CN102063112A - Automatic control system for intelligent inspection of high-tension line running condition - Google Patents
Automatic control system for intelligent inspection of high-tension line running condition Download PDFInfo
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Abstract
The invention discloses an automatic control system for intelligent inspection of a high-tension line running condition, which is used for controlling an inspection robot to finish intelligent inspection work. The system comprises a robot control subsystem and an upper computer control subsystem, wherein the robot control part comprises a microprocessor module, a motor control module, a signal acquisition module, a data wireless transmission and receiving device I and a video wireless transmission device; the upper computer control subsystem comprises an upper computer, a data wireless transmission and receiving device II, a video wireless receiving antenna and a video wireless processing module; and the whole system has a reasonable architecture, high synchronism and automation degree, is reliable in control and quickly transmits data, and can completely replace the conventional manual line walking by matching with the inspection robot to fulfill the aims of time and labor saving and safety and reliability.
Description
Technical field
The present invention relates to the robot automation field, particularly a kind of automatic control system that is used for the high-tension line operation conditions is carried out the crusing robot of intelligent patrol detection.
Background technology
In recent years, construction along with each province's high-tension line backbone network, the ultra-high-tension power transmission line of hanging net operation is more and more, operational defect also progressively comes out simultaneously, as disconnected strand of the outer strand of frequency OPGW Optical Fiber composite overhead Ground Wire occurred frequently, the disconnected thigh of this skin not only forms communication security and threatens, and along with the increase of its broken lot length, the reduction of physical strength is to the also serious threat of ash formation of safety of transmission line of electricity.
And at present, method for inspecting commonly used is the manual inspection method, not only workload is big but also condition is arduous for this method, particularly to the mountain area with cross over patrolling and examining of great rivers circuit, there is very big difficulty, even has some projects of patrolling and examining to be difficult to finish by conventional method, therefore, the research and development of circuit operation conditions intelligent inspection system causes accident to effectively avoiding disconnected burst of damage of power transmission line route, and the safe operation that improves power system communication has positive effect and huge using value.
The fast development of Robotics provides an effective thinking for the development of circuit operation conditions intelligent inspection system, for the framework of robot body, work out a kind of rationally distributed, control reliable automatic control system also be very important.
Summary of the invention
In view of this, the purpose of this invention is to provide a kind of high-tension line operation conditions intelligent patrol detection automatic control system, robot control subsystem and PC control subsystem have been comprised, transmit steering order and related data by the mode of wireless telecommunications between two subsystems, effectively control robot body every patrols and examines work, and its synchronism is good, and control is reliable, data transmission is fast, the automaticity height.
The objective of the invention is to be achieved through the following technical solutions: high-tension line operation conditions intelligent patrol detection automatic control system of the present invention comprises robot control subsystem and PC control subsystem;
Described robot control section comprises microprocessor module, motor control module, signal acquisition module, data wireless R-T unit I and video radio transmitting device;
1) described motor control module receives the steering order of microprocessor module and controls each control motor rotation of crusing robot;
2) speed of travel sensor on described signal acquisition module and the inspection machine human body and attitude control sensor electrical connects, and relevant information is sent to microprocessor module;
3) described data wireless R-T unit I is used to receive the steering order of PC control subsystem, and the crusing robot status information of gathering is sent to the PC control subsystem;
4) described video radio transmitting device is used to receive the vedio data that crusing robot is passed back, and vedio data is sent to the PC control subsystem;
Described PC control subsystem comprises host computer, data wireless R-T unit II and video wireless receiving antenna and video processing module;
1) described data wireless R-T unit II receives the crusing robot status information data of sending from data wireless R-T unit I and sends into host computer and handle, and simultaneously, also the steering order that host computer is sent is sent to microprocessor module;
2) described video processing module is sent into host computer after treatment by the vedio data that video wireless receiving antenna receiver, video radio transmitting device sends.
