CN105549593A - System and method of electrical device X-ray detection platform control on the basis of GPS - Google Patents
System and method of electrical device X-ray detection platform control on the basis of GPS Download PDFInfo
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- CN105549593A CN105549593A CN201610057626.5A CN201610057626A CN105549593A CN 105549593 A CN105549593 A CN 105549593A CN 201610057626 A CN201610057626 A CN 201610057626A CN 105549593 A CN105549593 A CN 105549593A
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- 238000001514 detection method Methods 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims description 42
- 238000012545 processing Methods 0.000 claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 230000004888 barrier function Effects 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 6
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- 238000004148 unit process Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 2
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- 238000009659 non-destructive testing Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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Abstract
The present invention discloses a system of an electrical device X-ray detection platform control on the basis of a GPS. The system provided by the invention is configured to control the electrical device X-ray detection platform. The electrical device X-ray detection platform comprises an electrical device X-ray detection smart car and a mechanical arm, the mechanical arm is arranged o the electrical device X-ray detection smart car, and the system comprises a wireless transmission unit, a platform system control unit and a data processing unit which are located on the electrical device X-ray detection platform; the platform system control unit is in communication connection with the wireless transmission unit and the data processing unit; the electrical device X-ray detection smart car includes a smart car control unit, and the smart car control unit is configured to control the electrical device X-ray detection smart car and the mechanical arm; the end of the mechanical arm is fixedly connected with the smart car, the front end of the electrical device X-ray detection smart car and the top of the mechanical arm are respectively provided with GPS positioning devices, and the GPS positioning device is communication connection with the data processing unit; and the smart car control unit is in communication connection with the platform system control unit.
Description
Technical field
The present invention relates to electric device maintenance technical field, more specifically, relate to the power equipment X ray detection platform control system based on GPS and control method thereof.
Background technology
In current substation equipment detection method in China, the Non-Destructive Testing of many employing power equipments, mainly comprises ray detection, infrared and ultraviolet detection, Ultrasonic Detection, vibroacoustics detection etc.Wherein X ray detects and applies in electric device maintenance comparatively extensively, is applied in the detection of substation equipment, improves the accuracy of detection by x-ray imaging technology.
Along with the widespread use that X ray detects in electric device maintenance, the request for utilization of people to it is more and more higher, but it is main or rely on manpower to carry out, and still needs a large amount of manpowers to carry out the carrying of equipment and the setting of circuit in the process utilizing x-ray imaging technology for detection equipment.The carrying of manpower and the setting of circuit, the manpower of at substantial and have a strong impact on the efficiency of electric device maintenance.
Visible, how improving X ray and detect the efficiency in electric device maintenance, is those skilled in the art's problem demanding prompt solutions.
Summary of the invention
The object of this invention is to provide a kind of power equipment X ray detection platform control system based on GPS and control method thereof, improve X ray and detect the efficiency in electric device maintenance.
In order to solve the problems of the technologies described above, the invention provides following technical scheme:
A kind of power equipment X ray detection platform control system based on GPS provided by the invention, for the control of power equipment X ray detection platform, comprising: be positioned at wireless transmission unit, plateform system control module and the data processing unit in described power equipment X ray detection platform;
Wherein, described plateform system control module communicates to connect described wireless transmission unit and data processing unit respectively; Described power equipment X ray detects in intelligent vehicle and comprises intelligent vehicle control module, and described intelligent vehicle control module controls described power equipment X ray and detects intelligent vehicle and mechanical arm;
Described power equipment X ray detects on intelligent vehicle and arranges mechanical arm, the end of described mechanical arm is fixedly connected with described power equipment X ray and detects intelligent vehicle, arrange GPS locating device respectively in the described power equipment X ray detection front end of intelligent vehicle and the top of mechanical arm, described GPS locating device communicates to connect described data processing unit; Intelligent vehicle control module communicates to connect described plateform system control module.
Preferably, above-mentioned based in the power equipment X ray detection platform control system of GPS, described power equipment X ray detects the front end of intelligent vehicle and the top of mechanical arm arranges ultrasonic range finder respectively, and described ultrasonic range finder communicates to connect described intelligent vehicle control module respectively.
Preferably, above-mentioned based in the power equipment X ray detection platform control system of GPS, described intelligent vehicle control module comprises Distance Judgment module, described judge module is for judging that described power equipment X ray detects intelligent vehicle or the distance between mechanical arm and barrier whether in safe distance, and described barrier comprises equipment to be detected and other charging equipments.
