Transformer substation unmanned inspection device based on laser point cloud model

Abstract

The invention discloses a transformer substation unmanned inspection device based on a laser point cloud model, which comprises an unmanned inspection device body, the unmanned inspection device body is movably arranged on a guide rail assembly, the guide rail assembly is hoisted above a transformer substation, and a DCS control room is arranged in the transformer substation. The unmanned inspection device body is composed of a fixing base, a driving motor, a driving chain wheel, a connecting frame, a power module, a first walking wheel, a transmission chain wheel, a supporting base, a second walking wheel, a limiting wheel and an inspection assembly, the power module and the driving motor are installed on the fixing base, and meanwhile the driving motor is installed through a machine base; and an output shaft of the driving motor is fixed with the driving chain wheel. The invention discloses a transformer substation unmanned inspection device based on a laser point cloud model. According to the invention, the inspection efficiency is improved and the inspection mode is optimized during manual inspection in the prior art can be replaced, so that the inspection work of different transformer substation areas can be completed.

Description

Technical Field

[0001] The invention relates to the field of substation inspection, and in particular to an unmanned substation inspection device based on a laser point cloud model. Background Art

[0002] At present, substations are mostly inspected and maintained manually for daily inspections. However, this method requires regular and timely inspections of relevant equipment and data recording, and then judgments and processing based on experience. This requires staff to perform repetitive work, which can easily make employees feel bored and is not conducive to the development of work. Traditional inspection methods for substations mainly include manual inspection and fixed video surveillance. Currently, traditional inspection methods have been put into large quantities in power production work; however, the inspection routes, inspection observation angles and other conditions of traditional inspection methods are relatively fixed, and there are certain inspection blind spots, which brings certain pressure to the management of substation inspection personnel. Summary of the invention

[0003] In order to fill the gap in the market, the present invention provides an unmanned inspection device for a substation based on a laser point cloud model.

[0004] The purpose of the present invention is to provide an unmanned inspection device for a substation based on a laser point cloud model to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned inspection device for a substation based on a laser point cloud model, comprising an unmanned inspection device body, the unmanned inspection device body is movably arranged on a guide rail assembly, and the guide rail assembly is hoisted above the substation, and a DCS control room is arranged in the substation, and the unmanned inspection device body is composed of a fixed seat, a driving motor, a driving sprocket, a connecting frame, a power module, a first running wheel, a transmission sprocket, a supporting seat, a second running wheel, a limiting wheel and an inspection assembly, and the power module and the driving motor are respectively installed on the fixed seat, and the driving motor is installed through the machine seat, and the output shaft of the driving motor is fixed to the driving sprocket, the first running wheel and the second running wheel are movably installed at the bottom of the fixed seat, and the first running wheel and the second running wheel are movably installed on the supporting seat through bearings and rotating shafts, and the first running wheel and the second running wheel are respectively rollingly arranged inside the slideway; The inspection component consists of a guide seat, a mounting plate, a tensioning rod, an adjustment seat, a slide groove, an adjustment column, a slider, a rack, a servo motor, a driving gear, an opening, a mounting plate, a thermal imager, a temperature and humidity sensor and a 16-line laser radar. The bottom of the mounting plate is screwed to fix the adjustment seat, and the adjustment column is inserted into the inside of the adjustment seat, and the bottom of the adjustment column is fixedly connected to the mounting plate. The thermal imager and the temperature and humidity sensor are installed on both sides of the bottom of the mounting plate, and a visible light camera is installed between the thermal imager and the temperature and humidity sensor.

[0006] Furthermore, the unmanned inspection device body moves autonomously on the guide rail assembly, and the unmanned inspection device body moves above the substation through the guide rail assembly to inspect the substation.

[0007] Furthermore, transmission sprockets are installed on the rotating shafts of the first running wheel and the second running wheel, and the two sets of transmission sprockets are synchronously driven by chains, and the driving sprocket and the transmission sprocket are synchronously driven by chains.

