Remote control method and system for transformer substation equipment inspection dexterous hand robot

Abstract

The invention discloses a transformer substation equipment inspection dexterous hand robot remote control method and system, the system comprises a moving assembly and a control assembly, the moving assembly comprises a vehicle body, a robot body, a bionic arm, a robot mainboard and an SLAM laser navigator, the robot mainboard is used for receiving and processing signals, the bionic arm is used for switching operation, and the robot mainboard is used for controlling the SLAM laser navigator. The vehicle body is used for providing movement. Through cooperation of the vehicle body and SLAM laser navigation, the inspection robot can be independently navigated and run, through arrangement of the control assembly, the effect of remotely controlling the inspection robot to inspect or switch equipment is achieved, the control handle is used for remotely operating instructions, the displayer is used for displaying on-site pictures in real time, and the control assembly is arranged. Through cooperation of the mobile assembly and the collection assembly, the effect of automatic inspection can be achieved, the frequency and risk of manual participation are reduced, and the inspection quality and efficiency are improved.

Description

Technical Field

[0001] The invention relates to the technical field of substation inspection robots, and in particular to a remote control system for a substation equipment inspection dexterous hand robot. Background Art

[0002] Substation inspection dexterous hand robot is an automation equipment used in the power industry, especially in substations. Its main function is to replace manual inspection and monitoring of various equipment in substations to ensure the safe and stable operation of the power system. This robot can not only walk and move, but also is equipped with a dexterous hand robot arm and a variety of sensors. It can perform simple switch operations, greatly improving the automation level of substation operation and maintenance, reducing the frequency and risk of manual participation, and improving the inspection quality and efficiency. It plays an important role in ensuring the safe and stable operation of the power grid. According to the Chinese patent application No.: 201821947438.0, a bionic dual-arm dexterous hand robot based on an omnidirectional mobile platform is disclosed, including a mobile platform body, a six-wheel steering system, a panoramic camera and a bionic dexterous finger, the six-wheel steering system is arranged on both sides of the mobile platform body, a wheel hub drive unit is arranged on the six-wheel steering system, a shock-absorbing suspension system is arranged between the six-wheel steering system and the mobile platform body, a brake system is arranged in the middle of the mobile platform body, batteries are arranged on both sides of the brake system, and a steering drive integrated unit is arranged above the mobile platform body. The dual-arm robot based on six-wheel full-drive and all-wheel steering can be used for task operations in dangerous environments, realize remote control, and can realize operations, reconnaissance and specimen object retrieval and on-site operations in three-defense environments; The existing technology effectively solves the problems of the simple structure of the inspection dexterous hand robot and the lack of an independent driving system and braking system, which makes the omnidirectional mobile platform robot slow in movement, inflexible and single in communication function. It has the advantages of being able to be used for task operations in dangerous environments, and can realize operations, reconnaissance and specimen object retrieval and on-site operations in a three-defense environment. Although this type of inspection robot has the function of remote communication, when an abnormality occurs on site and requires operation and inspection, the operator cannot perform auxiliary operations remotely and needs to enter the site to handle it, thereby reducing the use effect of the inspection robot. Summary of the invention

[0003] The purpose of the present invention is to provide a remote control system for a substation equipment inspection dexterous hand robot, which has the advantage of being able to remotely assist in the operation of the inspection robot. It solves the problem that although the inspection robot has the function of remote communication, when an abnormality occurs on site and requires operation and inspection, the operator cannot remotely perform auxiliary operations and needs to enter the site to handle it, thereby reducing the use effect of the inspection robot.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a remote control system for a substation equipment inspection dexterous hand robot, comprising a moving component and a control component, wherein the moving component comprises a body, a robot body, a bionic arm, a robot main board and a SLAM laser navigation, wherein the robot main board is used to receive and process signals, the bionic arm is used for switch operation, the body is used to provide movement, and the SLAM laser navigation is used for route navigation. A collection component is installed on the top of the robot body, wherein the collection component comprises a bracket, an infrared thermal imager, an infrared camera, an obstacle avoidance sensor, a temperature and humidity sensor and a gas sensor, wherein the bracket is installed on the top of the robot body, and the infrared thermal imager and the infrared camera are installed on both sides of the bracket respectively, wherein the collection component is used for on-site data collection, wherein the control component comprises a housing, a remote control main board, a control handle, a display and a communication module, wherein the output end of the control handle is connected to the input end of the remote control main board, the output end of the remote control main board is connected to the input end of the display, the output end and input end of the remote control main board are interconnected with the output end and input end of the communication module, and the output end and input end of the communication module are interconnected with the input end and output end of the robot main board.