Preferably, above-mentioned based in the power equipment X ray detection platform control system of GPS, described plateform system control module comprises time statistical module, and described time statistical module communicates to connect described wireless transmission unit.
Power equipment X ray detection platform control system based on GPS provided by the invention, utilizes GPS location technology, for the Navigation Control of power equipment X ray detection platform in substation equipment testing process.In the process of path navigation, the position of intelligent vehicle is detected by GPS locating device determination power equipment X ray, and positional information is transferred to data processing unit, plateform system control module is transferred to after data processing unit process, plateform system control module does outbound path flight course planning according to the positional information of target device and intelligent vehicle positional information, planning is sent to intelligent vehicle control module by plateform system control module, and intelligent vehicle control module control power equipment X ray detection intelligent vehicle and mechanical arm are until arrive target device position; The GPS locating device be positioned in the mechanical arm course of work on mechanical arm transfers data to after data processing unit processes, send plateform system control module to, intelligent vehicle control module controls the information of target device and the position control mechanical arm action of mechanical arm of transmission according to plateform system control module.Realize the Automatic-searching target device that power equipment X ray detects, realize moving freely of X-ray detecting equipment, save manpower, improve X ray and detect the efficiency in electric device maintenance.
Based on the power equipment X ray detection platform control system based on GPS provided by the invention, present invention also offers the power equipment X ray detection platform control method based on GPS, its method mainly comprises:
The wireless transmission unit of power equipment X ray detection platform receives the order detected target device, described order comprises the positional information of target device and the specifying information of target device, the described order received is sent to plateform system control module by described wireless transmission unit, and described order is sent to data processing unit by described plateform system control module;
Described order is sent to intelligent vehicle control module by described plateform system control module, and described intelligent vehicle control module controls described power equipment X ray according to described order and detects intelligent vehicle operation;
The GPS locating device that described power equipment X ray detects intelligent vehicle obtains intelligent vehicle positional information, and described intelligent vehicle positional information is sent to described data processing unit;
Described data processing unit judges that whether the positional information of described target device is consistent with described intelligent vehicle positional information, if not, then described intelligent vehicle positional information is sent to described plateform system control module by described data processing unit, the order continuing to run is sent to described intelligent vehicle control module by described plateform system control module, and described intelligent vehicle control module controls described intelligent vehicle to be continued to run;
If so, then described intelligent vehicle stops mobile, and described intelligent vehicle control module controls mechanical arm and brings into operation;
GPS locating device on described mechanical arm obtains mechanical arm positional information, and described mechanical arm positional information is sent to described data processing unit;
Described data processing unit judges that whether described mechanical arm positional information is consistent with the specifying information of described target device, if not, then described mechanical arm positional information is sent to described plateform system control module by described data processing unit, the order continuing to run is sent to described intelligent vehicle control module by described plateform system control module, and described intelligent vehicle control module controls described mechanical arm to be continued to run;
If so, then described mechanical arm positional information completes location, and stop mobile, described detection system starts equipment Inspection.
Preferably, above-mentioned based in the power equipment X ray detection platform control method of GPS, described method also comprises:
Obtain the distance that described power equipment X ray detects intelligent vehicle and barrier;
Judge described distance whether in safe distance;
If so, then continue to move ahead;
Otherwise described power equipment X ray detects intelligent vehicle to carry out keeping away barrier operation.
Preferably, above-mentioned based in the power equipment X ray detection platform control method of GPS, described method also comprises:
Obtain the distance of described mechanical arm and described target device;
Judge described distance whether in safe distance;
If so, then continue to perform an action;
Otherwise described mechanical arm moves to the direction away from described target device.
Preferably, above-mentioned based in the power equipment X ray detection platform control method of GPS, described method also comprises:
Setting performs described order time T used;
Obtain and perform described order reality time t;
As t > T, the described power equipment X ray detection platform control system based on GPS is out of service.
Power equipment X ray detection platform control method based on GPS provided by the invention, is conducive to the described execution based on the power equipment X ray detection platform control system of GPS, improves X ray and detects the efficiency in electric device maintenance.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, for those of ordinary skills, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the power equipment X ray detection platform based on GPS that the embodiment of the present invention provides;
Fig. 2 is the structural drawing of the power equipment X ray detection platform control system based on GPS that the embodiment of the present invention provides;
Fig. 3 is the structure flow chart of the power equipment X ray detection platform control method based on GPS that the embodiment of the present invention provides.
