CN108344454A - A kind of intelligent substation patrol positioning system based on UWB - Google Patents
A kind of intelligent substation patrol positioning system based on UWB Download PDFInfo
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- CN108344454A CN108344454A CN201810362975.7A CN201810362975A CN108344454A CN 108344454 A CN108344454 A CN 108344454A CN 201810362975 A CN201810362975 A CN 201810362975A CN 108344454 A CN108344454 A CN 108344454A
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- 230000007246 mechanism Effects 0.000 claims abstract description 222
- 238000004891 communication Methods 0.000 claims abstract description 80
- 238000007689 inspection Methods 0.000 claims abstract description 80
- 238000001514 detection method Methods 0.000 claims abstract description 31
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 230000006835 compression Effects 0.000 claims description 42
- 238000007906 compression Methods 0.000 claims description 42
- 238000009434 installation Methods 0.000 claims description 37
- 238000003825 pressing Methods 0.000 claims description 8
- 239000000725 suspension Substances 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 8
- 230000005611 electricity Effects 0.000 description 7
- 230000007774 longterm Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The intelligent substation patrol positioning system based on UWB that the invention discloses a kind of, including inspection rail mechanism, two slipping mechanisms, sliding driving mechanism, power supply mechanism, detection platform mechanism, charging mechanism, remote monitoring mechanism and each UWB labels.The inspection positioning system is wirelessly communicated using UWB communication units and at least three UWB labels in region of patrolling and examining, to calculate communication distance, the dead reckoning of UWB labels is recycled to go out the real time position of UWB communication units, to realize the determination of inspection position, and it can also realize be accurately positioned indoors, it is low to environmental requirement, it is adaptable when use.
Description
Technical field
The present invention relates to a kind of inspection positioning system, especially a kind of intelligent substation patrol positioning system based on UWB.
Background technology
In substation operation maintenance process, simultaneously processing equipment event need to be found in time to equipment progress periodical inspection, inspection
Barrier or hidden danger, process accident abnormal conditions, to ensure that equipment safety is normally run.Due to electric power field work complexity and
Danger, electric power field work management are always the extremely important links of electricity safety production, often will appear maloperation and safety
Hidden danger.
Although power system security operating instruction is paid much attention to always, human accident still happens occasionally.Pass through length
The management measure and technical measures of phase experience accumulation and summary, for reducing the generation of serious accident and ensureing power grid, equipment, people
The safety of body has played important function.Management measure includes working specification, two ticket systems, system of personal responsibility of pest etc..Technical measures
Including anti-error technology, video technique, intelligent inspection system, complex automatic system etc..
Using extensive information acquisition capacity, fusion and the processing capacity of sensor network, to influence substation operation because
Element realizes all-around intelligent monitoring, is identified, positions, tracks, monitors and trigger corresponding event to equipment in real time automatically, realizes
Real-time management and control to equipment.By intelligent diagnostics and aid decision, novel maintenance personnel are sent to, being provided for it can
Letter, efficiently available Informational support realize that intelligent substation patrol, job safety management and dispatch control are interactive, will substantially
It is horizontal that degree promotes substation field operation management.
Currently, there are many relevant location technologies, for example infrared ray, radio frequency identification, Wi Fi, Zigbee, vision are fixed
The technologies such as position, all achieve good effect.However although above-mentioned indoor positioning technologies can obtain under the conditions of certain environment
Preferable locating effect, but these technologies have respective defect or are that positioning accuracy is low or wanted to localizing environment
It asks harsh, cannot be satisfied people's high, good environmental adaptability requirement to location modeling precision.
Ultra wide band (Ultra-Wide Band, UWB) technology is the wireless technology based on burst pulse, has high transmission rates, low
The advantages that power consumption, penetration capacity is strong；The country such as the U.S., China, Japan, Canada is all carrying out correlative study at present, before
Scape is boundless.Therefore a kind of intelligent substation patrol positioning system based on UWB can be provided, can realizes high-precision and ring
The adaptable inspection demand in border.
Invention content
Goal of the invention：A kind of intelligent substation patrol positioning system based on UWB is provided, can realize high-precision and environment
Adaptable inspection demand.
Technical solution：Intelligent substation patrol positioning system of the present invention based on UWB, including inspection track machine
Structure, two slipping mechanisms, sliding driving mechanism, power supply mechanism, detection platform mechanism, charging mechanism, remote monitoring mechanism and
Each UWB labels；
Inspection rail mechanism is arranged along inspection route, and inspection rail mechanism is closed loop tracks structure；
Two slipping mechanisms are installed on inspection rail mechanism, and detection platform mechanism is mounted on two slipping mechanisms simultaneously
Top, power supply mechanism suspension type be mounted on two slipping mechanisms lower section；
Charging mechanism is arranged at intervals in the closed loop tracks structure of inspection rail mechanism composition, and is moved just in power supply mechanism
Charge control is carried out behind position；
Detection platform mechanism includes platform floor, control box, temperature sensor and humidity sensor；Control box fixes peace
On platform floor；Temperature sensor and humidity sensor are mounted on the top of control box；Micro- place is equipped in control box
Manage device and UWB communication units；UWB antennas are additionally provided at the top of control box；Microprocessor and humidity sensor, temperature sensor
And UWB communication units electrical connection；UWB antennas are electrically connected with the radio-frequency head of UWB communication units；UWB communication units and each UWB
Label wirelessly communicates；
It slides on a driving mechanism slipping mechanism installed therein, for according to microprocessor in detection platform mechanism
Control command driving slipping mechanism is moved along the closed loop tracks structure that inspection rail mechanism is constituted；
Remote monitoring mechanism respectively with detection platform mechanism and charging mechanism remote radio communication；
Power supply mechanism is respectively detection platform mechanism and sliding driving mechanism power supply.
Further, inspection rail mechanism includes L-shaped strut, inspection track and support baseboard；Inspection track is along inspection
Route is arranged, and inspection track joins end to end and constitutes closed loop tracks structure；The vertical bar lower end of L-shaped strut is fixedly mounted on support
On bottom plate, the horizontal boom end of L-shaped strut is fixedly mounted on the side of inspection track, and positioned at the ring of closed loop tracks structure
Outside；L-shaped strut interval is arranged, and keeps inspection orbit altitude everywhere consistent.
