An intelligent inspection device for a ship power substation

Abstract

The application provides an intelligent inspection equipment for a ship substation, comprising an intelligent inspection equipment body and a sensing device, wherein the intelligent inspection equipment body comprises a vehicle body structure, a main control carrier plate installed on the vehicle body structure, a core control host, a motion mechanism, a communication module and a power module, the motion mechanism comprises a walking mechanism and a track robot steering mechanism, the walking mechanism comprises a driving motor, a synchronous pulley and a synchronous belt, and the track robot steering mechanism comprises a synchronous pulley, a synchronous pulley mounting seat, a synchronous belt pressing wheel, a spring telescopic seat, a floating bottom plate, a linear guide rail and a sliding block. The application effectively solves the situation that the walking power is lost due to the deviation of the friction wheel from the track center, and the problems of abrasion and positioning accuracy decline caused by the lateral sliding friction between the friction wheel and the guide rail during steering and walking.

Description

Technical Field

[0001] This invention relates to the field of ship substations, specifically to an intelligent inspection device for ship substations. Background Technology

[0002] During the inspection process of intelligent inspection equipment, the equipment's trajectory often involves right-angle turns. In confined turning areas, the allowable turning radius becomes very small. Therefore, a steering mechanism needs to be designed to ensure the minimum turning radius meets standard requirements. Currently, most intelligent inspection equipment uses friction wheels pressed against the bottom of the track for drive. When turning, the friction wheels deviate from the track center. If the turning radius is too small, the friction wheels will deviate too far from the center and detach from the guide rail, causing the equipment to lose its driving power. Simultaneously, the friction wheels experience lateral sliding friction with the guide rail during turning, leading to accelerated wear of both the friction wheels and the guide rail, and inaccurate positioning accuracy. Summary of the Invention

[0003] This invention addresses the problems of traditional friction wheel-driven rail pressing methods by proposing an intelligent inspection device for ship substations.

[0004] An intelligent inspection device for ship substations includes an intelligent inspection device body and a sensing device mounted on the intelligent inspection device body. The intelligent inspection device body includes a vehicle structure, a main control carrier board mounted on the vehicle structure, a core control host, a motion mechanism, a communication module, and a power module. The motion mechanism includes a walking mechanism and a track robot steering mechanism. The walking mechanism includes a drive motor, a synchronous pulley driven by the drive motor, and a synchronous belt meshing with the synchronous pulley. The track robot steering mechanism includes a synchronous pulley, a synchronous pulley mounting base, a synchronous belt clamping wheel, a spring telescopic seat, a floating base plate, a linear guide rail, and a slider. The synchronous pulley is mounted on the synchronous pulley mounting base, and the synchronous belt clamping wheel is mounted on the spring telescopic seat. The spring telescopic seat and the synchronous pulley mounting base are fixedly mounted on the floating base plate. The floating base plate and the intelligent inspection device body are movably connected via the linear guide rail and the slider. A spring is installed inside the spring telescopic seat to press the synchronous belt clamping wheel onto the track and provide a certain preload, while also pressing the synchronous pulley and the synchronous belt in the opposite direction.

[0005] Furthermore, the communication module includes a power line carrier communication module, a switch, and an internal bus communication module.

[0006] Furthermore, the sensing device includes a gimbal, a visible light sensor mounted on the gimbal, an infrared thermal imager, a partial discharge detector, a directional microphone, a temperature and humidity sensor, a smoke sensor, a gas sensor, a sound sensor, an infrared anti-collision sensor, and front and rear ultrasonic obstacle avoidance sensors.

[0007] Furthermore, the intelligent inspection equipment must be able to successfully turn.

[0008]

[0009] Where R is the turning radius, L max L represents the maximum travel of the steering mechanism wheel assembly from the center to the left and right sides. Z This refers to the center distance between the front guide wheel assembly and the rear guide wheel assembly.

