CN103286785A - Wireless cable inspection robot and control system thereof - Google Patents
Wireless cable inspection robot and control system thereof Download PDFInfo
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- CN103286785A CN103286785A CN2013102775039A CN201310277503A CN103286785A CN 103286785 A CN103286785 A CN 103286785A CN 2013102775039 A CN2013102775039 A CN 2013102775039A CN 201310277503 A CN201310277503 A CN 201310277503A CN 103286785 A CN103286785 A CN 103286785A
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical group [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 3
- 229910001416 lithium ion Inorganic materials 0.000 claims description 3
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Abstract
The invention relates to a wireless cable inspection robot and a control system thereof. The control system comprises a control module, a temperature acquisition module, an image acquisition module, a servo system, a power module, a storage module and a wireless module. The control module comprises a first controller and a second controller, wherein the first controller is connected with the temperature acquisition module, the image acquisition module and the servo system and used for processing temperature signals and image signals acquired by the temperature acquisition module and the image acquisition module and controlling the servo system; and the second controller is connected with the first controller, the power module, the storage module and the wireless module and used for storing the temperature signals and the image signals which are processed by the first controller in the storage module. The wireless module is used for communicating with a master station. By means of the arranged first controller and second controller, the control system is capable of greatly improving the processing speed, so that the control system is adapted to high-speed inspection of the wireless cable inspection robot.
Description
Technical field
The present invention relates to field of electrical equipment, be specifically related to a kind of wireless cable crusing robot and control system thereof.
Background technology
In industries such as electric power, metallurgy, chemical industry, power is usually concentrated with the control cable and is laid in the cable tunnel, conveniently to connect up and to safeguard.The increasing overhead transmission line cable tunnel that also goes underground gradually in the city.Yet, happen occasionally owing to cable connector and cable insulation damage the cable tunnel fire that causes.Cable tunnel fire burning velocity is fast, is difficult to put out a fire to save life and property, in case huge direct and indirect national economy loss takes place just can cause.Therefore, analyse in depth the occurrence cause of cable tunnel fire, and seek rational fire prevention measure, just become the key issue of avoiding fire to take place.
The cable tunnel fire be one gradually the accumulation process.Along with the increase of time, owing to reasons such as insulating barrier are aging, the dust greasy dirt is long-pending, transition joint is loosening, cause the cable local temperature to rise gradually, thus initiation fire.Therefore, before accident takes place, if can carry out real-time monitoring to situations such as cable tunnel temperature inside, smog effectively, just can accomplish fire is taken precautions against in possible trouble.
Traditional cable tunnel adopts the mode of manual inspection, and the tour personnel enter the tunnel at regular intervals, utilizes the manual temperature regime that checks cable intermediate joint of temperature measuring device.This method has been wasted great amount of manpower, and because the limitation of manual mode is difficult to accomplish all each transition joint is detected at every turn, still has certain hidden danger.For this reason, people have developed the cable crusing robot, to replace the manual inspection cable.Existing cable crusing robot control system is general to adopt a single-chip microcomputer to handle the signal that the cable crusing robot collects and control accordingly, but the computational speed of this control system is generally all slow, is difficult to satisfy the rapidity requirement of high speed cruising inspection.Therefore, those skilled in the art need badly and develop a kind of cable crusing robot control system that can the high speed processing data, to adapt to the demand of high speed cruising inspection.
Summary of the invention
In view of this, the present invention aims to provide a kind of wireless cable crusing robot and control system thereof that can the high speed processing data.
In order to realize purpose of the present invention, the embodiment of the invention provides a kind of wireless cable crusing robot control system on the one hand, it comprises control module, temperature collect module, image capture module, servo-drive system, power module, memory module and wireless module, described temperature collect module and image capture module are respectively applied to gather temperature signal and the picture signal of cable, described control module comprises first controller and second controller, described first controller and described temperature collect module, image capture module and servo-drive system connect, be used for described temperature collect module, temperature signal and picture signal that image capture module collects are handled, and for the described servo-drive system of control, described servo-drive system is used for the wireless cable crusing robot is moved, described second controller and described first controller, power module, memory module and wireless module connect, being used for the described power module of control is described wireless cable crusing robot power supply, and be used for storing temperature signal and picture signal after described first controller processing into described memory module, described wireless module is used for carrying out communication with main website.
