CN112589796A

CN112589796A - GIS cavity internal maintenance robot and maintenance method

Info

Publication number: CN112589796A
Application number: CN202011424157.9A
Authority: CN
Inventors: 刘佳鑫; 李胜川; 胡博; 刘一涛; 陈刚; 李希元; 周桂平; 栗罡; 刘劲松; 曲妍; 韦德福; 毕海涛; 刘志宇; 苑经纬; 韩洪刚; 鲁旭臣; 唐佳能; 郎业兴
Original assignee: State Grid Liaoning Electric Power Co Ltd; Electric Power Research Institute of State Grid Liaoning Electric Power Co Ltd; State Grid Corp of China SGCC
Current assignee: State Grid Liaoning Electric Power Co Ltd; Electric Power Research Institute of State Grid Liaoning Electric Power Co Ltd; State Grid Corp of China SGCC
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2021-04-02

Abstract

A maintenance robot for the interior of a GIS cavity is suitable for performing maintenance operations such as robotized cleaning, dust collection, wiping and the like on the interior of the GIS cavity; the robot body includes: the robot comprises a main control unit and a power supply unit, wherein the front end and the rear end outside the robot body are respectively provided with a forward binocular vision unit and a backward binocular vision unit, four corners of the robot body are provided with robot walking units, and the bottom of the robot body is provided with a cleaning unit, a dust collection unit and a wiping unit; the main control unit comprises an MCU calculation module, a high-performance CPU calculation module and a wireless AP routing module; the power supply unit adopts a lithium battery pack and provides energy for the robot body to move and operate in a wireless control mode; the invention provides the robot for overhauling and maintaining the inside of the GIS cavity, which has the advantages of compact structure, simplicity and convenience in operation, good detection effect and suitability for various types of equipment, can enter the bottom of the GIS cavity to carry out overhauling and maintaining work such as identification, cleaning and the like of tiny foreign matters, can greatly shorten the overhauling and processing time and improve the overhauling and operating efficiency.

Description

GIS cavity internal maintenance robot and maintenance method

Technical Field

The invention belongs to the technical field of intelligent operation and maintenance of power transmission and transformation equipment, and particularly relates to a maintenance robot for the interior of a GIS cavity.

Background

The large-scale application of GIS (gas insulated metal enclosed switchgear) equipment in China begins in the 70 th 20 th century and is widely applied in the 110(66) -1000 kV voltage level. Along with the development of economy, the urbanization speed is accelerated, the power load is increased rapidly, and the trend that high-voltage power supply enters the urban center is great. The urban power construction inevitably encounters the problems of land acquisition, environmental protection and the like. Therefore, the urban transformer substation construction must be miniaturized, and the GIS equipment is greatly popularized. The GIS is similar to GIS structure or function and comprises HGIS (hybrid switchgear assembly) and GIL (gas insulated metal enclosed transmission line) and other equipment. The GIS equipment has compact structure and is filled with SF6 gas, so that the GIS equipment has great difficulty in the maintenance and overhaul process.

At present, the maintenance and management of the GIS equipment are mainly daily management and maintenance in operation. Daily management can be solved by the manual work, can be gone on by the endoscope to the inside patrol and examine of GIS equipment cavity, but because the endoscope exists the inspection dead angle, and can not be in the inside operation of cavity. The disassembly operation is required for the internal maintenance of the cavity, the power failure time is increased invisibly, and the operation efficiency is reduced.

Disclosure of Invention

In order to solve the defects in the prior art, the invention aims to provide the robot for overhauling and maintaining the inside of the GIS cavity, which has a compact structure, is simple and convenient to operate, has a good detection effect and is suitable for various types of equipment. .