[0008] Furthermore, the fixing seat and the supporting seat are supported by a fixing frame, and an opening is provided in the middle of the supporting seat, and the fixing seat and the mounting plate are fixedly connected by the fixing frame.

[0009] Furthermore, limiting wheels are movably installed at the bottom of both sides of the fixing seat, and the two sets of limiting wheels are symmetrical structures about the guide rail assembly. At the same time, the sizes of the limiting wheels and the limiting rails are adapted, and the limiting wheels are rollingly arranged inside the limiting rails.

[0010] Furthermore, a slideway is provided on the surface of the guide rail assembly, and a guide groove is provided at the bottom of the guide rail assembly. At the same time, limiting rails are provided on both sides of the guide rail assembly. The size of the guide groove is adapted to that of the guide seat, and the guide seat is slidably arranged inside the guide groove. The cross-sections of the guide groove and the guide seat are both dovetail-shaped.

[0011] Furthermore, the mounting plate and the adjustment seat are fixedly supported by tie rods, and the mounting plate, the adjustment seat and the tie rods are combined together to form a right triangle.

[0012] Furthermore, a slide groove is provided on the inner wall of the adjustment seat, and the size of the slide groove is adapted to that of the slider, and the slider is slidably arranged inside the slide groove, and the slider is fixedly arranged at the end of the adjustment column, and the cross-section of the slide groove and the slider is dovetail-shaped.

[0013] Furthermore, a rack is fixedly installed on the surface of the adjusting column, and the size of the rack is adapted to the driving gear. At the same time, the rack is meshed and connected with the driving gear, and an opening is opened at the bottom of the adjusting seat. The driving gear is movably installed inside the opening. The rotating shaft of the driving gear is fixed to the output shaft of the servo motor, and the servo motor is fixed at the bottom of the adjusting seat.

[0014] Furthermore, the servo motor drives the active gear to rotate, and drives the adjustment column to move up and down through the rack to complete the height adjustment of the installation plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The unmanned inspection device is movably arranged on the guide rail assembly, and moves back and forth on the guide rail assembly in a self-propelled manner, so that detailed unmanned inspection work can be carried out on the substation while overlooking the substation; a thermal imager, a temperature and humidity sensor, and a visible light camera are installed on the installation plate respectively, and the invisible infrared energy emitted by the substation is converted into a visible thermal image through the thermal imager; different colors on the thermal image represent different temperatures of the object being measured; It can replace the existing technology of manual inspection, improve the inspection efficiency, optimize the inspection method, and enable it to complete the inspection work of different substation areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the main structure of the unmanned inspection device of the present invention; Figure 3 It is a schematic diagram of the cross-sectional structure of the adjustment seat and the adjustment column of the structure of the present invention; Figure 4 The structure of the present invention Figure 2 AA section structure schematic diagram in; Figure 5 It is a schematic diagram of the downward movement of the mounting plate of the structure of the present invention; Figure 6 This is the data topology diagram of the inspection device of the present invention.

[0017] In the figure: 1. Substation; 2. DCS control room; 3. Guide rail assembly; 31. Slideway; 32. Limiting track; 33. Guide groove; 4. Unmanned inspection device body; 40. Fixed seat; 41. Driving motor; 42. Driving sprocket; 43. Connecting frame; 44. Power module; 45. First running wheel; 46. Transmission sprocket; 47. Support seat; 48. Second running wheel; 49. Limiting wheel; 50. Inspection assembly; 501. Guide seat; 502. Mounting plate; 503. Tie bar; 504. Adjusting seat; 505. Slideway; 506. Adjusting column; 5061. Sliding block; 507. Rack; 508. Servo motor; 509. Driving gear; 510. Opening; 511. Mounting sheet; 512. Thermal imager; 513. Temperature and humidity sensor; 514. Visible light camera. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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.

