CN101995296A - Electrified detection platform for rail bound robot - Google Patents
Electrified detection platform for rail bound robot Download PDFInfo
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- CN101995296A CN101995296A CN2009101696705A CN200910169670A CN101995296A CN 101995296 A CN101995296 A CN 101995296A CN 2009101696705 A CN2009101696705 A CN 2009101696705A CN 200910169670 A CN200910169670 A CN 200910169670A CN 101995296 A CN101995296 A CN 101995296A
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Abstract
The invention relates to an electrified detection platform for a rail bound robot, comprises a rail and a rail bound robot arranged on the rail, wherein a rest station or a front platform computer for rest, data reduction, data exchange and energy supplementation of the rail bound robot is arranged at one end or the middle of the rail; the front platform computer is connected with two remote control systems controlled by a remote console; a processor is arranged inside the front platform computer; and eight functional modules are integrated inside the processor. The invention has the benefits that the electrified detection platform for the rail bound robot integrates an infrared imaging and temperature-measuring technology, an ultraviolet light imaging technology and a visual imaging technology, but also uses the integration advantage and the automatic data processing advantage to comprehensively analyze the influences of an external environment, load condition and the like on the equipment and provides more powerful data and technical support for the development of the power.
Description
Technical field
The present invention relates generally to the charged detection platform of a kind of rail robot.
Background technology
Present visual imaging technique is used in all trades and professions, especially power department in a large number.Equipment region at unattended substation all has installation, generally is that multiple spot is arranged, to realize remote monitoring.Though realized real-time monitoring, be difficult to cover the entire equipment zone, also be difficult to carry out simultaneously the partial points analysis.
Infrared imaging temperature measuring technology, ultraviolet light imaging technology then mostly are personnel operation, carry out regular visit and interim sampling observation.Can't realize real-time monitoring truly.The instrument familiarity is influenced by operating personnel, the image data undulatory property is bigger, and there is deviation in authenticity.
Because of the reason of economy, impossible substantially at the high-quality infrared imaging temperature measuring technology of the comprehensive layout in transforming plant primary equipment district, ultraviolet light imaging technology and visual imaging technique.Reaching these three kinds of technology of carrying by the charged detection platform of rail robot so, then is good solution by laying track in battery limits and carrying out infrared imaging temperature measuring technology, ultraviolet light imaging technology and visual Application of imaging technology with the charged detection platform Autonomous Control of rail robot or personnel's Long-distance Control.
Summary of the invention
The object of the present invention is to provide the charged detection platform of a kind of rail robot, to solve because economic cause causes in the high-quality infrared imaging temperature measuring technology of the comprehensive layout in transforming plant primary equipment district, ultraviolet light imaging technology and the impossible substantially problem of visual imaging technique.
The charged detection platform of a kind of rail robot of the present invention, comprise track and place rail robot on the track, one end of described track or centre are provided with and are used for the rest of rail robot, data preparation, exchanges data, the rest station of energy supplement or front platform computer, described front platform computer is connected with the tele-control system that contains two remote station controls, front platform computer inside is provided with processor, and processor inside is integrated with the body control module, the carrying equipment control module, Planning Directive and real-time control module, the data collection analysis processing module, the self-cleaning deicing control module of environmental analysis and track, data transmission module, early warning and alarming control module and power supply support module eight big functional modules; Wherein, described body control module is the data processing of control robot motion, instruction is carried out, described carrying equipment control module is controlled carrying equipment, described Planning Directive and real-time control module can realize that the robot platform action generates or the control of true-time operation, described data collection analysis processing module is mainly to visual, the data that carrying equipment such as thermal imagery and ultraviolet produces are analyzed, the self-cleaning deicing control module of described environmental analysis and track mainly solves rail cleaning and removes ice problem, and described power supply support module is mainly given robot, carrying equipments etc. provide power supply.
