CN104767510A - Infrared remote control switch device for barrier removing robot - Google Patents
Infrared remote control switch device for barrier removing robot Download PDFInfo
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- CN104767510A CN104767510A CN201510155450.2A CN201510155450A CN104767510A CN 104767510 A CN104767510 A CN 104767510A CN 201510155450 A CN201510155450 A CN 201510155450A CN 104767510 A CN104767510 A CN 104767510A
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Abstract
The invention particularly relates to an infrared remote control switch device for a barrier removing robot. The infrared remote control switch device is characterized by comprising a remote-control unit on the control side and a receiving control device installed on the barrier removing robot; switches K1 and K2 in a circuit of the remote-control unit serve as a starting button and a shutdown button respectively, when the buttons are pressed down, different circuits in a frequency modulation circuit are closed, remote-control output signals with different frequency signals in a modulated mode are generated, then an infrared light emitting diode D4 is driven by a triode Q4 to give out the remote-control signals, the infrared remote control signals, received by an infrared receiving pipe D1, in a circuit of the receiving control device are amplified through a U1 so as to enter a frequency demodulation circuit through a C1, high-level effective starting and shutdown signals are demodulated and are transmitted to a bistable-state circuit composed of a Q1 and a Q2 through a D2 and a D3, and on-off control over a power source is achieved by controlling a relay J through a Q3. The infrared remote control switch device has the advantages of being flexible and convenient to operate, high in breakdown removing and high in anti-jamming capability.
Description
Technical field
The invention belongs to ultra-high-tension power transmission line obstacle removing robot control device field, be specifically related to a kind of obstacle removing robot infrared remote-control switch device.
Background technology
Ultra-high-tension power transmission line needs to carry out regular patrolling and examining and maintenance, and this is due to ultra-high-tension power transmission line often there will be kite string, the barriers such as plastic film.This is very big on the impact of electric power facility, as rainy weather, just very likely causes line tripping accident.Manually remove obstacles and waste time and energy, safety is also difficult to be protected.Applicant have developed ultra-high-tension power transmission line obstacle removing robot for this reason.
Obstacle removing robot needs to have live line working ability, and this is because obstacle removing robot there will be the strong interferers such as sparkover when logining 500 kilovolts of high voltage electric fields, and the robot be put on high-tension line normally can work and will withstand such interference.But in actual use, the obstacle removing robot of applicant's development is not often able to take the interference of strong interferers, and cisco unity malfunction, even causes device failure sometimes.
Afterwards, applicant considered to adopt the way of delay power to process the inadequate problem of antijamming capability.Namely in electric power loop, locate total power switch be connected in series a mechanical time delay switch outward in addition.Realize powering up the control circuit time delay of obstacle removing robot by this switch.When robot needs to be put into operation on charged ultra-high-tension power transmission line, first open total power switch, set the delay time of mechanical time delay switch, then obstacle removing robot is put on high-tension line.Close to rear delay switch Deng delay time, connect robot circuit and start operation.Although this way solves anti-interference problem to a certain extent, use very flexible, because delay time is relatively fixing, on transmission line, sometimes also do not put delay time well just arrived.And also cannot be fixed a breakdown by power-off restoration when breaking down during robot uses.
Summary of the invention
The object of the invention is to the high pressure obstacle removing robot poor anti jamming capability solving prior art, easily disturb by strong interferers, cannot normally work, hold flimsy defect, there is provided a kind of obstacle removing robot infrared remote-control switch device, it can adapt to complex high voltage electric field environment, passes through infrared remote control, long-range power-off, power-on servicing can be realized to obstacle removing robot, fix a breakdown.