[0019] Specific implementation method 1: Please refer to Figure 1-6 The present invention provides a technical solution: an unmanned inspection device for a substation based on a laser point cloud model, comprising an unmanned inspection device body 4, the unmanned inspection device body 4 is movably arranged on a guide rail assembly 3, and the guide rail assembly 3 is hoisted above a substation 1, and a DCS control room 2 is arranged in the substation 1, and the unmanned inspection device body 4 is composed of a fixed seat 40, a driving motor 41, a driving sprocket 42, a connecting frame 43, a power module 44, a first running wheel 45, a transmission sprocket 46, a support seat 47, a second running wheel 48, and a plurality of driving wheels 49. 8. The limiting wheel 49 and the inspection component 50 are composed, and the power module 44 and the drive motor 41 are respectively installed on the fixed seat 40, and the drive motor 41 is installed through the machine base, and the output shaft of the drive motor 41 is fixed to the active sprocket 42, and the first running wheel 45 and the second running wheel 48 are movably installed at the bottom of the fixed seat 40, and the first running wheel 45 and the second running wheel 48 are movably installed on the support seat 47 through the bearing and the rotating shaft, and the first running wheel 45 and the second running wheel 48 are respectively rollingly arranged inside the slideway 31; The inspection component 50 consists of a guide seat 501, a mounting plate 502, a tie rod 503, an adjustment seat 504, a slide groove 505, an adjustment column 506, a slider 5061, a rack 507, a servo motor 508, a driving gear 509, an opening 510, a mounting plate 511, a thermal imager 512, a temperature and humidity sensor 513 and a 16-line laser radar, and the bottom of the mounting plate 502 is screwed to fix the adjustment seat 504, and the adjustment column 506 is inserted into the inside of the adjustment seat 504, and the bottom of the adjustment column 506 is fixedly connected to the mounting plate 511, and the thermal imager 512 and the temperature and humidity sensor 513 are respectively installed on both sides of the bottom of the mounting plate 511, and a visible light camera 514 is installed between the thermal imager 512 and the temperature and humidity sensor 513.

[0020] Working principle: When in use, the unmanned inspection device body 4 is movably arranged on the guide rail assembly 3, and moves back and forth on the guide rail assembly 3 in a self-propelled manner, so that the substation 1 can be overlooked and detailed unmanned inspection work can be performed on the substation 1; A thermal imager 512, a temperature and humidity sensor 513, and a visible light camera 514 are respectively installed on the mounting plate 511. The thermal imager 512 converts the invisible infrared energy emitted by the substation 1 into a visible thermal image. Different colors on the thermal image represent different temperatures of the object being measured. It can replace the existing technology of manual inspection, improve the inspection efficiency, optimize the inspection method, and enable it to complete the inspection work of different substation areas.

[0021] Specific implementation method 2: This implementation method is a further limitation of specific implementation method 1. The unmanned inspection device body 4 moves on the guide rail assembly 3 by itself, and the unmanned inspection device body 4 moves above the substation 1 through the guide rail assembly 3 to inspect the substation 1.

[0022] like Figure 1-2 As shown: the unmanned inspection device body 4 moves on the guide rail assembly 3 by itself; the way of self-movement is: start the external switch of the drive motor 41, the output shaft of the drive motor 41 drives the transmission sprocket 46 to rotate through the active sprocket 42 and the sprocket, and the transmission sprocket 46 drives the sprocket on the first running wheel 45 to rotate through the chain, so that the first running wheel 45 and the second running wheel 48 move synchronously, so that the device can move on the guide rail assembly 3 by itself.

[0023] Specific implementation method three: This implementation method is a further limitation of specific implementation method one. Transmission sprockets 46 are installed on the rotating shafts of the first running wheel 45 and the second running wheel 48, and the two sets of transmission sprockets 46 are synchronously driven by chains. At the same time, the driving sprocket 42 and the transmission sprocket 46 are synchronously driven by chains.

