Alarm system of substation inspection robot

Abstract

The utility model discloses a transformer substation inspection robot alarm system. The transformer substation inspection robot alarm system comprises a robot body, a trailer, a controller, an image recognition module, an infrared temperature sensor and an alarm mechanism. The trailer is connected with the tail of the robot body and moves along with the robot body. The image recognition module is arranged at the top of the robot body and used for obtaining images around the robot body and transmitting image information to the controller. The infrared temperature sensor is arranged at the top of the robot body and used for monitoring the temperature around the robot body and transmitting temperature information to the controller. The spraying mechanism is used for spraying out a fire extinguishing agent. The alarm mechanism is arranged on the trailer. The controller controls the spraying mechanism and the alarm mechanism to work based on the image information and the temperature information. The technical scheme provided by the utility model not only can give an alarm in time, but also can handle the fire in time, and effectively plays a role in replacing manual inspection.

Description

Technical Field

[0001] The present application relates to the technical field of substation inspection, and in particular to a substation inspection robot alarm system. Background Art

[0002] At present, manual inspection is usually used to inspect substation equipment in order to promptly detect abnormal conditions in the substation and ensure the safe and stable operation of the substation. However, manual inspection consumes a lot of manpower and material resources, and is affected by weather, and the staff presence rate cannot be guaranteed.

[0003] In existing technology, inspection robots are being used to replace manual inspections. The principle is that substation inspection robots, equipped with image recognition modules, infrared temperature sensors, and other detection equipment, inspect substations, replacing manual inspections. Currently, inspection robots are unable to immediately respond to fires, leading to fires getting out of control and failing to effectively replace manual inspections. Utility Model Content

[0004] The present application provides a substation inspection robot alarm system. The technical solution provided by the present application can not only give an immediate alarm, but also handle fire situations immediately, effectively replacing manual inspections.

[0005] To achieve the above objectives, this application provides the following technical solutions:

[0006] The present application provides a substation inspection robot alarm system, including a robot body, a trailer, a controller, an image recognition module, an infrared temperature sensor and an alarm mechanism.

[0007] The trailer is connected to the rear of the robot body and moves with it. A controller is located within the robot body. An image recognition module is located on top of the robot body and is used to capture images of the robot's surroundings and transmit this information to the controller. An infrared temperature sensor is located on top of the robot body and is used to monitor the temperature around the robot body and transmit this information to the controller. A spray mechanism is located on the trailer and is in communication with the controller. This spray mechanism is used to spray fire extinguishing agent. An alarm mechanism is located on the trailer and is in communication with the controller. The controller controls the operation of the spray mechanism and the alarm mechanism based on image and temperature information.

[0008] In the above solution, the substation inspection robot alarm system can be used to detect and handle fires during routine substation inspections. The robot itself drives a trailer, allowing it to patrol the substation. During the inspection process, the image recognition module and infrared temperature sensor perform image acquisition and temperature monitoring at the inspection location. The controller is programmed to control the spray mechanism and alarm mechanism when it detects fire images and high temperature information. The spray mechanism sprays fire extinguishing agent toward the fire, immediately reducing the risk of the fire. The alarm mechanism provides audible and visual alarms to alert personnel to quickly extinguish the fire.

[0009] According to some embodiments of the present application, a turntable is provided on the top of the robot body, and the image recognition module and the infrared temperature sensor are stacked on the turntable along the height direction, and the image recognition module and the infrared temperature sensor rotate along with the turntable.

[0010] In the above scheme, the image recognition module's visual recognition direction aligns with the infrared temperature sensor's detection direction. By rotating the turntable, the robot can simultaneously capture images and monitor temperature around the robot body, effectively expanding the inspection range of the patrol robot and improving the success rate of fire alarms. For example, a drive motor is provided within the robot body, controlled by a controller. Driven by the drive motor, the image recognition module and infrared temperature sensor can rotate at a speed of 10 revolutions per minute. The image recognition module can be an industrial camera that can capture image information at a rate of 30 times per minute. When the controller identifies the image information as flames, it compares the temperature information at the corresponding time of the image information to determine whether it is a fire. If so, the controller controls the robot body to move toward the fire, with its head facing downward, thereby spraying fire extinguishing agent toward the fire through the spray mechanism.