The present invention is achieved by the following technical solution:
I.e. a kind of obstacle removing robot infrared remote-control switch device, it is characterized in that comprising the remote controller controlling side and the receiving control device be contained on obstacle removing robot, described remote controller comprises frequency modulation circuit, K switch 1, K switch 2, triode Q4 and infrarede emitting diode D4, K switch 1, the input of K2 rate of connections modulation circuit, the output of triode Q4 rate of connections modulation circuit, infrarede emitting diode D4 connecting triode Q4, K switch 1, K2 is respectively as starting key and shutdown button, the different circuit in frequency modulation circuit are connected respectively when button is pressed, producing modulation has the remote control of different frequency signals to output signal, then infrarede emitting diode D4 is driven to send remote signal by triode Q4, accept control device and comprise receiving terminal frequency demodulation circuit, infrared receiving tube D1, bistable circuit, triode Q3 and control relay J, infrared receiving tube D1 is by integrated package U1, electric capacity C1 is connected to the signal input part of frequency demodulation circuit, the signal output part of frequency demodulation circuit is by diode D2, D3 connecting triode Q1, the bistable circuit of Q2 composition, triode Q3 one end connects bistable circuit, one end connection control relay J, the infrared remote-controlled signal received by infrared receiving tube D1 enters frequency demodulation circuit by C1 after U1 amplifies, demodulate the effective startup and shutdown signal of high level respectively, pass through D2, D3 sends into by Q1, the bistable circuit of Q2 composition, realize controlling the break-make of power supply finally by Q3 control relay J, when exporting starting-up signal, D2 conducting, Q1 base stage is in high level, Q1 conducting, Q2 base stage step-down level, Q2 ends, Q2 collector electrode uprises level, Q3 base stage is in high level, Q3 conducting, drive relay J adhesive, connect main power circuit, simultaneously, the high level of Q2 collector electrode again loopback returns Q1 base stage, open state is maintained after starting-up signal disappears, during shutdown, frequency demodulation circuit exports off signal, D3 conducting, Q2 base stage uprises level, Q2 conducting, Q2 collector electrode step-down level, Q3 base stage is in low level, Q3 ends, relay J power-off, disconnect main power circuit, simultaneously, the low level of Q2 collector electrode again loopback returns Q1 base stage, off-mode is maintained after off signal disappears.
Frequency modulation circuit of the present invention, forms the different phase-shift type oscillator circuit of two output frequencies by triode Q5, Q6 with corresponding peripheral circuit.Wherein upper part is that the electric routing switch K2 of core controls as off signal circuit with Q5, and exporting a frequency of oscillation when K2 closes is the signal of f1 is coupled to triode Q4 base stage through C204.Lower part is that the electric routing switch K1 of core controls as starting-up signal circuit with Q6, and exporting a frequency of oscillation when K1 closes is the signal of f2 is coupled to triode Q4 base stage through C214.
Wherein R207, R208 are biasing resistor, by triode Q4 for infrarede emitting diode D4 provides bias current.
Frequency demodulation circuit of the present invention, forms startup and shutdown signal demodulating circuit respectively by comparator U1, U2 and corresponding circuit.Form start frequency selection circuit by R101, R102, C101, C102, its resonance frequency is identical with the starting-up signal frequency f 2 that remote controller medium frequency modulation circuit exports.AC signal after frequency-selecting becomes direct current signal after D101, C103 rectifying and wave-filtering, after structure comparator U2 shaping, export starting-up signal.
Form shutdown frequency selection circuit by R111, R112, C111, C112, its resonance frequency is identical with the off signal frequency f 1 that remote controller medium frequency modulation circuit exports.AC signal after frequency-selecting becomes direct current signal after D111, C113 rectifying and wave-filtering, after structure comparator U3 shaping, export off signal.
The present invention adopts the infrared light transmission of signal through frequency modulation circuit modulation, the modulating frequency that the open and close signal sent by remote controller is corresponding different respectively.After receiving terminal receives infrared signal, obtain corresponding switching signal by frequency demodulation circuit demodulation, control relay does mains switch action.
The present invention has flexible and convenient operation, the advantage fast, antijamming capability is strong of fixing a breakdown.Its circuit part of receiving control device of the present invention is pure hardware configuration, and antijamming capability is strong, can adapt to complex high voltage electric field environment.Use invention, when obstacle removing robot needs live line working, first open the total power switch in robot, now the power on circuitry of receiving control device can receive remote-controlled start-up signal.Then obstacle removing robot is put on charged circuit.Put the main circuit power that rear remote control device opens robot well, start operation.Again robot is taken off after first remote closing main circuit power after operation.When occurring in robot manipulating task crashing, power-off, a power-on servicing can also be done with remote controller when controlling the fault such as malfunctioning and fixing a breakdown.
