CN202586115U - Thermal image temperature measuring and fault location inspection robot system - Google Patents
Thermal image temperature measuring and fault location inspection robot system Download PDFInfo
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- CN202586115U CN202586115U CN 201220153257 CN201220153257U CN202586115U CN 202586115 U CN202586115 U CN 202586115U CN 201220153257 CN201220153257 CN 201220153257 CN 201220153257 U CN201220153257 U CN 201220153257U CN 202586115 U CN202586115 U CN 202586115U
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Abstract
The utility model discloses a thermal image temperature measuring and fault location inspection robot system belonging to the automatic detection and control technology field. The system is composed of a base station and a robot. The robot comprises a vehicle body layer and a carrying device layer. The system has the advantages that: (1) equipment utilization rate is high; (2) comprehensive cost is low; (3) overall power consumption is small; (4) construction difficulty is low, a construction period is short, and a construction process is more safe; (5) unattended inspection can be basically realized; (6) operations are diversified; (7) a rear-mounted automatic charging device is employed, structure is simple, and cost is lower; (8) the system can be adapted to all year, all-weather, continuous outdoor work; (9) an embedded ARM11 platform with lower power consumption is selected and used by a signal fusion and navigation control platform; a DSP platform is used by visual navigation for image processing, and power consumption is lower; embedded CPUs are extensively used by the system from a whole body to each module to replace a conventional industrial computer equipment, modularization is stronger, and cost is lower.
Description
Technical field
The utility model belongs to automatic Detection & Controling technical field, particularly thermal imagery thermometric and fault location crusing robot system.
Background technology
The high voltage substation operation conditions is stable to be to concern economic development, major issue that social safety is stable, but facing a danger property of high voltage substation operation conditions manual monitoring is big and can not reach the problem of round-the-clock monitoring, and the energy-conservation thought of transformer station day by day is rooted in the hearts of the people simultaneously.
" low-carbon economy " is the much-talked-about topic of two Conferences in 2010, and the development low-carbon economy will bring deep change comprehensively to China's economic development and social everyway.Premier Wen Jiabao repeatedly mentions electrical problems in the government work report in this year, and stress " to develop low carbon technique energetically, the popularization high-efficiency energy-saving technology, the develop actively new and renewable sources of energy is strengthened the intelligent grid construction ".The development intelligent grid to power grid security, reliably, efficiently move and realize energy-saving and emission-reduction, to drive related industry significant.Attending in UHV transmission technology international conference on May 21st, 2009 that State Grid Corporation of China proposes to accelerate to build with extra-high voltage grid first is key rack; Electric network coordinations at different levels develop, and have " the strong intelligent grid " of the unification of informationization, digitlization, automation and interactive characteristic.Building strong intelligent grid is important carrier and the effective way that promotes the low-carbon economy development.Intelligent grid can be optimized the power consumption of power consumer peak load period; Can realize the mode that is incorporated into the power networks of distributed power source " plug and play "; And then reach the purpose of energy-saving and emission-reduction; Also have higher requirement for the fail safe of power equipment simultaneously, and the electric equipment faults itself is one of major reason that causes the electric grid large area power cut accident that the accident that causes every year all accounts for the half the of all power grid accidents.In order in time to find problems of excessive heat, the external issues of electric equipment; Or surrounding environment problem; Guarantee power system security, reliability service; Prevent electric grid large area power cut, need in time to find the electric equipment faults itself, thereby caused transformer station's electric equipment monitoring method and Research of Monitor System.
In order to ensure the security of operation of electrical network, improve power supply quality, people are devoted to the research and development of transformer station's supervision, control and protection system, and are aided with various means, ensure the security of operation of electric equipment.Patrolling and examining of transformer station is operated in assurance transformer station ordinary production, extremely important status is occupied in the safe operation aspect.Traditional patrol task need be patrolled and examined and personnel every day all done quota to each transformer station and patrol and examine, and gathers a large amount of service datas, does a large amount of daily work of patrolling and examining.So, just give transformer station regular maintenance, patrol and examine and brought certain difficulty.The unmanned progress on duty of raising and transformer station along with automatization level also needs the people regularly to arrive the site inspection equipment component.
In order to accomplish monitoring, need carry out regular examination and maintenance to transformer station to the main primary equipment running status of main transformer, bus, switch etc. in the transformer station.Traditional supervisory control of substation mainly passes through manual type with making an inspection tour, and equipment is carried out the simple qualitative judgement of sense organ.The development and progress of Along with computer technology afterwards, micro computer monitoring are able to use in vast transformer station.It is " five is distant " micro computer monitoring of remote measurement, remote signalling, remote control, remote regulating, remote viewing.Along with the popularization at unmanned station, develop unattended checkout equipment, can realize normal detection, and recognize unmanned station actual conditions equipment.
The later stage nineties 20th century; Electric power system applies to transformer station with Active Eyes; Be mainly used in the monitoring of visible light video; Detect security personnel, fire-fighting, the environmental condition information such as (like temperature, humidity) of unattended station, be used for the exchange etc. that other unit in the system carries out the broadcast level image.At present, Active Eyes extensive use in unattended operation transformer station.
