CN105549593B - Power equipment X-ray detection platform control system based on GPS and its control method - Google Patents
Power equipment X-ray detection platform control system based on GPS and its control method Download PDFInfo
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- CN105549593B CN105549593B CN201610057626.5A CN201610057626A CN105549593B CN 105549593 B CN105549593 B CN 105549593B CN 201610057626 A CN201610057626 A CN 201610057626A CN 105549593 B CN105549593 B CN 105549593B
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- 238000001514 detection method Methods 0.000 title claims abstract description 154
- 238000000034 method Methods 0.000 title claims description 32
- 238000012545 processing Methods 0.000 claims abstract description 53
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
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- 238000012806 monitoring device Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
Power equipment X-ray detection platform control system disclosed by the invention based on GPS, control for power equipment X-ray detection platform, power equipment X-ray detection platform includes power equipment X-ray detection intelligent vehicle and mechanical arm, mechanical arm is arranged on power equipment X-ray detection intelligent vehicle, wireless transmission unit, plateform system control unit and the data processing unit being located on power equipment X-ray detection platform；Plateform system control unit communicates to connect wireless transmission unit and data processing unit respectively；Include intelligent vehicle control unit in power equipment X-ray detection intelligent vehicle, intelligent vehicle control unit controls power equipment X-ray detection intelligent vehicle and mechanical arm；The end of mechanical arm is fixedly connected with the intelligent vehicle, and GPS positioning device is respectively set in the front end of power equipment X-ray detection intelligent vehicle and the top of mechanical arm, and GPS positioning device communicates to connect data processing unit；Intelligent vehicle control unit communicates to connect plateform system control unit.
Description
Technical field
The present invention relates to electric device maintenance technical fields, more specifically, are related to the power equipment X based on GPS and penetrate
Line detection platform control system and its control method.
Background technology
At present in substation equipment detection method in China, power equipment non-destructive testing is mostly used, it is main to wrap
Include ray detection, infrared and ultraviolet detection, ultrasound detection, vibroacoustics detection etc..Wherein X-ray detection is in electric device maintenance
Using relatively broad, x-ray imaging technology is applied in the detection of substation equipment, the accuracy of detection is improved.
With extensive use of the X-ray detection in electric device maintenance, people are higher and higher to its requirement, but
It is that it mainly or by manpower is carried out, during using x-ray imaging technology detection device or needs largely
Manpower carries out the setting of the carrying and circuit of equipment.The carrying of manpower and the setting of circuit expend a large amount of manpower and tight
Ghost image rings the efficiency of electric device maintenance.
It is that those skilled in the art are urgently to be resolved hurrily as it can be seen that how to improve efficiency of the X-ray detection in electric device maintenance
The problem of.
Invention content
The power equipment X-ray detection platform control system and its control that the object of the present invention is to provide a kind of based on GPS
Method improves efficiency of the X-ray detection in electric device maintenance.
In order to solve the above technical problem, the present invention provides following technical solutions：
A kind of power equipment X-ray detection platform control system based on GPS provided by the invention is used for power equipment X
The control of ray detection platform, including：Wireless transmission unit, platform system on the power equipment X-ray detection platform
Control unit of uniting and data processing unit；
Wherein, the plateform system control unit communicates to connect the wireless transmission unit and data processing unit respectively；
Include intelligent vehicle control unit in the power equipment X-ray detection intelligent vehicle, the intelligent vehicle control unit controls the electricity
Power equipment X-ray detection intelligent vehicle and mechanical arm；
Mechanical arm is set on the power equipment X-ray detection intelligent vehicle, and the end of the mechanical arm is fixedly connected
The power equipment X-ray detection intelligent vehicle, the top in the front end and mechanical arm of the power equipment X-ray detection intelligent vehicle
GPS positioning device is respectively set in end, and the GPS positioning device communicates to connect the data processing unit；Intelligent vehicle control unit
Communicate to connect the plateform system control unit.