The invention adopts the following technical scheme. A GIS cavity internal overhaul maintenance robot, comprising: the robot comprises a robot body, a main control unit, a power supply unit, a forward binocular vision unit, a backward binocular vision unit, a walking unit, a cleaning unit, a dust collection unit and a wiping unit, wherein the main control unit and the power supply unit are arranged in the robot body; the forward binocular vision unit is arranged at the front end outside the robot body, and the backward binocular vision unit is arranged at the rear end outside the robot body; the walking units are arranged at four corners of the robot body; the cleaning unit, the dust absorption unit and the wiping unit are arranged at the bottom of the robot body;

the main control unit includes: the system comprises an MCU calculation module, a CPU calculation module and a wireless AP routing module; the MCU calculation module is used for acquisition and fusion of robot sensing data and robot control; the CPU calculation module is used for video acquisition and running an ROS system, machine vision and a positioning navigation algorithm at the same time; the wireless AP routing module is used for the MCU calculation module to perform network exchange with the CPU calculation module and to communicate with an upper computer in a wired or wireless way;

preferably, the power supply unit is arranged inside the robot body and comprises a lithium battery pack for providing energy for the robot body to travel and work in the wireless control mode.

Preferably, the forward binocular vision unit and the backward binocular vision unit are respectively used for vision positioning functions in the advancing and retreating processes of the robot, each vision unit consists of two vision sensors, the vision sensors are respectively connected with the main control unit, and the obstacle or foreign matter in the walking path is identified by extracting image features and matching the image features with image targets.

Preferably, the walking unit includes: the moving wheels and the moving wheel driving devices are connected with each other; remove wheel drive arrangement and all set up inside the robot body, remove wheel drive arrangement and include: the driving motor and the motor transmission mechanism are connected with the moving wheel through a connecting shaft, the control end of the driving motor is connected with the main control unit, and the output shaft of the driving motor drives the moving wheel through the motor transmission mechanism.

Preferably, the moving wheel of the robot is a Mecanum wheel moving in all directions, the unpowered roller is installed on the periphery of the moving wheel to serve as a tire, the moving wheel can be wrapped by rubber materials, and no metal part is exposed out of the outer edge of the wheel.

Preferably, the cleaning unit is arranged at the bottom of the robot body and comprises: clean the rotating electrical machines and clean the brush head softly, the brush head is cleaned to softly install in clean the rotating end of rotating electrical machines, clean the rotating electrical machines control end and be connected with the main control unit.

Preferably, the dust suction unit is disposed at a bottom of the robot body, and includes: the robot comprises a micro vacuum pump and a dust filtering bag which are arranged inside a robot body, wherein a bar-shaped dust suction port at the bottom of the robot is connected to a dust accumulation filter bag through a dust suction cleaning pipeline, then is connected to the micro vacuum pump through a pipeline, and finally is connected with an air outlet on a robot shell through a pipeline, and the control end of the micro vacuum pump is connected with a main control unit.

Preferably, the wiping unit is disposed at the bottom of the robot body, and includes: the device comprises a main belt wheel, a secondary belt wheel, a middle supporting wheel, a double-layer hairless paper tape, an electric lifting device, a cleaning agent storage tank, a peristaltic pump and a cleaning agent nozzle;

the driving pulley is driven by the rotating electrical machines and rotates, the middle supporting wheel adopts the liftable formula structure, realizes high lift control by electric lift device, the middle supporting wheel with the driving pulley with from the band pulley formation triangular structure is used for rotating the conveying double-deck no wool paper area, the middle supporting wheel supports the inboard of no wool paper area, and the peristaltic pump is used for extracting the cleaning solution in the sanitizer storage tank, carries to the sanitizer spout through the hose to spray to double-deck no wool paper area.

Preferably, the equipment to be repaired and maintained is a GIS main bus and branch bus which are arranged in a full horizontal mode, an HGIS branch bus, a GIL pipeline bus or a ground tank type circuit breaker arc extinguish chamber.