The equipment hot stall is the subject matter that transformer station's stable operation is faced, and visible light can't this type of fault of checkout facility.For the hot stall of checkout equipment, remedy the defective and the unicity of the detection of simple vision system simultaneously, improve fault detect efficient; Reach the website unattended operation; Reduce human intervention, more common way is to install visible light and thermal imagery video server additional at the monitoring scene at present, and the instrument that video, temperature detection are located carries out integrated; Form server site, transmit Information Monitoring to Master Control Center through network.This mode is centralized monitor equipment very on a large scale simultaneously, reduces the manpower loss, and efficiency for monitoring is greatly improved simultaneously.But, this detection mode following points defective:
1) at the high pressure website, the work that infrared visible light video server is installed itself is exactly a danger close, the real work amount of engineering is also bigger simultaneously.
2) in a big way transformer station because existing video acquisition device is fixed point collection, needs to install many video servers and video acquisition device, to the network bandwidth require high.
3) many video servers and video acquisition device being installed needs too high, the complex management of integrated cost, and utilization rate of equipment and installations is simultaneously also very low.
The utility model content
Patent relates to car body self-navigation technology, electromechanical integration technology, multi-sensor fusion technology, technology of Internet of things, automatic control technology, radio communication, navigation and behavior planning technology, robot vision technology, security and guard technology etc.; Especially carry infrared visible light two-way video server; Be used for the transforming plant primary equipment end; The detection of terminal can be carried out device temperature detection and equipment fault location.
Take all factors into consideration the mode that has proposed " thermal imagery thermometric and fault location crusing robot " behind cost, performance and the construction problem, attempt going balance cost, difficulty of construction, detection efficiency and utilization rate of equipment and installations, realize the unattended operation on the broad sense more simultaneously.
Thermal imagery thermometric and fault location crusing robot system, it is made up of base station and robot;
The base station is the PC that is positioned at machine room, and machine room is positioned at non-higher-pressure region;
Robot construction is following: The Cloud Terrace is installed on the robot car body through support; Vision collecting and processing platform, signal fused and Navigation Control platform, car body administration module and radio station are housed in the control box; The radio station antenna that is positioned at the control box back is adsorbed in the robot, in the lead-in wire access control box of radio station antenna; The radio station is connected with infrared visible light two-way video server through netting twine; Robot car body is positioned at the robot bottom; Two chargings are the robot car body rear end to node; Power management module is to gather battery terminal voltage, and whether offer the system decision-making needs charging;
Infrared visible light two-way video server, infrared thermography and visible image capturing head are integrated in the cabinet of The Cloud Terrace top
Vision sensor is installed in the sense organ box, and intelligent light filling control circuit is fixed in sense organ box inside left, and intensity of illumination transducer and white light source are installed in sense organ box front surface; The sense organ box is positioned at the front portion of robot; At the positive top of sense organ box four obstacle sensors are installed; The RFID read head is installed below the sense organ box,
Electromagnetic Position Sensor is fixed on the robot chassis, and the 1st inductance coil and the 2nd inductance coil are 50mm apart from the height on ground; Single-chip microcomputer, the 1st inductance coil and the 2nd inductance coil are encapsulated in the Electromagnetic Position Sensor box body together, and single-chip microcomputer is positioned at the centre position of Electromagnetic Position Sensor box body, and the 1st inductance coil and the 2nd inductance coil are positioned at the two ends of Electromagnetic Position Sensor box body;
Intelligence light filling control circuit connects intensity of illumination transducer, white light source and signal fused and Navigation Control platform respectively; Vision collecting is connected vision sensor with processing platform; And through RS485 bus connection signal fused and Navigation Control platform, yellow leading line is positioned on the road surface; Below the road surface, lay and induce leading line; Inducing leading line is BV plastics copper core electric wire; Induce the leading line two ends to link to each other and constitute path with galvanomagnetic signal transmitter; It is that 20KHz, electric current are sine wave signal or the pulse signal of 30.0mA that galvanomagnetic signal transmitter provides frequency, makes to induce leading line to produce magnetic field on every side;
Automatic charge device is positioned at the lobby, and pair node is arranged on the automatic charge device.
Said control box is positioned at the robot postmedian; Said robot car body adopts track structure;
Said four obstacle sensors form a line in the horizontal direction;
Said obstacle sensor is that infrared reflection is kept away the barrier transducer.
The structure of the Electromagnetic Position Sensor that 1-N structure is identical is following: single-chip microcomputer connects the 1st inductance coil and the 2nd inductance coil respectively, and single-chip microcomputer connects signal fused and Navigation Control platform through the RS485 bus.
Said vision sensor is cmos camera or ccd video camera.
Said vision collecting and processing platform are the DSP platform, and its model is TMS320DM642;
Said signal fused and Navigation Control platform are the S3C6410 chip;
The model of said single-chip microcomputer is MSP430F1611.
Said yellow leading line with induce the leading line in the vertical direction overlapping;
Said yellow leading line is laid through yellow paint and is formed;
The said leading line of inducing is with ground end PVC protection pipeline on every side, and the vertical range of inducing leading line and ground is 20mm.
Said galvanomagnetic signal transmitter places outside the car, is installed on the wall of lobby.
The model of said intensity of illumination transducer is BH1620;
Said white light source is a warm white LED lamp, and its power is 3W.