Further, slipping mechanism includes rectangular sliding sleeve, upper support shaft and lower suspention shaft；On in rectangular sliding sleeve
Under be arranged in parallel with two wheel shafts, there are one back-up roller wheels for rotary installation on upper and lower two wheel shafts；In inspection track
Track groove is equipped in upper and lower side；Upper and lower two back-up roller wheels are embedded on upper and lower two track grooves respectively；In rectangular sliding sleeve
Right side be equipped with for L-shaped strut horizon bar by bar shaped notch；Upper support shaft is vertically fixedly mounted on rectangular sliding sleeve
On upper side, lower suspention shaft is vertically fixedly mounted on the downside of rectangular sliding sleeve, and upper support shaft and lower suspention shaft
On same axis；Two upper support shafts at the top of two slipping mechanisms are rotatably mounted on the downside of platform floor
On；Power supply mechanism is mounted under two on the lower end of suspention shaft.
Further, power supply mechanism includes fixed plate and accumulator；Fixed plate is epipleural, vertical side plate and lower side panel
The C-shaped plate of composition, accumulator insertion are mounted in C-shaped plate；Suspend the equal rotary type of shaft under two of two slipping mechanism bottoms in midair
On the upper side of epipleural；Accumulator is respectively temperature sensor, humidity sensor, microprocessor and UWB communications
Unit is powered.
Further, sliding driving mechanism include the protecting crust being fixed on rectangular sliding sleeve left side and be located at protecting crust
Interior gear driven mechanism；Gear driven mechanism include driving motor, retarder, gear shaft, driving gear, two tension springs and
Two rectangular mounting bases；Being horizontally disposed on the left side of rectangular sliding sleeve has two pieces of horizontal supporting plates；In two pieces of horizontal supporting plates
Upper corresponding position is respectively provided with there are one bar shaped limit hole, and the length direction of bar shaped limit hole and the left side of rectangular sliding sleeve are hung down
Directly；Bar limit slot is equipped on the side of rectangular mounting base；Two rectangular mounting bases are slidably mounted at two up and down respectively
On bar shaped limit hole, and bar limit slot is buckled on the edge of bar shaped limit hole；The both ends of gear shaft are rotatably mounted on two
In a rectangular mounting base；Driving gear is fixedly mounted on gear shaft；On the left side of rectangular sliding sleeve and positioned at driving gear
Place is equipped with bar shaped gear hole；Drive rack is equipped on the left side of inspection track；Drive gear pass through bar shaped gear hole after with
Drive rack is meshed；Motor mounting plate is equipped in the rectangular mounting base of downside；Driving motor and retarder are installed in electricity
On machine mounting plate；The output shaft of driving motor drives retarder rotary work, the output shaft gear shaft rotation of retarder；
Motor-drive circuit is equipped in control box；Microprocessor controls driving motor start and stop work by motor-drive circuit；In upside
Rectangular mounting base on and retarder on the downside of be all provided with there are one convex block；One end of two tension springs is separately fixed at two convex blocks
On, the other end is separately fixed on the left side of rectangular sliding sleeve；Accumulator is that motor-drive circuit and driving motor are powered；It drives
Dynamic motor is strap brake stepper motor.
Further, charging mechanism include rectangular mechanism shell and the locking mechanism being set in rectangular mechanism shell,
Wiring board and two conductive structures；Rectangular mechanism shell is fixedly mounted in the vertical bar of L-shaped strut；In the vertical of fixed plate
Side plate outside vertical is provided with two electrode columns up and down；Two electrode columns are electrically connected with the positive and negative electrode of accumulator respectively；Upper
Motor shutdown switch is equipped between lower two electrode columns；It sets there are two bar shaped sliding slot the left side of rectangular mechanism shell is parallel；
It is equipped with guide chute in the left side of rectangular mechanism shell and between being located at two bar shaped sliding slots；Outside the vertical side plate of fixed plate
Side is additionally provided with a RFID card reader；It is additionally provided with into inserting RFID tags in the side of rectangular mechanism shell and leaves RFID tag；
Retaining mechanism includes electric telescopic rod, two fixed links and a limit base；Two fixed links are parallel be fixedly mounted on it is rectangular
In mechanism shell；Limit base is fixedly mounted on the end of two fixed links, and flexible limit hole is equipped on limit base；It is electronic
Telescopic rod is located between two fixed links, and the retractable ends of electric telescopic rod stretch into guide chute after flexible limit hole
It is interior；It is equipped with charge controller, charging G communication modules, electronic switch, charging circuit and voltage collection circuit in the circuit board；
Charge controller is electrically connected with charging G communication modules, electric telescopic rod, electronic switch and voltage collection circuit respectively；Charging
Controller controls the power supply break-make of charging circuit by electronic switch；Conductive structure include two Jiong shape holders, two compression springs with
An and conductive bar；The conductive bar window being connected to inside rectangular mechanism shell is equipped on the trough rim of two bar shaped sliding slots；
Two Jiong shape holders are fixedly mounted on inside rectangular mechanism shell, and one end of two compression springs is separately mounted to two Jiong shape holders
On transverse bar, the other end of two compression springs is fixedly mounted on conductive bar；Two conductive structures are slided respectively close to two bar shapeds
It is installed at slot, and the both ends of two conductive bars tilt, middle part is protruding in bar shaped sliding slot by conductive bar window and is slided with bar shaped
The trough rim of slot is parallel；The input terminal of voltage collection circuit is electrically connected with two conductive bars respectively；The output end of charging circuit point
It is not electrically connected with two conductive bars；RFID card reader and motor shutdown switch are electrically connected with microprocessor；Power supply mechanism passes through
When charging mechanism, two electrode columns are respectively protruding into two bar shaped sliding slots, and are moved along bar shaped sliding slot, and motor shutdown switch edge is led
Moved to sliding slot, two conductive bars respectively elasticity pressing on two electrode columns, the retractable ends of electric telescopic rod stretch out after with
Motor turns off switch contact, and RFID card reader successively reads into inserting RFID tags and leaves RFID tag；Charge G communication modules with
Remote monitoring mechanism wirelessly communicates；Accumulator is powered for RFID card reader.
