Human-computer interaction perception system and method for gas insulated switch visual inspection robot

A gas-insulated switch and visual inspection technology, applied in the field of human-computer interaction perception system, can solve problems such as inability to feed back robot positioning information in real time, and achieve the effect of improving the presence of human-computer interaction, facilitating inspection operation planning, and improving the efficiency of visual inspection

Active Publication Date: 2022-05-13
SICHUAN UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a human-computer interaction perception method and system for a gas insulated switch visual inspection robot to further improve inspection in view of the problem that the traditional power equipment visual inspection robot cannot feed back the robot positioning information in real time during the inspection process of the gas insulated switch in the substation The human-computer interaction perception ability of the robot system enables the operator to clearly grasp the positioning information of the robot in the gas insulated switchgear

Method used

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  • Human-computer interaction perception system and method for gas insulated switch visual inspection robot
  • Human-computer interaction perception system and method for gas insulated switch visual inspection robot
  • Human-computer interaction perception system and method for gas insulated switch visual inspection robot

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Embodiment 1

[0049] The visual inspection robot targeted by this embodiment is mainly a robot for inspection of gas-insulated switchgear in a 220kV substation. The human-computer interaction perception system of the provided gas-insulated switch visual inspection robot, such as figure 1 As shown, it includes a visual inspection robot placed in the gas insulated switchgear to inspect the gas insulated switch, a host computer communicating with the inspection robot, and a visual human-computer interaction interface installed in the host computer.

[0050] 1. Visual inspection robot

[0051] Such as figure 1 As shown, the above-mentioned visual inspection robot includes a robot body, a binocular visual-inertial sensor module, an embedded device, a rechargeable lithium battery power module and a motor drive module.

[0052] The robot body in this embodiment can adopt a conventional visual inspection robot currently used for visual inspection of power systems. Such as figure 2 As shown, th...

Embodiment 2

[0071] This embodiment is a further improvement on the human-computer interaction perception system of the gas-insulated switch visual inspection robot provided in Embodiment 1.

[0072] Such as Figure 4 As shown, the human-computer interaction perception system of the gas-insulated switch visual inspection robot provided in this embodiment, in addition to the visual inspection robot, the host computer and the visual human-computer interaction interface of the first embodiment, the host computer is further installed with a display for video information The video interface is convenient for the operator to judge whether there is a fault in the gas insulated switch.

[0073] The embedded device sends the video information collected by the binocular visual inertial sensing module to the video interface. In this embodiment, the mjpg-streamer library on the Ubuntu side of the main control system is used to send video information. The mjpg-streamer library can convert the video i...

Embodiment 3

[0078] This embodiment is a further improvement on the human-computer interaction perception system of the gas-insulated switch visual inspection robot provided in Embodiment 2.

[0079] Such as Figure 5 As shown, in this embodiment, a first storage module for storing robot position information and a second storage module for storing video information are further provided on the host computer side, and the second storage module is stored by storing the robot position information and the time stamp contained in the video information. A storage module is associated with a second storage module.

[0080] In this embodiment, the first storage module includes a CSV (Comma-Separated Values) file. Call the function API related to the input and output stream through the C# program. In Unity3D, the Odometry Subscriber script file associates the received actual robot position information with the visual inspection robot model, and at the same time, the received actual robot position i...

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Abstract

The invention discloses a human-computer interaction perception system and method for a gas-insulated switch visual inspection robot. When the operator controls the inspection robot to perform fault inspection on gas-insulated switchgear, he can master the inspection through the human-computer interaction interface of the upper computer. The specific position information of the closed space of the gas insulated switch where the robot is located is convenient for the operator to plan the subsequent inspection operation. Through the 3D virtual reality interactive interface, the human-computer interaction presence of the operator of the gas insulated switch inspection robot is improved, thereby effectively improving the fault point. The speed of determining the position improves the inspection efficiency of gas insulated switches.

Description

technical field [0001] This application belongs to the field of robot technology, and relates to a visual inspection robot for electric power systems, in particular to a human-computer interaction perception system and method for a visual inspection robot for gas insulated switches in substations, aiming at improving the presence interaction experience of visual inspection robot operators. Background technique [0002] In the power system, the gas insulated switch is one of the key substation equipment. Due to its complex structure, manual inspection is time-consuming and inefficient, the use of robotized operation methods can effectively improve the efficiency of fault inspection of gas insulated switches. At present, the robot inspection operation method mainly uses the interactive information provided by the human-computer interaction sensing method to help the operator effectively judge the fault condition of the gas insulated switch. [0003] The human-computer interac...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00B25J5/00
CPCB25J9/1602B25J9/1697B25J11/00B25J5/007
Inventor 佃松宜李振阳鉴庆之李勇钟羽中
Owner SICHUAN UNIV
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