CN104345683B - A kind of valve Room intelligent inspection robot temperature monitoring system - Google Patents
A kind of valve Room intelligent inspection robot temperature monitoring system Download PDFInfo
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- CN104345683B CN104345683B CN201410563613.6A CN201410563613A CN104345683B CN 104345683 B CN104345683 B CN 104345683B CN 201410563613 A CN201410563613 A CN 201410563613A CN 104345683 B CN104345683 B CN 104345683B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 44
- 238000007689 inspection Methods 0.000 title claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims description 25
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- 238000012545 processing Methods 0.000 claims description 4
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- 235000008409 marco Nutrition 0.000 claims description 3
- 244000078446 marco Species 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
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- 229910001220 stainless steel Inorganic materials 0.000 claims description 2
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- 238000012856 packing Methods 0.000 description 2
- 238000005057 refrigeration Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/163—Domotique, domestic, home control, automation, smart, intelligent house
Abstract
The invention discloses a kind of valve Room intelligent inspection robot temperature monitoring system, including：Intelligent console is connected with robot body, and robot body is connected with robot operation drive system；The visible light camera and thermal infrared imager are connected with intelligent console respectively, and the intelligent console is connected to control cabinet by Ethernet, and the control cabinet is connected with background monitoring system.Beneficial effect of the present invention：Temperature monitoring system possesses two-way video, can not only monitor valve Room valve tower temperature degree, also possess the function to valve Room internal environment implementing monitoring.Monitoring temperature possesses the function such as automatic alarm and monitoring data automatic storage.Alleviate the working strength of valve Room manual inspection so that manually can complete valve Room Daily Round Check task on the backstage away from high pressure, forceful electric power magnetic environment.
Description
Technical field
Present invention design field of electric power automation, more particularly to a kind of valve Room intelligent inspection robot temperature monitoring system.
Background technology
High voltage direct current transmission project is significant among State Grid builds, and wherein current conversion station is high voltage ac/dc
The place of conversion, its internal valve tower as ac-dc conversion nucleus equipment, to the monitoring of its internal unit and environment also ten
Divide important.
In recent years, with the continuous construction of intelligent grid, track machine people gradually come by beginning replacement manual inspection
Into the monitoring of converter station valve hall.Converter station valve hall is due to working long hours under high pressure, current state, and its inside is easily gathered
Amount of heat.Although valve tower has efficient refrigeration measure to prevent local temperature too high, once there is exception in refrigeration measure
Or valve tower breaks down in itself, Fa Ta local problems are easy to rise or even lead to fire incident.
The content of the invention
To solve the deficiency that prior art is present, the invention discloses a kind of valve Room intelligent inspection robot monitoring temperature system
System, the system can realize the collection of visible light video, valve tower temperature degree as valve Room intelligent inspection robot core component
Monitoring in real time, monitors the function such as video long-distance transfer and remote monitoring.
To achieve the above object, concrete scheme of the invention is as follows：
A kind of valve Room intelligent inspection robot temperature monitoring system, including：Intelligent console, control cabinet, visible light camera,
Thermal infrared imager, background monitoring system, robot body and robot operation drive system；
The intelligent console is connected with robot body, and robot body is connected with robot operation drive system；It is described
Visible light camera and thermal infrared imager are connected with intelligent console respectively, and the intelligent console is connected to control by Ethernet
Case, the control cabinet is connected with background monitoring system.
The robot operation drive system is that the sliding block is by watching in the sliding block being arranged in robot running track
Take motor driving operation.
The sliding block is specifically included：Two groups of orbiting units and the secondary company for connecting two groups of orbiting units
Fishplate bar；Two groups of orbiting units independently rotate；
The each group of orbiting unit includes：Turning motion unit, secondary turning motion unit, a crane span structure and one
Secondary connecting plate；
Fix a turning motion unit respectively at the two ends of the crane span structure, set and once connect on the outside of the crane span structure
Plate, the biside plate of a connecting plate is connected by a secondary shaft respectively with crane span structure two ends；The secondary turning motion unit
It is arranged on the centre position of a connecting plate；Connecting plate of each group of orbiting unit is respectively by secondary
Turning motion unit is connected with secondary connecting plate.