Further, motor shutdown switch includes switch installation seat, rear stay plate, shelves item, supports compression spring, by compression leg, rebound
Compression spring, fixed contact and spring leaf；Switch installation seat is fixedly mounted on the vertical side plate lateral surface of fixed plate, and is being switched
Installation cavity is equipped in mounting base；Rear stay plate is fixedly mounted on switch installation seat, and the hinged end margin of shelves item is cut with scissors by articulated shaft
It connects on switch installation seat；Shelves item is opposite with rear stay plate, and support compression spring resilient support is mounted between shelves item and rear stay plate；
It is equipped with guide type shoe in installation cavity, and is equipped on guide type shoe and is oriented to slide opening；One end of spring leaf is fixedly mounted on installation
On the inner wall of chamber, the other end is equipped with moving contact；Fixed contact is fixedly mounted on the inner wall of installation cavity, and opposite with moving contact；
Compression spring resilient support is sprung back between the inner wall and spring leaf of installation cavity, resilient support is so that moving contact is touched far from fixed
Head；Fixed contact is grounded, and moving contact is electrically connected with microprocessor；It is slidably mounted at and is oriented on slide opening by compression leg, and press compression leg
One end through installation cavity cavity wall press on the end face of shelves hinged end, the other end press on spring leaf, for pushing
Moving contact contacts fixed contact；Being equipped on by compression leg prevents from being detached from the limit flange collar for being oriented to slide opening by compression leg；Power supply mechanism passes through
When overcharge mechanism, shelves item stretches into guide chute simultaneously with rear stay plate, and shelves item is for the retractable ends with electric telescopic rod
Contact.
Further, remote monitoring mechanism includes server, display screen, memory and base station G communication modules；Server
It is electrically connected respectively with display screen, memory and base station G communication modules；The G communication modules that charge and base station G communication module channel radios
Letter；Detection platform mechanism further includes a terminal G communication module being connected with microprocessor；Accumulator is terminal G communication modules
Power supply；Terminal G communication modules are wirelessly communicated with base station G communication modules.
Further, arc-shaped recess there are one being all provided on two conductive bars；After the retractable ends of electric telescopic rod stretch out
When turning off switch contact with motor, two electrode columns slide into two arc-shaped recess respectively.
Further, detection platform mechanism further includes rotary head and camera；Rotary head is mounted on the top of control box
Portion；Camera is mounted on rotary head；Rotary head and camera are electrically connected with microprocessor.
Compared with prior art, the present invention advantage is：Utilize at least three in UWB communication units and region of patrolling and examining
A UWB labels wireless communication recycles the dead reckoning of UWB labels to go out the reality of UWB communication units to calculate communication distance
When position, to realize the determination of inspection position, and can also realize be accurately positioned indoors, it is low to environmental requirement, use
When it is adaptable；It is arranged as closed loop tracks structure along inspection route using inspection rail mechanism, sliding can be facilitated to drive
Mechanism drives the movement of slipping mechanism cycle period, meets the long-term period inspection of detection platform mechanism, realizes unmanned intervention formula inspection
Task avoids the occurrence of personnel safety problem, and safe and reliable；It is filled after power supply mechanism moves in place using charging mechanism
Electric control, it is ensured that power supply mechanism maintains enough inspection electricity always, further ensures that the normal operation of unmanned intervention formula inspection,
Stop off is prevented, realizes long-term ceaseless intelligent period inspection；It is mounted on two slipping mechanisms using power supply mechanism suspension type
Lower section realize the effect of a stables plumb bob, it is ensured that stabilization of the detection platform mechanism in inspection moving process that top is installed
Property.
Description of the drawings
Fig. 1 is the mechanical part structural schematic diagram of the present invention；
Fig. 2 is another viewing angle constructions schematic diagram of mechanical part structure of the present invention；
Fig. 3 is the mechanical part-structure schematic diagram of motor shutdown switch of the present invention；
Fig. 4 is the circuit part connection relationship diagram of the present invention.
Specific implementation mode
Technical solution of the present invention is described in detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
The embodiment.
Embodiment：
As shown in Figs 1-4, the intelligent substation patrol positioning system disclosed by the invention based on UWB includes：Inspection track
Mechanism, two slipping mechanisms, sliding driving mechanism, power supply mechanism, detection platform mechanism, charging mechanism, remote monitoring mechanism with
And each UWB labels；
Inspection rail mechanism is arranged along inspection route, and inspection rail mechanism is closed loop tracks structure；
UWB labels are arranged along closed loop tracks structure distribution, for being positioned with UWB communication unit communications；
Two slipping mechanisms are installed on inspection rail mechanism, and detection platform mechanism is mounted on two slipping mechanisms simultaneously
Top, power supply mechanism suspension type be mounted on two slipping mechanisms lower section；
Charging mechanism is arranged at intervals in the closed loop tracks structure of inspection rail mechanism composition, and is moved just in power supply mechanism
Charge control is carried out behind position；
Detection platform mechanism includes platform floor 19, control box 20, temperature sensor 21 and humidity sensor 22；Control
Box 20 is fixedly mounted on platform floor 19；Temperature sensor 21 and humidity sensor 22 are mounted on the top of control box 20；
Microprocessor, alarm and UWB communication units are equipped in control box 20；It is additionally provided with UWB antennas 23 at the top of control box 20；
Microprocessor is electrically connected with humidity sensor 22, temperature sensor 21, alarm and UWB communication units；UWB antennas 23 with
The radio-frequency head of UWB communication units is electrically connected；UWB communication units are wirelessly communicated with each UWB labels；
It slides on a driving mechanism slipping mechanism installed therein, for according to microprocessor in detection platform mechanism
Control command driving slipping mechanism is moved along the closed loop tracks structure that inspection rail mechanism is constituted；
Remote monitoring mechanism respectively with detection platform mechanism and charging mechanism remote radio communication；
Power supply mechanism is respectively detection platform mechanism and sliding driving mechanism power supply.
Wirelessly communicated using at least three UWB labels in UWB communication units and region of patrolling and examining, to calculate communication away from
From, recycle the dead reckoning of UWB labels to go out the real time position of UWB communication units, to realize the determination of inspection position, and
It can also realize and be accurately positioned indoors, it is low to environmental requirement, it is adaptable when use；It is patrolled using inspection rail mechanism edge
Inspection route is arranged as closed loop tracks structure, can facilitate sliding driving mechanism driving slipping mechanism cycle period movement, meet inspection
The long-term period inspection of platform mechanism is surveyed, realizes unmanned intervention formula patrol task, avoids the occurrence of personnel safety problem, and safety can
It leans on；Rear progress charge control in place is moved in power supply mechanism, it is ensured that power supply mechanism remains enough and patrols always using charging mechanism
Electricity is examined, the normal operation of unmanned intervention formula inspection is further ensured that, prevents stop off, realize the long-term ceaseless intelligent period
Inspection；Realize the effect of a stable plumb bob in the lower section that two slipping mechanisms are mounted on using power supply mechanism suspension type, it is ensured that on
Stability of the detection platform mechanism just installed in inspection moving process.