Preferably, in the above-mentioned power equipment X-ray detection platform control system based on GPS, the power equipment X-ray
Ultrasonic range finder is respectively set in the top of the front end and mechanical arm of detecting intelligent vehicle, and the ultrasonic range finder communicates respectively
Connect the intelligent vehicle control unit.
Preferably, in the above-mentioned power equipment X-ray detection platform control system based on GPS, the intelligent vehicle control is single
Member includes Distance Judgment module, and the judgment module is for judging the power equipment X-ray detection intelligent vehicle or mechanical arm
Whether in safe distance, the barrier includes measurement equipment to be checked and other charging equipments to the distance between barrier.
Preferably, in the above-mentioned power equipment X-ray detection platform control system based on GPS, the plateform system control
Unit includes time statistical module, and the time statistical module communicates to connect the wireless transmission unit.
Power equipment X-ray detection platform control system provided by the invention based on GPS, utilizes GPS positioning technology, needle
To the Navigation Control of the power equipment X-ray detection platform in substation equipment detection process.During path navigation, lead to
The position that GPS positioning device determines power equipment X-ray detection intelligent vehicle is crossed, and location information is transferred to data processing list
Member is transferred to plateform system control unit after data processing unit is handled, and plateform system control unit is according to target device
Location information and intelligent vehicle location information do outbound path flight course planning, planning is sent to intelligent vehicle by plateform system control unit
Control unit, intelligent vehicle control unit control power equipment X-ray detection intelligent vehicle and mechanical arm until reaching target device
Position；The GPS positioning device being located in the mechanical arm course of work on mechanical arm transfers data to data processing unit
After being handled, plateform system control unit is sent to, intelligent vehicle control unit is controlled according to plateform system control unit and sent
Target device information and mechanical arm the action of position control machinery arm.Realize the automatic of power equipment X-ray detection
Target device is found, realizes moving freely for X-ray detecting equipment, saves manpower, improves X-ray detection in electric device maintenance
In efficiency.
Based on the power equipment X-ray detection platform control system provided by the invention based on GPS, the present invention also provides
Power equipment X-ray detection platform courses method based on GPS, method include mainly：
The wireless transmission unit of power equipment X-ray detection platform receives the order being detected to target device, described
Order includes the specifying information of the location information and target device of target device, described in the wireless transmission unit will receive
Order is sent to plateform system control unit, and the order is sent to data processing unit by the plateform system control unit；
The order is sent to intelligent vehicle control unit, the intelligent vehicle control unit by the plateform system control unit
The power equipment X-ray detection intelligent vehicle operation is controlled according to the order；
The GPS positioning device of the power equipment X-ray detection intelligent vehicle obtains intelligent vehicle location information, by the intelligence
Truck position information is sent to the data processing unit；
The data processing unit judge the location information of the target device and the intelligent vehicle location information whether one
It causes, if it is not, then the intelligent vehicle location information is sent to the plateform system control unit by the data processing unit, it is described
The order continued to run with is sent to the intelligent vehicle control unit, the intelligent vehicle control unit control by plateform system control unit
The intelligent vehicle is made to continue to run with；
If so, the intelligent vehicle stops movement, the intelligent vehicle control unit control machinery arm brings into operation；
GPS positioning device on the mechanical arm obtains mechanical arm location information, and the mechanical arm position is believed
Breath is sent to the data processing unit；
The data processing unit judge the mechanical arm location information and the target device specifying information whether
Unanimously, if it is not, then the mechanical arm location information is sent to the plateform system control unit by the data processing unit,
The order continued to run with is sent to the intelligent vehicle control unit by the plateform system control unit, and the intelligent vehicle control is single
Member controls the mechanical arm and continues to run with；
If so, the mechanical arm location information completes positioning, stop movement, the detecting system starts equipment inspection
It surveys.
Preferably, in the above-mentioned power equipment X-ray detection platform courses method based on GPS, the method further includes：
The power equipment X-ray detection intelligent vehicle is obtained at a distance from barrier；
Judge the distance whether in safe distance；
If it is, continuing to move ahead；
Otherwise, the power equipment X-ray detection intelligent vehicle carries out avoidance operation.