The invention also provides a maintenance method using the GIS cavity internal maintenance robot, which comprises the following steps:

step 1, a robot enters detected equipment from a manhole, visual detection is carried out on the interior of the detected equipment by using a forward binocular vision unit, visual identification is carried out on found foreign matters, and the sizes of the foreign matters are judged;

step 2, starting the cleaning unit and the dust collection unit, starting the bottom cleaning and dust collection functions of the detected equipment, and simultaneously enabling the robot to move forwards along the foreign matter distribution direction;

step 3, closing the cleaning unit and the dust collection unit, and carrying out visual detection on the foreign matter cleaning effect by using a back binocular vision unit by the robot;

step 4, the robot returns to the original initial position, the wiping unit is started, and meanwhile the robot moves forwards along the foreign matter distribution direction;

step 5, closing the wiping unit, and carrying out visual detection on the foreign matter cleaning effect by using a back binocular vision unit by the robot;

and 6, after the operation is finished, the robot exits the detected equipment.

The robot has the advantages that the front camera and the rear camera are arranged on the front side and the rear side of the robot body, the problem of inspection dead angles is solved, meanwhile, the plurality of operation units on the robot body can carry out internal maintenance operation of the cavity according to manual maintenance processing standards, GIS equipment disassembly operation is avoided, detection and conditions of tiny foreign matters in the GIS equipment can be rapidly completed, and operation efficiency is greatly improved.

Drawings

Fig. 1 is a schematic perspective view of the general structure of a maintenance robot for internal inspection of a GIS cavity according to an embodiment of the present invention;

FIG. 2 is a top view of the inner structure of a GIS cavity internal overhaul maintenance robot in one embodiment of the invention;

FIG. 3 is a bottom view of a GIS cavity internal overhaul and maintenance robot in accordance with an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of an internal wiping unit of a GIS cavity internal overhaul and maintenance robot in one embodiment of the invention;

FIG. 5 is a schematic bottom structure diagram of a GIS cavity internal overhaul and maintenance robot in cleaning and dust collection operation according to one embodiment of the invention;

fig. 6 is a schematic bottom structure diagram of a GIS cavity internal overhaul and maintenance robot in a wiping operation according to an embodiment of the invention.

In the figure:

1-a robot body;

2-a main control unit;

3-a power supply unit;

4-forward binocular vision unit;

5-a binocular vision unit facing away;

6-a walking unit;

61-a moving wheel;

62-a moving wheel drive;

63-a drive motor;

64-a motor drive;

7-a cleaning unit;

71-cleaning the rotating motor;

72-soft cleaning brush head;

8-a dust suction unit;

81-micro vacuum pump;

82-dust bag;

83-dust suction port;

84-a dust suction duct;

9-a wiping unit;

91-primary pulley;

92-a secondary pulley;

93-intermediate support wheels;

94-double layer plain paper tape;

95-an electric lifting device;

96-detergent reservoir;

97-a peristaltic pump;

98-detergent spout;

10-robot control line interface;

11-robot antenna interface.

Detailed Description

The present application is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present application is not limited thereby.

The first embodiment is as follows: GIS cavity internal overhaul maintenance robot

As shown in fig. 1, the present invention provides a maintenance robot for repairing and maintaining inside a GIS cavity, comprising: the robot comprises a robot body 1, a main control unit 2, a power supply unit 3, a forward binocular vision unit 4, a backward binocular vision unit 5, a walking unit 6, a cleaning unit 7, a dust collection unit 8 and a wiping unit 9.

The main control unit 2 is arranged inside the robot body 1 and includes: MCU calculation module, high-performance CPU calculation module and wireless AP routing module.

The MCU calculation module is used for collecting and fusing robot sensing data, storing the data, driving the bottom layer, controlling an algorithm and an overall control logic of the robot, integrating lithium battery charging and discharging management and module power control, and is provided with an IMU module, a distance measuring sensor, an obstacle avoiding sensor, an anti-falling sensor, a camera light supplementing lamp driving and other external unit module interfaces, and the CAN bus is adopted to communicate with the driving module, so that distributed control of a master control system is realized.

The CPU computing module is used for video acquisition, simultaneously runs an ROS (Robot Operating System) System, a machine vision and positioning navigation algorithm, can access four camera interfaces, meets the operation requirement of an upper algorithm, improves the real-time performance of the whole control System, and meets the requirement of multi-path video acquisition of the Robot.