Said lobby is positioned at converting equipment and is equipped with the district, and converting equipment is equipped with between district and the non-higher-pressure region higher-pressure region isolating door is installed, and on the big roof in transformer station center, the radio station is installed, and this radio station is connected with PC in the machine room through netting twine.
The beneficial effect of the utility model is:
1) utilization rate of equipment and installations is high: use a mobile platform to carry pointing device, accomplished the work that many pointing devices of original needs could be accomplished, the utilance of single device is very high.
2) integrated cost is low: use the scheme of robot, though single machine people's expense is higher than the expense of original separate unit pointing device, for the scale of investment at whole station, well below the input of original many pointing devices.
3) overall power is little: robot separate unit power is greater than pointing device, but because the energy management technology of use intelligence in the time of idle operation, has been closed a lot of unrelated equipment, average power is on the contrary less than the separate unit pointing device.
4) difficulty of construction is low, and construction period is fast, and construction process is safer: the installation of pointing device needs permanent plant to the electric pole of high-pressure area, exists the people near high-tension apparatus, and the carrying problem up and down of equipment.Pointing device uses wire transmission, exists in wiring in the scope of whole station, digs the engineering problem of establishing the cable ditch.Robot only needs the construction lobby, on original road surface, lays leading line, sets up the quantities of wireless site, is far smaller than the installing engineering amount of pointing device, and the workman is in the zone away from high-tension apparatus always simultaneously, and coefficient of safety is higher.
5) can accomplish unattended basically patrolling and examining: robot can accomplish to patrol and examine automatically, has realized the self-management function simultaneously, and charge function can be accomplished unattended requirement automatically.
6) manually with the combining of automatic function, the operation variation: robot can work through the flow process that sets automatically, also can through the PC end manually control control, operate more flexible.
7) adopt rear-mounted automatic charge device, simple in structure, cost is lower, and car body is caterpillar design, and is more steady.
8) vision adds the navigation system of electromagnetism, can adapt to the whole year, and is round-the-clock, continuously outside work.The simple electromagnetism of comparing, the speed room for promotion is bigger, is more conducive to bring into play the speed limit of car body.
9) signal fused and Navigation Control platform are selected the lower embedded-type ARM of power consumption 11 platforms for use; Vision guided navigation uses the DSP platform processes image of model as TMS320DM642, and power consumption is lower; System uses embedded type CPU to replace conventional industrial computer equipment in a large number from integral body to each module, modularization is stronger, and cost is lower.
Description of drawings
Fig. 1 is that the circuit of the utility model robot connects sketch map;
Fig. 2 a is first schematic perspective view of robot;
Fig. 2 b is second schematic perspective view of robot;
Fig. 2 c is the front view of robot;
Fig. 2 d is the rearview of robot;
Fig. 3 is for yellow leading line and induce the position of leading line to concern sketch map;
Fig. 4 is the position view of two inductance coils;
Fig. 5 forms sketch map for the mobile terminal hardware module;
Fig. 6 is a robot operating state transition diagram
Fig. 7 patrols and examines schematic flow sheet automatically for robot
Fig. 8 patrols and examines schematic flow sheet for robot hand
Fig. 9 is a robot charging flow sketch map
Figure 10 is robot navigation's closed-loop control sketch map
Figure 11 is a robot work-yard schematic layout pattern
Embodiment
Below in conjunction with accompanying drawing the utility model is further specified.
The utility model bond networking technology, mobile robot technology and multi-sensor fusion technology are taken all factors into consideration the mode that has proposed " thermal imagery thermometric and fault location crusing robot system " after cost and the performance,
Thermal imagery thermometric and fault location crusing robot system is characterized in that it is made up of base station and robot;
The base station is the PC that is positioned at machine room, and machine room is positioned at non-higher-pressure region;
Shown in Fig. 1, Fig. 2 a, Fig. 2 b, Fig. 2 c and Fig. 2 d; Robot construction is following: The Cloud Terrace 15 is installed on the robot car body 3 through support 4; Vision collecting and processing platform, signal fused and Navigation Control platform, car body administration module (being the car body control main board) and radio station are housed in the control box 8; The radio station antenna 16 that is positioned at control box 8 back is adsorbed in the robot, in the lead-in wire access control box 8 of radio station antenna 16; The radio station is connected with infrared visible light two-way video server through netting twine; Robot car body 3 is positioned at the robot bottom; Two chargings are robot car body 3 rear ends to node 18; Power management module is to gather battery terminal voltage, and whether offer the system decision-making needs charging, and it is positioned in the master board of control box 8;
Infrared visible light two-way video server is the core of robot carrying equipment, and infrared visible light two-way video server, infrared thermography and visible image capturing head are integrated in the cabinet of The Cloud Terrace 15 tops
As shown in Figure 4, Electromagnetic Position Sensor is fixed on the robot chassis, and the 1st inductance coil 9 and the 2nd inductance coil 14 are 50mm apart from the height on ground 10; Single-chip microcomputer is the core of Electromagnetic Position Sensor; Single-chip microcomputer, the 1st inductance coil and the 2nd inductance coil are encapsulated in the Electromagnetic Position Sensor box body together; Single-chip microcomputer is positioned at the centre position of Electromagnetic Position Sensor box body, and the 1st inductance coil and the 2nd inductance coil are positioned at the two ends of Electromagnetic Position Sensor box body;
Intelligence light filling control circuit connects intensity of illumination transducer 6, white light source 7 and signal fused and Navigation Control platform respectively; Vision collecting is connected vision sensor 5 with processing platform; And through RS485 bus 1 connection signal fused and Navigation Control platform, yellow leading line 13 is positioned on the road surface; Below the road surface, lay and induce leading line 12; Induce leading line 12 to be BV plastics copper core electric wire; Induce leading line 12 two ends to link to each other and constitute path with galvanomagnetic signal transmitter; It is that 20KHz, electric current are sine wave signal or the pulse signal of 30.0mA that galvanomagnetic signal transmitter provides frequency, makes to induce leading line 12 to produce magnetic field on every side;
Automatic charge device is positioned at the lobby, and robot charging automatically accomplishes in the lobby, and pair node is arranged on the automatic charge device.
