Remote photography holder control system for transformer substation inspection robot

Abstract

The invention relates to a remote photography holder control system for a transformer substation inspection robot. The inspection robot comprises a machine body, a driving mechanism and a steering mechanism. The remote photography holder control system comprises a remote control device, a holder device installed on the fuselage and a shooting device installed on the holder device. The holder device is provided with a zoom adjusting device used for adjusting the focal length of a lens of the shooting device and a control panel connected with the shooting device, the holder device and the zoom adjusting device, wherein the control panel is wirelessly connected with the remote control device through a wireless communication unit, and the shooting device comprises a target search camera used for searching a target inspection area, a visible light camera used for shooting a visible light image and a thermal infrared imager used for shooting an infrared image.

Description

technical field [0001] The invention relates to the field of electric power equipment, in particular to a remote photography pan-tilt control system for substation inspection robots. Background technique [0002] The inspection robot in the power substation is faced with the problem of infrared temperature detection accuracy in the actual application process. Due to the influence of radiation and atmospheric attenuation, there is a deviation between the temperature measurement result and the actual temperature; in addition, the inspection robot and the surface normal of the thermal defect of the equipment are often not in the same horizontal plane, and there is a large gap between the observation direction of the infrared camera and the normal of the equipment surface. angle, resulting in a deviation between the temperature measurement result and the actual temperature. In addition, for the existing infrared thermal imagers, the FPGA+DSP processing system and the FPGA+"soft...

AI Technical Summary

Problems solved by technology

[0002] The inspection robot in the power substation is faced with the problem of infrared temperature detection accuracy in the actual application process. Due to the influence of radiation and atmospheric attenuation, there is a deviation between the temperature measurement result and the actual temperature; in addition, the inspection robot and the surface normal of the thermal defect of the equipment are often not in the same horizontal plane, and there is a large gap between the observation direction of the infrared camera and the normal of the equipment surface. angle, resulting in a deviation between the temperature measurement result and the actual temperature

In addition, for the existing infrared thermal imagers, the FPGA+DSP processing system and the FPGA+"soft core" processing system, the former relies on the strong computing and data processing capabilities of DSP, and cooperates with the FPGA pipeline and parallel processing mechanism to achieve infrared imaging. The main function, the disadvantage of this processing system is low integration and high power consumption; the latter uses "soft core" instead of DSP, which can realize the basic functions of infrared imaging, and has the advantages of small size and low power consumption, but due to the "soft core" "Limited by the performance of the processor, the infrared thermal imager still has deficiencies in the network transmission of video data and high-performance requirements such as image compression.

In summary, the existing infrared thermal imaging cameras are not compatible with the advantages of high imaging quality, fast processing speed, and low system power consumption.

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