CN105680371A - Control system of line patrol robot of power transmission line - Google Patents
Control system of line patrol robot of power transmission line Download PDFInfo
- Publication number
- CN105680371A CN105680371A CN201610220239.9A CN201610220239A CN105680371A CN 105680371 A CN105680371 A CN 105680371A CN 201610220239 A CN201610220239 A CN 201610220239A CN 105680371 A CN105680371 A CN 105680371A
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- China
- Prior art keywords
- electrically connected
- module
- control system
- transmission line
- definition camera
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
Abstract
The invention discloses a control system of a line patrol robot of a power transmission line. A display, a signal emitter, an acousto-optic alarm, a high-definition camera device and a movement module are included. The high-definition camera device is provided with a lens, LED illuminating lamps are mounted on the left and right of the lens respectively, the high-definition camera device is connected with a main shaft of a rotation motor, the output ends of the display, a memory, a power supply module and a control module are electrically connected with the input end of a remote controller, the signal emitter is electrically connected with the remote controller, the output end of the high-definition camera device is electrically connected with the input end of an image processing module, and the output end of the image processing module is electrically connected with the input end of a central processing module. According to the invention, the high-definition camera device can record faults which occur in the power transmission line as observed images, convenience is provided for observation and recording lateral, and the control system is more multifunctional.
Description
Technical field
The present invention relates to crusing robot control technology field, specifically a kind of polling transmission line machineDevice people control system.
Background technology
Mechanical is of a great variety, can be divided into various classifications by several different aspects, as: can divide by functionFor dynamic power machine, material carrying machine, size reduction machinery etc.; By service industry can be divided into agricultural machinery,Mining machinery, textile machine etc.; Can be divided into thermal machine, fluid machinery, bionic mechanical by operation principleDeng. In addition, machinery all will be through several in the processes such as its research, exploitation, design, manufacture, utilizationThe stage that job specification is different. By these different phases, mechanical engineering can be divided into again and overlap, mutuallyThe several branch systems that match, as mechanical scientific research, Machine Design, machine-building, machinery use and dimensionRepair etc. These multiple subdiscipline systems that are divided into by different aspect cross one another, overlap each other, therebyMake mechanical engineering may be divided into up to a hundred subdisciplines. For example, the dynamic power machine dividing by function, it withThe thermal machine that divides by operation principle, fluid machinery, turbomachinery, reciprocating machine, steam power machinery,Nuclear power unit, internal combustion engine, gas turbine, and move with the central station equipment dividing by industry, industryPower apparatus, railway locomotive, marine engine room engineering, automobile engineering etc. have complicated intersection and overlapping relation.Marine turbing is dynamic power machine, is also thermal machine, fluid machinery and turbomachinery, and it belongs to boats and shipsPower set, Steam Power Equipment, may also belong to nuclear power unit etc.
Electro-mechanical system composition:
1, basic machine: basic machine comprises frame, mechanical connection, machine driving etc., it is dynamo-electric oneThe basis of body, plays a part other functional units in support system, transmits motion and power. With purePure engineering goods are compared, and the technical performance of electro-mechanical system is improved, function is enhanced,This just requires the basic machine can at aspects such as frame for movement, material, processing technology and physical dimensionsAdapt with it, there is efficient, multi-functional, reliable and energy-conservation, small-sized, light weight, feature attractive in appearance.
2, detect transducing part: detect transducing part and comprise various sensors and signal deteching circuit thereof, itsEffect is exactly to detect itself and the variation of external environment about parameter in the electro-mechanical system course of work,And information is passed to electronic control unit, electronic control unit is sent out to actuator according to the information being checked throughGo out corresponding control.
3, electronic control unit: electronic control unit claims again to send corresponding instruction with rhythm, controls wholeSystem is on purpose carried out.
4, actuator: the effect of actuator is according to the fortune of the order-driven mechanical part of electronic control unitMoving. Actuator is moving component, conventionally adopts several sides such as driven by power, air pressure driving and hydraulic-drivenFormula.
5, power source: power source is electromechanical integrated product energy supply part, and its effect is according to systemControl and require to provide energy and power that system is normally moved to mechanical system. Provide the mode of energy to compriseElectric energy, gas energy and hydraulic energy, taking electric energy as main.
