A 5G-integrated mobile micro inspection robot for pumped storage power plants

Abstract

The present invention provides a 5G-integrated mobile micro inspection robot for pumped storage power plants, comprising a body, a motion control system, a positioning system, a motion planning system, a monitoring system and a 5G communication circuit arranged on the body, wherein the positioning system is connected to the motion planning system, the motion planning system is connected to the motion control system, and the motion control system, the monitoring system, the positioning system, and the motion planning system are connected to the 5G communication circuit. The robot provided by the present invention can plan the inspection route by itself, realize autonomous inspection, and transmit the monitoring data obtained from the inspection to the control center, without manual inspection, thereby reducing the workload of the inspection.

Description

Technical Field

[0001] The present invention relates to the field of pumped storage technology, and more specifically, to a 5G-integrated movable micro inspection robot for a pumped storage power plant. Background Art

[0002] As an important tool for safe and economical operation of power systems, pumped-storage power plants play an important role in peak load regulation, frequency regulation, black start, and emergency standby.

[0003] As part of the daily work of pumped storage power plants, operation and maintenance is related to whether the power plants can continue to operate normally. At present, inspection and maintenance are mainly carried out through manual inspections. However, due to the complex structure of pumped storage power plants, manual inspections require a lot of work. Summary of the invention

[0004] The purpose of the present invention is to provide a 5G-integrated movable micro-inspection robot for pumped-storage power plants. The robot can be used to realize autonomous inspections within pumped-storage power plants and reduce the workload of inspections.

[0005] In order to achieve the above invention object, the technical solution provided by the present invention is:

[0006] A 5G-integrated mobile micro inspection robot for a pumped-storage power plant, comprising a main body, a motion control system, a positioning system, a motion planning system, a monitoring system and a 5G communication circuit arranged on the main body, wherein the positioning system is connected to the motion planning system, the motion planning system is connected to the motion control system, and the motion control system, the monitoring system, the positioning system, the motion planning system and the 5G communication circuit are connected;

[0007] The positioning system is used to locate the position of the main body and transmit the obtained positioning information to the motion planning system;

[0008] The motion planning system stores the GIS map of the pumped storage power plant. It plans the next motion path of the inspection robot based on the GIS map and the positioning information of the robot body, and transmits the planned path to the motion control system.

[0009] The motion control system controls the motion of the main body according to the obtained planned path, or controls the motion of the main body based on the instructions sent by the control center through the 5G communication circuit;

[0010] The monitoring system is used to monitor the situation around the main body and transmit the obtained monitoring information to the control center through the 5G communication circuit;

[0011] The positioning information and planned path of the main body obtained by the positioning system and motion planning system are transmitted to the control center through the 5G communication circuit.

[0012] Preferably, the positioning system includes a GPS positioning subsystem, an indoor positioning subsystem, and a data processing subsystem, wherein the GPS positioning subsystem and the indoor positioning subsystem are connected to the data processing subsystem, and the data processing subsystem is connected to the motion planning system and the 5G communication circuit;

[0013] The GPS information obtained by the GPS positioning subsystem and the indoor positioning information obtained by the indoor positioning subsystem are both obtained by positioning the same position, and the data processing subsystem determines the position weight according to the credibility of the GPS information and the credibility of the indoor positioning information; the position weight is the position offset weight of the GPS information and the indoor positioning information; the position offset is determined according to the GPS information and the indoor positioning information;

[0014] The data processing subsystem determines the positioning information of the main body according to the position offset, the position weight and the GPS information.

[0015] Preferably, the GPS positioning subsystem includes a GPS receiving unit, a GPS integrated unit, a GPS signal receiver, a GPS clock unit and a baseband regulator. The GPS receiving unit, the GPS integrated unit, the GPS signal receiver and the baseband demodulator are connected in sequence, and the GPS clock unit is connected to the GPS signal receiver; the GPS receiving unit receives GPS satellite signals, and sends them to the GPS signal receiver for processing after filtering out-of-band noise and improving the GPS signal-to-noise ratio through the GPS integrated unit; the GPS clock unit provides frequency and time signals for the GPS signal receiver, and the baseband demodulator modulates and demodulates the input and output signals of the GPS signal receiver.