Turning motion unit includes：Roller axis, roller, a bearing and a secondary shaft；
The roller is connected by roller axis with crane span structure, and a bearing coordinates with a secondary shaft and crane span structure respectively,
The end of bearing is used for spacing provided with hole with back-up ring one；The one secondary shaft upper end and a connecting plate fix,
Middle part is provided with the face of cylinder and a bearing fit.
Shaft end is limited with the end of the spacing roller axis of back-up ring one by hole provided with step for roller in the roller
Position, middle part coordinates provided with the face of cylinder with bearing inner race, and end is chimeric with bridge joint provided with face of cylinder step, and core is used for provided with through hole
Fixed with crane span structure.The wherein end face of cylinder and core through hole is coaxial, and the middle part face of cylinder and the diameter parallel of both of the above be not coaxial,
The eccentric distance of two axial lines is used for the spacing for adjusting two sets of rollers.
The secondary turning motion unit includes two secondary shafts, secondary bearing and hole back-up ring two；
Two secondary shaft runs through a connecting plate and secondary connecting plate, and the inner ring of secondary bearing and two secondary shafts coordinate,
Outer ring coordinates with secondary connecting plate, and secondary bearing end is spacing with back-up ring two by hole.
The control cabinet includes：Video server, interchanger, photoelectric conversion unit, PLC, servo-driver and power supply mould
Block；
The video server, interchanger and photoelectric conversion unit are sequentially connected, and the interchanger is also connected with PLC, PLC
It is connected with servo-driver；Power module is used to provide power supply for above-mentioned each module.
The robot body for can tri- direction free movements of X, Y, Z mechanical arm, the intelligent console energy
It is enough to be rotated in the horizontal and vertical directions.
The intelligent console is included by RS485 bus marcos, intelligent console control system RS485 interface circuits：Transient voltage presses down
Differential transceiver U12 processed,
U12 No. 1 pin meets cradle head control plate microcontroller serial port receiving terminal RXD, and No. 2 pins and No. 3 pins connect single-chip microcomputer
General purpose I/O pins, No. 4 pins meet microcontroller serial port transmitting terminal TXD；
U12 No. 5 pins ground connection, U12 No. 6 pins meet 485A, and resistance R41 mono- terminates U12 No. 6 pins, the other ends
Connect power supply；The terminations of voltage-regulator diode D7 mono- U12 No. 6 pins, other end ground connection；
U12 No. 7 pins meet 485B, the terminations of resistance R35 mono- U12 No. 7 pins, other end ground connection；Press diode D8 mono-
Terminate U12 No. 7 pins, other end ground connection；Resistance R37 is serially connected between U12 No. 6 pins and No. 7 pins；
U12 No. 8 pins connect power supply, an electric capacity C20 termination U12 No. 8 pins, other end ground connection.
Signal between the intelligent console, control cabinet, visible light camera, thermal infrared imager and background monitoring system is passed
Defeated cable does shielding processing using stainless steel sleeve pipe.
Beneficial effects of the present invention：
1st, temperature monitoring system of the present invention possesses two-way video, can not only monitor valve Room valve tower temperature degree, also possess to valve
The function of Room internal environment implementing monitoring.Monitoring temperature possesses the function such as automatic alarm and monitoring data automatic storage.Mitigate
The working strength of valve Room manual inspection so that manually can complete the valve Room on the backstage away from high pressure, forceful electric power magnetic environment daily
Patrol task.
2nd, present system can allow intelligent console, as close to valve tower, to compensate for conventional fixed-type in safe range
Intelligent console monitoring range is small, and it is not enough that the visual field is subject to block etc., possesses that blind area is small, and the big advantage of monitoring range is effectively improved
The monitoring effect of temperature-sensing system.
3rd, present invention slider structure can not only meet the operation of rectilinear orbit, for the curve track for needing to turn round,
Can smoothly it pass through, it is ensured that robot body can reach the every nook and cranny of monitored area.
4th, because valve Room valve tower is typically lifted on Fa Ting centers, common fixed head is fixed with valve tower position.Head
Usually itself blocked by valve tower control point.And the mechanical arm introduced in the present invention can largely solve above-mentioned problem.
Mechanical arm elongation can allow head in safe range as close to valve tower, and head position itself flexibly allows for head can be with
Can be with multi-angle monitoring to key area.