Wherein:
1-power equipment X ray detects intelligent vehicle, 2-GPS locating device, 3-X ray detector, 4-ultrasonic range finder, 5-mechanical arm, 6-GPS locating device, 7-ultrasonic range finder.
Embodiment
The power equipment X ray detection platform control system based on GPS that the embodiment of the present invention provides and control method, improve X ray and detect the efficiency in electric device maintenance.
Technical scheme in the embodiment of the present invention is understood better in order to make those skilled in the art person, and enable the above-mentioned purpose of the embodiment of the present invention, feature and advantage become apparent more, below in conjunction with accompanying drawing, the technical scheme in the embodiment of the present invention is described in further detail.
The power equipment X ray detection platform control system based on GPS that the embodiment of the present invention provides is for controlling the use of power equipment X ray detection platform, and described power equipment X ray detection platform comprises power equipment X ray and detects intelligent vehicle 1 and mechanical arm 5.
See accompanying drawing 1, the figure shows the basic system of the power equipment X ray detection platform that the embodiment of the present invention provides.The mechanical arm 5 provided in the embodiment of the present invention is supporting construction that is collapsible, that extend, and the top of mechanical arm 5 arranges GPS locating device 2, mechanical arm 5 is arranged on X-ray detecting equipment 3 simultaneously and arranges, be preferably arranged on the top of mechanical arm 5.The power equipment X ray that the embodiment of the present invention provides detects intelligent vehicle 1 for delivery and supported mechanical arm 5, delivers mechanical arm 5 to target location.The front end detecting intelligent vehicle 1 at power equipment X ray arranges GPS locating device 6.
For realizing the robotization of power equipment X ray detection platform, in described power equipment X ray detection platform, wireless transmission unit, plateform system control module and data processing unit are set, wireless transmission unit is used for receiving and sending order or the data such as plateform system control module, power equipment X ray detects intelligent vehicle 1 and comprises intelligent vehicle control module, and intelligent vehicle control module controls work and the stopping that power equipment X ray detects intelligent vehicle 1 and mechanical arm 5.Wherein, plateform system control module communicates to connect wireless transmission unit and data processing unit respectively, GPS locating device communication connection data processing unit, intelligent vehicle control module communication connection plateform system control module.With reference to accompanying drawing 2, the figure shows the basic structure of the power equipment X ray detection platform control system based on GPS provided by the invention.
Power equipment X ray detection platform control system based on GPS provided by the invention, utilizes GPS location technology, for the Navigation Control of power equipment X ray detection platform in substation equipment testing process.In the process of path navigation, the position of intelligent vehicle 1 is detected by GPS locating device determination power equipment X ray, and positional information is transferred to data processing unit, plateform system control module is transferred to after data processing unit process, plateform system control module detects intelligent vehicle 1 positional information according to the positional information of target device and power equipment X ray and does outbound path flight course planning, planning is sent to intelligent vehicle control module by plateform system control module, intelligent vehicle control module control power equipment X ray detection intelligent vehicle 1 and mechanical arm 5 are until arrive target device position, the GPS locating device be positioned in mechanical arm 5 course of work on mechanical arm 5 transfers data to after data processing unit processes, send plateform system control module to, intelligent vehicle control module controls the information of target device and the position control mechanical arm action of mechanical arm 5 of transmission according to plateform system control module.Realize the Automatic-searching target device that power equipment X ray detects, realize moving freely of X-ray detecting equipment, save manpower, improve X ray and detect the efficiency in electric device maintenance.
For further optimisation technique scheme, the front end detecting intelligent vehicle 1 at power equipment X ray arranges ultrasonic range finder 7, at the top ultrasonic range finder 4 of mechanical arm 5, ultrasonic range finder 7 and ultrasonic range finder 4 are operationally waited and can be reflected that power equipment X ray detects the distance of intelligent vehicle 1 and mechanical arm 5 and other objects of surrounding in real time, as the distance with charging equipment, barrier, target device, in case power equipment X ray detects intelligent vehicle 1 and mechanical arm 5 affects the use of X-ray detecting equipment 3 with its collision or hypotelorism.Ultrasonic range finder 7 and ultrasonic range finder 4 communicate to connect intelligent vehicle control module respectively
Arrange Distance Judgment module at intelligent vehicle control module, judge module receives and judges that power equipment X ray detects the distance of intelligent vehicle 1 and mechanical arm 5 and other objects of surrounding.When its distance is less than safe distance time, by command transfer to intelligent vehicle control module, intelligent vehicle control module controls power equipment X ray detection intelligent vehicle 1 or mechanical arm 5 carries out keeping away barrier action.