[0005] Preferably, the remote control mainboard is fixed to the inner cavity of the shell, the control handle and the display are both installed on the top of the shell, and the communication module uses a wireless antenna.

[0006] Preferably, there are two bionic arms, which are respectively installed on both sides of the robot body, the SLAM laser navigation is fixed on the front side of the robot body, and the robot mainboard is fixed to the inner cavity of the vehicle body.

[0007] Preferably, there are several obstacle avoidance sensors, which are respectively installed on the four sides of the vehicle body, and the temperature and humidity sensors and the gas sensor are respectively installed on the front and rear ends of the top of the moving component.

[0008] Preferably, the output ends of the infrared thermal imager, infrared camera, obstacle avoidance sensor, temperature and humidity sensor, gas sensor and SLAM laser navigation are all connected to the input end of the robot mainboard, and the output end of the robot mainboard is connected to the input end of the bionic arm.

[0009] Preferably, the gas sensor is used to monitor SF6 gas, and the vehicle body adopts an AGV chassis or a wire-controlled chassis.

[0010] Preferably, the control method comprises the following steps: A. First, set the inspection route through SLAM laser navigation. SLAM laser navigation can enable the inspection robot to operate and navigate independently, reducing manual intervention. The vehicle body uses the live collection component of the navigation route provided by SLAM laser navigation to inspect the equipment in the substation. The obstacle avoidance sensor monitors obstacles through the ultrasonic principle during the movement of the vehicle body, thereby ensuring the safe movement of the inspection robot. B. The infrared thermal imager uses the characteristics of infrared radiation to scan and monitor the equipment, the infrared camera takes pictures and records the inspection environment and equipment, the temperature and humidity sensor monitors the ambient temperature in the substation, and the gas sensor monitors the concentration of SF6 gas in the substation. The infrared thermal imager, infrared camera, obstacle avoidance sensor, temperature and humidity sensor and gas sensor send the monitoring data to the robot main board, which summarizes and analyzes the monitoring data to determine the monitoring results. The robot main board transmits the monitoring results to the remote control main board through the wireless signal of the communication module, and the remote control main board can display the monitoring results on the display; C. When manual assistance is required for the inspection robot to perform on-site processing operations, the inspection robot is operated by manipulating the control handle according to the on-site image information displayed on the monitor. When the control handle is operated, the remote control main board sends the operation signal to the robot main board through the communication module. The robot main board controls the bionic arm to perform switch operations or control the vehicle body to move. The infrared camera transmits the real-time image to the monitor through the robot main board, communication module and remote control main board, thereby facilitating remote control by the staff.

[0011] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention provides a vehicle body, a robot body, a bionic arm, a robot main board and SLAM laser navigation, which can provide power to drive the collection component to inspect the equipment in the substation. The cooperation of the vehicle body and the SLAM laser navigation can enable the inspection robot to navigate and operate independently. By setting the control component, the inspection robot can be remotely controlled to inspect or switch the equipment. The control handle is used for remote operation instructions, and the display is used to display the scene in real time, so that the staff can perform remote control conveniently.

[0012] 2. The present invention achieves the effect of monitoring the equipment in the substation by arranging a bracket, an infrared thermal imager, an infrared camera, an obstacle avoidance sensor, a temperature and humidity sensor, and a gas sensor. Through the coordination of mobile components and acquisition components, the effect of automated inspection can be achieved, the frequency and risk of manual participation can be reduced, and the quality and efficiency of inspection can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 It is a schematic diagram of the structure of the mobile component and the collection component in the separated state of the present invention; Figure 3 It is a schematic diagram of the connection state structure of the control component of the present invention; Figure 4 It is a schematic diagram of the system flow of the present invention.

[0014] In the figure: 1. Mobile component; 101. Vehicle body; 102. Robot body; 103. Bionic arm; 104. Robot main board; 105. SLAM laser navigation; 2. Control component; 201. Shell; 202. Remote control main board; 203. Control handle; 204. Display; 205. Communication module; 3. Collection component; 301. Bracket; 302. Infrared thermal imager; 303. Infrared camera; 304. Obstacle avoidance sensor; 305. Temperature and humidity sensor; 306. Gas sensor. DETAILED DESCRIPTION

[0015] 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.