[0011] According to some embodiments of the present application, the spraying mechanism includes a storage box, a pump, a hose, and a spray head;

[0012] The nozzle is arranged on the top of the robot body and is arranged in the direction of movement of the robot body; the storage box is fixed to the trailer, the storage box contains fire extinguishing agent, and the pump is arranged inside the storage box, and the pump is connected to the nozzle through a hose;

[0013] The controller is connected to the pump for controlling the operation of the pump.

[0014] In the above solution, when the controller determines that a fire is occurring, the controller controls the pump so that the fire extinguishing agent in the storage box is sprayed out from the nozzle.

[0015] According to some embodiments of the present application, the trailer is provided with two spaced-apart support ears, and the nozzle is rotatably disposed between the two support ears.

[0016] The substation inspection robot alarm system also includes an angle adjuster, which is connected to the sprinkler head and is communicatively connected to the controller for adjusting the pitch angle of the sprinkler head.

[0017] In the above scheme, by setting an angle adjuster, the nozzle can be rotated relative to the lug, thereby adjusting the pitch angle of the nozzle, so that the fire extinguishing agent can be sprayed to different positions, thereby improving the efficiency of fire extinguishing. In some embodiments, the angle adjuster may include a servo motor, and the controller controls the rotation angle of the servo motor to adjust the pitch angle of the nozzle. Exemplarily, when the image information obtained by the controller is identified as a flame, by comparing the temperature information at the corresponding time of the image information to determine that it is a fire, the controller determines the height of the fire based on the image information to calculate the angle between the current robot body and the fire, and the controller controls the angle adjuster so that the nozzle sprays the fire extinguishing agent corresponding to the angle.

[0018] According to some embodiments of the present application, the substation inspection robot alarm system further includes a fire extinguishing agent storage tank, wherein the fire extinguishing agent storage tank stores high-pressure fire extinguishing agent, and the fire extinguishing agent storage tank is provided with a solenoid valve, which is connected to the storage box via a hose;

[0019] The controller has a wireless module, and controls the solenoid valve through the wireless module so that the fire extinguishing agent storage tank provides the fire extinguishing agent to the storage box.

[0020] In the above solution, the storage box and the fire extinguishing agent storage tank are connected by a hose, so that the spray mechanism can continuously spray out the fire extinguishing agent, reducing the risk of being unable to extinguish the fire due to insufficient fire extinguishing agent in the storage box, so that the substation inspection robot alarm system has a higher fire extinguishing capability.

[0021] According to some embodiments of the present application, a liquid level sensor is provided in the storage box, and the liquid level sensor is used to monitor the amount of fire extinguishing agent in the storage box. The liquid level sensor is communicatively connected to the controller.

[0022] In the above solution, when the liquid level sensor detects that the fire extinguishing agent in the storage box is lower than a certain amount, it can send a liquid level signal to the controller, and the controller can open the solenoid valve based on the liquid level signal to replenish the fire extinguishing agent into the storage box.

[0023] According to some embodiments of the present application, the alarm mechanism includes an audible and visual alarm, which is used to emit an alarm sound and a warning light.

[0024] According to some embodiments of the present application, the alarm mechanism further includes a transmission module, and the controller wirelessly transmits the image information and temperature information to the remote monitoring terminal through the transmission module.

[0025] In the above solution, when the image information obtained by the controller is identified as flames, the controller can wirelessly transmit the image information and temperature information to a remote monitoring terminal via a transmission module to generate an alarm by comparing the image information with the temperature information at the corresponding time. In some embodiments, the transmission module can include a WiFi module, a wireless Bluetooth module, a ZigBee module, etc.

[0026] According to some embodiments of the present application, a battery is provided at the bottom of the trailer, and the battery is used for power supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 This is a schematic diagram of a substation inspection robot alarm system in some embodiments of the present application;

[0029] Figure 2 This is a diagram showing the working principle of the substation inspection robot alarm system in some embodiments of the present application.