Brief description of the drawings
Fig. 1 is whole system structural representation of the present invention；
Fig. 2 is that intelligent console of the present invention moves schematic diagram；
Fig. 3 is theory diagram inside control cabinet of the present invention；
Fig. 4 is servomotor drive circuit figure of the present invention；
Fig. 5 is intelligent console control system RS485 interface circuit figures of the present invention；
Fig. 6 is present invention slider structure general illustration；
Fig. 7 is present invention slider structure top view；
Fig. 8 is sectional view of the present invention along roller axis；
Fig. 9 is that present invention slider runs view along straight line path；
Figure 10 is that present invention slider runs view along circular arc path I；
Figure 11 is that present invention slider runs view along circular arc path II.
Wherein, 1. control cabinet, 2. servers, 3.NVR, 4. optical fiber switch, 5. background monitoring systems, 6. client rs PCs,
7. intelligent console, 8. servomotors, 9. tracks, 10. mechanical arms, 11. sliding blocks, 12. motor servo drivers, 13.PLC, 14.
Video server, 15. Ethernet switches, 16. optical-electrical converters, 17. power supplys；
Bis- connecting plates of 2-3., No. bis- bearings of 2-4., 2-5. holes back-up ring two, 2-6. clamp nuts, 2-7. packing rings, 2-8.
Two secondary shafts, connecting plate of 2-9., 2-10. crane span structures, the secondary shafts of 2-11. mono-, 2-12. holes back-up ring one, the secondary axes of 2-13. mono-
Hold, 2-14. rollers, 2-15. roller axis.
Embodiment：
The present invention is described in detail with embodiment below in conjunction with the accompanying drawings：
As depicted in figs. 1 and 2, a kind of valve Room intelligent inspection robot temperature monitoring system, including：Intelligent console 7, control
Case 1, visible light camera, thermal infrared imager, background monitoring system 5, robot body and robot operation drive system；
Intelligent console 7 is connected with robot body, and robot body is connected with robot operation drive system；It is described visible
Light video camera and thermal infrared imager are connected with intelligent console 7 respectively, and intelligent console 7 is connected to control cabinet 1 by Ethernet, control
Case 1 is connected with background monitoring system 5.
Robot body for can tri- direction free movements of X, Y, Z mechanical arm 10, the intelligent console 7 can
Rotated in the horizontal and vertical directions.The one end of mechanical arm 10 is fixed on rail slider 11, can follow track 9 vertical
Or horizontal direction moves along a straight line, curvilinear motion can also be done along curve track.The other end of mechanical arm 10 fixes intelligent cloud
Platform 7.Intelligent console 7 can follow mechanical arm to move.Robot monitoring temperature point is by the position of rail slider 11, the shape of mechanical arm 10
State and the rotational angle of intelligent console 7 are together decided on.Knowable to mechanical arm 10 and the position relationship of intelligent console 7 as shown in Figure 2,
Intelligent console 7 can follow the end movement of mechanical arm 10 and move.
Robot motion's system uses the integrated mode of servomotor 8 and track 9.There is hardware with track 9 in servomotor 8
Connection, i.e. motor, which are rotated, can drive rail slider 11 to be moved in either vertically or horizontally direction.Servomotor 8 is by servo-driver 12
, there is electrical connection between the two in driving.
Video acquisition is completed by two kinds of video cameras, and one of which is visible light camera, can complete valve Room internal environment
The real-time collection of image；Another is thermal infrared imager, and thermal infrared imager is that one kind can distribute infrared light spy according to object
The equipment for surveying object temperature.By thermal infrared imager detection threshold tower temperature degree monitoring device can be avoided to be contacted with the direct of valve tower,
It ensure that the safety of monitoring device and valve tower in itself.
Visible light camera and thermal infrared imager are installed on can be in the intelligent console 7 both horizontally and vertically rotated, intelligence
Energy head 7 is by RS485 bus marcos.Intelligent console 7 is installed on rail slider 11, follows sliding block to move along a straight line in orbit
Or curvilinear motion.
Because the valve Room is the place of high voltage ac/dc conversion, internal electromagnetic environment is complicated, to ensure the quality of signal transmission
And integrality, all signal transmission cables do shielding processing using metal sleeve.
Intelligent console 7 is connected to control cabinet 1 by Ethernet.Control cabinet 1 is the core of situ machine people control, specific knot
Structure is as shown in figure 3, inside is provided with PLC13, Ethernet switch 15, motor servo driver 12, optical-electrical converter 16, video
Server 14 and power module 17.
