CN112153266A - Transformer substation's protection screen patrols and examines robot - Google Patents

Abstract

Translated fromChinese

本发明公开了一种变电站保护屏巡检机器人，包括遥控自走车，所述遥控自走车上设有升降器，所述升降器的升降端上设有设备台，所述设备台上设有图像采集器。本发明在使用时，通过远程控制遥控自走车达到某个保护屏的位置处，升降器控制设备台到达合适的高度，图像采集器对保护屏的情况进行拍照采集，代替了人工拍照采集工作。

The invention discloses a substation protection screen inspection robot, comprising a remote control self-propelled vehicle, a lifter is arranged on the remote control self-propelled vehicle, an equipment table is arranged on the lifting end of the lifter, and the equipment table is provided with a lifter. There are image grabbers. When the present invention is in use, the remote-controlled self-propelled vehicle is remotely controlled to reach the position of a certain protective screen, the lifter control equipment platform reaches a suitable height, and the image acquisition device takes pictures of the protective screen, replacing the manual photographing and acquisition work. .

Description

Translated fromChinese

一种变电站保护屏巡检机器人A substation protection screen inspection robot

技术领域technical field

本发明涉及电力设备技术领域，具体涉及一种变电站保护屏巡检机器人。The invention relates to the technical field of electric power equipment, in particular to an inspection robot for a protection screen of a substation.

背景技术Background technique

目前，变电站板保护屏巡检核对工作主要由人工完成，该工作的简单重复，工作量大，给工人带来了较大的挑战。At present, the inspection and verification of the protective screen of the substation board is mainly done manually. The simple and repetitive work and the large workload have brought great challenges to the workers.

发明内容SUMMARY OF THE INVENTION

针对现有技术中的缺陷，本发明提供一种变电站保护屏巡检机器人，降低工人巡检工作量。Aiming at the defects in the prior art, the present invention provides a substation protection screen inspection robot, which reduces the inspection workload of workers.

一种变电站保护屏巡检机器人，包括遥控自走车，所述遥控自走车上设有升降器，所述升降器的升降端上设有设备台，所述设备台上设有图像采集器。A substation protection screen inspection robot includes a remote control self-propelled vehicle, a lifter is arranged on the remote control self-propelled vehicle, an equipment table is arranged on the lifting end of the lifter, and an image collector is arranged on the equipment table .

进一步的，所述图像采集器包括封装壳、摄像头和第一滤光板，所述封装壳为顶部开口的不透光箱体，所述第一滤光板安装在封装壳的顶部开口处，所述摄像头处于封装壳内部。Further, the image collector includes an encapsulation shell, a camera and a first filter plate, the encapsulation shell is an opaque box with a top opening, the first filter plate is installed at the top opening of the encapsulation shell, the The camera is inside the package.

进一步的，还包括保护屏，所述保护屏的显示面板上设有第二滤光板，所述第二滤光板的通过波段包含在所述第一滤光板的通过波段内。Further, it also includes a protective screen, the display panel of the protective screen is provided with a second filter plate, and the pass band of the second filter plate is included in the pass band of the first filter plate.

进一步的，所述保护屏的显示面板的显示波段处于所述第二滤光板的通过波段内。Further, the display band of the display panel of the protective screen is within the pass band of the second filter plate.

进一步的，所述保护屏的边缘设有遮光罩，所述图像采集器的尺寸小于所述遮光罩的下方开口尺寸。Further, the edge of the protective screen is provided with a light shield, and the size of the image collector is smaller than the size of the lower opening of the light shield.

进一步的，所述遮光罩由金属制成。Further, the light shield is made of metal.

进一步的，所述设备台的台体内嵌入磁吸装置。Further, a magnetic attraction device is embedded in the table body of the equipment table.

进一步的，所述磁吸装置采用电磁铁。Further, the magnetic attraction device adopts an electromagnet.

本发明的有益效果体现在：本发明在使用时，通过远程控制遥控自走车达到某个保护屏的位置处，升降器控制设备台到达合适的高度，图像采集器对保护屏的情况进行拍照采集，代替了人工拍照采集工作。The beneficial effects of the present invention are as follows: when the present invention is in use, the remote-controlled bicycle is remotely controlled to reach the position of a certain protective screen, the lifter control equipment table reaches a suitable height, and the image collector takes pictures of the situation of the protective screen. Collection, instead of manual photo collection work.