Further, described data wireless R-T unit I comprises data radio station I and wireless antenna I;
Further, described video radio transmitting device comprises video radio station and wireless antenna II;
Further, described data wireless R-T unit II comprises data radio station II and wireless antenna III;
Further, described signal acquisition module is also gathered video unit on the crusing robot power on control information and Power Supply Monitoring information and send into microprocessor module;
Further, described video processing module comprises tuner, microwave receiver and the video frequency collection card that connects successively;
Further, described microprocessor also electrically connects with the video acquisition unit of crusing robot.
The invention has the beneficial effects as follows:
Present invention includes robot control subsystem and PC control subsystem, transmit steering order and related data by the mode of wireless telecommunications between two subsystems, can carry out control tasks simultaneously, effectively control inspection machine human body finishes every work of patrolling and examining, and the every data instant playback that the inspection machine human body can be passed back is very directly perceived on host computer; The whole system framework is reasonable, synchronism good, control is reliable, data transmission is fast, automaticity is high, by with the cooperating of crusing robot, can replace existing artificial line walking fully, reach time saving and energy saving, safe and reliable purpose.
Other advantages of the present invention, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on being conspicuous to those skilled in the art, perhaps can obtain instruction from the practice of the present invention to investigating hereinafter.Target of the present invention and other advantages can realize and obtain by following instructions and claims.
Description of drawings
In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing, wherein:
Fig. 1 is a robot control subsystem synoptic diagram;
Fig. 2 is a PC control subsystem synoptic diagram.
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.Should be appreciated that preferred embodiment only for the present invention is described, rather than in order to limit protection scope of the present invention.
Embodiment
High-tension line operation conditions intelligent patrol detection automatic control system of the present invention is used to control crusing robot and finishes intelligent patrol detection work, and system comprises robot control subsystem and PC control subsystem;
As shown in Figure 1, the robot control section comprises microprocessor module 1, motor control module 2, signal acquisition module 3, data radio station I 4 and video radio station 5; Wherein, 485 serial ports I(or buses of the signal input part of motor control module 2 and microprocessor module 1) electrically connect, the steering order of reception microprocessor module and each control motor of controlling on the crusing robot main body mechanism run well;
Data radio station I 4 and 485 serial ports III of microprocessor 1 electrically connect, on the one hand, by wireless antenna I 11 the crusing robot status information of gathering is sent to the PC control subsystem, on the other hand, also the steering order that host computer is sent is sent to microprocessor module 1.Data radio station is the abbreviation in digital radio data transmission radio station.Promptly adopt digital signal processing, digital modulation and demodulation, have forward error correction, the wireless data transmission radio station of function such as balanced soft-decision.Transfer rate is fast, receive and dispatch switching time less than 10ms, have indications such as field intensity, temperature, voltage, functions such as Bit Error Code Statistics, state alarm, network management, provide under some specific condition pilot signal in the private network in real time, data transmission reliably, have the advantages that cost is low, convenient for installation and maintenance, diffracting power is strong, networking structure is flexible, coverage is far away, convenience point many and disperse, occasion such as geographical environment complexity.Be widely used in a lot of private network fields.
In the present embodiment, 485 serial ports IV of microprocessor 1 also electrically connect with the video acquisition unit of crusing robot, are used for the unlatching of control of video collecting unit or close.
Microprocessor module 1 comprises microprocessor chip and extended memory, microprocessor chip adopts 32 arm processors, uC-OS II operating system, it has perfect bottom layer driving storehouse and communications protocol, and the data flash of two-way RS-232, two-way RS-485 and 2M is arranged.
