room or protection room, and realize accurate parking at the designated location. By controlling the movement of the lifting rod and the angle of the inspection camera, the switch cabinet or protection screen can be completed. Functions such as platen check, protective device information photo taking, and switch actual status monitoring, etc., and the collected information and photos are uploaded to the host computer, which can realize the function of remote inspection.

The structure diagram of the robot is shown in Figure 1. The connection diagram of each functional module is shown in Figure 2.

The single-chip microcomputer module is installed on the upper part of the robot, and is connected to the electromagnetic group sensor, ozone sensor, temperature and humidity sensor, infrared sensor, ultrasonic ranging and obstacle avoidance, lifting pole drive module and makeblock development board.

The electromagnetic group sensor module is installed in front of the robot to detect the alternating magnetic field generated by the electromagnetic track laid by enameled wires in the switch room in advance, so that the robot can drive along the predetermined electromagnetic track; the ozone sensor module is installed on the robot On the top of the vehicle body, the ozone content near the switch cabinet can be measured in the switch room, and whether there is discharge phenomenon in the switch cabinet can be judged by comparing the change of the ozone content; the temperature and humidity sensor module is installed at both ends of the robot body, which can measure the temperature and humidity data in the switch room, so that The upper computer can display the temperature and humidity in the switch room in real time; the infrared sensor module is installed on the lower left and lower right of the front of the robot body to detect the black parking lines pre-set in front of each switch cabinet in the switch room, so that the robot stays in each screen cabinet The designated parking place in front of the robot is to stop and check the equipment on the cabinet; the ultrasonic ranging and obstacle avoidance module is installed on the body directly in front of the robot, which can judge whether there are obstacles such as switch cabinets or switch cabinet doors directly in front of the robot, and adjust the direction of the encoding motor to avoid obstacles. Open obstacles; the power supply module is installed at the back of the robot to supply power to all modules and power the robot. The power supply can be recharged and used for a long time; the dual camera module is divided into a patrol camera and a front camera, and the patrol camera module is installed on the top of the robot lifting pole. Connect the WIFI module through the RJ45 interface, and control the camera direction, focal length and lifting rod through the upper computer pan/tilt, so that the inspection camera can inspect the equipment in the largest range, and can record the position of the upper pressure plate of the switch cabinet, the signal light of the protection device, and the information of the protection screen into a video. The data is uploaded to the upper computer through wireless, so that the remote upper computer can check the status of the equipment in the switch room in real time; the front camera is installed on the front of the robot, connected to the WIFI module through the USB interface, and is mainly used to obtain ground track information and assist the robot. Path correction; the WIFI module is installed at the back end of the robot, connected to the single-chip microcomputer module through the serial port, and connected to the upper computer through the wireless network to realize data exchange between the upper computer and the single-chip computer.

Adopt above-mentioned structure, when in use, the model of described single-chip microcomputer module is ATMega2560.

The electromagnetic group sensor is composed of four inductance coils and a built-in circuit for collecting and amplifying signals, as shown in FIG. 3 . According to Maxwell's electromagnetic field theory, an alternating current produces an alternating electromagnetic field around it. The electromagnetic rail laid by enameled wires installed in the switch room passes an alternating current of 20kHZ and 100mA. The alternating current generates an alternating magnetic field. The change of the magnetic field will cause the induction coil to generate an induced electromotive force. L1, C1, and C2 are LC series-parallel resonant circuits (band-pass circuits), and 20kHz signals can be selected. R1, R2, and T1 are first-order common-emitter triode amplifier circuits, with a voltage gain of about 100 times (40db), which can amplify the voltage signal induced by the inductance coil and connect it through the collector voltage of the triode.

