CN106853642A - It is stranded to study for a second time courses one has flunked robot control system - Google Patents

It is stranded to study for a second time courses one has flunked robot control system Download PDF

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Publication number
CN106853642A
CN106853642A CN201510903888.4A CN201510903888A CN106853642A CN 106853642 A CN106853642 A CN 106853642A CN 201510903888 A CN201510903888 A CN 201510903888A CN 106853642 A CN106853642 A CN 106853642A
Authority
CN
China
Prior art keywords
robot
control
built
base station
machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510903888.4A
Other languages
Chinese (zh)
Inventor
刘爱华
王洪光
孙鹏
唐立军
杨洋
李浩涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
Electric Power Research Institute of Yunnan Power Grid Co Ltd
Original Assignee
Shenyang Institute of Automation of CAS
Electric Power Research Institute of Yunnan Power Grid Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Institute of Automation of CAS, Electric Power Research Institute of Yunnan Power Grid Co Ltd filed Critical Shenyang Institute of Automation of CAS
Priority to CN201510903888.4A priority Critical patent/CN106853642A/en
Publication of CN106853642A publication Critical patent/CN106853642A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/006Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

Abstract

Stranded robot control system is studied for a second time courses one has flunked the present invention relates to one kind, robot controller is arranged in robot, and with ground base station wireless connection, the status information and image information for gathering robot are sent to ground base station, ground base station receives the status information and image information of robot, and control instruction is sent to robot controller, control machine manually to make by robot controller.Robot control system of the present invention realizes flexible control, remote transmission etc. with built-in industrial control machine as core, and can also real-time processor device people collection image information, by the Intelligent Recognition to strand breakage of circuit, autonomous reparation of the completion to strand breakage of circuit.Robot control system of the present invention is applied to that robot is stranded to study for a second time courses one has flunked control field, and simple and flexible has use value.