[0024] like Figure 1-2 As shown: the driving sprocket 42 and the two sets of transmission sprockets 46 are synchronously driven by a chain, so that the first running wheel 45 and the second running wheel 48 rotate synchronously in the same direction; the device can reciprocate on the guide rail assembly 3, and inspect the substation 1 through the inspection setting on the installation plate 511.

[0025] Specific implementation method four: This implementation method is a further limitation of specific implementation method one. The fixing seat 40 and the supporting seat 47 are supported by a fixing frame, and an opening is provided in the middle of the supporting seat 47. At the same time, the fixing seat 40 and the mounting plate 502 are fixedly connected by the fixing frame.

[0026] like Figure 1-2 As shown: when the fixing seat 40 moves, the connecting frame 43 drives the mounting plate 502 to move horizontally, so that the mounting plate 502 drives the mounting plate 511 to move through the adjusting seat 504 and the adjusting column 506, so that the thermal imager 512, the temperature and humidity sensor 513, and the visible light camera 514 can inspect the surface of the substation 1.

[0027] Specific embodiment five: This embodiment is a further limitation of specific embodiment one, and limiting wheels 49 are movably installed at the bottom of both sides of the fixed seat 40, and the two groups of limiting wheels 49 are symmetrical structures with respect to the guide rail assembly 3. At the same time, the limiting wheels 49 are adapted to the size of the limiting track 32, and the limiting wheels 49 are rollingly set inside the limiting track 32.

[0028] like Figure 2 and Figure 4 As shown: when the first running wheel 45 and the second running wheel 48 are moving on the guide rail assembly 3, the limiting wheels 49 on both sides thereof are rollingly arranged inside the limiting track 32, which can limit and guide the fixed seat 40 during movement, thereby ensuring the stability of the fixed seat 40 during movement on the guide rail assembly 3.

[0029] Specific embodiment six: This embodiment is a further limitation of specific embodiment one, a slideway 31 is provided on the surface of the guide rail assembly 3, and a guide groove 33 is provided at the bottom of the guide rail assembly 3, and limiting rails 32 are provided on both sides of the guide rail assembly 3, the guide groove 33 is adapted to the size of the guide seat 501, and the guide seat 501 is slidably arranged inside the guide groove 33, and the cross-sections of the guide groove 33 and the guide seat 501 are both dovetail-shaped.

[0030] like Figure 2 and Figure 4 As shown: the cross-sections of the guide groove 33 and the guide seat 501 are both dovetail-shaped; when the mounting plate 502 is driven to move laterally, the guide seat 501 thereon is slidably set inside the guide groove 33, which can limit and guide the laterally moving mounting plate 502 to prevent the mounting plate 502 from tilting when moving.

[0031] Specific implementation method seven: This implementation method is a further limitation of specific implementation method one, in which the mounting plate 502 and the adjustment seat 504 are fixedly supported by tie bars 503, and the mounting plate 502, the adjustment seat 504 and the tie bars 503 are combined together to form a right triangle.

[0032] like Figure 2 As shown: the mounting plate 502, the adjustment seat 504 and the tie rod 503 are combined to form a right triangle; the triangle has stability, and reinforcement work can be performed between the mounting plate 502 and the adjustment seat 504 to ensure the stability of the fixed installation between the mounting plate 502 and the adjustment seat 504.

[0033] Specific embodiment eight: This embodiment is a further limitation of specific embodiment one, a slide groove 505 is provided on the inner wall of the adjustment seat 504, and the slide groove 505 is adapted to the size of the slider 5061, and the slider 5061 is slidably arranged inside the slide groove 505, and the slider 5061 is fixedly arranged at the end of the adjustment column 506, and the cross-section of the slide groove 505 and the slider 5061 is dovetail-shaped.

[0034] like Figure 6As shown: the height of the mounting plate 511 can be adjusted, and by adjusting the height of the mounting plate 511, the shooting height of the visible light camera 514 can be adjusted; through the visible light camera 514, video shooting can be performed when the substation 1 is viewed from a bird's-eye view, and the video information can be displayed on the TV wall in the DCS control room 2, as well as on tablet computers and smart phones through switches, routers and networks, so as to perform real-time inspections.