The AD port of the ATMEGA2560 single-chip microcomputer enables the single-chip microcomputer to directly sample the voltage signal. The electromagnetic group sensor can detect the strength and direction of the electromagnetic field generated by the 20kHz alternating current in the enameled wire, so as to obtain the spatial position from the electromagnetic track. The robot can automatically adjust the motor speed of the drive modules on both sides according to the relative distance, and automatically calibrate the position of the robot to prevent The robot deviates from the track, causing the robot to follow an electromagnetic track.

A 20kHz, 100mA alternating current passes through the preset enameled wire on the ground of the switch room, and the signal power is composed of NE555 time base circuit (oscillating circuit), L298 output circuit (power output circuit), NPN transistor constant current output circuit (constant current control circuit) ) and 7805 circuit (power supply), etc., as shown in Figure 4. NE555, C10, C11, R1, R2, R3, R4, T1, RV1, and C10 constitute the NE555 time base circuit, which can generate a symmetrical square wave signal with a center frequency of 20kHz. The power amplifier circuit is composed of L298, so that the frequency response of the circuit is greater than 20kHz, the output power is greater than 2W, and the load capacity is enhanced. RV2, R4, and T2 form a constant current output circuit using NPN transistors, which can stabilize the output current at about 100mA and not fluctuate with changes in the power supply. When the laying track is long and the enameled wire used is long, the enameled wire The resistance effect will reduce the output current. At this time, the output current can be fine-tuned by adjusting RV2 to keep the current stable at 100mA. 7805, C12, C13, and C14 constitute a power supply circuit, which can convert 12V voltage into 5V voltage, provide the regulated power supply needed in the circuit, and ensure the stability of the signal oscillation circuit and the constant current control circuit.

The ozone sensor uses the MQ131 module, as shown in Figure 5. The working power connected is +5V, and the measurement range of ozone concentration is 10PPB-2PPM. The module has a dual signal output function, including analog signal output and TTL level signal output. TTL output low level is a valid signal, and the indicator light is on. The analog output increases with the increase of the concentration, the higher the concentration, the higher the voltage.

The temperature and humidity sensor adopts a DHT11 module, connected to a working power supply of +5V, the humidity measurement range is 20% to 95%, error: ±5%, the temperature measurement range is 0°C to 50°C, error: ±2°C, passed Digital signal port output.

The infrared sensor is an industrial-grade infrared sensor that can detect black and white lines. When the sensor detects a black line, the return level is 1, and the normal ground condition sensor returns a level of 0. The level status returned by the four infrared tracking sensors at the front of the robot can judge the ground conditions of the robot. When the robot touches the black line preset in front of each switch cabinet, the robot will stop in front of the switch cabinet for a short time and start to check the switch. Check the pressure plate on the cabinet and the signal of the protection device.

The ultrasonic distance measuring and obstacle avoidance module is composed of a cylindrical sound wave module. The generated ultrasonic wave encounters an obstacle and is reflected back to the acoustic wave module. By calculating the time difference between the sending and receiving of the sound wave, the distance between the acoustic wave module and the obstacle can be calculated. The acoustic wave ranging and obstacle avoidance module is shown in Figure 6.

The power module is mainly composed of 10500mAh, 12V protection board lithium battery pack, +5V (VCC) circuit module, +3.3V circuit module. The power input of the intelligent patrol robot is powered by a 12V protection board lithium battery pack. Since the single-chip microcomputer and digital circuit need +5V, +3.3V power supply, a voltage regulator is used for step-down.

The lifting rod drive module adopts L298N two-way high-power motor drive chip. The lifting rod module uses a DC 12V electric push rod. When the voltage difference at the terminal is positive, the lifting rod motor rotates forward to realize the lifting rod rising. When the difference is negative, the motor reverses to realize the lowering of the lifting rod. When the L298N is disabled, the voltage difference is 0, the lifting rod stops, and the current state is maintained. The lift rod module has a built-in travel limit switch. After the lift rod moves to the bottom or to the top, it will automatically stop and disconnect the internal wiring of the motor to ensure that the motor will not be blocked and burned.