Said control box 8 is positioned at the robot postmedian; Said robot car body 3 adopts track structure;
Said four obstacle sensors 17 form a line in the horizontal direction;
Said obstacle sensor 17 is kept away barrier transducer (PSD) for infrared reflection.
The structure of the Electromagnetic Position Sensor that 1-N structure is identical is following: single-chip microcomputer connects the 1st inductance coil 9 and the 2nd inductance coil 14 respectively, and single-chip microcomputer connects signal fused and Navigation Control platform through RS485 bus 1.
Said vision collecting and processing platform are the DSP platform, and its model is TMS320DM642;
Said signal fused and Navigation Control platform are the S3C6410 chip;
The model of said single-chip microcomputer is MSP430F1611.
As shown in Figure 3, yellow leading line 13 with induce leading line 12 in the vertical directions overlapping; Yellow leading line 13 is laid through yellow paint and is formed; Be with ground end PVC protection pipeline 11 around inducing leading line 12, inducing the leading line 12 and the vertical range on ground 10 is 20mm.
Said galvanomagnetic signal transmitter places outside the car, is installed on the wall of lobby.
The model of said intensity of illumination transducer 6 is BH1620, and intensity of illumination transducer 6 can be responded to extraneous light intensity signal and with analog voltage amount output, uses as the input comparative quantity of intelligent light filling control circuit;
Said intelligent light filling control circuit uses the LM2903 comparator that analog voltage amount and the preset value that intensity of illumination transducer 6 collects compared, and after analog voltage amount is lower than preset value, produces switching signal, and white light source 7 sends white light;
Said white light source 7 is a warm white LED lamp, and its power is 3W.
Said lobby is positioned at converting equipment and is equipped with district (higher-pressure region), and converting equipment is equipped with between district and the non-higher-pressure region higher-pressure region isolating door is installed, and on the big roof in transformer station center, the radio station is installed, and this radio station is connected with PC in the machine room through netting twine.
Robot is as Internet of Things information gathering terminal; Carry thermal infrared imaging appearance, visible light video server, adopt the self-contained navigation mode to realize inspecting substation equipment; Online real time collecting equipment visibility light and thermal infrared images information; Send the information of being gathered to Master Control Center through wireless network, the monitor staff assigns instruction through Internet of Things transmission channels such as Internet, wireless, notes.Robot (internet-of-things terminal) adds the electromagnetic navigation scheme through vision, and technological orientation is patrolled and examined a little based on RFID, realizes that the automatic running on transmisson line of equipment detects.Can effectively solve multiple spot installation and measuring device security problem under the operations involving high pressure environment, shielding bandwidth and cost defective adopt intelligent energy management technology, realize that robot detects power status automatically, automatically charging.Satisfy the requirement of substation safety operation and intelligent monitoring, ensure power supply safety.Compare similar system, the utility model has mainly been done the breakthrough of the following aspects:
1) adopts rear-mounted automatic charge device;
2) vision adds the navigation scheme of electromagnetism, and core technology is grasped in the independent development design;
3) signal fused and Navigation Control platform are selected the lower embedded-type ARM of power consumption 11 platforms for use;
4) vision guided navigation uses the DSP platform processes image of model as TMS320DM642, and power consumption is lower;
5) robot car body 3 is caterpillar design, makes robot more steady;
6) carry infrared visible light two-way video server.
The utility model is made up of the two large divisions, and the base station is to bring in realization by the PC that is positioned at machine room, and robot is made up of car body layer and carrying equipment layer, and two ends are to rely on the broadband wireless radio station to connect, and accomplish the mutual of data and instruction.Each several part is shared out the work and help one another and has been formed complete " thermal imagery thermometric and fault location crusing robot system "; Accomplishing the heat of transformer station's relevant devices patrols and examines; The visible light location of taking pictures, operations such as the outer images match of visible red also need be accomplished the robot self-management simultaneously; Reach unmanned nurse, the task of automatic job.The functional description of each several part is following:
1) function of base station is mainly reflected on the software of PC; It mainly realizes following function: the control command that issues robot car body 3 through network; Infrared and the visible data that reception is uploaded; Realize infrared and image registration visible light, realize processing, analysis and the storage of infrared data and visible data, and inquiry, warning function are provided for the user.The operating state of mobile terminal also will be responsible for supervising in the base station, and for the user provide be provided with the robot running parameter with and interface and the interface of manually controlling each equipment of mobile terminal.