As illustrated in fig. 1 and 2, inspection rail mechanism includes L-shaped strut 1, inspection track 2 and support baseboard 3；Inspection track
2 arrange along inspection route, and inspection track 2 joins end to end and constitutes closed loop tracks structure；The vertical bar lower end of L-shaped strut 1 is fixed
On support baseboard 3, the horizontal boom end of L-shaped strut 1 is fixedly mounted on the side of inspection track 2, and is located at closed loop
Outside the ring of track structure；The setting of the interval of L-shaped strut 1, and keep inspection track 2 everywhere highly consistent.Utilize 2 head and the tail of inspection track
The composition that is connected closed loop tracks structure facilitates sliding driving mechanism driving slipping mechanism cycle period movement, meets detection platform mechanism
Long-term period inspection；It is arranged on the side of inspection track 2 using L-shaped strut 1, slipping mechanism will not be constituted and be stopped, together
When will not to lower section suspend in midair power supply mechanism constitute blocking, it is ensured that slipping mechanism loop cycle move.
As illustrated in fig. 1 and 2, slipping mechanism includes rectangular sliding sleeve 4, upper support shaft 18 and lower suspention shaft 26；In side
Two wheel shafts 5 are arranged in parallel with up and down in shape sliding sleeve 4, there are one back-up roller wheels for rotary installation on upper and lower two wheel shafts 5
6；It is equipped with track groove in the upper and lower side of inspection track 2；Upper and lower two back-up roller wheels 6 are embedded in upper and lower two track grooves respectively
On；The right side of rectangular sliding sleeve 4 be equipped with for L-shaped strut 1 horizon bar by bar shaped notch；Upper support shaft 18 is vertically solid
On the upper side of rectangular sliding sleeve 4, lower suspention shaft 26 is vertically fixedly mounted on the downside of rectangular sliding sleeve 4 for Dingan County, and
Upper support shaft 18 is located at lower suspention shaft 26 on same axis；Two upper support shafts 18 at the top of two slipping mechanisms are equal
It is rotatably mounted on the downside of platform floor 19；Power supply mechanism is mounted under two on the lower end of suspention shaft 26.It utilizes
Upper and lower two back-up roller wheels 6 realize lower single roller clip effect of holding, no compared to front and back double rollers (i.e. four roller structures up and down)
It can de-orbit in the corner rear roller of inspection track 2, and shaft is supported using two at the top of two slipping mechanisms are upper
18 are rotatably mounted on the downside of platform floor 19, have not only realized front and back stablizing and have supported, but also can be in inspection track 2
Corner respectively rotates horizontally, and the problem of without derailing, while the platform floor 19 of top is maintained to level
Characteristic.
As illustrated in fig. 1 and 2, power supply mechanism includes fixed plate 27 and accumulator 28；Fixed plate 27 is epipleural, vertical side plate
And the C-shaped plate that lower side panel is constituted, the insertion of accumulator 28 are mounted in C-shaped plate；It is suspended in midair under two of two slipping mechanism bottoms
Shaft 26 is rotatably mounted on the upper side of epipleural；Accumulator 28 be respectively temperature sensor 21, humidity sensor 22,
Microprocessor and the power supply of UWB communication units.It is installed using 26 rotary type of shaft is suspended under two of two slipping mechanism bottoms in midair
On the upper side of epipleural, to realize the suspension type installation of power supply mechanism, and respectively rotated horizontally in two slipping mechanisms
When do not influence the suspention of power supply mechanism and stablize counterweight so that the detection platform mechanism of top keeps stability；In addition upper support turns
Axis 18 is located at lower suspention shaft 26 can ensure that the power supply mechanism of lower section and the detection platform mechanism of top begin on same axis
It keeps opposing stationary eventually, reduces the possibility of shaking；The epipleural of fixed plate 27 constitutes two slipping mechanisms with platform floor 19
Between articulated connection so that two slipping mechanism synchronizing movings.
As illustrated in fig. 1 and 2, sliding driving mechanism includes the protecting crust 8 being fixed on 4 left side of rectangular sliding sleeve and is located at
Gear driven mechanism in protecting crust 8；Gear driven mechanism includes driving motor 16, retarder 17, gear shaft 11, driving gear
12, two tension springs 15 and two rectangular mounting bases 10；On the left side of rectangular sliding sleeve 4 be horizontally disposed with have two pieces it is horizontally-supported
Plate 9；Corresponding position is respectively provided with there are one bar shaped limit hole on two pieces of horizontal supporting plates 9, and the length side of bar shaped limit hole
To vertical with the left side of rectangular sliding sleeve 4；Bar limit slot is equipped on the side of rectangular mounting base 10；Two rectangular mounting bases
10 are slidably mounted at respectively on two bar shaped limit holes up and down, and bar limit slot is buckled on the edge of bar shaped limit hole；
The both ends of gear shaft 11 are rotatably mounted in two rectangular mounting bases 10；Driving gear 12 is fixedly mounted on gear shaft 11；
It is equipped with bar shaped gear hole on the left side of rectangular sliding sleeve 4 and at driving gear 12；It is set on the left side of inspection track 2
There is drive rack 7；Driving gear 12 is meshed after passing through bar shaped gear hole with drive rack 7；Rectangular mounting base 10 in downside
It is equipped with motor mounting plate 13；Driving motor 16 and retarder 17 are installed on motor mounting plate 13；Driving motor 16 it is defeated
Shaft drives 17 rotary work of retarder, the output shaft gear shaft 11 of retarder 17 to rotate；Electricity is equipped in control box 20
Drive circuit；Microprocessor controls 16 start and stop of driving motor work by motor-drive circuit；Rectangular mounting base in upside
On the 10 and downside of retarder 17 is all provided with there are one convex block 14；One end of two tension springs 15 is separately fixed at two convex blocks 14
On, the other end is separately fixed on the left side of rectangular sliding sleeve 4；Accumulator 28 is that motor-drive circuit and driving motor 16 supply
Electricity；Driving motor 16 is strap brake stepper motor, to stop slipping mechanism movement immediately after microprocessor control stops.Profit
Resislient gear pressing mechanism is constituted with two tension springs, 15, two rectangular mounting bases 10 and two bar shaped limit holes, even if patrolling
The corner of inspection track 2 can also make driving gear 12 be tightly engaged with drive rack 7, prevent corner slip teeth, simultaneously
Also tooth can be jumped when slipping mechanism is blocked, and prevent driving motor 16 from being burnt by stall.
