Switching station outdoor inspection robot with voiceprint detection system

Abstract

The utility model discloses a switching station outdoor inspection robot with a voiceprint detection system, and belongs to the technical field of voiceprint detection. The inspection robot comprises a walking platform, a supporting column, a double-light holder and a two-degree-of-freedom holder which are sequentially installed from bottom to top. The two-degree-of-freedom holder comprises a horizontal rotating holder and a pitching rotating holder; the pitching rotating holder comprises a pitching device side plate, a pitching device mounting plate, a first motor, a first planet gear speed reducer, a pitching rotating gear and a hollow shaft; a pitching device mounting plate is mounted at one ends of the two pitching device side plates, and a voiceprint sensor is mounted on the outer side of the pitching device mounting plate; the first motor and the first planet gear speed reducer are fixed on the inner wall, close to the side plates of the pitching device, of the box body, the two ends of the hollow shaft are installed on the inner sides of the two side plates of the pitching device respectively, and a horizontal rotating holder is arranged in the box body; the two-degree-of-freedom holder designed by the utility model can realize multi-angle and timely detection of partial discharge by the voiceprint sensor.

Description

TECHNICAL FIELD

[0001] The utility model mainly relates to the technical field of voiceprint detection, and specifically relates to a switch station outdoor inspection robot with a voiceprint detection system. BACKGROUND

[0002] The 500KV switch station still completely adopts the traditional manual inspection mode, that is, using the perception means such as looking, listening and smelling to check and record the equipment operation state. The 500KV switch station has long inspection distance, many inspection contents and extremely large work load, and the current manual inspection mode has many deficiencies, such as low work efficiency, high labor cost, single inspection means, inability to timely perform inspection, strong subjectivity of inspection data, great influence of weather, scattered data management and the like, and cannot meet the accurate, real-time and high-frequency power equipment inspection demand. With the popularization of the intelligent, unmanned and safe mode, higher requirements are put forward for the intelligent inspection, and an advanced and intelligent inspection mode is urgently needed. CONTENT OF THE UTILITY MODEL

[0003] In order to solve the deficiencies in the prior art, the utility model provides a switch station outdoor inspection robot with a voiceprint detection system.

[0004] The utility model adopts the following technical scheme:

[0005] A switch station outdoor inspection robot with a voiceprint detection system, comprising: a walking platform, a two-degree-of-freedom holder, a support column and a double-light holder, the walking platform is provided with the support column at the top, the double-light holder is installed at the top of the support column, and the two-degree-of-freedom holder is installed at the top of the double-light holder; the two-degree-of-freedom holder comprises: a horizontal rotation holder and a tilt rotation holder; the tilt rotation holder comprises: a tilt device side plate, a tilt device mounting plate, a first motor, a first planetary gear reducer, a tilt rotation gear and a hollow shaft; the tilt device side plate comprises: a first tilt device side plate and a second tilt device side plate; the first tilt device side plate and the second tilt device side plate are installed with the tilt device mounting plate at one end, and the tilt device mounting plate is installed with a voiceprint sensor outside; the first motor and the first planetary gear reducer are fixed on the inner wall of the box body close to the tilt device side plate, connecting holes are formed in the two side walls of the box body close to the tilt device side plate, and the two ends of the hollow shaft are fixed on the inner sides of the first tilt device side plate and the second tilt device side plate through the connecting holes on the box body; the first motor gear is engaged with the first star wheel reducer gear one, the first star wheel reducer gear two is engaged with the tilt rotation gear, and the tilt rotation gear is fixedly sleeved outside the hollow shaft; the inside of the box body is provided with the horizontal rotation holder.

[0006] According to the switch station outdoor inspection robot of the voiceprint detection system, the horizontal rotating holder comprises a motor reducer mounting seat, a second motor, a second planetary gear reducer and a horizontal rotating gear; the second motor and the second planetary gear reducer are fixedly installed on the motor reducer mounting seat; the second motor gear is engaged with the second planetary gear reducer gear one, the second planetary gear reducer gear two is engaged with the horizontal rotating gear, the horizontal rotating gear is fixed through a key with the horizontal rotating shaft, and the horizontal rotating holder is fixedly arranged at the top of the double-light holder through the chassis.

[0007] According to the switch station outdoor inspection robot of the voiceprint detection system, the base is arranged outside the box body, the horizontal rotating shaft is fixed on the base, and the base is fixed on the chassis.