[0016] The mobile component 1, body 101, robot body 102, bionic arm 103, robot main board 104, SLAM laser navigation 105, control component 2, housing 201, remote control main board 202, control handle 203, display 204, communication module 205, acquisition component 3, bracket 301, infrared thermal imager 302, infrared camera 303, obstacle avoidance sensor 304, temperature and humidity sensor 305 and gas sensor 306 of the present invention are all universal standard parts or parts known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or through conventional experimental methods.

[0017] Example: Figure 1-4As shown, it is the first embodiment of the present invention, which provides a remote control system for a substation equipment inspection dexterous hand robot, including a mobile component 1 and a control component 2. The mobile component 1 includes a body 101, a robot body 102, a bionic arm 103, a robot main board 104 and a SLAM laser navigation 105. The robot main board 104 is used to receive and process signals, the bionic arm 103 is used for switch operation, the body 101 is used to provide movement, and the SLAM laser navigation 105 is used for route navigation. A collection component 3 is installed on the top of the robot body 102, and the collection component 3 includes a bracket 301, an infrared thermal imager 302, an infrared camera 303, an obstacle avoidance sensor 304, and a temperature and humidity sensor 305. and a gas sensor 306, a bracket 301 is installed on the top of the robot body 102, an infrared thermal imager 302 and an infrared camera 303 are respectively installed on both sides of the bracket 301, the acquisition component 3 is used for on-site data acquisition, the control component 2 includes a shell 201, a remote control mainboard 202, a control handle 203, a display 204 and a communication module 205, the output end of the control handle 203 is connected to the input end of the remote control mainboard 202, the output end of the remote control mainboard 202 is connected to the input end of the display 204, the output end and input end of the remote control mainboard 202 are interconnected with the output end and input end of the communication module 205, and the output end and input end of the communication module 205 are interconnected with the input end and output end of the robot mainboard 104.

[0018] like Figure 1-4As shown, the inspection route of the inspection robot is navigated by SLAM laser navigation 105, so that the vehicle body 101 can drive the collection component 3 to inspect the equipment in the substation, the infrared thermal imager 302 uses the characteristics of infrared radiation to scan and monitor the equipment, the infrared camera 303 takes pictures and records the inspection environment and equipment, the temperature and humidity sensor 305 monitors the ambient temperature in the substation, and the gas sensor 306 monitors the concentration of SF6 gas in the substation. The infrared thermal imager 302, the infrared camera 303, the obstacle avoidance sensor 304, the temperature and humidity sensor 305 and the gas sensor 306 send the monitoring data to the robot main board 104, and the robot main board 104 summarizes and analyzes the monitoring data, so as to judge the monitoring results, and the robot main board 104 sends the monitoring results The wireless signal of the communication module 205 is transmitted to the remote control mainboard 202, and the remote control mainboard 202 can display the monitoring results through the display 204, so that the staff can understand in real time. When manual assistance is needed for the inspection robot to perform on-site processing operations, the control handle 203 is operated to operate the inspection robot according to the on-site image information displayed on the display 204. When the control handle 203 is operated, the remote control mainboard 202 sends the operation signal to the robot mainboard 104 through the communication module 205. The robot mainboard 104 controls the bionic arm 103 to perform switch operations or control the vehicle body 101 to move. The infrared camera 303 transmits the real-time image to the display 204 through the robot mainboard 104, the communication module 205 and the remote control mainboard 202, so as to facilitate remote control by the staff.

[0019] Example 2 Reference Figure 1 and 3 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0020] In this embodiment, the remote control mainboard 202 is fixed to the inner cavity of the housing 201 , the control handle 203 and the display 204 are both installed on the top of the housing 201 , and the communication module 205 uses a wireless antenna.

[0021] There are two bionic arms 103 , which are respectively installed on both sides of the robot body 102 , the SLAM laser navigation 105 is fixed on the front of the robot body 102 , and the robot mainboard 104 is fixed to the inner cavity of the vehicle body 101 .