As illustrated in fig. 1 and 2, charging mechanism includes rectangular mechanism shell 33 and the lock that is set in rectangular mechanism shell 33
Locking structure, wiring board 37 and two conductive structures；Rectangular mechanism shell 33 is fixedly mounted in the vertical bar of L-shaped strut 1；
The vertical side plate outside vertical of fixed plate 27 is provided with two electrode columns 29 up and down；Two electrode columns 29 respectively with accumulator 28
Positive and negative electrode is electrically connected；Motor shutdown switch is equipped between upper and lower two electrode columns 29；In the left side of rectangular mechanism shell 33
Face is parallel to set that there are two bar shaped sliding slots 53；It is equipped in the left side of rectangular mechanism shell 33 and between two bar shaped sliding slots 53
Guide chute 54；A RFID card reader 30 is additionally provided on the outside of the vertical side plate of fixed plate 27；In rectangular mechanism shell 33
Side is additionally provided with into inserting RFID tags 51 and leaves RFID tag 31；Retaining mechanism includes 38, two fixed links of electric telescopic rod
39 and a limit base 40；Two fixed links 39 are parallel to be fixedly mounted in rectangular mechanism shell 33；Limit base 40 fixes peace
On the end of two fixed links 39, and flexible limit hole is equipped on limit base 40；Electric telescopic rod 38 is located at two admittedly
Between fixed pole 39, and the retractable ends 52 of electric telescopic rod 38 stretch into after flexible limit hole in guide chute 54；In circuit
Plate 37 is equipped with charge controller, charging 4G communication modules, electronic switch, charging circuit and voltage collection circuit；Charging control
Device processed is electrically connected with charging 4G communication modules, electric telescopic rod 38, electronic switch and voltage collection circuit respectively；Charge control
Device controls the power supply break-make of charging circuit by electronic switch；Conductive structure include two Jiong shape holders, 34, two compression springs 36 with
An and conductive bar 35；The conductive bar being connected to inside rectangular mechanism shell 33 is equipped on the trough rim of two bar shaped sliding slots 53
Window；Two Jiong shape holders 34 are fixedly mounted on inside rectangular mechanism shell 33, and one end of two compression springs 36 is separately mounted to two
On the transverse bar of a Jiong shape holder 34, the other end of two compression springs 36 is fixedly mounted on conductive bar 35；Two conductive structures
It is installed respectively close at two bar shaped sliding slots 53, and the both ends of two conductive bars 35 tilt, middle part is protruded by conductive bar window
It is in bar shaped sliding slot 53 and parallel with the trough rim of bar shaped sliding slot 53；The input terminal of voltage collection circuit respectively with two conductive bars
35 electrical connections；The output end of charging circuit is electrically connected with two conductive bars 35 respectively；RFID card reader 30 and motor shutdown switch
It is electrically connected with microprocessor；When power supply mechanism passes through charging mechanism, two electrode columns 29 are respectively protruding into two bar shaped sliding slots 53
It is interior, and moved along bar shaped sliding slot 53, motor shutdown switch is moved along guide chute 54, and elasticity pressing exists two conductive bars 35 respectively
On two electrode columns 29, switch contact, RFID card reader 30 are turned off with motor after the stretching of retractable ends 52 of electric telescopic rod 38
It successively reads into inserting RFID tags 51 and leaves RFID tag 31；The 4G communication modules that charge are wirelessly communicated with remote monitoring mechanism；
Accumulator 28 is powered for RFID card reader 30.Charger is read using RFID card reader 30 and the cooperation into inserting RFID tags 51
Structure can realize that driving motor 16 slows down immediately, is led convenient for voltage collection circuit by two close to information by microprocessor
Electric item 35 contacts acquisition 28 voltage of accumulator with two electrode columns 29, if charge controller detects that voltage is normal less than setting
When operating voltage, then the retractable ends 52 of control electric telescopic rod 38 stretch out at once, and contact blocking is carried out to motor shutdown switch
Send out stop sign so that the parking of driving motor 16 and band-type brake is immediately controlled in microprocessor, then is controlled by charge controller
Electronic switch realizes the power supply of charging circuit, charges to accumulator 28, and intermittence disconnects charging and detects voltage, until
The voltage of accumulator 28 is sufficient, then transmission charging is communicated with remote monitoring mechanism by charging 4G communication modules by charge controller
Complete information, while control electric telescopic rod 38 retractable ends 52 retract, remote monitoring mechanism again with microprocessor channel radio
Letter, restarting driving motor 16 works slow rotation, when RFID card reader 30, which is read, leaves RFID tag 31, then by micro-
Processor controls 16 Accelerating running of driving motor to normal polling rate, and the above process is the voltage detecting for completing accumulator 28
And automatic charging, it is not necessarily to human attendance, it is ensured that the long-term autonomous operation of system；Using 38, two fixed links 39 of electric telescopic rod with
And a limit base 40 constitutes retaining mechanism, enables to electric telescopic rod 38 to the effectively triggering of motor shutdown switch, and can
Bear certain collision impact；Conductive structure is constituted using two Jiong shape holders, 34, two compression springs 36 and a conductive bar 35,
It can realize and be conductively connected after two electrode columns 29 enter bar shaped sliding slot 53, facilitate voltage detecting and charging connection, and
There is preferable conductive contact performance under the action of compression spring 36.