The inspection camera module is a high-definition network camera, which includes a steering gear, a camera, and a control chip, and supports RJ45 and WIFI access methods. In order to ensure the reliability of transmission, the present invention accesses the WIFI module through RJ45 cable. The camera supports 1080P image quality, can self-focus, and can be adjusted manually. When adjusting the angle of the inspection camera remotely, first the upper computer gimbal sends an adjustment command through the WIFI module. After the WIFI module receives the command, it sends the command to the network camera through the RJ45 cable to complete the angle adjustment of the camera and the camera action.

The front camera is a digital high-definition USB camera, and the present invention accesses the WIFI module through USB.

The WIFI module adopts MTK7620N chipset, supports multiple access methods such as serial port, USB, RJ45, wireless, etc., and is convenient for connecting various devices. The serial port can be converted into an embedded module that conforms to the WIFI wireless network communication standard, with a built-in wireless network protocol stack and TCP/IP protocol stack. It is the communication link between the host computer and the robot. Send the control information sent by the single-chip microcomputer through the serial port to the upper computer and the two-way video information sent through the USB interface of the camera and the RJ45 interface, support full-duplex communication mode, and can receive the data information sent by the upper computer at the same time, and forward it to the The serial port realizes the two-way communication between the upper computer and the robot.

The encoder motor module can drive two DC encoder motors at the same time, and the present invention needs to drive four encoder motors, so two encoder motor modules are required. The coded motor module contains MCU and motor driver chip, as shown in Figure 7. The input voltage is 6-12V, the communication interface is I2C interface, the output mode is SPI interface, and the makeblock development board can be connected through RJ25. The four-way DC encoder motor communicates with the makeblock development board in the form of I2C through two drive boards. Due to the built-in magnetic encoder of the DC encoder motor, the magnetic field signal is not easily affected by dust, moisture, high temperature and vibration.

Claims (8)

1. a kind of substation's indoor equipment intelligent inspection robot, it is characterised in that：It includes fuselage（8）, in fuselage（8）On set There is elevating lever（3）, in elevating lever（3）Top, which is equipped with, makes an inspection tour camera（5）, in fuselage（8）Front is equipped with front camera（6）, In fuselage（8）Front end is equipped with sound ranging obstacle avoidance module（2）, in fuselage（8）Bottom is equipped with driving mechanism, and nothing is equipped on fuselage Line communication module（7）, including master controller（1）, master controller（1）Delivery outlet respectively with elevating lever drive module（10）, drive Dynamic motor（9）Connection, master controller（1）Serial ports and wireless communication module（7）Connection, wireless communication module（7）Respectively with it is preceding Set camera（6）, make an inspection tour camera（5）, host computer（11）Connection.

2. substation's indoor equipment intelligent inspection robot according to claim 1, it is characterised in that：The driving mechanism Including driving motor（9）, driving motor and idler wheel（4）Connection.

3. substation's indoor equipment intelligent inspection robot according to claim 1, it is characterised in that：The master controller （1）Input port respectively with electromagnetism group sensor（12）, ozone sensor（13）, Temperature Humidity Sensor（14）, the infrared biography that tracks Sensor（15）Connection.

4. substation's indoor equipment intelligent inspection robot according to one of claims 1 to 3, it is characterised in that： The master controller（1）Bidirectional interface and sound ranging obstacle avoidance module（2）Connection.

5. substation's indoor equipment intelligent inspection robot according to claim 1, it is characterised in that：The wireless communication Module（7）For wifi module.

6. substation's indoor equipment intelligent inspection robot according to claim 1, it is characterised in that：The elevating lever drives Dynamic model block（10）With elevating lever（3）Controlled end connection.

7. substation's indoor equipment intelligent inspection robot according to claim 1, it is characterised in that：The host computer is Industrial control computer.

8. substation's indoor equipment intelligent inspection robot according to claim 2, it is characterised in that：The idler wheel（4） For McCrum wheel.