2) the main function of robot is the order that receives the PC end, and makes corresponding action.Gather, transmit the infrared data and the visible data of transformer station's field apparatus.The operating state data of self working state and each module also will be gathered, transmitted in robot in addition, and completion is mutual with PC's.
Final the utility model has been accomplished following major function:
1) automatically walking: robot car body 3 can be fully reliably under unmanned situation of intervening according to the action such as accomplish that hunting is walked, stopped, turns to of predetermined route.
2) patrol and examine automatically: when robot car body 3 is found to patrol and examine a little; The back PC that stops obtains car body and patrols and examines a little concrete numbering; Transmit the running orbit data of The Cloud Terrace then downwards; Thereby the control The Cloud Terrace is patrolled and examined by the polling path that pre-sets, and obtains the infrared image and the visible images of difference respectively, treatedly is transferred to the PC server automatically through radio station.
3) charging automatically: robot its own power source administration module is when finding that battery allowance is not enough; Need be to car body administration module report charging; After the PC server was separated and read charging signals then, the order robot went charging, and robot arrives the lobby and accomplishes charging automatically.Pair node is arranged on the automatic charge device in the lobby, node 18 is docked, play charging automatically then with the charging on the robot car body.
4) report to the police automatically: through thermal infrared images alarm threshold value is set in zone and full figure, the service routine of PC is done alarm logging when surpassing threshold value, sends warning message with sound, light and note form simultaneously, so that maintenance and inspection in time.
5) safety is kept away barrier: after detecting the place ahead barrier is arranged, the avoiding action that robot car body 3 is made mainly is to stop for a moment, waits for that barrier leaves through four obstacle sensors 17.
6) thermal imagery thermometric: according to FLIR thermography picture and thermometric algorithm, realize the thermal imagery thermometric of visual range, the detected temperatures scope is subzero 20 ℃ to 300 ℃ above freezing, satisfies the requirement of most of power supply unit.
7) fault location: through infrared image, visible images, PC software can be realized two groups of image real-time registrations, thus location fast directly perceived.In order intuitively to obtain any temperature conditions of visible images or infrared image, mark the infrared and visible images of registration simultaneously at the correspondence position of two width of cloth images.
8) data network: detection and alert data and thermal imagery picture form and communication protocol as requested are transferred to system, so that share and equipment fault analysis with system data.
The utility model can be divided into three layers on general orientation: pc client layer, carrying equipment layer, car body layer.The car body layer comprises robot car body 3, control box 8, sense organ box 2, support 4, radio station antenna the 16, the 1st inductance coil 9 and the 2nd inductance coil 14.Control main board, radio station module and power module are arranged in the control box 8
The carrying equipment layer comprises that mainly infrared visible light looks ping server and The Cloud Terrace 15.
The pc client layer is a PC, and the pc client layer is positioned at the indoor of non-higher-pressure region, is connected with the radio station that is positioned at transformer station's big roof in center through netting twine; Robot is made up of carrying equipment layer and car body layer; Connect through the RS485 bus between carrying equipment layer and the car body layer, the carrying equipment layer initiatively sends order, inquiry car body layer state; The carrying equipment layer also can send motion control commands simultaneously, the instruction that car body layer passive response carrying equipment layer sends.Robot realizes wireless connections through the radio station and the PC that carry, and wherein the radio station is directly to be connected with the carrying equipment layer in fact.
The pc client layer is realized following function: 1) infrared thermal imagery and the demonstration of visible images two-way, playback and storage; 2) registration of thermal imagery thermometric, infrared thermal imagery image and visible images; 3) demonstration of environmental data and storage; 4) record of robot car body 3 states and the workflow of participating in a part of robot, the flow process of participation mainly are the control of manually patrolling and examining and the specified point setting of patrolling and examining automatically; 5) PC promptly can announcement machine device people starting point RFID number, and the preservation and the numbering of full station ID point data arranged in database simultaneously, can call the car body layer and arrive certain a bit.
The carrying equipment layer is realized being connected through radio communication with the pc client layer; Some information of carrying equipment layer inquiry car body layer are transmitted to PC; Also want the start-stop of control robot car body 3 simultaneously; The major function of this one deck has: the 1) packet network of thermal infrared and visible images transmission, utilize network upwards to transmit the visible light infrared video; 2) motion control of The Cloud Terrace 15 can be controlled the scanning that The Cloud Terrace 15 is accomplished designated equipment; 3) and RS485 data interaction between the robot car body 3, be connected through the RS485 interface, initiate communication process as main equipment with robot car body 3, comprise order and data alternately; 4) four obstacle sensor 17 data are transmitted to PC on time; 5) gather the operating state of robot car body 3, the first sense receptor of the stopping of robot car body 3, motion, startup, charging and failure exception.
The car body layer mainly provides the kinetic characteristic of robot, and the lift-launch platform is provided for the carrying equipment layer.Car body mobile terminal module is formed as shown in Figure 5, and among Fig. 5, master control system is meant signal fused and Navigation Control platform, and wireless system is the radio station.
