Intelligent obstacle avoidance method for converter station inspection operation robot

Abstract

The invention discloses an intelligent obstacle avoidance method for a converter station inspection operation robot. The intelligent obstacle avoidance method comprises the following steps: step 1, selecting an inspection operation robot which can automatically cruise and can be switched to manual control; 2, an extensible electric push rod is additionally arranged in the advancing direction of the inspection operation robot, a triangular push frame is installed on an output rod of the electric push rod, when the camera monitors that an obstacle lower than a certain height exists in front, the electric push rod is extended by a certain length, and the triangular push frame is used for pushing the obstacle to move and pushing the obstacle to the two sides; 3, human body temperature sensors at eight angles are additionally arranged on the inspection operation robot, the human body temperature sensors are merged into an automatic cruise route reference basis, and meanwhile signals of the human body temperature sensors can be transmitted back to the monitoring room terminal. The invention relates to the field of converter station robot inspection, in particular to an intelligent obstacle avoidance method for a converter station inspection operation robot.

Description

Technical Field

[0001] The present invention relates to the field of converter station robot inspection, and in particular to an intelligent obstacle avoidance method for a converter station inspection robot. Background Art

[0002] A converter station refers to a site established in a high-voltage direct current transmission system to complete the conversion of alternating current into direct current or direct current into alternating current and to meet the power system's requirements for safety, stability and power quality.

[0003] It has the following six significant advantages:

[0004] 1. When transmitting the same power, the line cost is low;

[0005] 2. The line active power loss is small;

[0006] 3. Suitable for underwater power transmission;

[0007] 4. System stability issues;

[0008] 5. Can limit the short-circuit current of the system;

[0009] 6. Fast adjustment and reliable operation.

[0010] Inspection work at converter stations is an important part of ensuring the normal operation of converter stations. It is also a way to troubleshoot special problems where data cannot provide timely feedback. It can also reduce the probability of early failures. The use of inspection robots can achieve uninterrupted monitoring.

[0011] Generally speaking, the roads in the converter station are barrier-free, and the inspection robot conducts inspections back and forth along the original route. However, it cannot be ruled out that problems such as manual inspection intervention, manual maintenance intervention, and the falling of abnormal objects may cause the inspection robot to be unable to move normally. Summary of the invention

[0012] The technical problem to be solved by the present invention is that the roads in the converter station are generally barrier-free, and the inspection robot performs inspections back and forth along the original route. However, problems such as manual inspection intervention, manual maintenance intervention, and the falling of abnormal objects cannot be ruled out, which may cause the inspection robot to be unable to move normally.

[0013] To solve the above problems, the technical solution adopted by the present invention is as follows: The present invention is an intelligent obstacle avoidance method for a converter station inspection robot, comprising the following steps:

[0014] Step 1: Select an inspection robot that can cruise automatically and switch to manual control;

[0015] Step 2: Add an extendable electric push rod in the forward direction of the inspection robot, install a triangular push frame on the output rod of the electric push rod, and when the camera monitors an obstacle below a certain height in front, extend the electric push rod to a certain length, use the triangular push frame to push the obstacle to move, and push it to both sides;

[0016] Step 3: add human body temperature sensors at eight angles to the inspection robot, and incorporate the human body temperature sensors into the reference basis of the automatic cruise route. At the same time, the human body temperature sensor signals can be transmitted back to the monitoring room terminal;

[0017] Step 4: Add a voice repellent device to the inspection robot. When a human body is detected, the voice repellent device turns on to repel the staff who are blocking the set route.

[0018] Step 5: Add a monitoring drone landing pad on the inspection robot and dock the monitoring drone. When it is impossible to drive away the human body, start the monitoring drone to fly around the human body and continue the monitoring work;

[0019] Step 6: Add noise monitors at eight angles on the inspection robot, incorporate the noise monitors into the reference basis of the automatic cruise line, and transmit the noise signal back to the monitoring room terminal;

[0020] Step seven: When the noise monitor detects abnormal noise, the monitoring drone is also activated to fly closer to view the full picture from a high altitude.

[0021] Furthermore, when switching to manual monitoring in step 1, the manual control is completed by the monitoring personnel in the terminal monitoring room.

[0022] Furthermore, the obstacle of a certain height in step 2 needs to be lower than 50 cm.