[0016] Preferably, the indoor positioning subsystem includes a WiFi positioning module, which includes a wireless local area network main chip, a first RF filter, an RF switch, an RF connector, a first low noise amplifier, a first power divider, a second power divider, a first power amplifier, a second power amplifier, a second low noise amplifier and a second RF filter. The wireless local area network main chip is connected to the first RF filter, the RF switch is connected to the RF connector, the first low noise amplifier is connected to the first RF filter, the first power divider is connected to the first low noise amplifier, the first power amplifier is respectively connected to the first power divider and the second power divider, the second power amplifier is respectively connected to the first power divider and the second power divider, the second power divider is also connected to the RF switch, the RF switch is also connected to the second low noise amplifier, and the second low noise amplifier is connected to the wireless local area network main chip through the second RF filter.

[0017] Preferably, the monitoring system includes an image monitoring subsystem, a sound monitoring subsystem, an infrared monitoring subsystem, and a smoke monitoring subsystem, and the image monitoring subsystem, the sound monitoring subsystem, the infrared monitoring subsystem, and the smoke monitoring subsystem are connected to the 5G communication circuit.

[0018] Preferably, the 5G communication circuit includes a main circuit board, a 5G antenna and a 5G frequency doubling suppression circuit, and the 5G frequency doubling suppression circuit is connected between the main circuit board and the 5G antenna to suppress the 5G frequency doubling signal.

[0019] Preferably, the 5G frequency doubling suppression circuit includes a first resonant circuit, a second resonant circuit and an intermediate capacitor, one end of the first resonant circuit is used to connect to the main circuit board, and the other end is connected to one end of the intermediate capacitor, the other end of the intermediate capacitor is connected to one end of the second resonant circuit, and the other end of the second resonant circuit is used to connect to the 5G antenna.

[0020] Preferably, the main body includes a main body and a wheel installed at the lower end of the main body.

[0021] Preferably, anti-collision blocks are arranged around the main body, and a display screen and operation buttons are arranged on the main body.

[0022] Preferably, the main body is provided with a rod body which can be raised and lowered and rotated around, and the monitoring system is arranged on the rod body.

[0023] It can be seen from the above technical solutions that the present invention has the following advantages:

[0024] The robot provided by the present invention can plan the inspection route by itself, realize autonomous inspection, and transmit the monitoring data obtained from the inspection to the control center, eliminating the need for manual inspection and reducing the workload of the inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 This is a schematic diagram of the structure of a mobile micro inspection robot for pumped-storage power plants that integrates 5G.

[0027] Figure 2 A schematic diagram of the positioning system.

[0028] Figure 3 This is a structural diagram of the GPS positioning subsystem.

[0029] Figure 4 It is a structural diagram of the indoor positioning subsystem.

[0030] Figure 5 This is a structural diagram of the 5G communication circuit.

[0031] Figure 6 This is a schematic diagram of the structure of the entity. DETAILED DESCRIPTION

[0032] Embodiment 1

[0033] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] like Figure 1 As shown, a 5G-integrated mobile micro inspection robot for a pumped-storage power plant includes a main body 1, a motion control system, a positioning system, a motion planning system, a monitoring system 2, and a 5G communication circuit arranged on the main body 1, wherein the positioning system is connected to the motion planning system, the motion planning system is connected to the motion control system, and the motion control system, the monitoring system 2, the positioning system, and the motion planning system are connected to the 5G communication circuit;

[0035] The positioning system is used to locate the position of the body 1 and transmit the obtained positioning information to the motion planning system;

[0036] The motion planning system stores the GIS map of the pumped storage power plant. It plans the next motion path of the inspection robot based on the GIS map and the positioning information of the main body 1, and transmits the obtained planned path to the motion control system;

[0037] The motion control system controls the motion of the body 1 according to the obtained planned path, or controls the motion of the body 1 based on the instructions sent by the control center through the 5G communication circuit;

[0038] The monitoring system 2 is used to monitor the situation around the body 1 and transmit the obtained monitoring information to the control center through the 5G communication circuit;

[0039] The positioning information and planned path of the main body 1 obtained by the positioning system and the motion planning system are transmitted to the control center through the 5G communication circuit.

[0040] In the specific implementation process, Figure 2 As shown, the positioning system includes a GPS positioning subsystem, an indoor positioning subsystem, and a data processing subsystem. The GPS positioning subsystem and the indoor positioning subsystem are connected to the data processing subsystem, and the data processing subsystem is connected to the motion planning system and the 5G communication circuit;

[0041] The GPS information obtained by the GPS positioning subsystem and the indoor positioning information obtained by the indoor positioning subsystem are both obtained by positioning the same position, and the data processing subsystem determines the position weight according to the credibility of the GPS information and the credibility of the indoor positioning information; the position weight is the position offset weight of the GPS information and the indoor positioning information; the position offset is determined according to the GPS information and the indoor positioning information;

[0042] The data processing subsystem determines the positioning information of the main body 1 according to the position offset, the position weight and the GPS information.

