Intelligent substation inspection operation device

Abstract

The utility model discloses an intelligent substation inspection operation device, which comprises an inspection vehicle shell, a signal receiver, a laser radar, a rotating shaft and a visual sensor, and is characterized in that a lifting mechanism is arranged at the bottom of the inspection vehicle shell and comprises a chassis fixed at the bottom of the inspection vehicle shell; four driving motors used for transmitting power are arranged in the chassis, the four driving motors are in transmission connection with wheels through output shafts, and a wheel frame is movably connected between the two output shafts on the same side; by means of the equipment, the inspection device can easily cross obstacles which possibly hinder the inspection device from advancing originally, the situation of detour or operation stopping is avoided, the inspection efficiency is greatly improved, the risk of missing inspection of partial areas due to detour is reduced, the comprehensiveness and accuracy of inspection work of the transformer substation are effectively guaranteed, and the inspection efficiency is improved. The inspection path is kept clean and tidy, and sundries are prevented from influencing normal running of the inspection vehicle or entering the vehicle to damage equipment.

Description

Technical Field

[0001] This utility model relates to the technical field of intelligent substation inspection operation device, specifically an intelligent substation inspection operation device. Background Technology

[0002] In modern power systems, substations are key facilities for converting and distributing electrical energy, and their stable operation is crucial. To ensure the reliability and security of power supply, regular and meticulous inspections of substation equipment are necessary. With the advancement of substation automation and unmanned operation, existing operating methods can no longer meet the requirements of rapid on-site arrival, on-site inspection by professional personnel, and quick problem solving. This is especially true for substations in remote areas, where traditional manual inspections cannot detect problems in a timely manner. Intelligent inspection equipment can improve inspection efficiency and accuracy, compensate for the shortcomings of manual inspections, promptly identify and address potential equipment hazards, ensure the stable operation of substations, and provide strong support for the reliable power supply of the power system.

[0003] However, most existing inspection devices use wheeled or tracked chassis. Although they can complete inspection tasks on flat ground, when encountering obstacles such as protruding rocks, the chassis height of the existing devices is fixed. Once they encounter obstacles that exceed their clearance height, they can only detour or stop working. This not only significantly reduces inspection efficiency, but may also lead to some areas being missed due to detours, leaving safety hazards. In some substations with complex terrain and frequent emergencies, especially mountain substations, the probability of obstacles is high. When existing inspection devices cannot pass through, they need to be manually moved or transferred with the help of other equipment, which increases operation and maintenance costs and manpower input.

[0004] To address these issues, this invention provides an intelligent substation inspection device. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides an intelligent substation inspection device, which solves the problem mentioned above that when encountering obstacles such as protruding rocks, the existing devices have a fixed chassis height, and once they encounter obstacles exceeding their clearance height, they can only detour or stop operating.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an intelligent substation inspection device, comprising an inspection vehicle body, a signal receiver, a lidar, a rotating shaft, and a vision sensor. A lifting mechanism is provided at the bottom of the inspection vehicle body. The lifting mechanism includes a chassis fixed to the bottom of the inspection vehicle body. Four drive motors for power transmission are installed inside the chassis, and each of the four drive motors is connected to a wheel via an output shaft. A wheel frame is movably connected between two output shafts on the same side. A base is fixedly connected to the wheel frame. A slide rail is fixedly connected to the bottom of the chassis, and a lifting fork is movably connected between the slide rail and the base. A drive electric actuator is fixedly connected to the base, allowing the opening angle of the lifting fork to be changed by the drive electric actuator, thereby lifting the chassis from the wheel frame to avoid obstacles.

[0007] Preferably, the front end of the chassis is provided with a cleaning mechanism for cleaning. The cleaning mechanism includes an equipment frame fixed to the bottom of the chassis. A servo motor is fixedly connected to the equipment frame. The servo motor is connected to a cleaning roller for cleaning the ground via a belt drive. The cleaning roller is made of soft rubber.

[0008] Preferably, the front end of the chassis is fixedly connected to a baffle plate that matches the cleaning roller to prevent debris from entering the interior of the inspection vehicle body, and friction patterns are provided on the outer sides of the four wheels to increase grip.

[0009] Preferably, the bottom of the equipment rack is symmetrically provided with two wheels for easy movement, and the wheels are omnidirectional wheels with steering components.

[0010] Preferably, the output shaft of the servo motor is also connected to two cleaning discs for discharging stone chips via belt drive. The cleaning discs and the equipment frame are movably connected by elastic rods to adapt to different road surface environments.