The wireless AP routing module is used for the MCU calculation module to carry out network exchange with the CPU calculation module, and communicates with an upper computer in a wired or wireless mode, and 300M wireless WIFI can satisfy robot multichannel video and data transmission. The core module adopts a small-size high-integration design, and the hardware size of the integrally integrated main control system can meet the requirement of miniaturization of a narrow space of the robot.

It can be understood that, in order to satisfy the functional requirement of the normal operation of robot, the main control unit 2 of robot possesses functions such as high performance main control core, power management, drive, communication and sensing detection under the constraint of narrow and small space, and main control unit 2 and other peripheral hardware should possess the function of independent operation simultaneously, satisfy the debugging maintenance work in later stage. The core processing capacity of the main control unit 2 meets the requirement of the robot for sufficient redundancy in addition to the operation of the vision algorithm, and the algorithm is convenient to expand and upgrade. To sum up, the robot main control unit 2 has the characteristics of miniaturization, high performance, strong expandability and the like.

The power supply unit 3 is arranged inside the robot body 1, comprises a lithium battery pack and is used for providing energy for the traveling and operation of the robot body 1 in a wireless control mode.

The front binocular vision unit 4 is arranged at the front end of the outer portion of the robot body 1, the back binocular vision unit 5 is arranged at the rear end of the outer portion of the robot body 1 and is used for vision positioning functions of the robot in the advancing and retreating processes respectively, each vision positioning function comprises two vision sensors, a preferred but non-limiting implementation mode is that 500 ten thousand pixels of miniaturized high-definition CMOS camera modules are adopted, the focal length is 4.2mm, the visual angle is 77 degrees, and the monitoring distance is 0-6 meters. Meanwhile, the camera adopts a standard UVC protocol, has strong compatibility and can be directly identified by system equipment such as Windows, Linux and the like. Each vision sensor is provided with an LED light supplement lamp ring, the light supplement lamp ring adopts a white light source, and the brightness can be adjusted by the control part in real time.

In order to further expand the function of the maintenance robot for overhauling the inside of the GIS cavity in the embodiment, the forward binocular vision unit 4 and the backward binocular vision unit 5 are respectively connected with the main control unit, a high-performance CPU (central processing unit) computing module of the main control unit 2 is responsible for video acquisition, an ROS (reactive oxygen species) system and a binocular machine vision algorithm are simultaneously operated in real time, and the identification of obstacles or foreign matters in a walking path can be realized based on the acquired images of the forward binocular vision unit 4 and the backward binocular vision unit 5 and the robot vision detection technology and based on image feature extraction and image target matching. Based on the scanning result of the vision sensor, the center of the scanned area can be further used as a reference origin, the equal interval distance from the center of the scanned area to the reference origin is used as a target function, the optimal moving path to the next working position is fitted by combining a vision algorithm, and the displacement control of the robot body is accurately finished.

As shown in fig. 2, the traveling units 6 are provided at four corners of the robot body 1, and include: a moving wheel 61 and a moving wheel driving device 62.

The number of the moving wheels 61 is two pairs, i.e., four, which are all omni-directional moving wheels, and each moving wheel 61 is connected with one moving wheel driving device 62, i.e., the moving wheel driving devices 62 correspond to the moving wheels 61 one by one.

The moving wheel driving devices 62 are all provided inside the robot body 1, and the moving wheel driving devices 62 include: the driving motor 63 and the motor transmission mechanism 64, the motor transmission mechanism 64 is connected with the moving wheel 61 through a connecting shaft, the control end of the driving motor 63 is connected with the main control unit 2, and the output shaft of the driving motor 63 drives the moving wheel 61 through the motor transmission mechanism 64.

It can be understood that the robot walking unit 6 is a multi-motor drive control system, the bus-type drive control mobile wheel drive devices 62 are designed to meet the requirement of multi-motor distributed control of the main control system, motion instructions are distributed to the mobile wheel drive devices 62 through buses, and feedback information such as speed and position of the drive motors 63 is transmitted to the main control unit 2 through the buses.