Preferably, in the above-mentioned power equipment X-ray detection platform courses method based on GPS, the method further includes：
The mechanical arm is obtained at a distance from the target device；
Judge the distance whether in safe distance；
If it is, continuing to execute action；
Otherwise, the mechanical arm is moved to the direction far from the target device.
Preferably, in the above-mentioned power equipment X-ray detection platform courses method based on GPS, the method further includes：
Setting executes time T used in the order；
It obtains and executes the time t of the order reality；
As t ＞ T, the power equipment X-ray detection platform control system based on GPS is out of service.
Power equipment X-ray detection platform courses method provided by the invention based on GPS is conducive to described based on GPS
Power equipment X-ray detection platform control system execution, improve efficiency of the X-ray detection in electric device maintenance.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, for those of ordinary skills, do not making the creative labor
Under the premise of property, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of the power equipment X-ray detection platform provided in an embodiment of the present invention based on GPS；
Fig. 2 is the structure of the power equipment X-ray detection platform control system provided in an embodiment of the present invention based on GPS
Figure；
Fig. 3 is the structure stream of the power equipment X-ray detection platform courses method provided in an embodiment of the present invention based on GPS
Cheng Tu.
Wherein：
1- power equipment X-ray detection intelligent vehicles, 2-GPS positioning devices, 3-X ray detectors, 4- ultrasonic rangings
Instrument, 5- mechanical arms, 6-GPS positioning devices, 7- ultrasonic range finders.
Specific implementation mode
Power equipment X-ray detection platform control system and control method provided in an embodiment of the present invention based on GPS,
Improve efficiency of the X-ray detection in electric device maintenance.
In order to make those skilled in the art more fully understand the technical solution in the embodiment of the present invention, and make of the invention real
The above objects, features, and advantages for applying example can be more obvious and easy to understand, below in conjunction with the accompanying drawings to the technology in the embodiment of the present invention
Scheme is described in further detail.
Power equipment X-ray detection platform control system provided in an embodiment of the present invention based on GPS is for controlling electric power
The use of equipment X-ray detection platform, the power equipment X-ray detection platform include power equipment X-ray detection intelligent vehicle 1
With mechanical arm 5.
Referring to attached drawing 1, the figure shows the basic machines of power equipment X-ray detection platform provided in an embodiment of the present invention
Structure.The mechanical arm 5 provided in the embodiment of the present invention is the support construction of foldable elongation, the top setting of mechanical arm 5
GPS positioning device 2, while being arranged on mechanical arm 5 on X-ray detecting equipment 3 and being arranged, it is preferably located on mechanical arm 5
Top.Power equipment X-ray detection intelligent vehicle 1 provided in an embodiment of the present invention, will be mechanical for delivering and supporting mechanical arm 5
Arm 5 is delivered to target location.In the front end of power equipment X-ray detection intelligent vehicle 1, GPS positioning device 6 is set.
To realize the automation of power equipment X-ray detection platform, nothing is set in the power equipment X-ray detection platform
Line transmission unit, plateform system control unit and data processing unit, wireless transmission unit is for sending and receiving plateform system
The order or data such as control unit, power equipment X-ray detection intelligent vehicle 1 include intelligent vehicle control unit, and intelligent vehicle control is single
The work and stopping of member control power equipment X-ray detection intelligent vehicle 1 and mechanical arm 5.Wherein, plateform system control unit point
Not Tong Xinlianjie wireless transmission unit and data processing unit, GPS positioning device communicate to connect data processing unit, intelligent vehicle control
Unit communication connecting platform system control unit processed.Refer to the attached drawing 2, the figure shows the electric power provided by the invention based on GPS
The basic structure of equipment X-ray detection platform control system.