Beneficial effect of the present invention: the charged detection platform of rail robot is also utilized integrated advantage, automatic data processing advantage when integrating infrared imaging temperature measuring technology, ultraviolet light imaging technology, visual imaging technique, the influence to equipment that multianalysis external environment condition, load condition etc. are brought is for the development of electric power provides more powerful data and technical support.
Description of drawings
Fig. 1 is the structural representation of the charged detection platform of the specific embodiment of the invention described rail robot;
Fig. 2 is the structural representation of eight big modules integrated in the described front platform computer processor of the specific embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described.
As shown in Figure 1, the charged detection platform of the described rail of embodiment of the invention robot, comprise track and place rail robot on the track, one end of described track or centre are provided with rest station or the front platform computer that is used for the rest of rail robot, data preparation, exchanges data, energy supplement, and described front platform computer is connected with the tele-control system that contains two remote station controls.
Described track is the attachment of rail robot operation, and the layout of track has determined rail robot working range, and orbital arrangement is divided into monorail, the circular orbit formula, and two kinds of tracks divide multiple path again.The layout of track can be done multiple choices according to the technical conditions of the situation at scene, requirement of client, carrying equipment.Form effective combination between described track energy and robot, enough intensity is arranged, satisfy the service requirement of normal climate and improper weather, good self-cleaning ability is arranged, can overcome the expansion issues that the temperature difference causes; Can fine solution turn problems such as branch; The track that use many ice formations has the ability of automatic de-icing.Described track can utilize the existing section bar in market to make, as pipe, matrix material etc., material mostly is metal, or the independent development section bar makes, material can be metal, also can be compound, as plastic-steel, mould aluminium etc.Expansion issues about track can solve by track grafting technology, and the track deicing can embed the heating resistor solution by heating installation circulation or track in the track.The form of the charged detection platform track of rail robot takes into full account economy, reliability and advanced requirement, by innovation and integration to current material technology, track technology, control technology, form continuous, reliable, intelligent track, for the operation of rail robot provides basic operation platform
Described rail robot can instruct according to schedule in orbit and move or accurate location, carries out near in real time, operated from a distance; And can carry and command equipment work, and to satisfy round-the-clockly, full weather conditions requirement has certain mission life; Described rail robot is one of key job station of maintaining whole platform operation.Wherein placement technology can be buried optical fiber and optical fiber distance measuring realization underground by track.
Described carrying equipment is based on high-resolution visual device, infrared imaging temperature measuring equipment, ultraviolet light imaging equipment.Enough precision must be arranged, satisfy outdoor round-the-clock, full weather conditions requirement, and satisfy the needs of on-the-spot charged detection with the compatibility of track robot physical mechanism and software configuration.
The purposes of described rail robot rest station and front platform computer is to set up the platform of the rest of a track robot, data preparation, exchanges data, energy supplement at an end of track or centre, and suitable rest environment can prolong the serviceable life of robot.Front platform computer is served as robot and tele-control system communication and is got in touch the issue of the arrangement of data, renewal, instruction, execution etc.Described rest station and front platform computer are the crucial intermediate nodes of commander, control,
Described tele-control system mainly connects signal transmitting and receiving, the transmission medium of front platform computer and backstage commander Surveillance center.
Described front platform computer inside is provided with processor, as shown in Figure 2, processor inside is integrated with the self-cleaning deicing control module of body control module, carrying equipment control module, Planning Directive and real-time control module, data collection analysis processing module, environmental analysis and track, data transmission module, early warning and alarming control module and power supply support module eight big functional modules.
Described processor is the platform that carries functional module, has uniform data and coordinates man-machine conversation, the function of remote dialogue, and integrated each functional module.Described processor is the command and control center of the charged detection platform of rail robot, is the core of supporting each functional module running with powerful data processing technique.
Described body control module is that data processing, the instruction of control robot motion carried out, and realizes the control of robot motion, can accurately locate at track; And realize controlling automatically and remote control function according to instruction.
Described carrying equipment control module is controlled carrying equipment, and this module and carrying equipment have good compatibility, and can effectively control carrying equipment also can be to the carrying equipment duty, and health status is checked, fed back.