In order to realize that the driving system has the characteristics of high performance, low power consumption, miniaturization and distributed control, the mobile wheel driving device 62 comprises an MCU (microprogrammed control Unit), a peripheral circuit, a power management circuit, an MOSFET (metal-oxide-semiconductor field effect transistor) driving circuit, a power MOSFET H bridge, a current and voltage acquisition circuit, a signal conditioning circuit and the like, wherein an error detection mechanism and a bus protection mechanism of a CAN (controller area network) bus are adopted, the stability and reliability of data transmission are ensured, and the requirement of distributed control of the driving system is met; the power H bridge is formed by adopting discrete power MOSFET devices, has the advantages of low on-resistance and high continuous current, and meets the requirement of high performance of a driving system; the driving system has the function of perfecting power management, the power supply of the motor can be turned off in an idle state, the whole driving system enters a sleep mode to wait for awakening, the quiescent current is less than 5mA, and the requirement of low power consumption of the driving system is met.

It can be understood that according to the internal structure and environmental characteristics of the GIS equipment, the horizontal cavity maintenance robot needs to have the moving capability of walking, freely advancing, retreating and transversely moving at a small angle on the inner wall of the GIS when the horizontal cavity maintenance robot is used for maintenance of the GIS equipment. In order to realize the functions, the maintenance robot for the inside of the GIS cavity adopts a four-wheel independent driving mode, and the moving wheels 61 of the robot can preferably adopt Mecanum wheels moving in all directions. The unpowered roller is installed on the periphery of the wheel hub of the omnidirectionally moving Mecanum wheel and serves as a tire, in order to ensure that the moving wheel cannot scratch the inner wall of the GIS, the outer portion of the moving wheel can be wrapped by a rubber material, and the outer edge of the wheel is ensured to be free of metal parts to be exposed. Preferably, the material of the tire is made of ethylene propylene diene monomer. The rollers can revolve around the hub shafts and can also rotate around the respective supporting mandrels under the action of ground friction, the combination of the two motions ensures that the central closing speed of the rollers contacting the ground and the hub shafts have a certain included angle, the central closing speed of the rollers can be changed in size and direction by adjusting the hub speed and the linear combination of the hub speeds can be changed, and then the central closing speed and the central closing speed of a motion system can be controlled, so that the robot can realize three-degree-of-freedom all-directional motion of the cambered surface.

There are various mounting methods for the mecanum wheel, which mainly includes: x-square (X-square), X-rectangle (X-rectangle), O-square (O-square), O-rectangle (O-rectangle). Wherein X and O represent the pattern formed by the rollers in ground contact with the four wheels; the square and the rectangle refer to the shape enclosed by the contact points of the four wheels and the ground. Taking the O-rectangle mounting as an example, the footprint of the four wheels forms a rectangle.

In this embodiment, the robot moving wheel 61 includes two pairs of omnidirectional wheels, which can be two left-handed wheels and two right-handed wheels, the left-handed wheels and the right-handed wheels are installed in a chiral symmetry manner, and the installation manner can be an O-rectangle, so that the robot can be ensured to move in all directions at the bottom of the detected device. In order to prevent the outer edge of the Mecanum wheel from rubbing the GIS cavity when moving in the GIS cavity, the Mecanum wheel designed at this time is a middle supporting structure. Different from other types of Mecanum wheels, no metal part is exposed at the outer edge of the Mecanum wheel supported in the middle, and the GIS equipment cavity is prevented from being scratched when the overhauling and maintaining robot in the GIS cavity moves.

As shown in fig. 2, the cleaning unit 7 is provided at the bottom of the robot body 1, and includes: a cleaning rotating motor 71 and a soft cleaning brush head 72, wherein the soft cleaning brush head 72 is arranged at the rotating end of the cleaning rotating motor 71, and the control end of the cleaning rotating motor 71 is connected with the main control unit 2.

As shown in fig. 2 and 3, the dust suction unit 8 is disposed at the bottom of the robot body 1, and includes: the robot comprises a micro vacuum pump 81 and a dust filtering bag 82 which are arranged inside a robot body 1, a strip-shaped dust suction port 83 at the bottom of the robot is connected to the dust filtering bag 82 through a dust suction cleaning pipeline 84, then is connected to the micro vacuum pump 81 through a pipeline, and finally is connected with an air outlet on a robot shell through a pipeline, and the control end of the micro vacuum pump 81 is connected with a main control unit 2.