[0030] Icons: 10-robot body, 11-turntable, 20-trailer, 21-ear, 22-angle adjuster, 30-controller, 40-image recognition module, 50-infrared temperature sensor, 60-injection mechanism, 61-storage box, 62-pump, 63-hose, 64-spray head, 65-liquid level sensor, 70-alarm mechanism, 71-sound and light alarm, 80-fire extinguishing agent storage tank, 90-solenoid valve, 100-battery. DETAILED DESCRIPTION

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0034] In the description of the embodiments of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0035] In the description of the embodiments of this application, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0036] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0037] See Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of a substation inspection robot alarm system in some embodiments of the present application. Figure 2 This is a diagram showing the working principle of the substation inspection robot alarm system in some embodiments of the present application.

[0038] The substation inspection robot alarm system includes a robot body 10 , a trailer 20 , a controller 30 , an image recognition module 40 , an infrared temperature sensor 50 , a spray mechanism 60 and an alarm mechanism 70 .

[0039] The trailer 20 is connected to the rear of the robot body 10 and moves with the robot body 10. The controller 30 is disposed inside the robot body 10. The image recognition module 40 is disposed on the top of the robot body 10 and is used to obtain an image of the area around the robot body 10 and transmit the image information to the controller 30. The infrared temperature sensor 50 is disposed on the top of the robot body 10 and is used to monitor the temperature around the robot body 10 and transmit the temperature information to the controller 30. The spray mechanism 60 is disposed on the trailer 20 and is in communication with the controller 30. The spray mechanism 60 is used to spray a fire extinguishing agent. The alarm mechanism 70 is disposed on the trailer 20 and is in communication with the controller 30. The controller 30 controls the operation of the spray mechanism 60 and the alarm mechanism 70 based on the image information and the temperature information.

[0040] In some embodiments, the robot body 10 may comprise an unmanned vehicle known in the art, which can travel along a predefined path. For example, a program may be built into the controller 30 to cause the robot body 10 to travel along the path required for inspection at the substation. In some embodiments, the robot body 10 may be an AGV (Automated Guided Vehicle) purchased commercially.

[0041] The controller 30 may include an editable logic controller 30. In some embodiments, the controller 30 may control the walking state of the robot body 10, such as forward, backward, turning, braking, etc.

[0042] In some embodiments, the communication connection between the controller 30 and the image recognition module 40, the infrared temperature sensor 50, the spray mechanism 60, and the alarm mechanism 70 includes, but is not limited to, a wired connection or a wireless connection. When a wireless connection is used, the type of wireless communication may include WiFi, wireless Bluetooth, or ZigBee.

[0043] The trailer 20 may be a trailer truck, which may be attached to the rear of the robot body 10 via bolts, brackets, or other structural components to move with the robot body 10. In some embodiments, the trailer 20 may be equipped with a battery 100, which may provide power to the robot body 10 and electrical components used during the inspection process.

[0044] In some embodiments, the image recognition module 40 may be an industrial camera that captures images by video recording. The controller 30 may have a built-in image recognition program that recognizes the captured images. Alternatively, the controller 30 may be wirelessly connected to a cloud server to transmit the image information captured by the image recognition module 40 to the cloud server for image recognition.

[0045] In the above scheme, the substation inspection robot alarm system can be used to detect and handle fire alarms during routine inspections of substations. The robot body 10 is used to drive the trailer 20 to conduct inspections in the substation. During the inspection process, the image recognition module 40 and the infrared temperature sensor 50 perform image acquisition and temperature monitoring at the inspection position. The controller 30 has a built-in program to control the operation of the spray mechanism 60 and the alarm mechanism 70 when the fire image and high temperature information are obtained. The spray mechanism 60 can spray fire extinguishing agent toward the fire, immediately reducing the damage caused by the fire. The alarm mechanism 70 can generate sound and light alarms to remind staff to quickly resist the fire and extinguish it.

[0046] According to some embodiments of the present application, a turntable 11 is provided on the top of the robot body 10. The image recognition module 40 and the infrared temperature sensor 50 are stacked on the turntable 11 along the height direction, and the image recognition module 40 and the infrared temperature sensor 50 rotate with the turntable 11.