Have in the main function that realizes of this layer: the 1) motion of robot comprises that robot advances, retreats, go to action; 2) Navigation Control of robot, vision becomes control data with the electromagnetic navigation data processing, and the robot motion is accomplished in control then; 3) obstacle sensor 17 data acquisitions guarantee that when barrier is arranged robot car body 3 stops prevention and collides; 4) RFID data acquisition, ID card sequence number are read the back and are confirmed the robot location; 5) Power Supply Monitoring is controlled the electric sequence of each equipment and is kept watch on the state of power supply and the dump energy of battery pack.
Robot mainly contains 8 kinds of states, is respectively: normal, move, patrol and examine, return, charging, fault, unusual and stop.As shown in Figure 6, this state in 8 is described respectively below;
Normally: be meant that robot is in the lobby parking and has a rest, but all very normal situation of all communications;
Motion: be meant receive call robot and arrive certain any order after, the state of car body setting in motion;
Patrol and examine: after being meant that a certain dot command is called in the car body response, robot matches the state that the ID point stops;
Unusually: after meeting with barrier when being meant the robot motion, stop.Perhaps lose original place line walking after the leading line, perhaps respond certain and before arriving specified point, pick up starting point ID when a bit.All all have the retention time unusually, after the retention time arrives, perhaps transfers fault to, perhaps transfers to normal.The unusual releasing that correspondence is all arranged, unusual like barrier, barrier can work on after disappearing.
Fault: be meant the situation that runs into some extreme cases or be scheduled to extreme case, need the artificial scene of arriving to remove, and robot artificial is moved back into the lobby, re-power connection.
Return: after being meant to stop in the long-time non-lobby of robot, revert to automatically the lobby operate condition, find midway that perhaps electric weight is not enough, turns back to the lobby.The actual place of returning has only the lobby, and the action behind the arrival lobby can be to revert to normally, perhaps gets into the short range butt joint of charging.Owing to move,, barrier is arranged in the way of returning, stop so need to continue to detect barrier, unusual.
Charging: be meant and open charge switch, the process that the robot waits charging finishes.
Stop: being meant the response parking order, this is that the urgency of a reservation is stopped order, any position that parking can be on leading line.Down time is very long, finds that perhaps electric weight is not enough, need turn back to the lobby.
As shown in Figure 7, robot to patrol and examine flow process automatically following: the prerequisite of patrolling and examining automatically is on PC, to have configured monitoring time in advance promptly when to patrol and examine, perhaps artificial shake-up patrol and examine automatically.The initial robot of normal condition is in normal condition, triggers the work of patrolling and examining automatically when PC arrives the fixed time, ID number of first point of notice robot; The carrying equipment layer receives the PC order, sends to ID number of first point that will reach of car body layer, car body layer setting in motion; When reading ID, whether coupling is ID number that will arrive, and after coupling is for assigned I D number, stops; And wait for carrying equipment layer inquiry car body state, the carrying equipment layer inquires car body and gets into query State, notice PC robotary; The products for further action, PC promptly informs carrying equipment stratus platform 15 trends according to the polling path of originally establishing at this ID number.The carrying equipment layer will be controlled all position probing that The Cloud Terrace 15 is accomplished this point, and give PC with transfer of data, and carrying equipment course PC confirms that all position probing of this test point finish; After PC confirms that all position probing of this point finish; Notify following some ID of robot number, the carrying equipment layer receives PC order, sends to ID number of point that the car body layer next one will arrive; Car body layer setting in motion stops up to the ID that matches appointment number; Carry out the new work of patrolling and examining, so continue to patrol and examine up to a week, PC finally calls car body and arrives starting point.
As shown in Figure 8, robot manually to patrol and examine flow process following: manually patrol and examine and be meant that robot is in the lobby, robotary is normal, artificially patrols and examines to appointment in the PC control robot and a little carries out the manual action of patrolling and examining.The initial condition robot is in normal condition, when triggering, PC manually patrols and examines, and ID number of the point that the notice robot will arrive, the carrying equipment layer receives the PC order; Send to ID number of car body layer purpose, car body layer setting in motion, when reading ID, whether coupling is ID number that will arrive; Unmatched words robot continues to go, and after coupling is for assigned I D number, stops, and waits for carrying equipment layer inquiry robotary; The carrying equipment layer inquires car body and gets into the state of patrolling and examining, notice PC robotary, the action of products for further; This moment, PC was informed carrying equipment stratus platform 15 trend, the action of control The Cloud Terrace 15 that can automatically also can be manual, and the carrying equipment layer will be controlled The Cloud Terrace 15 rotations; Accomplish the everything of PC appointment, accomplish once back wait PC and notify another manually to patrol and examine a little, continue in this way.After manually patrolling and examining artificial end, calling robot gets back to the rest point by hand, perhaps car body timing, and overtime back gets into return state, returns the rest point automatically.
