Trackless inspection robot

Abstract

The utility model discloses a trackless inspection robot, and belongs to the technical field of electrochemical energy storage power stations. The trackless inspection robot comprises a walking mechanism, the walking mechanism comprises a frame chassis, first walking wheels and second walking wheels, the two first walking wheels are rotationally arranged at the front end of the frame chassis, and the two second walking wheels are rotationally arranged at the rear end of the frame chassis; the vehicle body is obliquely arranged on the vehicle frame chassis; the detection unit comprises a gas concentration sensor, a humidity sensor and a vibration sensor, the humidity sensor is arranged at the upper end of the vehicle body, and the gas concentration sensor and the vibration sensor are arranged on the side wall of the vehicle body; and the gas concentration sensor is used for detecting the concentration of oxygen or sulfur hexafluoride in the air. According to the utility model, the manual dependence is reduced and the inspection efficiency of the electrochemical energy storage power station is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to electrochemical energy storage power station technical field especially relates to a trackless inspection robot. BACKGROUND

[0002] The main principle of electrochemical energy storage power station is to convert electric energy into chemical energy through electrochemical reaction and store it up, and then convert the stored chemical energy back into electric energy when needed. This conversion process mainly depends on the properties of electrode materials and electrolyte. Common electrode materials include metal oxides, carbon materials, alloys, etc. These materials will undergo oxidation-reduction reaction during charging and discharging, thereby realizing the storage and release of electric energy. Electrolyte plays a role in transferring ions in the electrochemical energy storage process. The positive and negative materials exchange ions and transfer electrons through the electrolyte to realize the storage and release of electric energy.

[0003] The safety of electrochemical energy storage power station is one of the problems that need to be focused on in the application process, and safety monitoring and management need to be strengthened to ensure the safe operation of the power station.

[0004] The existing electrochemical energy storage power station inspection process mainly relies on manual inspection, and the means is single, which cannot capture multi-dimensional data in equipment operation in time, affecting the operation efficiency and safety of the power system.

[0005] Therefore, it is urgent to provide a trackless inspection robot to solve the above problems. UTILITY MODEL CONTENT

[0006] The utility model aims at providing a trackless inspection robot to reduce the dependence on manual work and improve the inspection efficiency of electrochemical energy storage power station.

[0007] To achieve the above purpose, the following technical scheme is provided:

[0008] The trackless inspection robot comprises:

[0009] The walking mechanism comprises a vehicle chassis, first walking wheels and second walking wheels, two first walking wheels are rotationally arranged at the front end of the vehicle chassis, and two second walking wheels are rotationally arranged at the rear end of the vehicle chassis.

[0010] The vehicle body is obliquely arranged on the vehicle chassis.

[0011] The detection unit comprises a gas concentration sensor, a humidity sensor and a vibration sensor, the humidity sensor is arranged at the upper end of the vehicle body, the gas concentration sensor and the vibration sensor are arranged on the side wall of the vehicle body, and the gas concentration sensor is used for detecting the concentration of oxygen or sulfur hexafluoride in the air.

[0012] As an optional solution of the trackless inspection robot, the detection unit further comprises:

[0013] An infrared thermal imager is arranged on the side wall of the vehicle body, and is used for detecting the temperature of equipment.

[0014] As an optional solution of the trackless inspection robot, the detection unit further comprises a noise sensor arranged on the side wall of the vehicle body.

[0015] As an optional solution of the trackless inspection robot, the gas concentration sensor and the noise sensor are located on one side of the vehicle body, and the vibration sensor and the infrared thermal imager are located on the other side of the vehicle body.

[0016] As an optional solution of the trackless inspection robot, the trackless inspection robot further comprises a communication module arranged on the front wall of the vehicle body, and the communication module comprises a loudspeaker and a microphone.

[0017] As an optional solution of the trackless inspection robot, the trackless inspection robot further comprises a camera and a mounting bracket, a first end of the mounting bracket is fixedly connected with the vehicle body, and the camera is arranged on a second end of the mounting bracket.