[0008] According to the switch station outdoor inspection robot of the voiceprint detection system, one end of the first motor gear engaged with the first planetary gear reducer gear one is fixed through a rectangular metal plate; and one end of the second motor gear engaged with the second planetary gear reducer gear one is fixed through a fixing plate.

[0009] According to the switch station outdoor inspection robot of the voiceprint detection system, the walking platform comprises rollers, collision detection rubber strips and a platform body; the rollers are arranged below the platform body, and the collision detection rubber strips are arranged in front of and behind the platform body.

[0010] According to the switch station outdoor inspection robot of the voiceprint detection system, an automatic charging system is arranged behind the walking platform.

[0011] According to the switch station outdoor inspection robot of the voiceprint detection system, the double-light holder is provided with a visible light camera and an infrared thermal imager.

[0012] According to the switch station outdoor inspection robot of the voiceprint detection system, a background voice intercom is arranged in the support column.

[0013] According to the switch station outdoor inspection robot of the voiceprint detection system, a navigation laser radar, a communication antenna and an emergency stop button are further arranged on the top of the walking platform; the navigation laser radar is located in front of the support column, the communication antennas are arranged on the two sides of the support column, and the emergency stop button is located on one side of the support column.

[0014] According to the switch station outdoor inspection robot of the voiceprint detection system, an ultrasonic obstacle avoidance device and a pit exploration radar device are further arranged at the front end of the walking platform.

[0015] Compared with the prior art, the utility model has at least the following beneficial effects:

[0016] 1. The two-degree-of-freedom holder designed in the application can realize multi-angle and timely detection of partial discharge of the voiceprint sensor;

[0017] 2. The whole device of the application can realize data acquisition, state identification, information integration and other functions in an unattended scene, and solve the problems of low efficiency, high cost and safety hazards of manual inspection of enterprises;

[0018] 3. The emergency stop button and various sensor components provided in the application can maximize the safety of front-line workers, effectively reduce the work intensity of employees, and improve the intelligent level of inspection and operation management. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the front view of the switch station outdoor inspection robot of the utility model;

[0020] Figure 2 is the side view of the switch station outdoor inspection robot of the utility model;

[0021] Figure 3 is the schematic view of the tilt-pan rotating holder structure of the utility model;

[0022] Figure 4 is the schematic view of the horizontal rotating holder structure of the utility model.

[0023] In the figure: 100, walking platform; 101, roller; 102, collision detection adhesive tape; 103, platform main body; 200, two-degree-of-freedom holder; 201, tilt-pan rotating holder; 1, first tilt-pan device side plate; 2, tilt-pan device mounting plate; 3, second tilt-pan device side plate; 4, first motor; 5, first motor gear; 6, first planetary gear reducer; 7, first star wheel reducer gear one; 8, first star wheel reducer gear two; 9, tilt-pan rotating gear; 10, hollow shaft; 11, box body; 202, horizontal rotating holder; 12, chassis; 13, base; 14, motor reducer mounting seat; 15, horizontal rotating shaft; 16, second planetary gear reducer; 17, second motor; 18, second motor gear; 19, second star wheel reducer gear one; 20, second star wheel reducer gear two; 21, horizontal rotating gear; 300, support column; 400, voiceprint sensor; 501, navigation laser radar; 502, communication antenna; 503, emergency stop button; 504, ultrasonic obstacle avoidance device; 505, pit exploration radar device; 600, dual-light holder. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the utility model clearer, the technical scheme of the utility model will be described clearly and completely below in combination with the drawings in the utility model embodiments. The embodiments described in the application are only a part of the embodiments of the utility model, not all the embodiments. Based on the spirit of the utility model, other embodiments obtained by those skilled in the art without creative labor all belong to the protection scope of the utility model.

[0025] As shown in Figures 1-4 The utility model provides a switch station outdoor inspection robot with voiceprint detection system, it includes: walking platform 100, two degrees of freedom holder 200, support column 300 and double light holder 600, walking platform 100 top is provided with support column 300, support column 300 top is installed with double light holder 600, and double light holder 600 top is installed with two degrees of freedom holder 200.

[0026] Two degrees of freedom holder 200 includes: horizontal rotation holder 202 and tilt rotation holder 201, horizontal rotation holder 202 is fixedly arranged at the top of double light holder 600.