Description

It is stranded to study for a second time courses one has flunked robot control system
Technical field
It is specifically stranded to study for a second time courses one has flunked robot control system the present invention relates to robot control field.
Background technology
Transmission line of electricity is the particularly important part of power system.Transmission line of electricity is chronically at field due to it Under outdoor, the environment of operation is very poor, is influenceed by various natural conditions.Transmission line of electricity is in various stress Long term under can cause material embrittlement, and lightning stroke flashover, external force destruction etc. can also cause conductive line surfaces to be damaged Wound;Especially by the sea and the power transmission line of industrial area is easier to be corroded, cause transmission line of electricity to crack, The defect such as stranded.It is the damage of overhead transmission line, stranded, gently then reduce current-carrying capacity, it is heavy then cause line-outage contingency, Influence the safe operation of circuit.Therefore, once find wire damage, it is stranded, should immediately treat.
At present, the measure that power department is used after broken strand of power transmission line is mainly manually to be studied for a second time courses one has flunked to stranded. Due to center of the stranded position in circuit in a grade, it is necessary to operation is gone in people's outlet, line, winding operation are smoothed out with the fingers Time it is long, labour intensity is big, dangerous high, accordingly, it would be desirable to develop can quickly carry out stranded reparation Equip to replace manually repairing broken strand of power transmission line, improve efficiency, mitigate personnel labor intensity, really Protect the safe operation of transmission line of electricity.
Designed it is a kind of it is stranded study for a second time courses one has flunked robot, patent name is a kind of stranded pressure of extra high voltage network Connect work machine robot mechanism, Patent No. ZL2011100528339.But there is presently no man-machine for this machine Structure is equipped with a set of complete control system.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of for the stranded crimping operation of extra high voltage network Robot mechanism, with built-in industrial control machine as core, ground base station and machine are realized by wireless digital broadcasting station The stranded of wireless telecommunications between device people studies for a second time courses one has flunked robot control system.
The technical scheme that is used to achieve the above object of the present invention is:
One kind is stranded to study for a second time courses one has flunked robot control system, and robot controller is arranged in robot, and and ground Base station radio is connected, and the status information and image information for gathering robot are sent to ground base station, ground base station The status information and image information of robot are received, and control instruction is sent to robot controller, by machine Device people controller control machine is manually made.
The robot controller includes:
Monopod video camera input connects built-in industrial control machine, receives the control signal that built-in industrial control machine sends, Output end connect digital picture transmitter, the image information that will be collected by digital picture transmitter send to Ground base station;
Wireless digital broadcasting station connects built-in industrial control machine, receives ground base station and is sent to control instruction, and by machine The status information feedback of device people is to ground base station;
Digital I/O modules connect built-in industrial control machine, control the I/O amounts of robot sensor, read I/O defeated Enter value;
Simulation AD input/output module connection built-in industrial control machines, the analog quantity of read machine people's sensor, Built-in industrial control machine connects motor drive module, and motor is controlled by motor drive module.
The ground base station includes:
Digital image receiver connects built-in industrial control machine, receives the image information sent by robot controller, And it is sent to built-in industrial control machine;
Wireless digital broadcasting station connects built-in industrial control machine, receives the robotary letter that robot controller sends Breath, feeds back to built-in industrial control machine, and receives the control instruction of built-in industrial control machine, is sent to robot control Device processed;
Man-machine interface connects built-in industrial control machine, shows the status information of robot, image information and input Control instruction.
The status information of the robot includes:Joint states information, power tool status information, sensor Information and battery level information.
Also include that battery is that ground base station and robot controller are powered.
The invention has the advantages that and advantage:
1. robot control system of the present invention is realized with built-in industrial control machine as core by wireless digital broadcasting station Wireless telecommunications between ground base station and robot, ground base station is realized by wireless digital image delivering system Image transmitting and robot between, can not only directly read the status information of robot in man-machine interface, The control instruction of distribution of machine people, realizes flexible control, remote transmission etc., and can also real-time processor The image information of device people collection, by the Intelligent Recognition to strand breakage of circuit, completes majoring in certainly to strand breakage of circuit It is multiple.
2. robot control system of the present invention is applied to that robot is stranded to study for a second time courses one has flunked control field, simple and flexible, tool There is use value.
3. the present invention patrols and examines mechanism suitable for the robot under extra high voltage network environment, has a wide range of application.
Brief description of the drawings
Fig. 1 is robot controller structure chart of the invention;
Fig. 2 is ground base station structure chart of the invention.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
It is as shown in Figure 1 robot controller structure chart of the invention.
Robot control system include built-in industrial control machine, analog I/O module, simulation AD input/output modules, Wireless digital broadcasting station, wireless digital image transmitter, battery and monopod video camera.Wherein monopod video camera is used In the image of collection transmission line of electricity, and the image information for being gathered robot by wireless digital image transmitter It is sent to ground base station.Wireless digital broadcasting station receive ground base station send control instruction, and by machine everybody Status information Real-time Feedback to base station, status information includes the status information in each joint, power tool Information of status information, the information of sensor and battery electric quantity etc..Analog I/O module is used to pass robot The control of sensor IO amounts and the reading of IO input quantities, simulation AD input/output modules are used for robot The reading and control of sensor die analog quantity.Built-in industrial control machine is by parsing the instruction and biography that ground base station sends The information of sensor, the motion of planning robot, the motion of control each joint of robot and power tool.
It is illustrated in figure 2 ground base station structure chart of the invention.Ground base station control system include industrial computer, Wireless digital image receiver, man-machine interface, stranded intelligent identifying system, wireless digital broadcasting station, battery, Wherein wireless digital broadcasting station carries out the transmission of data and receives with the stranded robot that studies for a second time courses one has flunked, and wireless digital image connects Receipts machine receives the digital picture that robot is passed back.Man-machine interface is built using VC programmings, man-machine interface is by number The status information of the platform that conducts electricity display robot feedback, and start the control instruction to robot, control instruction bag The control to each joint of robot, and the control to power tool are included, and control parameter can be carried out Set, the image information of the robot collection that wireless digital image receiver is received can be real in man-machine interface When show.

Claims (5)