[0043] In the specific implementation process, Figure 3 As shown, the GPS positioning subsystem includes a GPS receiving unit, a GPS integrated unit, a GPS signal receiver, a GPS clock unit and a baseband regulator. The GPS receiving unit, the GPS integrated unit, the GPS signal receiver and the baseband demodulator are connected in sequence, and the GPS clock unit is connected to the GPS signal receiver; the GPS receiving unit receives GPS satellite signals, and sends them to the GPS signal receiver for processing after filtering out-of-band noise and improving the GPS signal-to-noise ratio through the GPS integrated unit; the GPS clock unit provides frequency and time signals for the GPS signal receiver, and the baseband demodulator modulates and demodulates the input and output signals of the GPS signal receiver.

[0044] In the specific implementation process, Figure 4As shown, the indoor positioning subsystem includes a WiFi positioning module, and the WiFi positioning module includes a wireless local area network main chip, a first radio frequency filter, a radio frequency switch, a radio frequency connector, a first low noise amplifier, a first power divider, a second power divider, a first power amplifier, a second power amplifier, a second low noise amplifier and a second radio frequency filter. The wireless local area network main chip is connected to the first radio frequency filter, the radio frequency switch is connected to the radio frequency connector, the first low noise amplifier is connected to the first radio frequency filter, the first power divider is connected to the first low noise amplifier, the first power amplifier is respectively connected to the first power divider and the second power divider, the second power divider is respectively connected to the first power divider and the second power divider, the second power divider is also connected to the radio frequency switch, the radio frequency switch is also connected to the second low noise amplifier, and the second low noise amplifier is connected to the wireless local area network main chip through the second radio frequency filter.

[0045] During the specific implementation process, the monitoring system 2 includes an image monitoring subsystem, a sound monitoring subsystem, an infrared monitoring subsystem, and a smoke monitoring subsystem. The image monitoring subsystem, the sound monitoring subsystem, the infrared monitoring subsystem, and the smoke monitoring subsystem are connected to the 5G communication circuit.

[0046] In the specific implementation process, Figure 5 As shown, the 5G communication circuit includes a main circuit board, a 5G antenna and a 5G frequency doubling suppression circuit. The 5G frequency doubling suppression circuit is connected between the main circuit board and the 5G antenna to suppress the 5G frequency doubling signal.

[0047] In the specific implementation process, Figure 5 As shown, the 5G frequency doubling suppression circuit includes a first resonant circuit, a second resonant circuit and an intermediate capacitor C0, one end of the first resonant circuit is used to connect to the main circuit board, and the other end is connected to one end of the intermediate capacitor C0, the other end of the intermediate capacitor C0 is connected to one end of the second resonant circuit, and the other end of the second resonant circuit is used to connect to the 5G antenna.

[0048] In the specific implementation process, Figure 6 As shown, the main body 1 includes a main body 11 and a wheel 12 installed at the lower end of the main body 11.

[0049] In the specific implementation process, Figure 6 As shown, anti-collision blocks 13 are arranged around the main body 11 , and a display screen 14 and operation buttons 15 are arranged on the main body 11 .

[0050] In the specific implementation process, Figure 6As shown, a rod body 16 which can be raised and lowered and rotated around is disposed on the main body 11 , and the monitoring system 2 is disposed on the rod body 16 .