Power equipment X-ray detection platform control system provided by the invention based on GPS, utilizes GPS positioning technology, needle
To the Navigation Control of the power equipment X-ray detection platform in substation equipment detection process.During path navigation, lead to
The position that GPS positioning device determines power equipment X-ray detection intelligent vehicle 1 is crossed, and location information is transferred to data processing list
Member is transferred to plateform system control unit after data processing unit is handled, and plateform system control unit is according to target device
Location information and 1 location information of power equipment X-ray detection intelligent vehicle do outbound path flight course planning, plateform system control unit
Planning is sent to intelligent vehicle control unit, intelligent vehicle control unit controls power equipment X-ray detection intelligent vehicle 1 and manipulator
Arm 5 is until reaching target device position；The GPS positioning device being located in 5 course of work of mechanical arm on mechanical arm 5 will count
According to being transferred to after data processing unit handled, plateform system control unit is sent to, intelligent vehicle control unit is according to platform
The information for the target device that system control unit control is sent and the position control machinery arm action of mechanical arm 5.Realize electricity
The Automatic-searching target device of power equipment X-ray detection realizes moving freely for X-ray detecting equipment, saves manpower, improves X
Efficiency of the ray detection in electric device maintenance.
To advanced optimize technical solution, ultrasonic range finder is set in the front end of power equipment X-ray detection intelligent vehicle 1
7, in the top ultrasonic range finder 4 of mechanical arm 5, ultrasonic range finder 7 and ultrasonic range finder 4 at work can be real
At a distance from Shi Fanying power equipment X-ray detections intelligent vehicle 1 and mechanical arm 5 and surrounding other objects, such as with charging equipment, barrier
The distance for hindering object, target device, to prevent power equipment X-ray detection intelligent vehicle 1 and mechanical arm 5 is collided with it or hypotelorism
Influence the use of X-ray detecting equipment 3.It is single that ultrasonic range finder 7 and ultrasonic range finder 4 communicate to connect intelligent vehicle control respectively
Member
Distance Judgment module is set in intelligent vehicle control unit, judgment module reception judges power equipment X-ray detection intelligence
It can be at a distance from vehicle 1 and mechanical arm 5 and surrounding other objects.When its distance is less than safe distance, intelligence is transmitted commands to
Vehicle control unit, intelligent vehicle control unit controls power equipment X-ray detection intelligent vehicle 1 or mechanical arm 5 carries out avoidance action.
Power equipment X-ray detection platform control system provided by the invention based on GPS is in order to more efficient and convenient
X-ray monitoring device 3 is allowed to automatically select detection target device, time statistical module communicates to connect wireless transmission unit, so exists
Time statistical module is arranged in plateform system control unit, and statistics power equipment X-ray detection platform starts to hold receiving order
The time continued after line command, when the time be more than certain range when, by stop power equipment X-ray detection platform from
Dynamic control, will be manually controlled by staff to execute order.
Based on the power equipment X-ray detection platform control system provided by the invention based on GPS, the present invention also provides
A kind of power equipment X-ray detection platform courses method based on GPS.Referring to attached drawing 3, the figure shows bases provided by the invention
In the power equipment X-ray detection platform courses method basic flow chart of GPS, the electricity provided in an embodiment of the present invention based on GPS
Power equipment X-ray detection platform courses method includes mainly：
S101：The wireless transmission unit of power equipment X-ray detection platform receives the order being detected to target device,
The order includes the specifying information of the location information and target device of target device, and the wireless transmission unit will receive
The order is sent to plateform system control unit, and the order is sent to data processing list by the plateform system control unit
Member.
Detection platform and work station, which are established, to be communicated to connect, and work station is assigned to detection platform begins look for target device and right
The order that target device is detected.Wireless transmission unit receives order, and transmits commands to plateform system control unit, puts down
Platform system control unit sends commands to data processing unit, is used for the comparison and processing of subsequent operation.Wherein, order is
Finger is detected certain target device, includes the specifying information of the location information of target device and target device.
S102：The order is sent to intelligent vehicle control unit, the intelligent vehicle control by the plateform system control unit
Unit processed controls the power equipment X-ray detection intelligent vehicle according to the order and runs.
Plateform system control unit is transmitting commands to intelligent vehicle control unit, and intelligent vehicle is according to the content manipulation of order
Power equipment X-ray detection intelligent vehicle is run, and intelligent vehicle is instructed to reach the position of target device.