[0011] Preferably, the bottom of the two wheel frames is fixedly connected to a limiting track for discharging stone chips, and a plurality of small ball bearings for reducing friction are movably connected to the inner wall of the limiting track.

[0012] Beneficial effects

[0013] This utility model provides an intelligent substation inspection device. Compared with the prior art, it has the following advantages:

[0014] (1) When the intelligent substation inspection device detects obstacles such as protruding stones in front of it through laser radar and visual sensors, the system will react and drive the electric push rod to start. It changes the opening and closing angle of the lifting fork. Since the lifting fork is connected to the base and slide rail, this action allows the chassis to be lifted off the wheel frame. In this way, the inspection device can easily cross the obstacles that may have originally hindered its progress, avoiding detours or stopping the operation, greatly improving the inspection efficiency, reducing the risk of missing some areas due to detours, and effectively ensuring the comprehensiveness and accuracy of substation inspection work.

[0015] (2) The intelligent substation inspection device drives the cleaning roller to rotate via a servo motor. The cleaning roller, made of soft rubber, can effectively adhere to the ground and sweep up dust and debris. At the same time, the servo motor also drives the cleaning disc to rotate. The cleaning disc is responsible for pushing stone chips and other debris to both sides. The elastic rod can extend and retract according to different road conditions to ensure that the cleaning disc always maintains proper contact with the ground. The universal wheels at the bottom of the equipment frame facilitate the flexible turning of the cleaning mechanism and its movement with the inspection vehicle. The limiting track at the bottom of the wheel frame, in conjunction with small ball bearings, can smoothly discharge stone chips, keep the inspection path clean, and prevent debris from affecting the normal driving of the inspection vehicle or entering the vehicle and damaging the equipment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a three-dimensional view of the overall structure of this utility model.

[0018] Figure 3 This is an exploded view of the lifting mechanism structure of this utility model;

[0019] Figure 4 This is a utility model Figure 3 Enlarged view of A in the image;

[0020] Figure 5 This is an internal schematic diagram of the cleaning mechanism of this utility model.

[0021] In the diagram: 1. Inspection vehicle body; 2. Signal receiver; 3. LiDAR; 4. Shaft; 5. Vision sensor;

[0022] 6. Lifting mechanism; 61. Chassis; 62. Drive motor; 63. Wheel; 64. Output shaft; 65. Wheel frame; 66. Lifting fork; 67. Slide rail; 68. Base; 69. Drive electric actuator; 610. Blocking plate;

[0023] 7. Cleaning mechanism; 71. Equipment frame; 72. Servo motor; 73. Cleaning roller; 74. Wheel; 75. Cleaning disc; 76. Elastic rod; 77. Limiting track. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Example 1:

[0026] Please see Figures 1 to 5 A smart substation inspection device includes an inspection vehicle body 1, a signal receiver 2, a lidar 3, a rotating shaft 4, and a vision sensor 5. The bottom of the inspection vehicle body 1 is provided with a lifting mechanism 6, which includes a chassis 61 fixed to the bottom of the inspection vehicle body 1. The chassis 61 is equipped with four drive motors 62 for transmitting power, and each of the four drive motors 62 is connected to a wheel 63 through an output shaft 64. A wheel frame 65 is movably connected between two output shafts 64 on the same side. A base 68 is fixedly connected to the wheel frame 65. A slide rail 67 is fixedly connected to the bottom of the chassis 61, and a lifting fork 66 is movably connected between the slide rail 67 and the base 68. A drive electric push rod 69 is fixedly connected to the base 68, so that the opening and closing angle of the lifting fork 66 can be changed by the drive electric push rod 69, thereby allowing the chassis 61 to be lifted off the wheel frame 65 to avoid obstacles.

[0027] During operation, when the task is started, signal receiver 2 receives the inspection command signal from the control terminal and transmits it to the STM32F407 control module. After parsing the command, the control module sends drive signals to the four drive motors 62, which then power on the motors and cause their output shafts 64 to rotate the wheels 63, thereby causing the inspection vehicle body 1 to move.