As shown in fig. 5, when the robot performs cleaning and dust collection, the robot first starts the cleaning and dust collection operation unit, starts the cleaning and dust collection function of the bottom of the device to be detected, and simultaneously, the robot moves forward along the direction of the distribution of the foreign matters. The cleaning operation is performed by rotating the soft cleaning brush head 72, the dust suction part is used for generating negative pressure by the micro vacuum pump 81, tiny foreign matters, dust or particles are sucked into the pipeline from the bottom of the detected equipment and stored in the dust collection filter bag 82, and exhaust air is discharged from the side air outlet of the robot, so that dust existing at the bottom of the tank body can not be blown away. After the operation is finished, the robot closes the cleaning and dust collection operation unit, and the robot carries out visual detection on the foreign matter cleaning effect by using the dorsad binocular vision unit 5.

As shown in fig. 1 and 4, the wiping unit 9 is disposed at the bottom of the robot body 1, and includes: a primary pulley 91, a secondary pulley 92, an intermediate support wheel 93, a double-layer lint-free paper tape 94, an electric lifting device 95, a detergent storage tank 96, a peristaltic pump 97 and a detergent nozzle 98.

The main belt wheel 91 is driven by a rotating motor to rotate, the middle supporting wheel 93 adopts a liftable structure, the electric lifting device 95 realizes height lifting control, the middle supporting wheel 93 and the main belt wheel 91 and the auxiliary belt wheel 92 form a triangular structure for rotating and conveying the double-layer hairless paper tape 94, and the middle supporting wheel 93 is supported on the inner side of the hairless paper tape 94. The peristaltic pump 97 is used to pump the cleaning solution from the cleaning agent reservoir 96 through a hose to the cleaning agent jet 98 and to spray the two layers of lint-free paper strips 94.

Before the robot performs the wiping operation, the bottom is in the state shown in fig. 5, wherein the electric lifting device 95 controls the middle supporting wheel 93 to lift upwards, and the double-layer hairless paper tape 94 does not contact with the bottom of the detected equipment. When the wiping operation is performed, as shown in fig. 6, the robot starts the wiping operation unit, the main control unit 2 controls the electric lifting device 95 to reduce the height of the middle supporting wheel 93, so that the double-layer lint-free paper tape 94 is in contact with the bottom of the device to be inspected, then the main control unit 2 controls the peristaltic pump 97 to suck the cleaning solution, the cleaning agent is sprayed and infiltrates the lint-free paper tape 94, the lint-free paper wiping function can be started, and meanwhile, the robot moves forward along the foreign matter distribution direction. After the operation is finished, the robot closes the wiping operation unit, and the robot carries out visual detection on the foreign matter cleaning effect by using the dorsad binocular vision unit 5.

Example two: a maintenance operation method using the GIS cavity internal maintenance robot,

in this embodiment, a maintenance operation is performed by using a maintenance robot inside a GIS cavity, that is, the present invention provides a maintenance operation method using the maintenance robot inside a GIS cavity, including the following steps:

step 1, the robot enters the detected equipment from the manhole. The detected equipment can be a GIS main bus and a branch bus which are arranged in a full horizontal mode, an HGIS branch bus, a GIL pipeline bus or a ground tank type circuit breaker arc extinguish chamber. Generally, the diameter of an access hole on a 252kV GIS main bus is not more than 500mm, and the gap between a conductor and the position right below the inner wall of the tank body is about 200mm, so that the robot can enter and move. And in the initial state, the robot closes all the operation units, performs visual detection on the interior of the detected equipment by using the forward binocular vision unit 4, performs visual identification on the found foreign matters, and judges the sizes of the foreign matters.

And 2, starting the cleaning and dust collection operation unit, starting the cleaning and dust collection functions of the bottom of the detected equipment, and simultaneously enabling the robot to move forwards along the foreign matter distribution direction.