在实际使用中，可以按照预定轨迹在变电站中移动，也可由人为远程控制在变电站中移动，升降器也可由远程控制，例如选用自带升降器的遥控自走车，或将升降器的远程控制模块集成在遥控自走车中，到达某个保护屏处对该保护屏进行拍照。所拍摄的保护屏图像可以保存在图像采集器中，也可通过网络发送给远程的工作人员以供查看。In actual use, it can move in the substation according to a predetermined trajectory, or it can be moved in the substation by manual remote control, and the lifter can also be controlled remotely. In the remote control self-propelled vehicle, reach a protective screen to take a picture of the protective screen. The captured image of the protective screen can be saved in the image collector, and can also be sent to remote staff through the network for viewing.

附图说明Description of drawings

为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍。在所有附图中，类似的元件或部分一般由类似的附图标记标识。附图中，各元件或部分并不一定按照实际的比例绘制。In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required to be used in the description of the specific embodiments or the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. In the drawings, each element or section is not necessarily drawn to actual scale.

图1为本发明一实施例提供的结构正视图；1 is a front view of a structure provided by an embodiment of the present invention;

图2本发明一种实施例的结构剖视图；2 is a structural cross-sectional view of an embodiment of the present invention;

图3为图2另一种实施方式的结构剖视图。FIG. 3 is a structural cross-sectional view of another embodiment of FIG. 2 .

具体实施方式Detailed ways

下面将结合附图对本发明技术方案的实施例进行详细的描述。以下实施例仅用于更加清楚地说明本发明的技术方案，因此只作为示例，而不能以此来限制本发明的保护范围。Embodiments of the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only used to more clearly illustrate the technical solutions of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

需要注意的是，除非另有说明，本申请使用的技术术语或者科学术语应当为本发明所属领域技术人员所理解的通常意义。It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the usual meanings understood by those skilled in the art to which the present invention belongs.

一种变电站保护屏巡检机器人，如图1所示，包括遥控自走车1，所述遥控自走车1上设有升降器2，所述升降器2的升降端上设有设备台3，所述设备台3上设有图像采集器4。A substation protection screen inspection robot, as shown in Figure 1, includes a remote control self-propelled vehicle 1, the remote control self-propelled vehicle 1 is provided with alifter 2, and the lifting end of thelifter 2 is provided with an equipment table 3 , theequipment platform 3 is provided with animage collector 4 .

本发明在使用时，通过远程控制遥控自走车1达到某个保护屏的位置处，升降器2控制设备台3到达合适的高度，图像采集器4对保护屏的情况进行拍照采集，代替了人工拍照采集工作。When the present invention is in use, the remote control self-propelled vehicle 1 is remotely controlled to reach the position of a certain protective screen, theelevator 2 controls the equipment table 3 to reach a suitable height, and theimage collector 4 takes pictures and collects the situation of the protective screen, instead of Manual photo collection work.

在实际使用中，可以按照预定轨迹在变电站中移动，也可由人为远程控制在变电站中移动，升降器2也可由远程控制，例如选用自带升降器的遥控自走车，或将升降器2的远程控制模块集成在遥控自走车中，到达某个保护屏处对该保护屏进行拍照。所拍摄的保护屏图像可以保存在图像采集器4中，也可通过网络发送给远程的工作人员以供查看。In actual use, it can move in the substation according to a predetermined trajectory, or it can be moved in the substation by manual remote control, and thelifter 2 can also be controlled remotely. The module is integrated in the remote control self-propelled vehicle, and it reaches a certain protective screen to take pictures of the protective screen. The captured image of the protective screen can be saved in theimage acquisition device 4, and can also be sent to remote staff for viewing through the network.