As shown in Figure 2, the PC control subsystem comprises host computer 6, data radio station II 7 and video processing module 8;
Wherein, data radio station II 7 receives the crusing robot status information data of sending from wireless antenna I by wireless antenna III 13, and sends into host computer 6 and handle;
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the aim and the scope of the technical program, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (7)
1. high-tension line operation conditions intelligent patrol detection automatic control system is used to control crusing robot and finishes intelligent patrol detection work, it is characterized in that: described system comprises robot control subsystem and PC control subsystem;
Described robot control section comprises microprocessor module (1), motor control module (2), signal acquisition module (3), data wireless R-T unit I and video radio transmitting device;
1) described motor control module (2) receives the steering order of microprocessor module (1) and controls each control motor rotation of crusing robot;
2) speed of travel sensor on described signal acquisition module (3) and the inspection machine human body and attitude control sensor electrical connects, and relevant information is sent to microprocessor module (1);
3) described data wireless R-T unit I is used to receive the steering order of PC control subsystem, and the crusing robot status information of gathering is sent to the PC control subsystem;
4) described video radio transmitting device is used to receive the vedio data that crusing robot is passed back, and vedio data is sent to the PC control subsystem;
Described PC control subsystem comprises host computer (6), data wireless R-T unit II and video wireless receiving antenna (14) and video processing module (8);
1) described data wireless R-T unit II receives the crusing robot status information data of sending from data wireless R-T unit I and sends into host computer (6) and handle, simultaneously, the steering order of also host computer being sent is sent to microprocessor module (1);
2) described video processing module (8) is sent into host computer (6) after treatment by the vedio data that video wireless receiving antenna (14) receiver, video radio transmitting device sends.
2. high-tension line operation conditions intelligent patrol detection automatic control system according to claim 1 is characterized in that: described data wireless R-T unit I comprises data radio station I(4) and wireless antenna I(11).
3. high-tension line operation conditions intelligent patrol detection automatic control system according to claim 1 and 2, it is characterized in that: described video radio transmitting device comprises video radio station (5) and wireless antenna II(12).
4. high-tension line operation conditions intelligent patrol detection automatic control system according to claim 1 is characterized in that: described data wireless R-T unit II comprises data radio station II(7) and wireless antenna III(13).
5. high-tension line operation conditions intelligent patrol detection automatic control system according to claim 1 is characterized in that: described signal acquisition module (3) is also gathered video unit on the crusing robot power on control information and Power Supply Monitoring information and send into microprocessor module (1).
6. high-tension line operation conditions intelligent patrol detection automatic control system according to claim 1 and 2 is characterized in that: described video processing module (8) comprises tuner (81), microwave receiver (82) and the video frequency collection card (83) that connects successively.
7. high-tension line operation conditions intelligent patrol detection automatic control system according to claim 1 and 2 is characterized in that: described microprocessor (1) also electrically connects with the video acquisition unit of crusing robot.
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| CN 201010608562 CN102063112B (en) | 2010-12-28 | 2010-12-28 | Automatic control system for intelligent inspection of high-tension line running condition |
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| CN 201010608562 CN102063112B (en) | 2010-12-28 | 2010-12-28 | Automatic control system for intelligent inspection of high-tension line running condition |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102999049A (en) * | 2012-11-09 | 2013-03-27 | 国家电网公司 | Remote control polling aircraft for overhead lines |