[0035] Specific embodiment nine: This embodiment is a further limitation of specific embodiment one, a rack 507 is fixedly installed on the surface of the adjusting column 506, and the rack 507 is adapted to the size of the driving gear 509, and the rack 507 is meshed and connected with the driving gear 509, and an opening 510 is provided at the bottom of the adjusting seat 504, and the driving gear 509 is movably installed inside the opening 510, the rotating shaft of the driving gear 509 is fixed to the output shaft of the servo motor 508, and the servo motor 508 is fixed to the bottom of the adjusting seat 504.

[0036] The device is also equipped with a 16-line laser radar, which is used in conjunction with the visible light camera 514; It is equipped with dual 16-line laser radars combined with a high-definition visible light camera 514, and adopts push-broom laser SLAM+RTK fusion positioning technology. The point cloud results are delicate and uniform, supporting the production of high-quality color point clouds, 120-million-pixel panoramas, and 1.6-million-pixel panoramic depth maps. It supports automatic alignment of point clouds and panoramas, automatic generation of depth maps, etc. This technical content is an existing mature technical content and is not a necessary technical feature content to be publicly protected in this case, so it will not be repeated here.

[0037] Specific implementation method ten: This implementation method is a further limitation of specific implementation method nine. The servo motor 508 drives the driving gear 509 to rotate, and drives the adjustment column 506 to move up and down through the rack 507 to complete the height adjustment of the installation piece 511.

[0038] The height adjustment method of the mounting plate 511 is as follows: the external switch of the servo motor 508 is started, the output shaft of the servo motor 508 drives the driving gear 509 to rotate, and the driving gear 509 drives the rack 507 to move up and down, so as to adjust the shooting height of the visible light camera 514; When the adjusting column 506 is raised or lowered inside the adjusting seat 504, the slider 5061 thereon is slidably arranged inside the slide groove 505, which can limit and guide the vertically moving installation piece 511 to prevent the installation piece 511 from tilting when it is raised or lowered.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A substation unmanned inspection device based on a laser point cloud model, comprising an unmanned inspection device body (4), characterized in that: The unmanned inspection device body (4) is movably arranged on the guide rail assembly (3), and the guide rail assembly (3) is hoisted above the substation (1). A DCS control room (2) is provided in the substation (1), and the unmanned inspection device body (4) is composed of a fixed seat (40), a drive motor (41), a driving sprocket (42), a connecting frame (43), a power module (44), a first running wheel (45), a transmission sprocket (46), a supporting seat (47), a second running wheel (48), a limiting wheel (49) and an inspection assembly (50), and the fixed seat (40) is provided with a driving motor (41), a driving sprocket (42), a connecting frame (43), a power module (44), a first running wheel (45), a transmission sprocket (46), a supporting seat (47), a second running wheel (48), a limiting wheel (49) and an inspection assembly (50). A power module (44) and a driving motor (41) are respectively mounted on the fixed seat (40), and the driving motor (41) is mounted through the machine seat, and the output shaft of the driving motor (41) is fixed to the driving sprocket (42), and a first running wheel (45) and a second running wheel (48) are movably mounted on the bottom of the fixed seat (40), and the first running wheel (45) and the second running wheel (48) are movably mounted on the supporting seat (47) through bearings and a rotating shaft, and the first running wheel (45) and the second running wheel (48) are respectively rollingly arranged inside the slideway (31); The inspection component (50) comprises a guide seat (501), a mounting plate (502), a tie rod (503), an adjustment seat (504), a slide groove (505), an adjustment column (506), a slider (5061), a rack (507), a servo motor (508), a driving gear (509), an opening (510), a mounting plate (511), a thermal imager (512), a temperature and humidity sensor (513) and a 16-line laser radar, and the bottom of the mounting plate (502) is screwed to fix the adjustment seat (504), and the adjustment column (506) is inserted into the inside of the adjustment seat (504), and the bottom of the adjustment column (506) is fixedly connected to the mounting plate (511), and the thermal imager (512) and the temperature and humidity sensor (513) are respectively installed on both sides of the bottom of the mounting plate (511), and a visible light camera (514) is installed between the thermal imager (512) and the temperature and humidity sensor (513).