As shown in figure 3, motor shutdown switch includes switch installation seat, rear stay plate 41, shelves item 32, support compression spring 42, pressing
Column 45, rebound compression spring 47, fixed contact 49 and spring leaf 48；Switch installation seat is fixedly mounted on the vertical side plate of fixed plate 27
On lateral surface, and installation cavity is equipped in switch installation seat；Rear stay plate 41 is fixedly mounted on switch installation seat, the hinge of shelves item 32
End margin is connect to be hingedly mounted on switch installation seat by articulated shaft 43；Shelves item 32 is opposite with rear stay plate 41, supports 42 bullet of compression spring
Property support be mounted between shelves item 32 and rear stay plate 41；It is equipped with guide type shoe 44 in installation cavity, and is set on guide type shoe 44
There is guiding slide opening；One end of spring leaf 48 is fixedly mounted on the inner wall of installation cavity, and the other end is equipped with moving contact 50；Fixed contact
49 are fixedly mounted on the inner wall of installation cavity, and opposite with moving contact 50；The resilient support of compression spring 47 is sprung back mounted on installation cavity
Between inner wall and spring leaf 48, resilient support makes moving contact 50 far from fixed contact 49；Fixed contact 49 is grounded, moving contact 50
It is electrically connected with microprocessor；It is slidably mounted at and is oriented on slide opening by compression leg 45, and by one end of compression leg 45 through installation cavity
Cavity wall presses on the end face of 32 hinged end of shelves item, and the other end presses on spring leaf 48, for pushing the contact of moving contact 50 solid
Fixed contact 49；Being equipped on by compression leg 45 prevents from being detached from the limit flange collar 46 for being oriented to slide opening by compression leg 45；Power supply mechanism is through overcharging
When motor structure, shelves item 32 and rear stay plate 41 are stretched into simultaneously in guide chute 54, and shelves item 32 is used to stretch with electric telescopic rod 38
Contracting end 52 contacts.Using rear stay plate 41 crash rebanking it is dynamic after shelves item 32 be supported, and under the action of supporting compression spring 42
It realizes crusherbull zone, not only realizes making contact, but also can stop that power supply mechanism continues to move to；After the collision of shelves item 32 tilts,
It is outwardly protruded under the action of springing back compression spring 47 and spring leaf 48 by compression leg 45, while moving contact 50 and disconnection fixed contact
49, microprocessor, which collects, draws high signal, shows the retractable ends 52 and 32 contact-impact of shelves item of electric telescopic rod 38, controls immediately
Driving motor 16 processed, which stops while controlling brake, carries out band-type brake；When shelves item 32 does not collide, in the forceful action of support compression spring 42
Under force the pressing pressing rebound compression spring 47 and spring leaf 48 of column 45 so that moving contact 50 contacts conduction with fixed contact 49, micro-
Processor collects low level signal, shows that the retractable ends 52 of electric telescopic rod 38 not with 32 contact-impact of shelves item, drive electricity
Machine 16 runs well.
As shown in figure 4, remote monitoring mechanism includes server, display screen, memory and base station 4G communication modules；Service
Device is electrically connected with display screen, memory and base station 4G communication modules respectively；The 4G communication modules that charge and base station 4G communication modules
Wireless communication；Detection platform mechanism further includes a terminal 4G communication module being connected with microprocessor；Accumulator 28 is terminal
4G communication modules are powered；Terminal 4G communication modules are wirelessly communicated with base station 4G communication modules.
As shown in Fig. 2, being all provided on two conductive bars 35, there are one arc-shaped recess 55；The retractable ends of electric telescopic rod 38
When turning off switch contact with motor after 52 stretchings, two electrode columns 29 slide into two arc-shaped recess 55 respectively.Using arc-shaped recess
55 can be after the parking of driving motor 16 and band-type brake, and the retractable ends 52 of electric telescopic rod 38 contact blocking, electrode with shelves item 32
Column 29 slides into respectively realizes preferable electric conductivity in two arc-shaped recess 55.
As illustrated in fig. 1 and 2, detection platform mechanism further includes rotary head 24 and camera 25；Rotary head 24 is mounted on
The top of control box 20；Camera 25 is mounted on rotary head 24；Rotary head 24 and camera 25 are electric with microprocessor
Connection.
Associated appliance original paper explanation involved in intelligent substation patrol positioning system disclosed by the invention based on UWB：
The conventional minimum system structure that microprocessor, charge controller are made of microcontroller and its peripheral circuit, monolithic
Machine is equipped with the ports multichannel I/O, and the input and output definition for signal uses, while being also equipped with A/D acquisitions port.
Temperature sensor 21 and humidity sensor 22 use existing conventional sensors, and can export analog signal can also
Output digit signals, if output analog signal, microprocessor needs to be attached thereto using A/D acquisitions port, when live temperature
When degree and humidity are more than setting range, then onsite alarming are carried out by microprocessor control alarm, scene is carried out by patrolman
Hand inspection.
Camera 25 is using conventional non-high-definition camera, it is ensured that the ports I/O of amount of communication data, microprocessor are fixed
Justice for for camera signals receive processing video signal port, microprocessor cached after by terminal 4G communication modules
Communicated with base station 4G communication modules realize vision signal forwarding, server real-time reception vision signal, and drive display screen into
Row display, while vision signal storage being backed up in memory；What microprocessor can also be sent according to Server remote
Control command rotates to control rotary head 24, realizes that the shooting angle of camera 25 is adjusted.
UWB communication units and UWB labels are all made of existing equipment, UWB communication units and microprocessor communication, obtain letter
Number transmitting-receiving the time, to calculate the distance between UWB communication units and UWB labels, when being positioned, at least ensure that positioning sky
The interior UWB label different there are three position participates in positioning, and the three-dimensional position of each UWB labels is known, in conjunction with communication
The coordinate position of UWB communication units can be calculated apart from side, used location algorithm is conventional location algorithm, microprocessor
Device communicates the forwarding for realizing position location, clothes after obtaining position location by terminal 4G communication modules with base station 4G communication modules
Business device real-time reception position location, and drive display screen to carry out location information and show.
RFID card reader 30 into inserting RFID tags 51 and leaves RFID tag 31 and is all made of in the prior art conventional reading
Card device and electronic tag can closely read identification.
Terminal 4G communication modules, base station 4G communication modules and charging 4G communication modules are all made of routine in the prior art
4G communication modules realize the transmission communication of 4G data-signals.
Charging circuit uses conventional battery charging circuit in the prior art, electronic switch to use triode or MOS
Pipe is realized, can realize on/off according to the control signal of charge controller.
Voltage collection circuit can be resistor voltage divider circuit, and the A/D to meet microcontroller, which is acquired, to be required, and realizes accumulator
28 voltage Quick Acquisition, judges whether to charge.
Electric telescopic rod uses existing conventional electric rod, is driven by motor and carries motor-drive circuit, microprocessor
As long as sending the extension and contraction control that electric telescopic rod can be realized in motor control signal.
As described above, although the present invention has been indicated and described with reference to specific preferred embodiment, must not explain
For the limitation to invention itself.It without prejudice to the spirit and scope of the invention as defined in the appended claims, can be right
Various changes can be made in the form and details for it.