[0047] In some embodiments, the fire extinguishing agent sprayed by the spray mechanism 60 may include a fire extinguishing agent that can be used for electrical fires, such as a carbon dioxide fire extinguisher.

[0048] In the above scheme, the visual recognition direction of the image recognition module 40 and the detection direction of the infrared temperature sensor 50 are consistent. Through the rotation of the turntable 11, the robot body 10 can simultaneously capture images and monitor the temperature, effectively expanding the inspection range of the inspection robot and improving the success rate of fire alarms. For example, a drive motor is provided within the robot body 10, which is controlled by the controller 30. Driven by the drive motor, the image recognition module 40 and the infrared temperature sensor 50 can rotate at a speed of 10 revolutions per minute. The image recognition module 40 can be an industrial camera that can capture image information at a frequency of 30 times per minute. When the image information captured by the controller 30 is identified as a flame, the temperature information corresponding to the image information is compared to determine whether it is a fire. If so, the controller 30 controls the robot body 10 to move toward the fire, with the robot body 10 facing downward toward the fire, thereby spraying fire extinguishing agent toward the fire through the spray mechanism 60.

[0049] According to some embodiments of the present application, the spray mechanism 60 includes a storage box 61, a pump 62, a hose 63, and a nozzle 64. The nozzle 64 is disposed on the top of the robot body 10 and is positioned in the direction of travel of the robot body 10. The storage box 61 is fixed to the trailer 20 and contains fire extinguishing agent. The pump 62 is disposed inside the storage box 61 and is connected to the nozzle 64 via the hose 63. The controller 30 is in communication with the pump 62 to control the operation of the pump 62.

[0050] In the above solution, when the controller 30 determines that a fire is occurring, the pump 62 is controlled so that the fire extinguishing agent in the storage box 61 is sprayed out from the nozzle 64 .

[0051] According to some embodiments of the present application, the trailer 20 is provided with two spaced-apart lugs 21, and the nozzle 64 is rotatably disposed between the two lugs 21. The substation inspection robot alarm system also includes an angle adjuster 22, which is connected to the nozzle 64 and is in communication with the controller 30 for adjusting the pitch angle of the nozzle 64.

[0052] In the above solution, by providing the angle adjuster 22, the nozzle 64 can be rotated relative to the lug 21, thereby adjusting the pitch angle of the nozzle 64, so that the fire extinguishing agent can be sprayed to different positions, thereby improving the efficiency of fire extinguishing. In some embodiments, the angle adjuster 22 may include a servo motor, and the controller 30 controls the rotation angle of the servo motor to adjust the pitch angle of the nozzle 64. Exemplarily, when the image information obtained by the controller 30 is identified as a flame, by comparing the temperature information corresponding to the time of the image information to determine that it is a fire, the controller 30 determines the height of the fire based on the image information to calculate the angle between the current robot body 10 and the fire. The controller 30 controls the angle adjuster 22 so that the nozzle 64 sprays the fire extinguishing agent corresponding to the angle.

[0053] According to some embodiments of the present application, the substation inspection robot alarm system further includes a fire extinguishing agent storage tank 80 , which stores high-pressure fire extinguishing agent. The fire extinguishing agent storage tank 80 is provided with a solenoid valve 90 , which is connected to the storage box 61 via a hose 63 ;

[0054] The controller 30 has a wireless module, and the controller 30 controls the solenoid valve 90 through the wireless module so that the fire extinguishing agent storage tank 80 supplies the fire extinguishing agent to the storage box 61 .

[0055] In the above scheme, the storage box 61 and the fire extinguishing agent storage tank 80 are connected by a hose 63, so that the injection mechanism 60 can continuously spray out the fire extinguishing agent, reducing the risk of being unable to extinguish the fire due to insufficient fire extinguishing agent in the storage box 61, so that the substation inspection robot alarm system has a higher fire extinguishing capability.

[0056] According to some embodiments of the present application, a liquid level sensor 65 is provided in the storage box 61 . The liquid level sensor 65 is used to monitor the amount of the fire extinguishing agent in the storage box 61 . The liquid level sensor 65 is communicatively connected to the controller 30 .