[0018] As an optional solution of the trackless inspection robot, the trackless inspection robot further comprises a navigation module arranged on the second end of the mounting bracket.

[0019] As an optional solution of the trackless inspection robot, the trackless inspection robot further comprises a T-shaped mounting frame, an anemometer and a wind vane, the T-shaped mounting frame comprises a vertical rod and a horizontal rod connected vertically, the vertical rod is connected with the vehicle body, the anemometer and the wind vane are arranged at two ends of the horizontal rod respectively, the anemometer is used for monitoring wind speed, and the wind vane is used for monitoring wind direction.

[0020] As an optional solution of the trackless inspection robot, the trackless inspection robot further comprises an antenna arranged on the upper end of the vehicle body.

[0021] As an optional solution of the trackless inspection robot, the trackless inspection robot further comprises a battery cabin arranged in the vehicle body.

[0022] Compared with the prior art, the utility model has the beneficial effects that:

[0023] The trackless inspection robot provided by the utility model, the vehicle body is obliquely installed on the chassis of the walking mechanism, on the one hand, the area occupied by the vehicle body of the robot can be reduced, and on the other hand, the cleanliness of the vehicle body is ensured by helping the particles to fall on the vehicle body. The gas concentration sensor, the humidity sensor and the vibration sensor of the detection unit are installed on the vehicle body, the detection unit can capture multi-dimensional data in the operation of the equipment in time, the gas concentration sensor is used for detecting the concentration of oxygen or sulfur hexafluoride in the air, and is used for discovering the dangerous area or the gas leakage point in time; the humidity sensor helps the operation and maintenance personnel to intuitively understand the humidity condition around the equipment; the vibration sensor can collect the vibration data of the equipment in real time, and analyze the vibration frequency and amplitude, the function helps to identify the possible mechanical abnormality, equipment fatigue or failure trend, and provides a reference for the operation and maintenance personnel, so that maintenance and repair can be carried out in time. The walking mechanism can drive the detection unit to carry out inspection on the electrochemical energy storage power station, reduces the artificial dependence, and improves the electrochemical energy storage power station inspection efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme in the embodiments of the utility model, the drawings needed to be used in the description of the embodiments of the utility model will be briefly introduced, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to the contents of the embodiments of the utility model and these drawings for the ordinary skilled in the art without paying creative labor.

[0025] Fig. 1 It is the front view of the trackless inspection robot in the embodiments of the utility model;

[0026] Fig. 2 It is the side view of the trackless inspection robot in the embodiments of the utility model;

[0027] Fig. 3 It is the top view of the trackless inspection robot in the embodiments of the utility model.

[0028] Signs:

[0029] 1, walking mechanism;2, vehicle body;3, detection unit;4, talk module;5, camera;6, mounting bracket;7, navigation module;8, anemometer;9, T-shaped mounting bracket;10, wind vane;11, antenna;

[0030] 101, chassis;102, first walking wheel;103, second walking wheel;

[0031] 301, gas concentration sensor;302, humidity sensor;303, vibration sensor;304, infrared thermal imager;305, noise sensor;

[0032] 901 vertical rod; 902 horizontal rod. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. 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.

[0034] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships in which the product of the present application is usually placed during use, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third", etc. are only used for differentiation in description, and cannot be understood as indicating or implying relative importance. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0035] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided", "connected" should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected. For ordinary skilled persons in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0036] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0037] In order to reduce the dependence on manual work and improve the inspection efficiency of the electrochemical energy storage power station, the present embodiment provides a trackless inspection robot, which will be described below in combination with Figs. 1 to 3 The specific content of the present embodiment will be described in detail. It should be noted that the electrochemical energy storage power station mentioned in the present embodiment has an EMS (Energy Management System) energy management system.