[0051] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0052] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0053] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0054] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0055] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A 5G-integrated mobile micro inspection robot for pumped storage power plants, characterized by: It includes a body, a motion control system, a positioning system, a motion planning system, a monitoring system and a 5G communication circuit arranged on the body, wherein the positioning system is connected to the motion planning system, the motion planning system is connected to the motion control system, and the motion control system, the monitoring system, the positioning system, the motion planning system and the 5G communication circuit are connected; The positioning system is used to locate the position of the main body and transmit the obtained positioning information to the motion planning system; The motion planning system stores the GIS map of the pumped storage power plant. It plans the next motion path of the inspection robot based on the GIS map and the positioning information of the robot body, and transmits the planned path to the motion control system. The motion control system controls the motion of the main body according to the obtained planned path, or controls the motion of the main body based on the instructions sent by the control center through the 5G communication circuit; The monitoring system is used to monitor the situation around the main body and transmit the obtained monitoring information to the control center through the 5G communication circuit; The positioning information and planned path of the main body obtained by the positioning system and motion planning system are transmitted to the control center through the 5G communication circuit; The positioning system includes a GPS positioning subsystem, an indoor positioning subsystem, and a data processing subsystem. The GPS positioning subsystem and the indoor positioning subsystem are connected to the data processing subsystem, and the data processing subsystem is connected to the motion planning system and the 5G communication circuit. The GPS information obtained by the GPS positioning subsystem and the indoor positioning information obtained by the indoor positioning subsystem are both obtained by positioning the same position, and the data processing subsystem determines the position weight according to the credibility of the GPS information and the credibility of the indoor positioning information; The position weight is a position offset weight of the GPS information and the indoor positioning information; the position offset is determined based on the GPS information and the indoor positioning information; The data processing subsystem determines the positioning information of the main body according to the position offset, the position weight and the GPS information; The GPS positioning subsystem includes a GPS receiving unit, a GPS integrated unit, a GPS signal receiver, a GPS clock unit and a baseband regulator. The GPS receiving unit, the GPS integrated unit, the GPS signal receiver and the baseband demodulator are connected in sequence, and the GPS clock unit is connected to the GPS signal receiver. The GPS receiving unit receives GPS satellite signals, and sends the signals to the GPS signal receiver for processing after filtering out-of-band noise and improving the GPS signal-to-noise ratio through the GPS integrated unit. The GPS clock unit provides frequency and time signals for the GPS signal receiver, and the baseband demodulator modulates and demodulates the input and output signals of the GPS signal receiver. The indoor positioning subsystem includes a WiFi positioning module, which includes a wireless local area network main chip, a first radio frequency filter, a radio frequency switch, a radio frequency connector, a first low noise amplifier, a first power divider, a second power divider, a first power amplifier, a second power amplifier, a second low noise amplifier and a second radio frequency filter. The wireless local area network main chip is connected to the first radio frequency filter, the radio frequency switch is connected to the radio frequency connector, the first low noise amplifier is connected to the first radio frequency filter, the first power divider is connected to the first low noise amplifier, the first power amplifier is respectively connected to the first power divider and the second power divider, the second power divider is respectively connected to the first power divider and the second power divider, the second power divider is also connected to the radio frequency switch, the radio frequency switch is also connected to the second low noise amplifier, and the second low noise amplifier is connected to the wireless local area network main chip through the second radio frequency filter.

2. The 5G-integrated mobile micro inspection robot for pumped storage power plants according to claim 1 is characterized in that: The monitoring system includes an image monitoring subsystem, a sound monitoring subsystem, an infrared monitoring subsystem, and a smoke monitoring subsystem, and the image monitoring subsystem, the sound monitoring subsystem, the infrared monitoring subsystem, and the smoke monitoring subsystem are connected to the 5G communication circuit.

3. The movable micro inspection robot for pumped storage power plants integrated with 5G according to claim 1 is characterized in that: The 5G communication circuit includes a main circuit board, a 5G antenna and a 5G frequency doubling suppression circuit. The 5G frequency doubling suppression circuit is connected between the main circuit board and the 5G antenna and is used to suppress the 5G frequency doubling signal.

4. The 5G-integrated mobile micro inspection robot for pumped storage power plants according to claim 3 is characterized by: The 5G frequency doubling suppression circuit includes a first resonant circuit, a second resonant circuit and an intermediate capacitor, one end of the first resonant circuit is used to connect to the main circuit board, and the other end is connected to one end of the intermediate capacitor, the other end of the intermediate capacitor is connected to one end of the second resonant circuit, and the other end of the second resonant circuit is used to connect to the 5G antenna.

5. According to any one of claims 1 to 4, the 5G-integrated movable micro inspection robot for pumped storage power plants, ~ Features: The main body comprises a main body and a wheel installed at the lower end of the main body.

6. The 5G-integrated mobile micro inspection robot for pumped storage power plants according to claim 5 is characterized by: Anti-collision blocks are arranged around the main body, and a display screen and operation buttons are arranged on the main body.

7. The 5G-integrated mobile micro inspection robot for pumped storage power plants according to claim 5 is characterized by: The main body is provided with a rod body which can be raised and lowered and rotated around, and the monitoring system is arranged on the rod body.

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