[0028] During the movement of the inspection vehicle, the LiDAR 3 continuously emits laser beams and receives reflected signals to obtain distance information of the surrounding environment (the LiDAR 3 uses the RPLIDAR 3 series from SLAMTEC, such as the RPLIDAR 3M8, with an effective detection range of 0.1-12 meters and a ranging accuracy within ±20mm, meeting the short-range obstacle detection requirements of this device). The visual sensor 5 simultaneously acquires images of the surrounding environment (the visual sensor 5 uses the OV2710 from OV, with 2 megapixels, capable of image acquisition and obstacle recognition). The LiDAR 3 and visual sensor 5 transmit the acquired data to the control module in real time (the control module uses an STM32F407, through...). The system receives real-time data collected by the lidar 3 and vision sensor 5, analyzes it, and sends control signals to the drive actuator 69 (this technology is commonly used by those skilled in the art and will not be elaborated upon here). When the lidar 3 detects an obstacle at a distance less than a set threshold (when the lidar 3 detects an obstacle at a distance less than 1.5m, the lidar 3 sends a signal to the control module), or when the vision sensor 5 identifies obstacles such as protruding rocks that may affect the passage of the inspection vehicle, it sends a detection signal to the control module. After receiving the signal, the control module analyzes and processes it according to a preset obstacle avoidance algorithm (the preset obstacle avoidance algorithm can adopt the dynamic window method (DWA), which is mainly based on...). Given the robot's current speed and acceleration limitations, a series of feasible speed samples are generated in the speed space. Each sample is then simulated and predicted to assess whether its trajectory will collide with an obstacle within a certain timeframe. Different evaluation functions are used to score each trajectory, and the speed corresponding to the trajectory with the best score is selected as the robot's next speed. In this device, when the LiDAR 3 or vision sensor 5 detects an obstacle, the control module (STM32F407) sends corresponding control signals to the drive motor 62 and drive actuator 69 according to the DWA algorithm, adjusting the inspection vehicle's speed and chassis height to achieve obstacle avoidance. This technique is existing technology. (This will not be elaborated further.) Subsequently, a control signal is sent to the drive electric actuator 69. After receiving the control signal, the internal motor of the drive electric actuator 69 operates, causing the actuator to extend or retract via a lead screw. Since one end of the lifting fork 66 is movably connected to the base 68 and the other end is movably connected to the slide rail 67 at the bottom of the chassis 61, the opening and closing angle of the lifting fork 66 changes as the drive electric actuator 69 extends or retracts. When the angle of the lifting fork 66 changes, it pushes the chassis 61 to gradually lift on the wheel frame 65, thereby increasing the overall height of the inspection vehicle. When the height of the inspection vehicle is high enough to cross the obstacle, the control module adjusts the speed and direction of the drive motor 62, so that the inspection vehicle crosses the obstacle and continues to perform the inspection task according to the preset path.

[0029] Example 2:

[0030] Please see Figures 1 to 5 This embodiment provides a technical solution based on Embodiment 1: A cleaning mechanism 7 for cleaning is provided at the front end of the chassis 61. The cleaning mechanism 7 includes an equipment frame 71 fixed to the bottom of the chassis 61. A servo motor 72 is fixedly connected to the equipment frame 71. The servo motor 72 is connected to a cleaning roller 73 for cleaning the ground via a belt drive. The cleaning roller 73 is made of soft rubber. A baffle plate 610 matching the cleaning roller 73 is fixedly connected to the front end of the chassis 61 to prevent debris from entering the interior of the inspection vehicle body 1. Openings are provided on the outer sides of the four wheels 63. The equipment frame 71 has friction textures to increase grip. Two wheels 74 are symmetrically arranged at the bottom for easy movement. The wheels 74 are omnidirectional wheels with steering components. The output shaft of the servo motor 72 is also connected to two cleaning discs 75 for discharging stone chips via belt drive. An elastic rod 76 is movably connected between the cleaning discs 75 and the equipment frame 71 to adapt to different road surface environments. The bottom of the two wheel frames 65 is fixedly connected to a limiting rail 77 for discharging stone chips. Multiple small ball bearings are movably connected to the inner wall of the limiting rail 77 to reduce friction.