Preferably, the data processing speed of described first controller is greater than the data processing speed of second controller.
Preferably, described first controller is field programmable gate array, and described second controller is digital signal processor.
Preferably, described second controller also is used for calculating the distance that described cable inspection machine moves, and determine described cable inspection machine apart from the range information of next moving target according to the distance of described movement, described first controller is used for generating according to described range information the control signal of the described servo-drive system of control.
Preferably, described second controller also is used for obtaining patrolling and examining route data, and described first controller is used for generating the control signal of controlling servo-drive system according to patrolling and examining route data.
Preferably, described second controller also is used for judging according to temperature signal and/or picture signal that first controller is handled whether cable exists fault or potential faults, sends warning message and current location information if exist then pass through described wireless module to described main website.
Preferably, described power module comprises first power supply and second source, described first power supply is powered when described wireless cable crusing robot control system is is normally patrolled and examined, and described second controller also is used for enabling described second source when described control system is in low-pressure state.
Preferably, described first power supply is lithium ion battery, and described second source is battery.
Preferably, described second controller also is used for detecting described first power source voltage in real time, and sends warning message by described wireless module when described first power source voltage is lower than preset value.
The wireless cable crusing robot control system that the embodiment of the invention provides is by arranging first controller and second controller, and first controller and second controller divided the work, make first controller handle the bigger work of operand, second controller is then handled the less work of operand, thereby improve processing speed greatly, to be adapted to the high speed cruising inspection of wireless cable crusing robot.This wireless cable crusing robot control system is also carried out communication by wireless module and main website, is convenient to controlling of wireless cable crusing robot.
The embodiment of the invention provides a kind of wireless cable crusing robot on the other hand, and described wireless cable crusing robot comprises above-mentioned each described wireless cable crusing robot control system.This wireless cable crusing robot obviously also has the advantage of above-mentioned wireless cable crusing robot control system, does not repeat them here.
Description of drawings
Fig. 1 be the embodiment of the invention provide the structural representation of wireless cable crusing robot control system.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the present invention, and be not used in restriction the present invention.
Please refer to Fig. 1, the embodiment of the invention provides a kind of wireless cable crusing robot control system, and it comprises control module 14, temperature collect module 12, image capture module 11, servo-drive system 13, power module 15, memory module 16 and wireless module 17.
Temperature collect module 12 and image capture module 11 are respectively applied to gather temperature signal and the picture signal of cable.Particularly, temperature collect module 12 can comprise temperature sensor, and 11 of image capture modules can be camera, all can be arranged on the front portion of wireless cable crusing robot.
Servo-drive system 13 is used for the wireless cable crusing robot is moved.Particularly, this wireless cable crusing robot can comprise a plurality of wheels, 13 motors for the wheels rotation of servo-drive system.In the present embodiment, this wireless cable crusing robot comprises two driving wheels and a universal wheel, and two driving wheels are for generation of power, and universal wheel then is used for turning to.Servo-drive system 13 comprises two motors, and these two motors are connected with two driving wheels respectively, drives two driving wheels and rotates, so that the wireless cable crusing robot can be walked.Control module 14 can be controlled two motors and rotate (being differential control) with different rotating speeds, makes two driving wheel rotating speed differences, thereby realizes turning under the cooperation of universal wheel.