PLC13 sends drive signal to servo-driver 12, and the driving servomotor 8 of servo-driver 12 is rotated.Servo electricity
Machine 8 is arranged on the one end of track 9, is connected with track belt.Motor rotation can drive rail slider 11 to move, and then complete intelligent cloud
Platform about 7 left and right directions motion.Visible light video and infrared video pass through video server 14, and compressing and converting is into network signal.
After optical-electrical converter 16, pass through optical cable remote transmission to background monitoring system 5.Background monitoring system 5 mainly completes video
Analysis record and remote control function.Mainly include server 2, client rs PC 6, NVR3, optical transmitter and receiver and optical fiber switch
4。
Video server 14 be it is a kind of coded treatment is carried out to audio, video data and the special equipment of network transmission is completed, depending on
Frequency server 14 reserves RS485 interfaces, and the motion control to intelligent console 7 can be completed by specialized protocol.
Described network signal, after opto-electronic conversion, by fiber-optics remote transmission to background monitoring system 5.Supervise on backstage
Control system 5 includes optical fiber switch 4, and multi-channel optical fibre can be converted into Ethernet, and by NVR3, server 2 and client rs PC 6
Networking.NVR3 can store monitor video.User can check two-path video by client rs PC 6, and send control command.When valve tower
Temperature exceedes given threshold, the alert of client rs PC 6.Client can make timely processing according to warning message.
Fig. 4 is that intelligent console is vertical, horizontal direction direct current motor drive circuit practical circuit diagram.Drive part employs U.S.
The LDM18200 of National Semiconductor of state is driving core, and driving power is big, reliable and stable, strong antijamming capability.
Fig. 5 is intelligent console control system RS485 actual interface circuits.Circuit installs TVS transient states additional in bus A, B and suppresses two poles
Pipe, can filter out High-frequency Interference in bus, protect chip pin.Improve stability of the circuit under strong electric field environment.
The driving chip U12 of intelligent console control system RS485 interface circuits is from preferred Texas Instruments
SN65LBC184。
U12 No. 1 pin meets cradle head control plate microcontroller serial port receiving terminal RXD, and No. 2 pins and No. 3 pins connect single-chip microcomputer
General purpose I/O pins, No. 4 pins meet microcontroller serial port transmitting terminal TXD；
U12 No. 5 pins ground connection, U12 No. 6 pins meet 485A, and resistance R41 mono- terminates U12 No. 6 pins, the other ends
Connect power supply；The terminations of voltage-regulator diode D7 mono- U12 No. 6 pins, other end ground connection；
U12 No. 7 pins meet 485B, the terminations of resistance R35 mono- U12 No. 7 pins, other end ground connection；Press diode D8 mono-
Terminate U12 No. 7 pins, other end ground connection；Resistance R37 is serially connected between U12 No. 6 pins and No. 7 pins；
U12 No. 8 pins connect power supply, an electric capacity C20 termination U12 No. 8 pins, other end ground connection.
Sliding block 11 includes two groups of orbiting units and the secondary connecting plate 2- for connecting two groups of orbiting units
3；Two groups of orbiting units independently rotate；
As shown in Fig. 6 to Fig. 8, each group of orbiting unit includes：Turning motion unit, a secondary turning motion list
Member, crane span structure 2-10 and a connecting plate 2-9；
One time turning motion unit includes：Roller axis 2-15, roller 2-14, a bearing 2-13 and a secondary shaft 2-
11；Secondary turning motion unit includes two secondary shaft 2-8, secondary bearing 2-4 and the hole 2-5 of back-up ring two.
Roller 2-14 inner ring and the face of cylinder assembling at roller axis 2-15 middle part coordinate, roller axis 2-15 end stations
Rank positioning chimeric with crane span structure 2-10, fastener connects crane span structure 2-10 through roller axis 2-15 cores through hole；Roller axis 2-15
The middle part face of cylinder and the axis of core through hole be not coaxial, i.e., roller 2-14 central axis and roller axis 2-15 core through hole is not
Coaxially, there is an eccentric distance, this eccentric throw numerical value is determined according to the guide rail width of track 9；By adjusting roller axis 2-
15 and crane span structure 2-10 relative rotation position, can adjust two sets of roller 2-14 centre distance, wide to adapt to the guide rail of track 9
Degree, had both ensured the pretightning force that sliding block 11 coordinates with track 9, and had ensured smooth operation again.