[0038] As Fig. 1 In combination withFig. 2 As shown, the trackless inspection robot in the embodiment includes a walking mechanism 1, a vehicle body 2 and a detection unit 3. The walking mechanism 1 includes a vehicle frame chassis 101, first walking wheels 102 and second walking wheels 103, two first walking wheels 102 are rotatably arranged at the front end of the vehicle frame chassis 101, and two second walking wheels 103 are rotatably arranged at the rear end of the vehicle frame chassis 101. The vehicle body 2 is obliquely arranged on the vehicle frame chassis 101. The detection unit 3 includes a gas concentration sensor 301, a humidity sensor 302 and a vibration sensor 303, the humidity sensor 302 is arranged at the upper end of the vehicle body 2, and the gas concentration sensor 301 and the vibration sensor 303 are arranged on the side wall of the vehicle body 2, and the gas concentration sensor 301 is used for detecting the concentration of oxygen or sulfur hexafluoride in the air.

[0039] Briefly, the trackless inspection robot provided by the utility model, the vehicle body 2 is obliquely installed on the vehicle frame chassis 101 of the walking mechanism 1, which can reduce the area occupied by the vehicle body 2 of the robot on one hand, and help the particulate matter to fall on the vehicle body 2 on the other hand, thereby ensuring the cleanliness of the vehicle body 2. The gas concentration sensor 301, the humidity sensor 302 and the vibration sensor 303 of the detection unit 3 are installed on the vehicle body 2, the detection unit 3 can timely capture multi-dimensional data in the operation of the equipment, the gas concentration sensor 301 is used for detecting the concentration of oxygen or sulfur hexafluoride in the air, which is used for timely discovering dangerous areas or gas leakage points; the humidity sensor 302 helps the operation and maintenance personnel to intuitively understand the humidity condition around the equipment; the vibration sensor 303 can collect vibration data of the equipment in real time, analyze the vibration frequency and amplitude, which helps to identify possible mechanical abnormalities, equipment fatigue or failure trends, and provides a reference for the operation and maintenance personnel, so as to timely maintain and repair. The walking mechanism 1 can drive the detection unit 3 to inspect the electrochemical energy storage power station, reduce the dependence on manual operation, and improve the inspection efficiency of the electrochemical energy storage power station.

[0040] Further, the detection unit 3 further includes an infrared thermal imager 304, the infrared thermal imager 304 is arranged on the side wall of the vehicle body 2, and the infrared thermal imager 304 is used for detecting the temperature of the equipment.

[0041] The trackless inspection robot is equipped with a high-precision infrared thermal imager 304, which is used for non-contact measurement of the surface temperature of the key equipment (such as the battery system, the energy storage converter and the transformer) in the electrochemical energy storage power station. The infrared thermal imaging technology generates a thermal map based on the infrared energy radiated by different objects, accurately captures temperature changes, and can generate a thermal map of temperature distribution through intelligent analysis, display the dynamic state of the equipment temperature, and help the operation and maintenance personnel to quickly locate the overheating point or temperature difference anomaly. The temperature data uploaded to the EMS system in real time is continuously monitored and trend analyzed, so that the equipment can operate within the set temperature range, thereby reducing the failure rate and safety hazards.

[0042] The trackless inspection robot is equipped with a humidity sensor 302 for monitoring the humidity level around the equipment in the electrochemical energy storage power station. Real-time humidity data is collected and uploaded to the EMS system, and a humidity distribution map is generated through processing, helping operators to intuitively understand the humidity conditions around the equipment, especially in areas with abnormal humidity. This function can be used to prevent equipment from being damp, short-circuiting, or other potential risks caused by humidity changes, ensuring the safety and normal operation of the equipment.

[0043] The trackless inspection robot is equipped with a gas concentration sensor 301 (such as an SF6 leakage sensor and an oxygen concentration sensor), which uses electrochemical reaction or infrared absorption principle to detect the concentration of key gases and upload data to the EMS system. Through visual processing of gas concentration data, a gas concentration distribution map is generated to intuitively display the gas concentration at different locations in the monitoring area. This function helps operators quickly identify potential gas leakage points or dangerous areas and take preventive measures in a timely manner to ensure the safety of equipment and personnel. The trackless inspection robot monitors the vibration conditions of key equipment (such as transformers) in the power station through a vibration sensor 303.