As shown in Figure 9; The charging flow of robot is following: the initial condition robot is in normal condition; When the car body layer monitored power supply dump energy arrival one-level threshold point, the carrying equipment layer inquired car body layer electric quantity of power supply deficiency, and carrying equipment layer notice robot goes charging; Recording status, and send to the car body layer and to remove charge command.This flow process is the long-range butt joint of charging automatically not, has only the short range butt joint.When car body is in non-rest point, detect the electric weight deficiency, when being lower than the one-level threshold point, PC can not controlled car body and go charging; Need to accomplish the work of appointment, wait for that perhaps battery electric quantity is lower than the secondary threshold value, at this time; The car body layer receives charge command, and perhaps the car body layer initiatively triggers the charging guiding, and navigator is assisted the automatic charging device butt joint beginning of guiding charging; After charging finished, the control of car body layer broke away from automatic charge device, and makes robot be returned to normal condition; The carrying equipment layer inquires new robotary, notifies PC then, PC contact charging state.
Shown in figure 10; The self-navigation process of robot is following: when the self-navigation of robot mainly is the robot motion; The closed-loop control module that the software and hardware resource that need call is formed, this module is directly controlled car body track navigation line, is the main structure of robot.Acquiescence being given as 0 during navigation, the information that control algolithm is come according to sensor acquisition, the car body pose of this moment of making a strategic decision out obtains deviation then, calculates the velocity setting of left and right sides motor, through the velocity variations of motor, go to accomplish pose more with.When car body designs the overtime parking function of communication, so need constantly to send action command control body movement to car body.
The signal fused of robot and Navigation Control platform are to exist as the core of robot, and its major function is the navigation algorithm software encapsulation that receives the data from the carrying equipment layer, the action of accomplishing the order indication, each submodule of handle machine people, realizes robot.The hardware platform CPU of this layer selects the S3C6410X of Samsung for use.
S3C6410X is 16/32 risc microcontroller, is that Korea S Samsung is low cost, low-power consumption, the high performance application processor scheme of mobile phone and universal product design.S3C6410X has 64/32 internal bus, is made up of the AXI/AHB/APB bus, for 3G should provide good hardware performance.S3C6410X contains a plurality of powerful hardware accelerators, is fit to very much application such as audio frequency and video, 2D figure, demonstration computing.Inner integrated MFC (multi-format CODEC) supports the encoding and decoding of MPEG4/H.263/H.264, and this hardware compression device is supported real-time video meeting and TV output (NTSC and pal mode).3D graphics engine (3D graphic hardware accelerator) comprises two tinters able to programme (vertex shader vertex shader and pixel shader pixel shader), can quicken OpenGL ES 1.1&1.2 and play up drawing.
S3C6410X has the external memory interface of optimization, to adapt to the high bandwidth of memory of high-end communication service requirement.Accumulator system has two external memory interfaces, and wherein the DRAM interface is configurable is support Mobile DDR, DDR, Mobile SDRAM and SDRAM, and the Flash/ROM interface is supported the peripheral hardware of NOR-Flash, NAND-Flash, CF and ROM type.S3C6410X comprises the multiple hardwares peripheral hardware, utilizing camera interface, 24 very color lcd controllers, 4 road UART, 32 road DMA, 5 tunnel 32 bit timing devices and PWM, GPIO, AC97, IIS, IIC, USB Host, high speed USB OTG, 3 road SD/MMC controllers or the like.S3C6410X examines based on ARM1176JZF-S, comprises 16KB instruction and 16KB Data Cache s, 16KB instruction and 16KB data TCM, and MMU is with the virtual support memory management.ARM1176JZF-S supports JAVA to quicken.Comprise a special vector floating-point coprocessor, allow the efficient multiple encryption algorithms of carrying out, such as high-quality 3D graphical application.The industrial standard characteristic of S3C6410X is supported multiple industrial standard operating system.
The course of work of the utility model is following:
The robot acquiescence is stopped in the lobby, and this moment, robotary was normal, sent specified point when PC and patrolled and examined order; Robot is according to the route of setting walk automatically (motion); When the RFID read head picks up new RFID number, robot judges whether it is ID number of PC appointment, if not moving on; If, in this some parking (patrolling and examining).PC is accomplished video server with the lift-launch infrared equipment and is patrolled and examined action, mainly is detected transmission infrared thermal imaging image and visible images.After patrolling and examining end, upper service end is notified robot to arrive the next one and is patrolled and examined an ID, and robot walks on (motion), so accomplishes the flow process of a basic procedure.In motion process, obstacle sensor 17 picks up the place ahead obstacle information, and (barrier is unusual) immediately stops in the time of barrier; Pick up counting, barrier disappears in the time of appointment, and it is unusual to remove barrier; Robot walks on, if overtime, then barrier is reported to the police; Notice PC end needs personnel to arrive on-the-spot investigation problem, removes barrier by hand.
Shown in figure 11, in actual field, transformer station is divided into higher-pressure region and non-higher-pressure region from the scene, the activity restriction of non-higher-pressure region seldom, but get into need the be correlated with agreement of director and department of high-pressure area.Robot is operated in the high-pressure area, and PC is operated in non-higher-pressure region, and middle communication guarantees by the radio station.The radio station is divided into two ends, and an end is mounted on the big roof in transformer station center, need carry out lightning protection, water-proofing treatment.The radio station links to each other with PC in the machine room through netting twine.The other end in radio station is to carry in robot on one's body, is connected with video server through netting twine, and wherein antenna is adsorbed on the robot appearance surface shell.Black line wherein is the operating path of robot.Little triangle is masked as the stop of setting.Most of the time, robot had a rest in this lobby, used visible images monitor log higher-pressure region turnover personnel, and the automatic charging external equipment of robot also places this lobby simultaneously.After the operating time arrived, the PC robot command was patrolled and examined automatically, and robot sets out, and accomplished patrol task, finally got back to the lobby then.