[0027] Tilt rotation holder 201 includes: tilt device side plate, tilt device mounting plate 2, first motor 4, first planetary gear reducer 6, tilt rotation gear 9 and hollow shaft 10, tilt device side plate includes: first tilt device side plate 1 and second tilt device side plate 3, one end of first tilt device side plate 1 and second tilt device side plate 3 is installed with tilt device mounting plate 2, tilt device mounting plate 2 outside is installed with voiceprint sensor 400, is used for detecting partial discharge, first motor 4 and first planetary gear reducer 6 are fixed on the inner wall of box 11 close to tilt device side plate, two side walls of box 11 close to tilt device side plate are provided with connecting hole, and both ends of hollow shaft 10 pass through the connecting hole on the box 11 and are fixed on the inner side of first tilt device side plate 1 and second tilt device side plate 3, first motor gear 5 is engaged with first star gear reducer gear one 7, first star gear reducer gear two 8 is engaged with tilt rotation gear 9, and tilt rotation gear 9 is fixedly sleeved on the outside of hollow shaft 10, one end of first motor gear 5 and first star gear reducer gear one 7 engagement is fixed through rectangular metal plate.

[0028] Tilt device side plate 1, tilt device side plate 3 and tilt device mounting plate 2 are fixed as a whole by bolts, and first motor 3 and first planetary gear reducer 4 are fixed with box 11 by bolts.

[0029] Horizontal rotation holder 202 is arranged in the inside of box 11.

[0030] The horizontal rotation holder 202 comprises a motor reducer mounting seat 14, a second motor 17, a second planetary gear reducer 16 and a horizontal rotation gear 21; the second motor 17 and the second planetary gear reducer 16 are fixedly installed on the motor reducer mounting seat 14; a second motor gear 18 is engaged with a second star wheel reducer gear one 19, a second star wheel reducer gear two 20 is engaged with the horizontal rotation gear 21, the horizontal rotation gear 21 is fixed through a flat key and a horizontal rotation shaft 15, a base 13 is arranged outside the box body 11, the horizontal rotation shaft 15 is fixed on the base 13, the base 13 is fixed on the bottom plate 12, and the horizontal rotation holder 202 is fixedly arranged on the top of the double-light holder 600 through the bottom plate 12. One end of the second motor gear 18 engaged with the second star wheel reducer gear one 19 is fixed through a fixed plate.

[0031] The bottom plate 12, the base 13 and the horizontal rotation shaft 15 are fixedly integrated through bolts; the box body 11, the motor reducer mounting seat 14, the second planetary gear reducer 16 and the second motor 17 are fixedly integrated through bolts.

[0032] The walking platform 100 comprises a rolling wheel 101, a collision detection rubber strip 102 and a platform body 103; the rolling wheel 101 is arranged below the platform body 103, and the collision detection rubber strip 102 is arranged in front of and behind the platform body 103, so that the platform body 103 is prevented from being touched when a collision occurs.

[0033] The automatic charging system is arranged at the rear of the walking platform 100 and is used for charging the robot.

[0034] The double-light holder is arranged above the support column 300, the double-light holder 600 can rotate around the top end of the support column 300, and the background voice intercom is arranged in the support column 300.

[0035] In one embodiment, the visible light camera and the infrared thermal imager are arranged on the double-light holder 600.

[0036] The navigation laser radar 501, the communication antenna 502 and the emergency stop button 503 are further arranged on the top of the walking platform 100; the navigation laser radar 501 is located in front of the support column 300, the communication antenna 502 is arranged on both sides of the support column 300, and the emergency stop button 503 is located on one side of the support column 300.

[0037] The ultrasonic obstacle avoidance device 504 and the pit detection radar device 505 are further arranged at the front end of the walking platform 100, and are used for preventing collision.

[0038] The principle of the tilting action of the voiceprint sensor 400 is as follows:

[0039] When the elevation angle of the voiceprint sensor 400 needs to be adjusted, the rotation direction of the first motor 4 is controlled, the first motor gear 5 drives the first star reducer gear one 7 to rotate, the first star reducer gear two 8 meshes with the elevation rotation gear 9 and drives the hollow shaft 10 to rotate, the hollow shaft 10 is fixed with the elevation device side plate 1 and the elevation device side plate 3 through bolts, and finally the elevation angle adjustment of the voiceprint sensor 400 is achieved.