[0010] Furthermore, the gimbal is equipped with a gimbal lifting mechanism at its bottom. This mechanism employs a multi-stage telescopic support tube structure, comprising multiple sections of aluminum alloy tubes with gradually decreasing diameters. Each section of the aluminum alloy tube has four vertically symmetrically machined guide grooves. Circular holes are opened at the upper and lower ends of the four guide grooves on each section of the aluminum alloy tube. High-molecular-weight polyethylene guide sliders are embedded on the outer sides of the four circular holes at the upper end of each section of the aluminum alloy tube, and high-molecular-weight polyethylene guide sliders are embedded on the inner sides of the four circular holes at the lower end of each section of the aluminum alloy tube.

[0011] Compared with the prior art, the advantages of the present invention are as follows: the track robot steering mechanism composed of a synchronous pulley, a synchronous pulley mounting base, a synchronous belt clamping wheel, a spring telescopic seat, a floating base plate, a linear guide rail and a slider effectively solves the problems of loss of walking power caused by the friction wheel deviating from the center of the track, as well as wear and reduced positioning accuracy caused by lateral sliding friction between the friction wheel and the guide rail during steering. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the walking mechanism in an intelligent inspection device for a ship substation according to an embodiment of the present invention;

[0013] Figure 2 This is a schematic diagram of the steering mechanism in an intelligent inspection device for a ship substation according to an embodiment of the present invention;

[0014] Figure 3 This is a schematic diagram of the adaptive steering mechanism in another embodiment of the present invention;

[0015] Figure 4 This is a schematic diagram of the structure of the multi-stage telescopic support tube in an embodiment of the present invention;

[0016] Figure 5 This is a schematic diagram of the aluminum alloy tube in an embodiment of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1-5 This invention provides an intelligent inspection device for ship substations, comprising an intelligent inspection device body and sensing devices mounted on the intelligent inspection device body. The intelligent inspection device body includes a vehicle structure, a main control board mounted on the vehicle structure, a core control host, a motion mechanism, a speaker, a communication module, and a power module. The communication module includes a power line carrier communication module, a switch, and an internal bus communication module. The sensing devices include a pan-tilt unit, a visible light sensor, an infrared thermal imager, a partial discharge detector, a directional microphone, a temperature and humidity sensor, a smoke sensor, a gas sensor, a sound sensor, an infrared anti-collision sensor, and front and rear ultrasonic obstacle avoidance sensors, etc.

[0019] The core control host is the main computing module, capable of processing input information from various sensors or external devices and outputting corresponding control signals. Combined with network switches and cameras, it controls the pan-tilt-zoom (PTZ) position and acquires inspection images or videos. After preprocessing the acquired information, it forwards it back to the server for image recognition. It also acquires encoder and odometer data for self-localization. As the upper-layer platform for the underlying control, it processes feedback data from various sensors and issues specific strategies to the lower-level control platform for execution, including driving control, safety protection control, temperature control, and power management control. It establishes communication with the backend server via power line carrier channels, receiving intelligent inspection equipment control commands, inspection tasks, image information, PTZ camera control commands, environmental information, intelligent inspection equipment safety protection information, and intelligent inspection equipment fault information.

[0020] The main control board's primary function is to process the various sensors at the lower level and control the underlying drive modules, while forwarding the information from the lower level to the upper-level core control host. Its main functions include controlling the intelligent inspection equipment's driving drive module; acquiring and forwarding the lifting motor encoder information as odometer information to the host's lifting control module; controlling the camera gimbal's rotation and vertical lifting; acquiring the intelligent inspection equipment's internal temperature data; acquiring real-time data from the independent encoder and forwarding it to the core control host via the CAN bus for precise positioning; acquiring real-time distance data from the ultrasonic obstacle avoidance module and sending it to the host via CAN for obstacle avoidance strategy processing; controlling the heater and cooling fan via I / O to regulate the intelligent inspection equipment's internal temperature; and controlling multi-color indicator lights via I / O to indicate the intelligent inspection equipment's status.