此外，在一些实施方式中，可通过地点编号确认保护屏，将拍摄图像校正后与存储的正确状态图像进行对比，对保护屏对应的保护装置异常告警及异常状态硬压板进行确认。巡检完成后生成报告。该报告可由机器人自主打印，也可通过变电站传输层网络上传至工控机进行打印。In addition, in some embodiments, the protection screen can be confirmed by the location number, and the corrected captured image is compared with the stored correct state image to confirm the abnormal alarm of the protection device corresponding to the protection screen and the abnormal state hard pressing plate. A report is generated after the inspection is completed. The report can be printed independently by the robot, or uploaded to the industrial computer for printing through the transmission layer network of the substation.

在将拍摄图像校正后与存储的正确状态图像的对比过程中，机器人拍摄保护屏图像后进行图像修正，随后根据当前位置信息确认保护屏所处位置地点，并与存储的正确图像对比，对比是否正确的结果作为巡检结果进行输出。In the process of comparing the corrected captured image with the stored image in the correct state, the robot takes the image of the protective screen and then performs image correction, and then confirms the location of the protective screen according to the current position information, and compares it with the stored correct image to see if the comparison is made. The correct result is output as the inspection result.

优选的，如图2所示，所述图像采集器4包括封装壳401、摄像头402和第一滤光板403，所述封装壳401为顶部开口的不透光箱体，所述第一滤光板403安装在封装壳401的顶部开口处，所述摄像头402处于封装壳401内部。具体的，可设置第一滤光板403的通过波段为保护屏所发光的波段，因此摄像头402只能采集到能够通过第一滤光板403的光，防止了其他杂光被摄像头402采集到，使得摄像头402只能拍摄到保护屏的图像，该图像用于后续对比判断更佳。Preferably, as shown in FIG. 2 , theimage collector 4 includes apackaging case 401 , acamera 402 and afirst filter plate 403 , thepackaging case 401 is an opaque box with an open top, and thefirst filter plate 403 is installed at the top opening of thepackaging case 401 , and thecamera 402 is inside thepackaging case 401 . Specifically, the pass band of thefirst filter plate 403 can be set to be the band emitted by the protective screen, so thecamera 402 can only collect light that can pass through thefirst filter plate 403, preventing other stray light from being collected by thecamera 402, so that Thecamera 402 can only capture an image of the protective screen, which is better for subsequent comparison and judgment.

优选的，如图2所示，还包括保护屏501，所述保护屏501的显示面板上设有第二滤光板502，所述第二滤光板502的通过波段包含在所述第一滤光板403的通过波段内。第二滤光板502能够对保护屏501的显示面板进行一次滤光，使得从第二滤光板502通过的保护屏显示光的波段为第二滤光板502的通过波段，进一步对保护屏501所发光进行滤光，滤光后的显示光再通过第一滤光板403进行摄像头402，使得进入摄像头402的杂光更少，提升摄像头402采集的图像的纯净度。Preferably, as shown in FIG. 2 , aprotective screen 501 is further included, asecond filter plate 502 is arranged on the display panel of theprotective screen 501 , and the pass band of thesecond filter plate 502 is included in thefirst filter plate 403 pass band. Thesecond filter plate 502 can filter the display panel of theprotection screen 501 once, so that the wavelength band of the display light of the protection screen passing through thesecond filter plate 502 is the passing wavelength band of thesecond filter plate 502 , and the light emitted by theprotection screen 501 is further filtered. Filtering is performed, and the filtered display light passes through thefirst filter plate 403 to thecamera 402 , so that less stray light enters thecamera 402 and improves the purity of the image collected by thecamera 402 .

优选的，所述保护屏501的显示面板的显示波段处于所述第二滤光板502的通过波段内，以保证保护屏501的显示内容能够全部通过第二滤光板502和第一滤光板403。Preferably, the display band of the display panel of theprotective screen 501 is within the pass band of thesecond filter plate 502 to ensure that the display content of theprotective screen 501 can all pass through thesecond filter plate 502 and thefirst filter plate 403 .