Robot is the installations that automatically perform work, and it both can accept mankind commander, can move againThe program of layout in advance, also can be according to the principle guiding principle action of formulating with artificial intelligence technology. Appointing of itBusiness is the work of assisting or replace human work, for example production industry, building industry, or dangerous work, machineDevice robot system is generally by servomotor, the compositions such as servomotor control card single-chip computer control system, at present,To the concept of robot, convergence is consistent gradually in the world. In general, people can accept thisSaying, robot leans on self power and control ability to realize a kind of machine of various functions. AssociatingStandardization body of state has adopted the robot Institute of America to the definition under robot: " a kind of able to programme and many meritsThe manipulator of energy; Or have in order to carry out different tasks that available computer changes and action able to programmeSpecialized system. " it can bring many conveniences for the mankind.
Control system mean by it can according to desirable mode keep and change machine, mechanism orAny interested or variable amount in other equipment. Control system is to be reached by control object in order to make simultaneouslyPredetermined perfect condition is implemented. Control system makes to be tending towards by control object the stable state of certain needs,Control system has been widely used in the every field of human society, industry boiler control system, and, industry potFurnace control system, in industrial aspect, for what run in the production processes such as metallurgy, chemical industry, machine-buildingVarious physical quantitys, comprise temperature, flow, pressure, thickness, tension force, speed, position, frequency, phase, there is corresponding control system positions etc. On this basis by adopting digital computer also to set up controlBetter and the higher numerical control system of automaticity of performance processed, and have and control and manage dual meritThe Process Control System of energy. Application agriculturally comprises water level auto control system, agricultural machineryAutomatic operation system etc., and then in the application of robot, there is robot control system.
The sustainable development of Internet technology, control system and network communicating system integrated become controlA focus of network technology processed has proposed network control system (NCS) for this reason. in traditional control systemIn system, add network as telecommunication media, make the performance of system have large change, but simultaneously also inevitableBring following problem: network delay, packet loss problem, Dan Bao and Duo Bao transmission problem etc., these problemsExist, not only can reduce the control performance of system, and can also cause the unstable of system. therefore, to networkThe research of networked control systems has very important realistic meaning.
Robot system is generally by servomotor, the compositions such as servomotor control card single-chip computer control system,Robot is being commonly called as of robot brain device (Robot), and robot brain device comprises that all simulating humans are capableFor or the machinery of thought and simulation other biological, in contemporary industry, robot refers to automatically perform taskMan-made machine device, traditional robot control system exists cannot carry out network connection, controls ineffectiveLive, structure too simply waits not enough.
Machine is the device being assembled into by various metals and non-metallic component, consumes the energy, can turn round,Acting, it is work for replacing people, carries out energy conversion, information processing and produce useful work,Machine is applied in the overall process of human history, but modern age " machine " truly, be but in westAfter side's industrial revolution, just progressively invented, machine is assembled into by various metals and non-metallic componentDevice, consume the energy, can turn round, do work, be used for replacing people work, carry out energy conversion, withAnd generation useful work, can be divided into thermal machine, fluid machinery, bionic mechanical etc., tradition by operation principleOn robot due to problems such as manufacturing industry and science and technology, cause robot function singleness and operation difficultSpend large and slow movement.
Along with the development of China's power system, power grid security, stable operation more and more come into one's own.Especially in the super-pressure of greatly developing in recent years, system for ultra-high voltage transmission, the safe operation of circuit is directInvestment and the level of security of whole system are determined, for ensureing the electrical safety of ultra-high-tension power transmission line, at heightPressure transmission line operation was used after a period of time, needed the electric property of detection line, with prevent short circuit orThe generation of the fault such as open circuit. Due to particular job occasion, the especially field of high-tension line, high mountain, famineDesolate area, the method for at present conventional manual detection, efficiency is low, dangerous high.
Summary of the invention
The deficiency existing for above-mentioned prior art, the object of this invention is to provide a kind of polling transmission lineRobot control system, the beneficial effect having is; Described transmission line polling robot control systemSystem, scientific and reasonable for structure, easy to use efficient; Can be captured in power transmission line by high-definition camera head apparatusThe fault occurring on road and the image of observation are all recorded, and locating through central processing moduleReason, stores information in memory into, facilitates later observation and record, has improved many merits of this systemEnergy property; By acoustic-optic alarm and line under-voltage protection warning device have been installed on crusing robot, patrolInspection robot, in the time of situation about facing a danger, can report to the police by warning system, has effectively avoidedRobot breaks down in tour process, has improved the practicality of this equipment.