S103：The GPS positioning device of the power equipment X-ray detection intelligent vehicle obtains intelligent vehicle location information, by institute
It states intelligent vehicle location information and is sent to the data processing unit.
The GPS positioning device of power equipment X-ray detection intelligent vehicle obtains intelligent vehicle location information in real time, and by the intelligence
Energy truck position information is sent to data processing unit, and data processing unit carries out certain processing, sees S104.
S104：The data processing unit judges that the location information of the target device and the intelligent vehicle location information are
It is no consistent.
Data processing unit judges whether intelligent vehicle location information is consistent with the location information of the target device stored in advance,
If it is inconsistent, S105 is executed,；If consistent, S106 is executed.
S105：If it is not, then the intelligent vehicle location information is sent to the plateform system control by the data processing unit
The order continued to run with is sent to the intelligent vehicle control unit, the intelligence by unit processed, the plateform system control unit
Vehicle control unit controls the power equipment X-ray detection intelligent vehicle and continues to run with.
Intelligent vehicle location information and the location information of the target device stored in advance are inconsistent, and data processing unit will receive
To intelligent vehicle location information be sent to plateform system control unit, plateform system control unit is selected according to intelligent vehicle location information
Suitable route is selected, and sends the order continued to run in intelligent vehicle control unit, intelligent vehicle control unit controls power equipment X
Ray detection intelligent vehicle continues to run with, then re-executes S103.
S106：If so, the power equipment X-ray detection intelligent vehicle stops movement, the intelligent vehicle control unit control
Mechanical arm processed brings into operation.
Intelligent vehicle location information is consistent with the location information of the target device stored in advance, and data processing unit will receive
Intelligent vehicle location information be sent to plateform system control unit, plateform system control unit is by power equipment X-ray detection intelligence
The order out of service of energy vehicle is sent to intelligent vehicle control unit, and intelligent vehicle control unit controls power equipment X-ray detection intelligence
Energy vehicle stops, and intelligent vehicle control unit control machinery arm brings into operation, and executes subsequent step.
S107：GPS positioning device on the mechanical arm obtains mechanical arm location information, by the mechanical arm position
Confidence breath is sent to the data processing unit.
GPS positioning device on mechanical arm obtains mechanical arm location information, and mechanical arm location information is sent
To data processing unit, data processing unit carries out certain processing, sees S108.
S108：The data processing unit judges the specifying information of the mechanical arm location information and the target device
It is whether consistent.
Data processing unit judges whether the specifying information of mechanical arm location information and target device is consistent, if differing
It causes, then executes S109；If consistent, S110 is executed.
S109：If it is not, then the mechanical arm location information is sent to the plateform system by the data processing unit
The order continued to run with is sent to the intelligent vehicle control unit, the intelligence by control unit, the plateform system control unit
Energy vehicle control unit controls the mechanical arm and continues to run with.
Mechanical arm location information and the specifying information of the target device stored in advance are inconsistent, and data processing unit will connect
The mechanical arm location information received is sent to plateform system control unit, and plateform system control unit is according to intelligent car position confidence
Breath selects suitable route, and sends the order continued to run in intelligent vehicle control unit, intelligent vehicle control unit control machinery
Arm continues to run with, then re-executes S107.
S110：If so, the mechanical arm location information completes positioning, stop movement, the detection platform starts to set
Standby detection.
Mechanical arm location information and the specifying information of the target device stored in advance are inconsistent, and data processing unit will connect
The mechanical arm location information received is sent to plateform system control unit, and plateform system control unit stops mechanical arm vehicle
The order of operation is sent to intelligent vehicle control unit, and intelligent vehicle control unit control machinery arm stops, and detection platform starts to set
Standby detection.
Power equipment X-ray detection platform courses method provided by the invention based on GPS is conducive to described based on GPS
Power equipment X-ray detection platform control system execution, improve efficiency of the X-ray detection in electric device maintenance.