[0023] Furthermore, the eight angles of human body temperature sensors in step three are evenly spaced 45° apart.

[0024] Furthermore, the volume of the voice repeller in step 4 needs to be lower than the abnormal noise of the equipment to avoid misjudgment by the noise monitor.

[0025] Furthermore, the control of the monitoring drone in step 5 is completed by the monitoring personnel in the terminal monitoring room.

[0026] Furthermore, the eight angles of noise monitors in step six are evenly spaced 45 degrees apart.

[0027] The beneficial effects achieved by the present invention using the above structure are as follows:

[0028] 1. Add a triangular push frame on the front side to push some obstacles to move and have the function of clearing obstacles.

[0029] 2. Add a human body temperature sensor to the inspection robot to sense the presence of human body and send back information. When detected, it will automatically trigger the voice drive away device to start the drive away. If it is impossible to drive away, start the monitoring drone to avoid delaying the monitoring work. DETAILED DESCRIPTION

[0030] Example 1

[0031] The present invention is an intelligent obstacle avoidance method for a converter station inspection robot, comprising the following steps:

[0032] Step 1: Select an inspection robot that can cruise automatically and switch to manual control. When switching to manual monitoring, the manual control is completed by the monitoring personnel in the terminal monitoring room;

[0033] Step 2: Add an extendable electric push rod in the forward direction of the inspection robot, install a triangular push frame on the output rod of the electric push rod, and when the camera monitors a 40m obstacle in front, extend the electric push rod to a certain length, use the triangular push frame to push the obstacle to both sides;

[0034] Step 3: add human body temperature sensors at eight angles to the inspection robot, evenly spaced at 45°, and incorporate the human body temperature sensors into the reference basis for the automatic cruise route. At the same time, the human body temperature sensor signals can be transmitted back to the monitoring room terminal;

[0035] Step 4: Add a voice repellent device to the inspection robot. When a human body is detected, the voice repellent device turns on to drive away the staff who are blocking the set route. The volume of the voice repellent device must be lower than the abnormal noise of the equipment to avoid misjudgment by the noise monitor.

[0036] Step 5: Add a monitoring drone landing pad to the inspection robot and dock the monitoring drone. When the human body cannot be driven away, start the monitoring drone to fly around the human body to continue the monitoring work. The monitoring drone is controlled by the monitoring personnel in the terminal monitoring room.

[0037] Step 6: Add noise monitors at eight angles on the inspection robot, evenly spaced at 45°, and incorporate the noise monitors into the reference basis of the automatic cruise line, while transmitting the noise signal back to the monitoring room terminal;

[0038] Step seven: When the noise monitor detects abnormal noise, the monitoring drone is also activated to fly closer to view the full picture from a high altitude.

[0039] Example 2

[0040] The present invention is an intelligent obstacle avoidance method for a converter station inspection robot, comprising the following steps:

[0041] Step 1: Select an inspection robot that can cruise automatically and switch to manual control. When switching to manual monitoring, the manual control is completed by the monitoring personnel in the terminal monitoring room;

[0042] Step 2: Add an extendable electric push rod in the forward direction of the inspection robot, install a triangular push frame on the output rod of the electric push rod, and when the camera detects a 30cm obstacle in front, extend the electric push rod to a certain length, use the triangular push frame to push the obstacle to both sides;

[0043] Step 3: add human body temperature sensors at eight angles to the inspection robot, evenly spaced at 45°, and incorporate the human body temperature sensors into the reference basis for the automatic cruise route. At the same time, the human body temperature sensor signals can be transmitted back to the monitoring room terminal;

[0044] Step 4: Add a voice repellent device to the inspection robot. When a human body is detected, the voice repellent device turns on to drive away the staff who are blocking the set route. The volume of the voice repellent device must be lower than the abnormal noise of the equipment to avoid misjudgment by the noise monitor.

[0045] Step 5: Add a monitoring drone landing pad to the inspection robot and dock the monitoring drone. When the human body cannot be driven away, start the monitoring drone to fly around the human body to continue the monitoring work. The monitoring drone is controlled by the monitoring personnel in the terminal monitoring room.

[0046] Step 6: Add noise monitors at eight angles on the inspection robot, evenly spaced at 45°, and incorporate the noise monitors into the reference basis of the automatic cruise line, while transmitting the noise signal back to the monitoring room terminal;

[0047] Step seven: When the noise monitor detects abnormal noise, the monitoring drone is also activated to fly closer to view the full picture from a high altitude.