To achieve these goals, the technical solution adopted in the present invention is: a kind of polling transmission line machineDevice people control system, comprises display, signal projector, acoustic-optic alarm, high-definition camera head apparatusAnd motion module; On described high-definition camera head apparatus, camera lens is installed, install the left and right sides of described camera lensHave LED illuminating lamp, described high-definition camera head apparatus is connected by main shaft with electric rotating machine, described electric rotatingThe below of machine is provided with robot body, on described robot body, relay indicating light is installed, and machineHuman agent's below is provided with rear wheel, described display, memory, power module and control moduleOutput is all electrically connected with the input of remote manipulator, described signal projector and remote manipulator electricityProperty connects, and signal projector is connected by wireless network with signal receiver, described signal receiver andCentral processing module is electrically connected, the output of described acoustic-optic alarm and line under-voltage protection warning deviceEnd is all electrically connected with the input of alarm module, the output of described alarm module and central processing moduleInput be electrically connected, the output of described high-definition camera head apparatus and the input of image processing moduleBe electrically connected, the output of described image processing module and the input of central processing module are electrically connected.
Further, described power module is module power supply or airborne power supply.
Further, on described high-definition camera head apparatus, dust cover is installed.
Further, being electrically connected with central processing module of described motion module.
Further, described robot body's front end is provided with acoustic-optic alarm.
Further, left side, described robot body's below is provided with front vehicle wheel.
Adopt after technique scheme, the advantage that compared to the prior art the present invention had is:
Transmission line polling robot control system of the present invention, scientific and reasonable for structure, easy to useEfficiently; Can be captured in the fault that occurs on transmission line of electricity and observation by high-definition camera head apparatusImage is all recorded, and the processing of process central processing module, information is stored in memory,Facilitate later observation and record, improved the multifunctionality of this system; By installing on crusing robotAcoustic-optic alarm and line under-voltage protection warning device, crusing robot in the time of situation about facing a danger,Can report to the police by warning system, effectively avoid robot to break down in tour process,Improve the practicality of this equipment.
Brief description of the drawings
Below in conjunction with drawings and Examples, the present invention is further described:
Fig. 1 is theory diagram of the present invention;
Fig. 2 is structural representation of the present invention.
In Reference numeral: 1-display; 2-memory; 3-power module; 4-control module; 5-is long-rangeRemote controller; 6-signal projector; 7-signal receiver; 8-central processing module; 9-alarm module; 10-Acoustic-optic alarm; 11-line under-voltage protection warning device; 12-high-definition camera head apparatus; 13-image placeReason module; 14-motion module; 15-LED illuminating lamp; 16-camera lens; 17-electric rotating machine; 18-work refers toShow lamp; 19-robot body; 20-rear wheel; 21-acoustic-optic alarm; 22-front vehicle wheel.
Detailed description of the invention
The following stated is only preferred embodiment of the present invention, does not therefore limit protection scope of the present invention.
Embodiment, as shown in Figure 1-2, a kind of transmission line polling robot control system, comprises demonstrationDevice 1, signal projector 6, acoustic-optic alarm 10, high-definition camera head apparatus 12 and motion module 14;Camera lens 16 is installed on high-definition camera head apparatus 12, and the left and right sides of camera lens 16 is provided with LED illuminating lamp15, high-definition camera head apparatus 12 is connected by main shaft with electric rotating machine 17, the below peace of electric rotating machine 17Robot body 19 is housed, relay indicating light 18 is installed on robot body 19, and robot body19 below is provided with rear wheel 20, display 1, memory 2, power module 3 and control module 4Output be all electrically connected with the input of remote manipulator 5, signal projector 6 and remote manipulator 5Be electrically connected, and signal projector 6 is connected signal receiver 7 by wireless network with signal receiver 7Be electrically connected acoustic-optic alarm 10 and line under-voltage protection warning device 11 with central processing module 8Output be all electrically connected with the input of alarm module 9, the output of alarm module 9 and centreThe input of reason module 8 is electrically connected, the output of high-definition camera head apparatus 12 and image processing module 13Input be electrically connected, the input electricity of the output of image processing module 13 and central processing module 8Property connects, and power module 3 is module power supply or airborne power supply, is provided with anti-on high-definition camera head apparatus 12Dirt shell, being electrically connected with central processing module 8 of motion module 14, robot body 19 front endAcoustic-optic alarm 21 is installed, and robot body 19 left side, below is provided with front vehicle wheel 22.
Operation principle; When use, by Artificial Control remote manipulator 5, signal is passed through to signal projector 6Be transmitted in central processing module 8, by the work of central processing module 8 controls, high definition is taken the photographObserved environment record can be got off as head apparatus 12, central processing module 8 can be analyzed and passGive remote manipulator 5. Remote manipulator 5 can be shown on display and by information and deposit metrical informationStorage, in memory 2, facilitates later observation and record.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned example embodiment,And in the situation that not deviating from spirit of the present invention or essential characteristic, can be real with other concrete formExisting the present invention. Therefore, no matter from which point, all should regard embodiment as exemplary, andBe nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, therefore purportThe all changes that drop in the implication and the scope that are equal to important document of claim are included in the present invention.Any Reference numeral in claim should be considered as limiting related claim.