This wireless cable crusing robot is in the process of patrolling and examining, and first controller 141 generates the control signal of servo-drive system 13, and control servo-drive system 13 is moved so that this wireless cable crusing robot moves along planned orbit.The wireless cable crusing robot is in mobile process, by temperature collect module 12 and image capture module 11 real-time temperature signal and picture signals of gathering cable, 141 pairs of temperature signals that collect of first controller and picture signal are handled, send to second controller 142 after the processing, temperature signal and picture signal after will being handled by second controller 142 store memory module 16 into.After end is patrolled and examined, closing temperature acquisition module 12 and image capture module 11, first controller 141 is controlled servo-drive systems 13 so that the wireless cable crusing robot makes a return voyage, the operator analyzes temperature signal and the picture signal of memory module 16 storages, whether there are fault or potential faults to find out cable, thereby can handle timely.
Because the data volume of temperature signal and picture signal is bigger, and the workload of the control signal of generation servo-drive system 13 is also bigger, therefore this wireless cable crusing robot control system adopts first controller 141 to come treatment temperature signal and picture signal, and the control signal that generates servo-drive system 13, adopt the less relatively power supply control of second controller, 142 amounts of work for the treatment of simultaneously, work such as data storage, also namely adopt two controllers to control, and according to the characteristic of controller controller is divided the work, thereby can improve processing speed greatly, to be adapted to the high speed cruising inspection of wireless cable crusing robot.
In a preferred embodiment, the data processing speed of first controller 141 is greater than the data processing speed of second controller 142, so that first controller 141 is adapted to its bigger data processing amount.Further, first controller 141 is field programmable gate array (FPGA), and 142 of second controllers are digital signal processor (DSP), and first controller 141 and second controller 142 carry out exchanges data by the I/O mouth.Particularly, the model of second controller 142 is TMS320F2812, and this chip is the fixed point 32 bit DSP chips on the C2000 platform released of American TI company, and the model of first controller 141 then is A3P250.
In a preferred embodiment, second controller 142 also is used for calculating the distance that the cable inspection machine moves, and determine the cable inspection machine apart from the range information of next moving target according to mobile distance, first controller 141 is used for generating according to range information the control signal (for example direction signal and rate signal) of control servo-drive system 13.In the process of wireless cable crusing robot motion, second controller 142 can store constantly the distance of process or the important test point of process, and determine the distance that to move distance and the motor in the servo-drive system 13 to next operating point accordingly, second controller 142 and 141 communications of first controller then, these parameters are transferred to first controller 141, first controller 141 generates the speed ladder diagram of controlling motor movement according to electric current and the optical code disk information of motor then, and the area that these speed ladder diagrams comprise is exactly the distance that motor will move.Particularly, first controller 141 generates the PWM ripple of control motor movement, and by I/O mouth and 142 real-time communications of second controller, by output and the shutoff of second controller, 142 its PWM waveforms of control.If endless loop appears in patrolling and examining apart from finding the solution in motion process in first controller 141, to send interrupt requests to second controller 142, second controller 142 can be done very first time response to interrupt requests, if the interrupt response of second controller 142 does not have enough time to handle, then the motor of servo-drive system 13 waits for that with the original place self-locking maintenance personal reprocesses.
In a preferred embodiment, second controller 142 also is used for obtaining patrolling and examining route data, and first controller 141 is used for generating the control signal of controlling servo-drive system 13 according to patrolling and examining route data.Particularly, second controller 142 can obtain in advance the route data of patrolling and examining of storage from memory module 16, also can obtain by Data Input Interface (for example USB interface) etc. and patrol and examine route data, can also obtain by wireless module 17 and patrol and examine route data.
In a preferred embodiment, second controller 142 can also judge whether cable exists fault or potential faults according to temperature signal and/or picture signal that first controller 141 is handled, if exist, then send warning message and current location information by wireless module 17 to main website, make the staff of main website can recognize abort situation in time, thereby can arrange barrier rapidly.For example, when the temperature in cable somewhere surpassed dangerous values, second controller 142 namely sent alarm signal.