Claims (10)
1. a kind of intelligent substation patrol positioning system based on UWB, it is characterised in that：Including inspection rail mechanism, two cunnings
Telephone-moving structure, sliding driving mechanism, power supply mechanism, detection platform mechanism, charging mechanism, remote monitoring mechanism and each UWB marks
Label；
Inspection rail mechanism is arranged along inspection route, and inspection rail mechanism is closed loop tracks structure；
Two slipping mechanisms are installed on inspection rail mechanism, and detection platform mechanism is simultaneously mounted on the upper of two slipping mechanisms
Side, power supply mechanism suspension type are mounted on the lower section of two slipping mechanisms；
Charging mechanism is arranged at intervals in the closed loop tracks structure of inspection rail mechanism composition, and after power supply mechanism movement is in place
Carry out charge control；
Detection platform mechanism includes platform floor (19), control box (20), temperature sensor (21) and humidity sensor (22)；
Control box (20) is fixedly mounted on platform floor (19)；Temperature sensor (21) and humidity sensor (22) are mounted on control
The top of box (20)；Microprocessor and UWB communication units are equipped in control box (20)；It is additionally provided at the top of control box (20)
UWB antennas (23)；Microprocessor is electrically connected with humidity sensor (22), temperature sensor (21) and UWB communication units；UWB
Antenna (23) is electrically connected with the radio-frequency head of UWB communication units；UWB communication units are wirelessly communicated with each UWB labels；
It slides on a driving mechanism slipping mechanism installed therein, for the control according to microprocessor in detection platform mechanism
Order driving slipping mechanism is moved along the closed loop tracks structure that inspection rail mechanism is constituted；
Remote monitoring mechanism respectively with detection platform mechanism and charging mechanism remote radio communication；
Power supply mechanism is respectively detection platform mechanism and sliding driving mechanism power supply.
2. the intelligent substation patrol positioning system according to claim 1 based on UWB, it is characterised in that：Inspection track
Mechanism includes L-shaped strut (1), inspection track (2) and support baseboard (3)；Inspection track (2) is arranged along inspection route, and is patrolled
Inspection track (2), which joins end to end, constitutes closed loop tracks structure；The vertical bar lower end of L-shaped strut (1) is fixedly mounted on support baseboard (3)
On, the horizontal boom end of L-shaped strut (1) is fixedly mounted on the side of inspection track (2), and positioned at the ring of closed loop tracks structure
Outside；The setting of L-shaped strut (1) interval, and keep inspection track (2) everywhere highly consistent.
3. the intelligent substation patrol positioning system according to claim 1 based on UWB, it is characterised in that：Slipping mechanism
Including rectangular sliding sleeve (4), upper support shaft (18) and lower suspention shaft (26)；It is arranged in parallel up and down in rectangular sliding sleeve (4)
There are two wheel shafts (5), there are one back-up roller wheels (6) for rotary installation on upper and lower two wheel shafts (5)；In inspection track (2)
Upper and lower side on be equipped with track groove；Upper and lower two back-up roller wheels (6) are embedded on upper and lower two track grooves respectively；In rectangular cunning
Cover (4) right side be equipped with for L-shaped strut (1) horizon bar by bar shaped notch；Upper support shaft (18) is vertically fixed to pacify
On the upper side of rectangular sliding sleeve (4), lower suspention shaft (26) is vertically fixedly mounted on the downside of rectangular sliding sleeve (4),
And upper support shaft (18) is located at lower suspention shaft (26) on same axis；Two upper supports at the top of two slipping mechanisms turn
Axis (18) is rotatably mounted on the downside of platform floor (19)；Power supply mechanism is mounted on suspention shaft (26) under two
On lower end.
4. the intelligent substation patrol positioning system according to claim 3 based on UWB, it is characterised in that：Power supply mechanism
Including fixed plate (27) and accumulator (28)；Fixed plate (27) is the C-shaped plate that epipleural, vertical side plate and lower side panel are constituted,
Accumulator (28) is embedded to be mounted in C-shaped plate；Suspend shaft (26) rotary type installation under two of two slipping mechanism bottoms in midair
On the upper side of epipleural；Accumulator (28) be respectively temperature sensor (21), humidity sensor (22), microprocessor and
UWB communication units are powered.
5. the intelligent substation patrol positioning system according to claim 4 based on UWB, it is characterised in that：Sliding driving
Mechanism includes being fixed on the protecting crust (8) on rectangular sliding sleeve (4) left side and the gear driving machine in protecting crust (8)
Structure；Gear driven mechanism includes driving motor (16), retarder (17), gear shaft (11), driving gear (12), two tension springs
(15) and two rectangular mounting bases (10)；Being horizontally disposed on the left side of rectangular sliding sleeve (4) has two pieces of horizontal supporting plates
(9)；Corresponding position is respectively provided with there are one bar shaped limit hole on two pieces of horizontal supporting plates (9), and the length of bar shaped limit hole
Direction is vertical with the left side of rectangular sliding sleeve (4)；Bar limit slot is equipped on the side of rectangular mounting base (10)；Two rectangular
Mounting base (10) is slidably mounted at respectively on two bar shaped limit holes up and down, and bar limit slot is buckled in bar shaped limit hole
On edge；The both ends of gear shaft (11) are rotatably mounted on two rectangular mounting bases (10)；Gear (12) is driven to be fixedly mounted
On gear shaft (11)；Bar shaped gear hole is equipped on the left side of rectangular sliding sleeve (4) and at driving gear (12)；It is patrolling
The left side for examining track (2) is equipped with drive rack (7)；Drive gear (12) pass through bar shaped gear hole after with drive rack (7)
It is meshed；Motor mounting plate (13) is equipped in the rectangular mounting base (10) of downside；Driving motor (16) and retarder (17) are equal
On motor mounting plate (13)；The output shaft of driving motor (16) drives retarder (17) rotary work, retarder (17)
Output shaft gear shaft (11) rotation；Motor-drive circuit is equipped in control box (20)；Microprocessor is driven by motor
Dynamic circuit control driving motor (16) start and stop work；In the rectangular mounting base (10) of upside and the downside of retarder (17) is equal
If there are one convex blocks (14)；One end of two tension springs (15) is separately fixed on two convex blocks (14), and the other end is separately fixed at
On the left side of rectangular sliding sleeve (4)；Accumulator (28) is that motor-drive circuit and driving motor (16) are powered；Driving motor
(16) it is strap brake stepper motor.