[0057] In the above solution, when the liquid level sensor 65 detects that the fire extinguishing agent in the storage box 61 is lower than a certain amount, it can send a liquid level signal to the controller 30. The controller 30 can open the solenoid valve 90 based on the liquid level signal to replenish the fire extinguishing agent in the storage box 61.

[0058] According to some embodiments of the present application, the alarm mechanism 70 includes an audible and visual alarm 71, which is used to emit an alarm sound and a warning light.

[0059] According to some embodiments of the present application, the alarm mechanism 70 further includes a transmission module, and the controller 30 wirelessly transmits the image information and temperature information to the remote monitoring terminal through the transmission module.

[0060] In the above solution, when the image information acquired by the controller 30 is identified as flames, the controller 30 can wirelessly transmit the image information and temperature information to a remote monitoring terminal via a transmission module to generate an alarm by comparing the image information with the temperature information at the corresponding time. In some embodiments, the transmission module can include a WiFi module, a wireless Bluetooth module, a ZigBee module, etc.

[0061] According to some embodiments of the present application, a battery 100 is provided at the bottom of the trailer 20, and the battery 100 is used for power supply.

[0062] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A substation inspection robot alarm system, characterized in that: include: Robot body; A trailer connected to the tail of the robot body and moving with the robot body; A controller is disposed inside the robot body; An image recognition module is provided on the top of the robot body, and is used to obtain an image of the robot body and its surroundings and transmit the image information to the controller; an infrared temperature sensor, disposed on the top of the robot body, for monitoring the temperature around the robot body and transmitting temperature information to the controller; a spraying mechanism, provided on the trailer and communicatively connected to the controller, the spraying mechanism being used to spray a fire extinguishing agent; as well as An alarm mechanism is provided on the trailer and is in communication with the controller; The controller controls the operation of the spray mechanism and the alarm mechanism based on the image information and the temperature information.

2. The substation inspection robot alarm system according to claim 1 is characterized in that: A turntable is provided on the top of the robot body. The image recognition module and the infrared temperature sensor are stacked on the turntable along the height direction, and the image recognition module and the infrared temperature sensor rotate along with the turntable.

3. The substation inspection robot alarm system according to claim 1 is characterized in that: The spraying mechanism includes a storage box, a pump, a hose and a spray head; The nozzle is arranged on the top of the robot body and is arranged toward the walking direction of the robot body; the storage box is fixed to the trailer, the storage box contains fire extinguishing agent, and the pump is arranged inside the storage box, and the pump is connected to the nozzle through a hose; The controller is in communication with the pump and is used to control the operation of the pump.

4. The substation inspection robot alarm system according to claim 3 is characterized in that: The trailer is provided with two spaced-apart supporting ears, and the nozzle is rotatably arranged between the two supporting ears; The substation inspection robot alarm system further includes an angle adjuster, which is connected to the nozzle and is communicatively connected to the controller for adjusting the pitch angle of the nozzle.

5. The substation inspection robot alarm system according to claim 3 is characterized in that: The substation inspection robot alarm system further includes a fire extinguishing agent storage tank, wherein the fire extinguishing agent storage tank stores high-pressure fire extinguishing agent, and the fire extinguishing agent storage tank is provided with a solenoid valve, and the solenoid valve is connected to the storage box through a hose; The controller has a wireless module, and controls the solenoid valve through the wireless module so that the fire extinguishing agent storage tank supplies the fire extinguishing agent to the storage box.

6. The substation inspection robot alarm system according to claim 5, characterized in that: The storage box is provided with a liquid level sensor, which is used to monitor the amount of the fire extinguishing agent in the storage box. The liquid level sensor is communicatively connected with the controller.

7. The substation inspection robot alarm system according to any one of claims 1 to 6, characterized in that: The alarm mechanism includes an audible and visual alarm, which is used to emit an alarm sound and a warning light.

8. The substation inspection robot alarm system according to claim 7, characterized in that: The alarm mechanism further includes a transmission module, and the controller wirelessly transmits the image information and the temperature information to a remote monitoring terminal via the transmission module.

9. The substation inspection robot alarm system according to any one of claims 1 to 6, characterized in that: A battery is provided at the bottom of the trailer, and the battery is used for supplying power.

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