[0021] The drive motor is a stepper servo motor with a rated power of 100W, a maximum speed of 3600rpm, a holding torque of 0.95Nm, and an encoder line count of 5000. It is connected to the drive gear through a reduction gear to reduce efficiency loss and enable the intelligent inspection equipment to travel on the track at a maximum speed of 0.5m / s.

[0022] The main purpose of the intelligent inspection equipment of this invention is to ensure the safe operation of equipment in the ship substation by using the above-mentioned sensing devices to monitor the indoor environment of the ship substation, the appearance, sound, and pressure plate status of electrical equipment, the readings of various meters (except those that cannot be directly seen by manual inspection), the open and closed status of air switches, the position identification of pressure plates, the operation lights of protection devices, infrared temperature measurement of all primary and secondary equipment and auxiliary equipment bodies and connectors, partial discharge monitoring of primary equipment, inspection of equipment inside secondary equipment cabinets, temperature measurement inside diesel generator housings, acoustic fingerprint monitoring of main transformers, and video monitoring of the cooling water chamber.

[0023] Tracks are added to the small room of the ship substation to meet the requirements of full coverage of equipment inspection. Intelligent inspection equipment is installed on the track to realize intelligent inspection. At the same time, a double push rod opening and closing device is added to the cabinet to realize the inspection of the equipment inside the cabinet.

[0024] This invention enables the control of all necessary functions of the track-mounted intelligent inspection equipment and the transmission and reception of its internal and external communication data. The main body functions include the vehicle's movement along the track and control of the pan-tilt unit's vertical movement; obstacle warning and handling functions; precise positioning and navigation functions based on the motor encoder; control functions of external devices over the intelligent inspection equipment and its pan-tilt unit; and fault diagnosis and reporting within the intelligent inspection equipment. Communication data transmission and reception include sending video streams and acquired images to the backend data center; sending and receiving control signals and task data with the backend data center; and receiving control signals from the handle.

[0025] The motion mechanism of this invention includes a walking mechanism and a track robot steering mechanism, such as... Figure 1 As shown, the walking mechanism drives the synchronous pulley 1 and synchronous belt 2 via a drive motor, enabling the track robot to walk along the track. This walking method effectively solves the problem of insufficient walking accuracy of the track robot, as well as the decrease in walking accuracy and slippage caused by wear of the walking wheels. Compared with the traditional method of hanging the walking wheels, this design allows for more stable walking on the track, reduces the load on the robot, and improves the accuracy of automatic navigation and positioning.

[0026] To address the problems of traditional friction wheel-driven track bottom surface pressing methods, this invention proposes the following... Figure 2 The illustrated turning mechanism for the track-mounted robot includes a synchronous pulley 1, a synchronous pulley mounting base 3, a synchronous belt clamping wheel 4, a spring telescopic seat 5, a floating base plate 6, a linear guide rail 7, and a slider 8. The synchronous pulley 1 is mounted on the synchronous pulley mounting base 3, and the synchronous belt clamping wheel 4 is mounted on the spring telescopic seat 5. The spring telescopic seat 5 and the synchronous pulley mounting base 4 are fixedly mounted on the floating base plate 6. The floating base plate 6 and the intelligent inspection equipment body are movably connected via the linear guide rail 7 and the slider 8. A spring is installed inside the spring telescopic seat 5, pressing the synchronous belt clamping wheel 4 onto the track and providing a certain preload, while also pressing the synchronous pulley 4 and the synchronous belt 2 in the opposite direction. When the track-mounted robot turns at a curve, the floating base plate 6 moves left and right along the curve. The synchronous pulley 1 and the synchronous belt clamping wheel 4 on the floating base plate 6 always clamp the guide rail, allowing the track-mounted robot to turn along the curve.