2. According to claim 1, the unmanned inspection device for substations based on a laser point cloud model is characterized in that: The unmanned inspection device body (4) moves on its own on the guide rail assembly (3), and the unmanned inspection device body (4) moves above the substation (1) via the guide rail assembly (3) to inspect the substation (1).

3. The unmanned inspection device for substations based on a laser point cloud model according to claim 1 is characterized in that: Transmission sprockets (46) are mounted on the rotating shafts of the first running wheel (45) and the second running wheel (48), and the two sets of transmission sprockets (46) are synchronously driven by a chain, and the driving sprocket (42) and the transmission sprocket (46) are synchronously driven by a chain.

4. The unmanned inspection device for substations based on a laser point cloud model according to claim 1 is characterized in that: The fixing seat (40) and the supporting seat (47) are supported by a fixing frame, and an opening is provided in the middle of the supporting seat (47). Meanwhile, the fixing seat (40) and the mounting plate (502) are fixedly connected by the fixing frame.

5. The unmanned inspection device for substations based on a laser point cloud model according to claim 1 is characterized in that: Limiting wheels (49) are movably mounted on the bottoms of both sides of the fixing seat (40), and the two sets of limiting wheels (49) are symmetrical structures with respect to the guide rail assembly (3). At the same time, the limiting wheels (49) are adapted to the sizes of the limiting rail (32), and the limiting wheels (49) are rollingly arranged inside the limiting rail (32).

6. The unmanned inspection device for substations based on a laser point cloud model according to claim 1, characterized in that: The surface of the guide rail assembly (3) is provided with a slideway (31), and the bottom of the guide rail assembly (3) is provided with a guide groove (33). At the same time, both sides of the guide rail assembly (3) are provided with limit rails (32). The guide groove (33) is matched with the size of the guide seat (501), and the guide seat (501) is slidably arranged inside the guide groove (33). The cross-sections of the guide groove (33) and the guide seat (501) are both dovetail-shaped.

7. The unmanned inspection device for substations based on a laser point cloud model according to claim 1 is characterized in that: The mounting plate (502) and the adjustment seat (504) are fixedly supported by tie bars (503), and the mounting plate (502), the adjustment seat (504) and the tie bars (503) are combined together to form a right triangle.

8. The unmanned inspection device for substations based on a laser point cloud model according to claim 1, characterized in that: The inner wall of the adjustment seat (504) is provided with a slide groove (505), and the slide groove (505) is matched with the size of the slider (5061). Meanwhile, the slider (5061) is slidably arranged inside the slide groove (505), and the slider (5061) is fixedly arranged at the end of the adjustment column (506). The cross-section of the slide groove (505) and the slider (5061) is arranged in a dovetail shape.

9. The unmanned inspection device for substations based on a laser point cloud model according to claim 1, characterized in that: A rack (507) is fixedly mounted on the surface of the adjusting column (506), and the rack (507) is matched with the size of the driving gear (509), and the rack (507) is meshed with the driving gear (509), and an opening (510) is provided at the bottom of the adjusting seat (504), and the driving gear (509) is movably mounted inside the opening (510), and the rotating shaft of the driving gear (509) is fixed to the output shaft of the servo motor (508), and the servo motor (508) is fixed to the bottom of the adjusting seat (504).

10. The unmanned inspection device for substations based on a laser point cloud model according to claim 9, characterized in that: The servo motor (508) drives the driving gear (509) to rotate, thereby driving the adjusting column (506) to move up and down through the rack (507) to complete the height adjustment of the mounting plate (511).

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