Power equipment X ray detection platform control system based on GPS provided by the invention is in order to the more efficient and convenient X ray monitoring equipment 3 that allows is selected to detect target device automatically, time statistical module communication connection wireless transmission unit, so at plateform system control module setup times statistical module, statistics power equipment X ray detection platform is receiving the time continued after order starts fill order, when the time exceedes certain scope time, by stopping the automatic control of power equipment X ray detection platform, Non-follow control will be carried out by staff and carrying out fill order.
Based on the power equipment X ray detection platform control system based on GPS provided by the invention, present invention also offers a kind of power equipment X ray detection platform control method based on GPS.See accompanying drawing 3, the figure shows the power equipment X ray detection platform control method basic flow sheet based on GPS provided by the invention, the power equipment X ray detection platform control method based on GPS that the embodiment of the present invention provides, it mainly comprises:
S101: the wireless transmission unit of power equipment X ray detection platform receives the order detected target device, described order comprises the positional information of target device and the specifying information of target device, the described order received is sent to plateform system control module by described wireless transmission unit, and described order is sent to data processing unit by described plateform system control module.
Detection platform and workstation establish a communications link, and workstation is assigned to detection platform and started to find target device and the order detected target device.Wireless transmission unit receives order, and by command transfer to plateform system control module, order is sent to data processing unit by plateform system control module, for comparison and the process of subsequent operation.Wherein, order refers to and detects certain target device, comprises the positional information of target device and the specifying information of target device.
S102: described order is sent to intelligent vehicle control module by described plateform system control module, described intelligent vehicle control module controls described power equipment X ray according to described order and detects intelligent vehicle operation.
Plateform system control module by command transfer to intelligent vehicle control module, intelligent vehicle detects intelligent vehicle according to the content manipulation power equipment X ray of order and runs, and instructs intelligent vehicle to arrive the position of target device.
S103: the GPS locating device that described power equipment X ray detects intelligent vehicle obtains intelligent vehicle positional information, and described intelligent vehicle positional information is sent to described data processing unit.
Power equipment X ray detects the GPS locating device Real-time Obtaining intelligent vehicle positional information of intelligent vehicle, and described intelligent vehicle positional information is sent to data processing unit, and data processing unit carries out certain process, sees S104.
S104: described data processing unit judges that whether the positional information of described target device is consistent with described intelligent vehicle positional information.
Data processing unit judges that whether intelligent vehicle positional information is consistent with the positional information of the target device stored in advance, if inconsistent, then performs S105; If consistent, then perform S106.
S105: if not, then described intelligent vehicle positional information is sent to described plateform system control module by described data processing unit, the order continuing to run is sent to described intelligent vehicle control module by described plateform system control module, and described intelligent vehicle control module controls described power equipment X ray and detects intelligent vehicle continuation operation.
Intelligent vehicle positional information is inconsistent with the positional information of the target device stored in advance, the intelligent vehicle positional information received is sent to plateform system control module by data processing unit, plateform system control module selects suitable route according to intelligent vehicle positional information, and the order that transmission continues to run is in intelligent vehicle control module, intelligent vehicle control module controls power equipment X ray and detects intelligent vehicle continuation operation, then re-executes S103.
S106: if so, then described power equipment X ray detection intelligent vehicle stops mobile, and described intelligent vehicle control module controls mechanical arm and brings into operation.
Intelligent vehicle positional information is consistent with the positional information of the target device stored in advance, the intelligent vehicle positional information received is sent to plateform system control module by data processing unit, the order that power equipment X ray is detected intelligent vehicle out of service by plateform system control module is sent to intelligent vehicle control module, intelligent vehicle control module controls power equipment X ray and detects intelligent vehicle stopping, and intelligent vehicle control module control mechanical arm brings into operation, and performs subsequent step.
S107: the GPS locating device on described mechanical arm obtains mechanical arm positional information, and described mechanical arm positional information is sent to described data processing unit.
GPS locating device on mechanical arm obtains mechanical arm positional information, and mechanical arm positional information is sent to data processing unit, and data processing unit carries out certain process, sees S108.