To advanced optimize technical solution, the power equipment X-ray detection platform provided in an embodiment of the present invention based on GPS
Control method further includes：The power equipment X-ray detection intelligent vehicle is obtained at a distance from barrier；Judging the distance is
It is no in safe distance；If it is, continuing to move ahead；Otherwise, the power equipment X-ray detection intelligent vehicle carries out avoidance behaviour
Make.
The power equipment X-ray detection intelligence measured by the ultrasonic range finder on power equipment X-ray detection intelligent vehicle
The distance of measurement is sent to Distance Judgment module, Distance Judgment module is according to setting by energy vehicle at a distance from other extraneous objects
Distance threshold, judge power equipment X-ray detection intelligent vehicle at a distance from other extraneous objects whether in safe distance, such as
Fruit is that then intelligent vehicle control unit control power equipment X-ray detection intelligent vehicle continues to run with, if not, intelligent vehicle control is single
Member control power equipment X-ray detection intelligent vehicle carries out avoidance action.
To advanced optimize technical solution, the power equipment X-ray detection platform provided in an embodiment of the present invention based on GPS
Control method further includes：The mechanical arm is obtained at a distance from the target device；Judge the distance whether safety away from
From interior；If it is, continuing to execute action；Otherwise, the mechanical arm is moved to the direction far from the target device.
The mechanical arm measured by the ultrasonic range finder on mechanical arm will measure at a distance from other extraneous objects
Distance be sent to Distance Judgment module, Distance Judgment module according to the distance threshold of setting, judge mechanical arm with it is extraneous its
Whether the distance of his object is in safe distance, if it is, intelligent vehicle control unit control machinery arm continues to run with, if
No, intelligent vehicle control unit control machinery arm carries out avoidance action.
To advanced optimize technical solution, the power equipment X-ray detection platform provided in an embodiment of the present invention based on GPS
Control method further includes：Setting executes time T used in the order；It obtains and executes the time t of the order reality；Work as t
When ＞ T, the power equipment X-ray detection platform control system based on GPS is out of service.
When executing a certain item detection, it is detected estimating for used time, execution is set and orders the time used as T, when
Between statistical module counts execute the time of order reality, as t ＞ T, electric power of the platform control unit control based on GPS is set
The operation out of service for improving row and detecting manually of standby X-ray detection platform control system.
When executing manual operation, plateform system control unit sends information to operation by wireless transmission unit
Center refers to for operating personnel, support is provided for subsequent work.
The above is only the specific implementation mode of the present invention, is made skilled artisans appreciate that or realizing this hair
It is bright.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Each embodiment in this specification is described in a progressive manner, identical similar portion between each embodiment
Point just to refer each other, and the highlights of each of the examples are the differences with other embodiments.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made by modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of power equipment X-ray detection platform control system based on GPS, for power equipment X-ray detection platform
Control, which is characterized in that the power equipment X-ray detection platform includes power equipment X-ray detection intelligent vehicle and manipulator
Arm, the mechanical arm are arranged on the power equipment X-ray detection intelligent vehicle, including：Positioned at the power equipment X-ray
Wireless transmission unit, plateform system control unit in detection platform and data processing unit；
Wherein, the plateform system control unit communicates to connect the wireless transmission unit and data processing unit respectively；It is described
Include intelligent vehicle control unit in power equipment X-ray detection intelligent vehicle, the intelligent vehicle control unit controls the electric power and sets
Standby X-ray detection intelligent vehicle and mechanical arm；
The end of the mechanical arm is fixedly connected with the power equipment X-ray detection intelligent vehicle, in the power equipment X-ray
GPS positioning device is respectively set in the top of the front end and mechanical arm of detecting intelligent vehicle, and the GPS positioning device communicates to connect institute
State data processing unit；Intelligent vehicle control unit communicates to connect the plateform system control unit.
2. the power equipment X-ray detection platform control system according to claim 1 based on GPS, which is characterized in that institute
Ultrasonic range finder, the ultrasound is respectively set in the top of the front end and mechanical arm of stating power equipment X-ray detection intelligent vehicle
Wave rangefinder communicates to connect the intelligent vehicle control unit respectively.