[0027] When the robot needs to turn, the control system (main control board, core control host) issues a command to drive the synchronous pulley 1 to rotate via the drive device (drive motor). The rotation of the synchronous pulley 1 transmits power to the slider 8 through the synchronous belt 2, and the slider 8 moves along the linear guide rail 7. The movement of the slider 8 causes a change in the position of the robot's turning part, thereby achieving turning. The spring telescopic seat 5 can adjust the tension of the synchronous belt 2 as needed to adapt to different turning requirements and load conditions. The floating base plate 6 allows the turning mechanism to float to a certain extent during movement to adapt to the unevenness of the track and the torque generated during turning. This solution effectively solves the problems of loss of walking power caused by the friction wheel deviating from the center of the track, and wear and decreased positioning accuracy caused by lateral sliding friction between the friction wheel and the guide rail during turning.

[0028] like Figure 3As shown in the figure, when the intelligent inspection device performs a steering movement, the center of the intelligent inspection device will be offset from the center of the track, and the offset is assumed to be L. Since the intelligent inspection device has two working conditions: turning left and turning right, these two working conditions will cause the center of the intelligent inspection device to offset to the left and right respectively. The center position of the wheel set of the adaptive steering mechanism is set to coincide with the center of the intelligent inspection device, and the maximum stroke of the wheel set of the adaptive steering mechanism offset from the center to the left and right sides is designed as L max .

[0029] When L max ≥L, the inspection device can successfully turn;

[0030] When L max <L, the intelligent inspection device will get stuck at the corner.

[0031] It can be obtained from the geometric relationship:

[0032]

[0033] where R is the turning radius, and L Z is the center distance between the front guide wheel set and the rear guide wheel set.

[0034] Deformation of the above formula gives:

[0035]

[0036] To satisfy the requirement that the intelligent inspection device turns successfully, the following condition shall be met:

[0037]

[0038] Through the above calculation method, the minimum turning radius of the intelligent inspection device can be obtained when L max and L Z are designed values.

[0039] During the inspection process of the intelligent inspection device, the pan-tilt is required to collect task data at different heights. Therefore, a pan-tilt lifting mechanism for the intelligent inspection device needs to be designed, so that the intelligent inspection device has the pan-tilt lifting function. The difficulty in designing the pan-tilt lifting mechanism of the intelligent inspection device lies in meeting the requirement of large lifting stroke while achieving small size and light weight, and ensuring that the pan-tilt is stable and does not rotate during the lifting process. The core technology lies in the research and design of the telescopic support structure. At present, most intelligent inspection devices adopt a scissor-type telescopic support structure, which is relatively complex, difficult to maintain, and prone to shaking after the pan-tilt descends to the bottom due to the influence of processing accuracy and assembly accuracy.

[0040] To solve the above problems, the present invention designs a multi-stage telescopic support pipe structure, as Figure 4 shown in the figure. The specific implementation of the present invention is as follows: the multi-stage telescopic support pipe comprises 9 sections of aluminum alloy pipes with gradually decreasing diameters (as shown in Figure 5As shown, each section of aluminum alloy tube has four guide grooves symmetrically machined vertically. The upper and lower ends of the four guide grooves of each section of aluminum alloy tube have round holes. The outer side of the four round holes at the upper end of each section of aluminum alloy tube is fitted with a guide slider made of high molecular weight polyethylene, and the inner side of the four round holes at the lower end of each section of aluminum alloy tube is fitted with a guide slider made of high molecular weight polyethylene.

[0041] Each section of the multi-stage telescopic support tube is made of lightweight, high-strength, and corrosion-resistant aluminum alloy, extruded and then cut, featuring light weight, high strength, and high processing precision. When the multi-stage telescopic support tube extends or retracts, the slider slides within the guide groove, reducing friction during the extension and retraction motion and effectively preventing rotation of the tube. Actual testing has shown that the multi-stage telescopic support tube structure of this invention, compared to the scissor telescopic support structure, is lighter, more stable, and more aesthetically pleasing, and the overall lifting performance of the machine meets testing standards.