Crane span structure 2-10 two ends are provided with bearing mounting hole, for the pilot hole 2-12 of back-up ring one, a bearing 2-13, a secondary axes
The cylindrical cooperation in the face of cylinder in the middle part of inner ring and a secondary shaft 2-11 is held, a secondary shaft 2-11 upper ends coordinate with a connecting plate 2-9
And fixed using fastener；
Step through-hole is provided with the middle part of connecting plate 2-9, is coordinated with two secondary shaft 2-8 bottom stages, in two secondary shaft 2-8
The portion face of cylinder is cylindrical to be coordinated with secondary bearing 2-4, and secondary bearing 2-4 outer rings coordinate with secondary connecting plate 2-3 bearing mounting holes,
Secondary connecting plate 2-3 is equipped with hole back-up ring two 2-5, two secondary shaft 2-8 and a connecting plate 2-9 axial restraint using fastening
Nut 2-6 and packing ring 2-7 are fixed.
As shown in figure 9, when sliding block 11 is run on the straight path, a connecting plate of two sets of turning motion units
2-9 is parallel, crane span structure 2-10 parallel sides are parallel with secondary connecting plate 2-3, is rotated roller axis 2-15 to appropriate using instrument
Position is simultaneously fastened, and the center spacing H to adjust roller 2-14 realizes that sliding block 11 and being combined with for track 9 are enough to optimum value
Pretightning force, can guarantee that smooth operation again.
As shown in Figure 10, when sliding block 11 advances, the run time behaviour in circular arc path I, two sets of connecting plate 2-9 states
Keeping parallelism, crane span structure 2-10 is rotated rotating around the axis of a secondary shaft 2-11, and roller 2-14 axis extended line intersects at the center of circle
O2, the angle of two delay lines is 2x β, and angle is symmetrical on secondary connecting plate 2-3 median planes；After crane span structure 2-10 is independently rotated, rolling
Wheel 2-14 each realizes the tight fit with track 9, and sliding block 11 is around center of circle O2Rotate, realization is walked along circular arc path.
As shown in figure 11, when sliding block 11 in circular arc path II run time behaviour, connecting plate 2-9 and crane span structure 2-10 protects
Maintain an equal level row, and a moving cell rotates around two secondary shaft 2-8 axis, and the roller 2-14 line of centres intersects at center of circle O1, two
The angle of the line of centres is 2x α, and angle is symmetrical on secondary connecting plate 2-3 median planes；Two sets of moving cells are independently rotated
Afterwards, roller 2-14 each realizes the tight fit with track 9, and sliding block 11 is around center of circle O1Rotate, realization is walked along circular arc path.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deform still within protection scope of the present invention that creative work can make.
Claims (7)
1. a kind of valve Room intelligent inspection robot temperature monitoring system, it is characterized in that, including：Intelligent console, control cabinet, visible ray
Video camera, thermal infrared imager, background monitoring system, robot body and robot operation drive system；
The intelligent console is connected with robot body, and robot body is connected with robot operation drive system；It is described visible
Light video camera and thermal infrared imager are connected with intelligent console respectively, and the intelligent console is connected to control cabinet by Ethernet, institute
Control cabinet is stated to be connected with background monitoring system；
The robot operation drive system is that, in the sliding block being arranged in robot running track, the sliding block passes through servo electricity
Machine driving operation；
The sliding block is specifically included：Two groups of orbiting units and the secondary connection for connecting two groups of orbiting units
Plate；Two groups of orbiting units independently rotate；
The each group of orbiting unit includes：Turning motion unit, secondary turning motion unit, crane span structure and once connect
Fishplate bar；
Fix a turning motion unit respectively at the two ends of the crane span structure, a connecting plate, institute are set on the outside of the crane span structure
The biside plate for stating a connecting plate is connected by a secondary shaft respectively with crane span structure two ends；The secondary turning motion unit is arranged on
The centre position of connecting plate；Connecting plate of each group of orbiting unit is transported by secondary turn respectively
Moving cell is connected with secondary connecting plate；
The control cabinet includes：Video server, interchanger, photoelectric conversion unit, PLC, servo-driver and power module；
The video server, interchanger and photoelectric conversion unit are sequentially connected, and the interchanger is also connected with PLC, and PLC is with watching
Take driver connection；Power module is used to provide power supply for above-mentioned each module.