3. the power equipment X-ray detection platform control system according to claim 2 based on GPS, which is characterized in that institute
It includes Distance Judgment module to state intelligent vehicle control unit, and the judgment module is for judging the power equipment X-ray detection intelligence
Whether in safe distance, the barrier includes measurement equipment to be checked and its for energy vehicle or the distance between mechanical arm and barrier
His charging equipment.
4. the power equipment X-ray detection platform control system according to claim 1 based on GPS, which is characterized in that institute
It includes time statistical module to state plateform system control unit, and the time statistical module communicates to connect the wireless transmission unit.
5. a kind of power equipment X-ray detection platform courses method based on GPS, which is characterized in that its method includes mainly：
The wireless transmission unit of power equipment X-ray detection platform receives the order being detected to target device, the order
The specifying information of location information and target device including target device, the order that the wireless transmission unit will receive
It is sent to plateform system control unit, the order is sent to data processing unit by the plateform system control unit；
The order is sent to intelligent vehicle control unit by the plateform system control unit, the intelligent vehicle control unit according to
The order controls the power equipment X-ray detection intelligent vehicle operation；
The GPS positioning device of the power equipment X-ray detection intelligent vehicle obtains intelligent vehicle location information, by the intelligent car position
Confidence breath is sent to the data processing unit；
The data processing unit judges whether the location information of the target device and the intelligent vehicle location information are consistent, if
No, then the intelligent vehicle location information is sent to the plateform system control unit, the platform by the data processing unit
The order continued to run with is sent to the intelligent vehicle control unit by system control unit, and the intelligent vehicle control unit controls institute
Intelligent vehicle is stated to continue to run with；
If so, the intelligent vehicle stops movement, the intelligent vehicle control unit control machinery arm brings into operation；
GPS positioning device on the mechanical arm obtains mechanical arm location information, and the mechanical arm location information is sent out
It send to the data processing unit；
The data processing unit judges whether the mechanical arm location information is consistent with the specifying information of the target device,
If it is not, then the mechanical arm location information is sent to the plateform system control unit by the data processing unit, it is described
The order continued to run with is sent to the intelligent vehicle control unit, the intelligent vehicle control unit control by plateform system control unit
The mechanical arm is made to continue to run with；
If so, the mechanical arm location information completes positioning, stop movement, power equipment X-ray detection platform starts to set
Standby detection.
6. the power equipment X-ray detection platform courses method according to claim 5 based on GPS, which is characterized in that institute
The method of stating further includes：
The power equipment X-ray detection intelligent vehicle is obtained at a distance from barrier；
Judge the distance whether in safe distance；
If it is, continuing to move ahead；
Otherwise, the power equipment X-ray detection intelligent vehicle carries out avoidance operation.
7. the power equipment X-ray detection platform courses method according to claim 5 based on GPS, which is characterized in that institute
The method of stating further includes：
The mechanical arm is obtained at a distance from the target device；
Judge the distance whether in safe distance；
If it is, continuing to execute action；
Otherwise, the mechanical arm is moved to the direction far from the target device.
8. the power equipment X-ray detection platform courses method based on GPS according to claim 5-7 any one,
It is characterized in that, the method further includes：
Setting executes time T used in the order；
It obtains and executes the time t of the order reality；
As t ＞ T, the power equipment X-ray detection platform control system based on GPS is out of service.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610057626.5A CN105549593B (en) | 2016-01-28 | 2016-01-28 | Power equipment X-ray detection platform control system based on GPS and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610057626.5A CN105549593B (en) | 2016-01-28 | 2016-01-28 | Power equipment X-ray detection platform control system based on GPS and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105549593A CN105549593A (en) | 2016-05-04 |
| CN105549593B true CN105549593B (en) | 2018-07-31 |
Family
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| CN107765681B (en) * | 2016-08-15 | 2021-03-05 | 深圳市朗驰欣创科技股份有限公司 | Inspection robot and inspection system |
| CN107443355B (en) * | 2017-08-04 | 2020-02-14 | 国网山东省电力公司电力科学研究院 | Mechanical arm for detecting partial discharge of switch cabinet and control method |
| 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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