[0031] During operation, based on Example 1, after the inspection vehicle begins to move, the STM32F407 control module sends a start signal to the servo motor 72 in the cleaning mechanism 7. (After receiving the signal, the STM32F407 control module sends a start signal to the servo motor 72, thereby starting the servo motor 72 to rotate.) The servo motor 72 is powered on and its output shaft drives the cleaning roller 73 to rotate via belt drive. The cleaning roller 73 is made of soft rubber and has a certain degree of elasticity. During rotation, it can closely adhere to the ground and sweep up dust, debris, etc. on the ground through friction with the ground. At the same time, the output shaft of the servo motor 72 also drives two cleaning discs 75 to rotate synchronously via another set of belt drives. During the rotation of the cleaning discs 75, the stone chips and other debris on the ground are pushed to both sides. Since the cleaning discs 75 and the equipment frame 71 are connected by elastic rods 76, the cleaning discs 75 and the equipment frame 71 are connected by elastic rods 76. The flexible linkage 76 extends and retracts according to the uneven road surface when the inspection vehicle travels on uneven surfaces, ensuring that the cleaning disc 75 always maintains a suitable contact distance and angle with the ground to adapt to different road conditions and effectively clean up stone chips. The universal wheels 74 with steering components are symmetrically arranged at the bottom of the equipment frame 71, which can automatically adjust their direction according to the direction of the inspection vehicle, so that the cleaning mechanism 7 can flexibly turn while following the inspection vehicle and always maintain the cleaning operation of the ground along the inspection path. In addition, the limiting rails 77 fixedly connected to the bottom of the two wheel frames 65 guide the stone chips moved by the cleaning disc 75 to a specific direction for discharge. Multiple small ball bearings movably connected on the inner wall of the limiting rails 77 can reduce the friction between the stone chips and the limiting rails 77 during discharge, so that the stone chips are discharged more smoothly and avoid the accumulation of stone chips affecting the normal operation of the inspection vehicle.

[0032] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0033] Working principle: During operation, the signal receiver 2 receives the inspection command signal and transmits it to the control module. The control module controls the drive motor 62 to start, and its output shaft 64 drives the wheels 63 to move the inspection vehicle body 1. The laser radar 3 and vision sensor 5 collect environmental information in real time. When an obstacle is detected, the control module controls the drive electric push rod 69 to change the opening and closing angle of the lifting fork 66, so that the chassis 61 is raised on the wheel frame 65 to avoid the obstacle. At the same time, the servo motor 72 in the cleaning mechanism 7 drives the cleaning roller 73 to clean the ground. Its output shaft also drives the cleaning disc 75 to discharge stone chips. The elastic rod 76 ensures that the cleaning disc adapts to different road surfaces. The universal wheels 74 at the bottom of the equipment frame 71 facilitate the turning of the cleaning mechanism. The limiting rail 77 and small ball bearings at the bottom of the wheel frame 65 guide and assist in the discharge of stone chips.

[0034] It should be noted that all standard parts used in this utility model can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent substation inspection operation device, comprising an inspection vehicle shell (1), a signal receiver (2), a laser radar (3), a rotating shaft (4), and a visual sensor (5), characterized in that: The bottom of the inspection vehicle shell (1) is provided with a lifting mechanism (6), the lifting mechanism (6) comprises a chassis (61) fixed on the bottom of the inspection vehicle shell (1), the inside of the chassis (61) is provided with four driving motors (62) for transmitting power, and each of the four driving motors (62) is drivingly connected with a wheel (63) through an output shaft (64), two output shafts (64) on the same side are movably connected with a wheel frame (65), the wheel frame (65) is fixedly connected with a base (68), the bottom of the chassis (61) is fixedly connected with a slide rail (67), the slide rail (67) and the base (68) are movably connected with a lifting fork (66), and the base (68) is fixedly connected with a driving electric push rod (69). 2.The intelligent substation inspection device of claim 1, wherein: The front end of the chassis (61) is provided with a cleaning mechanism (7) for cleaning, the cleaning mechanism (7) comprises an equipment rack (71) fixed on the bottom of the chassis (61), the equipment rack (71) is fixedly connected with a servo motor (72), the servo motor (72) is drivingly connected with a cleaning roller (73) for cleaning the ground through a belt, and the cleaning roller (73) is made of soft rubber. 3.The intelligent substation inspection device of claim 2, wherein: The front end of the chassis (61) is fixedly connected with a blocking plate (610) matched with the cleaning roller (73), so as to prevent sundries from entering the inside of the inspection vehicle shell (1), and the outer sides of the four wheels (63) are each provided with friction lines for increasing the grip. 4.The intelligent substation inspection device of claim 2, wherein: The bottom of the equipment rack (71) is symmetrically provided with two wheels (74) for facilitating movement, and the wheels (74) are universal wheels with steering assemblies.

5. The intelligent substation inspection device of claim 2, wherein: The output shaft of the servo motor (72) is also drivingly connected with two cleaning discs (75) for discharging stone chips through a belt, the cleaning disc (75) and the equipment rack (71) are movably connected with an elastic rod (76) to adapt to different road conditions. 6.The intelligent substation inspection device of claim 5, wherein: The bottoms of the two wheel frames (65) are fixedly connected with a limiting track (77) for discharging stone chips, and the inner side wall of the limiting track (77) is movably connected with a plurality of small balls for reducing friction.

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