Accompanying drawing explanation
Fig. 1 is using state schematic diagram of the present invention;
Fig. 2 is the circuit theory diagrams of remote controller of the present invention;
Fig. 3 is the circuit theory diagrams of receiving control device of the present invention;
Fig. 4 is the circuit theory diagrams of frequency modulation circuit of the present invention;
Fig. 5 is the circuit theory diagrams of frequency demodulation circuit of the present invention.
As shown in FIG.: 1. remote controller; 2. receiving control device; 3. obstacle removing robot.
Embodiment
As shown in Figure 1: receiving control device 2 is arranged on obstacle removing robot 3, remote controller 1 controls by receiving control device 2 that obstacle removing robot 3 is energized, power-off.
As shown in Figure 2: in the circuit theory diagrams of remote controller 1, K switch 1, K2, respectively as starting key and shutdown button, connects the different circuit in frequency modulation circuit respectively when button is pressed, producing modulation has the remote control of different frequency signals to output signal.
As shown in Figure 3: in the circuit theory diagrams of receiving control device 2, the infrared remote-controlled signal received by infrared receiving tube D1 enters frequency demodulation circuit by C1 after U1 amplifies, demodulate the effective startup and shutdown signal of high level respectively, pass through D2, D3 sends into by Q1, the bistable circuit of Q2 composition, realizes controlling the break-make of power supply finally by Q3 control relay J.When exporting starting-up signal, D2 conducting, Q1 base stage is in high level, Q1 conducting, Q2 base stage step-down level, and Q2 ends, and Q2 collector electrode uprises level, and Q3 base stage is in high level, Q3 conducting, drives relay J adhesive, connects main power circuit.Meanwhile, the high level of Q2 collector electrode again loopback returns Q1 base stage, after starting-up signal disappears, maintain open state.During shutdown, frequency demodulation circuit exports off signal, D3 conducting, and Q2 base stage uprises level, Q2 conducting, Q2 collector electrode step-down level, and Q3 base stage is in low level, and Q3 ends, relay J power-off, disconnects main power circuit.Meanwhile, the low level of Q2 collector electrode again loopback returns Q1 base stage, after off signal disappears, maintain off-mode.
As shown in Figure 4: frequency modulation circuit forms the different phase-shift type oscillator circuit of two output frequencies by triode Q5, Q6 with corresponding peripheral circuit.Wherein upper part is that the electric routing switch K2 of core controls as off signal circuit with Q5, and exporting a frequency of oscillation when K2 closes is the signal of f1 is coupled to triode Q4 base stage through C204.Lower part is that the electric routing switch K1 of core controls as starting-up signal circuit with Q6, and exporting a frequency of oscillation when K1 closes is the signal of f2 is coupled to triode Q4 base stage through C214.
Wherein R207, R208 are biasing resistor, by triode Q4 for infrarede emitting diode D4 provides bias current.
As shown in Figure 5: frequency demodulation circuit forms startup and shutdown signal demodulating circuit respectively by comparator U1, U2 and corresponding circuit.Form start frequency selection circuit by R101, R102, C101, C102, its resonance frequency is identical with the starting-up signal frequency f 2 that remote controller medium frequency modulation circuit exports.AC signal after frequency-selecting becomes direct current signal after D101, C103 rectifying and wave-filtering, after structure comparator U2 shaping, export starting-up signal.
Form shutdown frequency selection circuit by R111, R112, C111, C112, its resonance frequency is identical with the off signal frequency f 1 that remote controller medium frequency modulation circuit exports.AC signal after frequency-selecting becomes direct current signal after D111, C113 rectifying and wave-filtering, after structure comparator U3 shaping, export off signal.
When the present invention uses, receiving control device 2 is installed in the main circuit of obstacle removing robot 3, relay J is made to be responsible for the break-make of main circuit power, when obstacle removing robot 3 needs live line working, first open the total power switch on obstacle removing robot 3, now the power on circuitry of receiving control device 2 can receive remote-controlled start-up signal.Then obstacle removing robot 3 is put on charged circuit.Put the main circuit power that obstacle removing robot 3 is opened in the remote control of rear remote controller 1 well, start operation.Again obstacle removing robot 3 is taken off after first remote closing main circuit power after operation.When occurring in obstacle removing robot 3 operation crashing, power-off, a power-on servicing can also be done with remote controller 1 when controlling the fault such as malfunctioning and fixing a breakdown.