6. the intelligent substation patrol positioning system according to claim 4 based on UWB, it is characterised in that：Charging mechanism
Including rectangular mechanism shell (33) and the locking mechanism being set in rectangular mechanism shell (33), wiring board (37) and two
Conductive structure；Rectangular mechanism shell (33) is fixedly mounted in the vertical bar of L-shaped strut (1)；In the vertical side of fixed plate (27)
Plate outside vertical is provided with two electrode columns (29) up and down；Two electrode columns (29) are electric with the positive and negative electrode of accumulator (28) respectively
Connection；Motor shutdown switch is equipped between upper and lower two electrode columns (29)；It is parallel in the left side of rectangular mechanism shell (33)
If there are two bar shaped sliding slots (53)；It is equipped in the left side of rectangular mechanism shell (33) and between two bar shaped sliding slots (53)
Guide chute (54)；It is additionally provided with a RFID card reader (30) on the outside of the vertical side plate of fixed plate (27)；Outside rectangular mechanism
The side of shell (33) is additionally provided with into inserting RFID tags (51) and leaves RFID tag (31)；Retaining mechanism includes electric telescopic rod
(38), two fixed links (39) and a limit base (40)；Two fixed links (39) are parallel to be fixedly mounted on outside rectangular mechanism
In shell (33)；Limit base (40) is fixedly mounted on the end of two fixed links (39), and is equipped with and is stretched on limit base (40)
Limit hole；Electric telescopic rod (38) is located between two fixed links (39), and the retractable ends (52) of electric telescopic rod (38) pass through
It stretches through and stretches into after contracting limit hole in guide chute (54)；Assist side (37) be equipped with charge controller, charging 4G communication modules,
Electronic switch, charging circuit and voltage collection circuit；Charge controller respectively with charging 4G communication modules, electric telescopic rod
(38), electronic switch and voltage collection circuit electrical connection；Charge controller controls the power supply of charging circuit by electronic switch
Break-make；Conductive structure includes two Jiong shape holders (34), two compression springs (36) and a conductive bar (35)；It is slided in two bar shapeds
The conductive bar window for being equipped on the trough rim of slot (53) and being connected to inside rectangular mechanism shell (33)；Two Jiong shape holders (34) are solid
Dingan County is internal mounted in rectangular mechanism shell (33), and one end of two compression springs (36) is separately mounted to the cross of two Jiong shape holders (34)
To on bar, the other end of two compression springs (36) is fixedly mounted on conductive bar (35)；Two conductive structures are respectively close to two
It is installed at bar shaped sliding slot (53), and the both ends of two conductive bars (35) tilt, middle part is protruding to bar shaped by conductive bar window and slides
It is in slot (53) and parallel with the trough rim of bar shaped sliding slot (53)；The input terminal of voltage collection circuit respectively with two conductive bars (35)
Electrical connection；The output end of charging circuit is electrically connected with two conductive bars (35) respectively；RFID card reader (30) and motor shutdown are opened
Guan Jun is electrically connected with microprocessor；When power supply mechanism passes through charging mechanism, two electrode columns (29) are respectively protruding into two bar shapeds and slide
In slot (53), and it is mobile along bar shaped sliding slot (53), and motor shutdown switch is mobile along guide chute (54), two conductive bars (35) point
Not elasticity pressing is turned off with motor after retractable ends (52) stretching of electric telescopic rod (38) and is switched on two electrode columns (29)
Contact, RFID card reader (30) successively read into inserting RFID tags (51) and leave RFID tag (31)；Charge 4G communication modules
It is wirelessly communicated with remote monitoring mechanism；Accumulator (28) is powered for RFID card reader (30).
7. the intelligent substation patrol positioning system according to claim 6 based on UWB, it is characterised in that：Motor turns off
Switch include switch installation seat, rear stay plate (41), shelves item (32), support compression spring (42), by compression leg (45), spring back compression spring (47),
Fixed contact (49) and spring leaf (48)；Switch installation seat is fixedly mounted on the vertical side plate lateral surface of fixed plate (27),
And installation cavity is equipped in switch installation seat；Rear stay plate (41) is fixedly mounted on switch installation seat, the hinged end of shelves item (32)
Edge is hingedly mounted on by articulated shaft (43) on switch installation seat；Shelves item (32) relatively, supports compression spring with rear stay plate (41)
(42) resilient support is mounted between shelves item (32) and rear stay plate (41)；It is equipped with guide type shoe (44) in installation cavity, and is leading
It is equipped with to bearing (44) and is oriented to slide opening；One end of spring leaf (48) is fixedly mounted on the inner wall of installation cavity, and the other end is equipped with
Moving contact (50)；Fixed contact (49) is fixedly mounted on the inner wall of installation cavity, and opposite with moving contact (50)；Spring back compression spring
(47) resilient support is between the inner wall and spring leaf (48) of installation cavity, and resilient support is so that moving contact (50) is separate fixed
Contact (49)；Fixed contact (49) is grounded, and moving contact (50) is electrically connected with microprocessor；It is slidably mounted at and leads by compression leg (45)
To on slide opening, and the cavity wall by one end of compression leg (45) through installation cavity presses on the end face of shelves item (32) hinged end, another
End pressing is on spring leaf (48), for pushing moving contact (50) to contact fixed contact (49)；It is equipped on by compression leg (45) anti-
It only presses compression leg (45) and is detached from the limit flange collar (46) for being oriented to slide opening；When power supply mechanism passes through charging mechanism, shelves item (32) and back brace
It plate (41) while stretching into guide chute (54), and shelves item (32) is used to connect with the retractable ends (52) of electric telescopic rod (38)
It touches.
8. the intelligent substation patrol positioning system according to claim 6 based on UWB, it is characterised in that：Remote monitoring
Mechanism includes server, display screen, memory and base station 4G communication modules；Server respectively with display screen, memory and
Base station 4G communication modules electrical connection；The 4G communication modules that charge are wirelessly communicated with base station 4G communication modules；Detection platform mechanism is also wrapped
Include a terminal 4G communication module being connected with microprocessor；Accumulator (28) is powered for terminal 4G communication modules；Terminal 4G is logical
Believe that module is wirelessly communicated with base station 4G communication modules.
9. the intelligent substation patrol positioning system according to claim 1 based on UWB, it is characterised in that：It is led at two
Arc-shaped recess (55) there are one being all provided on electric item (35)；The retractable ends (52) of electric telescopic rod (38) turn off after stretching out with motor
When switch contact, two electrode columns (29) slide into two arc-shaped recess (55) respectively.
10. the intelligent substation patrol positioning system according to claim 1 based on UWB, it is characterised in that：Detection platform
Mechanism further includes rotary head (24) and camera (25)；Rotary head (24) is mounted on the top of control box (20)；Camera
(25) it is mounted on rotary head (24)；Rotary head (24) and camera (25) are electrically connected with microprocessor.
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