技术领域technical field
本实用新型涉及机器人技术领域，具体的说，是一种用于室内的巡检机器人系统。The utility model relates to the technical field of robots, in particular to an indoor inspection robot system.
背景技术Background technique
近10年来，随着电网的不断发展，变电站等封闭电力设施的运维方式由单一模式向区域性集中运维模式转变，并且区域内管辖的规模快速增长，给运维人员的运检工作带来了巨大的压力。In the past 10 years, with the continuous development of the power grid, the operation and maintenance mode of closed power facilities such as substations has changed from a single model to a regional centralized operation and maintenance model, and the scale of jurisdiction in the region has grown rapidly, which has brought new challenges to the operation and inspection work of operation and maintenance personnel. There came great pressure.
同时，随着传感器、互联网、人工智能等科技的不断发展，利用智能巡检机器人完成电力设备的巡检工作，提高巡检工作质量、实现减员增效的目的已经可以实现。At the same time, with the continuous development of technologies such as sensors, the Internet, and artificial intelligence, the use of intelligent inspection robots to complete the inspection of power equipment, improve the quality of inspection work, and achieve the purpose of reducing staff and increasing efficiency has been achieved.
发明内容Contents of the invention
本实用新型旨在提供一种用于室内的巡检机器人系统，在兼顾安全与人力成本的前提下，解决集中运维需要大量人力的这一技术问题。具体技术方案如下：The utility model aims to provide an indoor inspection robot system, which solves the technical problem that a large amount of manpower is required for centralized operation and maintenance on the premise of taking into account both safety and labor costs. The specific technical scheme is as follows:
一种室内巡检机器人系统，包括总控台和巡检机器人，所述机器人包括温度传感器、湿度传感器、安装在云台上的高清摄像机、基于UWB技术的室内定位模块、主控模块、电源模块和通讯模块，总控台通过通讯模块与巡检机器人的其他模块相连，主控模块与其他模块相连，电源模块为其他模块供电，所述主控模块包括图像识别系统和路径规划系统，所述图像识别系统包含设备显示标准图像库，通过对比采集图像与标准图像的差异判定是否存在异常；所述路径规划系统控制机器人行走，并且根据机器人行走的路径计算出最短巡检路径，计算结果通过通讯模块发送至后端的总控台；总控台确认后形成巡检路线图。An indoor inspection robot system, including a master console and an inspection robot, the robot includes a temperature sensor, a humidity sensor, a high-definition camera installed on a cloud platform, an indoor positioning module based on UWB technology, a main control module, and a power supply module and the communication module, the main control console is connected to other modules of the inspection robot through the communication module, the main control module is connected to other modules, and the power supply module supplies power to other modules. The main control module includes an image recognition system and a path planning system. The image recognition system includes the standard image library displayed by the equipment, and judges whether there is any abnormality by comparing the difference between the collected image and the standard image; the path planning system controls the robot to walk, and calculates the shortest inspection path according to the path of the robot, and the calculation result is communicated The module is sent to the main console at the back end; the inspection route map is formed after the main console confirms.
进一步地，所述总控台包括监察系统，所述监察系统以经确认的巡检路径图为基础，在巡检路径上标示出实时故障信息、超过安全值的温度信息和湿度信息。Further, the master console includes a monitoring system, and based on the confirmed inspection path diagram, the monitoring system marks real-time fault information, temperature information and humidity information exceeding safe values on the inspection path.
进一步地，所述温度传感器为红外热成像传感器，所述温度传感器与主控模块相连；所述主控模块还包括异常入侵识别系统，当发现异常热源时，红外热成像传感器向主控模块发出信号，主控模块控制高清摄像机进行可见光识别，当可见光和红外光均提示异常时，发出警报信号同时向总控台发送相关的视频信息。Further, the temperature sensor is an infrared thermal imaging sensor, and the temperature sensor is connected to the main control module; the main control module also includes an abnormal intrusion identification system. When an abnormal heat source is found, the infrared thermal imaging sensor sends a Signal, the main control module controls the high-definition camera to perform visible light recognition. When both visible light and infrared light indicate abnormality, an alarm signal is sent and relevant video information is sent to the master console.