The above, be only preferred embodiment of the present invention, not in order to limit the present invention, and every foundationAny trickle amendment that technical spirit of the present invention is done above embodiment, be equal to and replace and improve, allWithin should being included in the protection domain of technical solution of the present invention.
Claims (6)
1. a transmission line polling robot control system, comprise display (1), signal projector (6),Acoustic-optic alarm (10), high-definition camera head apparatus (12) and motion module (14); It is characterized in that:Camera lens (16) is installed, the left and right sides of described camera lens (16) on described high-definition camera head apparatus (12)LED illuminating lamp (15) is installed, and described high-definition camera head apparatus (12) passes through with electric rotating machine (17)Main shaft connects, and the below of described electric rotating machine (17) is provided with robot body (19), described robotRelay indicating light (18) is installed in main body (19), and after robot body's (19) below is provided withWheel (20), described display (1), memory (2), power module (3) and control module (4)Output be all electrically connected with the input of remote manipulator (5), described signal projector (6) withRemote manipulator (5) is electrically connected, and signal projector (6) passes through wireless with signal receiver (7)Network connects, and described signal receiver (7) is electrically connected with central processing module (8), described acousto-opticThe output of warning device (10) and line under-voltage protection warning device (11) all with alarm module (9)Input be electrically connected, the output of described alarm module (9) and central processing module (8) defeatedEnter end and be electrically connected, the output of described high-definition camera head apparatus (12) and image processing module (13)Input be electrically connected, the output of described image processing module (13) and central processing module (8)Input be electrically connected.
2. a kind of transmission line polling robot control system according to claim 1, its feature existsIn: described power module (3) is module power supply or airborne power supply.
3. a kind of transmission line polling robot control system according to claim 1, its feature existsIn: on described high-definition camera head apparatus (12), dust cover is installed.
4. a kind of transmission line polling robot control system according to claim 1, its feature existsIn being electrically connected with central processing module (8) of: described motion module (14).
5. a kind of transmission line polling robot control system according to claim 1, its feature existsIn: described robot body's (19) front end is provided with acoustic-optic alarm (21).
6. a kind of transmission line polling robot control system according to claim 1, its feature existsIn: described robot body's (19) left side, below is provided with front vehicle wheel (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610220239.9A CN105680371A (en) | 2016-04-07 | 2016-04-07 | Control system of line patrol robot of power transmission line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610220239.9A CN105680371A (en) | 2016-04-07 | 2016-04-07 | Control system of line patrol robot of power transmission line |
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| CN105680371A true CN105680371A (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610220239.9A Pending CN105680371A (en) | 2016-04-07 | 2016-04-07 | Control system of line patrol robot of power transmission line |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737738A (en) * | 2016-12-23 | 2017-05-31 | 上海海事大学 | For the robot of cable fault detection |
| CN106911105A (en) * | 2017-05-11 | 2017-06-30 | 国网江苏省电力公司苏州供电公司 | The transmission line of electricity failure eliminating device of remote control flame |
| CN113120107A (en) * | 2021-04-25 | 2021-07-16 | 贵州电网有限责任公司 | Wheel type permanent magnet adsorption double-information channel transformer climbing robot |
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| CN105108728A (en) * | 2015-09-17 | 2015-12-02 | 国网山东省电力公司德州供电公司 | Inspection robot special for cable trenches of substations |
| CN205489284U (en) * | 2016-04-07 | 2016-08-17 | 广东轻工职业技术学院 | Transmission line patrols and examines robot control system |
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Patent Citations (6)
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| US20050071046A1 (en) * | 2003-09-29 | 2005-03-31 | Tomotaka Miyazaki | Surveillance system and surveillance robot |
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| CN102082466A (en) * | 2010-10-15 | 2011-06-01 | 重庆市电力公司超高压局 | Intelligent inspection robot system for transformer substation equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737738A (en) * | 2016-12-23 | 2017-05-31 | 上海海事大学 | For the robot of cable fault detection |
| CN106911105A (en) * | 2017-05-11 | 2017-06-30 | 国网江苏省电力公司苏州供电公司 | The transmission line of electricity failure eliminating device of remote control flame |
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| CN113120107A (en) * | 2021-04-25 | 2021-07-16 | 贵州电网有限责任公司 | Wheel type permanent magnet adsorption double-information channel transformer climbing robot |
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Application publication date: 20160615 |
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