Described Planning Directive and real-time control module can realize that the robot platform action generates or the control of true-time operation, form Planning Directive according to user command, and the instruction of assigning plans, and can carry out true-time operation except that Planning Directive.User's instruction issuing that can in front platform computer or remote station control, realize a plan, or carry out true-time operation.This module can be controlled robot, carrying equipment etc.
Described data collection analysis processing module is mainly analyzed the data that carrying equipments such as visual, thermal imagery and ultraviolet produce, and has following function: maximum temperature, or the serious point of corona is caught Report Generation Function Based automatically; Fixed point is followed the tracks of, the automatic systematic function of change curve; The subdivision data, image arrangement systematic function; Visual image can carry out the physical change function of surveillance equipment, as the clod wash of mechanism, or hot bending; Has certain data storage capability.
The self-cleaning deicing control module of described environmental analysis and track mainly solves rail cleaning and removes ice problem, wherein, dust removal brush or device solves that rail cleaning can utilize robot to carry, robot carries the ice shovel then needs the energy support, and can impact, so use deicing means such as heating installation or electrical heating to carrying equipment.The self-cleaning deicing control module of environmental analysis and track is just controlled automatically to heating installation or electrical heating deicing system.
Described data transmission module has following function: operational order real-time Transmission such as robot, carrying equipment; The real-time exchange of carrying equipment and background monitoring platform data; The automatic transmission of Planning Directive data.Total system will make up a reliable data transmission channel between carrying equipment, robot, front platform computer and remote monitoring chamber, to guarantee the realization of each side's function, passage is made up of wireless transmission and Optical Fiber Transmission.
Described early warning and alarming control module should be carried out early warning, warning by set environment, and set environment carries out trace analysis and early warning, warning automatically terminates.Early warning, warning function will demonstrate fully the charged detection platform of the rail robot applicability of monitoring in real time, utilize present ADSL or other public wireless transmission platform to send on the administration and supervision authorities mobile phone.
Described power supply support module provides power supply mainly for robot, carrying equipment etc., and it has enough capacity, can discharge and recharge automatically and survey from health check-up; And have certain versatility and serviceable life, be convenient for changing.
The charged detection platform of rail robot is just carried out once brand-new integrated to existing infrared imaging temperature measuring technology, ultraviolet light imaging technology, visual imaging technique, utilize this platform that surveillance equipment is carried out charged effectively monitoring automatically again, round-the-clock full meteorological condition is grasped equipment operation and health status, avoids the expansion of equipment failure and the generation of accident.Infrared imaging temperature measuring technology, ultraviolet light imaging technology, visual imaging technique are effective, direct, the quick and the most advanced detection meanss of electric system, will further advance these The Application of Technology by effectively integrating of the charged detection platform of rail robot.
The charged detection platform of rail robot can also be utilized integrated advantage, automatic data processing advantage when integrating infrared imaging temperature measuring technology, ultraviolet light imaging technology, visual imaging technique, the influence to equipment that multianalysis external environment condition, load condition etc. are brought is for the development of electric power provides more powerful data and technical support.The charged detection platform of rail robot will be brought once brand-new revolution to electric system power transformation primary equipment live monitoring, also realized the requirement of the intelligent grid of " based on the physics electrical network, with modern advanced sensing measurement technology, mechanics of communication, infotech, computer technology and control technology and the integrated novel power grid of physics grid height ".The charged detection platform of rail robot can also be used the monitoring at industry important areas such as metallurgy, airport, chemical industry, power plant.The charged detection platform of rail robot can also be carried other equipment, as radiation detection instrument etc.
Claims (5)
1. charged detection platform of rail robot, it is characterized in that: comprise track and place rail robot on the track, one end of described track or centre are provided with and are used for the rest of rail robot, data preparation, exchanges data, the rest station of energy supplement or front platform computer, described front platform computer is connected with the tele-control system that contains two remote station controls, front platform computer inside is provided with processor, and processor inside is integrated with the body control module, the carrying equipment control module, Planning Directive and real-time control module, the data collection analysis processing module, the self-cleaning deicing control module of environmental analysis and track, data transmission module, early warning and alarming control module and power supply support module eight big functional modules.