Claims (1)
1. an obstacle removing robot infrared remote-control switch device, it is characterized in that comprising the remote controller controlling side and the receiving control device be contained on obstacle removing robot, described remote controller comprises frequency modulation circuit, K switch 1, K switch 2, triode Q4 and infrarede emitting diode D4, K switch 1, the input of K2 rate of connections modulation circuit, the output of triode Q4 rate of connections modulation circuit, infrarede emitting diode D4 connecting triode Q4, K switch 1, K2 is respectively as starting key and shutdown button, the different circuit in frequency modulation circuit are connected respectively when button is pressed, producing modulation has the remote control of different frequency signals to output signal, then infrarede emitting diode D4 is driven to send remote signal by triode Q4, accept control device and comprise frequency demodulation circuit, infrared receiving tube D1, bistable circuit, triode Q3 and control relay J, infrared receiving tube D1 is by integrated package U1, electric capacity C1 is connected to the signal input part of frequency demodulation circuit, the signal output part of frequency demodulation circuit is by diode D2, D3 connecting triode Q1, the bistable circuit of Q2 composition, triode Q3 one end connects bistable circuit, one end connection control relay J, the infrared remote-controlled signal received by infrared receiving tube D1 enters frequency demodulation circuit by C1 after U1 amplifies, demodulate the effective startup and shutdown signal of high level respectively, pass through D2, D3 sends into by Q1, the bistable circuit of Q2 composition, realize controlling the break-make of power supply finally by Q3 control relay J, when exporting starting-up signal, D2 conducting, Q1 base stage is in high level, Q1 conducting, Q2 base stage step-down level, Q2 ends, Q2 collector electrode uprises level, Q3 base stage is in high level, Q3 conducting, drive relay J adhesive, connect main power circuit, simultaneously, the high level of Q2 collector electrode again loopback returns Q1 base stage, open state is maintained after starting-up signal disappears, during shutdown, frequency demodulation circuit exports off signal, D3 conducting, Q2 base stage uprises level, Q2 conducting, Q2 collector electrode step-down level, Q3 base stage is in low level, Q3 ends, relay J power-off, disconnect main power circuit, simultaneously, the low level of Q2 collector electrode again loopback returns Q1 base stage, off-mode is maintained after off signal disappears.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510155450.2A CN104767510A (en) | 2015-04-03 | 2015-04-03 | Infrared remote control switch device for barrier removing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510155450.2A CN104767510A (en) | 2015-04-03 | 2015-04-03 | Infrared remote control switch device for barrier removing robot |
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| CN104767510A true CN104767510A (en) | 2015-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510155450.2A Pending CN104767510A (en) | 2015-04-03 | 2015-04-03 | Infrared remote control switch device for barrier removing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113506434A (en) * | 2021-07-12 | 2021-10-15 | 福建中电能源股份有限公司 | Communication control method for electric lifting applied to hot-line work below 1100KV |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2138368Y (en) * | 1992-09-24 | 1993-07-14 | 王常定 | Remote control switch of domestic appliances |
| CN2327119Y (en) * | 1997-11-18 | 1999-06-30 | 深圳市乐怡电子科技有限公司 | Infrared remote switch |
| CN2410820Y (en) * | 1999-11-26 | 2000-12-13 | 潘家瑞 | Infrared telecontrol switch |
| CN103680011A (en) * | 2013-11-26 | 2014-03-26 | 成都博盛信息技术有限公司 | Wireless infrared safeguard alarming device |
-
2015
- 2015-04-03 CN CN201510155450.2A patent/CN104767510A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2138368Y (en) * | 1992-09-24 | 1993-07-14 | 王常定 | Remote control switch of domestic appliances |
| CN2327119Y (en) * | 1997-11-18 | 1999-06-30 | 深圳市乐怡电子科技有限公司 | Infrared remote switch |
| CN2410820Y (en) * | 1999-11-26 | 2000-12-13 | 潘家瑞 | Infrared telecontrol switch |
| CN103680011A (en) * | 2013-11-26 | 2014-03-26 | 成都博盛信息技术有限公司 | Wireless infrared safeguard alarming device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113506434A (en) * | 2021-07-12 | 2021-10-15 | 福建中电能源股份有限公司 | Communication control method for electric lifting applied to hot-line work below 1100KV |
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Application publication date: 20150708 |
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| RJ01 | Rejection of invention patent application after publication |