The wireless cable crusing robot control system that the embodiment of the invention provides is by arranging first controller and second controller, and first controller and second controller divided the work, make first controller handle the bigger work of operand, second controller is then handled the less work of operand, thereby improve processing speed greatly, to be adapted to the high speed cruising inspection of wireless cable crusing robot.This wireless cable crusing robot control system is also carried out communication by wireless module and main website, is convenient to controlling of wireless cable crusing robot.
The embodiment of the invention also provides a kind of wireless cable crusing robot, and it has the described wireless cable crusing robot of above-mentioned arbitrary embodiment control system.In one embodiment, this wireless cable crusing robot comprises two driving wheels and a universal wheel, and two driving wheels are for generation of power, and universal wheel then is used for turning to.Servo-drive system 13 comprises two motors, and these two motors are connected with two driving wheels respectively, drives two driving wheels and rotates, so that the wireless cable crusing robot can be walked.First controller 141 can be controlled two motors and rotate (being differential control) with different rotating speeds, makes two driving wheel rotating speed differences, thereby realizes turning under the cooperation of universal wheel.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. wireless cable crusing robot control system, it is characterized in that, comprise control module, temperature collect module, image capture module, servo-drive system, power module, memory module and wireless module, described temperature collect module and image capture module are respectively applied to gather temperature signal and the picture signal of cable, described control module comprises first controller and second controller, described first controller and described temperature collect module, image capture module and servo-drive system connect, be used for described temperature collect module, temperature signal and picture signal that image capture module collects are handled, and for the described servo-drive system of control, described servo-drive system is used for the wireless cable crusing robot is moved, described second controller and described first controller, power module, memory module and wireless module connect, being used for the described power module of control is described wireless cable crusing robot power supply, and be used for storing temperature signal and picture signal after described first controller processing into described memory module, described wireless module is used for carrying out communication with main website.
2. wireless cable crusing robot control system according to claim 1 is characterized in that the data processing speed of described first controller is greater than the data processing speed of second controller.
3. wireless cable crusing robot control system according to claim 1 is characterized in that, described first controller is field programmable gate array, and described second controller is digital signal processor.
4. wireless cable crusing robot control system according to claim 1, it is characterized in that, described second controller also is used for calculating the distance that described cable inspection machine moves, and determine described cable inspection machine apart from the range information of next moving target according to the distance of described movement, described first controller is used for generating according to described range information the control signal of the described servo-drive system of control.
5. wireless cable crusing robot control system according to claim 1 is characterized in that, described second controller also is used for obtaining patrolling and examining route data, and described first controller is used for generating the control signal of controlling servo-drive system according to patrolling and examining route data.
6. wireless cable crusing robot control system according to claim 1, it is characterized in that, described second controller also is used for judging according to temperature signal and/or picture signal that first controller is handled whether cable exists fault or potential faults, sends warning message and current location information if exist then pass through described wireless module to described main website.
7. according to each described wireless cable crusing robot control system of claim 1 to 6, it is characterized in that, described power module comprises first power supply and second source, described first power supply is powered when described wireless cable crusing robot control system is is normally patrolled and examined, and described second controller also is used for enabling described second source when described control system is in low-pressure state.
8. wireless cable crusing robot control system according to claim 7 is characterized in that, described first power supply is lithium ion battery, and described second source is battery.
9. wireless cable crusing robot control system according to claim 7, it is characterized in that, described second controller also is used for detecting described first power source voltage in real time, and sends warning message by described wireless module when described first power source voltage is lower than preset value.
10. a wireless cable crusing robot is characterized in that, described wireless cable crusing robot comprises according to each described wireless cable crusing robot control system of claim 1 to 9.