[0040] The horizontal rotation action principle of the voiceprint sensor 400 is as follows:

[0041] When the horizontal rotation angle of the voiceprint sensor 400 needs to be adjusted, the rotation direction of the second motor 17 is controlled, the second motor gear 18 drives the second star reducer gear one 19 to rotate, the second star reducer gear two 20 meshes with the horizontal rotation gear 21, the horizontal rotation shaft 15 is fixed with the horizontal rotation gear 21 through a key and cannot rotate relatively, so the box body 11 rotates horizontally, and finally the horizontal angle adjustment of the voiceprint sensor 400 is achieved.

[0042] According to the field situation of the outdoor switch station, an outdoor inspection robot is used, which is equipped with various sensors for information collection and processing, and can complete the functions of inspection tasks and communication interaction. The outdoor wheeled robot data training model, navigation module, visual remote real-time monitoring and control technology can realize data acquisition, state recognition, information integration and other functions in the unmanned scene, solve the problems of low efficiency, high cost and safety hazards of manual inspection, and provide the best solution for unmanned or less intelligent inspection of switch stations.

[0043] The outdoor inspection robot efficiently and stably performs instrument recognition, indicator light recognition, switch button recognition, device voiceprint analysis, thermal defect recognition and other tasks in the unmanned inspection environment, maximizes the personal safety of front-line workers, effectively reduces the work intensity of employees, and improves the intelligent level of inspection and operation management. Cooperating with the intelligent monitoring system can realize remote viewing of inspection results, decision-making and remote judgment of instrument recognition, indicator light recognition and switch button recognition.

[0044] The application adopts a 64-channel embedded ultrasonic acoustic imaging instrument, which can detect partial discharge signals in the environment through ultrasonic detection technology, and locate the direction of partial discharge through ultrasonic array signal processing technology and acoustic imaging technology, and intuitively image the sound field through an optical camera to quickly detect and find the equipment and specific position of partial discharge in the environment, solving the problem of detecting partial discharge by a voiceprint sensor.

[0045] The device can be carried on an inspection robot to assist the mobile robot to detect partial discharge signals in the power equipment scene. The system is suitable for carrying various mobile robot systems.

[0046] The voiceprint detection system at least includes the following advantages:

[0047] 1. Highly encapsulated, no additional algorithm development, simple and easy to use;

[0048] 2, modular design, stable and easy to access;

[0049] 3, advanced ultrasonic array signal processing technology, non-contact detection;

[0050] 4, the detection imaging effect is intuitive and easy to understand;

[0051] The voiceprint detection system detects the ultrasonic signal generated by the partial discharge of the power equipment, measures the phase difference of the sound wave reaching each microphone in a certain space, determines the position of the sound source according to the phased array principle, measures the amplitude of the sound source, and displays the distribution of the sound source in the space in the form of an image, that is, the spatial sound field distribution cloud picture-sound image, wherein the color and brightness of the image represent the strength. Can provide users with fast and accurate distribution map, can carry out steady-state, non-steady-state, static and moving object image, intuitive, and clearly show the position of the partial discharge.

[0052] Compared with the prior art, the beneficial effects of the utility model at least include:

[0053] 1. The two-degree-of-freedom holder designed in the application can realize multi-angle and timely detection of partial discharge of the voiceprint sensor;

[0054] 2. The whole device can realize data acquisition, state recognition, information integration and other functions in an unattended scene, and solve the problems of low efficiency, high cost and safety hazards of manual inspection of enterprises;

[0055] 3. The emergency stop button and various sensor components provided in the application can maximize the safety of front-line workers, effectively reduce the work intensity of employees, and improve the intelligent level of inspection and operation management.

[0056] Finally, it should be explained that the above embodiments are only used to illustrate the technical solutions of the utility model and not to limit them, although the utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific embodiments of the utility model can be modified or replaced, without departing from the spirit and scope of the utility model Any modification or equivalent replacement, which should be covered within the protection scope of the claims of the utility model.