1. one kind is stranded studies for a second time courses one has flunked robot control system, it is characterised in that robot controller is arranged in robot, And with ground base station wireless connection, gather robot status information and image information be sent to ground base station, Ground base station receives the status information and image information of robot, and sends control instruction to robot controller, Machine is controlled manually to make by robot controller.
2. it is according to claim 1 to study for a second time courses one has flunked robot control system, it is characterised in that the robot control Device includes:
Monopod video camera input connects built-in industrial control machine, receives the control signal that built-in industrial control machine sends, Output end connect digital picture transmitter, the image information that will be collected by digital picture transmitter send to Ground base station;
Wireless digital broadcasting station connects built-in industrial control machine, receives ground base station and is sent to control instruction, and by machine The status information feedback of device people is to ground base station;
Digital I/O modules connect built-in industrial control machine, control the I/O amounts of robot sensor, read I/O defeated Enter value;
Simulation AD input/output module connection built-in industrial control machines, the analog quantity of read machine people's sensor, Built-in industrial control machine connects motor drive module, and motor is controlled by motor drive module.
3. it is according to claim 1 to study for a second time courses one has flunked robot control system, it is characterised in that the ground base station bag Include:
Digital image receiver connects built-in industrial control machine, receives the image information sent by robot controller, And it is sent to built-in industrial control machine;
Wireless digital broadcasting station connects built-in industrial control machine, receives the robotary letter that robot controller sends Breath, feeds back to built-in industrial control machine, and receives the control instruction of built-in industrial control machine, is sent to robot control Device processed;
Man-machine interface connects built-in industrial control machine, shows the status information of robot, image information and input Control instruction.
4. robot control system is studied for a second time courses one has flunked according to Claims 2 or 3, it is characterised in that the robot Status information include:Joint states information, power tool status information, sensor information and battery electricity Amount information.
5. it is according to claim 1 to study for a second time courses one has flunked robot control system, it is characterised in that to be also ground including battery Face base station and robot controller are powered.
CN201510903888.4A 2015-12-09 2015-12-09 It is stranded to study for a second time courses one has flunked robot control system Pending CN106853642A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510903888.4A CN106853642A (en) 2015-12-09 2015-12-09 It is stranded to study for a second time courses one has flunked robot control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510903888.4A CN106853642A (en) 2015-12-09 2015-12-09 It is stranded to study for a second time courses one has flunked robot control system

Publications (1)

Publication Number Publication Date
CN106853642A true CN106853642A (en) 2017-06-16

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109656153A (en) * 2017-10-12 2019-04-19 中国科学院沈阳自动化研究所 A kind of cement shaft tower electrical verification and ground line robot control system
CN110456691A (en) * 2019-07-24 2019-11-15 南方电网科学研究院有限责任公司 A kind of suspension insulator detection robot control system
CN111293624A (en) * 2020-03-17 2020-06-16 江西海特科电气有限公司 Insulator cleaning system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101196551A (en) * 2007-05-10 2008-06-11 北京深浪电子技术有限公司 Ground wire patrol checking robot of high voltage power line
CN101247030A (en) * 2007-08-01 2008-08-20 北京深浪电子技术有限公司 Overhead network obstacle detouring inspection robot and its obstacle detouring control method
CN102655314A (en) * 2011-03-04 2012-09-05 中国科学院沈阳自动化研究所 Broken strand crimping work robot mechanism of super-high-voltage power transmission line
CN102655315A (en) * 2011-03-04 2012-09-05 中国科学院沈阳自动化研究所 Wire stroking device for repairing broken strands of extra-high-voltage (EHV) transmission lines
KR101277119B1 (en) * 2013-01-22 2013-06-20 (주) 주암전기통신 A inspecting robot for power transmission line

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101196551A (en) * 2007-05-10 2008-06-11 北京深浪电子技术有限公司 Ground wire patrol checking robot of high voltage power line
CN101247030A (en) * 2007-08-01 2008-08-20 北京深浪电子技术有限公司 Overhead network obstacle detouring inspection robot and its obstacle detouring control method
CN102655314A (en) * 2011-03-04 2012-09-05 中国科学院沈阳自动化研究所 Broken strand crimping work robot mechanism of super-high-voltage power transmission line
CN102655315A (en) * 2011-03-04 2012-09-05 中国科学院沈阳自动化研究所 Wire stroking device for repairing broken strands of extra-high-voltage (EHV) transmission lines
KR101277119B1 (en) * 2013-01-22 2013-06-20 (주) 주암전기통신 A inspecting robot for power transmission line

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109656153A (en) * 2017-10-12 2019-04-19 中国科学院沈阳自动化研究所 A kind of cement shaft tower electrical verification and ground line robot control system
CN110456691A (en) * 2019-07-24 2019-11-15 南方电网科学研究院有限责任公司 A kind of suspension insulator detection robot control system
CN111293624A (en) * 2020-03-17 2020-06-16 江西海特科电气有限公司 Insulator cleaning system

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Application publication date: 20170616