And 3, closing the cleaning and dust collection operation unit, and carrying out visual detection on the foreign matter cleaning effect by the robot through the dorsad binocular vision unit 5.

And 4, returning the robot to the original initial position, starting the wiping operation unit, reducing the height of the middle supporting wheel 93 to enable the middle supporting wheel to be in contact with the bottom of the detected equipment, starting the functions of spraying the cleaning agent and wiping the hairless paper, and simultaneously enabling the robot to move forwards along the foreign matter distribution direction.

And 5, closing the wiping operation unit, and carrying out visual detection on the foreign matter cleaning effect by the robot by using the dorsad binocular vision unit 5.

And 6, after the operation is finished, the robot exits the detected equipment.

In this embodiment, the overhaul and maintenance robot inside the GIS cavity generally works in an autonomous operation mode, and in this mode, the image transmission and data transmission functions of the background can be realized and controlled by installing an antenna at the antenna interface 11 of the robot body 1; in addition, the robot can also utilize the host computer to carry out remote control through wired or wireless mode, control the control line interface 10 with host computer control cable connection on the robot body 1 under the wired mode and control and provide the power to the robot, and the wireless mode is down can realize with the communication function of host computer in antenna interface 11 department installation antenna.

While the present invention has been described in terms of exemplary embodiments, it should be understood that the invention is not limited to the exemplary embodiments described above. It will be apparent to those skilled in the art that the above-described exemplary embodiments may be modified without departing from the scope and spirit of the disclosure. The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

The present applicant has described and illustrated embodiments of the present invention in detail with reference to the accompanying drawings, but it should be understood by those skilled in the art that the above embodiments are merely preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not for limiting the scope of the present invention, and on the contrary, any improvement or modification made based on the spirit of the present invention should fall within the scope of the present invention.

Claims

1. A GIS cavity internal overhaul maintenance robot, comprising: robot body (1), main control unit (2), power supply unit (3), preceding binocular vision unit (4), two mesh vision unit (5), walking unit (6), clean unit (7), dust absorption unit (8) and clean unit (9), its characterized in that to the dorsad:

the main control unit (2) and the power supply unit (3) are arranged inside the robot body (1); the forward binocular vision unit (4) is arranged at the front end of the outer part of the robot body (1), and the backward binocular vision unit (5) is arranged at the rear end of the outer part of the robot body (1); the walking units (6) are arranged at four corners of the robot body (1); the cleaning unit (7), the dust absorption unit (8) and the wiping unit (9) are arranged at the bottom of the robot body (1);

the main control unit (2) comprises: the system comprises an MCU calculation module, a CPU calculation module and a wireless AP routing module; the MCU calculation module is used for acquisition and fusion of robot sensing data and robot control; the CPU calculation module is used for video acquisition and running an ROS system, machine vision and a positioning navigation algorithm at the same time; and the wireless AP routing module is used for the MCU calculation module to perform network exchange with the CPU calculation module and to communicate with an upper computer in a wired or wireless manner.

2. The GIS cavity internal overhaul and maintenance robot of claim 1, wherein:

the power supply unit (3) is arranged inside the robot body (1) and comprises a lithium battery pack for providing energy for the robot body (1) to advance and operate in a wireless control mode.

3. The GIS cavity internal overhaul and maintenance robot of claim 1, wherein:

the forward binocular vision unit (4) and the backward binocular vision unit (5) are respectively used for vision positioning functions in the advancing and retreating processes of the robot, respectively comprise two vision sensors, are respectively connected with the main control unit (2), and are matched with an image target based on image feature extraction to realize identification of obstacles or foreign matters in a walking path.

4. The GIS cavity internal overhaul and maintenance robot of any one of claims 1 to 3, wherein:

the walking unit (6) comprises: the moving wheels (61) and the moving wheel driving devices (62), wherein each moving wheel (61) is connected with one moving wheel driving device (62); the moving wheel driving devices (62) are all arranged inside the robot body (1), and the moving wheel driving devices (62) comprise: the device comprises a driving motor (63) and a motor transmission mechanism (64), wherein the motor transmission mechanism (64) is connected with a moving wheel (61) through a connecting shaft, the control end of the driving motor (63) is connected with a main control unit (2), and the output shaft of the driving motor (63) drives the moving wheel (61) through the motor transmission mechanism (64).