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| CN201310277503.9A CN103286785B (en) | 2013-06-26 | 2013-07-03 | Wireless cable crusing robot and control system thereof |
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| CN201310277503.9A CN103286785B (en) | 2013-06-26 | 2013-07-03 | Wireless cable crusing robot and control system thereof |
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| CN103286785B CN103286785B (en) | 2015-10-28 |
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| CN 201320391778 Withdrawn - After Issue CN203357457U (en) | 2013-06-26 | 2013-07-03 | Wireless cable routing inspection robot and control system thereof |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103552073A (en) * | 2013-11-04 | 2014-02-05 | 同济大学 | Control system for bridge cable detecting robot |
| CN104552291A (en) * | 2013-10-10 | 2015-04-29 | 精工爱普生株式会社 | Robot controller, robot system, robot, and robot control method |
| CN105573311A (en) * | 2014-10-11 | 2016-05-11 | 苏州宝时得电动工具有限公司 | Self-movement robot |
| CN106003061A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Control system for light-load three-core constant-velocity joint robot |
| CN106003064A (en) * | 2016-06-17 | 2016-10-12 | 上海工程技术大学 | Complex-environment multi-sensor intelligent detection robot |
| CN106003030A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Dual-core constant-velocity control system for joint robot for teaching |
| CN106003060A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Wireless-transmitting dual-core constant-velocity control system for joint robot for teaching |
| CN107589312A (en) * | 2017-08-19 | 2018-01-16 | 东北电力大学 | A kind of cable insulation malfunction monitoring robot based on electric field distortion degree |
| CN109286155A (en) * | 2018-11-29 | 2019-01-29 | 广东电网有限责任公司 | Inspection device and its monitoring system |
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| CN103286785B (en) * | 2013-06-26 | 2015-10-28 | 苏州工业园区职业技术学院 | Wireless cable crusing robot and control system thereof |
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| CN104552291A (en) * | 2013-10-10 | 2015-04-29 | 精工爱普生株式会社 | Robot controller, robot system, robot, and robot control method |
| CN104827469A (en) * | 2013-10-10 | 2015-08-12 | 精工爱普生株式会社 | Robot controller, robot system, robot and robot control method |
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| CN108621156A (en) * | 2013-10-10 | 2018-10-09 | 精工爱普生株式会社 | Robot controller, robot system, robot and robot control method |
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| CN103552073B (en) * | 2013-11-04 | 2016-07-13 | 同济大学 | A kind of control system of bridge cable measuring robots |
| CN103552073A (en) * | 2013-11-04 | 2014-02-05 | 同济大学 | Control system for bridge cable detecting robot |
| CN105573311A (en) * | 2014-10-11 | 2016-05-11 | 苏州宝时得电动工具有限公司 | Self-movement robot |
| CN106003030A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Dual-core constant-velocity control system for joint robot for teaching |
| CN106003060A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Wireless-transmitting dual-core constant-velocity control system for joint robot for teaching |
| CN106003061A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Control system for light-load three-core constant-velocity joint robot |
| CN106003061B (en) * | 2016-06-13 | 2018-11-13 | 江苏若博机器人科技有限公司 | A kind of three core constant speed articulated robot control systems of underloading |
| CN106003060B (en) * | 2016-06-13 | 2018-11-16 | 江苏若博机器人科技有限公司 | A kind of teaching wireless transmission double-core constant speed articulated robot control system |
| CN106003064A (en) * | 2016-06-17 | 2016-10-12 | 上海工程技术大学 | Complex-environment multi-sensor intelligent detection robot |
| CN107589312A (en) * | 2017-08-19 | 2018-01-16 | 东北电力大学 | A kind of cable insulation malfunction monitoring robot based on electric field distortion degree |
| CN107589312B (en) * | 2017-08-19 | 2019-08-20 | 东北电力大学 | A kind of cable insulation malfunction monitoring robot based on electric field distortion degree |
| CN109286155A (en) * | 2018-11-29 | 2019-01-29 | 广东电网有限责任公司 | Inspection device and its monitoring system |
| CN109335669A (en) * | 2018-12-19 | 2019-02-15 | 攀枝花学院 | A kind of control circuit of transfer robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103286785B (en) | 2015-10-28 |
| CN203357457U (en) | 2013-12-25 |
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