[0044] Further, the detection unit 3 also includes a noise sensor 305 arranged on the side wall of the vehicle body 2. Large electrical equipment in the power station, such as switch rooms and transformers, will produce noise when running. Through the noise sensor, the robot can monitor the running sound of these devices and identify abnormal noise through frequency domain and time domain analysis to predict equipment failure.

[0045] For example, the gas concentration sensor 301 and the noise sensor 305 are located on one side of the vehicle body 2, and the vibration sensor 303 and the infrared thermal imager 304 are located on the other side of the vehicle body 2. By installing the four sensors on the left and right sides of the vehicle body 2, the gravity balance of the trackless inspection robot on the left and right sides is ensured, avoiding imbalance during walking.

[0046] Further, the trackless inspection robot also includes a communication module 4 arranged on the front wall of the vehicle body 2, which includes a speaker and a microphone. When a danger occurs, the trackless inspection robot automatically dials a preset alarm phone to notify remote operators or responsible persons. This function can be realized through a built-in voice module or integrated with a third-party communication platform to ensure that emergency situations can be responded to in a timely manner.

[0047] Further, the trackless inspection robot also includes a camera 5 and a mounting bracket 6, the first end of the mounting bracket 6 is fixedly connected with the vehicle body 2, and the camera 5 is arranged on the second end of the mounting bracket 6. The trackless inspection robot also includes a navigation module 7 arranged on the second end of the mounting bracket 6.

[0048] Before the trackless inspection robot is put into use, all key equipment (such as transformers, energy storage converters, etc.) and key positions in the electrochemical energy storage power station are precisely positioned by using the navigation module 7 (such as the Beidou positioning system) and the camera 5 (using RFID tags and visual recognition technology). The system presets a fixed inspection path according to the equipment layout to ensure that all detection areas are covered. The high-precision positioning capability provided by the Beidou system, combined with RFID and visual navigation, realizes the precise movement and path planning of the robot in the electrochemical energy storage power station inspection area. During the measurement confirmation stage, the robot can confirm whether the current equipment is the target equipment that needs to be measured before each measurement through the functions of two-dimensional code scanning, tag identification or visual identification to ensure the accuracy of the inspection.

[0049] Further, the trackless inspection robot further comprises a T-shaped mounting frame 9, an anemometer 8 and a wind vane 10, the T-shaped mounting frame 9 comprises a vertical rod 901 and a horizontal rod 902 connected vertically, the vertical rod 901 is connected with the vehicle body 2, and the anemometer 8 and the wind vane 10 are arranged at two ends of the horizontal rod 902 respectively. The anemometer 8 is used for monitoring the wind speed, and the wind vane 10 is used for monitoring the wind direction. By additionally arranging the anemometer 8 and the wind vane 10, the wind speed in the environment of the energy storage power station is measured, and the wind direction is monitored, thereby providing data support for environmental monitoring.

[0050] Further, the trackless inspection robot further comprises an antenna 11 arranged at the upper end of the vehicle body 2. By additionally arranging the antenna 11, wireless communication between the robot and the EMS system is realized.

[0051] Further, the trackless inspection robot further comprises a battery cabin arranged in the vehicle body 2. The battery cabin provides power for the trackless inspection robot, and the power state is monitored in real time by a battery management system (BMS). As shown in FIG. 1, the battery cabin is arranged in the vehicle body 2. Fig. 3 The interval between the two first walking wheels 102 is greater than the interval between the two second walking wheels 103 in the embodiment.