进一步地，所述主控模块还包括自动充电系统，所述自动充电系统包括电量监测装置、低电量报警装置和充电装置；所述电量监测装置通过通讯模块与总控台相连，将电量信息反馈至总控台；所述低电量报警装置与路径规划系统相连，所述充电装置位于巡检路线图上。Further, the main control module also includes an automatic charging system, the automatic charging system includes a power monitoring device, a low battery alarm device and a charging device; the power monitoring device is connected to the master console through a communication module, and feeds back power information to the master console; the low battery alarm device is connected to the path planning system, and the charging device is located on the inspection route map.
有益效果：通过使用本技术方案所述的室内巡检机器人系统，可以大幅度减少在巡检过程中的人力干涉，包括检查、分析、自检在内的各个环节均智能化处理；除此之外，本技术方案设计的机器人巡检系统具有良好的开放性，可以很好的接入其他如安防、消防系统等。Beneficial effects: By using the indoor inspection robot system described in this technical solution, human intervention in the inspection process can be greatly reduced, and all links including inspection, analysis, and self-inspection are intelligently processed; in addition In addition, the robot inspection system designed in this technical solution has good openness and can be well connected to other systems such as security and fire protection systems.
附图说明Description of drawings
图1为本实用新型所述室内巡检机器人系统的逻辑图。Fig. 1 is a logic diagram of the indoor inspection robot system described in the present invention.
具体实施方式Detailed ways
下面结合附图，对本实用新型涉及的技术方案做进一步说明。Below in conjunction with the accompanying drawings, the technical solutions involved in the utility model will be further described.
实施例1Example 1
如图1所示的室内巡检机器人系统，包括总控台1和巡检机器人2，所述机器人2包括温度传感器21、湿度传感器22、安装在云台上的高清摄像机23、基于UWB技术的室内定位模块24、主控模块25、电源模块26和通讯模块27，总控台1与通讯模块27相连，主控模块2与巡检机器人的其他模块相连，电源模块26为其他模块供电。The indoor inspection robot system as shown in Figure 1 includes a master console 1 and an inspection robot 2, and the robot 2 includes a temperature sensor 21, a humidity sensor 22, a high-definition camera 23 installed on a cloud platform, a UWB-based Indoor positioning module 24, main control module 25, power supply module 26 and communication module 27, master console 1 is connected with communication module 27, main control module 2 is connected with other modules of inspection robot, power supply module 26 supplies power for other modules.
主控模块25包括图像识别系统251和路径规划系统252，所述图像识别系统251包含设备显示标准图像库，通过对比采集图像与标准图像的差异判定是否存在异常；所述路径规划系统252控制机器人行走，并且根据机器人行走的路径计算出最短巡检路径，计算结果通过通讯模块27发送至后端的总控台1；总控台1确认后形成巡检路线图。The main control module 25 includes an image recognition system 251 and a path planning system 252. The image recognition system 251 includes a standard image library for equipment display, and determines whether there is an abnormality by comparing the difference between the collected image and the standard image; the path planning system 252 controls the robot. Walking, and calculate the shortest inspection path according to the walking path of the robot, and the calculation result is sent to the master control console 1 at the back end through the communication module 27; the master console 1 forms a patrol inspection route map after confirmation.
机器人工作时，通过高清摄像机213查看被巡检对象在屏幕上显示内容。当出异常信息时，机器人2即可通过对比采集图像与标准图像的差异判定是否存在异常；若存在异常则上报至总控台1。When the robot is working, the high-definition camera 213 is used to view the content displayed on the screen of the inspected object. When abnormal information is displayed, the robot 2 can determine whether there is an abnormality by comparing the difference between the collected image and the standard image;
当机器人2初始化运行时，总控台1首先根据实际需要，设定多个巡检对象，并通过通讯模块27发送至主控模块25；路径规划系统252根据设定的结果安排巡检路线；当完成一个周期的巡检后，路径规划系统252根据现场的实际情况，对巡检路线进行计算并给出修正信息反馈到总控台1；工作人员或设定程序对修正信息进行确认后，形成巡检路线图。When the robot 2 is initially running, the master console 1 first sets a plurality of inspection objects according to actual needs, and sends them to the main control module 25 through the communication module 27; the path planning system 252 arranges inspection routes according to the set results; After a cycle of inspection is completed, the path planning system 252 calculates the inspection route according to the actual situation on site and gives correction information to feed back to the control console 1; after the staff or the setting program confirm the correction information, Create an inspection route map.