2. the charged detection platform of rail robot as claimed in claim 1 is characterized in that: data processing, the instruction of described body control module control robot motion are carried out; Described carrying equipment control module is controlled carrying equipment; Described Planning Directive and real-time control module realize that the robot platform action generates or the control of true-time operation; Described data collection analysis processing module is mainly analyzed the data that visual, thermal imagery and ultraviolet carrying equipment produce; The self-cleaning deicing control module of described environmental analysis and track mainly solves rail cleaning and removes ice problem; Described power supply support module provides power supply mainly for robot, carrying equipment.
3. the charged detection platform of rail robot as claimed in claim 1 is characterized in that the layout of described track comprises monorail and circular orbit formula.
4. the charged detection platform of rail robot as claimed in claim 3 is characterized in that: described track deicing embeds heating resistor by heating installation circulation or track in the track and solves
5. the charged detection platform of rail robot as claimed in claim 1, it is characterized in that: described carrying equipment is based on high-resolution visual device, infrared imaging temperature measuring equipment, ultraviolet light imaging equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101696705A CN101995296A (en) | 2009-08-31 | 2009-08-31 | Electrified detection platform for rail bound robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101696705A CN101995296A (en) | 2009-08-31 | 2009-08-31 | Electrified detection platform for rail bound robot |
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| CN101995296A true CN101995296A (en) | 2011-03-30 |
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| CN2009101696705A Pending CN101995296A (en) | 2009-08-31 | 2009-08-31 | Electrified detection platform for rail bound robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015190A (en) * | 2014-05-13 | 2014-09-03 | 中国科学院力学研究所 | Robot remote control method and system under indeterminate bidirectional time delay condition |
| CN106239515A (en) * | 2016-09-19 | 2016-12-21 | 上海永乾机电有限公司 | A kind of power distribution station intelligent inspection robot |
| CN106292672A (en) * | 2016-09-19 | 2017-01-04 | 上海永乾机电有限公司 | A kind of multi-platform control crusing robot |
| CN106292671A (en) * | 2016-09-19 | 2017-01-04 | 上海永乾机电有限公司 | A kind of multiple spot distribution centralized Control cruising inspection system |
| WO2017088555A1 (en) * | 2015-11-26 | 2017-06-01 | 深圳市施罗德工业测控设备有限公司 | Intelligent pipe network system based on orbital robot |
| CN109841038A (en) * | 2018-11-29 | 2019-06-04 | 齐鲁工业大学 | A kind of traffic prewarning robot system |
-
2009
- 2009-08-31 CN CN2009101696705A patent/CN101995296A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015190A (en) * | 2014-05-13 | 2014-09-03 | 中国科学院力学研究所 | Robot remote control method and system under indeterminate bidirectional time delay condition |
| CN104015190B (en) * | 2014-05-13 | 2016-04-13 | 中国科学院力学研究所 | Robot long-distance control method under a kind of uncertain two-way time delay condition and system |
| WO2017088555A1 (en) * | 2015-11-26 | 2017-06-01 | 深圳市施罗德工业测控设备有限公司 | Intelligent pipe network system based on orbital robot |
| CN106239515A (en) * | 2016-09-19 | 2016-12-21 | 上海永乾机电有限公司 | A kind of power distribution station intelligent inspection robot |
| CN106292672A (en) * | 2016-09-19 | 2017-01-04 | 上海永乾机电有限公司 | A kind of multi-platform control crusing robot |
| CN106292671A (en) * | 2016-09-19 | 2017-01-04 | 上海永乾机电有限公司 | A kind of multiple spot distribution centralized Control cruising inspection system |
| CN109841038A (en) * | 2018-11-29 | 2019-06-04 | 齐鲁工业大学 | A kind of traffic prewarning robot system |
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Application publication date: 20110330 |