2. a kind of valve Room intelligent inspection robot temperature monitoring system as claimed in claim 1, it is characterized in that, it is described once to turn
Curved moving cell includes：Roller axis, roller, a bearing and a secondary shaft；
The roller is connected by roller axis with crane span structure, and a bearing coordinates with a secondary shaft and crane span structure respectively, described
The end of bearing is used for spacing provided with hole with back-up ring one；The one secondary shaft upper end is fixed with a connecting plate, middle part
Provided with the face of cylinder and a bearing fit.
3. a kind of valve Room intelligent inspection robot temperature monitoring system as claimed in claim 2, it is characterized in that, in the roller
It is spacing that shaft end is used for roller with the end of the spacing roller axis of back-up ring one by hole provided with step, middle part provided with the face of cylinder with
Bearing inner race coordinates, and end is chimeric with bridge joint provided with face of cylinder step, and core is used to fix with crane span structure provided with through hole；Wherein end
The face of cylinder and core through hole are coaxial, and the middle part face of cylinder and the diameter parallel of both of the above be not coaxial, and the eccentric distance of two axial lines is used
In the spacing for adjusting two sets of rollers.
4. a kind of valve Room intelligent inspection robot temperature monitoring system as claimed in claim 1, it is characterized in that, described secondary turn
Curved moving cell includes two secondary shafts, secondary bearing and hole back-up ring two；
Two secondary shaft runs through a connecting plate and secondary connecting plate, and the inner ring of secondary bearing and two secondary shafts coordinate, outer ring
Coordinate with secondary connecting plate, secondary bearing end is spacing with back-up ring two by hole.
5. a kind of valve Room intelligent inspection robot temperature monitoring system as claimed in claim 1, it is characterized in that, the robot
Body for can tri- direction free movements of X, Y, Z mechanical arm, the intelligent console can be both horizontally and vertically
It is upper to be rotated.
6. a kind of valve Room intelligent inspection robot temperature monitoring system as claimed in claim 1, it is characterized in that, the intelligent cloud
Platform is included by RS485 bus marcos, intelligent console control system RS485 interface circuits：Transient voltage suppresses differential transceiver U12,
U12 No. 1 pin meets cradle head control plate microcontroller serial port receiving terminal RXD, and No. 2 pins and No. 3 pins connect controller general
I/O pin, No. 4 pins meet microcontroller serial port transmitting terminal TXD；
U12 No. 5 pins ground connection, U12 No. 6 pins meet 485A, the terminations of resistance R41 mono- U12 No. 6 pins, another termination electricity
Source；The terminations of voltage-regulator diode D7 mono- U12 No. 6 pins, other end ground connection；
U12 No. 7 pins meet 485B, the terminations of resistance R35 mono- U12 No. 7 pins, other end ground connection；Pressure diode D8 mono- is terminated
U12 No. 7 pins, other end ground connection；Resistance R37 is serially connected between U12 No. 6 pins and No. 7 pins；
U12 No. 8 pins connect power supply, an electric capacity C20 termination U12 No. 8 pins, other end ground connection.
7. a kind of valve Room intelligent inspection robot temperature monitoring system as claimed in claim 1, it is characterized in that, the intelligent cloud
Signal transmission cable between platform, control cabinet, visible light camera, thermal infrared imager and background monitoring system uses stainless steel
Sleeve pipe does shielding processing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410563613.6A CN104345683B (en) | 2014-10-21 | 2014-10-21 | A kind of valve Room intelligent inspection robot temperature monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410563613.6A CN104345683B (en) | 2014-10-21 | 2014-10-21 | A kind of valve Room intelligent inspection robot temperature monitoring system |
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| CN104345683A CN104345683A (en) | 2015-02-11 |
| CN104345683B true CN104345683B (en) | 2017-08-18 |
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Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: State Grid Ningxia Electric Power Co., Ltd. overhaul company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: Maintenance Company, State Grid Ningxia Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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Effective date of registration: 20201210 Address after: 250101 power intelligent robot production project 101 south of Feiyue Avenue and east of No.26 Road (in ICT Industrial Park) in Suncun District of Gaoxin, Jinan City, Shandong Province Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 No. 86 West Chang'an Avenue, Beijing, Xicheng District Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: STATE GRID NINGXIA ELECTRIC POWER CO., LTD. MAINTENANCE Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |
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