以后根据实际情况，巡查对象变化时，路径规划系统252将再次进行路线调整，形成最新的巡查路线图。Later, according to the actual situation, when the inspection object changes, the route planning system 252 will adjust the route again to form the latest inspection route map.
实施例2Example 2
如实施例1中所述的室内巡检机器人系统，总控台还包括监察系统11，监察系统11以经确认的巡检路径图为基础，在巡检路径上标示出实时故障信息、超过安全值的温度信息和湿度信息，其中温度信息、湿度信息还会形成相应的趋势图，以供总控台的工作人员或设定程序进行分析处理。As in the indoor inspection robot system described in Embodiment 1, the master console also includes a monitoring system 11. Based on the confirmed inspection path diagram, the monitoring system 11 marks real-time fault information on the inspection path and exceeds the safety limit. Value temperature information and humidity information, in which the temperature information and humidity information will also form a corresponding trend graph, which can be analyzed and processed by the staff of the main console or the setting program.
实施例3Example 3
如实施例1中所述的室内巡检机器人，温度传感器21为红外热成像传感器，与主控模块25相连；主控模块25还包括异常入侵识别系统251。As in the indoor inspection robot described in Embodiment 1, the temperature sensor 21 is an infrared thermal imaging sensor and is connected to the main control module 25; the main control module 25 also includes an abnormal intrusion identification system 251 .
当红外热成像传感器感应到与环境不符的异常热源时，除了进行常规的温度探测、信号传输及报警外，还会通过主控模块25控制高清摄像机观察发出热源的对象。档发现目标与数据库中场景不符时，即进行相应的报警并向总控台1发送热成像视频和可见光视频。When the infrared thermal imaging sensor senses an abnormal heat source inconsistent with the environment, in addition to conventional temperature detection, signal transmission and alarm, it will also control the high-definition camera through the main control module 25 to observe the object emitting the heat source. When the file finds that the target does not match the scene in the database, it will give a corresponding alarm and send thermal imaging video and visible light video to the main console 1.
由于巡检环境一般都是无人的简单环境，仅利用故障检测的数据库即可满足入侵识别的要求，因此不会增加过多的成本。Since the inspection environment is generally a simple environment without people, only the fault detection database can meet the requirements of intrusion identification, so it will not increase too much cost.
实施例4Example 4
如实施例1中所述的室内巡检机器人，主控模块25还包括自动充电系统251，自动充电系统251包括电量监测装置、低电量报警装置和充电装置。Like the indoor inspection robot described in Embodiment 1, the main control module 25 also includes an automatic charging system 251, and the automatic charging system 251 includes a power monitoring device, a low battery alarm device and a charging device.
首先，总控台1通过通讯模块27可以对巡检机器人1的电量进行监测，当出现极端情况时总控台1可以第一时间知晓。First of all, the master console 1 can monitor the power of the inspection robot 1 through the communication module 27, and the master console 1 can know immediately when an extreme situation occurs.
其次，当电量低于足够支持巡查两周的电量时，巡检机器人1的低电量报警装置直接进行低电量报警，而后在巡检路径上安放的下一个充电装置上自动充电。当完成充电后，巡检机器人继续工作。Secondly, when the power is lower than enough to support the two-week inspection, the low-battery alarm device of the inspection robot 1 directly performs a low-battery alarm, and then automatically charges on the next charging device placed on the inspection path. After charging is completed, the inspection robot continues to work.
需要说明的是，上述实施方式只是本实用新型技术方案的举例说明，如充电装置也可以不在巡检路线上，温度感应也可以采用其他方式。It should be noted that the above-mentioned implementation is only an illustration of the technical solution of the utility model, for example, the charging device may not be on the inspection route, and other methods may be used for temperature sensing.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820257510.0UCN207817531U (en) | 2018-02-13 | 2018-02-13 | A kind of interior crusing robot system |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820257510.0UCN207817531U (en) | 2018-02-13 | 2018-02-13 | A kind of interior crusing robot system |
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| CN207817531Utrue CN207817531U (en) | 2018-09-04 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201820257510.0UActiveCN207817531U (en) | 2018-02-13 | 2018-02-13 | A kind of interior crusing robot system |
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| CN (1) | CN207817531U (en) |
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| CN109077671A (en)* | 2018-09-11 | 2018-12-25 | 张家港市鸿嘉数字科技有限公司 | A kind of sweeping robot motion control method and device |
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