[0022] like Figure 1 and 3As shown, the control handle 203 is divided into mobile control and arm control. The mobile control is used to control the vehicle body 101 to move forward, backward and turn, and the arm control is used to remotely control the bionic arm 103 to switch the current equipment. An alarm component can also be installed in the monitoring room to promptly notify the staff when abnormalities occur during on-site inspections. Both the mobile component 1 and the collection component 3 are powered by rechargeable batteries.

[0023] Example: Refer to Figure 1 , 2 and 4, which are the third embodiment of the present invention, and this embodiment is based on the first two embodiments.

[0024] In this embodiment, there are several obstacle avoidance sensors 304 , which are respectively installed around the vehicle body 101 , and the temperature and humidity sensor 305 and the gas sensor 306 are respectively installed at the front end and the rear end of the top of the moving component 1 .

[0025] The output ends of the infrared thermal imager 302 , the infrared camera 303 , the obstacle avoidance sensor 304 , the temperature and humidity sensor 305 , the gas sensor 306 and the SLAM laser navigation 105 are all connected to the input end of the robot mainboard 104 , and the output end of the robot mainboard 104 is connected to the input end of the bionic arm 103 .

[0026] The gas sensor 306 is used to monitor SF6 gas, and the vehicle body 101 adopts an AGV chassis or a wire-controlled chassis.

[0027] like Figure 1 and 3 As shown, the obstacle avoidance sensor 304 uses the ultrasonic principle to detect obstacles in the path of the vehicle 101, so that the vehicle 101 can avoid obstacles and ensure the safety of movement. The SLAM laser navigation 105 can not only navigate the route but also collect new routes. The bracket 301 uses a pan-tilt head, which can easily adjust the monitoring position of the infrared thermal imager 302 and the infrared camera 303.

[0028] A control method for a remote control system of a dexterous hand robot for substation equipment inspection, the control method comprising the following steps: A. First, the inspection route is set through the SLAM laser navigation 105. The SLAM laser navigation 105 enables the inspection robot to operate and navigate independently, reducing manual intervention. The vehicle body 101 checks the equipment in the substation with the live data collection component 3 according to the navigation route provided by the SLAM laser navigation 105. The obstacle avoidance sensor 304 monitors obstacles through the ultrasonic principle during the movement of the vehicle body 101, thereby ensuring the safe movement of the inspection robot; B. The infrared thermal imager 302 uses the characteristics of infrared radiation to scan and monitor the equipment, the infrared camera 303 takes pictures and records the inspection environment and equipment, the temperature and humidity sensor 305 monitors the ambient temperature in the substation, and the gas sensor 306 monitors the concentration of SF6 gas in the substation. The infrared thermal imager 302, the infrared camera 303, the obstacle avoidance sensor 304, the temperature and humidity sensor 305 and the gas sensor 306 send the monitoring data to the robot main board 104, the robot main board 104 summarizes and analyzes the monitoring data, so as to judge the monitoring results. The robot main board 104 transmits the monitoring results to the remote control main board 202 through the wireless signal of the communication module 205, and the remote control main board 202 can display the monitoring results through the display 204; C. When manual assistance is required for the inspection robot to perform on-site processing operations, the control handle 203 is manipulated to operate the inspection robot according to the on-site image information displayed on the display 204. When the control handle 203 is operated, the remote control mainboard 202 sends the operation signal to the robot mainboard 104 through the communication module 205. The robot mainboard 104 controls the bionic arm 103 to perform switch operations or control the vehicle body 101 to move. The infrared camera 303 transmits the real-time image to the display 204 through the robot mainboard 104, the communication module 205 and the remote control mainboard 202, thereby facilitating remote control by the staff.

[0029] The standard parts used in this application document can all be purchased from the market and can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented through simple programming by technicians in this field, which is common knowledge in the field. This application is mainly used to protect mechanical devices, so this application no longer explains the control method and circuit connection in detail.