Claims (8)
1. thermal imagery thermometric and fault location crusing robot system is characterized in that, it is made up of base station and robot;
The base station is the PC that is positioned at machine room, and machine room is positioned at non-higher-pressure region;
Robot construction is following: The Cloud Terrace (15) is installed on the robot car body (3) through support (4); Vision collecting and processing platform, signal fused and Navigation Control platform, car body administration module and radio station are housed in the control box (8); The radio station antenna (16) that is positioned at control box (8) back is adsorbed in the robot, in the lead-in wire access control box (8) of radio station antenna (16); The radio station is connected with infrared visible light two-way video server through netting twine; Robot car body (3) is positioned at the robot bottom; Two chargings are robot car body (3) rear end to node (18); Power management module is to gather battery terminal voltage, and whether offer the system decision-making needs charging;
Infrared visible light two-way video server, infrared thermography and visible image capturing head are integrated in the cabinet of The Cloud Terrace (15) top;
Vision sensor (5) is installed in the sense organ box (2), and intelligent light filling control circuit is fixed in sense organ box (2) inside left, and intensity of illumination transducer (6) and white light source (7) are installed in sense organ box (2) front surface; Sense organ box (2) is positioned at the front portion of robot; At the positive top of sense organ box (2) four obstacle sensors (17) are installed; The RFID read head is installed below sense organ box (2),
Electromagnetic Position Sensor is fixed on the robot chassis, and the 1st inductance coil (9) and the 2nd inductance coil (14) are 50mm apart from the height of ground (10); Single-chip microcomputer, the 1st inductance coil and the 2nd inductance coil are encapsulated in the Electromagnetic Position Sensor box body together, and single-chip microcomputer is positioned at the centre position of Electromagnetic Position Sensor box body, and the 1st inductance coil and the 2nd inductance coil are positioned at the two ends of Electromagnetic Position Sensor box body;
Intelligence light filling control circuit connects intensity of illumination transducer (6), white light source (7) and signal fused and Navigation Control platform respectively; Vision collecting is connected vision sensor (5) with processing platform; And through RS485 bus (1) connection signal fused and Navigation Control platform, yellow leading line (13) is positioned on the road surface; Below the road surface, lay and induce leading line (12); Induce leading line (12) to be BV plastics copper core electric wire; Induce leading line (12) two ends to link to each other and constitute path with galvanomagnetic signal transmitter; It is that 20KHz, electric current are sine wave signal or the pulse signal of 30.0mA that galvanomagnetic signal transmitter provides frequency, makes and induces leading line (12) to produce magnetic field on every side;
Automatic charge device is positioned at the lobby, and pair node is arranged on the automatic charge device.
2. thermal imagery thermometric according to claim 1 and fault location crusing robot system is characterized in that, said control box (8) is positioned at the robot postmedian; Said robot car body (3) adopts track structure;
Said four obstacle sensors (17) form a line in the horizontal direction;
Said obstacle sensor (17) is kept away the barrier transducer for infrared reflection.
3. thermal imagery thermometric according to claim 1 and fault location crusing robot system; It is characterized in that; The structure of the Electromagnetic Position Sensor that 1-N structure is identical is following: single-chip microcomputer connects the 1st inductance coil (9) and the 2nd inductance coil (14) respectively, and single-chip microcomputer connects signal fused and Navigation Control platform through RS485 bus (1).
4. thermal imagery thermometric according to claim 1 and fault location crusing robot system is characterized in that, said vision sensor (5) is cmos camera or ccd video camera.
5. thermal imagery thermometric according to claim 1 and fault location crusing robot system is characterized in that, said vision collecting and processing platform are the DSP platform, and its model is TMS320DM642;
Said signal fused and Navigation Control platform are the S3C6410 chip;
The model of said single-chip microcomputer is MSP430F161 1.
6. thermal imagery thermometric according to claim 1 and fault location crusing robot system is characterized in that, said yellow leading line (13) and induce leading line (12) in the vertical direction overlapping;
Said yellow leading line (13) is laid through yellow paint and is formed;
The said leading line (12) of inducing is with ground end PVC protection pipeline (11) on every side, and inducing the leading line (12) and the vertical range on ground (10) is 20mm;
Said galvanomagnetic signal transmitter places outside the car, is installed on the wall of lobby.
7. thermal imagery thermometric according to claim 1 and fault location crusing robot system is characterized in that, the model of said intensity of illumination transducer (6) is BH1620;
Said white light source (7) is a warm white LED lamp, and its power is 3W.
8. thermal imagery thermometric according to claim 1 and fault location crusing robot system; It is characterized in that; Said lobby is positioned at converting equipment and is equipped with the district; Converting equipment is equipped with between district and the non-higher-pressure region higher-pressure region isolating door is installed, and on the big roof in transformer station center, the radio station is installed, and this radio station is connected with PC in the machine room through netting twine.
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121205 Termination date: 20170411 |