在一些实施方式中，如图3所示，所述保护屏501的边缘设有遮光罩503，所述图像采集器4的尺寸小于所述遮光罩503的下方开口尺寸。当需要采集保护屏501的图像时，升降器2控制设备台3至合适的高度，使得图像采集器4进入遮光罩503内，遮光罩503由不透明材料制成，其基本不透光，防止高亮度的太阳光进入图像采集器4引起摄像头402采集到炫光、色散等图像，防止摄像头402采集到该类图像引起误判。In some embodiments, as shown in FIG. 3 , alight shield 503 is provided on the edge of theprotective screen 501 , and the size of theimage capture device 4 is smaller than the size of the lower opening of thelight shield 503 . When the image of theprotective screen 501 needs to be captured, thelifter 2 controls the equipment table 3 to a suitable height, so that the image capturer 4 enters thelight shield 503. Thelight shield 503 is made of opaque material, which is basically opaque to prevent high Bright sunlight entering theimage collector 4 causes thecamera 402 to collect images such as glare and dispersion, so as to prevent misjudgment caused by thecamera 402 collecting such images.

优选的，所述遮光罩503由金属制成，其提供足够的坚固性，并且同时不透光。Preferably, thelight shield 503 is made of metal, which provides sufficient sturdiness and is opaque to light at the same time.

优选的，所述设备台3的台体内嵌入磁吸装置301，在升降器2控制设备台3至合适的高度后，磁吸装置301能够吸附住遮光罩503，防止设备台3和保护屏501发生相对位移，使得摄像头402在采集图像时整体更加稳定，采集的图像不会模糊。Preferably, amagnetic suction device 301 is embedded in the table body of the equipment table 3. After thelifter 2 controls the equipment table 3 to a suitable height, themagnetic suction device 301 can attract thelight shield 503 to prevent the equipment table 3 and theprotective screen 501 from being absorbed. The relative displacement occurs, so that thecamera 402 is more stable as a whole when capturing images, and the captured images will not be blurred.

优选的，所述磁吸装置301采用电磁铁，可通过电控来控制磁吸装置301是否开启产生吸力。具体的，电磁铁的开关集成在遥控自走车1的遥控模块内，由工作人员远程遥控电磁铁的开闭，这种远程控制电器开关的技术已然是长久使用的现有技术，在此不再赘述。Preferably, themagnetic attraction device 301 adopts an electromagnet, and whether themagnetic attraction device 301 is turned on or not can be controlled by electronic control to generate attraction force. Specifically, the switch of the electromagnet is integrated in the remote control module of the remote control self-propelled vehicle 1, and the opening and closing of the electromagnet is remotely controlled by the staff. Repeat.

最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围，其均应涵盖在本发明的权利要求和说明书的范围当中。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. The scope of the invention should be included in the scope of the claims and description of the present invention.

Claims (8)

1. The utility model provides a transformer substation's protection screen patrols and examines robot which characterized in that: including remote control self-propelled vehicle (1), be equipped with riser (2) on remote control self-propelled vehicle (1), the lift of riser (2) is served and is equipped with equipment platform (3), be equipped with image collector (4) on equipment platform (3).

2. The inspection robot for the protection screen of the transformer substation according to claim 1, characterized in that: the image collector (4) comprises a packaging shell (401), a camera (402) and a first filter plate (403), the packaging shell (401) is a light-tight box body with an opening at the top, the first filter plate (403) is installed at the opening at the top of the packaging shell (401), and the camera (402) is located inside the packaging shell (401).

3. The inspection robot for the protection screen of the transformer substation according to claim 2, characterized in that: the display panel of the protection screen (501) is provided with a second filter plate (502), and the passing waveband of the second filter plate (502) is contained in the passing waveband of the first filter plate (403).

4. The inspection robot for the protection screen of the transformer substation according to claim 3, characterized in that: the display wave band of the display panel of the protection screen (501) is within the passing wave band of the second filter plate (502).

5. The inspection robot for the protection screen of the transformer substation according to claim 4, characterized in that: the edge of the protection screen (501) is provided with a light shield (503), and the size of the image collector (4) is smaller than the size of an opening below the light shield (503).

6. The inspection robot for the protection screen of the transformer substation according to claim 5, characterized in that: the light shield (503) is made of metal.

7. The inspection robot for the protection screen of the transformer substation according to claim 6, characterized in that: a magnetic attraction device (301) is embedded in the table body of the equipment table (3).

8. The inspection robot for the protection screen of the transformer substation according to claim 7, characterized in that: the magnetic attraction device (301) adopts an electromagnet.

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