S108: described data processing unit judges that whether described mechanical arm positional information is consistent with the specifying information of described target device.
Data processing unit judges that whether mechanical arm positional information is consistent with the specifying information of target device, if inconsistent, then performs S109; If consistent, then perform S110.
S109: if not, then described mechanical arm positional information is sent to described plateform system control module by described data processing unit, the order continuing to run is sent to described intelligent vehicle control module by described plateform system control module, and described intelligent vehicle control module controls described mechanical arm to be continued to run.
Mechanical arm positional information is inconsistent with the specifying information of the target device stored in advance, the mechanical arm positional information received is sent to plateform system control module by data processing unit, plateform system control module selects suitable route according to intelligent vehicle positional information, and the order that transmission continues to run is in intelligent vehicle control module, intelligent vehicle control module controls mechanical arm to be continued to run, then re-executes S107.
S110: if so, then described mechanical arm positional information completes location, stop mobile, described detection platform starts equipment Inspection.
Mechanical arm positional information is inconsistent with the specifying information of the target device stored in advance, the mechanical arm positional information received is sent to plateform system control module by data processing unit, order out of service for mechanical arm car is sent to intelligent vehicle control module by plateform system control module, intelligent vehicle control module controls mechanical arm to be stopped, and detection platform starts equipment Inspection.
Power equipment X ray detection platform control method based on GPS provided by the invention, is conducive to the described execution based on the power equipment X ray detection platform control system of GPS, improves X ray and detects the efficiency in electric device maintenance.
For further optimisation technique scheme, the power equipment X ray detection platform control method based on GPS that the embodiment of the present invention provides, also comprises: obtain the distance that described power equipment X ray detects intelligent vehicle and barrier; Judge described distance whether in safe distance; If so, then continue to move ahead; Otherwise described power equipment X ray detects intelligent vehicle to carry out keeping away barrier operation.
The power equipment X ray that the ultrasonic range finder detected on intelligent vehicle by power equipment X ray is measured detects the distance of intelligent vehicle and other objects extraneous, the distance of measurement is sent to Distance Judgment module, Distance Judgment module is according to the distance threshold arranged, judge that power equipment X ray detects the distance of intelligent vehicle and other objects extraneous whether in safe distance, if, then intelligent vehicle control module controls power equipment X ray and detects intelligent vehicle continuation operation, if not, intelligent vehicle control module control power equipment X ray detection intelligent vehicle carries out keeping away barrier action.
For further optimisation technique scheme, the power equipment X ray detection platform control method based on GPS that the embodiment of the present invention provides, also comprises: the distance obtaining described mechanical arm and described target device; Judge described distance whether in safe distance; If so, then continue to perform an action; Otherwise described mechanical arm moves to the direction away from described target device.
The distance of the mechanical arm measured by the ultrasonic range finder on mechanical arm and other objects extraneous, the distance of measurement is sent to Distance Judgment module, Distance Judgment module is according to the distance threshold arranged, judge that the distance of mechanical arm and other objects extraneous is whether in safe distance, if, then intelligent vehicle control module controls mechanical arm continuation operation, and if not, intelligent vehicle control module controls mechanical arm to carry out keeping away barrier action.
For further optimisation technique scheme, the power equipment X ray detection platform control method based on GPS that the embodiment of the present invention provides, also comprises: setting performs described order time T used; Obtain and perform described order reality time t; As t > T, the described power equipment X ray detection platform control system based on GPS is out of service.
When a certain item of execution detects, carry out detecting estimating of used time, the setting fill order time used is T, the time statistical module counts fill order actual time, as t > T, platform control unit controls the power equipment X ray detection platform control system operation improving row and manually detect out of service based on GPS.
When performing manually operated, plateform system control module sends information to operation center by wireless transmission unit, for operating personnel's reference, for follow-up work provides support.