| CN103341858A (en) * | 2013-06-26 | 2013-10-09 | 苏州工业园区职业技术学院 | Cable inspection robot and control system thereof |
| CN103455822A (en) * | 2013-08-19 | 2013-12-18 | 江苏科技大学 | Inspection robot system in complex industrial environment and multi-face dynamic tracking method |
| CN104321654A (en) * | 2012-03-30 | 2015-01-28 | 埃尔瓦有限公司 | Apparatus and system for scheduling mobile device operations on a power transmission system |
| CN104520666A (en) * | 2012-03-30 | 2015-04-15 | 埃尔瓦有限公司 | Mobile device configured to perform tasks related to a power transmission system |
| CN105607518A (en) * | 2016-01-27 | 2016-05-25 | 云南电网有限责任公司电力科学研究院 | Power transmission line robot control method, robot and terminal |
| CN107433952A (en) * | 2017-05-12 | 2017-12-05 | 北京瑞途科技有限公司 | A kind of intelligent inspection robot |
| CN108110677A (en) * | 2018-02-05 | 2018-06-01 | 刘春梅 | A kind of intelligent inspection system for high voltage cable |
| CN109375546A (en) * | 2018-11-13 | 2019-02-22 | 天津送变电工程有限公司 | A kind of working method and work system of the intelligent robot based on image processing techniques |
| CN110456691A (en) * | 2019-07-24 | 2019-11-15 | 南方电网科学研究院有限责任公司 | A kind of suspension insulator detection robot control system |
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| CN101770221A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院自动化研究所 | Two-arm inspection robot control system based on field bus |
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| CN101770221A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院自动化研究所 | Two-arm inspection robot control system based on field bus |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104321654A (en) * | 2012-03-30 | 2015-01-28 | 埃尔瓦有限公司 | Apparatus and system for scheduling mobile device operations on a power transmission system |
| CN104520666A (en) * | 2012-03-30 | 2015-04-15 | 埃尔瓦有限公司 | Mobile device configured to perform tasks related to a power transmission system |
| CN102999049A (en) * | 2012-11-09 | 2013-03-27 | 国家电网公司 | Remote control polling aircraft for overhead lines |
| CN103341858A (en) * | 2013-06-26 | 2013-10-09 | 苏州工业园区职业技术学院 | Cable inspection robot and control system thereof |
| CN103341858B (en) * | 2013-06-26 | 2015-10-28 | 苏州工业园区职业技术学院 | cable inspection robot and control system thereof |
| CN103455822B (en) * | 2013-08-19 | 2016-10-19 | 江苏科技大学 | Crusing robot system in complex industrial environment and plurality of human faces Dynamic Tracking |
| CN103455822A (en) * | 2013-08-19 | 2013-12-18 | 江苏科技大学 | Inspection robot system in complex industrial environment and multi-face dynamic tracking method |
| CN105607518A (en) * | 2016-01-27 | 2016-05-25 | 云南电网有限责任公司电力科学研究院 | Power transmission line robot control method, robot and terminal |
| CN107433952A (en) * | 2017-05-12 | 2017-12-05 | 北京瑞途科技有限公司 | A kind of intelligent inspection robot |
| CN107433952B (en) * | 2017-05-12 | 2018-09-14 | 北京瑞途科技有限公司 | A kind of intelligent inspection robot |
| CN108110677A (en) * | 2018-02-05 | 2018-06-01 | 刘春梅 | A kind of intelligent inspection system for high voltage cable |
| CN108110677B (en) * | 2018-02-05 | 2024-02-27 | 西藏谦诚信息科技有限公司 | Intelligent inspection system for high-voltage cable |
| CN109375546A (en) * | 2018-11-13 | 2019-02-22 | 天津送变电工程有限公司 | A kind of working method and work system of the intelligent robot based on image processing techniques |
| CN110456691A (en) * | 2019-07-24 | 2019-11-15 | 南方电网科学研究院有限责任公司 | A kind of suspension insulator detection robot control system |
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| CN102063112B (en) | 2013-01-30 |
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Owner name: CHONGQING QIANWEI INSTRUMENT + METER CO., LTD. STA Free format text: FORMER OWNER: CHONGQING QIANWEI INSTRUMENT + METER CO., LTD. Effective date: 20121207 |
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Effective date of registration: 20121207 Address after: Shuanglong road 401420 Chongqing city Qijiang County Gunan town No. 51 Applicant after: Qinan Power Supply Bureau of Chongqing Power Co. Applicant after: Chongqing Qianwei Instrument Co., Ltd. Applicant after: State Grid Corporation of China Address before: Shuanglong road 401420 Chongqing city Qijiang County Gunan town No. 51 Applicant before: Qinan Power Supply Bureau of Chongqing Power Co. Applicant before: Chongqing Qianwei Instrument Co., Ltd. |
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