[0030] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0031] 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 remote control system for a dexterous hand robot for substation equipment inspection, comprising a mobile component (1) and a control component (2), characterized in that: The mobile component (1) comprises a vehicle body (101), a robot body (102), a bionic arm (103), a robot main board (104) and a SLAM laser navigation system (105); the robot main board (104) is used to receive and process signals; the bionic arm (103) is used for switch operation; the vehicle body (101) is used to provide movement; the SLAM laser navigation system (105) is used for route navigation; a collection component (3) is installed on the top of the robot body (102); the collection component (3) comprises a bracket (301), an infrared thermal imager (302), an infrared camera (303), an obstacle avoidance sensor (304), a temperature and humidity sensor (305) and a gas sensor (306); the bracket (301) is installed on the robot body (10 2), the infrared thermal imager (302) and the infrared camera (303) are respectively installed on both sides of the bracket (301), the acquisition component (3) is used for field data acquisition, the control component (2) comprises a housing (201), a remote control mainboard (202), a control handle (203), a display (204) and a communication module (205), the output end of the control handle (203) is connected to the input end of the remote control mainboard (202), the output end of the remote control mainboard (202) is connected to the input end of the display (204), the output end and input end of the remote control mainboard (202) are interconnected with the output end and input end of the communication module (205), and the output end and input end of the communication module (205) are interconnected with the input end and output end of the robot mainboard (104).

2. A remote control system for substation equipment inspection dexterous hand robot according to claim 1, characterized in that: The remote control mainboard (202) is fixed to the inner cavity of the housing (201), the control handle (203) and the display (204) are both installed on the top of the housing (201), and the communication module (205) is a wireless antenna.

3. A remote control system for substation equipment inspection dexterous hand robot according to claim 1, characterized in that: The number of the bionic arms (103) is two and they are respectively installed on both sides of the robot body (102); the SLAM laser navigation (105) is fixed on the front of the robot body (102); and the robot main board (104) is fixed to the inner cavity of the vehicle body (101).

4. A remote control system for substation equipment inspection dexterous hand robot according to claim 1, characterized in that: The obstacle avoidance sensors (304) are multiple in number and are respectively installed around the vehicle body (101); the temperature and humidity sensor (305) and the gas sensor (306) are respectively installed at the front end and the rear end of the top of the moving component (1).

5. A remote control system for substation equipment inspection dexterous hand robot according to claim 1, characterized in that: The output ends of the infrared thermal imager (302), the infrared camera (303), the obstacle avoidance sensor (304), the temperature and humidity sensor (305), the gas sensor (306), and the SLAM laser navigation (105) are all connected to the input end of the robot mainboard (104), and the output end of the robot mainboard (104) is connected to the input end of the bionic arm (103).

6. A remote control system for substation equipment inspection dexterous hand robot according to claim 1, characterized in that: The gas sensor (306) is used to monitor SF6 gas, and the vehicle body (101) adopts an AGV chassis or a wire-controlled chassis.

7. The control method of a remote control system of a substation equipment inspection dexterous hand robot according to any one of claims 1 to 6, characterized in that: The control method includes the following steps: A. First, the inspection route is set through SLAM laser navigation (105). The SLAM laser navigation (105) enables the inspection robot to operate and navigate independently, reducing human intervention. The vehicle body (101) checks the equipment in the substation with the live data collection component (3) according to the navigation route provided by the SLAM laser navigation (105). The obstacle avoidance sensor (304) monitors obstacles through the ultrasonic principle during the movement of the vehicle body (101), thereby ensuring the safe movement of the inspection robot. B. The infrared thermal imager (302) uses the characteristics of infrared radiation to scan and monitor the equipment, the infrared camera (303) takes pictures and records the inspection environment and equipment, the temperature and humidity sensor (305) monitors the ambient temperature in the substation, and the gas sensor (306) monitors the concentration of SF6 gas in the substation. The infrared thermal imager (302), the infrared camera (303), the obstacle avoidance sensor (304), the temperature and humidity sensor (305) and the gas sensor (306) send the monitoring data to the robot main board (104), the robot main board (104) summarizes and analyzes the monitoring data, so as to determine the monitoring results. The robot main board (104) transmits the monitoring results to the remote control main board (202) through the wireless signal of the communication module (205), and the remote control main board (202) can display the monitoring results through the display (204); C. When manual assistance is required for the inspection robot to perform on-site processing operations, the control handle (203) is manipulated to operate the inspection robot according to the on-site image information displayed on the display (204). When the control handle (203) is manipulated, the remote control mainboard (202) sends an operation signal to the robot mainboard (104) through the communication module (205). The robot mainboard (104) controls the bionic arm (103) to perform switch operations or controls the vehicle body (101) to move. The infrared camera (303) transmits the real-time image to the display (204) through the robot mainboard (104), the communication module (205) and the remote control mainboard (202), thereby facilitating remote control by the staff.

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