[0048] Example 3

[0049] The present invention is an intelligent obstacle avoidance method for a converter station inspection robot, comprising the following steps:

[0050] Step 1: Select an inspection robot that can cruise automatically and switch to manual control. When switching to manual monitoring, the manual control is completed by the monitoring personnel in the terminal monitoring room;

[0051] Step 2: Add an extendable electric push rod in the forward direction of the inspection robot, install a triangular push frame on the output rod of the electric push rod, and when the camera detects a 50cm obstacle in front, extend the electric push rod to a certain length, use the triangular push frame to push the obstacle to both sides;

[0052] Step 3: add human body temperature sensors at eight angles to the inspection robot, evenly spaced at 45°, and incorporate the human body temperature sensors into the reference basis for the automatic cruise route. At the same time, the human body temperature sensor signals can be transmitted back to the monitoring room terminal;

[0053] Step 4: Add a voice repellent device to the inspection robot. When a human body is detected, the voice repellent device turns on to drive away the staff who are blocking the set route. The volume of the voice repellent device must be lower than the abnormal noise of the equipment to avoid misjudgment by the noise monitor.

[0054] Step 5: Add a monitoring drone landing pad to the inspection robot and dock the monitoring drone. When the human body cannot be driven away, start the monitoring drone to fly around the human body to continue the monitoring work. The monitoring drone is controlled by the monitoring personnel in the terminal monitoring room.

[0055] Step 6: Add noise monitors at eight angles on the inspection robot, evenly spaced at 45°, and incorporate the noise monitors into the reference basis of the automatic cruise line, while transmitting the noise signal back to the monitoring room terminal;

[0056] Step seven: When the noise monitor detects abnormal noise, the monitoring drone is also activated to fly closer to view the full picture from a high altitude.

[0057] It should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An intelligent obstacle avoidance method for a converter station inspection robot, characterized in that: The steps include: Step 1: Select an inspection robot that can cruise automatically and switch to manual control; Step 2: Add an extendable electric push rod in the forward direction of the inspection robot, install a triangular push frame on the output rod of the electric push rod, and when the camera monitors an obstacle below a certain height in front, extend the electric push rod to a certain length, use the triangular push frame to push the obstacle to move, and push it to both sides; Step 3: add human body temperature sensors at eight angles to the inspection robot, and incorporate the human body temperature sensors into the reference basis of the automatic cruise route. At the same time, the human body temperature sensor signals can be transmitted back to the monitoring room terminal; Step 4: Add a voice repellent device to the inspection robot. When a human body is detected, the voice repellent device turns on to repel the staff who are blocking the set route. Step 5: Add a monitoring drone landing pad on the inspection robot and dock the monitoring drone. When it is impossible to drive away the human body, start the monitoring drone to fly around the human body and continue the monitoring work; Step 6: Add noise monitors at eight angles on the inspection robot, incorporate the noise monitors into the reference basis of the automatic cruise line, and transmit the noise signal back to the monitoring room terminal; Step seven: When the noise monitor detects abnormal noise, the monitoring drone is also activated to fly closer to view the full picture from a high altitude.

2. The intelligent obstacle avoidance method for a converter station inspection robot according to claim 1, characterized in that: When switching to manual monitoring in step 1, the manual control is completed by the monitoring personnel in the terminal monitoring room.

3. The intelligent obstacle avoidance method for a converter station inspection robot according to claim 2, characterized in that: The obstacle of a certain height in step 2 must be less than 50 cm.

4. The intelligent obstacle avoidance method for a converter station inspection robot according to claim 3, characterized in that: The eight human body temperature sensors in step 3 are evenly spaced 45 degrees apart.

5. The intelligent obstacle avoidance method for a converter station inspection robot according to claim 4, characterized in that: In step 4, the volume of the voice repeller must be lower than the abnormal noise of the equipment to avoid misjudgment by the noise monitor.

6. The intelligent obstacle avoidance method for a converter station inspection robot according to claim 5, characterized in that: The control of the monitoring drone in step 5 is completed by the monitoring personnel in the terminal monitoring room.

7. The intelligent obstacle avoidance method for a converter station inspection robot according to claim 6, characterized in that: The eight noise monitors in step 6 are evenly spaced 45 degrees apart.