5. The GIS cavity internal overhaul and maintenance robot of claim 4, wherein:

the moving wheel (61) of the robot is a Mecanum wheel moving in all directions, an unpowered roller is installed on the periphery of the moving wheel to serve as a tire, the outside of the moving wheel can be wrapped by rubber materials, and no metal part is exposed on the outer edge of the wheel.

6. The GIS cavity internal overhaul and maintenance robot of any one of claims 1 to 3, wherein:

clean unit (7) and set up in robot body (1) bottom, include: clean rotating electrical machines (71) and soft brush head (72) of cleaning, soft brush head (72) of cleaning install in clean rotating electrical machines (71) the rotation end, clean rotating electrical machines (71) control end and be connected with main control unit (2).

7. The GIS cavity internal overhaul and maintenance robot of any one of claims 1 to 3, wherein:

dust absorption unit (8) set up in robot body (1) bottom, include: the robot comprises a micro vacuum pump (81) and a dust filtering bag (82) which are arranged inside a robot body (1), wherein a strip-shaped dust suction opening (83) at the bottom of the robot is connected to the dust collecting filtering bag (82) through a dust suction cleaning pipeline (84), then is connected to the micro vacuum pump (81) through a pipeline, and is finally connected with an air outlet on a robot shell through a pipeline, and the control end of the micro vacuum pump (81) is connected with a main control unit (2).

8. The GIS cavity internal overhaul and maintenance robot of any one of claims 1 to 3, wherein:

the wiping unit (9) is arranged at the bottom of the robot body (1) and comprises: a main belt wheel (91), a secondary belt wheel (92), a middle supporting wheel (93), a double-layer hairless paper tape (94), an electric lifting device (95), a detergent storage tank (96), a peristaltic pump (97) and a detergent nozzle (98);

the driving pulley (91) is driven by the rotating electrical machines and is rotated, middle supporting wheel (93) adopt liftable formula structure, realize high lifting control by electric lift device (95), middle supporting wheel (93) with driving pulley (91) with form the triangle-shaped structure from band pulley (92) and be used for rotating the conveying double-deck nothing papaw tape (94), middle supporting wheel (93) support and are in the inboard of no papaw tape (94), peristaltic pump (97) are used for extracting the cleaning solution in detergent storage tank (96), carry to detergent spout (98) through the hose to spray to double-deck no papaw tape (94).

9. The GIS cavity internal overhaul and maintenance robot of any one of claims 1 to 8, wherein:

the equipment to be overhauled and maintained is a GIS main bus and a branch bus which are arranged in a full horizontal mode, an HGIS branch bus, a GIL pipeline bus or a ground tank type circuit breaker arc extinguish chamber.

10. A service maintenance method using the GIS cavity interior service maintenance robot of any one of claims 1 to 9, characterized by comprising the steps of:

step 1, a robot enters a detected device from a manhole, visual detection is carried out on the interior of the detected device by using a forward binocular vision unit (4), visual identification is carried out on found foreign matters, and the sizes of the foreign matters are judged;

step 2, starting a cleaning unit (7) and a dust collection unit (8), starting the bottom cleaning and dust collection functions of the detected equipment, and simultaneously enabling the robot to move forwards along the foreign matter distribution direction;

step 3, closing the cleaning unit (7) and the dust collection unit (8), and carrying out visual detection on the foreign matter cleaning effect by the robot through the dorsad binocular vision unit (5);

step 4, the robot returns to the original initial position, the wiping unit (9) is started, and meanwhile the robot moves forwards along the foreign matter distribution direction;

step 5, closing the wiping unit (9), and carrying out visual detection on the foreign matter cleaning effect by using the dorsad binocular vision unit (5) by the robot;

and 6, after the operation is finished, the robot exits the detected equipment.