The above is only the specific embodiment of the present invention, those skilled in the art is understood or realizes the present invention.To be apparent to one skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Each embodiment in this instructions all adopts the mode of going forward one by one to describe, between each embodiment identical similar part mutually see, what each embodiment stressed is the difference with other embodiment.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any amendment done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. the power equipment X ray detection platform control system based on GPS, for the control of power equipment X ray detection platform, it is characterized in that, described power equipment X ray detection platform comprises power equipment X ray and detects intelligent vehicle and mechanical arm, described mechanical arm is arranged on described power equipment X ray and detects on intelligent vehicle, comprising: be positioned at wireless transmission unit, plateform system control module and the data processing unit in described power equipment X ray detection platform;
Wherein, described plateform system control module communicates to connect described wireless transmission unit and data processing unit respectively; Described power equipment X ray detects in intelligent vehicle and comprises intelligent vehicle control module, and described intelligent vehicle control module controls described power equipment X ray and detects intelligent vehicle and mechanical arm;
The end of described mechanical arm is fixedly connected with described power equipment X ray and detects intelligent vehicle, arrange GPS locating device respectively in the described power equipment X ray detection front end of intelligent vehicle and the top of mechanical arm, described GPS locating device communicates to connect described data processing unit; Intelligent vehicle control module communicates to connect described plateform system control module.
2. the power equipment X ray detection platform control system based on GPS according to claim 1, it is characterized in that, described power equipment X ray detects the front end of intelligent vehicle and the top of mechanical arm arranges ultrasonic range finder respectively, and described ultrasonic range finder communicates to connect described intelligent vehicle control module respectively.
3. the power equipment X ray detection platform control system based on GPS according to claim 2, it is characterized in that, described intelligent vehicle control module comprises Distance Judgment module, described judge module is for judging that described power equipment X ray detects intelligent vehicle or the distance between mechanical arm and barrier whether in safe distance, and described barrier comprises equipment to be detected and other charging equipments.
4. the power equipment X ray detection platform control system based on GPS according to claim 1, it is characterized in that, described plateform system control module comprises time statistical module, and described time statistical module communicates to connect described wireless transmission unit.
5., based on a power equipment X ray detection platform control method of GPS, it is characterized in that, its method mainly comprises:
The wireless transmission unit of power equipment X ray detection platform receives the order detected target device, described order comprises the positional information of target device and the specifying information of target device, the described order received is sent to plateform system control module by described wireless transmission unit, and described order is sent to data processing unit by described plateform system control module;
Described order is sent to intelligent vehicle control module by described plateform system control module, and described intelligent vehicle control module controls described power equipment X ray according to described order and detects intelligent vehicle operation;
The GPS locating device that described power equipment X ray detects intelligent vehicle obtains intelligent vehicle positional information, and described intelligent vehicle positional information is sent to described data processing unit;
Described data processing unit judges that whether the positional information of described target device is consistent with described intelligent vehicle positional information, if not, then described intelligent vehicle positional information is sent to described plateform system control module by described data processing unit, the order continuing to run is sent to described intelligent vehicle control module by described plateform system control module, and described intelligent vehicle control module controls described intelligent vehicle to be continued to run;
If so, then described intelligent vehicle stops mobile, and described intelligent vehicle control module controls mechanical arm and brings into operation;
GPS locating device on described mechanical arm obtains mechanical arm positional information, and described mechanical arm positional information is sent to described data processing unit;
Described data processing unit judges that whether described mechanical arm positional information is consistent with the specifying information of described target device, if not, then described mechanical arm positional information is sent to described plateform system control module by described data processing unit, the order continuing to run is sent to described intelligent vehicle control module by described plateform system control module, and described intelligent vehicle control module controls described mechanical arm to be continued to run;
If so, then described mechanical arm positional information completes location, and stop mobile, described detection system starts equipment Inspection.
6. the power equipment X ray detection platform control method based on GPS according to claim 5, it is characterized in that, described method also comprises:
Obtain the distance that described power equipment X ray detects intelligent vehicle and barrier;
Judge described distance whether in safe distance;
If so, then continue to move ahead;
Otherwise described power equipment X ray detects intelligent vehicle to carry out keeping away barrier operation.
7. the power equipment X ray detection platform control method based on GPS according to claim 5, it is characterized in that, described method also comprises:
Obtain the distance of described mechanical arm and described target device;
Judge described distance whether in safe distance;
If so, then continue to perform an action;
Otherwise described mechanical arm moves to the direction away from described target device.
8. the power equipment X ray detection platform control method based on GPS according to claim 5-7 any one, it is characterized in that, described method also comprises:
Setting performs described order time T used;
Obtain and perform described order reality time t;
As t > T, the described power equipment X ray detection platform control system based on GPS is out of service.
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| CN107765681A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | A kind of crusing robot and cruising inspection system |
| CN110208651A (en) * | 2019-06-13 | 2019-09-06 | 云南电网有限责任公司电力科学研究院 | A kind of GIS intelligent checking system |
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