Claims

1. An outdoor inspection robot for switch stations with a voiceprint detection system, comprising: Walking platform (100), two-degree-of-freedom gimbal (200), support column (300) and dual-optical gimbal (600), walking platform (100) A support column (300) is provided at the top, a dual-optical gimbal (600) is installed on the top of the support column (300), and a two-degree-of-freedom gimbal (200) is installed on the top of the dual-optical gimbal (600); characterized in that: The two-degree-of-freedom gimbal (200) includes: a horizontal rotation gimbal (202) and a pitch rotation gimbal (201); The pitch-rotation gimbal (201) includes: a pitch device side plate, a pitch device mounting plate (2), a first motor (4), a first planetary gear reducer (6), a pitch rotation gear (9), and a hollow shaft (10); the pitch device side plate includes: a first pitch device side plate (1) and a second pitch device side plate (3); a pitch device mounting plate (2) is installed at one end of the first pitch device side plate (1) and the second pitch device side plate (3), and a voiceprint sensor (400) is installed on the outside of the pitch device mounting plate (2); the first motor (4) and the first planetary gear reducer (6) are mounted on the second pitch device side plate (3). The speed reducer (6) is fixed on the inner wall of the housing (11) near the side plate of the pitch device. The two side walls of the housing (11) near the side plate of the pitch device have connection holes. The two ends of the hollow shaft (10) pass through the connection holes on the housing (11) and are fixed to the inner sides of the first pitch device side plate (1) and the second pitch device side plate (3). The first motor gear (5) meshes with the first star wheel reducer gear one (7), and the first star wheel reducer gear two (8) meshes with the pitch rotating gear (9). The pitch rotating gear (9) is fixedly sleeved on the outside of the hollow shaft (10). The box (11) is equipped with a horizontal rotating gimbal (202).

2. The outdoor inspection robot for switch stations with a voiceprint detection system according to claim 1, characterized in that: The horizontal rotating gimbal (202) includes: a motor reducer mounting base (14), a second motor (17), a second planetary gear reducer (16), and a horizontal rotating gear (21); the second motor (17) and the second planetary gear reducer (16) are fixedly mounted on the motor reducer mounting base (14); the second motor gear (18) meshes with the first gear of the second planetary gear reducer (19), the second gear of the second planetary gear reducer (20) meshes with the horizontal rotating gear (21), and the horizontal rotating gear (21) is fixed to the horizontal rotating shaft (15) by a flat key.

3. The outdoor inspection robot for switch stations with a voiceprint detection system according to claim 1, characterized in that: The base (13) is set outside the housing (11), the horizontal rotation shaft (15) is fixed on the base (13), the base (13) is fixed on the chassis (12), and the horizontal rotation gimbal (202) is fixed on the top of the dual-light gimbal (600) through the chassis (12).

4. The outdoor inspection robot for switch stations with a voiceprint detection system according to claim 1, characterized in that: The end of the first motor gear (5) that meshes with the first star wheel reducer gear (7) is fixed by a rectangular metal plate; The end of the second motor gear (18) that meshes with the first gear of the second star wheel reducer (19) is fixed by a fixing plate.

5. The outdoor inspection robot for switch stations with a voiceprint detection system according to claim 1, characterized in that: The walking platform (100) includes: rollers (101), collision detection strips (102) and platform body (103); rollers (101) are provided under the platform body (103), and collision detection strips (102) are provided in front of and behind the platform body (103).

6. The outdoor inspection robot for switch stations with a voiceprint detection system according to claim 5, characterized in that: An automatic charging system is installed at the rear of the walking platform (100).

7. The outdoor inspection robot for switch stations with a voiceprint detection system according to claim 6, characterized in that: The dual-light gimbal (600) is equipped with a visible light camera and an infrared thermal imager.

8. The outdoor inspection robot for switch stations with a voiceprint detection system according to claim 1, characterized in that: The support column (300) is equipped with a background voice intercom.

9. The outdoor inspection robot for switch stations with a voiceprint detection system according to claim 5, characterized in that: The top of the walking platform (100) is also equipped with a navigation laser radar (501), a communication antenna (502) and an emergency stop button (503); the navigation laser radar (501) is located in front of the support column (300), the support column (300) is equipped with communication antennas (502) on both sides, and the emergency stop button (503) is located on one side of the support column (300).

10. The outdoor inspection robot for switch stations with a voiceprint detection system according to claim 4, characterized in that: The front end of the walking platform (100) is also equipped with an ultrasonic obstacle avoidance device (504) and a pit exploration radar device (505).

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