[0042] This invention applies sensing and control, intelligent inspection equipment, image processing, data mining, and artificial intelligence technologies to intelligent inspection equipment in ship substations. Using various devices and sensors, such as high-definition video, infrared cameras, intelligent inspection equipment, industrial voiceprint acquisition devices, card temperature measuring devices, and cabinet rear door opening and closing devices, it enables the collection, transmission, and monitoring of on-site equipment information; monitoring the operating status of equipment in small rooms; storing inspection data; generating inspection reports; and providing intelligent fault alarms. Furthermore, addressing existing problems with the motion structure of current intelligent inspection equipment, its motion structure has been optimized, improving inspection positioning accuracy, meeting the minimum turning radius requirements, and enhancing the stability of the pan-tilt unit. Ultimately, this aims to improve the accuracy, real-time performance, and automation of equipment monitoring in ship substations, and is expected to achieve large-scale application.

[0043] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An intelligent inspection device for ship substations, comprising an intelligent inspection device body and a sensing device mounted on the intelligent inspection device body, characterized in that: The intelligent inspection equipment body includes a vehicle structure, a main control carrier board installed on the vehicle structure, a core control host, a motion mechanism, a communication module, and a power module. The motion mechanism includes a walking mechanism and a track robot steering mechanism. The walking mechanism includes a drive motor, a synchronous pulley driven by the drive motor, and a synchronous belt meshing with the synchronous pulley. The track robot steering mechanism includes a synchronous pulley, a synchronous pulley mounting base, a synchronous belt clamping wheel, a spring telescopic seat, a floating base plate, a linear guide rail, and a slider. The synchronous pulley is mounted on the synchronous pulley mounting base, and the synchronous belt clamping wheel is mounted on the spring telescopic seat. The spring telescopic seat and the synchronous pulley mounting base are fixedly mounted on the floating base plate. The floating base plate and the intelligent inspection equipment body are movably connected through the linear guide rail and the slider. A spring is installed inside the spring telescopic seat to press the synchronous belt clamping wheel onto the track and provide a certain preload, thereby pressing the synchronous pulley and the synchronous belt in the opposite direction.

2. The intelligent inspection equipment for ship substations as described in claim 1, characterized in that: The communication module includes a power line carrier communication module, a switch, and an internal bus communication module.

3. The intelligent inspection equipment for ship substations as described in claim 1, characterized in that: The sensing devices include a gimbal, a visible light sensor mounted on the gimbal, an infrared thermal imager, a partial discharge detector, a directional microphone, a temperature and humidity sensor, a smoke sensor, a gas sensor, a sound sensor, an infrared anti-collision sensor, and front and rear ultrasonic obstacle avoidance sensors.

4. The intelligent inspection equipment for ship substations as described in claim 1, characterized in that: The intelligent inspection equipment must be able to successfully turn. Where R is the turning radius, L max L represents the maximum travel of the steering mechanism wheel assembly from the center to the left and right sides. Z This refers to the center distance between the front guide wheel assembly and the rear guide wheel assembly.

5. The intelligent inspection equipment for ship substations as described in claim 3, characterized in that: The gimbal is equipped with a gimbal lifting mechanism at its bottom. The gimbal lifting mechanism adopts a multi-stage telescopic support tube structure, which includes multiple aluminum alloy tubes with gradually decreasing diameters. Each aluminum alloy tube has four guide grooves symmetrically machined vertically. The upper and lower ends of the four guide grooves of each aluminum alloy tube have circular holes. High-molecular-weight polyethylene guide sliders are embedded on the outside of the four circular holes at the upper end of each aluminum alloy tube, and high-molecular-weight polyethylene guide sliders are embedded on the inside of the four circular holes at the lower end of each aluminum alloy tube.

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