[0052] In summary, the existing energy storage power station inspection system relies on a large number of manpower, especially when conducting inspection in high-risk environment, not only the cost is high, but also there is a great hidden danger of personnel safety. In order to reduce the dependence on artificial, the trackless inspection robot in the embodiment replaces artificial to perform most of the inspection tasks by autonomous movement. The robot can run all-weather, and is not limited by working time and environmental conditions, which greatly reduces the demand for artificial inspection of electrochemical energy storage power station. Compared with the traditional artificial inspection method, the trackless inspection robot in the embodiment can continuously and uninterruptedly perform the inspection task, which greatly improves the inspection efficiency. By carrying multiple sensors (such as infrared thermal imager 304, humidity sensor 302, gas concentration sensor 301, etc.), the robot can collect multiple equipment parameters at the same time, reducing the time waste caused by single detection. In addition, the trackless inspection robot has automatic path planning function, which ensures that each inspection can cover all key equipment areas, avoiding the omission of equipment. Combined with the ability of EMS system to upload and analyze data in real time, the operation and maintenance personnel can quickly obtain equipment state information and respond in time, thereby effectively shortening the inspection cycle and improving the overall efficiency.

[0053] It should be noted that the above are only the preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. Trackless inspection robot, characterized in that, The utility model relates to a kind of trackless inspection robots, including: Walking mechanism (1), including frame chassis (101), first walking wheel (102) and second walking wheel (103), two the first walking wheel (102) rotation is arranged in the front end of the frame chassis (101), two the second walking wheel (103) rotation is arranged in the rear end of the frame chassis (101); Vehicle body (2), obliquely arranged on the frame chassis (101); Detection unit (3), the detection unit (3) includes gas concentration sensor (301), humidity sensor (302) and vibration sensor (303), the humidity sensor (302) is arranged in the upper end of the vehicle body (2), the gas concentration sensor (301) and the vibration sensor (303) are arranged in the side wall of the vehicle body (2), and the gas concentration sensor (301) is used to detect the concentration of oxygen or sulfur hexafluoride in air.

2. The trackless inspection robot of claim 1, wherein, The detection unit (3) further includes: Infrared thermal imager (304), the infrared thermal imager (304) is arranged in the side wall of the vehicle body (2), and the infrared thermal imager (304) is used to detect the temperature of the equipment.

3. The trackless inspection robot of claim 2, wherein, The detection unit (3) further includes noise sensor (305), and the noise sensor (305) is arranged in the side wall of the vehicle body (2).

4. The trackless inspection robot of claim 3, wherein, The gas concentration sensor (301) and the noise sensor (305) are located on one side of the vehicle body (2), and the vibration sensor (303) and the infrared thermal imager (304) are located on the other side of the vehicle body (2).

5. The trackless inspection robot of claim 1, wherein, The trackless inspection robot further includes a communication module (4), which is arranged on the front wall of the vehicle body (2), and the communication module (4) includes a loudspeaker and a microphone.

6. The trackless inspection robot of claim 1, wherein, The trackless inspection robot further includes a camera (5) and a mounting bracket (6), the first end of the mounting bracket (6) is fixedly connected with the vehicle body (2), and the camera (5) is arranged at the second end of the mounting bracket (6).

7. The trackless inspection robot of claim 6, wherein, The trackless inspection robot further includes a navigation module (7), which is arranged at the second end of the mounting bracket (6).

8. The trackless inspection robot of claim 1, wherein, The trackless inspection robot further includes a T-shaped mounting rack (9), an anemometer (8) and a wind vane (10), the T-shaped mounting rack (9) includes a vertical rod (901) and a horizontal rod (902) connected vertically, the vertical rod (901) is connected with the vehicle body (2), the anemometer (8) and the wind vane (10) are arranged at two ends of the horizontal rod (902) respectively, the anemometer (8) is used to monitor wind speed, and the wind vane (10) is used to monitor wind direction.

9. The trackless inspection robot of claim 1, wherein, The trackless inspection robot further includes an antenna (11), which is arranged at the upper end of the vehicle body (2).

10. The trackless inspection robot of any one of claims 1-9, wherein, The trackless inspection robot further includes a battery cabin, and the battery cabin is arranged in the vehicle body (2).

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